#include <ProjectiveConstraintSet.h>

Component computing constraints within a simulated body. More...

Inheritance diagram for sofa::core::behavior::ProjectiveConstraintSet< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::core::behavior::ProjectiveConstraintSet< DataTypes >

Component computing constraints within a simulated body.

This class define the abstract API common to constraints using a given type of DOFs. A ProjectiveConstraintSet computes constraints applied to one simulated body given its current position and velocity.

Public Attributes
Data< Real >	endTime
	The constraint stops acting after the given value. Use a negative value for infinite constraints. 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_CLASS2 (SOFA_TEMPLATE(ProjectiveConstraintSet, DataTypes), BaseProjectiveConstraintSet, SOFA_TEMPLATE(SingleStateAccessor, DataTypes))

virtual bool	isActive () const
	if false, the constraint does nothing More...

virtual type::vector< core::BaseState * >	getModels () override
	Return the lists of models this constraint applies to. 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...

virtual void	projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId)=0

virtual void	projectResponse (const MechanicalParams , double *)
	Project the compliance Matrix to constrained space. 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 *mparams, DataVecDeriv &dx)=0

virtual void	projectVelocity (const MechanicalParams *mparams, DataVecDeriv &v)=0

virtual void	projectPosition (const MechanicalParams *mparams, DataVecCoord &x)=0

virtual void	projectJacobianMatrix (const MechanicalParams *, DataMatrixDeriv &cData)=0

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)

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)
	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::SingleStateAccessor< DataTypes >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, DataTypes), StateAccessor)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

MechanicalState< DataTypes > *	getMState ()

const MechanicalState< DataTypes > *	getMState () const

Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)

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
	ProjectiveConstraintSet (MechanicalState< DataTypes > *mm=nullptr)

	~ProjectiveConstraintSet () 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::IntrusiveObject
virtual	~IntrusiveObject ()=default

Protected Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
	SingleStateAccessor (MechanicalState< DataTypes > *mm=nullptr)

	~SingleStateAccessor () 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_DUPLICATE >	l_mechanicalStates

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
SingleLink< SingleStateAccessor< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINK >	mstate

Attribute details

◆ endTime

template<class DataTypes >

Data<Real> sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::endTime

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

Constructor details

◆ ProjectiveConstraintSet()

template<class DataTypes >

sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::ProjectiveConstraintSet ( MechanicalState< DataTypes > * mm = nullptr )

protected

◆ ~ProjectiveConstraintSet()

template<class DataTypes >

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

overrideprotected

Function details

◆ applyConstraint() [1/2]

template<class DataTypes >

void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::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 DataTypes >

void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::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 DataTypes >

template<class T >

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

inlinestatic

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

◆ getModels()

template<class DataTypes >

virtual type::vector< core::BaseState* > sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::getModels ( )

inlineoverridevirtual

Return the lists of models this constraint applies to.

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

◆ isActive()

template<class DataTypes >

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

virtual

if false, the constraint does nothing

◆ projectJacobianMatrix() [1/2]

template<class DataTypes >

virtual void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectJacobianMatrix	(	const MechanicalParams *	,
		DataMatrixDeriv &	cData
	)

pure virtual

Project c to constrained space (c models a constraint).

This method must be implemented by the component to handle Lagrange Multiplier based constraint

◆ projectJacobianMatrix() [2/2]

template<class DataTypes >

void sofa::core::behavior::ProjectiveConstraintSet< 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 DataTypes >

virtual void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectPosition	(	const MechanicalParams *	mparams,
		DataVecCoord &	x
	)

pure virtual

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

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectPosition() method.

◆ projectPosition() [2/2]

template<class DataTypes >

void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectPosition	(	const MechanicalParams *	mparams,
		MultiVecCoordId	xId
	)

overridevirtual

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

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

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

◆ projectResponse() [1/4]

template<class DataTypes >

virtual void sofa::core::behavior::BaseProjectiveConstraintSet::projectResponse

inline

Project the compliance Matrix to constrained space.

◆ projectResponse() [2/4]

template<class DataTypes >

virtual void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectResponse	(	const MechanicalParams *	mparams,
		DataVecDeriv &	dx
	)

pure virtual

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

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectResponse() method.

◆ projectResponse() [3/4]

template<class DataTypes >

void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectResponse	(	const MechanicalParams *	mparams,
		MultiVecDerivId	dxId
	)

overridevirtual

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

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

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

◆ projectResponse() [4/4]

template<class DataTypes >

virtual void sofa::core::behavior::BaseProjectiveConstraintSet::projectResponse

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

Parameters

dxId	output vector

◆ projectVelocity() [1/2]

template<class DataTypes >

virtual void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectVelocity	(	const MechanicalParams *	mparams,
		DataVecDeriv &	v
	)

pure virtual

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

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectVelocity() method.

◆ projectVelocity() [2/2]

template<class DataTypes >

void sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::projectVelocity	(	const MechanicalParams *	mparams,
		MultiVecDerivId	vId
	)

overridevirtual

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

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

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

◆ SOFA_CLASS2()

template<class DataTypes >

sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::SOFA_CLASS2	(	SOFA_TEMPLATE(ProjectiveConstraintSet< DataTypes >, DataTypes)	,
		BaseProjectiveConstraintSet< DataTypes >	,
		SOFA_TEMPLATE(SingleStateAccessor, DataTypes)
	)

Detailed Description

template<class DataTypes> class sofa::core::behavior::ProjectiveConstraintSet< DataTypes >

Public Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ endTime

Constructor details

◆ ProjectiveConstraintSet()

◆ ~ProjectiveConstraintSet()

Function details

◆ applyConstraint() [1/2]

◆ applyConstraint() [2/2]

◆ canCreate()

◆ getModels()

◆ isActive()

◆ projectJacobianMatrix() [1/2]

◆ projectJacobianMatrix() [2/2]

◆ projectPosition() [1/2]

◆ projectPosition() [2/2]

◆ projectResponse() [1/4]

◆ projectResponse() [2/4]

◆ projectResponse() [3/4]

◆ projectResponse() [4/4]

◆ projectVelocity() [1/2]

◆ projectVelocity() [2/2]

◆ SOFA_CLASS2()

template<class DataTypes>
class sofa::core::behavior::ProjectiveConstraintSet< DataTypes >