#include <ConstraintImplementation.h>

Inheritance diagram for agx::ConstraintImplementation:

Classes
class	BodyView
	Interface to the bodies, either user or solver, since these bodies can differ when e.g., a body is merged. More...

class	ConstrainedBodiesState
	Object that holds the state seen from the user and from the solver. More...

class	SolverBodyView

Public Types
enum	Tags { NONE = 0 , MANY_BODY = (1<<0) , DEFAULT_BINARY_TAG = NONE , DEFAULT_MANY_BODY_TAG = MANY_BODY }

Public Member Functions
	ConstraintImplementation ()
	Default constructor.

virtual	~ConstraintImplementation ()
	Destructor.

virtual bool	addElementaryConstraint (const agx::String &name, agx::ElementaryConstraint *elementaryConstraint)
	Add elementary constraint (like Spherical, Dot1, Dot2 etc) given name.

virtual void	addNlCallbacks (agx::SparseRangeReal &sparseRangeReal, const NlmcpCallbackSolverData &solverData) const
	Interface for non-linear callback from solver.

virtual void	addNotification ()
	Callback when this constraint is added to Simulation.

virtual bool	addSecondaryConstraint (const agx::String &name, agx::ElementaryConstraint *secondaryConstraint)
	Add secondary constraint (like motor, range and/or lock etc) given name.

RealVector	calculateCurrentViolation () const
	Calculates the current violation of the ordinary degrees of freedom of this constraint, e.g., three translational and two rotational (total 5 elements) of a hinge, i.e., controllers DOF are not included.

agx::UInt	calculateNumActiveRows () const
	Calculates the current number of active rows, including both elementary and secondary constraints.

agx::Real	calculateViolationVectorAverageSize ()
	Gets the average size of the elements in getViolation() by calculating the magnitude and dividing by the number of elements.

template<typename T >
T *	findSecondaryConstraintGivenType (const agx::UInt count=0) const

bool	getActive () const

virtual agx::Real	getAngle (agx::UInt=0) const
	If the constraint supports angle calculations and 'dof' is in range, this method returns the angle of the given degree of freedom.

virtual agx::AttachmentPair *	getAttachmentPair () const

agx::UInt	getBlockRowIndex () const

const BlockStructure &	getBlockStructure () const

virtual void	getBounds (agx::RangeReal *bounds, agx::Real dt) const
	Calculates and pushes the bounds into a sparse range data structure.

virtual int	getConstraintVelocity (agx::Real *v, int row)
	Calculates and pushes the constraint velocities into array given current row.

virtual agx::Real	getCurrentSpeed (agx::UInt=0) const
	If this method is implemented, a call to this method will return the current speed of the angle.

virtual agx::ElementaryConstraint *	getElementaryConstraint (const agx::String &name) const

virtual agx::ElementaryConstraint *	getElementaryConstraint (const agx::UInt index) const

agx::ElementaryConstraint::RefContainer &	getElementaryConstraints ()

const agx::ElementaryConstraint::RefContainer &	getElementaryConstraints () const

virtual bool	getEnable () const

virtual agx::Bool	getEnableComputeForces () const

bool	getEnableLinearization () const

virtual void	getEpsilon (agx::Real *epsilon, agx::Real h)
	Writes regularization parameters for all active rows into `epsilon`.

agx::FrictionController *	getFrictionController (agx::UInt number=0) const

agx::UInt	getJacobianRowUsage () const

virtual agx::Bool	getLastForce (agx::UInt bodyIndex, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with `bodyIndex`.

virtual agx::Bool	getLastForce (const agx::RigidBody *rb, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body `rb`.

virtual agx::Bool	getLastLocalForce (agx::UInt bodyIndex, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with `bodyIndex`.

virtual agx::Bool	getLastLocalForce (const agx::RigidBody *rb, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const
	If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body `rb`.

agx::Lock1D *	getLock1D (agx::UInt number=0) const

agx::Motor1D *	getMotor1D (agx::UInt number=0) const

virtual void	getParameters (agx::Real violation, agx::Real epsilon, agx::Real damping, bool holonomic, agx::Real velocity, agx::RangeReal bounds, int8_t *indexSetState, agx::Real h, agx::Real minPerturbation=agx::Real(1E-10))
	Writes solver parameters such as damping and holonomic.

agx::Range1D *	getRange1D (agx::UInt number=0) const

virtual agx::ElementaryConstraint *	getSecondaryConstraint (const agx::String &name) const

virtual agx::ElementaryConstraint *	getSecondaryConstraint (const agx::UInt index) const

agx::ElementaryConstraint::RefContainer &	getSecondaryConstraints ()

const agx::ElementaryConstraint::RefContainer &	getSecondaryConstraints () const

bool	getSolveBoth () const

bool	getSolveIterative () const

SolverBodyView	getSolverView () const
	Bodies as viewed from the solver.

Constraint::SolveType	getSolveType () const

ConstraintImplPtrVector &	getSubConstraints ()

const ConstraintImplPtrVector &	getSubConstraints () const

int	getTag () const

BodyView	getUserView () const
	Bodies as viewed from the user.

virtual int	getViolation (agx::Real *g, int row)
	Calculates and pushes the constraint values into array given current row.

void	incrementConstraintCount (RigidBody *rb) const
	Increment the number of constraints connection to `rb`.

bool	isImpacting () const

bool	isValid () const

void	onDirectComplianceMatrix (Real *data, unsigned int ld) const
	Internal callback from the direct solver with perturbation matrix data.

virtual void	postSolveCallback (const agx::Jacobian6DOFElement jacobians, const agx::Real solution, agx::Real dt)
	Peak at the solution after the solver is done.

void	postSolveIndexSetCallback (const int8_t *state)
	Callback after the solver is done about the state of each equation in the constraint.

virtual void	postSystemCallback (DynamicsSystem *system)
	Last in the dynamics system step forward loop, this constraint gets a call with the main system.

virtual void	prepare ()
	Prepares this constraint.

