#include <PairInteractionConstraint.h>
Component computing constraints between a pair of simulated body. More...
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 |
The constraint stops acting after the given value. Use a negative value for infinite constraints. More... | |
![]() | |
Data< sofa::Index > | d_constraintIndex |
Constraint index (first index in the right hand term resolution vector) More... | |
![]() | |
Data< bool > | f_listening |
if true, handle the events, otherwise ignore the events More... | |
![]() | |
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} |
Public Member Functions | |
SOFA_ABSTRACT_CLASS2 (SOFA_TEMPLATE(PairInteractionConstraint, TDataTypes), BaseInteractionConstraint, SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes)) | |
virtual bool | isActive () const |
if false, the constraint does nothing More... | |
void | getConstraintViolation (const ConstraintParams *cParams, linearalgebra::BaseVector *v) override |
virtual void | getConstraintViolation (const ConstraintParams *cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2, const DataVecDeriv &v1, const DataVecDeriv &v2)=0 |
void | buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override |
virtual void | buildConstraintMatrix (const ConstraintParams *cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex, const DataVecCoord &x1, const DataVecCoord &x2)=0 |
void | storeLambda (const ConstraintParams *cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector *lambda) override |
virtual void | getConstraintViolation (const ConstraintParams *cParams, linearalgebra::BaseVector *v) |
virtual void | getConstraintViolation (const ConstraintParams *, linearalgebra::BaseVector *, unsigned int) |
![]() | |
SOFA_ABSTRACT_CLASS2 (BaseInteractionConstraint, BaseConstraint, StateAccessor) | |
virtual BaseMechanicalState * | getMechModel1 () |
virtual BaseMechanicalState * | getMechModel2 () |
virtual type::vector< std::string > | getBaseConstraintIdentifiers () override final |
![]() | |
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) |
type::vector< std::string > | getIdentifiers () |
![]() | |
SOFA_ABSTRACT_CLASS (BaseConstraintSet, objectmodel::BaseObject) | |
virtual void | resetConstraint () |
virtual void | setConstraintId (unsigned cId) |
virtual void | processGeometricalData () |
virtual void | getConstraintViolation (const ConstraintParams *, linearalgebra::BaseVector *, unsigned int) |
bool | insertInNode (objectmodel::BaseNode *node) override |
bool | removeInNode (objectmodel::BaseNode *node) override |
![]() | |
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 | 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 () |
![]() | |
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)=delete |
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) |
![]() | |
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 |
![]() | |
SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes), StateAccessor) | |
void | init () override |
Initialization method called at graph creation and modification, during top-down traversal. More... | |
MechanicalState< TDataTypes > * | getMState1 () |
Retrieve the associated MechanicalState #1. More... | |
const MechanicalState< TDataTypes > * | getMState1 () const |
Retrieve the associated MechanicalState #1. More... | |
BaseMechanicalState * | getMechModel1 () |
Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More... | |
const BaseMechanicalState * | getMechModel1 () const |
Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More... | |
MechanicalState< TDataTypes > * | getMState2 () |
Retrieve the associated MechanicalState #2. More... | |
const MechanicalState< TDataTypes > * | getMState2 () const |
Retrieve the associated MechanicalState #2. More... | |
BaseMechanicalState * | getMechModel2 () |
Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More... | |
const BaseMechanicalState * | getMechModel2 () const |
Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More... | |
Static Public Member Functions | |
template<class T > | |
static bool | canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg) |
template<class T > | |
static T::SPtr | create (T *p0, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg) |
Construction method called by ObjectFactory. More... | |
![]() | |
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 const BaseClass * | GetClass () |
template<class T > | |
static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
Protected Member Functions | |
PairInteractionConstraint (MechanicalState< DataTypes > *mm1=nullptr, MechanicalState< DataTypes > *mm2=nullptr) | |
~PairInteractionConstraint () override | |
virtual type::vector< std::string > | getInteractionIdentifiers () override final |
virtual type::vector< std::string > | getPairInteractionIdentifiers () |
void | storeLambda (const ConstraintParams *cParams, Data< VecDeriv > &res1, Data< VecDeriv > &res2, const Data< MatrixDeriv > &j1, const Data< MatrixDeriv > &j2, const sofa::linearalgebra::BaseVector *lambda) |
![]() | |
BaseInteractionConstraint () | |
~BaseInteractionConstraint () override | |
![]() | |
BaseConstraint () | |
~BaseConstraint () override | |
![]() | |
BaseConstraintSet () | |
~BaseConstraintSet () override | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
virtual | ~IntrusiveObject ()=default |
![]() | |
StateAccessor () | |
~StateAccessor () override=default | |
![]() | |
PairStateAccessor (MechanicalState< TDataTypes > *mm1=nullptr, MechanicalState< TDataTypes > *mm2=nullptr) | |
~PairStateAccessor () override=default | |
Additional Inherited Members | |
![]() | |
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... | |
![]() | |
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > | l_context |
LinkSlaves | l_slaves |
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > | l_master |
![]() | |
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... | |
![]() | |
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE > | l_mechanicalStates |
![]() | |
SingleLink< PairStateAccessor< TDataTypes, TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > | mstate1 |
SingleLink< PairStateAccessor< TDataTypes, TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > | mstate2 |
Data<SReal> sofa::core::behavior::PairInteractionConstraint< TDataTypes >::endTime |
The constraint stops acting after the given value. Use a negative value for infinite constraints.
