SOFA API  df6198ac
Open source framework for multi-physics simuation
sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes > Class Template Referenceabstract

#include <PairInteractionProjectiveConstraintSet.h>

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

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

Detailed Description

template<class TDataTypes>
class sofa::core::behavior::PairInteractionProjectiveConstraintSet< 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
 Time when the constraint becomes inactive (-1 for infinitely active) More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Public Member Functions

 SOFA_CLASS2 (SOFA_TEMPLATE(PairInteractionProjectiveConstraintSet, TDataTypes), BaseInteractionProjectiveConstraintSet, SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes))
 
virtual bool isActive () const
 if false, the constraint does nothing More...
 
void applyConstraint (const MechanicalParams *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Project the global Mechanical Matrix to constrained space using offset parameter. More...
 
void applyConstraint (const MechanicalParams *, linearalgebra::BaseVector *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Project the global Mechanical Vector to constrained space using offset parameter. More...
 
Vector operations
void projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId) override
 
void projectJacobianMatrix (const MechanicalParams *mparams, MultiMatrixDerivId cId) override
 
void projectVelocity (const MechanicalParams *mparams, MultiVecDerivId vId) override
 
void projectPosition (const MechanicalParams *mparams, MultiVecCoordId xId) override
 
virtual void projectResponse (const MechanicalParams *, DataVecDeriv &dx1, DataVecDeriv &dx2)=0
 Project dx to constrained space (dx models an acceleration). More...
 
virtual void projectVelocity (const MechanicalParams *, DataVecDeriv &v1, DataVecDeriv &v2)=0
 Project v to constrained space (v models a velocity). More...
 
virtual void projectPosition (const MechanicalParams *, DataVecCoord &x1, DataVecCoord &x2)=0
 Project x to constrained space (x models a position). More...
 
- Public Member Functions inherited from sofa::core::behavior::BaseInteractionProjectiveConstraintSet
 SOFA_ABSTRACT_CLASS (BaseInteractionProjectiveConstraintSet, BaseProjectiveConstraintSet)
 
virtual BaseMechanicalStategetMechModel1 ()
 
virtual BaseMechanicalStategetMechModel2 ()
 
virtual type::vector< core::BaseState * > getModels () override
 Return the lists of models this constraint applies to. More...
 
- Public Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet
 SOFA_ABSTRACT_CLASS (BaseProjectiveConstraintSet, objectmodel::BaseObject)
 
int getGroup () const
 
void setGroup (int g)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
virtual void projectResponse (const MechanicalParams *, double **)
 Project the compliance Matrix to constrained space. More...
 
virtual void projectMatrix (sofa::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)
 
BasefindLinkDestClass (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 BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
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 BaseClassgetClass () 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::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (::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 VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 
- 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...
 
BaseMechanicalStategetMechModel1 ()
 Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...
 
const BaseMechanicalStategetMechModel1 () 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...
 
BaseMechanicalStategetMechModel2 ()
 Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...
 
const BaseMechanicalStategetMechModel2 () 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 *, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 PairInteractionProjectiveConstraintSet (MechanicalState< DataTypes > *mm1=nullptr, MechanicalState< DataTypes > *mm2=nullptr)
 
 ~PairInteractionProjectiveConstraintSet () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet
 BaseProjectiveConstraintSet ()
 
 ~BaseProjectiveConstraintSet () override
 
- Protected Member Functions inherited from sofa::core::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...
 
