SOFA API  6a688117
Open source framework for multi-physics simuation
sofa::component::constraintset::bilateralinteractionconstraint::BilateralInteractionConstraintSpecialization< RigidImpl > Class Template Reference

Static Public Member Functions

template<class T >
static void bwdInit (BilateralInteractionConstraint< T > &self)
 
template<class T >
static void getConstraintResolution (BilateralInteractionConstraint< T > &self, const ConstraintParams *cParams, std::vector< ConstraintResolution * > &resTab, unsigned int &offset, double tolerance)
 
template<class T >
static void buildConstraintMatrix (BilateralInteractionConstraint< T > &self, const ConstraintParams *cParams, typename BilateralInteractionConstraint< T >::DataMatrixDeriv &c1_d, typename BilateralInteractionConstraint< T >::DataMatrixDeriv &c2_d, unsigned int &constraintId, const typename BilateralInteractionConstraint< T >::DataVecCoord &, const typename BilateralInteractionConstraint< T >::DataVecCoord &)
 
template<class T >
static void getConstraintViolation (BilateralInteractionConstraint< T > &self, const ConstraintParams *, BaseVector *v, const typename BilateralInteractionConstraint< T >::DataVecCoord &d_x1, const typename BilateralInteractionConstraint< T >::DataVecCoord &d_x2, const typename BilateralInteractionConstraint< T >::DataVecDeriv &, const typename BilateralInteractionConstraint< T >::DataVecDeriv &)
 
template<class T , typename MyClass = BilateralInteractionConstraint<T>>
static void addContact (BilateralInteractionConstraint< T > &self, typename MyClass::Deriv, typename MyClass::Coord P, typename MyClass::Coord Q, typename MyClass::Real, int m1, int m2, typename MyClass::Coord, typename MyClass::Coord, long, typename MyClass::PersistentID)
 

Function details

template<class T , typename MyClass = BilateralInteractionConstraint<T>>
static void sofa::component::constraintset::bilateralinteractionconstraint::BilateralInteractionConstraintSpecialization< RigidImpl >::addContact ( BilateralInteractionConstraint< T > &  self,
typename MyClass::Deriv  ,
typename MyClass::Coord  P,
typename MyClass::Coord  Q,
typename MyClass::Real  ,
int  m1,
int  m2,
typename MyClass::Coord  ,
typename MyClass::Coord  ,
long  ,
typename MyClass::PersistentID   
)
inlinestatic
template<class T >
static void sofa::component::constraintset::bilateralinteractionconstraint::BilateralInteractionConstraintSpecialization< RigidImpl >::buildConstraintMatrix ( BilateralInteractionConstraint< T > &  self,
const ConstraintParams cParams,
typename BilateralInteractionConstraint< T >::DataMatrixDeriv &  c1_d,
typename BilateralInteractionConstraint< T >::DataMatrixDeriv &  c2_d,
unsigned int constraintId,
const typename BilateralInteractionConstraint< T >::DataVecCoord &  ,
const typename BilateralInteractionConstraint< T >::DataVecCoord &   
)
inlinestatic
template<class T >
static void sofa::component::constraintset::bilateralinteractionconstraint::BilateralInteractionConstraintSpecialization< RigidImpl >::getConstraintResolution ( BilateralInteractionConstraint< T > &  self,
const ConstraintParams cParams,
std::vector< ConstraintResolution * > &  resTab,
unsigned int offset,
double  tolerance 
)
inlinestatic
template<class T >
static void sofa::component::constraintset::bilateralinteractionconstraint::BilateralInteractionConstraintSpecialization< RigidImpl >::getConstraintViolation ( BilateralInteractionConstraint< T > &  self,
const ConstraintParams ,
BaseVector v,
const typename BilateralInteractionConstraint< T >::DataVecCoord &  d_x1,
const typename BilateralInteractionConstraint< T >::DataVecCoord &  d_x2,
const typename BilateralInteractionConstraint< T >::DataVecDeriv &  ,
const typename BilateralInteractionConstraint< T >::DataVecDeriv &   
)
inlinestatic