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| | HighLevelConstraintImplementation () |
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| virtual | ~HighLevelConstraintImplementation () |
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| | AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::HighLevelConstraintImplementation) |
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| bool | bodiesValid () const |
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| virtual void | computeForces (const agx::Jacobian6DOFElement *jacobians) |
| | Computes the forces, if valid and enabled.
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| virtual agx::Bool | computeForces (const agx::Jacobian6DOFElement *jacobians, agx::Vec3Vector &result) const |
| | Computes forces on rb1 and rb2 given this constraint has been solved and all the elementary constraints have their current force updated.
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| bool | construct (RigidBody *rb1, Frame *rb1AttachmentFrame, RigidBody *rb2, Frame *rb2AttachmentFrame, CreateElementaryConstraintsFunction=nullptr) |
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| virtual agx::Real | getAngle (agx::UInt dof=0) const override |
| | If the constraint supports angle calculations and 'dof' is in range, this method returns the angle of the given degree of freedom.
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| template<typename T > |
| T * | getAttachment (agx::UInt index) |
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| template<typename T > |
| const T * | getAttachment (agx::UInt index) const |
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| virtual agx::AttachmentPair * | getAttachmentPair () const override |
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| virtual agx::Bool | getEnableComputeForces () const override |
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| virtual agx::Bool | getLastForce (agx::UInt bodyIndex, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const override |
| | If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with bodyIndex.
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| virtual agx::Bool | getLastForce (const RigidBody *rb, Vec3 &retForce, Vec3 &retTorque, agx::Bool giveForceAtCm=false) const override |
| | If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body rb.
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| virtual agx::Bool | getLastLocalForce (agx::UInt bodyIndex, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const override |
| | If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body with bodyIndex.
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| virtual agx::Bool | getLastLocalForce (const agx::RigidBody *rb, agx::Vec3 &retForce, agx::Vec3 &retTorque, agx::Bool giveForceAtCm=false) const override |
| | If 'compute forces' is enabled, returns the last force and torque applied by this constraint on the body rb.
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| virtual void | postSolveCallback (const agx::Jacobian6DOFElement *jacobians, const agx::Real *solution, agx::Real dt) override |
| | Peak at the solution after the solver is done.
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| virtual void | prepare () override |
| | Prepares this constraint.
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| virtual bool | rebind () override |
| | The general version of rebind takes the first attachment frame and moves the other attachment frame so they have the exact same world transform.
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| virtual void | restore (agxStream::InputArchive &in) override |
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| virtual void | restoreLightData (agxStream::StorageStream &str) override |
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| virtual void | setEnableComputeForces (agx::Bool enable) override |
| | Enable (or disable) computation of the forces applied to the dynamic bodies in this constraint.
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| bool | setupOneOrTwoBodySystem (RigidBodyAttachment *a1, RigidBodyAttachment *a2) |
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| virtual void | store (agxStream::OutputArchive &out) const override |
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| virtual void | storeLightData (agxStream::StorageStream &str) const override |
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| virtual size_t | updateJacobian (agx::Jacobian6DOFElement *jacobians) override |
| | Updates the Jacobian matrices.
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| virtual bool | updateValid () override |
| | Updates the valid conditions for this constraint.
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| virtual agx::Attachment * | userAPIgetAttachment (agx::UInt index) const override |
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| virtual agx::Attachment * | userAPIgetAttachment (const agx::RigidBody *rb) const override |
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| bool | validateRigidBodiesAndAttachments (RigidBody *rb1, Frame *rb1AttachmentFrame, RigidBody *rb2, Frame *rb2AttachmentFrame) |
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| | ConstraintImplementation () |
| | Default constructor.
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| virtual | ~ConstraintImplementation () |
| | Destructor.
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| virtual bool | addElementaryConstraint (const agx::String &name, agx::ElementaryConstraint *elementaryConstraint) |
| | Add elementary constraint (like Spherical, Dot1, Dot2 etc) given name.
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| virtual void | addNlCallbacks (agx::SparseRangeReal &sparseRangeReal, const NlmcpCallbackSolverData &solverData) const |
| | Interface for non-linear callback from solver.
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| virtual void | addNotification () |
| | Callback when this constraint is added to Simulation.
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| virtual bool | addSecondaryConstraint (const agx::String &name, agx::ElementaryConstraint *secondaryConstraint) |
| | Add secondary constraint (like motor, range and/or lock etc) given name.
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| 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.
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| agx::UInt | calculateNumActiveRows () const |
| | Calculates the current number of active rows, including both elementary and secondary constraints.
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| agx::Real | calculateViolationVectorAverageSize () |
| | Gets the average size of the elements in getViolation() by calculating the magnitude and dividing by the number of elements.
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| template<typename T > |
| T * | findSecondaryConstraintGivenType (const agx::UInt count=0) const |
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| bool | getActive () const |
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| 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.
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| virtual agx::AttachmentPair * | getAttachmentPair () const |
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| agx::UInt | getBlockRowIndex () const |
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| const BlockStructure & | getBlockStructure () const |
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| virtual void | getBounds (agx::RangeReal *bounds, agx::Real dt) const |
| | Calculates and pushes the bounds into a sparse range data structure.
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| virtual int | getConstraintVelocity (agx::Real *v, int row) |
| | Calculates and pushes the constraint velocities into array given current row.
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| 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.
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| virtual agx::ElementaryConstraint * | getElementaryConstraint (const agx::String &name) const |
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| virtual agx::ElementaryConstraint * | getElementaryConstraint (const agx::UInt index) const |
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| agx::ElementaryConstraint::RefContainer & | getElementaryConstraints () |
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| const agx::ElementaryConstraint::RefContainer & | getElementaryConstraints () const |
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| virtual bool | getEnable () const |
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| virtual agx::Bool | getEnableComputeForces () const |
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| bool | getEnableLinearization () const |
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| virtual void | getEpsilon (agx::Real *epsilon, agx::Real h) |
| | Writes regularization parameters for all active rows into epsilon.
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| agx::FrictionController * | getFrictionController (agx::UInt number=0) const |
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| agx::UInt | getJacobianRowUsage () const |
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| 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.
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| 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.
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| 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.
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| 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.
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| agx::Lock1D * | getLock1D (agx::UInt number=0) const |
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| agx::Motor1D * | getMotor1D (agx::UInt number=0) const |
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| 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.
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| agx::Range1D * | getRange1D (agx::UInt number=0) const |
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| virtual agx::ElementaryConstraint * | getSecondaryConstraint (const agx::String &name) const |
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| virtual agx::ElementaryConstraint * | getSecondaryConstraint (const agx::UInt index) const |
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| agx::ElementaryConstraint::RefContainer & | getSecondaryConstraints () |
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| const agx::ElementaryConstraint::RefContainer & | getSecondaryConstraints () const |
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| bool | getSolveBoth () const |
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| bool | getSolveIterative () const |
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| SolverBodyView | getSolverView () const |
| | Bodies as viewed from the solver.
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| Constraint::SolveType | getSolveType () const |
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| ConstraintImplPtrVector & | getSubConstraints () |
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| const ConstraintImplPtrVector & | getSubConstraints () const |
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| int | getTag () const |
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| BodyView | getUserView () const |
| | Bodies as viewed from the user.
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| virtual int | getViolation (agx::Real *g, int row) |
| | Calculates and pushes the constraint values into array given current row.
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| void | incrementConstraintCount (RigidBody *rb) const |
| | Increment the number of constraints connection to rb.
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| bool | isImpacting () const |
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| bool | isValid () const |
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| void | onDirectComplianceMatrix (Real *data, unsigned int ld) const |
| | Internal callback from the direct solver with perturbation matrix data.
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| virtual void | postSolveCallback (const agx::Jacobian6DOFElement *jacobians, const agx::Real *solution, agx::Real dt) |
| | Peak at the solution after the solver is done.
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| void | postSolveIndexSetCallback (const int8_t *state) |
| | Callback after the solver is done about the state of each equation in the constraint.
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| virtual void | postSystemCallback (DynamicsSystem *system) |
| | Last in the dynamics system step forward loop, this constraint gets a call with the main system.
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| virtual void | prepare () |
| | Prepares this constraint.
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| 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.
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| 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.
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| virtual bool | removeElementaryConstraint (agx::ElementaryConstraint *elementaryConstraint) |
| | Remove elementary constraint.
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| virtual bool | removeElementaryConstraint (const agx::String &name) |
| | Remove elementary constraint.
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| virtual void | removeNotification () |
| | Callback when this constraint is removed from Simulation.
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| virtual bool | removeSecondaryConstraint (agx::ElementaryConstraint *secondaryConstraint) |
| | Remove secondary constraint.
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| virtual bool | removeSecondaryConstraint (const agx::String &name) |
| | Remove secondary constraint.
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| void | reset () |
| | Reset the solution vectors of the primary and secondary elementary constraints in the implementation.
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| void | setBlockRowIndex (agx::UInt blockRowIndex) |
| | Sets the global start index for this constraint in the global, non-permuted matrix.
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| virtual void | setEnable (bool enable) |
| | Sets the enable flag.
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| virtual void | setEnableComputeForces (agx::Bool enable) |
| | Enable (or disable) computation of the forces applied to the dynamic bodies in this constraint.
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| void | setEnableLinearization (bool enable) |
| | Control whether or not linearization should be performed on the ElementaryConstraints that require it, such as QuatLock.
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| void | setSolveType (Constraint::SolveType type) |
| | Set solve type, either DIRECT, ITERATIVE or DIRECT_AND_ITERATIVE.
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| void | sort () |
| | This method will sort this constraint by global indexing of the bodies.
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| virtual CALLABLE_IGNORE void | updateComplianceMatrix (LSquareComplianceMatrix matrix) const |
| | Callback with read/write access to the compliance matrix of this constraint in the direct solver.
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| virtual size_t | updateJacobian (agx::Jacobian6DOFElement *jacobians) |
| | Updated storing of Jacobian matrices.
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| virtual bool | updateValid () |
| | Updates the valid conditions for this constraint.
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| virtual agx::Attachment * | userAPIgetAttachment (agx::UInt) const |
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| virtual agx::Attachment * | userAPIgetAttachment (const agx::RigidBody *) const |
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| agx::Real | userAPIgetCompliance (agx::UInt dof) const |
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| agx::Real | userAPIgetCurrentForce (agx::UInt dof) const |
| | Consider using getLastForce instead.
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| agx::Real | userAPIgetDamping (agx::UInt dof) const |
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| agx::RangeReal | userAPIgetForceRange (agx::UInt dof) const |
| | Get the force range for DOF dof.
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| agx::RegularizationParameters * | userAPIgetRegularizationParameters (agx::UInt i) |
| | Get the regularization parameter i, i.e., the regularization parameter for equation i which is constraint dependent.
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| const agx::RegularizationParameters * | userAPIgetRegularizationParameters (agx::UInt i) const |
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| void | userAPIsetCompliance (agx::Real compliance, int dof) |
| | Set the compliance for constraint row i of this constraint.
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| void | userAPIsetDamping (agx::Real damping, int dof) |
| | Set the damping for constraint row i of this constraint.
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| void | userAPIsetForceRange (agx::RangeReal forceRange, agx::Int dof) |
| | Assign force range, of an elementary constraint, for a given DOF.
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| virtual | ~Serializable () |
| | Destructor for normal C++ use but hidden from SWIG bindings.
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| virtual const char * | getClassName () const |
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| bool | getEnableSerialization () const |
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| bool | getEnableUuidGeneration () |
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| agx::UInt32 | getIndex () const |
| | This index is given at creation of this object.
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| virtual StorageAgent * | getStorageAgent () const =0 |
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| agx::Uuid | getUuid () const |
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| bool | isFinished () const |
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| void | setEnableSerialization (bool flag) |
| | Set to false to disable serialization of this object.
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| void | setFinished () |
| | Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.
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| void | setUuid (const agx::Uuid &uuid) |
| | Explicitly set a Uuid on a serializable object.
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Inheritance diagram for agx::HighLevelConstraintImplementation:
1.9.6