Generic many-body constraint with callbacks for writing Jacobian and constraint data. More...

#include <GenericManyBodyConstraint.h>

Inheritance diagram for agx::GenericManyBodyConstraint:

Public Member Functions
	GenericManyBodyConstraint (agx::UInt numRows)
	Construct given number of rows.

virtual void	onAddNotification () override
	Callback when the constraint has been added to a simulation.

virtual void	onPostSolve () override
	Callback from after the solve and the solutions been pushed to the elementary constraints.

virtual agx::Bool	onPreSolve () override
	Callback before this constraint reaches the solver (actually preSystemCallback).

virtual void	onRemoveNotification () override
	Callback when the constraint has been removed from a simulation.

virtual void	onWriteData (agx::GenericConstraintData *constraintData)
	Callback when to write Jacobian and constraint data if this constraint is active.

virtual void	updateComplianceMatrix (GenericConstraintComplianceMatrix *matrix) override
	Callback to write data.

Public Member Functions inherited from agx::IGenericConstraint
virtual	~IGenericConstraint ()

Bool	add (RigidBody *rb)
	Register rigid body part of this many-body constraint.

Bool	addChild (Constraint *constraint)
	Add child constraint (binary or many-body).

virtual void	addNotification () final override
	Called when added to a simulation.

GenericConstraintComplianceMatrix *	getComplianceMatrix () const
	If this constraint active rows doesn't vary and isStaticSize = true has been flagged when enabling support for compliance matrix, this method will return the matrix at any time.

int	getNumDOF () const override

virtual void	onAddNotification ()=0

virtual void	onPostSolve ()=0

virtual bool	onPreSolve ()=0

virtual void	onRemoveNotification ()=0

Bool	remove (RigidBody *rb)
	Remove rigid body from this many-body constraint.

void	removeAllBodies ()
	Removes all bodies previously added.

void	removeAllChildren ()
	Removes all child constraints previously added.

Bool	removeChild (Constraint *constraint)
	Remove child constraint.

virtual void	removeNotification () final override
	Called when removed from a simulation.

void	render (class agxRender::RenderManager *manager, float scale) const override
	Inherited method of how to render this constraint into DebugRenderer.

Bool	setRigidBodies (RigidBody rb1, RigidBody rb2)
	Assign/update rigid bodies of this constraint.

void	setSupportComplianceMatrix (Bool enable, Bool isStaticSize=false)
	Enable/disable updateComplianceMatrix callback with write access to the elements in the compliance matrix of this constraint.

virtual void	updateComplianceMatrix (GenericConstraintComplianceMatrix *matrix)=0

Public Member Functions inherited from agx::Constraint
agx::Bool	addElementaryConstraint (const agx::Name &name, agx::ElementaryConstraint *elementaryConstraint)
	Add elementary constraint (like Spherical, Dot1, Dot2 etc) given name.

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

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::Constraint)

template<typename T >
T *	as ()
	Try to do dynamic_cast on the constraint and return a pointer to the casted constraint.

template<typename T >
const T *	as () const
	Try to do dynamic_cast on the constraint and return a pointer to the casted constraint.

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.

template<typename T >
ref_ptr< T >	createFromBody (Vec3 bodyPoint, Vec3 bodyAxis, RigidBody rb1, RigidBody rb2)

template<typename T >
ref_ptr< T >	createFromWorld (Vec3 worldPoint, Vec3 worldAxis, RigidBody rb1, RigidBody rb2)

agx::Attachment *	getAttachment (agx::UInt i) const

agx::RigidBodyAttachment *	getAttachment (const agx::RigidBody *rb) const

agx::AttachmentPair *	getAttachmentPair () const

agx::RigidBody *	getBodyAt (agx::UInt i)

const agx::RigidBody *	getBodyAt (agx::UInt i) const

virtual agx::Real	getCompliance (agx::UInt dof) const
	Get the compliance for DOF i.

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

virtual Real	getDamping (agx::UInt dof) const
	Get the damping for DOF `dof`.

virtual agx::Real	getElasticity (agx::UInt dof) const
	Get the elasticity for DOF i.

