Elementary constraint base class with interface and global constraint functionality. More...

#include <ElementaryConstraint.h>

Inheritance diagram for agx::ElementaryConstraint:

Public Types
typedef agx::Name	NameType

typedef agx::VectorPOD< agx::ElementaryConstraint * >	PtrContainer

typedef agx::Vector< agx::ref_ptr< agx::ElementaryConstraint > >	RefContainer

Public Member Functions
	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::ElementaryConstraint)

void	copyRowFrom (const ElementaryConstraint *source, agx::UInt sourceRow, agx::UInt destRow)
	Copy configuration row from the given ElementaryConstraint into `this`.

virtual agx::UInt	getBounds (agx::RangeReal *bounds, agx::UInt row, agx::Real h) const
	Returns the bounds of the Lagrange Multipliers (default (-inf, +inf)).

agx::Real	getCompliance (agx::UInt row=0) const

virtual agx::Real	getCurrentForce (const agx::UInt row=0) const
	Returns the force applied last time step by this elementary constraint.

const agx::Real *	getCurrentForces () const

agx::Real	getDamping (agx::UInt row=0) const

agx::Real	getElasticity (agx::UInt row=0) const

virtual agx::Bool	getEnable () const

agx::RangeReal &	getForceRange (const agx::UInt row=0)

const agx::RangeReal &	getForceRange (const agx::UInt row=0) const

virtual agx::UInt	getJacobian (agx::Jacobian6DOFElement *G, agx::UInt numBlocks, agx::UInt row, agx::GWriteState::Enum writeState)
	Returns the Jacobian of this elementary constraint.

const agx::ElementaryConstraint::NameType &	getName () const

virtual agx::ConstraintNlmcpCallback *	getNlCallback () const

agx::UInt	getNumRows () const

agx::RegularizationParameters *	getRegularizationParameters (const agx::UInt row=0)

const agx::RegularizationParameters *	getRegularizationParameters (const agx::UInt row=0) const

virtual agx::UInt	getVelocity (agx::Real *v, agx::UInt row) const
	Returns the velocity of this elementary constraint (extra, driving term on the right hand side).

virtual agx::UInt	getViolation (agx::Real *g, agx::UInt row)
	Returns the violation of this elementary constraint.

virtual agx::Bool	isActive () const
	An elementary constraint is defined to be `active` if enabled.

virtual agx::Bool	isImpacting () const

virtual void	linearizeCompliance (const agx::Real violations, agx::Real epsilons, agx::Real minPerturbation) const
	Modify epsilon so that this ElementaryConstraint appear to be linear in the "normal" deformantion space instead any other space that the ElementaryConstraint may be using.

virtual agx::UInt	postSolveCallback (const agx::Real *solution, agx::UInt row, agx::Real h)
	Callback after solve, with the solution.

virtual void	prepare ()
	Prepare call.

void	reset ()
	Reset call.

virtual void	restore (agxStream::InputArchive &in) override
	Restore this object from stream.

virtual void	restoreLightData (agxStream::StorageStream &str) override
	Restore structural independent data from stream.

virtual void	setAttachmentPair (const agx::AttachmentPair *ap)
	Call for elementary constraints dependent on attachment pairs.

void	setCompliance (agx::Real compliance)

void	setCompliance (agx::Real compliance, int row)
	Assign compliance for a given row, or all rows if `row` = -1 (default).

void	setDamping (agx::Real damping)

void	setDamping (agx::Real damping, int row)
	Assign damping for a given row, or all rows if `row` = -1 (default).

void	setElasticity (agx::Real elasticity)

void	setElasticity (agx::Real elasticity, int row)
	Assign elasticity for a given row, or all rows if `row` = -1 (default).

virtual void	setEnable (agx::Bool enable)
	Enable/disable this elementary constraint.

void	setForceRange (agx::RangeReal forceRange, const agx::UInt row=0)
	Assign force range to a given row.

void	setForceRange (agx::Real lower, agx::Real upper, const agx::UInt row=0)
	Assign force range to a given row.

void	setName (const agx::ElementaryConstraint::NameType &name)
	Name this elementary constraint.

virtual void	store (agxStream::OutputArchive &out) const override
	Store this object to stream.

virtual void	storeLightData (agxStream::StorageStream &str) const override
	Store structural independent data to stream.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Protected Member Functions
	ElementaryConstraint (agx::Bool enable, agx::UInt numRows, agx::RegularizationParameters regParamsBuffer, agx::Real lastForcesBuffer, agx::RangeReal *userBoundsBuffer)
	Construct given data.

virtual	~ElementaryConstraint ()
	Reference counted object, protected destructor.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Protected Attributes
agx::Bool	m_enable
	enabled

agx::ref_ptr< agx::Referenced >	m_internalData
	custom, internal data

agx::Real *	m_lfs
	last forces

agx::ElementaryConstraint::NameType	m_name
	name

agx::UInt	m_numRows
	number of rows

agx::RegularizationParameters *	m_rps
	regularization parameters

agx::RangeReal *	m_ubs
	user bounds

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Additional Inherited Members
Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Detailed Description

Elementary constraint base class with interface and global constraint functionality.

