sofa::component::constraint::UnilateralInteractionConstraint< DataTypes > Class Template Reference

#include <UnilateralInteractionConstraint.h>

Inheritance diagram for sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >:

Collaboration diagram for sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >:


Data Structures
struct	Contact
Public Types
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::VecConst	VecConst
typedef DataTypes::SparseVecDeriv	SparseVecDeriv
typedef DataTypes::SparseDeriv	SparseDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
typedef core::componentmodel::behavior::MechanicalState < DataTypes >	MechanicalState
Public Member Functions
	UnilateralInteractionConstraint (MechanicalState object1, MechanicalState object2)
	UnilateralInteractionConstraint (MechanicalState *object)
	UnilateralInteractionConstraint ()
virtual	~UnilateralInteractionConstraint ()
MechanicalState *	getObject1 ()
MechanicalState *	getObject2 ()
core::componentmodel::behavior::BaseMechanicalState *	getMechModel1 ()
	Get the first MechanicalState.
core::componentmodel::behavior::BaseMechanicalState *	getMechModel2 ()
	Get the first MechanicalState.
void	clear (int reserve=0)
virtual void	applyConstraint (unsigned int &, double &)
virtual void	addContact (double mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree=Coord(), Coord Qfree=Coord(), long id=0)
virtual void	getConstraintValue (defaulttype::BaseVector *)
virtual void	getConstraintValue (double *)
virtual void	getConstraintId (long *id, unsigned int &offset)
virtual void	projectResponse ()
	Project dx to constrained space (dx models an acceleration).
virtual void	projectVelocity ()
	Project v to constrained space (v models a velocity).
virtual void	projectPosition ()
	Project x to constrained space (x models a position).
virtual void	projectFreeVelocity ()
	Project vFree to constrained space (vFree models a velocity).
virtual void	projectFreePosition ()
	Project xFree to constrained space (xFree models a position).
virtual std::string	getTemplateName () const
	Get the template type names (if any) used to instantiate this object.
void	draw ()
	Render internal data of this object, for debugging purposes.
bool	isHolonomic ()
	this constraint is NOT holonomic
Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)
	Pre-construction check method called by ObjectFactory.
template<class T >
static void	create (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)
	Construction method called by ObjectFactory.
static std::string	templateName (const UnilateralInteractionConstraint< DataTypes > *=NULL)
Data Fields
unsigned int	constraintId
Protected Attributes
MechanicalState *	object1
MechanicalState *	object2
sofa::helper::vector< Contact >	contacts
Real	epsilon
bool	yetIntegrated

Detailed Description

template<class DataTypes>
class sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >

Definition at line 18 of file UnilateralInteractionConstraint.h.

Member Typedef Documentation

template<class DataTypes >

typedef DataTypes::Coord sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Coord

Definition at line 26 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef DataTypes::Deriv sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Deriv

Definition at line 27 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef core::componentmodel::behavior::MechanicalState<DataTypes> sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::MechanicalState

Definition at line 29 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef Coord::value_type sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Real

Definition at line 28 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef DataTypes::SparseDeriv sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::SparseDeriv

Definition at line 25 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef DataTypes::SparseVecDeriv sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::SparseVecDeriv

Definition at line 24 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef DataTypes::VecConst sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::VecConst

Definition at line 23 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef DataTypes::VecCoord sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::VecCoord

Definition at line 21 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

typedef DataTypes::VecDeriv sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::VecDeriv

Definition at line 22 of file UnilateralInteractionConstraint.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::UnilateralInteractionConstraint	(	MechanicalState *	object1,
		MechanicalState *	object2
	)			`[inline]`

Definition at line 63 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::UnilateralInteractionConstraint ( MechanicalState * object ) [inline]

Definition at line 68 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::UnilateralInteractionConstraint ( ) [inline]

Definition at line 73 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::~UnilateralInteractionConstraint ( ) [inline, virtual]

Definition at line 78 of file UnilateralInteractionConstraint.h.

Member Function Documentation

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::addContact	(	double	mu,
		Deriv	norm,
		Coord	P,
		Coord	Q,
		Real	contactDistance,
		int	m1,
		int	m2,
		Coord	Pfree = `Coord()`,
		Coord	Qfree = `Coord()`,
		long	id = `0`
	)			`[inline, virtual]`

Definition at line 17 of file UnilateralInteractionConstraint.inl.

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::applyConstraint	(	unsigned int &	contactId,
		double &	mu
	)			`[inline, virtual]`

Reimplemented from sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 88 of file UnilateralInteractionConstraint.inl.

template<class DataTypes >

template<class T >

static bool sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::canCreate	(	T *&	obj,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)			`[inline, static]`

Pre-construction check method called by ObjectFactory.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 111 of file UnilateralInteractionConstraint.h.

Referenced by sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >::canCreate().

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::clear ( int reserve = 0 ) [inline]

Definition at line 87 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

template<class T >

static void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::create	(	T *&	obj,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)			`[inline, static]`

Construction method called by ObjectFactory.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 130 of file UnilateralInteractionConstraint.h.

Referenced by sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >::create().

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::draw ( ) [inline, virtual]

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 192 of file UnilateralInteractionConstraint.inl.

References sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::contacts, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree, sofa::core::objectmodel::BaseObject::getContext(), sofa::helper::gl::glVertexT(), sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::norm, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::P, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::Pfree, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::Q, and sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::Qfree.

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getConstraintId	(	long *	id,
		unsigned int &	offset
	)			`[inline, virtual]`

Reimplemented from sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 168 of file UnilateralInteractionConstraint.inl.

References sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::contactId, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::contacts, and sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::yetIntegrated.

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getConstraintValue ( double * v ) [inline, virtual]

Reimplemented from sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 153 of file UnilateralInteractionConstraint.inl.

References sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::contacts, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree_s, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree_t, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::id, and sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::mu.

template<class DataTypes >

void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getConstraintValue ( defaulttype::BaseVector * v ) [inline, virtual]

Reimplemented from sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 138 of file UnilateralInteractionConstraint.inl.

References sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::contacts, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree_s, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::dfree_t, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::id, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::Contact::mu, and sofa::defaulttype::BaseVector::set().

template<class DataTypes >

core::componentmodel::behavior::BaseMechanicalState* sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getMechModel1 ( ) [inline, virtual]

Get the first MechanicalState.

Todo:: Rename to getMechState1()

Todo:: Replace with an accessor to a list of states, as an InteractionConstraint can be applied to more than two.

Implements sofa::core::componentmodel::behavior::InteractionConstraint.

Definition at line 84 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

core::componentmodel::behavior::BaseMechanicalState* sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getMechModel2 ( ) [inline, virtual]

Get the first MechanicalState.

Todo:: Rename to getMechState2()

Todo:: Replace with an accessor to a list of states, as an InteractionConstraint can be applied to more than two.

Implements sofa::core::componentmodel::behavior::InteractionConstraint.

Definition at line 85 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

MechanicalState* sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getObject1 ( ) [inline]

Definition at line 82 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

MechanicalState* sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getObject2 ( ) [inline]

Definition at line 83 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual std::string sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::getTemplateName ( ) const [inline, virtual]

Get the template type names (if any) used to instantiate this object.

Reimplemented from sofa::core::objectmodel::Base.

Definition at line 146 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

bool sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::isHolonomic ( ) [inline, virtual]

this constraint is NOT holonomic

Reimplemented from sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 158 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::projectFreePosition ( ) [inline, virtual]

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

Implements sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 107 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::projectFreeVelocity ( ) [inline, virtual]

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

Implements sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 106 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::projectPosition ( ) [inline, virtual]

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

Implements sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 105 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::projectResponse ( ) [inline, virtual]

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

Implements sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 103 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

virtual void sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::projectVelocity ( ) [inline, virtual]

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

Implements sofa::core::componentmodel::behavior::BaseConstraint.

Definition at line 104 of file UnilateralInteractionConstraint.h.

template<class DataTypes >

static std::string sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::templateName ( const UnilateralInteractionConstraint< DataTypes > * = NULL ) [inline, static]