|
explicitprotected |
|
overrideprotected |
|
pure virtual |
Construct the Jacobian Matrix
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 constraint 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
Implemented in sofa::component::constraint::lagrangian::model::SlidingLagrangianConstraint< DataTypes >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, ContactParams >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, UnilateralLagrangianContactParameters >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< sofa::defaulttype::StdVectorTypes, ConstraintParameters >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, AugmentedLagrangianContactParameters >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< DataTypes >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< sofa::defaulttype::StdVectorTypes >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< DataTypes >, and sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< sofa::defaulttype::StdVectorTypes >.
|
overridevirtual |
Construct the Jacobian Matrix
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.
|
inlinestatic |
Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.
|
inlinestatic |
Construction method called by ObjectFactory.
|
inline |
Construct the Constraint violations vector
v | is the result vector that contains the whole constraints violations |
cIndex | is the index of the next constraint equation |
cParams | defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) |
|
inline |
Construct the Constraint violations vector
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) |
|
overridevirtual |
Construct the Constraint violations vector of each constraint
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.
|
pure virtual |
Construct the Constraint violations vector of each constraint
v | is the result vector that contains the whole constraints violations |
x1 | and x2 are the position vectors used to compute constraint position violation |
v1 | and v2 are the velocity vectors used to compute constraint 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
Implemented in sofa::component::constraint::lagrangian::model::SlidingLagrangianConstraint< DataTypes >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, ContactParams >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, UnilateralLagrangianContactParameters >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< sofa::defaulttype::StdVectorTypes, ConstraintParameters >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, AugmentedLagrangianContactParameters >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< DataTypes >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< sofa::defaulttype::StdVectorTypes >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< DataTypes >, and sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< sofa::defaulttype::StdVectorTypes >.
|
inlinefinaloverrideprotectedvirtual |
Reimplemented from sofa::core::behavior::BaseInteractionConstraint.
|
inlineprotectedvirtual |
Reimplemented in sofa::component::constraint::lagrangian::model::SlidingLagrangianConstraint< DataTypes >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< DataTypes >, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< sofa::defaulttype::StdVectorTypes >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, ContactParams >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, UnilateralLagrangianContactParameters >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< sofa::defaulttype::StdVectorTypes, ConstraintParameters >, and sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, AugmentedLagrangianContactParameters >.
|
virtual |
if false, the constraint does nothing
Reimplemented in sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, ContactParams >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, UnilateralLagrangianContactParameters >, sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< sofa::defaulttype::StdVectorTypes, ConstraintParameters >, and sofa::component::constraint::lagrangian::model::BaseContactLagrangianConstraint< DataTypes, AugmentedLagrangianContactParameters >.
sofa::core::behavior::PairInteractionConstraint< TDataTypes >::SOFA_ABSTRACT_CLASS2 | ( | SOFA_TEMPLATE(PairInteractionConstraint< TDataTypes >, TDataTypes) | , |
BaseInteractionConstraint | , | ||
SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes) | |||
) |
|
protected |
|
overridevirtual |
Store the constraint lambda at the constraint dofs at the given VecDerivId location. res = J^t * lambda. J is the sparse matrix containing the constraint jacobian that was used to build the constraint matrix ( see BaseConstraintSet::buildConstraintMatrix ).
cParams | stores the id of the state vectors used during the constraint solving step. Mostly it helps retrieving the MatrixDerivId where the constraint jacobian J is stored. |
res | is the state vector Id where to store the result. |
lambda | is the vector of scalar constraint impulses. The direction are stored in the MatrixDerivId stored in the cParams. |
Implements sofa::core::behavior::BaseConstraint.