-
Notifications
You must be signed in to change notification settings - Fork 298
/
Constraint.inl
95 lines (80 loc) · 3.72 KB
/
Constraint.inl
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
/******************************************************************************
* 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 *
******************************************************************************/
#pragma once
#include <sofa/core/behavior/Constraint.h>
#include <sofa/core/ConstraintParams.h>
namespace sofa::core::behavior
{
template<class DataTypes>
Constraint<DataTypes>::Constraint(MechanicalState<DataTypes> *mm)
: Inherit1(), Inherit2(mm)
, endTime( initData(&endTime,(Real)-1,"endTime","The constraint stops acting after the given value.\nUse a negative value for infinite constraints") )
{
}
template<class DataTypes>
Constraint<DataTypes>::~Constraint()
{
}
template <class DataTypes>
bool Constraint<DataTypes>::isActive() const
{
if( endTime.getValue()<0 ) return true;
return endTime.getValue()>getContext()->getTime();
}
template <class DataTypes>
void Constraint<DataTypes>::init()
{
Inherit1::init();
Inherit2::init();
}
template<class DataTypes>
void Constraint<DataTypes>::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
{
if (cParams)
{
getConstraintViolation(cParams, v, *cParams->readX(this->mstate.get()), *cParams->readV(this->mstate.get()));
}
}
template<class DataTypes>
void Constraint<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
{
if (cParams)
{
buildConstraintMatrix(cParams, *cId[this->mstate.get()].write(), cIndex, *cParams->readX(this->mstate.get()));
}
}
template<class DataTypes>
void Constraint<DataTypes>::storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda)
{
if (cParams)
{
storeLambda(cParams, *res[this->mstate.get()].write(), *cParams->readJ(this->mstate.get()), lambda);
}
}
template<class DataTypes>
void Constraint<DataTypes>::storeLambda(const ConstraintParams*, Data<VecDeriv>& result, const Data<MatrixDeriv>& jacobian, const sofa::linearalgebra::BaseVector* lambda)
{
auto res = sofa::helper::getWriteAccessor(result);
const MatrixDeriv& j = jacobian.getValue();
j.multTransposeBaseVector(res, lambda ); // lambda is a vector of scalar value so block size is one.
}
} // namespace sofa::core::behavior