SOFA API  c76874b7
Open source framework for multi-physics simuation
sofa::component::projectiveconstraintset::AttachConstraint< DataTypes > Class Template Reference

#include <AttachConstraint.h>

Inheritance diagram for sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >

Attach given pair of particles, projecting the positions of the second particles to the first ones.

Public Attributes

SetIndex f_indices1
 Indices of the source points on the first model. More...
 
SetIndex f_indices2
 Indices of the fixed points on the second model. More...
 
Data< boolf_twoWay
 true if forces should be projected back from model2 to model1 More...
 
Data< boolf_freeRotations
 true to keep rotations free (only used for Rigid DOFs) More...
 
Data< boolf_lastFreeRotation
 true to keep rotation of the last attached point free (only used for Rigid DOFs) More...
 
Data< boolf_restRotations
 true to use rest rotations local offsets (only used for Rigid DOFs) More...
 
Data< defaulttype::Vector3 > f_lastPos
 position at which the attach constraint should become inactive More...
 
Data< defaulttype::Vector3 > f_lastDir
 direction from lastPos at which the attach coustraint should become inactive More...
 
Data< boolf_clamp
 true to clamp particles at lastPos instead of freeing them. More...
 
Data< Realf_minDistance
 the constraint become inactive if the distance between the points attached is bigger than minDistance. More...
 
Data< Reald_positionFactor
 IN: Factor applied to projection of position. More...
 
Data< Reald_velocityFactor
 IN: Factor applied to projection of velocity. More...
 
Data< Reald_responseFactor
 IN: Factor applied to projection of force/acceleration. More...
 
Data< helper::vector< Real > > d_constraintFactor
 Constraint factor per pair of points constrained. 0 -> the constraint is released. 1 -> the constraint is fully constrained. More...
 
helper::vector< boolactiveFlags
 
helper::vector< boolconstraintReleased
 
helper::vector< ReallastDist
 
helper::vector< defaulttype::QuatrestRotations
 
- Public Attributes inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
Data< SReal > endTime
 Time when the constraint becomes inactive (-1 for infinitely active) More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(AttachConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::PairInteractionProjectiveConstraintSet, DataTypes))
 
void init () override
 Inherited from Base. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
void projectJacobianMatrix (const core::MechanicalParams *mparams, core::MultiMatrixDerivId cId) override
 Inherited from Constraint. More...
 
void projectResponse (const core::MechanicalParams *mparams, DataVecDeriv &dx1, DataVecDeriv &dx2) override
 Project dx to constrained space (dx models an acceleration). More...
 
void projectVelocity (const core::MechanicalParams *mparams, DataVecDeriv &v1, DataVecDeriv &v2) override
 Project v to constrained space (v models a velocity). More...
 
void projectPosition (const core::MechanicalParams *mparams, DataVecCoord &x1, DataVecCoord &x2) override
 Project x to constrained space (x models a position). More...
 
void applyConstraint (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Project the global Mechanical Matrix to constrained space using offset parameter. More...
 
void applyConstraint (const core::MechanicalParams *mparams, defaulttype::BaseVector *vector, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Project the global Mechanical Vector to constrained space using offset parameter. More...
 
virtual void reinitIfChanged ()
 
- Public Member Functions inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(PairInteractionProjectiveConstraintSet, DataTypes), BaseInteractionProjectiveConstraintSet)
 
virtual bool isActive () const
 if false, the constraint does nothing More...
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState1 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel1 () override
 
MechanicalState< DataTypes > * getMState2 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel2 () override
 
void applyConstraint (const MechanicalParams *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Project the global Mechanical Matrix to constrained space using offset parameter. More...
 
void applyConstraint (const MechanicalParams *, defaulttype::BaseVector *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Project the global Mechanical Vector to constrained space using offset parameter. More...
 
void projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId) override
 
void projectJacobianMatrix (const MechanicalParams *mparams, MultiMatrixDerivId cId) override
 
void projectVelocity (const MechanicalParams *mparams, MultiVecDerivId vId) override
 
void projectPosition (const MechanicalParams *mparams, MultiVecCoordId xId) override
 
- Public Member Functions inherited from sofa::core::behavior::BaseInteractionProjectiveConstraintSet
 SOFA_ABSTRACT_CLASS (BaseInteractionProjectiveConstraintSet, BaseProjectiveConstraintSet)
 
virtual helper::vector< core::BaseState * > getModels () override
 Return the lists of models this constraint applies to. More...
 
