#include <ProjectiveConstraintSet.h>
Component computing constraints within a simulated body. More...

Component computing constraints within a simulated body.
This class define the abstract API common to constraints using a given type of DOFs. A ProjectiveConstraintSet computes constraints applied to one simulated body given its current position and velocity.
Public Attributes | |
| Data< Real > | endTime |
| The constraint stops acting after the given value. Use a negative value for infinite constraints. More... | |
Public Attributes inherited from sofa::core::objectmodel::BaseObject | |
| Data< bool > | f_listening |
| if true, handle the events, otherwise ignore the events More... | |
Public Attributes inherited from sofa::core::objectmodel::Base | |
| std::vector< lifecycle::DeprecatedData * > | m_oldAttributes |
| Data< int > | d_messageLogCount |
| Data< std::string > | name |
| Name of the object. More... | |
| Data< bool > | f_printLog |
| if true, emits extra messages at runtime. More... | |
| Data< sofa::core::objectmodel::TagSet > | f_tags |
| list of the subsets the object belongs to More... | |
| Data< sofa::type::BoundingBox > | f_bbox |
| this object bounding box More... | |
| Data< sofa::core::objectmodel::ComponentState > | d_componentState |
| The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More... | |
| std::string | m_definitionSourceFileName {""} |
| int | m_definitionSourceFilePos {-1} |
| std::string | m_instanciationSourceFileName {""} |
| int | m_instanciationSourceFilePos {-1} |
Public Member Functions | |
| SOFA_CLASS2 (SOFA_TEMPLATE(ProjectiveConstraintSet, DataTypes), BaseProjectiveConstraintSet, SOFA_TEMPLATE(SingleStateAccessor, DataTypes)) | |
| virtual bool | isActive () const |
| if false, the constraint does nothing More... | |
| virtual type::vector< core::BaseState * > | getModels () override |
| Return the lists of models this constraint applies to. More... | |
| void | applyConstraint (const MechanicalParams *, const sofa::core::behavior::MultiMatrixAccessor *) override |
| Project the global Mechanical Matrix to constrained space using offset parameter. More... | |
| void | applyConstraint (const MechanicalParams *, linearalgebra::BaseVector *, const sofa::core::behavior::MultiMatrixAccessor *) override |
| Project the global Mechanical Vector to constrained space using offset parameter. More... | |
| virtual void | projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId)=0 |
| virtual void | projectResponse (const MechanicalParams *, double **) |
| Project the compliance Matrix to constrained space. More... | |
Vector operations | |
| void | projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId) override |
| void | projectJacobianMatrix (const MechanicalParams *mparams, MultiMatrixDerivId cId) override |
| void | projectVelocity (const MechanicalParams *mparams, MultiVecDerivId vId) override |
| void | projectPosition (const MechanicalParams *mparams, MultiVecCoordId xId) override |
| virtual void | projectResponse (const MechanicalParams *mparams, DataVecDeriv &dx)=0 |
| virtual void | projectVelocity (const MechanicalParams *mparams, DataVecDeriv &v)=0 |
| virtual void | projectPosition (const MechanicalParams *mparams, DataVecCoord &x)=0 |
| virtual void | projectJacobianMatrix (const MechanicalParams *, DataMatrixDeriv &cData)=0 |
Public Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet | |
| SOFA_ABSTRACT_CLASS (BaseProjectiveConstraintSet, objectmodel::BaseObject) | |
| int | getGroup () const |
| void | setGroup (int g) |
| bool | insertInNode (objectmodel::BaseNode *node) override |
| bool | removeInNode (objectmodel::BaseNode *node) override |
| virtual void | projectResponse (const MechanicalParams *, double **) |
| Project the compliance Matrix to constrained space. More... | |
| virtual void | projectMatrix (sofa::linearalgebra::BaseMatrix *, unsigned) |
| virtual void | applyConstraint (sofa::core::behavior::ZeroDirichletCondition *) |
Public Member Functions inherited from sofa::core::behavior::StateAccessor | |
| SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject) | |
| virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & | getMechanicalStates () const |
| Return a list of mechanical states to which this component is associated. More... | |
| void | computeBBox (const core::ExecParams *params, bool onlyVisible=false) override |
Public Member Functions inherited from sofa::core::objectmodel::BaseObject | |
| SOFA_CLASS (BaseObject, Base) | |
| virtual void | draw (const core::visual::VisualParams *) |
| Render internal data of this object, for debugging purposes. More... | |
| void | setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr) |
| Sets a source Object and parses it to collect dependent Data. More... | |
| void | setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr) |
| Base * | findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override |
| virtual std::string | getPathName () const override |
| Return the full path name of this object. More... | |
| SReal | getTime () const |
| Current time. More... | |
| const BaseContext * | getContext () const |
| BaseContext * | getContext () |
| const BaseObject * | getMaster () const |
| BaseObject * | getMaster () |