virtual void	preSystemCallback (DynamicsSystem *system)
	Before prepare, and before the system writes to the data buffers, this constraint gets a call with the main system it's in.

virtual bool	rebind ()
	The general version of rebind takes the first attachment frame and moves the other attachment frame so they have the exact same world transform.

virtual bool	removeElementaryConstraint (agx::ElementaryConstraint *elementaryConstraint)
	Remove elementary constraint.

virtual bool	removeElementaryConstraint (const agx::String &name)
	Remove elementary constraint.

virtual void	removeNotification ()
	Callback when this constraint is removed from Simulation.

virtual bool	removeSecondaryConstraint (agx::ElementaryConstraint *secondaryConstraint)
	Remove secondary constraint.

virtual bool	removeSecondaryConstraint (const agx::String &name)
	Remove secondary constraint.

void	reset ()
	Reset the solution vectors of the primary and secondary elementary constraints in the implementation.

void	setBlockRowIndex (agx::UInt blockRowIndex)
	Sets the global start index for this constraint in the global, non-permuted matrix.

virtual void	setEnable (bool enable)
	Sets the enable flag.

virtual void	setEnableComputeForces (agx::Bool enable)
	Enable (or disable) computation of the forces applied to the dynamic bodies in this constraint.

void	setEnableLinearization (bool enable)
	Control whether or not linearization should be performed on the ElementaryConstraints that require it, such as QuatLock.

void	setSolveType (Constraint::SolveType type)
	Set solve type, either DIRECT, ITERATIVE or DIRECT_AND_ITERATIVE.

void	sort ()
	This method will sort this constraint by global indexing of the bodies.

virtual CALLABLE_IGNORE void	updateComplianceMatrix (LSquareComplianceMatrix matrix) const
	Callback with read/write access to the compliance matrix of this constraint in the direct solver.

virtual size_t	updateJacobian (agx::Jacobian6DOFElement *jacobians)
	Updated storing of Jacobian matrices.

virtual bool	updateValid ()
	Updates the valid conditions for this constraint.

virtual agx::Attachment *	userAPIgetAttachment (agx::UInt) const

virtual agx::Attachment *	userAPIgetAttachment (const agx::RigidBody *) const

agx::Real	userAPIgetCompliance (agx::UInt dof) const

agx::Real	userAPIgetCurrentForce (agx::UInt dof) const
	Consider using `getLastForce` instead.

agx::Real	userAPIgetDamping (agx::UInt dof) const

agx::RangeReal	userAPIgetForceRange (agx::UInt dof) const
	Get the force range for DOF `dof`.

agx::RegularizationParameters *	userAPIgetRegularizationParameters (agx::UInt i)
	Get the regularization parameter i, i.e., the regularization parameter for equation i which is constraint dependent.

const agx::RegularizationParameters *	userAPIgetRegularizationParameters (agx::UInt i) const

void	userAPIsetCompliance (agx::Real compliance, int dof)
	Set the compliance for constraint row i of this constraint.

void	userAPIsetDamping (agx::Real damping, int dof)
	Set the damping for constraint row i of this constraint.

void	userAPIsetForceRange (agx::RangeReal forceRange, agx::Int dof)
	Assign force range, of an elementary constraint, for a given DOF.

Public Attributes
void *	customData
	Custom data for the solvers to store data into.

Protected Types
using	LocalState = agx::BitState< State, Int32 >

enum	State : Int32 { VALID = 1 << 0 , IMPACTING = 1 << 1 , SUPPORTS_COMPLIANCE_MATRIX = 1 << 2 }

Protected Member Functions
void	setSimulation (agxSDK::Simulation *simulation)
	Set the Simulation this constraint belongs to.

void	setSupportsComplianceMatrix (Bool supportsComplianceMatrix)
	Enable/disable compliance matrix callbacks from the direct solver where read/write access to the compliance matrix will be available in an implementation of updateComplianceMatrix.

Protected Attributes
UInt	m_blockRowIndex
	Start block row for this constraint in the global matrix.

BlockStructure	m_blockStructure
	The block structure; number of block, rows, dynamic blocks etc.

ConstraintRigidBodyContainer	m_bodies
	Vector with observer pointers to bodies.

ConstrainedBodiesState	m_constrainedBodiesState
	State of the included bodies, updated in updateValid.

ElementaryConstraint::RefContainer	m_ec
	Vector of elementary constraints.

bool	m_enable
	User controlled enable flag, constraint ignored by solver if false.

bool	m_enableLinearization
	When necessary, tweak the values sent to the solver to make violation depend linearly on force or torque.

LocalState	m_localState
	Current local state, updated all the time, not serialized.

UInt	m_numRows
	Number of rows used by this constraint.

ElementaryConstraint::RefContainer	m_sc
	Vector of secondary constraints.

Constraint::SolveType	m_solveType
	Only for supported solvers.

ConstraintImplPtrVector	m_subConstraints
	Vector with sub-constraints.

int	m_tag
	Tag for this constraint.

Detailed Description

Definition at line 98 of file ConstraintImplementation.h.

Member Typedef Documentation

◆ LocalState

using agx::ConstraintImplementation::LocalState = agx::BitState<State, Int32>

protected

Definition at line 992 of file ConstraintImplementation.h.

Member Enumeration Documentation

◆ State

enum agx::ConstraintImplementation::State : Int32

protected

Enumerator
VALID
IMPACTING
SUPPORTS_COMPLIANCE_MATRIX

Definition at line 984 of file ConstraintImplementation.h.

◆ Tags

enum agx::ConstraintImplementation::Tags

Enumerator
NONE
MANY_BODY	Default is binary, i.e., ~MANY_BODY.
DEFAULT_BINARY_TAG
DEFAULT_MANY_BODY_TAG

Definition at line 101 of file ConstraintImplementation.h.

Constructor & Destructor Documentation

◆ ConstraintImplementation()

agx::ConstraintImplementation::ConstraintImplementation ( )

Default constructor.

Defaults to binary (one or two body) constraint, solve type DIRECT, enabled and valid.

