sofa::core::componentmodel::behavior::Constraint< DataTypes > Class Template Reference

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

#include <Constraint.h>

Inheritance diagram for sofa::core::componentmodel::behavior::Constraint< DataTypes >:

Collaboration diagram for sofa::core::componentmodel::behavior::Constraint< DataTypes >:


Public Types
typedef DataTypes::Real	Real
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef DataTypes::VecConst	VecConst
Public Member Functions
	Constraint (MechanicalState< DataTypes > *mm=NULL)
virtual	~Constraint ()
virtual bool	isActive () const
	if false, the constraint does nothing
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
MechanicalState< DataTypes > *	getMState ()
	Retrieve the associated MechanicalState.
virtual void	applyConstraint (unsigned int &contactId)
virtual void	applyConstraint (VecConst &, unsigned int &)
virtual std::string	getTemplateName () const
	Get the template type names (if any) used to instantiate this object.
Vector operations
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 void	projectResponse (VecDeriv &dx)=0
	Project dx to constrained space (dx models an acceleration).
virtual void	projectVelocity (VecDeriv &v)=0
	Project v to constrained space (v models a velocity).
virtual void	projectPosition (VecCoord &x)=0
	Project x to constrained space (x models a position).
Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)
	Pre-construction check method called by ObjectFactory.
static std::string	templateName (const Constraint< DataTypes > *=NULL)
Data Fields
Data< Real >	endTime
	Time when the constraint becomes inactive (-1 for infinitely active).
Protected Attributes
MechanicalState< DataTypes > *	mstate

Detailed Description

template<class DataTypes>
class sofa::core::componentmodel::behavior::Constraint< DataTypes >

Component computing constraints within a simulated body.

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

Definition at line 55 of file Constraint.h.

Member Typedef Documentation

template<class DataTypes >

typedef DataTypes::Coord sofa::core::componentmodel::behavior::Constraint< DataTypes >::Coord

Reimplemented in sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, and sofa::filemanager::pml::LMLConstraint< DataTypes >.

Definition at line 61 of file Constraint.h.

template<class DataTypes >

typedef DataTypes::Deriv sofa::core::componentmodel::behavior::Constraint< DataTypes >::Deriv

Reimplemented in sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, and sofa::filemanager::pml::LMLConstraint< DataTypes >.

Definition at line 62 of file Constraint.h.

template<class DataTypes >

typedef DataTypes::Real sofa::core::componentmodel::behavior::Constraint< DataTypes >::Real

Reimplemented in sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, and sofa::component::ParticleSource< TDataTypes >.

Definition at line 58 of file Constraint.h.

template<class DataTypes >

typedef DataTypes::VecConst sofa::core::componentmodel::behavior::Constraint< DataTypes >::VecConst

Definition at line 63 of file Constraint.h.

template<class DataTypes >

typedef DataTypes::VecCoord sofa::core::componentmodel::behavior::Constraint< DataTypes >::VecCoord

Reimplemented in sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, and sofa::filemanager::pml::LMLConstraint< DataTypes >.

Definition at line 59 of file Constraint.h.

template<class DataTypes >

typedef DataTypes::VecDeriv sofa::core::componentmodel::behavior::Constraint< DataTypes >::VecDeriv

Reimplemented in sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, and sofa::filemanager::pml::LMLConstraint< DataTypes >.

Definition at line 60 of file Constraint.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::core::componentmodel::behavior::Constraint< DataTypes >::Constraint ( MechanicalState< DataTypes > * mm = NULL ) [inline]

Definition at line 45 of file Constraint.inl.

template<class DataTypes >

sofa::core::componentmodel::behavior::Constraint< DataTypes >::~Constraint ( ) [inline, virtual]

Definition at line 52 of file Constraint.inl.

Member Function Documentation

template<class DataTypes >

virtual void sofa::core::componentmodel::behavior::Constraint< DataTypes >::applyConstraint	(	VecConst &	,
		unsigned int &
	)			`[inline, virtual]`

Definition at line 138 of file Constraint.h.