Definition at line 53 of file ElementaryConstraint.h.

Member Typedef Documentation

◆ NameType

typedef agx::Name agx::ElementaryConstraint::NameType

Definition at line 58 of file ElementaryConstraint.h.

◆ PtrContainer

typedef agx::VectorPOD< agx::ElementaryConstraint* > agx::ElementaryConstraint::PtrContainer

Definition at line 57 of file ElementaryConstraint.h.

◆ RefContainer

typedef agx::Vector< agx::ref_ptr< agx::ElementaryConstraint > > agx::ElementaryConstraint::RefContainer

Definition at line 56 of file ElementaryConstraint.h.

Constructor & Destructor Documentation

◆ ElementaryConstraint()

agx::ElementaryConstraint::ElementaryConstraint	(	agx::Bool	enable,
		agx::UInt	numRows,
		agx::RegularizationParameters *	regParamsBuffer,
		agx::Real *	lastForcesBuffer,
		agx::RangeReal *	userBoundsBuffer
	)

protected

Construct given data.

Sub-classes are responsible of providing regularization parameters-, force- and bounds data of size numRows.

Parameters

enable	- default enabled or disabled
numRows	- number of equations of this elementary constraint
regParamsBuffer	- buffer (of size numRows) with regularization parameters
lastForcesBuffer	- buffer (of size numRows) to store last/current forces
userBoundsBuffer	- buffer (of size numRows) with bounds (read/written through set/getForceRange)

◆ ~ElementaryConstraint()

virtual agx::ElementaryConstraint::~ElementaryConstraint ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE()

agx::ElementaryConstraint::AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE ( agx::ElementaryConstraint )

◆ copyRowFrom()

void agx::ElementaryConstraint::copyRowFrom	(	const ElementaryConstraint *	source,
		agx::UInt	sourceRow,
		agx::UInt	destRow
	)

Copy configuration row from the given ElementaryConstraint into this.

Parameters

source	- The ElementaryConstraint to copy from.
sourceRow	- The index of the row in the given ElementaryConstraint to copy from.
destRow	- The index to the row in `this` to which the configuration should be copied.

◆ getBounds()

virtual agx::UInt agx::ElementaryConstraint::getBounds	(	agx::RangeReal *	bounds,
		agx::UInt	row,
		agx::Real	h
	)		const

virtual

Returns the bounds of the Lagrange Multipliers (default (-inf, +inf)).

Note that the bounds buffer has to be provided by the caller.

Note: Dimension of the Lagrange Multipliers are Force * Time (argument h = time step length).

Parameters

bounds	- bounds buffer
row	- start row in bounds buffer `bounds`
h	- current time step length

Returns: the number of rows used (= elements written) in the bounds buffer

Reimplemented in agx::FrictionController, agx::RangeController, agx::TwistRangeController, agx::ConeLimit, and agx::ElementaryContactPoint.

◆ getCompliance()

agx::Real agx::ElementaryConstraint::getCompliance ( agx::UInt row = 0 ) const

Parameters

row	- row < getNumRows()

Returns: compliance for row row (row < getNumRows())

◆ getCurrentForce()

virtual agx::Real agx::ElementaryConstraint::getCurrentForce ( const agx::UInt row = 0 ) const

virtual

Returns the force applied last time step by this elementary constraint.

Parameters

row	- row < getNumRows()

Returns: the force (given row) this elementary constraint applied during the last solve

◆ getCurrentForces()

const agx::Real * agx::ElementaryConstraint::getCurrentForces ( ) const

Returns: array of current forces - length = getNumRows()

◆ getDamping()

agx::Real agx::ElementaryConstraint::getDamping ( agx::UInt row = 0 ) const

Parameters

row	- row < getNumRows()

Returns: damping for row row (row < getNumRows())

◆ getElasticity()

agx::Real agx::ElementaryConstraint::getElasticity ( agx::UInt row = 0 ) const

Parameters

row	- row < getNumRows()

Returns: elasticity for row row (row < getNumRows())