◆ ~ConstraintImplementation()

virtual agx::ConstraintImplementation::~ConstraintImplementation ( )

virtual

Destructor.

Doesn't delete any user-added, non-ref-counted objects.

Member Function Documentation

◆ addElementaryConstraint()

virtual bool agx::ConstraintImplementation::addElementaryConstraint	(	const agx::String &	name,
		agx::ElementaryConstraint *	elementaryConstraint
	)

virtual

Add elementary constraint (like Spherical, Dot1, Dot2 etc) given name.

General for elementary constraints is that their input is based on body relative data (far from general).

Returns: true if this constraint supports the elementary constraint and the elementary constraint will be used - otherwise false

◆ addNlCallbacks()

virtual void agx::ConstraintImplementation::addNlCallbacks	(	agx::SparseRangeReal &	sparseRangeReal,
		const NlmcpCallbackSolverData &	solverData
	)		const

virtual

Interface for non-linear callback from solver.

◆ addNotification()

virtual void agx::ConstraintImplementation::addNotification ( )

inlinevirtual

Callback when this constraint is added to Simulation.

Definition at line 581 of file ConstraintImplementation.h.

◆ addSecondaryConstraint()

virtual bool agx::ConstraintImplementation::addSecondaryConstraint	(	const agx::String &	name,
		agx::ElementaryConstraint *	secondaryConstraint
	)

virtual

Add secondary constraint (like motor, range and/or lock etc) given name.

General for secondary constraints is that their input is based on the current constraint angle.

Returns: true if this constraint supports the secondary constraint and the secondary constraint will be used - otherwise false

◆ calculateCurrentViolation()

RealVector agx::ConstraintImplementation::calculateCurrentViolation ( ) const

Calculates the current violation of the ordinary degrees of freedom of this constraint, e.g., three translational and two rotational (total 5 elements) of a hinge, i.e., controllers DOF are not included.

Returns: violation vector of size agx::Constraint::getNumDOF()

◆ calculateNumActiveRows()

agx::UInt agx::ConstraintImplementation::calculateNumActiveRows ( ) const

Calculates the current number of active rows, including both elementary and secondary constraints.

The result can be used to allocate temporary buffers for additional calls to solver related methods, e.g., getViolation.

Returns: the (current) total number of active rows in this constraint

◆ calculateViolationVectorAverageSize()

agx::Real agx::ConstraintImplementation::calculateViolationVectorAverageSize ( )

Gets the average size of the elements in getViolation() by calculating the magnitude and dividing by the number of elements.

Returns: the average size of the elements in getViolation()

◆ findSecondaryConstraintGivenType()

template<typename T >

T * agx::ConstraintImplementation::findSecondaryConstraintGivenType ( const agx::UInt count = 0 ) const

inline

Returns: the secondary constraint of specified type after count occurrences (of that type)

Definition at line 1382 of file ConstraintImplementation.h.

References m_sc, and agx::Container::size().

◆ getActive()

bool agx::ConstraintImplementation::getActive ( ) const

inline

Returns: true if this constraint is enabled and valid, otherwise false

Definition at line 640 of file ConstraintImplementation.h.

◆ getAngle()

virtual agx::Real agx::ConstraintImplementation::getAngle ( agx::UInt = 0 ) const

inlinevirtual

If the constraint supports angle calculations and 'dof' is in range, this method returns the angle of the given degree of freedom.

Returns: the angle given degree of freedom - if 'dof' is out of range or if this constraint doesn't support angles this method returns 0

Reimplemented in agx::HighLevelConstraintImplementation.

Definition at line 872 of file ConstraintImplementation.h.

◆ getAttachmentPair()

virtual agx::AttachmentPair * agx::ConstraintImplementation::getAttachmentPair ( ) const

inlinevirtual

Returns: the constraint attachment pair

Reimplemented in agx::HighLevelConstraintImplementation.

Definition at line 772 of file ConstraintImplementation.h.

◆ getBlockRowIndex()

agx::UInt agx::ConstraintImplementation::getBlockRowIndex ( ) const

inline

Returns: the global start row for this constraint in the global, non-permuted matrix

Definition at line 529 of file ConstraintImplementation.h.

◆ getBlockStructure()

const BlockStructure & agx::ConstraintImplementation::getBlockStructure ( ) const

inline

Returns: the block structure for this constraint (number of rows, number of Jacobian blocks etc.)

Definition at line 518 of file ConstraintImplementation.h.

◆ getBounds()

virtual void agx::ConstraintImplementation::getBounds	(	agx::RangeReal *	bounds,
		agx::Real	dt
	)		const

virtual

Calculates and pushes the bounds into a sparse range data structure.

Every equation in this constraint that has a bound must during this call push its bounds at its current global row (row + localRow). The bounds is not a force, rather an impulse (dimension force*time).

Parameters

bounds	- all bounds, use bounds.push_back( IndexedRangeReal( std::make_pair( row + localRow, RangeReal( myLowerBound, myUpperBound ) ) ) )
dt	- time step, often used to scale forces to impulses

◆ getConstraintVelocity()

virtual int agx::ConstraintImplementation::getConstraintVelocity	(	agx::Real *	v,
		int	row
	)

virtual

Calculates and pushes the constraint velocities into array given current row.

Constraint velocity is mainly used for non-holonomic constraint such as hinge- and prismatic motors.

Parameters

v	- array of constraint velocity values, must at least be of size row + numRowsThisConstraintUses
row	- row to start push values (v[row] = firstConstraintValue)

Returns: the number of rows this constraint uses (could differ from time step to time step)

◆ getCurrentSpeed()

virtual agx::Real agx::ConstraintImplementation::getCurrentSpeed ( agx::UInt = 0 ) const

inlinevirtual

If this method is implemented, a call to this method will return the current speed of the angle.

This is only valid for 1DOF and 2DOF constraints (such as hinge, prismatic, distance and cylindrical).

Returns: the current angle speed, returns 0 for constraints that are non-compatible to this call

Definition at line 879 of file ConstraintImplementation.h.