- Protected Member Functions inherited from sofa::core::behavior::PairStateAccessor< TDataTypes >
 PairStateAccessor (MechanicalState< TDataTypes > *mm1, MechanicalState< TDataTypes > *mm2)
 
 ~PairStateAccessor () override=default
 

Additional Inherited Members

- Protected Attributes inherited from sofa::core::behavior::BaseProjectiveConstraintSet
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_DUPLICATEl_mechanicalStates
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 
- 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::PairInteractionProjectiveConstraintSet< TDataTypes >::endTime

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

Constructor details

◆ PairInteractionProjectiveConstraintSet()

template<class DataTypes >
sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >::PairInteractionProjectiveConstraintSet ( MechanicalState< DataTypes > *  mm1 = nullptr,
MechanicalState< DataTypes > *  mm2 = nullptr 
)
explicitprotected

◆ ~PairInteractionProjectiveConstraintSet()

Function details

◆ applyConstraint() [1/2]

template<class TDataTypes >
void sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >::applyConstraint ( const MechanicalParams ,
const sofa::core::behavior::MultiMatrixAccessor  
)
inlineoverridevirtual

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

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

◆ applyConstraint() [2/2]

template<class TDataTypes >
void sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >::applyConstraint ( const MechanicalParams ,
linearalgebra::BaseVector ,
const sofa::core::behavior::MultiMatrixAccessor  
)
inlineoverridevirtual

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

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

◆ canCreate()

template<class TDataTypes >
template<class T >
static bool sofa::core::behavior::PairInteractionProjectiveConstraintSet< 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::PairInteractionProjectiveConstraintSet< TDataTypes >::create ( T *  ,
core::objectmodel::BaseContext context,
core::objectmodel::BaseObjectDescription arg 
)
inlinestatic

Construction method called by ObjectFactory.

◆ isActive()

template<class DataTypes >
bool sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >::isActive
virtual

if false, the constraint does nothing

◆ projectJacobianMatrix()

template<class DataTypes >
void sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >::projectJacobianMatrix ( const MechanicalParams mparams,
MultiMatrixDerivId  cId 
)
overridevirtual

Project the L matrix of the Lagrange Multiplier equation system.

This method retrieves the lines of the Jacobian Matrix from the MechanicalState and call the internal projectResponse(MatrixDeriv&) method implemented by the component.

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

◆ projectPosition() [1/2]

template<class TDataTypes >
virtual void sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >::projectPosition ( const MechanicalParams ,
DataVecCoord x1,
DataVecCoord x2 
)
pure virtual

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

Implemented in sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >.

◆ projectPosition() [2/2]

template<class DataTypes >
void sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >::projectPosition ( const MechanicalParams mparams,
MultiVecCoordId  xId 
)
overridevirtual

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

This method retrieves the x vector from the MechanicalState and call the internal projectPosition(VecCoord&,VecCoord&) method implemented by the component.

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

◆ projectResponse() [1/2]

template<class TDataTypes >
virtual void sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >::projectResponse ( const MechanicalParams ,
DataVecDeriv dx1,
DataVecDeriv dx2 
)
pure virtual

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

Implemented in sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >.

◆ projectResponse() [2/2]

template<class DataTypes >
void sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >::projectResponse ( const MechanicalParams mparams,
MultiVecDerivId  dxId 
)
overridevirtual

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

This method retrieves the dx vector from the MechanicalState and call the internal projectResponse(VecDeriv&,VecDeriv&) method implemented by the component.

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

◆ projectVelocity() [1/2]

template<class TDataTypes >
virtual void sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >::projectVelocity ( const MechanicalParams ,
DataVecDeriv v1,
DataVecDeriv v2 
)
pure virtual

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

Implemented in sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >.

◆ projectVelocity() [2/2]

template<class DataTypes >
void sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >::projectVelocity ( const MechanicalParams mparams,
MultiVecDerivId  vId 
)
overridevirtual

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

This method retrieves the v vector from the MechanicalState and call the internal projectVelocity(VecDeriv&,VecDeriv&) method implemented by the component.

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

◆ SOFA_CLASS2()

template<class TDataTypes >
sofa::core::behavior::PairInteractionProjectiveConstraintSet< TDataTypes >::SOFA_CLASS2 ( SOFA_TEMPLATE(PairInteractionProjectiveConstraintSet< TDataTypes >, TDataTypes)  ,
BaseInteractionProjectiveConstraintSet  ,
SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes)   
)