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ConstraintParams.cpp
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ConstraintParams.cpp
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/core/ConstraintParams.h>
#include <sofa/helper/system/thread/thread_specific_ptr.h>
#include <sofa/helper/BackTrace.h>
#include <cassert>
#include <iostream>
namespace sofa::core
{
ConstraintParams::ConstraintParams(const sofa::core::ExecParams& p)
: sofa::core::ExecParams(p)
, m_x(ConstVecCoordId::position())
, m_v(ConstVecDerivId::velocity())
, m_j(MatrixDerivId::constraintJacobian())
, m_dx(VecDerivId::dx())
, m_lambda(VecDerivId::externalForce())
, m_constOrder (ConstraintOrder::POS_AND_VEL)
, m_smoothFactor (1)
{
}
ConstraintParams& ConstraintParams::setExecParams(const core::ExecParams* params)
{
sofa::core::ExecParams::operator=(*params);
return *this;
}
/// Get the default ConstraintParams, to be used to provide a default values for method parameters
const ConstraintParams* ConstraintParams::defaultInstance()
{
SOFA_THREAD_SPECIFIC_PTR(ConstraintParams, threadParams);
ConstraintParams* ptr = threadParams;
if (!ptr)
{
ptr = new ConstraintParams;
threadParams = ptr;
}
return ptr;
}
} // namespace sofa::core