iMSTK: imstk::PbdAngularHingeConstraint Class Reference

Constraint a single oriented particle along an axes of rotation Aligns oriented particles up axes to hinge axes. More...

#include <imstkPbdAngularConstraint.h>

Inheritance diagram for imstk::PbdAngularHingeConstraint:

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Collaboration diagram for imstk::PbdAngularHingeConstraint:

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Public Member Functions
void	initConstraint (const PbdParticleId &pIdx0, const Vec3d &hingeAxes, const double compliance)

bool	computeValueAndGradient (PbdState &bodies, double &c, std::vector< Vec3d > &dcdx) override
	Compute value and gradient of constraint function. More...

Public Member Functions inherited from imstk::PbdAngularConstraint
	PbdAngularConstraint (int numParticles)

void	projectConstraint (PbdState &bodies, const double dt, const SolverType &type) override
	Update positions by projecting constraints.

Public Member Functions inherited from imstk::PbdConstraint
virtual const std::string	getTypeName () const =0

std::vector< PbdParticleId > &	getParticles ()
	Get the vertex indices of the constraint.

bool	getCorrectVelocity () const
	Get/Set whether velocity should be corrected for this constraint.

void	setCorrectVelocity (const bool correctVelocity)

const Vec3d &	getGradient (const int i) const
	Get gradient given the particle index in constraint.

double	getForce (const double dt) const
	Get the force magnitude, valid after solving lambda Only valid with xpbd.

double	getConstraintC () const
	Get constraint value C (how much the constraint is violated)

double	getLambda () const
	Get constraint value C (how much the constraint is violated)

virtual double	getRestValue () const
	Get reference constraint value. This value will have different context depending on the constraint being used.

void	zeroOutLambda ()
	Zero's out the lagrange multplier before integration only used for xpbd, must be called before solving.

virtual void	correctVelocity (PbdState &bodies, const double dt)
	Correct velocities according to friction and restitution Corrects according to the gradient direction.

double	computeGeneralizedInvMass (const PbdState &bodies, const size_t particleIndex) const
	Compute generalized inverse mass of the particle. Note perf sensitive function. It has been intentionally inlined. More...

double	computeGeneralizedInvMass (const PbdState &bodies, const size_t particleIndex, const Vec3d &r) const
	Compute generalized inverse mass of the particle. More...

double	getRestitution () const
	Get/Set restitution.

void	setRestitution (const double restitution)

double	getFriction () const
	Get/Set friction.

void	setFriction (const double friction)

double	getStiffness () const
	Get/Set the stiffness.

void	setStiffness (const double stiffness)

double	getCompliance () const
	Get/Set the compliance This function is also provided in case users need 0 compliance.

void	setCompliance (const double compliance)

Protected Attributes
Vec3d	m_hingeAxes = Vec3d(1.0, 0.0, 0.0)

Protected Attributes inherited from imstk::PbdConstraint
std::vector< PbdParticleId >	m_particles
	body, particle index

std::vector< Vec3d >	m_dcdx
	Normalized constraint gradients (per particle)

double	m_stiffness = 1.0
	used in PBD, [0, 1]

double	m_compliance = 1e-7
	used in xPBD, inverse of Stiffness

double	m_lambda = 0.0
	Lagrange multiplier.

double	m_C = 0.0
	Constraint Value.

double	m_friction = 0.0

double	m_restitution = 0.0

bool	m_correctVelocity = false

Additional Inherited Members
Public Types inherited from imstk::PbdConstraint
enum	SolverType { xPBD = 0, PBD }
	Type of solvers.

Protected Member Functions inherited from imstk::PbdConstraint
	PbdConstraint (const size_t numParticles)