#include <PairInteractionConstraint.h>

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

Inheritance diagram for sofa::core::behavior::PairInteractionConstraint< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::core::behavior::PairInteractionConstraint< TDataTypes >

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...

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

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}

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)

Public Member Functions inherited from sofa::core::behavior::BaseInteractionConstraint
	SOFA_ABSTRACT_CLASS2 (BaseInteractionConstraint, BaseConstraint, StateAccessor)

virtual BaseMechanicalState *	getMechModel1 ()

virtual BaseMechanicalState *	getMechModel2 ()

virtual type::vector< std::string >	getBaseConstraintIdentifiers () override final

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)

type::vector< std::string >	getIdentifiers ()

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 , linearalgebra::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...

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 ()

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)=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)

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::behavior::PairStateAccessor< TDataTypes >
	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...

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)

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)

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, 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...

Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual	~IntrusiveObject ()=default

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

	~StateAccessor () override=default

Protected Member Functions inherited from sofa::core::behavior::PairStateAccessor< TDataTypes >
	PairStateAccessor (MechanicalState< TDataTypes > mm1=nullptr, MechanicalState< TDataTypes > mm2=nullptr)

	~PairStateAccessor () override=default

Additional Inherited Members
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
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...

Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >	l_mechanicalStates

Protected Attributes inherited from sofa::core::behavior::PairStateAccessor< TDataTypes >
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

Attribute details

◆ endTime

template<class TDataTypes >

Data<SReal> sofa::core::behavior::PairInteractionConstraint< TDataTypes >::endTime

The constraint stops acting after the given value. Use a negative value for infinite constraints.

Constructor details

◆ PairInteractionConstraint()

template<class DataTypes >

sofa::core::behavior::PairInteractionConstraint< DataTypes >::PairInteractionConstraint	(	MechanicalState< DataTypes > *	mm1 = `nullptr`,
		MechanicalState< DataTypes > *	mm2 = `nullptr`
	)

explicitprotected

◆ ~PairInteractionConstraint()

template<class DataTypes >

sofa::core::behavior::PairInteractionConstraint< DataTypes >::~PairInteractionConstraint

overrideprotected

Function details

◆ buildConstraintMatrix() [1/2]

template<class TDataTypes >

virtual void sofa::core::behavior::PairInteractionConstraint< TDataTypes >::buildConstraintMatrix	(	const ConstraintParams *	cParams,
		DataMatrixDeriv &	c1,
		DataMatrixDeriv &	c2,
		unsigned int &	cIndex,
		const DataVecCoord &	x1,
		const DataVecCoord &	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 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 >.

◆ buildConstraintMatrix() [2/2]

template<class DataTypes >

void sofa::core::behavior::PairInteractionConstraint< DataTypes >::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.

◆ canCreate()

template<class TDataTypes >

template<class T >

static bool sofa::core::behavior::PairInteractionConstraint< TDataTypes >::canCreate	(	T *&	obj,
		objectmodel::BaseContext *	context,
		objectmodel::BaseObjectDescription *	arg
	)

inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

◆ create()

template<class TDataTypes >

template<class T >

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

inlinestatic

Construction method called by ObjectFactory.

◆ getConstraintViolation() [1/4]

template<class TDataTypes >

virtual void sofa::core::behavior::BaseConstraintSet::getConstraintViolation

inline

Construct the Constraint violations vector

Parameters

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)

◆ getConstraintViolation() [2/4]

template<class TDataTypes >

virtual void sofa::core::behavior::BaseConstraintSet::getConstraintViolation

inline

Construct the Constraint violations vector

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)

◆ getConstraintViolation() [3/4]

template<class DataTypes >

void sofa::core::behavior::PairInteractionConstraint< DataTypes >::getConstraintViolation	(	const ConstraintParams *	cParams,
		linearalgebra::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.

◆ getConstraintViolation() [4/4]

template<class TDataTypes >

virtual void sofa::core::behavior::PairInteractionConstraint< TDataTypes >::getConstraintViolation	(	const ConstraintParams *	cParams,
		linearalgebra::BaseVector *	v,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2,
		const DataVecDeriv &	v1,
		const DataVecDeriv &	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 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 >.

◆ getInteractionIdentifiers()

template<class TDataTypes >

virtual type::vector<std::string> sofa::core::behavior::PairInteractionConstraint< TDataTypes >::getInteractionIdentifiers ( )

inlinefinaloverrideprotectedvirtual

Reimplemented from sofa::core::behavior::BaseInteractionConstraint.

◆ getPairInteractionIdentifiers()

template<class TDataTypes >

virtual type::vector<std::string> sofa::core::behavior::PairInteractionConstraint< TDataTypes >::getPairInteractionIdentifiers ( )

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 >.

◆ isActive()

template<class DataTypes >

bool sofa::core::behavior::PairInteractionConstraint< DataTypes >::isActive

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_ABSTRACT_CLASS2()

template<class TDataTypes >

sofa::core::behavior::PairInteractionConstraint< TDataTypes >::SOFA_ABSTRACT_CLASS2	(	SOFA_TEMPLATE(PairInteractionConstraint< TDataTypes >, TDataTypes)	,
		BaseInteractionConstraint	,
		SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes)
	)

◆ storeLambda() [1/2]

template<class DataTypes >

void sofa::core::behavior::PairInteractionConstraint< DataTypes >::storeLambda	(	const ConstraintParams *	cParams,
		Data< VecDeriv > &	res1,
		Data< VecDeriv > &	res2,
		const Data< MatrixDeriv > &	j1,
		const Data< MatrixDeriv > &	j2,
		const sofa::linearalgebra::BaseVector *	lambda
	)

protected

◆ storeLambda() [2/2]

template<class DataTypes >

void sofa::core::behavior::PairInteractionConstraint< DataTypes >::storeLambda	(	const ConstraintParams *	cParams,
		MultiVecDerivId	res,
		const sofa::linearalgebra::BaseVector *	lambda
	)

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 ).

Parameters

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.

Detailed Description

template<class TDataTypes> class sofa::core::behavior::PairInteractionConstraint< TDataTypes >

Public Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ endTime

Constructor details

◆ PairInteractionConstraint()

◆ ~PairInteractionConstraint()

Function details

◆ buildConstraintMatrix() [1/2]

◆ buildConstraintMatrix() [2/2]

◆ canCreate()

◆ create()

◆ getConstraintViolation() [1/4]

◆ getConstraintViolation() [2/4]

◆ getConstraintViolation() [3/4]

◆ getConstraintViolation() [4/4]

◆ getInteractionIdentifiers()

◆ getPairInteractionIdentifiers()

◆ isActive()

◆ SOFA_ABSTRACT_CLASS2()

◆ storeLambda() [1/2]

◆ storeLambda() [2/2]

template<class TDataTypes>
class sofa::core::behavior::PairInteractionConstraint< TDataTypes >