| const VecSlaves & | getSlaves () const |
| BaseObject * | getSlave (const std::string &name) const |
| virtual void | addSlave (BaseObject::SPtr s) |
| virtual void | removeSlave (BaseObject::SPtr s) |
| virtual void | handleEvent (Event *) |
| Handle an event. More... | |
| virtual void | handleTopologyChange () |
| virtual void | handleTopologyChange (core::topology::Topology *t) |
| void | parse (BaseObjectDescription *arg) override |
| Parse the given description to assign values to this object's fields and potentially other parameters. More... | |
| virtual void | bwdInit () |
| Initialization method called at graph creation and modification, during bottom-up traversal. More... | |
| virtual void | reinit () |
| Update method called when variables used in precomputation are modified. More... | |
| void | updateInternal () |
| Update method called when variables (used to compute other internal variables) are modified. More... | |
| virtual void | storeResetState () |
| Save the initial state for later uses in reset() More... | |
| virtual void | reset () |
| Reset to initial state. More... | |
| virtual void | cleanup () |
Public Member Functions inherited from sofa::core::objectmodel::Base | |
| virtual const BaseClass * | getClass () const |
| void | addDeprecatedAttribute (lifecycle::DeprecatedData *attribute) |
| void | addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs) |
| void | addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs) |
| const std::string & | getName () const |
| Accessor to the object name. More... | |
| void | setName (const std::string &n) |
| Set the name of this object. More... | |
| void | setName (const std::string &n, int counter) |
| Set the name of this object, adding an integer counter. More... | |
| std::string | getTypeName () const |
| Get the type name of this object (i.e. class and template types) More... | |
| virtual std::string | getClassName () const |
| Get the class name of this object. More... | |
| virtual std::string | getTemplateName () const final |
| Get the template type names (if any) used to instantiate this object. More... | |
| std::string | getNameSpaceName () const |
| Get the template type names (if any) used to instantiate this object. More... | |
| void | setDefinitionSourceFileName (const std::string &sourceFileName) |
| Set the source filename (where the component is implemented) More... | |
| const std::string & | getDefinitionSourceFileName () const |
| Get the source filename (where the component is implemented) More... | |
| void | setDefinitionSourceFilePos (const int) |
| Set the source location (where the component is implemented) More... | |
| int | getDefinitionSourceFilePos () const |
| Get the source location (where the component is implemented) More... | |
| void | setInstanciationSourceFileName (const std::string &sourceFileName) |
| const std::string & | getInstanciationSourceFileName () const |
| void | setInstanciationSourceFilePos (const int) |
| int | getInstanciationSourceFilePos () const |
| void | addMessage (const sofa::helper::logging::Message &m) const |
| size_t | countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
| const std::deque< sofa::helper::logging::Message > & | getLoggedMessages () const |
| const std::string | getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
| void | clearLoggedMessages () const |
| bool | notMuted () const |
| const sofa::core::objectmodel::TagSet & | getTags () const |
| Represents the subsets the object belongs to. More... | |
| bool | hasTag (Tag t) const |
| Return true if the object belong to the given subset. More... | |
| void | addTag (Tag t) |
| Add a subset qualification to the object. More... | |
| void | removeTag (Tag t) |
| Remove a subset qualification to the object. More... | |
| ComponentState | getComponentState () const |
| bool | isComponentStateValid () const |
| bool | isComponentStateInvalid () const |
| SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior | |
| virtual bool | parseField (const std::string &attribute, const std::string &value) |
| Assign one field value (Data or Link) More... | |
| virtual bool | hasField (const std::string &attribute) const |
| Check if a given Data field or Link exists. More... | |
| void | parseFields (const std::list< std::string > &str) |
| Assign the field values stored in the given list of name + value pairs of strings. More... | |
| virtual void | parseFields (const std::map< std::string, std::string * > &str) |
| Assign the field values stored in the given map of name -> value pairs. More... | |
| void | writeDatas (std::map< std::string, std::string * > &str)=delete |
| Write the current field values to the given map of name -> value pairs. More... | |
| void | writeDatas (std::ostream &out, const std::string &separator=" ") |
| BaseData * | findData (const std::string &name) const |
| std::vector< BaseData * > | findGlobalField (const std::string &name) const |
| Find data fields given a name: several can be found as we look into the alias map. More... | |
| BaseLink * | findLink (const std::string &name) const |
| std::vector< BaseLink * > | findLinks (const std::string &name) const |
| Find link fields given a name: several can be found as we look into the alias map. More... | |
