#include <MixedInteractionConstraint.h>

Component computing constraints between a pair of simulated body. More...

Inheritance diagram for sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >:

[legend]

Detailed Description

template<class TDataTypes1, class TDataTypes2>
class sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >

Component computing constraints between a pair of simulated body.

This class define the abstract API common to interaction constraints between a pair of bodies using a given type of DOFs.

Public Attributes
Data< SReal >	endTime
	Time when the constraint becomes inactive (-1 for infinitely active) More...

Public Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< unsigned int >	m_constraintIndex
	Constraint index (first index in the right hand term resolution vector) More...

unsigned	m_cId

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
helper::system::SofaOStream< helper::logging::Message::Warning >	serr

helper::system::SofaOStream< helper::logging::Message::Info >	sout

helper::system::SofaEndl< Base >	sendl
	runs the stream processing More...

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 objet belongs to More...

Data< sofa::defaulttype::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_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}

Protected Attributes
SingleLink< MixedInteractionConstraint< DataTypes1, DataTypes2 >, MechanicalState< DataTypes1 >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate1

SingleLink< MixedInteractionConstraint< DataTypes1, DataTypes2 >, MechanicalState< DataTypes2 >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate2

MechanicalState< DataTypes1 >::ForceMask *	mask1

MechanicalState< DataTypes2 >::ForceMask *	mask2

Protected Attributes inherited from sofa::core::behavior::BaseConstraintSet
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::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
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 (SOFA_TEMPLATE2(MixedInteractionConstraint, TDataTypes1, TDataTypes2), BaseInteractionConstraint)

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< DataTypes1 > *	getMState1 ()
	Retrieve the associated MechanicalState. More...

BaseMechanicalState *	getMechModel1 () override

MechanicalState< DataTypes2 > *	getMState2 ()
	Retrieve the associated MechanicalState. More...

BaseMechanicalState *	getMechModel2 () override

void	getConstraintViolation (const ConstraintParams cParams, defaulttype::BaseVector v) override

virtual void	getConstraintViolation (const ConstraintParams cParams, defaulttype::BaseVector v, const DataVecCoord1 &x1, const DataVecCoord2 &x2, const DataVecDeriv1 &v1, const DataVecDeriv2 &v2)=0

void	buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override

virtual void	buildConstraintMatrix (const ConstraintParams *cParams, DataMatrixDeriv1 &c1, DataMatrixDeriv2 &c2, unsigned int &cIndex, const DataVecCoord1 &x1, const DataVecCoord2 &x2)=0

Public Member Functions inherited from sofa::core::behavior::BaseInteractionConstraint
	SOFA_ABSTRACT_CLASS (BaseInteractionConstraint, BaseConstraint)

Public Member Functions inherited from sofa::core::behavior::BaseConstraint
	SOFA_ABSTRACT_CLASS (BaseConstraint, BaseConstraintSet)

int	getGroup () const
	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. More...

void	setGroup (int g)
	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. More...

virtual void	getConstraintInfo (const ConstraintParams *cParams, VecConstraintBlockInfo &blocks, VecPersistentID &ids, VecConstCoord &positions, VecConstDeriv &directions, VecConstArea &areas)

virtual void	getConstraintResolution (const ConstraintParams cParams, std::vector< ConstraintResolution > &resTab, unsigned int &offset)

virtual void	getConstraintResolution (std::vector< ConstraintResolution * > &resTab, unsigned int &offset)

virtual void	storeLambda (const ConstraintParams cParams, MultiVecDerivId res, const sofa::defaulttype::BaseVector lambda)=0

Public Member Functions inherited from sofa::core::behavior::BaseConstraintSet
	SOFA_ABSTRACT_CLASS (BaseConstraintSet, objectmodel::BaseObject)

virtual void	resetConstraint ()

virtual void	setConstraintId (unsigned cId)

virtual void	processGeometricalData ()

virtual void	getConstraintViolation (const ConstraintParams , defaulttype::BaseVector , unsigned int)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) 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...

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
	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 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	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	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	addOutputToCallback (const std::string &name, BaseData *output)

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::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 (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)

Static Public Member Functions
template<class T >
static T::SPtr	create (T p0, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

static std::string	GetCustomTemplateName ()
	Overriding this function is needed otherwise the template returned would be of type DataTypes1::Name()+","+DataType2::Name(). 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 BaseClass *	GetClass ()

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
	MixedInteractionConstraint (MechanicalState< DataTypes1 > mm1=nullptr, MechanicalState< DataTypes2 > mm2=nullptr)

	~MixedInteractionConstraint () override

void	updateForceMask () override

Protected Member Functions inherited from sofa::core::behavior::BaseInteractionConstraint
	BaseInteractionConstraint ()

	~BaseInteractionConstraint () override

Protected Member Functions inherited from sofa::core::behavior::BaseConstraint
	BaseConstraint ()

	~BaseConstraint () override

Protected Member Functions inherited from sofa::core::behavior::BaseConstraintSet
	BaseConstraintSet ()

	~BaseConstraintSet () 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...