◆ getEnable()

virtual agx::Bool agx::ElementaryConstraint::getEnable ( ) const

virtual

Returns: true if this elementary constraint is enabled - otherwise false

◆ getForceRange() [1/2]

agx::RangeReal & agx::ElementaryConstraint::getForceRange ( const agx::UInt row = 0 )

Parameters

row	- row < getNumRows()

Returns: current force range at row row

◆ getForceRange() [2/2]

const agx::RangeReal & agx::ElementaryConstraint::getForceRange ( const agx::UInt row = 0 ) const

Parameters

row	- row < getNumRows()

Returns: current force range at row row

◆ getJacobian()

virtual agx::UInt agx::ElementaryConstraint::getJacobian	(	agx::Jacobian6DOFElement *	G,
		agx::UInt	numBlocks,
		agx::UInt	row,
		agx::GWriteState::Enum	writeState
	)

virtual

Returns the Jacobian of this elementary constraint.

Note that the Jacobian buffer has to be provided by the caller.

Parameters

G	- Jacobian buffer
numBlocks	- number of blocks in the global Jacobian (e.g., number of bodies in the main constraint)
row	- start row in Jacobian buffer
writeState	- state of the main constraint (the order in which the Jacobian is written defines this state)

Returns: the number of elements used in G

Reimplemented in agxPowerLine::ElementaryPhysicalDimensionConstraint, agx::ContactNormal, agx::ContactTangent, agx::Dot1, agx::Swing, agx::Dot2, agx::Spherical, agx::SphericalRel, agx::QuatLock, agx::BasicControllerConstraint, agx::ScrewController, agx::Twist, agx::Dot1Slack, agx::Dot2Slack, and agx::SphericalRelSlack.

◆ getName()

const ElementaryConstraint::NameType & agx::ElementaryConstraint::getName ( ) const

Returns: the name of this elementary constraint

Definition at line 1444 of file ElementaryConstraint.h.

References m_name.

◆ getNlCallback()

virtual agx::ConstraintNlmcpCallback * agx::ElementaryConstraint::getNlCallback ( ) const

virtual

Returns: solver callback instance if supported by this elementary constraint

Reimplemented in agx::FrictionController, and agx::GenericElementaryConstraint.

◆ getNumRows()

UInt agx::ElementaryConstraint::getNumRows ( ) const

Returns: number of rows in this elementary constraint

Definition at line 1439 of file ElementaryConstraint.h.

References m_numRows.

◆ getRegularizationParameters() [1/2]

RegularizationParameters * agx::ElementaryConstraint::getRegularizationParameters ( const agx::UInt row = 0 )

Parameters

row	- row < getNumRows()

Returns: regularization parameters (holding e.g., compliance and damping) for row row (default: 0)

Definition at line 1427 of file ElementaryConstraint.h.

References agxAssert, m_numRows, and m_rps.

◆ getRegularizationParameters() [2/2]

const RegularizationParameters * agx::ElementaryConstraint::getRegularizationParameters ( const agx::UInt row = 0 ) const

Parameters

row	- row < getNumRows()

Returns: regularization parameters (holding e.g., compliance and damping) for row row (default: 0)

Definition at line 1433 of file ElementaryConstraint.h.

References agxAssert, m_numRows, and m_rps.

◆ getVelocity()

virtual agx::UInt agx::ElementaryConstraint::getVelocity	(	agx::Real *	v,
		agx::UInt	row
	)		const

virtual

Returns the velocity of this elementary constraint (extra, driving term on the right hand side).

Note that the velocity buffer has to be provided by the caller.

Parameters

v	- velocity buffer
row	- start row in velocity buffer v

Returns: the number of rows used (= elements written) in velocity buffer

Reimplemented in agx::ContactTangent, agx::TargetSpeedController, agx::ElectricMotorController, and agx::ElementaryContactPoint.

◆ getViolation()

virtual agx::UInt agx::ElementaryConstraint::getViolation	(	agx::Real *	g,
		agx::UInt	row
	)

virtual

Returns the violation of this elementary constraint.

Note that the violation buffer has to be provided by the caller.

Parameters

g	- violation buffer
row	- start row in violation buffer g

Returns: the number of rows used (= elements written) in violation buffer

Reimplemented in agxPowerLine::ElementaryPhysicalDimensionConstraint, agx::ContactNormal, agx::ContactTangent, agx::Dot1, agx::Swing, agx::Dot2, agx::Spherical, agx::SphericalRel, agx::QuatLock, agx::TargetSpeedController, agx::FrictionController, agx::RangeController, agx::LockController, agx::ScrewController, agx::Twist, agx::TwistRangeController, agx::ConeLimit, agx::Dot1Slack, agx::Dot2Slack, agx::SphericalRelSlack, agx::ElectricMotorController, and agx::ElementaryContactPoint.