◆ getElementaryConstraint() [1/2]

virtual agx::ElementaryConstraint * agx::ConstraintImplementation::getElementaryConstraint ( const agx::String & name ) const

virtual

Parameters

name	- name of the elementary constraint

Returns: elementary constraint given name

◆ getElementaryConstraint() [2/2]

virtual agx::ElementaryConstraint * agx::ConstraintImplementation::getElementaryConstraint ( const agx::UInt index ) const

virtual

Parameters

index - index of the elementary constraint

Returns: elementary constraint given index

◆ getElementaryConstraints() [1/2]

agx::ElementaryConstraint::RefContainer & agx::ConstraintImplementation::getElementaryConstraints ( )

inline

Returns: a vector of the elementary constraints

Definition at line 597 of file ConstraintImplementation.h.

◆ getElementaryConstraints() [2/2]

const agx::ElementaryConstraint::RefContainer & agx::ConstraintImplementation::getElementaryConstraints ( ) const

inline

Definition at line 598 of file ConstraintImplementation.h.

◆ getEnable()

virtual bool agx::ConstraintImplementation::getEnable ( ) const

inlinevirtual

Returns: true if this constraint is enabled, otherwise false

Note: The constraint can't disable itself, i.e., enable == false only if the user has disabled it

Definition at line 629 of file ConstraintImplementation.h.

◆ getEnableComputeForces()

virtual agx::Bool agx::ConstraintImplementation::getEnableComputeForces ( ) const

virtual

Returns: true if this constraint has been enabled to compute the forces applied to its bodies - otherwise false

Reimplemented in agx::HighLevelConstraintImplementation.

◆ getEnableLinearization()

bool agx::ConstraintImplementation::getEnableLinearization ( ) const

Returns: true if linearization is enabled for this constraint.

◆ getEpsilon()

virtual void agx::ConstraintImplementation::getEpsilon	(	agx::Real *	epsilon,
		agx::Real	h
	)

virtual

Writes regularization parameters for all active rows into epsilon.

Parameters

epsilon	- array to write into (number of active rows allocated)
h	- current time step

◆ getFrictionController()

agx::FrictionController * agx::ConstraintImplementation::getFrictionController ( agx::UInt number = 0 ) const

Returns: a friction controller if present for this constraint, otherwise nullptr

◆ getJacobianRowUsage()

agx::UInt agx::ConstraintImplementation::getJacobianRowUsage ( ) const

inline

Returns: the number of rows this constraint uses (equivalent to m_jacobian[0].getNumRows())

Definition at line 513 of file ConstraintImplementation.h.

◆ getLastForce() [1/2]

virtual agx::Bool agx::ConstraintImplementation::getLastForce	(	agx::UInt	bodyIndex,
		agx::Vec3 &	retForce,
		agx::Vec3 &	retTorque,
		agx::Bool	giveForceAtCm = `false`
	)		const

virtual

If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with bodyIndex.

The force is given in world coordinates and is the one applied at the anchor position of this constraint.

The result includes force and torque from this constraint including all enabled controllers (e.g., motors, locks, ranges).

See also: setEnableComputeForces

Parameters

bodyIndex	- index of body, if number of bodies = 1 and bodyIndex = 1, the force and torque applied to "the world body" is returned
retForce	- the force applied by this constraint on body at `bodyIndex` last solve
retTorque	- the torque applied by this constraint on body at `bodyIndex` last solve
giveForceAtCm	- this parameter affects the resulting torque. The default behavior (giveForceAtCm = false) calculates the force applied by this constraint at the anchor position. Letting giveForceAtCm = true, the force will be applied at center of mass, affecting the torque as \(T_{new} = T - r \times F\) where r is the vector from the anchor point to the center of mass of the body.

Returns: true if resulting force and torque was written to retForce and retTorque - otherwise false

Reimplemented in agx::HighLevelConstraintImplementation.

◆ getLastForce() [2/2]

virtual agx::Bool agx::ConstraintImplementation::getLastForce	(	const agx::RigidBody *	rb,
		agx::Vec3 &	retForce,
		agx::Vec3 &	retTorque,
		agx::Bool	giveForceAtCm = `false`
	)		const

virtual

If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body rb.

The force is given in world coordinates and is the one applied at the anchor position of this constraint.

The result includes force and torque from this constraint including all enabled controllers (e.g., motors, locks, ranges).

See also: setEnableComputeForces

Parameters

rb	- body in this constraint. If this constraint is attached in world, nullptr can be used.
retForce	- the force applied by this constraint on body `rb` at the last solve
retTorque	- the torque applied by this constraint on body `rb` at the last solve
giveForceAtCm	- this parameter affects the resulting torque. The default behavior (giveForceAtCm = false) calculates the force applied by this constraint at the anchor position. Letting giveForceAtCm = true, the force will be applied at center of mass, affecting the torque as \(T_{new} = T - r \times F\) where r is the vector from the anchor point to the center of mass of the body.

Returns: true if resulting force and torque was written to retForce and retTorque - otherwise false

Reimplemented in agx::HighLevelConstraintImplementation.

◆ getLastLocalForce() [1/2]

virtual agx::Bool agx::ConstraintImplementation::getLastLocalForce	(	agx::UInt	bodyIndex,
		agx::Vec3 &	retForce,
		agx::Vec3 &	retTorque,
		agx::Bool	giveForceAtCm = `false`
	)		const

virtual

If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with bodyIndex.

The force is given in the frame of the constraint.

The result includes force and torque from this constraint including all enabled controllers (e.g., motors, locks, ranges).

See also: setEnableComputeForces

Parameters

bodyIndex	- index of body, if number of bodies = 1 and bodyIndex = 1, the force and torque applied to "the world body" is returned
retForce	- the force applied by this constraint on body at `bodyIndex` last solve
retTorque	- the torque applied by this constraint on body at `bodyIndex` last solve
giveForceAtCm	- this parameter affects the resulting torque. The default behavior (giveForceAtCm = false) calculates the force applied by this constraint at the anchor position. Letting giveForceAtCm = true, the force will be applied at center of mass, affecting the torque as \(T_{new} = T - r \times F\) where r is the vector from the anchor point to the center of mass of the body.