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

agx::ElementaryConstraint *	getElementaryConstraintGivenName (const agx::Name &name) const
	Find elementary constraint given name.

agx::Bool	getEnable () const

agx::Bool	getEnableComputeForces () const

bool	getEnableDebugRendering () const

bool	getEnableLinearization () const

agx::UInt32	getEntityId () const

agx::RangeReal	getForceRange (agx::UInt dof=0) const
	Get the force range for DOF `dof`.

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`.

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`.

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`.

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::UInt	getNumBodies () const
	returns the number of bodies involved

virtual int	getNumDOF () const =0

agx::UInt	getNumElementaryConstraints () const

agx::UInt	getNumSecondaryConstraints () const

virtual agx::RegularizationParameters *	getRegularizationParameters (agx::UInt i)

virtual const agx::RegularizationParameters *	getRegularizationParameters (agx::UInt i) const

agx::ConstraintImplementation *	getRep ()

const agx::ConstraintImplementation *	getRep () const

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

agx::ElementaryConstraint *	getSecondaryConstraintGivenName (const agx::Name &name) const
	Find secondary constraint given name.

agx::Constraint::SolveType	getSolveType () const

agx::Bool	getValid () const

agx::Bool	isEnabled () const

virtual agx::Bool	rebind ()
	Rebind this constraint, i.e., use current state as the initial configuration.

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

agx::Bool	removeElementaryConstraint (const agx::Name &name)
	Remove elementary constraint.

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

agx::Bool	removeSecondaryConstraint (const agx::Name &name)
	Remove secondary constraint.

virtual void	render (class agxRender::RenderManager *mgr, float scale) const =0
	Inherited method of how to render this constraint into DebugRenderer.

void	restore (agxStream::InputArchive &in) override

virtual void	restoreLightData (agxStream::StorageStream &str) override

void	setCompliance (agx::Real compliance)
	Set the compliance of this constraint for all DOFs.

virtual void	setCompliance (agx::Real compliance, agx::Int dof)
	Set the compliance of this constraint for the i:th DOF.

void	setDamping (agx::Real damping)
	Set the damping of this constraint for all DOFs.

virtual void	setDamping (agx::Real damping, agx::Int dof)
	Set the damping of this constraint for the i:th DOF.

virtual void	setElasticity (agx::Real elasticity)
	Set the elasticity of this constraint for all DOFs.

virtual void	setElasticity (agx::Real elasticity, agx::Int dof)
	Set the elasticity of this constraint for the i:th DOF.

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

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

void	setEnableDebugRendering (agx::Bool enable)
	Enable/disable debug rendering of this constraint.

void	setEnableLinearization (bool enable)
	Pass `true` to enable linearization of constraint compliance.

void	setForceRange (agx::RangeReal forceRange)
	Assign force range for all DOF of the elementary constraints.

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

void	setForceRange (agx::Real lower, agx::Real upper, agx::Int dof)
	Assign force range, of an elementary constraint, for a given DOF.

void	setSolveType (agx::Constraint::SolveType solveType)
	Specify the solve type for this constraint.

void	store (agxStream::OutputArchive &out) const override

virtual void	storeLightData (agxStream::StorageStream &str) const override

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

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Interaction)

const agx::Name &	getName () const

agx::PropertyContainer *	getPropertyContainer ()

const agx::PropertyContainer *	getPropertyContainer () const

agxSDK::SimulationProxy *	getSimulationProxy () const

agx::Bool	hasPropertyContainer () const

virtual void	postSystemCallback (agx::DynamicsSystem *)
	Called after all post step events, after solve.

virtual void	preSystemCallback (agx::DynamicsSystem *)
	Called after all pre step events, before solve.

void	setName (const agx::Name &name)
	Name this interaction.

void	setPropertyContainer (agx::PropertyContainer *propertyContainer)
	Assign a new property container.

virtual void	updateForce (agx::DynamicsSystem *dynamicsSystem)
	This virtual method is implemented so that it computes the interaction forces on all the physical bodies implicated.