| virtual void | updateLinks (bool logErrors=true) |
| Update pointers in case the pointed-to objects have appeared. More... | |
| template<class T > | |
| BaseData::BaseInitData | initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags) |
| Helper method used to initialize a data field containing a value of type T. More... | |
| template<class T > | |
| BaseData::BaseInitData | initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used to initialize a data field containing a value of type T. More... | |
| template<class T > | |
| Data< T >::InitData | initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used to initialize a data field containing a value of type T. More... | |
| void | addData (BaseData *f, const std::string &name) |
| void | addData (BaseData *f) |
| void | removeData (BaseData *f) |
| Remove a data field. More... | |
| void | addAlias (BaseData *field, const char *alias) |
| Add an alias to a Data. More... | |
| void | addLink (BaseLink *l) |
| Add a link. More... | |
| void | addAlias (BaseLink *link, const char *alias) |
| Add an alias to a Link. More... | |
| const VecData & | getDataFields () const |
| Accessor to the vector containing all the fields of this object. More... | |
| const MapData & | getDataAliases () const |
| Accessor to the map containing all the aliases of this object. More... | |
| const VecLink & | getLinks () const |
| Accessor to the vector containing all the fields of this object. More... | |
| const MapLink & | getLinkAliases () const |
| Accessor to the map containing all the aliases of this object. More... | |
| virtual bool | findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link) |
| template<class T > | |
| bool | findLinkDest (T *&ptr, const std::string &path, const BaseLink *link) |
Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes > | |
| SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, DataTypes), StateAccessor) | |
| void | init () override |
| Initialization method called at graph creation and modification, during top-down traversal. More... | |
| MechanicalState< DataTypes > * | getMState () |
| const MechanicalState< DataTypes > * | getMState () const |
Static Public Member Functions | |
| template<class T > | |
| static bool | canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg) |
Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject | |
| template<class T > | |
| static bool | canCreate (T *, BaseContext *, BaseObjectDescription *) |
| Pre-construction check method called by ObjectFactory. More... | |
| template<class T > | |
| static T::SPtr | create (T *, BaseContext *context, BaseObjectDescription *arg) |
| Construction method called by ObjectFactory. More... | |
Static Public Member Functions inherited from sofa::core::objectmodel::Base | |
| static const BaseClass * | GetClass () |
| template<class T > | |
| static std::string | shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr) |
Protected Member Functions | |
| ProjectiveConstraintSet (MechanicalState< DataTypes > *mm=nullptr) | |
| ~ProjectiveConstraintSet () override | |
Protected Member Functions inherited from sofa::core::behavior::BaseProjectiveConstraintSet | |
| BaseProjectiveConstraintSet () | |
| ~BaseProjectiveConstraintSet () override | |
Protected Member Functions inherited from sofa::core::behavior::StateAccessor | |
| StateAccessor () | |
| ~StateAccessor () override=default | |
Protected Member Functions inherited from sofa::core::objectmodel::BaseObject | |
| BaseObject () | |
| ~BaseObject () override | |
| virtual void | doUpdateInternal () |
| Implementation of the internal update. More... | |
| void | changeContextLink (BaseContext *before, BaseContext *&after) |
| void | changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add) |
| This method insures that slaves objects have master and context links set correctly. More... | |
| void | trackInternalData (const BaseData &data) |
| Method called to add the Data to the DataTracker (listing the Data to track) More... | |
| void | cleanTracker () |
| bool | hasDataChanged (const BaseData &data) |
| Method called to know if a tracked Data has changed. More... | |
Protected Member Functions inherited from sofa::core::objectmodel::Base | |
| Base () | |
| virtual | ~Base () |
| void | initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used by initData() More... | |
| void | initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags) |
| Helper method used by initData() More... | |
| template<class T > | |
| void | initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used by initData() More... | |
Protected Member Functions inherited from sofa::core::IntrusiveObject | |
| virtual | ~IntrusiveObject ()=default |
Protected Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes > | |
| SingleStateAccessor (MechanicalState< DataTypes > *mm=nullptr) | |
| ~SingleStateAccessor () override=default | |
| Data<Real> sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::endTime |
The constraint stops acting after the given value. Use a negative value for infinite constraints.
|
protected |
|
overrideprotected |
|
inlineoverridevirtual |
Project the global Mechanical Matrix to constrained space using offset parameter.
Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.
|
inlineoverridevirtual |
Project the global Mechanical Vector to constrained space using offset parameter.
Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.
|
inlinestatic |
Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.
|
inlineoverridevirtual |
Return the lists of models this constraint applies to.
Implements sofa::core::behavior::BaseProjectiveConstraintSet.
|
virtual |
if false, the constraint does nothing
|
pure virtual |
Project c to constrained space (c models a constraint).
This method must be implemented by the component to handle Lagrange Multiplier based constraint
Implemented in sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PositionBasedDynamicsProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::ParabolicProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::OscillatorProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::HermiteSplineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedTranslationProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedRotationProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PatchTestMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< TDataTypes >, and sofa::component::constraint::projective::AffineMovementProjectiveConstraint< T >.
|
overridevirtual |
Project the L matrix of the Lagrange Multiplier equation system.
This method retrieves the lines of the Jacobian Matrix from the MechanicalState and call the internal projectResponse(MatrixDeriv&) method implemented by the component.
Implements sofa::core::behavior::BaseProjectiveConstraintSet.
|
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 ProjectiveConstraintSet::projectPosition() method.
Implemented in sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PositionBasedDynamicsProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PatchTestMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::ParabolicProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::OscillatorProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::HermiteSplineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedTranslationProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< T >, sofa::component::constraint::projective::PositionBasedDynamicsProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PositionBasedDynamicsProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedRotationProjectiveConstraint< DataTypes >, and sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >.
|
overridevirtual |
Project x to constrained space (x models a position).
This method retrieves the xId vector from the MechanicalState and call the internal projectPosition(VecCoord&) method implemented by the component.
Implements sofa::core::behavior::BaseProjectiveConstraintSet.
|
inline |
Project the compliance Matrix to constrained space.
|
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 ProjectiveConstraintSet::projectResponse() method.
Implemented in sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PatchTestMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::ParabolicProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::OscillatorProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::HermiteSplineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedTranslationProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< T >, sofa::component::constraint::projective::FixedRotationProjectiveConstraint< DataTypes >, and sofa::component::constraint::projective::PositionBasedDynamicsProjectiveConstraint< DataTypes >.
|
overridevirtual |
Project dx to constrained space (dx models an acceleration).
This method retrieves the dxId vector from the MechanicalState and call the internal projectResponse(VecDeriv&) method implemented by the component.
Implements sofa::core::behavior::BaseProjectiveConstraintSet.
| virtual void sofa::core::behavior::BaseProjectiveConstraintSet::projectResponse |
Project dx to constrained space (dx models an acceleration).
| dxId | output vector |
|
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 ProjectiveConstraintSet::projectVelocity() method.
Implemented in sofa::component::constraint::projective::FixedPlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PositionBasedDynamicsProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PointProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PlaneProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::PatchTestMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::PartialFixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::ParabolicProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::OscillatorProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::LinearVelocityProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::HermiteSplineProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedTranslationProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::FixedProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::DirectionProjectiveConstraint< DataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< TDataTypes >, sofa::component::constraint::projective::AffineMovementProjectiveConstraint< T >, sofa::component::constraint::projective::FixedRotationProjectiveConstraint< DataTypes >, and sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >.
|
overridevirtual |
Project v to constrained space (v models a velocity).
This method retrieves the vId vector from the MechanicalState and call the internal projectVelocity(VecDeriv&) method implemented by the component.
Implements sofa::core::behavior::BaseProjectiveConstraintSet.
| sofa::core::behavior::ProjectiveConstraintSet< DataTypes >::SOFA_CLASS2 | ( | SOFA_TEMPLATE(ProjectiveConstraintSet< DataTypes >, DataTypes) | , |
| BaseProjectiveConstraintSet< DataTypes > | , | ||
| SOFA_TEMPLATE(SingleStateAccessor, DataTypes) | |||
| ) |