Returns: true if resulting force and torque was written to retForce and retTorque - otherwise false

Reimplemented in agx::HighLevelConstraintImplementation.

◆ getLastLocalForce() [2/2]

virtual agx::Bool agx::ConstraintImplementation::getLastLocalForce	(	const agx::RigidBody *	rb,
		agx::Vec3 &	retForce,
		agx::Vec3 &	retTorque,
		agx::Bool	giveForceAtCm = `false`
	)		const

virtual

If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body rb.

The force is given in the frame of the constraint.

The result includes force and torque from this constraint including all enabled controllers (e.g., motors, locks, ranges).

See also: setEnableComputeForces

Parameters

rb	- body in this constraint. If this constraint is attached in world, nullptr can be used.
retForce	- the force applied by this constraint on body `rb` at the last solve
retTorque	- the torque applied by this constraint on body `rb` at the last solve
giveForceAtCm	- this parameter affects the resulting torque. The default behavior (giveForceAtCm = false) calculates the force applied by this constraint at the anchor position. Letting giveForceAtCm = true, the force will be applied at center of mass, affecting the torque as \(T_{new} = T - r \times F\) where r is the vector from the anchor point to the center of mass of the body.

Returns: true if resulting force and torque was written to retForce and retTorque - otherwise false

Reimplemented in agx::HighLevelConstraintImplementation.

◆ getLock1D()

agx::Lock1D * agx::ConstraintImplementation::getLock1D ( agx::UInt number = 0 ) const

Returns: a lock if a lock is present for this constraint, otherwise nullptr

◆ getMotor1D()

agx::Motor1D * agx::ConstraintImplementation::getMotor1D ( agx::UInt number = 0 ) const

Returns: a motor if a motor is present for this constraint, otherwise nullptr

◆ getParameters()

virtual void agx::ConstraintImplementation::getParameters	(	agx::Real *	violation,
		agx::Real *	epsilon,
		agx::Real *	damping,
		bool *	holonomic,
		agx::Real *	velocity,
		agx::RangeReal *	bounds,
		int8_t *	indexSetState,
		agx::Real	h,
		agx::Real	minPerturbation = `agx::Real(1E-10)`
	)

virtual

Writes solver parameters such as damping and holonomic.

This should be deprecated.

◆ getRange1D()

agx::Range1D * agx::ConstraintImplementation::getRange1D ( agx::UInt number = 0 ) const

Returns: a range if a range is present for this constraint, otherwise nullptr

◆ getSecondaryConstraint() [1/2]

virtual agx::ElementaryConstraint * agx::ConstraintImplementation::getSecondaryConstraint ( const agx::String & name ) const

virtual

Parameters

name	- name of the elementary constraint

Returns: elementary constraint given name

◆ getSecondaryConstraint() [2/2]

virtual agx::ElementaryConstraint * agx::ConstraintImplementation::getSecondaryConstraint ( const agx::UInt index ) const

virtual

Parameters

index - index of the secondary constraint

Returns: secondary constraint given index

◆ getSecondaryConstraints() [1/2]

agx::ElementaryConstraint::RefContainer & agx::ConstraintImplementation::getSecondaryConstraints ( )

inline

Returns: a vector of secondary constraints

Definition at line 603 of file ConstraintImplementation.h.

◆ getSecondaryConstraints() [2/2]

const agx::ElementaryConstraint::RefContainer & agx::ConstraintImplementation::getSecondaryConstraints ( ) const

inline

Definition at line 604 of file ConstraintImplementation.h.

◆ getSolveBoth()

bool agx::ConstraintImplementation::getSolveBoth ( ) const

inline

Returns: true if this constraint is solved both with the direct solve and with the iterative solver

Definition at line 540 of file ConstraintImplementation.h.

◆ getSolveIterative()

bool agx::ConstraintImplementation::getSolveIterative ( ) const

inline

Returns: true if this constraint will be solved iteratively by a hybrid solver - otherwise false

Note: Should be removed, still here for old hybrid solvers.

Definition at line 535 of file ConstraintImplementation.h.

◆ getSolverView()

SolverBodyView agx::ConstraintImplementation::getSolverView ( ) const

Bodies as viewed from the solver.

It's only valid to use this interface if you're a solver.

◆ getSolveType()

Constraint::SolveType agx::ConstraintImplementation::getSolveType ( ) const

inline

Returns: the solve type for this constraint

Definition at line 550 of file ConstraintImplementation.h.

◆ getSubConstraints() [1/2]

ConstraintImplPtrVector & agx::ConstraintImplementation::getSubConstraints ( )

inline

Returns: a vector of the sub-constraints

Definition at line 609 of file ConstraintImplementation.h.

◆ getSubConstraints() [2/2]

const ConstraintImplPtrVector & agx::ConstraintImplementation::getSubConstraints ( ) const

inline

Definition at line 610 of file ConstraintImplementation.h.

◆ getTag()

int agx::ConstraintImplementation::getTag ( ) const

inline

Returns: the current tag of this constraint

Definition at line 566 of file ConstraintImplementation.h.

◆ getUserView()

BodyView agx::ConstraintImplementation::getUserView ( ) const

Bodies as viewed from the user.

This is the default way to look at the bodies.

◆ getViolation()

virtual int agx::ConstraintImplementation::getViolation	(	agx::Real *	g,
		int	row
	)

virtual

Calculates and pushes the constraint values into array given current row.

Parameters

g	- array of constraint values, must at least be of size row + numRowsThisConstraintUses
row	- row to start push values (g[row] = firstConstraintValue)

Returns: the number of rows this constraint uses (could differ from time step to time step)

◆ incrementConstraintCount()

void agx::ConstraintImplementation::incrementConstraintCount ( RigidBody * rb ) const

inline

Increment the number of constraints connection to rb.

Parameters

rb	- rigid body to increment the constraint count

Definition at line 561 of file ConstraintImplementation.h.

References agxAssert.

◆ isImpacting()

bool agx::ConstraintImplementation::isImpacting ( ) const

inline

Returns: true if one or more equations in this constraint is impacting

Definition at line 555 of file ConstraintImplementation.h.

◆ isValid()

bool agx::ConstraintImplementation::isValid ( ) const

inline

Returns: true if this constraint is valid (no disabled bodies, removed bodies, has dynamic bodies etc.), otherwise false

Definition at line 645 of file ConstraintImplementation.h.

◆ onDirectComplianceMatrix()

void agx::ConstraintImplementation::onDirectComplianceMatrix	(	Real *	data,
		unsigned int	ld
	)		const

Internal callback from the direct solver with perturbation matrix data.

◆ postSolveCallback()

virtual void agx::ConstraintImplementation::postSolveCallback	(	const agx::Jacobian6DOFElement *	jacobians,
		const agx::Real *	solution,
		agx::Real	dt
	)

virtual

Peak at the solution after the solver is done.

Parameters

jacobians	- Jacobian rows for this constraint (index 0 is first dynamic body first row)
solution	- solution (impulse - divide by dt to get force)
dt	- time step size used to get solution

Reimplemented in agx::HighLevelConstraintImplementation.

◆ postSolveIndexSetCallback()

void agx::ConstraintImplementation::postSolveIndexSetCallback ( const int8_t * state )

Callback after the solver is done about the state of each equation in the constraint.

The information is if an equation was at a upper or lower bound or free.

◆ postSystemCallback()

void agx::ConstraintImplementation::postSystemCallback ( DynamicsSystem * system )

inlinevirtual

Last in the dynamics system step forward loop, this constraint gets a call with the main system.

This call is made after the data buffers have been written back to the bodies.

Parameters

system - the main dynamics system

Reimplemented in agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation.

Definition at line 1397 of file ConstraintImplementation.h.

◆ prepare()

virtual void agx::ConstraintImplementation::prepare ( )

virtual

Prepares this constraint.

Update attachment transforms given the current transforms of the bodies (in most cases equivalent to calculate the Jacobian), compute the joint angles (if this constraint supports that) and calculates the amount of data needed.

Reimplemented in agx::HighLevelConstraintImplementation, and agxPowerLine::ActuatorConstraintImplementation.

◆ preSystemCallback()

void agx::ConstraintImplementation::preSystemCallback ( DynamicsSystem * system )

inlinevirtual

Before prepare, and before the system writes to the data buffers, this constraint gets a call with the main system it's in.

During this call it's possible to add or remove bodies from the system, bodies this constraint are responsible of.

Parameters

system - the main dynamics system

Reimplemented in agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation.

Definition at line 1395 of file ConstraintImplementation.h.

◆ rebind()

virtual bool agx::ConstraintImplementation::rebind ( )

inlinevirtual

The general version of rebind takes the first attachment frame and moves the other attachment frame so they have the exact same world transform.

This means that the first rigid body is the reference (other is another rigid body or world). E.g., Prismatic and Hinge axis will be preserved seen from the reference body.

Returns: true if successful - otherwise false

Reimplemented in agx::HighLevelConstraintImplementation.

Definition at line 623 of file ConstraintImplementation.h.

◆ removeElementaryConstraint() [1/2]

virtual bool agx::ConstraintImplementation::removeElementaryConstraint ( agx::ElementaryConstraint * elementaryConstraint )

virtual

Remove elementary constraint.

Parameters

elementaryConstraint - elementary constraint to remove

Returns: true if removed

◆ removeElementaryConstraint() [2/2]

virtual bool agx::ConstraintImplementation::removeElementaryConstraint ( const agx::String & name )

virtual

Remove elementary constraint.

Parameters

name	- name of the elementary constraint to remove

Returns: true if removed

◆ removeNotification()

virtual void agx::ConstraintImplementation::removeNotification ( )

inlinevirtual

Callback when this constraint is removed from Simulation.

Definition at line 586 of file ConstraintImplementation.h.

◆ removeSecondaryConstraint() [1/2]

virtual bool agx::ConstraintImplementation::removeSecondaryConstraint ( agx::ElementaryConstraint * secondaryConstraint )

virtual

Remove secondary constraint.

Parameters

secondaryConstraint - secondary constraint to remove

Returns: true if removed

◆ removeSecondaryConstraint() [2/2]

virtual bool agx::ConstraintImplementation::removeSecondaryConstraint ( const agx::String & name )

virtual

Remove secondary constraint.

Parameters

name	- name of the secondary constraint to remove

Returns: true if removed

◆ reset()

void agx::ConstraintImplementation::reset ( )

Reset the solution vectors of the primary and secondary elementary constraints in the implementation.

◆ setBlockRowIndex()

void agx::ConstraintImplementation::setBlockRowIndex ( agx::UInt blockRowIndex )

inline

Sets the global start index for this constraint in the global, non-permuted matrix.

Parameters

blockRowIndex - global start row for this constraint in the global, non-permuted matrix

Definition at line 524 of file ConstraintImplementation.h.

◆ setEnable()

virtual void agx::ConstraintImplementation::setEnable ( bool enable )

virtual

Sets the enable flag.

If this flags sets to false the solver will ignore this constraint.

Parameters

enable - set to true if this constraint should be enabled, false to disable it

◆ setEnableComputeForces()

virtual void agx::ConstraintImplementation::setEnableComputeForces ( agx::Bool enable )

virtual

Enable (or disable) computation of the forces applied to the dynamic bodies in this constraint.

Matrix-vector operation to compute the forces after solve.

See also: getLastForce

Parameters

enable - true to enable, false to disable

Reimplemented in agx::HighLevelConstraintImplementation.

◆ setEnableLinearization()

void agx::ConstraintImplementation::setEnableLinearization ( bool enable )

Control whether or not linearization should be performed on the ElementaryConstraints that require it, such as QuatLock.

