Base Constraint class for Position based dynamics constraints. More...
#include <imstkPbdConstraint.h>
Public Types | |
| enum | SolverType { xPBD = 0, PBD } |
| Type of solvers. | |
Public Member Functions | |
| virtual const std::string | getTypeName () const =0 |
| virtual bool | computeValueAndGradient (PbdState &bodies, double &c, std::vector< Vec3d > &dcdx)=0 |
| Compute value and gradient of the constraint. More... | |
| 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 | projectConstraint (PbdState &bodies, const double dt, const SolverType &type) |
| Update positions by projecting constraints. | |
| 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 Member Functions | |
| PbdConstraint (const size_t numParticles) | |
Protected Attributes | |
| 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 |
Detailed Description
Base Constraint class for Position based dynamics constraints.
Definition at line 24 of file imstkPbdConstraint.h.
Member Function Documentation
◆ computeGeneralizedInvMass() [1/2]
|
inline |
Compute generalized inverse mass of the particle. Note perf sensitive function. It has been intentionally inlined.
- Parameters
-
bodies of the system particleIndex Index of the particle in the constraint to compute from
Definition at line 155 of file imstkPbdConstraint.h.
◆ computeGeneralizedInvMass() [2/2]
|
inline |
Compute generalized inverse mass of the particle.
- Parameters
-
bodies of the system particleIndex Index of the particle in the constraint to compute from r Optional local support point for which to cross when particle is oriented
Definition at line 167 of file imstkPbdConstraint.h.
◆ computeValueAndGradient()
|
pure virtual |
Compute value and gradient of the constraint.
- Parameters
-
bodies PbdState provides all the bodies c Constraint value dcdx Normalized constraint gradients (per vertex)
Implemented in imstk::PbdRigidLineToPointConstraint, imstk::PbdBodyToBodyNormalConstraint, imstk::PbdBodyToBodyDistanceConstraint, imstk::PbdEdgeToBodyConstraint, imstk::PbdVertexToBodyConstraint, imstk::PbdTriangleToBodyConstraint, imstk::PbdAngularDistanceConstraint, imstk::PbdBaryPointToPointConstraint, imstk::PbdAngularHingeConstraint, imstk::PbdDihedralConstraint, imstk::PbdBendConstraint, imstk::PbdEdgeEdgeConstraint, imstk::PbdEdgeEdgeCCDConstraint, imstk::PbdPointTriangleConstraint, imstk::EmbeddingConstraint, imstk::PbdDistanceConstraint, imstk::PbdFemTetConstraint, imstk::PbdPointEdgeConstraint, imstk::PbdPointPointConstraint, imstk::PbdVolumeConstraint, imstk::PbdAreaConstraint, ThreadInsertionConstraint, SurfaceInsertionConstraint, and imstk::PbdRigidBaryPointToPointConstraint.
The documentation for this class was generated from the following files:
- Source/Constraint/PbdConstraints/imstkPbdConstraint.h
- Source/Constraint/PbdConstraints/imstkPbdConstraint.cpp
