Angular constraint between two triangular faces. More...
#include <imstkPbdDihedralConstraint.h>
Inheritance diagram for imstk::PbdDihedralConstraint:
Collaboration diagram for imstk::PbdDihedralConstraint:
Public Member Functions | |
| void | initConstraint (const Vec3d &p0, const Vec3d &p1, const Vec3d &p2, const Vec3d &p3, const PbdParticleId &pIdx0, const PbdParticleId &pIdx1, const PbdParticleId &pIdx2, const PbdParticleId &pIdx3, const double k) |
| initConstraint p3 / | \ / | \ p0 | p1 \ | / \ | / p2 More... | |
| bool | computeValueAndGradient (PbdState &bodies, double &c, std::vector< Vec3d > &dcdx) override |
| Compute value and gradient of the constraint. More... | |
| double | getRestValue () const |
| Return the rest configuration for the constraint. | |
 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) | |
| 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) |
Public Attributes | |
| double | m_restAngle = 0.0 |
| Rest angle. | |
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) | |
| 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 |
Detailed Description
Angular constraint between two triangular faces.
Definition at line 18 of file imstkPbdDihedralConstraint.h.
Member Function Documentation
◆ computeValueAndGradient()
|
overridevirtual |
Compute value and gradient of the constraint.
- Parameters
-
[in] currVertexPositions vector of current positions [in,out] c constraint value
Implements imstk::PbdConstraint.
Definition at line 32 of file imstkPbdDihedralConstraint.cpp.
◆ initConstraint()
| void imstk::PbdDihedralConstraint::initConstraint | ( | const Vec3d & | p0, |
| const Vec3d & | p1, | ||
| const Vec3d & | p2, | ||
| const Vec3d & | p3, | ||
| const PbdParticleId & | pIdx0, | ||
| const PbdParticleId & | pIdx1, | ||
| const PbdParticleId & | pIdx2, | ||
| const PbdParticleId & | pIdx3, | ||
| const double | k | ||
| ) |
initConstraint p3 / | \ / | \ p0 | p1 \ | / \ | / p2
- Parameters
-
model pIdx1 index of p0 pIdx2 index of p1 pIdx3 index of p2 pIdx4 index of p3 k stiffness
Definition at line 12 of file imstkPbdDihedralConstraint.cpp.
The documentation for this class was generated from the following files:
- Source/Constraint/PbdConstraints/imstkPbdDihedralConstraint.h
- Source/Constraint/PbdConstraints/imstkPbdDihedralConstraint.cpp