See also: agx::Constraint::setEnableLinearization

◆ setSimulation()

void agx::ConstraintImplementation::setSimulation ( agxSDK::Simulation * simulation )

protected

Set the Simulation this constraint belongs to.

Parameters

simulation - the Simulation this constraint belongs to

◆ setSolveType()

void agx::ConstraintImplementation::setSolveType ( Constraint::SolveType type )

inline

Set solve type, either DIRECT, ITERATIVE or DIRECT_AND_ITERATIVE.

Definition at line 545 of file ConstraintImplementation.h.

◆ setSupportsComplianceMatrix()

void agx::ConstraintImplementation::setSupportsComplianceMatrix ( Bool supportsComplianceMatrix )

protected

Enable/disable compliance matrix callbacks from the direct solver where read/write access to the compliance matrix will be available in an implementation of updateComplianceMatrix.

Parameters

supportsComplianceMatrix - true to enable access, false to disable (Default: Disabled).

◆ sort()

void agx::ConstraintImplementation::sort ( )

This method will sort this constraint by global indexing of the bodies.

It creates a permutation vector (i.e., it doesn't reorder the bodies nor the indices) so that one can index m_bodies and m_indices via the permutation.

◆ updateComplianceMatrix()

virtual CALLABLE_IGNORE void agx::ConstraintImplementation::updateComplianceMatrix ( LSquareComplianceMatrix matrix ) const

virtual

Callback with read/write access to the compliance matrix of this constraint in the direct solver.

The lower triangle is accessible and will be used, all entries must be less than or equal to zero. The diagonal has already been written with (negative) regularization parameters of each row of this constraint.

Parameters

matrix - compliance matrix

◆ updateJacobian()

virtual size_t agx::ConstraintImplementation::updateJacobian ( agx::Jacobian6DOFElement * jacobians )

virtual

Updated storing of Jacobian matrices.

Row based, each Jacobian6DOFElement is 1x6 separated into spatial and rotational part. The number of used rows should be: number_of_non_static_bodies * number_of_active_rows Start the indexing at 0.

Reimplemented in agx::HighLevelConstraintImplementation, and agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation.

◆ updateValid()

virtual bool agx::ConstraintImplementation::updateValid ( )

virtual

Updates the valid conditions for this constraint.

This constraint is not valid if for example; one or more bodies are removed (either from simulation or deallocated), one or more bodies are disabled or the number of dynamic bodies in this constraint is zero.

Returns: m_valid, true if valid, otherwise false

Reimplemented in agx::HighLevelConstraintImplementation, agxPowerLine::ActuatorConstraintImplementation, and agxPowerLine::PhysicalDimensionMultiBodyConstraintImplementation.

◆ userAPIgetAttachment() [1/2]

virtual agx::Attachment * agx::ConstraintImplementation::userAPIgetAttachment ( agx::UInt ) const

inlinevirtual

Returns: the constraint attachment given index

Reimplemented in agx::HighLevelConstraintImplementation.

Definition at line 767 of file ConstraintImplementation.h.

◆ userAPIgetAttachment() [2/2]

virtual agx::Attachment * agx::ConstraintImplementation::userAPIgetAttachment ( const agx::RigidBody * ) const

inlinevirtual

Returns: the constraint attachment given a rigid body (returns 0 if invalid)

Reimplemented in agx::HighLevelConstraintImplementation.

Definition at line 762 of file ConstraintImplementation.h.

◆ userAPIgetCompliance()

agx::Real agx::ConstraintImplementation::userAPIgetCompliance ( agx::UInt dof ) const

Returns: the compliance of the i'th constraint row of this constraint

◆ userAPIgetCurrentForce()

agx::Real agx::ConstraintImplementation::userAPIgetCurrentForce ( agx::UInt dof ) const

Consider using getLastForce instead.

This method returns the magnitude of the force in a given degree of freedom (DOF). Enabled controllers in the given DOF will NOT be included, agx::ElementaryConstraint::getCurrentForce has to be used for that.

Returns: the current force magnitude (i.e., the force magnitude last time step) in given DOF >= 0 && <= NUM_DOFS

See also: setEnableComputeForces and getLastForce

◆ userAPIgetDamping()

agx::Real agx::ConstraintImplementation::userAPIgetDamping ( agx::UInt dof ) const

Returns: the damping of the i'th constraint row of this constraint

◆ userAPIgetForceRange()

agx::RangeReal agx::ConstraintImplementation::userAPIgetForceRange ( agx::UInt dof ) const

Get the force range for DOF dof.

Note: Indices > number of DOF for this constraint is not defined, an infinite force range will be returned.; For controllers (secondary constraints), use their specific method, e.g., constraint->getMotor1D()->getForceRange().

Parameters

dof	- index of the requested DOF

◆ userAPIgetRegularizationParameters() [1/2]

agx::RegularizationParameters * agx::ConstraintImplementation::userAPIgetRegularizationParameters ( agx::UInt i )

Get the regularization parameter i, i.e., the regularization parameter for equation i which is constraint dependent.

Parameters

i	- corresponds to the i'th constraint row of this constraint

Returns: regularization parameter for equation i

◆ userAPIgetRegularizationParameters() [2/2]

const agx::RegularizationParameters * agx::ConstraintImplementation::userAPIgetRegularizationParameters ( agx::UInt i ) const

◆ userAPIsetCompliance()

void agx::ConstraintImplementation::userAPIsetCompliance	(	agx::Real	compliance,
		int	dof
	)

Set the compliance for constraint row i of this constraint.

Parameters

compliance	- compliance
dof	- corresponds to the i'th constraint row of this constraint

◆ userAPIsetDamping()

void agx::ConstraintImplementation::userAPIsetDamping	(	agx::Real	damping,
		int	dof
	)

Set the damping for constraint row i of this constraint.

Parameters

damping	- damping
dof	- corresponds to the i'th constraint row of this constraint

◆ userAPIsetForceRange()

void agx::ConstraintImplementation::userAPIsetForceRange	(	agx::RangeReal	forceRange,
		agx::Int	dof
	)

Assign force range, of an elementary constraint, for a given DOF.

