sofa::core::componentmodel::behavior::BaseConstraint Class Reference

The classes applyConstraint, getConstraintValue && getConstraintId need to be commented More...

#include <BaseConstraint.h>

Inheritance diagram for sofa::core::componentmodel::behavior::BaseConstraint:

Collaboration diagram for sofa::core::componentmodel::behavior::BaseConstraint:


Public Member Functions
virtual	~BaseConstraint ()
virtual void	applyConstraint (unsigned int &, double &)
virtual void	applyConstraint (defaulttype::BaseMatrix *, unsigned int &)
	Project the global Mechanical Matrix to constrained space using offset parameter.
virtual void	applyConstraint (defaulttype::BaseVector *, unsigned int &)
	Project the global Mechanical Vector to constrained space using offset parameter.
virtual void	getConstraintValue (defaulttype::BaseVector *)
virtual void	getConstraintValue (double *)
virtual void	getConstraintId (long *, unsigned int &)
virtual bool	isHolonomic ()
	says if the constraint is holonomic or not holonomic constraints can be processed using different methods such as : projection - reducing the degrees of freedom - simple lagrange multiplier process Non-holonomic constraints (like contact, friction.
Vector operations
virtual void	projectResponse ()=0
	Project dx to constrained space (dx models an acceleration).
virtual void	projectVelocity ()=0
	Project v to constrained space (v models a velocity).
virtual void	projectPosition ()=0
	Project x to constrained space (x models a position).
virtual void	projectFreeVelocity ()=0
	Project vFree to constrained space (vFree models a velocity).
virtual void	projectFreePosition ()=0
	Project xFree to constrained space (xFree models a position).
Matrix operations
virtual void	projectResponse (double **)
	Project the compliance Matrix to constrained space.

Detailed Description

The classes applyConstraint, getConstraintValue && getConstraintId need to be commented

Component computing constraints within a simulated body.

This class define the abstract API common to all constraints. A BaseConstraint computes constraints applied to one or more simulated body given its current position and velocity.

Constraints can be internal to a given body (attached to one MechanicalState, see the Constraint class), or link several bodies together (such as contacts, see the InteractionConstraint class).

Definition at line 63 of file BaseConstraint.h.

Constructor & Destructor Documentation

virtual sofa::core::componentmodel::behavior::BaseConstraint::~BaseConstraint ( ) [inline, virtual]

Definition at line 66 of file BaseConstraint.h.

Member Function Documentation

void sofa::core::componentmodel::behavior::BaseConstraint::applyConstraint	(	defaulttype::BaseVector *	,
		unsigned int &
	)			`[virtual]`

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

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >, and sofa::component::constraint::FixedConstraint< DataTypes >.

Definition at line 53 of file BaseConstraint.cpp.

void sofa::core::componentmodel::behavior::BaseConstraint::applyConstraint	(	defaulttype::BaseMatrix *	,
		unsigned int &
	)			`[virtual]`

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

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >, and sofa::component::constraint::FixedConstraint< DataTypes >.

Definition at line 49 of file BaseConstraint.cpp.

void sofa::core::componentmodel::behavior::BaseConstraint::applyConstraint	(	unsigned int &	,
		double &
	)			`[virtual]`

Reimplemented in sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Definition at line 45 of file BaseConstraint.cpp.

Referenced by sofa::simulation::MechanicalAccumulateConstraint::fwdConstraint(), and sofa::simulation::MechanicalAddMBK_ToMatrixVisitor::fwdConstraint().

virtual void sofa::core::componentmodel::behavior::BaseConstraint::getConstraintId	(	long *	,
		unsigned int &
	)			`[inline, virtual]`

Reimplemented in sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Definition at line 106 of file BaseConstraint.h.

Referenced by sofa::component::odesolver::MechanicalGetContactIDVisitor::fwdConstraint().

virtual void sofa::core::componentmodel::behavior::BaseConstraint::getConstraintValue ( double * ) [inline, virtual]

Reimplemented in sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Definition at line 105 of file BaseConstraint.h.

virtual void sofa::core::componentmodel::behavior::BaseConstraint::getConstraintValue ( defaulttype::BaseVector * ) [inline, virtual]

Reimplemented in sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Definition at line 104 of file BaseConstraint.h.

Referenced by sofa::component::odesolver::MechanicalGetConstraintValueVisitor::fwdConstraint().

virtual bool sofa::core::componentmodel::behavior::BaseConstraint::isHolonomic ( ) [inline, virtual]

says if the constraint is holonomic or not holonomic constraints can be processed using different methods such as : projection - reducing the degrees of freedom - simple lagrange multiplier process Non-holonomic constraints (like contact, friction.

..) need more specific treatments

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >, sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Definition at line 113 of file BaseConstraint.h.

virtual void sofa::core::componentmodel::behavior::BaseConstraint::projectFreePosition ( ) [pure virtual]

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

Implemented in sofa::core::componentmodel::behavior::Constraint< DataTypes >, sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >, sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, sofa::core::componentmodel::behavior::Constraint< TDataTypes >, sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Referenced by sofa::simulation::MechanicalPropagateFreePositionVisitor::fwdConstraint().

virtual void sofa::core::componentmodel::behavior::BaseConstraint::projectFreeVelocity ( ) [pure virtual]

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

Implemented in sofa::core::componentmodel::behavior::Constraint< DataTypes >, sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >, sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, sofa::core::componentmodel::behavior::Constraint< TDataTypes >, sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Referenced by sofa::simulation::MechanicalPropagateFreePositionVisitor::fwdConstraint().

virtual void sofa::core::componentmodel::behavior::BaseConstraint::projectPosition ( ) [pure virtual]

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

Implemented in sofa::core::componentmodel::behavior::Constraint< DataTypes >, sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >, sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, sofa::core::componentmodel::behavior::Constraint< TDataTypes >, sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Referenced by sofa::simulation::MechanicalPropagatePositionAndVelocityVisitor::fwdConstraint().

void sofa::core::componentmodel::behavior::BaseConstraint::projectResponse ( double ** ) [virtual]

Project the compliance Matrix to constrained space.

Definition at line 41 of file BaseConstraint.cpp.

virtual void sofa::core::componentmodel::behavior::BaseConstraint::projectResponse ( ) [pure virtual]

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

Implemented in sofa::core::componentmodel::behavior::Constraint< DataTypes >, sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >, sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, sofa::core::componentmodel::behavior::Constraint< TDataTypes >, sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Referenced by sofa::simulation::MechanicalApplyConstraintsVisitor::bwdConstraint().

virtual void sofa::core::componentmodel::behavior::BaseConstraint::projectVelocity ( ) [pure virtual]

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

Implemented in sofa::core::componentmodel::behavior::Constraint< DataTypes >, sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >, sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >, sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >, sofa::core::componentmodel::behavior::Constraint< TDataTypes >, sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >, and sofa::component::constraint::UnilateralInteractionConstraint< sofa::defaulttype::StdVectorTypes >.

Referenced by sofa::simulation::MechanicalPropagatePositionAndVelocityVisitor::fwdConstraint().

The documentation for this class was generated from the following files:

framework/sofa/core/componentmodel/behavior/BaseConstraint.h
framework/sofa/core/componentmodel/behavior/BaseConstraint.cpp

sofa::core::componentmodel::behavior::BaseConstraint Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation