sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes > Class Template Reference

Component computing constraints between a pair of simulated body. More...

#include <PairInteractionConstraint.h>

Inheritance diagram for sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >:

Collaboration diagram for sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >:


Public Types
typedef TDataTypes	DataTypes
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::VecConst	VecConst
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef DataTypes::Real	Real
Public Member Functions
	PairInteractionConstraint (MechanicalState< DataTypes > mm1=NULL, MechanicalState< DataTypes > mm2=NULL)
virtual	~PairInteractionConstraint ()
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 > *	getMState1 ()
	Retrieve the associated MechanicalState.
BaseMechanicalState *	getMechModel1 ()
	Get the first MechanicalState.
MechanicalState< DataTypes > *	getMState2 ()
	Retrieve the associated MechanicalState.
BaseMechanicalState *	getMechModel2 ()
	Get the first MechanicalState.
virtual void	applyConstraint (unsigned int &contactId)
virtual void	applyConstraint (VecConst &, 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 &dx1, VecDeriv &dx2)=0
	Project dx to constrained space (dx models an acceleration).
virtual void	projectVelocity (VecDeriv &v1, VecDeriv &v2)=0
	Project v to constrained space (v models a velocity).
virtual void	projectPosition (VecCoord &x1, VecCoord &x2)=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.
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 PairInteractionConstraint< DataTypes > *=NULL)
Data Fields
Data< double >	endTime
	Time when the constraint becomes inactive (-1 for infinitely active).
Protected Attributes
Data< std::string >	object1
Data< std::string >	object2
MechanicalState< DataTypes > *	mstate1
MechanicalState< DataTypes > *	mstate2

Detailed Description

template<class TDataTypes>
class sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >

Component computing constraints between a pair of simulated body.

This class define the abstract API common to interaction constraints between a pair of bodies using a given type of DOFs.

Definition at line 52 of file PairInteractionConstraint.h.

Member Typedef Documentation

template<class TDataTypes >

typedef DataTypes::Coord sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::Coord

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >.

Definition at line 59 of file PairInteractionConstraint.h.

template<class TDataTypes >

typedef TDataTypes sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::DataTypes

Definition at line 55 of file PairInteractionConstraint.h.

template<class TDataTypes >

typedef DataTypes::Deriv sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::Deriv

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >.

Definition at line 60 of file PairInteractionConstraint.h.

template<class TDataTypes >

typedef DataTypes::Real sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::Real

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >.

Definition at line 61 of file PairInteractionConstraint.h.

template<class TDataTypes >

typedef DataTypes::VecConst sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::VecConst

Definition at line 58 of file PairInteractionConstraint.h.

template<class TDataTypes >

typedef DataTypes::VecCoord sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::VecCoord

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >.

Definition at line 56 of file PairInteractionConstraint.h.

template<class TDataTypes >

typedef DataTypes::VecDeriv sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::VecDeriv

Reimplemented in sofa::component::constraint::AttachConstraint< DataTypes >.

Definition at line 57 of file PairInteractionConstraint.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >::PairInteractionConstraint	(	MechanicalState< DataTypes > *	mm1 = `NULL`,
		MechanicalState< DataTypes > *	mm2 = `NULL`
	)			`[inline]`

Definition at line 46 of file PairInteractionConstraint.inl.

template<class DataTypes >

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

Definition at line 55 of file PairInteractionConstraint.inl.

Member Function Documentation

template<class TDataTypes >

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

Definition at line 140 of file PairInteractionConstraint.h.

template<class DataTypes >

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

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

Definition at line 117 of file PairInteractionConstraint.inl.

template<class TDataTypes >

template<class T >

static bool sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::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 145 of file PairInteractionConstraint.h.

Referenced by sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >::canCreate().

template<class TDataTypes >

template<class T >

static void sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::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 164 of file PairInteractionConstraint.h.

Referenced by sofa::core::componentmodel::behavior::PairInteractionConstraint< DataTypes >::create().

template<class TDataTypes >

BaseMechanicalState* sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::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 74 of file PairInteractionConstraint.h.

template<class TDataTypes >

BaseMechanicalState* sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::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 77 of file PairInteractionConstraint.h.

template<class TDataTypes >

MechanicalState<DataTypes>* sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::getMState1 ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 73 of file PairInteractionConstraint.h.

template<class TDataTypes >

MechanicalState<DataTypes>* sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::getMState2 ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 76 of file PairInteractionConstraint.h.

template<class TDataTypes >

virtual std::string sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::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 180 of file PairInteractionConstraint.h.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionConstraint< 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::AttachConstraint< DataTypes >.

Definition at line 60 of file PairInteractionConstraint.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate1, and sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate2.

template<class DataTypes >

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

if false, the constraint does nothing

Definition at line 70 of file PairInteractionConstraint.inl.

Referenced by sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectFreePosition(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectPosition(), and sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectResponse().

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionConstraint< 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&,VecCoord&) method implemented by the component.

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

Definition at line 109 of file PairInteractionConstraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getXfree(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::isActive(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate1, sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate2, and sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectPosition().

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionConstraint< 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&,VecDeriv&) method implemented by the component.

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

Definition at line 101 of file PairInteractionConstraint.inl.

template<class TDataTypes >

virtual void sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectPosition	(	VecCoord &	x1,
		VecCoord &	x2
	)			`[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::AttachConstraint< DataTypes >.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionConstraint< 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&,VecCoord&) method implemented by the component.

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

Definition at line 93 of file PairInteractionConstraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::isActive(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate1, and sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate2.

Referenced by sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectFreePosition().

template<class TDataTypes >

virtual void sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectResponse	(	VecDeriv &	dx1,
		VecDeriv &	dx2
	)			`[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::AttachConstraint< DataTypes >.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionConstraint< 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&,VecDeriv&) method implemented by the component.

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

Definition at line 77 of file PairInteractionConstraint.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::isActive(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate1, and sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::mstate2.

template<class TDataTypes >

virtual void sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectVelocity	(	VecDeriv &	v1,
		VecDeriv &	v2
	)			`[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::AttachConstraint< DataTypes >.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionConstraint< 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&,VecDeriv&) method implemented by the component.

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

Definition at line 85 of file PairInteractionConstraint.inl.

template<class TDataTypes >

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