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::applyConstraint ( unsigned int & contactId ) [inline, virtual]

Todo:: What is the difference with BaseConstraint::applyConstraint(unsigned int&, double&) ?

Definition at line 111 of file Constraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate.

template<class DataTypes >

template<class T >

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

Pre-construction check method called by ObjectFactory.

Check that DataTypes matches the MechanicalState.

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

Definition at line 143 of file Constraint.h.

Referenced by sofa::core::componentmodel::behavior::Constraint< TDataTypes >::canCreate().

template<class DataTypes >

MechanicalState<DataTypes>* sofa::core::componentmodel::behavior::Constraint< DataTypes >::getMState ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 75 of file Constraint.h.

Referenced by sofa::component::constraint::LinearMovementConstraint< DataTypes >::handleTopologyChange(), sofa::component::constraint::FixedPlaneConstraint< DataTypes >::handleTopologyChange(), and sofa::component::constraint::FixedConstraint< DataTypes >::handleTopologyChange().

template<class DataTypes >

virtual std::string sofa::core::componentmodel::behavior::Constraint< 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 150 of file Constraint.h.

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::init ( ) [inline, virtual]

Initialization method called at graph modification, during bottom-up traversal.

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

Reimplemented in sofa::component::constraint::BoxConstraint< DataTypes >, sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, and sofa::component::ParticleSource< TDataTypes >.

Definition at line 64 of file Constraint.inl.

References sofa::core::objectmodel::BaseObject::getContext(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate.

template<class DataTypes >

bool sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive ( ) const [inline, virtual]

if false, the constraint does nothing

Definition at line 57 of file Constraint.inl.

References sofa::core::componentmodel::behavior::Constraint< DataTypes >::endTime, and sofa::core::objectmodel::BaseObject::getContext().

Referenced by sofa::core::componentmodel::behavior::Constraint< DataTypes >::applyConstraint(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreePosition(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreeVelocity(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectPosition(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectResponse(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectVelocity().

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreePosition ( ) [inline, virtual]

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

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

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

Definition at line 103 of file Constraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getXfree(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate, and sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectPosition().

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreeVelocity ( ) [inline, virtual]

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

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

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

Definition at line 95 of file Constraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVfree(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate, and sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectVelocity().

template<class DataTypes >

virtual void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectPosition ( VecCoord & 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 Constraint::projectPosition() method.

Implemented in sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, sofa::filemanager::pml::LMLConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, and sofa::component::constraint::ParabolicConstraint< DataTypes >.

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectPosition ( ) [inline, virtual]

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

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

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

Definition at line 87 of file Constraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate.

Referenced by sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreePosition().

template<class DataTypes >

virtual void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectResponse ( VecDeriv & 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 Constraint::projectResponse() method.

Implemented in sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, and sofa::filemanager::pml::LMLConstraint< DataTypes >.

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectResponse ( ) [inline, virtual]

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

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

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

Definition at line 71 of file Constraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate.

template<class DataTypes >

virtual void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectVelocity ( VecDeriv & 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 Constraint::projectVelocity() method.

Implemented in sofa::component::constraint::FixedConstraint< DataTypes >, sofa::component::constraint::FixedPlaneConstraint< DataTypes >, sofa::component::constraint::LinearMovementConstraint< DataTypes >, sofa::component::constraint::OscillatorConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, sofa::component::ParticleSink< TDataTypes >, sofa::component::ParticleSource< TDataTypes >, sofa::filemanager::pml::LMLConstraint< DataTypes >, sofa::component::constraint::ParabolicConstraint< DataTypes >, and sofa::component::constraint::ParabolicConstraint< DataTypes >.

template<class DataTypes >

void sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectVelocity ( ) [inline, virtual]

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

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

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

Definition at line 79 of file Constraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::isActive(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::mstate.

Referenced by sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreeVelocity().

template<class DataTypes >

static std::string sofa::core::componentmodel::behavior::Constraint< DataTypes >::templateName ( const Constraint< DataTypes > * = NULL ) [inline, static]