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
virtual	~GenericManyBodyConstraint ()=default

Protected Member Functions inherited from agx::IGenericConstraint
	IGenericConstraint (GenericConstraintImplementation *implementation)

Protected Member Functions inherited from agx::Constraint
	Constraint ()

virtual	~Constraint ()

virtual void	addNotification () override
	Called when added to a simulation.

virtual void	postSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called after all post step events, after solve.

virtual void	preSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called after all pre step events, before solve.

virtual void	removeNotification () override
	Called when removed from a simulation.

void	setRep (agx::ConstraintImplementation *_rep)

virtual void	setSimulation (agxSDK::Simulation *simulation) override
	Assign simulation.

virtual void	setSystem (agx::DynamicsSystem *)

Protected Member Functions inherited from agx::Interaction
virtual	~Interaction ()
	Reference counted object, protected destructor.

virtual void	addNotification ()
	Called when added to a simulation.

virtual void	removeNotification ()
	Called when removed from a simulation.

virtual void	setSimulation (agxSDK::Simulation *simulation)
	Assign simulation.

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 ()

Additional Inherited Members
Public Types inherited from agx::Constraint
enum	SolveType { DIRECT = 1 , ITERATIVE = (1<<2) , DIRECT_AND_ITERATIVE = (DIRECT \| ITERATIVE) }
	Specifies in what solvers the constraint will be solved. More...

Static Public Member Functions inherited from agx::IGenericConstraint
static void	onCleanup (const agxSDK::Simulation *simulation)

static void	onPostSolveCallback (const agxSDK::Simulation *simulation)

static void	onPreSolveCallback (const agxSDK::Simulation *simulation)

Static Public Member Functions inherited from agx::Constraint
static agx::Bool	calculateFramesFromBody (agx::Vec3 bodyPoint, agx::Vec3 bodyAxis, agx::Vec3 secondBodyAxis, const agx::RigidBody body, agx::Frame bodyFrame, const agx::RigidBody otherBody, agx::Frame otherFrame)
	Calculates the constraint attachment frames given point and axes in body coordinates of `body`.

static agx::Bool	calculateFramesFromBody (agx::Vec3 bodyPoint, agx::Vec3 bodyAxis, const agx::RigidBody body, agx::Frame bodyFrame, const agx::RigidBody otherBody, agx::Frame otherFrame)
	Calculates the constraint attachment frames given point and axis in body coordinates of `body`.

static agx::Bool	calculateFramesFromWorld (agx::Vec3 worldPoint, agx::Vec3 worldAxis, agx::Vec3 secondWorldAxis, const agx::RigidBody rb1, agx::Frame rb1Frame, const agx::RigidBody rb2, agx::Frame rb2Frame)
	Given a point and two axes in world, this function calculates each local attachment frame for one or two bodies.

static agx::Bool	calculateFramesFromWorld (agx::Vec3 worldPoint, agx::Vec3 worldAxis, const agx::RigidBody rb1, agx::Frame rb1Frame, const agx::RigidBody rb2, agx::Frame rb2Frame)
	Given a point and an axis in world, this function calculates each local attachment frame for one or two bodies.

template<typename T >
static agx::ref_ptr< T >	createFromBody (agx::Vec3 bodyPoint, agx::Vec3 bodyAxis, agx::RigidBody rb1, agx::RigidBody rb2=nullptr)
	Creates a constraint given a point and an axis in `rb1` model frame.

template<typename T >
static agx::ref_ptr< T >	createFromWorld (agx::Vec3 worldPoint, agx::Vec3 worldAxis, agx::RigidBody rb1, agx::RigidBody rb2=nullptr)
	Creates a constraint given a point and an axis in world frame.

Static Public Member Functions inherited from agx::Interaction
static agxStream::Serializable *	create (agxStream::InputArchive &)

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.

Protected Attributes inherited from agx::Constraint
agx::ConstraintImplementation *	m_implementation

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Generic many-body constraint with callbacks for writing Jacobian and constraint data.

This generic many-body constraint works as an elementary constraint but may have 'child' constraints instead of additional elementary constraints. It's also possible to implement elementary constraints for many-body constraints.

This constraint receives; addNotification, removeNotification, onPreSolve, onWriteData and onPostSolve.

To access Jacobian data during onWriteData - getBodyData( body ) is used and getBodyData may return nullptr when the Jacobian should be ignored. Note that addJacobian( translational, rotational ) may be used instead of setJacobian if the body appears several times.

Any structural changes, e.g., add remove of bodies or child constraints must be made before the onWriteData callback (onPreSolve or pre-collide/pre step callbacks).

This constraint may be empty of bodies and data, serving as a parent of many other constraints.

Python example: class MyWireSegment(agx.GenericManyBodyConstraint): def init(self, nodes): super().__init__(numRows=1) self.nodes = nodes

def onPreSolve(self): self.removeAllBodies() num_bodies = 0 for node in self.nodes: num_bodies += 1 if self.add(node.body) else 0 return num_bodies > 0

def onWriteData(self, constraint_data: agx.GenericConstraintData): for node in self.nodes: data = constraint_data.getBodyData(node.body) if data is None: continue

write Jacobian data

constraint_data.setViolation(0, calculated_violation)

def MyWire(agx.GenericManyBodyConstraint): def init(self, **kwargs): super().__init__(numRows=0)

def addNotification(self):

Added to simulation - initialize.

pass

def onPreSolve(self): self.removeAllChildren()

if len( self.nodes ) < 2: return False

node = self.nodes.front while node: segment, node = self._create_segment(node) if segment: self.addChild(segment)

Definition at line 90 of file GenericManyBodyConstraint.h.

Constructor & Destructor Documentation

◆ GenericManyBodyConstraint()

agx::GenericManyBodyConstraint::GenericManyBodyConstraint ( agx::UInt numRows )

Construct given number of rows.

Parameters

numRows - number of rows

◆ ~GenericManyBodyConstraint()

virtual agx::GenericManyBodyConstraint::~GenericManyBodyConstraint ( )

protectedvirtualdefault

Member Function Documentation

◆ onAddNotification()

virtual void agx::GenericManyBodyConstraint::onAddNotification ( )

overridevirtual

Callback when the constraint has been added to a simulation.

Implements agx::IGenericConstraint.

◆ onPostSolve()

virtual void agx::GenericManyBodyConstraint::onPostSolve ( )

overridevirtual

Callback from after the solve and the solutions been pushed to the elementary constraints.

Implements agx::IGenericConstraint.

◆ onPreSolve()

virtual agx::Bool agx::GenericManyBodyConstraint::onPreSolve ( )

overridevirtual

Callback before this constraint reaches the solver (actually preSystemCallback).

If the return value is true and this constraint is valid, this constraint will continue into the solver.

Returns: true if this constraint is active, false if inactive

Implements agx::IGenericConstraint.

◆ onRemoveNotification()

virtual void agx::GenericManyBodyConstraint::onRemoveNotification ( )

overridevirtual

Callback when the constraint has been removed from a simulation.

Implements agx::IGenericConstraint.

◆ onWriteData()

virtual void agx::GenericManyBodyConstraint::onWriteData ( agx::GenericConstraintData * constraintData )

virtual

Callback when to write Jacobian and constraint data if this constraint is active.

Parameters

constraintData - constraint data for this elementary constraint

◆ updateComplianceMatrix()

virtual void agx::GenericManyBodyConstraint::updateComplianceMatrix ( GenericConstraintComplianceMatrix * matrix )

overridevirtual

Callback to write data.

All values must be greater than or equal to zero. Data is only stored for the lower triangle since the matrix must be symmetric and positive definite.

Implements agx::IGenericConstraint.

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

GenericManyBodyConstraint.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

write Jacobian data

Added to simulation - initialize.

Constructor & Destructor Documentation

◆ GenericManyBodyConstraint()

◆ ~GenericManyBodyConstraint()

Member Function Documentation

◆ onAddNotification()

◆ onPostSolve()

◆ onPreSolve()

◆ onRemoveNotification()

◆ onWriteData()

◆ updateComplianceMatrix()