#include <BaseProjectiveConstraintSet.h>
Component computing projective constraints within a simulated body. More...
Component computing projective constraints within a simulated body.
This class define the abstract API common to all projective constraints. A BaseConstraint computes constraints applied to one or more simulated body given its current position and velocity.
Constraints can be internal to a given body (attached to one MechanicalState, see the Constraint class), or link several bodies together (such as contacts, see the InteractionConstraint class).
Protected Attributes | |
Data< int > | group |
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::behavior::StateAccessor | |
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE > | l_mechanicalStates |
Protected Attributes inherited from sofa::core::objectmodel::BaseObject | |
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
LinkSlaves | l_slaves |
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > | l_master |
Protected Attributes inherited from sofa::core::objectmodel::Base | |
std::map< std::string, sofa::core::DataTrackerCallback > | m_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... | |
Public Member Functions | |
SOFA_ABSTRACT_CLASS (BaseProjectiveConstraintSet, objectmodel::BaseObject) | |
int | getGroup () const |
void | setGroup (int g) |
virtual type::vector< core::BaseState * > | getModels ()=0 |
Return the lists of models this constraint applies to. More... | |
bool | insertInNode (objectmodel::BaseNode *node) override |
bool | removeInNode (objectmodel::BaseNode *node) override |
Vector operations | |
virtual void | projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId)=0 |
virtual void | projectJacobianMatrix (const MechanicalParams *mparams, MultiMatrixDerivId cId)=0 |
virtual void | projectVelocity (const MechanicalParams *mparams, MultiVecDerivId vId)=0 |
virtual void | projectPosition (const MechanicalParams *mparams, MultiVecCoordId xId)=0 |
Matrix operations | |
virtual void | projectResponse (const MechanicalParams *, double **) |
Project the compliance Matrix to constrained space. More... | |
virtual void | applyConstraint (const MechanicalParams *, const behavior::MultiMatrixAccessor *) |
Project the global Mechanical Matrix to constrained space using offset parameter. More... | |
virtual void | applyConstraint (const MechanicalParams *, linearalgebra::BaseVector *, const behavior::MultiMatrixAccessor *) |
Project the global Mechanical Vector to constrained space using offset parameter. More... | |
virtual void | projectMatrix (sofa::linearalgebra::BaseMatrix *, unsigned) |
virtual void | applyConstraint (sofa::core::behavior::ZeroDirichletCondition *) |
Public Member Functions inherited from sofa::core::behavior::StateAccessor | |
SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject) | |
virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & | getMechanicalStates () const |
Return a list of mechanical states to which this component is associated. More... | |
void | computeBBox (const core::ExecParams *params, bool onlyVisible=false) override |
Public Member Functions inherited from sofa::core::objectmodel::BaseObject | |
SOFA_CLASS (BaseObject, Base) | |
virtual void | draw (const core::visual::VisualParams *) |
Render internal data of this object, for debugging purposes. More... | |
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) |
Base * | 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... | |
SReal | getTime () const |
Current time. More... | |
const BaseContext * | getContext () const |
BaseContext * | getContext () |
const BaseObject * | getMaster () const |
BaseObject * | getMaster () |
const VecSlaves & | getSlaves () const |
BaseObject * | getSlave (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 | init () |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
virtual void | bwdInit () |
Initialization method called at graph creation and modification, during bottom-up traversal. More... | |
virtual void | reinit () |
Update method called when variables used in precomputation are modified. 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 BaseClass * | getClass () const |
void | addDeprecatedAttribute (lifecycle::DeprecatedData *attribute) |
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... | |
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 final |
Get the template type names (if any) used to instantiate this object. More... | |
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 |
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 |
const sofa::core::objectmodel::TagSet & | getTags () 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=" ") |
BaseData * | findData (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... | |
BaseLink * | findLink (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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags) |
Helper method used to initialize a data field containing a value of type T. 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 VecData & | getDataFields () const |
Accessor to the vector containing all the fields of this object. More... | |
const MapData & | getDataAliases () const |
Accessor to the map containing all the aliases of this object. More... | |
const VecLink & | getLinks () const |
Accessor to the vector containing all the fields of this object. More... | |
const MapLink & | getLinkAliases () 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) |
Protected Member Functions | |
BaseProjectiveConstraintSet () | |
~BaseProjectiveConstraintSet () override | |
Protected Member Functions inherited from sofa::core::behavior::StateAccessor | |
StateAccessor () | |
~StateAccessor () override=default | |
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, std::size_t, 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... | |
