Constrain two locally defined points on each body by a given distance. More...
#include <imstkPbdContactConstraint.h>
Inheritance diagram for imstk::PbdBodyToBodyDistanceConstraint:
Collaboration diagram for imstk::PbdBodyToBodyDistanceConstraint:
Public Member Functions | |
| void | initConstraint (const PbdState &state, const PbdParticleId &bodyId0, const Vec3d ptOnBody0, const PbdParticleId &bodyId1, const Vec3d ptOnBody1, const double restLength, const double compliance) |
| Initialize the constraint ptOnBody is global position. | |
| void | initConstraint (const PbdState &state, const PbdParticleId &bodyId0, const Vec3d ptOnBody0, const PbdParticleId &bodyId1, const double restLength, const double compliance) |
| Initialize the constraint. More... | |
| void | initConstraint (const PbdState &state, const PbdParticleId &bodyId0, const Vec3d ptOnBody0, const PbdParticleId &bodyId1, const Vec3d ptOnBody1, const double compliance) |
| Initialize the constraint ptOnBody is global position restLength is set to the initial distance between these two points. | |
| bool | computeValueAndGradient (PbdState &bodies, double &c, std::vector< Vec3d > &n) override |
| Compute value and gradient of the constraint. More... | |
 Public Member Functions inherited from imstk::PbdContactConstraint | |
| void | projectConstraint (PbdState &bodies, const double dt, const SolverType &type) override |
| Update positions by projecting constraints. | |
| virtual Vec3d | computeRelativeVelocity (PbdState &imstkNotUsed(bodies)) |
| const Vec3d & | getR (const int i) const |
| Get the support point r/the difference to the contact point. | |
| void | correctVelocity (PbdState &bodies, const double dt) override |
| Solve the velocities given to the constraint. More... | |
| Vec3d | getVelocityOnRigidBody (PbdState &bodies, const int bodyId, const Vec3d &pt) |
| Returns the velocity at the given point on body Either body in collision could be rigid body. | |
| double | getTorque (const double dt, const int i) |
| Get torque magnitude after solve. | |
| 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. | |
| 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 | |
| std::array< Vec3d, 2 > | m_rest_r = { Vec3d::Zero(), Vec3d::Zero() } |
| double | m_restLength = 0.0 |
| Protected Attributes inherited from imstk::PbdContactConstraint | |
| std::vector< Vec3d > | m_r |
| std::vector< double > | m_weights |
| 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::PbdContactConstraint | |
| PbdContactConstraint (const int numParticles) | |
| Protected Member Functions inherited from imstk::PbdConstraint | |
| PbdConstraint (const size_t numParticles) | |
Detailed Description
Constrain two locally defined points on each body by a given distance.
Definition at line 189 of file imstkPbdContactConstraint.h.
Member Function Documentation
◆ computeValueAndGradient()
|
overridevirtual |
Compute value and gradient of the constraint.
- Parameters
-
bodies PbdState provides all the bodies c Constraint value dcdx Normalized constraint gradients (per vertex)
Implements imstk::PbdConstraint.
Definition at line 455 of file imstkPbdContactConstraint.cpp.
◆ initConstraint()
|
inline |
Initialize the constraint.
- Parameters
-
state the PbdState bodyId0 Rigid body to constrain ptOnBody0 Point on rigid body bodyId0 (global position) bodyId1 particle to constraint to ptOnBody0 restLength resting length (distance ptOnBody0 should be from bodyId1 position) compliance
Definition at line 231 of file imstkPbdContactConstraint.h.
The documentation for this class was generated from the following files:
- Source/Constraint/PbdConstraints/imstkPbdContactConstraint.h
- Source/Constraint/PbdConstraints/imstkPbdContactConstraint.cpp
