#include <ConstraintParams.h>

Inheritance diagram for sofa::core::ConstraintParams:

Detailed Description

Class gathering parameters use by constraint components methods, and transmitted by visitors read the velocity and position and where the

Protected Attributes
ConstMultiVecCoordId	m_x
	Ids of position vector. More...

ConstMultiVecDerivId	m_v
	Ids of velocity vector. More...

MultiMatrixDerivId	m_j
	Ids of the constraint jacobian matrix. More...

MultiVecDerivId	m_dx
	Ids of constraint correction vector. More...

MultiVecDerivId	m_lambda
	Ids of constraint lambda vector. More...

ConstraintOrder	m_constOrder
	Description of the order of the constraint. More...

double	m_smoothFactor
	Smooth contribution factor (for smooth constraints resolution) More...

Public Member Functions
std::string_view	getName () const

	ConstraintParams (const sofa::core::ExecParams &p= *sofa::core::execparams::defaultInstance())
	Constructor, initializing all VecIds to default values, implicit and energy flags to false. More...

ConstraintParams &	setExecParams (const core::ExecParams *params)

Flags and parameters getters
ConstraintOrder	constOrder () const

ConstraintParams &	setOrder (ConstraintOrder o)

double	smoothFactor () const
	Smooth contribution factor (for smooth constraints resolution) More...

Access to vectors from a given state container (i.e. State or MechanicalState)
template<class S >
const Data< typename S::VecCoord > *	readX (const S *state) const
	Read access to the free (unconstrained) position vector. More...

template<class S >
const Data< typename S::VecDeriv > *	readV (const S *state) const
	Read access to the free (unconstrained) velocity vector. More...

template<class S >
const Data< typename S::MatrixDeriv > *	readJ (const S *state) const
	Read access to the constraint jacobian matrix. More...

template<class S >
const Data< typename S::VecDeriv > *	readLambda (S *state) const
	Read access to the constraint force vector. More...

template<class S >
const Data< typename S::VecDeriv > *	readDx (S *state) const
	Read access to the constraint corrective motion vector. More...

Setup methods
Called by the OdeSolver from which the mechanical computations originate. They all return a reference to this MechanicalParam instance, to ease chaining multiple setup calls.
ConstraintParams &	setSmoothFactor (double v)
	Set smooth contribution factor (for smooth constraints resolution) More...

const ConstMultiVecCoordId &	x () const
	Returns ids of the position vectors. More...

ConstMultiVecCoordId &	x ()
	Returns ids of the position vectors. More...

const ConstMultiVecDerivId &	v () const
	Returns ids of the velocity vectors. More...

ConstMultiVecDerivId &	v ()
	Returns ids of the velocity vectors. More...

const MultiMatrixDerivId &	j () const
	Returns ids of the constraint jacobian matrices. More...

MultiMatrixDerivId &	j ()
	Returns ids of the constraint jacobian matrices. More...

const MultiVecDerivId &	dx () const
	Returns ids of the constraint correction vectors. More...

MultiVecDerivId &	dx ()
	Returns ids of the constraint correction vectors. More...

const MultiVecDerivId &	lambda () const
	Returns ids of the constraint lambda vectors. More...

MultiVecDerivId &	lambda ()
	Returns ids of the constraint lambda vectors. More...

ConstraintParams &	setX (ConstVecCoordId v)
	Set the IDs where to read the free position vector. More...

ConstraintParams &	setX (ConstMultiVecCoordId v)

template<class StateSet >
ConstraintParams &	setX (const StateSet &g, ConstVecCoordId v)

ConstraintParams &	setV (ConstVecDerivId v)
	Set the IDs where to read the free velocity vector. More...

ConstraintParams &	setV (ConstMultiVecDerivId v)

template<class StateSet >
ConstraintParams &	setV (const StateSet &g, ConstVecDerivId v)

ConstraintParams &	setJ (MatrixDerivId j)
	Set the IDs where to read the constraint jacobian matrix. More...

ConstraintParams &	setJ (MultiMatrixDerivId j)

template<class StateSet >
ConstraintParams &	setJ (const StateSet &g, MatrixDerivId j)

ConstraintParams &	setDx (VecDerivId dx)
	Set the IDs where to write corrective displacement vector. More...

ConstraintParams &	setDx (MultiVecDerivId dx)

template<class StateSet >
ConstraintParams &	setDx (const StateSet &g, MultiVecDerivId dx)

ConstraintParams &	setLambda (VecDerivId lambda)
	Set the IDs where to write the constraint force vector. More...

ConstraintParams &	setLambda (MultiVecDerivId lambda)

template<class StateSet >
ConstraintParams &	setLambda (const StateSet &g, MultiVecDerivId lambda)

Public Member Functions inherited from sofa::core::ExecParams
bool	checkValidStorage () const

ExecMode	execMode () const
	Mode of execution requested. More...

int	threadID () const
	Index of current thread (0 corresponding to the only thread in sequential mode, or first thread in parallel mode) More...

int	nbThreads () const
	Number of threads currently known to Sofa. More...

	ExecParams ()

void	update ()
	Make sure this instance is up-to-date relative to the current thread. More...

ExecParams &	setExecMode (ExecMode v)
	Request a specific mode of execution. More...

ExecParams &	setThreadID (int v)
	Specify the index of the current thread. More...

Static Public Member Functions
static const ConstraintParams *	defaultInstance ()
	Get the default MechanicalParams, to be used to provide a default values for method parameters. More...

Static Public Member Functions inherited from sofa::core::ExecParams
static ExecParams *	defaultInstance ()
	Get the default ExecParams, to be used to provide a default values for method parameters. More...

Attribute details

◆ m_constOrder

ConstraintOrder sofa::core::ConstraintParams::m_constOrder

protected

Description of the order of the constraint.

◆ m_dx

MultiVecDerivId sofa::core::ConstraintParams::m_dx

protected

Ids of constraint correction vector.

◆ m_j

MultiMatrixDerivId sofa::core::ConstraintParams::m_j

protected

Ids of the constraint jacobian matrix.

◆ m_lambda

MultiVecDerivId sofa::core::ConstraintParams::m_lambda

protected

Ids of constraint lambda vector.

◆ m_smoothFactor

double sofa::core::ConstraintParams::m_smoothFactor

protected

Smooth contribution factor (for smooth constraints resolution)

◆ m_v

ConstMultiVecDerivId sofa::core::ConstraintParams::m_v

protected

Ids of velocity vector.

◆ m_x

ConstMultiVecCoordId sofa::core::ConstraintParams::m_x

protected

Ids of position vector.

Constructor details

◆ ConstraintParams()

sofa::core::ConstraintParams::ConstraintParams ( const sofa::core::ExecParams & p = *sofa::core::execparams::defaultInstance() )

Constructor, initializing all VecIds to default values, implicit and energy flags to false.

Function details

◆ constOrder()

ConstraintOrder sofa::core::ConstraintParams::constOrder ( ) const

inline

◆ defaultInstance()

const ConstraintParams * sofa::core::ConstraintParams::defaultInstance ( )

static

Get the default MechanicalParams, to be used to provide a default values for method parameters.

Get the default ConstraintParams, to be used to provide a default values for method parameters.

◆ dx() [1/2]

MultiVecDerivId& sofa::core::ConstraintParams::dx ( )

inline

Returns ids of the constraint correction vectors.

◆ dx() [2/2]

const MultiVecDerivId& sofa::core::ConstraintParams::dx ( ) const

inline

Returns ids of the constraint correction vectors.

◆ getName()

std::string_view sofa::core::ConstraintParams::getName ( ) const

inline

◆ j() [1/2]

MultiMatrixDerivId& sofa::core::ConstraintParams::j ( )

inline

Returns ids of the constraint jacobian matrices.

◆ j() [2/2]

const MultiMatrixDerivId& sofa::core::ConstraintParams::j ( ) const

inline

Returns ids of the constraint jacobian matrices.

◆ lambda() [1/2]

MultiVecDerivId& sofa::core::ConstraintParams::lambda ( )

inline

Returns ids of the constraint lambda vectors.

◆ lambda() [2/2]

const MultiVecDerivId& sofa::core::ConstraintParams::lambda ( ) const

inline

Returns ids of the constraint lambda vectors.

◆ readDx()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::ConstraintParams::readDx ( S * state ) const

inline

Read access to the constraint corrective motion vector.

◆ readJ()

template<class S >

const Data<typename S::MatrixDeriv>* sofa::core::ConstraintParams::readJ ( const S * state ) const

inline

Read access to the constraint jacobian matrix.

◆ readLambda()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::ConstraintParams::readLambda ( S * state ) const

inline

Read access to the constraint force vector.

◆ readV()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::ConstraintParams::readV ( const S * state ) const

inline

Read access to the free (unconstrained) velocity vector.

◆ readX()

template<class S >

const Data<typename S::VecCoord>* sofa::core::ConstraintParams::readX ( const S * state ) const

inline

Read access to the free (unconstrained) position vector.

◆ setDx() [1/3]

template<class StateSet >

ConstraintParams& sofa::core::ConstraintParams::setDx	(	const StateSet &	g,
		MultiVecDerivId	dx
	)

inline

◆ setDx() [2/3]

ConstraintParams& sofa::core::ConstraintParams::setDx ( MultiVecDerivId dx )

inline

◆ setDx() [3/3]

ConstraintParams& sofa::core::ConstraintParams::setDx ( VecDerivId dx )

inline

Set the IDs where to write corrective displacement vector.