Attribute details

template<class TDataTypes1 , class TDataTypes2 >

Data<SReal> sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::endTime

Time when the constraint becomes inactive (-1 for infinitely active)

template<class TDataTypes1 , class TDataTypes2 >

MechanicalState<DataTypes1>::ForceMask* sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::mask1

protected

template<class TDataTypes1 , class TDataTypes2 >

MechanicalState<DataTypes2>::ForceMask* sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::mask2

protected

template<class TDataTypes1 , class TDataTypes2 >

SingleLink<MixedInteractionConstraint<DataTypes1,DataTypes2>, MechanicalState<DataTypes1>, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::mstate1

protected

template<class TDataTypes1 , class TDataTypes2 >

SingleLink<MixedInteractionConstraint<DataTypes1,DataTypes2>, MechanicalState<DataTypes2>, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::mstate2

protected

Constructor details

template<class DataTypes1 , class DataTypes2 >

sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::MixedInteractionConstraint	(	MechanicalState< DataTypes1 > *	mm1 = `nullptr`,
		MechanicalState< DataTypes2 > *	mm2 = `nullptr`
	)

protected

template<class DataTypes1 , class DataTypes2 >

sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::~MixedInteractionConstraint ( )

overrideprotected

Function details

template<class DataTypes1 , class DataTypes2 >

void sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::buildConstraintMatrix	(	const ConstraintParams *	cParams,
		MultiMatrixDerivId	cId,
		unsigned int &	cIndex
	)

overridevirtual

Construct the Jacobian Matrix

Parameters

cId	is the result constraint sparse matrix Id
cIndex	is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

Implements sofa::core::behavior::BaseConstraintSet.

template<class TDataTypes1 , class TDataTypes2 >

virtual void sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::buildConstraintMatrix	(	const ConstraintParams *	cParams,
		DataMatrixDeriv1 &	c1,
		DataMatrixDeriv2 &	c2,
		unsigned int &	cIndex,
		const DataVecCoord1 &	x1,
		const DataVecCoord2 &	x2
	)

pure virtual

Construct the Jacobian Matrix

Parameters

c1	and c2 are the results constraint sparse matrix
cIndex	is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
x1	and x2 are the position vectors used for contraint equation computation
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

template<class TDataTypes1 , class TDataTypes2 >

template<class T >

static T::SPtr sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::create	(	T *	p0,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)

inlinestatic

Construction method called by ObjectFactory.

template<class DataTypes1 , class DataTypes2 >

void sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::getConstraintViolation	(	const ConstraintParams *	cParams,
		defaulttype::BaseVector *	v
	)

overridevirtual

Construct the Constraint violations vector of each constraint

Parameters

v	is the result vector that contains the whole constraints violations
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

Reimplemented from sofa::core::behavior::BaseConstraintSet.

template<class TDataTypes1 , class TDataTypes2 >

virtual void sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::getConstraintViolation	(	const ConstraintParams *	cParams,
		defaulttype::BaseVector *	v,
		const DataVecCoord1 &	x1,
		const DataVecCoord2 &	x2,
		const DataVecDeriv1 &	v1,
		const DataVecDeriv2 &	v2
	)

pure virtual

Construct the Constraint violations vector of each constraint

Parameters

v	is the result vector that contains the whole constraints violations
x1	and x2 are the position vectors used to compute contraint position violation
v1	and v2 are the velocity vectors used to compute contraint velocity violation
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

template<class TDataTypes1 , class TDataTypes2 >

static std::string sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::GetCustomTemplateName ( )

inlinestatic

Overriding this function is needed otherwise the template returned would be of type DataTypes1::Name()+","+DataType2::Name().

template<class TDataTypes1 , class TDataTypes2 >

BaseMechanicalState* sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::getMechModel1 ( )

inlineoverridevirtual

Get the first MechanicalState

Implements sofa::core::behavior::BaseInteractionConstraint.

template<class TDataTypes1 , class TDataTypes2 >

BaseMechanicalState* sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::getMechModel2 ( )

inlineoverridevirtual

Get the first MechanicalState

Implements sofa::core::behavior::BaseInteractionConstraint.

template<class TDataTypes1 , class TDataTypes2 >

MechanicalState<DataTypes1>* sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::getMState1 ( )

inline

Retrieve the associated MechanicalState.

template<class TDataTypes1 , class TDataTypes2 >

MechanicalState<DataTypes2>* sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::getMState2 ( )

inline

Retrieve the associated MechanicalState.

template<class DataTypes1 , class DataTypes2 >

void sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::init ( void )

overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

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

template<class DataTypes1 , class DataTypes2 >

bool sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::isActive ( ) const

virtual

if false, the constraint does nothing

template<class TDataTypes1 , class TDataTypes2 >

sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::SOFA_ABSTRACT_CLASS	(	SOFA_TEMPLATE2(MixedInteractionConstraint< TDataTypes1, TDataTypes2 >, TDataTypes1, TDataTypes2)	,
		BaseInteractionConstraint
	)

template<class DataTypes1 , class DataTypes2 >

void sofa::core::behavior::MixedInteractionConstraint< DataTypes1, DataTypes2 >::updateForceMask ( )

overrideprotectedvirtual

Useful when the Constraint is applied only on a subset of dofs. It is automatically called by buildConstraintMatrix

That way, we can optimize the time spent to transfer quantities through the mechanical mappings. Every Dofs are inserted by default. The Constraint using only a subset of dofs should only insert these dofs in the mask.

Implements sofa::core::behavior::BaseConstraintSet.

Detailed Description

template<class TDataTypes1, class TDataTypes2> class sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >

Public Attributes

Protected Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Attribute details

Constructor details

Function details

template<class TDataTypes1, class TDataTypes2>
class sofa::core::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >