Spherical elementary constraint: Two points in world coincide. More...

#include <ElementaryConstraint.h>

Inheritance diagram for agx::Spherical:

Public Member Functions
	Spherical (const agx::ElementaryConstraintData &data)
	Construct given SphericalData.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Spherical)

Public Member Functions inherited from agx::ElementaryConstraintNData< 3, ElementaryConstraintData >
	ElementaryConstraintNData (const ElementaryConstraintData &data, agx::Bool enable)
	Construct given data and enable flag.

ElementaryConstraintData &	getData ()

const ElementaryConstraintData &	getData () const

virtual void	setAttachmentPair (const agx::AttachmentPair *ap) override
	Data has to support assignment of attachment pair.

Public Member Functions inherited from agx::ElementaryConstraintN< N >
	ElementaryConstraintN (agx::Bool enable)
	Construct given enable flag.

Public Member Functions inherited from agx::ElementaryConstraint
	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.

Static Public Member Functions
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.

Protected Member Functions
	Spherical ()
	Used during serialization restore.

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

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

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

Protected Member Functions inherited from agx::ElementaryConstraintNData< 3, ElementaryConstraintData >
	ElementaryConstraintNData ()

Protected Member Functions inherited from agx::ElementaryConstraintN< N >
	ElementaryConstraintN ()
	Used during serialization restore.

Protected Member Functions inherited from agx::ElementaryConstraint
	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 ()

Additional Inherited Members
Public Types inherited from agx::ElementaryConstraint
typedef agx::Name	NameType

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

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

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::ElementaryConstraintNData< 3, ElementaryConstraintData >
ElementaryConstraintData	m_data
	Data.

Protected Attributes inherited from agx::ElementaryConstraintN< N >
agx::RangeReal	m_bounds [N]
	Bounds buffer.

agx::Real	m_forces [N]
	Forces buffer.

agx::RegularizationParameters	m_regParams [N]
	Regularization parameters buffer.

Protected Attributes inherited from agx::ElementaryConstraint
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

Detailed Description

Spherical elementary constraint: Two points in world coincide.

Note that this elementary constraint has world as reference (unlike SphericalRel which has body1 as reference).

Definition at line 550 of file ElementaryConstraint.h.

Constructor & Destructor Documentation

◆ Spherical() [1/2]

agx::Spherical::Spherical ( const agx::ElementaryConstraintData & data )

Construct given SphericalData.

◆ Spherical() [2/2]

agx::Spherical::Spherical ( )

protected

Used during serialization restore.

◆ ~Spherical()

virtual agx::Spherical::~Spherical ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::Spherical::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::Spherical )

◆ create()

static agxStream::Serializable * agx::Spherical::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 558 of file ElementaryConstraint.h.

◆ getJacobian()

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

overrideprotectedvirtual

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 from agx::ElementaryConstraint.

◆ getViolation()

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

overrideprotectedvirtual

Returns the violation of this elementary constraint.

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