◆ setExecParams()

ConstraintParams & sofa::core::ConstraintParams::setExecParams ( const core::ExecParams * params )

◆ setJ() [1/3]

template<class StateSet >

ConstraintParams& sofa::core::ConstraintParams::setJ	(	const StateSet &	g,
		MatrixDerivId	j
	)

inline

◆ setJ() [2/3]

ConstraintParams& sofa::core::ConstraintParams::setJ ( MatrixDerivId j )

inline

Set the IDs where to read the constraint jacobian matrix.

◆ setJ() [3/3]

ConstraintParams& sofa::core::ConstraintParams::setJ ( MultiMatrixDerivId j )

inline

◆ setLambda() [1/3]

template<class StateSet >

ConstraintParams& sofa::core::ConstraintParams::setLambda	(	const StateSet &	g,
		MultiVecDerivId	lambda
	)

inline

◆ setLambda() [2/3]

ConstraintParams& sofa::core::ConstraintParams::setLambda ( MultiVecDerivId lambda )

inline

◆ setLambda() [3/3]

ConstraintParams& sofa::core::ConstraintParams::setLambda ( VecDerivId lambda )

inline

Set the IDs where to write the constraint force vector.

◆ setOrder()

ConstraintParams& sofa::core::ConstraintParams::setOrder ( ConstraintOrder o )

inline

◆ setSmoothFactor()

ConstraintParams& sofa::core::ConstraintParams::setSmoothFactor ( double v )

inline

Set smooth contribution factor (for smooth constraints resolution)

◆ setV() [1/3]

template<class StateSet >

ConstraintParams& sofa::core::ConstraintParams::setV	(	const StateSet &	g,
		ConstVecDerivId	v
	)

inline

◆ setV() [2/3]

ConstraintParams& sofa::core::ConstraintParams::setV ( ConstMultiVecDerivId v )

inline

◆ setV() [3/3]

ConstraintParams& sofa::core::ConstraintParams::setV ( ConstVecDerivId v )

inline

Set the IDs where to read the free velocity vector.

◆ setX() [1/3]

template<class StateSet >

ConstraintParams& sofa::core::ConstraintParams::setX	(	const StateSet &	g,
		ConstVecCoordId	v
	)

inline

◆ setX() [2/3]

ConstraintParams& sofa::core::ConstraintParams::setX ( ConstMultiVecCoordId v )

inline

◆ setX() [3/3]

ConstraintParams& sofa::core::ConstraintParams::setX ( ConstVecCoordId v )

inline

Set the IDs where to read the free position vector.

◆ smoothFactor()

double sofa::core::ConstraintParams::smoothFactor ( ) const

inline

Smooth contribution factor (for smooth constraints resolution)

◆ v() [1/2]

ConstMultiVecDerivId& sofa::core::ConstraintParams::v ( )

inline

Returns ids of the velocity vectors.

◆ v() [2/2]

const ConstMultiVecDerivId& sofa::core::ConstraintParams::v ( ) const

inline

Returns ids of the velocity vectors.

◆ x() [1/2]

ConstMultiVecCoordId& sofa::core::ConstraintParams::x ( )

inline

Returns ids of the position vectors.

◆ x() [2/2]

const ConstMultiVecCoordId& sofa::core::ConstraintParams::x ( ) const

inline

Returns ids of the position vectors.

Detailed Description

Protected Attributes

Public Member Functions

Static Public Member Functions

Attribute details

◆ m_constOrder

◆ m_dx

◆ m_j

◆ m_lambda

◆ m_smoothFactor

◆ m_v

◆ m_x

Constructor details

◆ ConstraintParams()

Function details

◆ constOrder()

◆ defaultInstance()

◆ dx() [1/2]

◆ dx() [2/2]

◆ getName()

◆ j() [1/2]

◆ j() [2/2]

◆ lambda() [1/2]

◆ lambda() [2/2]

◆ readDx()

◆ readJ()

◆ readLambda()

◆ readV()

◆ readX()

◆ setDx() [1/3]

◆ setDx() [2/3]

◆ setDx() [3/3]

◆ setExecParams()

◆ setJ() [1/3]

◆ setJ() [2/3]

◆ setJ() [3/3]

◆ setLambda() [1/3]

◆ setLambda() [2/3]

◆ setLambda() [3/3]

◆ setOrder()

◆ setSmoothFactor()

◆ setV() [1/3]

◆ setV() [2/3]

◆ setV() [3/3]

◆ setX() [1/3]

◆ setX() [2/3]

◆ setX() [3/3]

◆ smoothFactor()

◆ v() [1/2]

◆ v() [2/2]

◆ x() [1/2]

◆ x() [2/2]