- Public Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet
 SOFA_ABSTRACT_CLASS (BaseProjectiveConstraintSet, objectmodel::BaseObject)
 
int getGroup () const
 
void setGroup (int g)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
virtual void projectResponse (const MechanicalParams *, double **)
 Project the compliance Matrix to constrained space. More...
 
virtual void projectMatrix (sofa::defaulttype::BaseMatrix *, unsigned)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
bool IsInheritingFromBase ()
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Static Public Member Functions

template<class T >
static std::string templateName (const T *ptr=nullptr)
 
- Static Public Member Functions inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
static bool canCreate (T *obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
static T::SPtr create (T *, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 AttachConstraint ()
 
 AttachConstraint (core::behavior::MechanicalState< DataTypes > *mm1, core::behavior::MechanicalState< DataTypes > *mm2)
 
 ~AttachConstraint () override
 
const Real getConstraintFactor (const int index)
 
void doProjectPosition (Coord &x1, Coord &x2, bool freeRotations, unsigned index, Real positionFactor)
 
void doProjectVelocity (Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor)
 
void doProjectResponse (Deriv &dx1, Deriv &dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor)
 
void calcRestRotations ()
 
template<>
SOFA_GENERAL_OBJECT_INTERACTION_API void calcRestRotations ()
 
template<>
void doProjectPosition (Coord &x1, Coord &x2, bool freeRotations, unsigned index, Real positionFactor)
 
template<>
void doProjectPosition (Coord &x1, Coord &x2, bool freeRotations, unsigned index, Real positionFactor)
 
template<>
void doProjectVelocity (Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor)
 
template<>
void doProjectVelocity (Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor)
 
template<>
void doProjectResponse (Deriv &dx1, Deriv &dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor)
 
template<>
void doProjectResponse (Deriv &dx1, Deriv &dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor)
 
template<>
void calcRestRotations ()
 
- Protected Member Functions inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
 PairInteractionProjectiveConstraintSet (MechanicalState< DataTypes > *mm1=nullptr, MechanicalState< DataTypes > *mm2=nullptr)
 
 ~PairInteractionProjectiveConstraintSet () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet
 BaseProjectiveConstraintSet ()
 
 ~BaseProjectiveConstraintSet () override
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, unsigned int, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Static Protected Member Functions

static unsigned int DerivConstrainedSize (bool freeRotations)
 

Additional Inherited Members

- Protected Attributes inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
SingleLink< PairInteractionProjectiveConstraintSet< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate1
 
SingleLink< PairInteractionProjectiveConstraintSet< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate2
 
MechanicalState< DataTypes >::ForceMask * mask1
 
MechanicalState< DataTypes >::ForceMask * mask2
 
- Protected Attributes inherited from sofa::core::behavior::BaseProjectiveConstraintSet
Data< intgroup
 ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. More...
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 

Attribute details

template<class DataTypes >
Data< helper::vector<Real> > sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::d_constraintFactor

Constraint factor per pair of points constrained. 0 -> the constraint is released. 1 -> the constraint is fully constrained.

template<class DataTypes >
Data< Real > sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::d_positionFactor

IN: Factor applied to projection of position.

template<class DataTypes >
Data< Real > sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::d_responseFactor

IN: Factor applied to projection of force/acceleration.

template<class DataTypes >
Data< Real > sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::d_velocityFactor

IN: Factor applied to projection of velocity.

true to clamp particles at lastPos instead of freeing them.

template<class DataTypes >
Data<bool> sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::f_freeRotations

true to keep rotations free (only used for Rigid DOFs)

Indices of the source points on the first model.

Indices of the fixed points on the second model.

template<class DataTypes >
Data<defaulttype::Vector3> sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::f_lastDir

direction from lastPos at which the attach coustraint should become inactive

template<class DataTypes >
Data<bool> sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::f_lastFreeRotation

true to keep rotation of the last attached point free (only used for Rigid DOFs)

template<class DataTypes >
Data<defaulttype::Vector3> sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::f_lastPos

position at which the attach constraint should become inactive

template<class DataTypes >
Data<Real> sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::f_minDistance

the constraint become inactive if the distance between the points attached is bigger than minDistance.

template<class DataTypes >
Data<bool> sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::f_restRotations

true to use rest rotations local offsets (only used for Rigid DOFs)

true if forces should be projected back from model2 to model1

Constructor details

template<class DataTypes >
sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::~AttachConstraint ( )
overrideprotected

Function details

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::applyConstraint ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Project the global Mechanical Matrix to constrained space using offset parameter.

Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::applyConstraint ( const core::MechanicalParams mparams,
defaulttype::BaseVector vector,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Project the global Mechanical Vector to constrained space using offset parameter.

Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.

template<>
SOFA_GENERAL_OBJECT_INTERACTION_API void sofa::component::projectiveconstraintset::AttachConstraint< Rigid3Types >::calcRestRotations ( )
protected
template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::calcRestRotations ( )
protected
template<class DataTypes >
unsigned int sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::DerivConstrainedSize ( bool  freeRotations)
inlinestaticprotected
template<>
void sofa::component::projectiveconstraintset::AttachConstraint< defaulttype::Rigid3Types >::doProjectPosition ( Coord x1,
Coord x2,
bool  freeRotations,
unsigned  index,
Real  positionFactor 
)
inlineprotected
template<>
void sofa::component::projectiveconstraintset::AttachConstraint< defaulttype::Rigid2Types >::doProjectPosition ( Coord x1,
Coord x2,
bool  freeRotations,
unsigned  index,
Real  positionFactor 
)
inlineprotected
template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::doProjectPosition ( Coord x1,
Coord x2,
bool  freeRotations,
unsigned  index,
Real  positionFactor 
)
protected
template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::doProjectResponse ( Deriv dx1,
Deriv dx2,
bool  freeRotations,
bool  twoway,
unsigned  index,
Real  responseFactor 
)
protected
template<>
void sofa::component::projectiveconstraintset::AttachConstraint< defaulttype::Rigid3Types >::doProjectResponse ( Deriv dx1,
Deriv dx2,
bool  freeRotations,
bool  twoway,
unsigned  index,
Real  responseFactor 
)
inlineprotected
template<>
void sofa::component::projectiveconstraintset::AttachConstraint< defaulttype::Rigid2Types >::doProjectResponse ( Deriv dx1,
Deriv dx2,
bool  freeRotations,
bool  twoway,
unsigned  index,
Real  responseFactor 
)
inlineprotected
template<>
void sofa::component::projectiveconstraintset::AttachConstraint< defaulttype::Rigid3Types >::doProjectVelocity ( Deriv x1,
Deriv x2,
bool  freeRotations,
unsigned  index,
Real  velocityFactor 
)
inlineprotected
template<>
void sofa::component::projectiveconstraintset::AttachConstraint< defaulttype::Rigid2Types >::doProjectVelocity ( Deriv x1,
Deriv x2,
bool  freeRotations,
unsigned  index,
Real  velocityFactor 
)
inlineprotected
template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::doProjectVelocity ( Deriv x1,
Deriv x2,
bool  freeRotations,
unsigned  index,
Real  velocityFactor 
)
protected
template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
const DataTypes::Real sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::getConstraintFactor ( const int  index)
protected
template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::init ( void  )
overridevirtual

Inherited from Base.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::projectJacobianMatrix ( const core::MechanicalParams mparams,
core::MultiMatrixDerivId  cId 
)
overridevirtual

Inherited from Constraint.

Implements sofa::core::behavior::BaseProjectiveConstraintSet.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::projectPosition ( const core::MechanicalParams ,
DataVecCoord x1,
DataVecCoord x2 
)
overridevirtual

Project x to constrained space (x models a position).

Implements sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::projectResponse ( const core::MechanicalParams ,
DataVecDeriv dx1,
DataVecDeriv dx2 
)
overridevirtual

Project dx to constrained space (dx models an acceleration).

Implements sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::projectVelocity ( const core::MechanicalParams ,
DataVecDeriv v1,
DataVecDeriv v2 
)
overridevirtual

Project v to constrained space (v models a velocity).

Implements sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::reinit ( )
overridevirtual

Update method called when variables used in precomputation are modified.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
void sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::reinitIfChanged ( )
virtual
template<class DataTypes >
template<class T >
static std::string sofa::component::projectiveconstraintset::AttachConstraint< DataTypes >::templateName ( const T *  ptr = nullptr)
inlinestatic