◆ isActive()

virtual agx::Bool agx::ElementaryConstraint::isActive ( ) const

virtual

An elementary constraint is defined to be active if enabled.

Yet constraints can be enabled but not active (e.g., RangeController when the range isn't exceeded).

Returns: true if this elementary constraint is active - otherwise false

Reimplemented in agx::FrictionController, agx::RangeController, agx::TwistRangeController, agx::ConeLimit, and agx::GenericElementaryConstraint.

◆ isImpacting()

virtual agx::Bool agx::ElementaryConstraint::isImpacting ( ) const

virtual

Returns: true of this elementary constraint is impacting

Reimplemented in agx::ElementaryContactPoint.

◆ linearizeCompliance()

void agx::ElementaryConstraint::linearizeCompliance	(	const agx::Real *	violations,
		agx::Real *	epsilons,
		agx::Real	minPerturbation
	)		const

inlinevirtual

Modify epsilon so that this ElementaryConstraint appear to be linear in the "normal" deformantion space instead any other space that the ElementaryConstraint may be using.

For most ElementaryConstraints this does nothing. For QuatLock the epsilon is modified to account for the nonlinear nature of quaternion's relation to the angle of rotation they represent.

This function is called by the engine during constraint preparation for solve.

Reimplemented in agx::QuatLock.

Definition at line 1449 of file ElementaryConstraint.h.

◆ postSolveCallback()

virtual agx::UInt agx::ElementaryConstraint::postSolveCallback	(	const agx::Real *	solution,
		agx::UInt	row,
		agx::Real	h
	)

virtual

Callback after solve, with the solution.

Parameters

solution	- solution of the last solve
row	- start row in solution for this elementary constraint
h	- current time step length

Returns: number of rows read (= number of rows of this elementary constraint)

Reimplemented in agx::FrictionController.

◆ prepare()

virtual void agx::ElementaryConstraint::prepare ( )

virtual

Prepare call.

After this call the elementary constraint may be activated.

Reimplemented in agx::ElectricMotorController, agx::RangeController, agx::TwistRangeController, and agx::ConeLimit.

◆ reset()

void agx::ElementaryConstraint::reset ( )

Reset call.

Call this to zero the solution vector for the ElementaryConstraint.

◆ restore()

virtual void agx::ElementaryConstraint::restore ( agxStream::InputArchive & in )

overridevirtual

Restore this object from stream.

Reimplemented in agx::BasicControllerConstraint, and agxPowerLine::ElementaryPhysicalDimensionConstraint.

◆ restoreLightData()

virtual void agx::ElementaryConstraint::restoreLightData ( agxStream::StorageStream & str )

overridevirtual

Restore structural independent data from stream.

Reimplemented in agx::TargetSpeedController, agx::FrictionController, agx::ElectricMotorController, agx::RangeController, agx::LockController, and agx::ScrewController.

◆ setAttachmentPair()

virtual void agx::ElementaryConstraint::setAttachmentPair ( const agx::AttachmentPair * ap )

virtual

Call for elementary constraints dependent on attachment pairs.

Ignored by this base class.

◆ setCompliance() [1/2]

void agx::ElementaryConstraint::setCompliance ( agx::Real compliance )

◆ setCompliance() [2/2]

void agx::ElementaryConstraint::setCompliance	(	agx::Real	compliance,
		int	row
	)

Assign compliance for a given row, or all rows if row = -1 (default).

Parameters

compliance	- new compliance
row	- row to assign compliance. If i < 0 to assign all rows.

◆ setDamping() [1/2]

void agx::ElementaryConstraint::setDamping ( agx::Real damping )

◆ setDamping() [2/2]

void agx::ElementaryConstraint::setDamping	(	agx::Real	damping,
		int	row
	)

Assign damping for a given row, or all rows if row = -1 (default).

Note: Calling this method for non-holonomic rows (e.g. Motor1D) has no effect.

Parameters

damping	- new damping
row	- row to assign damping. If i < 0 to assign all rows.

◆ setElasticity() [1/2]

void agx::ElementaryConstraint::setElasticity ( agx::Real elasticity )

◆ setElasticity() [2/2]

void agx::ElementaryConstraint::setElasticity	(	agx::Real	elasticity,
		int	row
	)

Assign elasticity for a given row, or all rows if row = -1 (default).

Parameters

elasticity	- new elasticity
row	- row to assign elasticity. If i < 0 to assign all rows.