Note: For controllers (secondary constraints), use their specific methods, e.g., constraint->getMotor1D()->setForceRange( fRange ).

Parameters

forceRange	- value of force range for the given DOF
dof	- index of the DOF (-1 indicates all)

Member Data Documentation

◆ customData

void* agx::ConstraintImplementation::customData

Custom data for the solvers to store data into.

Definition at line 569 of file ConstraintImplementation.h.

◆ m_blockRowIndex

UInt agx::ConstraintImplementation::m_blockRowIndex

protected

Start block row for this constraint in the global matrix.

Definition at line 1019 of file ConstraintImplementation.h.

◆ m_blockStructure

BlockStructure agx::ConstraintImplementation::m_blockStructure

protected

The block structure; number of block, rows, dynamic blocks etc.

Definition at line 1018 of file ConstraintImplementation.h.

◆ m_bodies

ConstraintRigidBodyContainer agx::ConstraintImplementation::m_bodies

protected

Vector with observer pointers to bodies.

Definition at line 1014 of file ConstraintImplementation.h.

Referenced by agx::ConstraintImplementation::BodyView::getBodies(), agx::ConstraintImplementation::BodyView::getBodyAt(), and agx::ConstraintImplementation::BodyView::getNumBodies().

◆ m_constrainedBodiesState

ConstrainedBodiesState agx::ConstraintImplementation::m_constrainedBodiesState

protected

State of the included bodies, updated in updateValid.

Definition at line 1015 of file ConstraintImplementation.h.

◆ m_ec

ElementaryConstraint::RefContainer agx::ConstraintImplementation::m_ec

protected

Vector of elementary constraints.

Definition at line 1011 of file ConstraintImplementation.h.

◆ m_enable

bool agx::ConstraintImplementation::m_enable

protected

User controlled enable flag, constraint ignored by solver if false.

Definition at line 1029 of file ConstraintImplementation.h.

◆ m_enableLinearization

bool agx::ConstraintImplementation::m_enableLinearization

protected

When necessary, tweak the values sent to the solver to make violation depend linearly on force or torque.

Definition at line 1030 of file ConstraintImplementation.h.

◆ m_localState

LocalState agx::ConstraintImplementation::m_localState

protected

Current local state, updated all the time, not serialized.

Definition at line 1031 of file ConstraintImplementation.h.

◆ m_numRows

UInt agx::ConstraintImplementation::m_numRows

protected

Number of rows used by this constraint.

Definition at line 1017 of file ConstraintImplementation.h.

◆ m_sc

ElementaryConstraint::RefContainer agx::ConstraintImplementation::m_sc

protected

Vector of secondary constraints.

Definition at line 1012 of file ConstraintImplementation.h.

Referenced by findSecondaryConstraintGivenType().

◆ m_solveType

Constraint::SolveType agx::ConstraintImplementation::m_solveType

protected

Only for supported solvers.

Default: DIRECT. agxData::Values: DIRECT, ITERATIVE or DIRECT_AND_ITERATIVE.

Definition at line 1028 of file ConstraintImplementation.h.

◆ m_subConstraints

ConstraintImplPtrVector agx::ConstraintImplementation::m_subConstraints

mutableprotected

Vector with sub-constraints.

Definition at line 1016 of file ConstraintImplementation.h.

◆ m_tag

int agx::ConstraintImplementation::m_tag

protected

Tag for this constraint.

Default tag is either BINARY or MANY_BODY.

Definition at line 1020 of file ConstraintImplementation.h.

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

ConstraintImplementation.h

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ LocalState

Member Enumeration Documentation

◆ State

◆ Tags

Constructor & Destructor Documentation

◆ ConstraintImplementation()

◆ ~ConstraintImplementation()

Member Function Documentation

◆ addElementaryConstraint()

◆ addNlCallbacks()

◆ addNotification()

◆ addSecondaryConstraint()

◆ calculateCurrentViolation()

◆ calculateNumActiveRows()

◆ calculateViolationVectorAverageSize()

◆ findSecondaryConstraintGivenType()

◆ getActive()

◆ getAngle()

◆ getAttachmentPair()

◆ getBlockRowIndex()

◆ getBlockStructure()

◆ getBounds()

◆ getConstraintVelocity()

◆ getCurrentSpeed()

◆ getElementaryConstraint() [1/2]

◆ getElementaryConstraint() [2/2]

◆ getElementaryConstraints() [1/2]

◆ getElementaryConstraints() [2/2]

◆ getEnable()

◆ getEnableComputeForces()

◆ getEnableLinearization()

◆ getEpsilon()

◆ getFrictionController()

◆ getJacobianRowUsage()

◆ getLastForce() [1/2]

◆ getLastForce() [2/2]

◆ getLastLocalForce() [1/2]

◆ getLastLocalForce() [2/2]

◆ getLock1D()

◆ getMotor1D()

◆ getParameters()

◆ getRange1D()

◆ getSecondaryConstraint() [1/2]

◆ getSecondaryConstraint() [2/2]

◆ getSecondaryConstraints() [1/2]

◆ getSecondaryConstraints() [2/2]

◆ getSolveBoth()

◆ getSolveIterative()

◆ getSolverView()

◆ getSolveType()

◆ getSubConstraints() [1/2]

◆ getSubConstraints() [2/2]

◆ getTag()

◆ getUserView()

◆ getViolation()

◆ incrementConstraintCount()

◆ isImpacting()

◆ isValid()

◆ onDirectComplianceMatrix()

◆ postSolveCallback()

◆ postSolveIndexSetCallback()

◆ postSystemCallback()

◆ prepare()

◆ preSystemCallback()

◆ rebind()

◆ removeElementaryConstraint() [1/2]

◆ removeElementaryConstraint() [2/2]

◆ removeNotification()

◆ removeSecondaryConstraint() [1/2]

◆ removeSecondaryConstraint() [2/2]

◆ reset()