Additional Inherited Members | |
Public Attributes inherited from sofa::core::objectmodel::BaseObject | |
Data< bool > | f_listening |
if true, handle the events, otherwise ignore the events More... | |
Public Attributes inherited from sofa::core::objectmodel::Base | |
std::vector< lifecycle::DeprecatedData * > | m_oldAttributes |
Data< int > | d_messageLogCount |
Data< std::string > | name |
Name of the object. More... | |
Data< bool > | f_printLog |
if true, emits extra messages at runtime. More... | |
Data< sofa::core::objectmodel::TagSet > | f_tags |
list of the subsets the object belongs to More... | |
Data< sofa::type::BoundingBox > | f_bbox |
this object bounding box More... | |
Data< sofa::core::objectmodel::ComponentState > | d_componentState |
The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More... | |
std::string | m_definitionSourceFileName {""} |
int | m_definitionSourceFilePos {-1} |
std::string | m_instanciationSourceFileName {""} |
int | m_instanciationSourceFilePos {-1} |
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 BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
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protected |
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.
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inlineprotected |
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inlineoverrideprotected |
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inlinevirtual |
Project the global Mechanical Matrix to constrained space using offset parameter.
Reimplemented in sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >, sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, and sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >.
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inlinevirtual |
Project the global Mechanical Vector to constrained space using offset parameter.
Reimplemented in sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >, sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >, and sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >.
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virtual |
Project the global matrix to constrained space by using the ZeroDirichletCondition interface It allows to define what rows and columns to discard for the projection.
Reimplemented in sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, and sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >.
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inline |
Get the 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.
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pure virtual |
Return the lists of models this constraint applies to.
Implemented in sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, and sofa::core::behavior::BaseInteractionProjectiveConstraintSet.
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overridevirtual |
the component can insert itself directly in the right sequence in the Node so the Node does not have to test its type against all known types
Reimplemented from sofa::core::objectmodel::BaseObject.
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pure virtual |
Project the L matrix of the Lagrange Multiplier equation system.
cId | output vector |
Implemented in sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >, and sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >.
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inlinevirtual |
Project the given matrix (Experimental API). Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method. Contrary to applyConstraint(), the diagonal blocks of the result are not reset to the identity. Typically, M is the (generalized) mass matrix of the whole system, offset is the starting index of the local state in this global matrix, and P is the identity matrix with a block on the diagonal replaced by the projection matrix. If M is the matrix of the local state, then offset should be 0.
Reimplemented in sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PatchTestMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< TDataTypes >, and sofa::component::constraint::projective::AffineMovementProjectiveConstraint< T >.
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pure virtual |
Project x to constrained space (x models a position).
xId | output vector |
Implemented in sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >, and sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.
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inlinevirtual |
Project the compliance Matrix to constrained space.
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pure virtual |
Project dx to constrained space (dx models an acceleration).
dxId | output vector |
Implemented in sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >, and sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.
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pure virtual |
Project v to constrained space (v models a velocity).
vId | output vector |
Implemented in sofa::core::behavior::ProjectiveConstraintSet< DataTypes >, sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >, sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >, and sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.
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overridevirtual |
the component can remove itself directly in the right sequence in the Node so the Node does not have to test its type against all known types
Reimplemented from sofa::core::objectmodel::BaseObject.
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inline |
Set the 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.
sofa::core::behavior::BaseProjectiveConstraintSet::SOFA_ABSTRACT_CLASS | ( | BaseProjectiveConstraintSet | , |
objectmodel::BaseObject | |||
) |