◆ setEnable()

virtual void agx::ElementaryConstraint::setEnable ( agx::Bool enable )

virtual

Enable/disable this elementary constraint.

Parameters

enable - true to enable, false to disable

◆ setForceRange() [1/2]

void agx::ElementaryConstraint::setForceRange	(	agx::RangeReal	forceRange,
		const agx::UInt	row = `0`
	)

Assign force range to a given row.

Note: row is default 0. I.e., it is not defined to assign forceRange to all rows in one call.

Parameters

forceRange	- new force range
row	- row < getNumRows()

◆ setForceRange() [2/2]

void agx::ElementaryConstraint::setForceRange	(	agx::Real	lower,
		agx::Real	upper,
		const agx::UInt	row = `0`
	)

Assign force range to a given row.

Note: row is default 0. I.e., it is not defined to assign lower and upper to all rows in one call.

Parameters

lower	- lower force range (typically <= 0)
upper	- upper force range (typically >= 0)
row	- row < getNumRows()

◆ setName()

void agx::ElementaryConstraint::setName ( const agx::ElementaryConstraint::NameType & name )

Name this elementary constraint.

Parameters

name	- new name of this elementary constraint

◆ store()

virtual void agx::ElementaryConstraint::store ( agxStream::OutputArchive & out ) const

overridevirtual

Store this object to stream.

Reimplemented in agx::BasicControllerConstraint, and agxPowerLine::ElementaryPhysicalDimensionConstraint.

◆ storeLightData()

virtual void agx::ElementaryConstraint::storeLightData ( agxStream::StorageStream & str ) const

overridevirtual

Store structural independent data to stream.

Reimplemented in agx::TargetSpeedController, agx::FrictionController, agx::ElectricMotorController, agx::RangeController, agx::LockController, and agx::ScrewController.

Member Data Documentation

◆ m_enable

agx::Bool agx::ElementaryConstraint::m_enable

protected

enabled

Definition at line 334 of file ElementaryConstraint.h.

◆ m_internalData

agx::ref_ptr<agx::Referenced> agx::ElementaryConstraint::m_internalData

protected

custom, internal data

Definition at line 340 of file ElementaryConstraint.h.

◆ m_lfs

agx::Real* agx::ElementaryConstraint::m_lfs

protected

last forces

Definition at line 338 of file ElementaryConstraint.h.

◆ m_name

agx::ElementaryConstraint::NameType agx::ElementaryConstraint::m_name

protected

name

Definition at line 336 of file ElementaryConstraint.h.

Referenced by getName().

◆ m_numRows

agx::UInt agx::ElementaryConstraint::m_numRows

protected

number of rows

Definition at line 335 of file ElementaryConstraint.h.

Referenced by getNumRows(), and getRegularizationParameters().

◆ m_rps

agx::RegularizationParameters* agx::ElementaryConstraint::m_rps

protected

regularization parameters

Definition at line 337 of file ElementaryConstraint.h.

Referenced by getRegularizationParameters().

◆ m_ubs

agx::RangeReal* agx::ElementaryConstraint::m_ubs

protected

user bounds

Definition at line 339 of file ElementaryConstraint.h.

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

ElementaryConstraint.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ NameType

◆ PtrContainer

◆ RefContainer

Constructor & Destructor Documentation

◆ ElementaryConstraint()

◆ ~ElementaryConstraint()

Member Function Documentation

◆ AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE()

◆ copyRowFrom()

◆ getBounds()

◆ getCompliance()

◆ getCurrentForce()

◆ getCurrentForces()

◆ getDamping()

◆ getElasticity()

◆ getEnable()

◆ getForceRange() [1/2]

◆ getForceRange() [2/2]

◆ getJacobian()

◆ getName()

◆ getNlCallback()

◆ getNumRows()

◆ getRegularizationParameters() [1/2]

◆ getRegularizationParameters() [2/2]

◆ getVelocity()

◆ getViolation()

◆ isActive()

◆ isImpacting()

◆ linearizeCompliance()

◆ postSolveCallback()

◆ prepare()

◆ reset()

◆ restore()

◆ restoreLightData()

◆ setAttachmentPair()

◆ setCompliance() [1/2]

◆ setCompliance() [2/2]

◆ setDamping() [1/2]

◆ setDamping() [2/2]

◆ setElasticity() [1/2]

◆ setElasticity() [2/2]

◆ setEnable()

◆ setForceRange() [1/2]

◆ setForceRange() [2/2]

◆ setName()

◆ store()

◆ storeLightData()

Member Data Documentation

◆ m_enable

◆ m_internalData

◆ m_lfs

◆ m_name

◆ m_numRows

◆ m_rps

◆ m_ubs