#include <ConstraintParams.h>

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... | |
| SReal | 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) | 
| SReal | 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 (SReal 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... | |
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Description of the order of the constraint.
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Ids of constraint correction vector.
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Ids of the constraint jacobian matrix.
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Ids of constraint lambda vector.
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Smooth contribution factor (for smooth constraints resolution)
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Ids of velocity vector.
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Ids of position vector.
| 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.
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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.
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Returns ids of the constraint correction vectors.
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Returns ids of the constraint correction vectors.
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Returns ids of the constraint jacobian matrices.
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Returns ids of the constraint jacobian matrices.
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Returns ids of the constraint lambda vectors.
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Returns ids of the constraint lambda vectors.
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Read access to the constraint corrective motion vector.
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Read access to the constraint jacobian matrix.
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Read access to the constraint force vector.
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Read access to the free (unconstrained) velocity vector.
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Read access to the free (unconstrained) position vector.
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Set the IDs where to write corrective displacement vector.
| ConstraintParams & sofa::core::ConstraintParams::setExecParams | ( | const core::ExecParams * | params | ) | 
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Set the IDs where to read the constraint jacobian matrix.
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Set the IDs where to write the constraint force vector.
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Set smooth contribution factor (for smooth constraints resolution)
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Set the IDs where to read the free velocity vector.
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Set the IDs where to read the free position vector.
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Smooth contribution factor (for smooth constraints resolution)
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Returns ids of the velocity vectors.
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Returns ids of the velocity vectors.
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Returns ids of the position vectors.
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Returns ids of the position vectors.