#include <TJConstraintSolver.h>

Inheritance diagram for dyno::TJConstraintSolver< TDataType >:

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Collaboration diagram for dyno::TJConstraintSolver< TDataType >:

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Public Types
typedef TDataType::Real	Real

typedef TDataType::Coord	Coord

typedef TDataType::Matrix	Matrix

typedef ::dyno::Quat< Real >	TQuat

typedef ::dyno::TContactPair< Real >	ContactPair

typedef ::dyno::TConstraintPair< Real >	Constraint

typedef ::dyno::BallAndSocketJoint< Real >	BallAndSocketJoint

typedef ::dyno::SliderJoint< Real >	SliderJoint

typedef ::dyno::HingeJoint< Real >	HingeJoint

typedef ::dyno::FixedJoint< Real >	FixedJoint

typedef ::dyno::PointJoint< Real >	PointJoint

Public Types inherited from dyno::OBase
typedef std::vector< FBase * >	FieldVector

typedef std::map< FieldID, FBase * >	FieldMap

Public Member Functions
	TJConstraintSolver ()

	~TJConstraintSolver ()

	DEF_VAR (bool, FrictionEnabled, true, "")

	DEF_VAR (bool, GravityEnabled, true, "")

	DEF_VAR (Real, GravityValue, 9.8, "")

	DEF_VAR (Real, FrictionCoefficient, 100, "")

	DEF_VAR (Real, Slop, 0, "")

	DEF_VAR (Real, BaumgarteBias, 0.6, "")

	DEF_VAR (uint, SubStepping, 10, "")

	DEF_VAR (uint, IterationNumberForVelocitySolver, 30, "")

	DEF_VAR (Real, LinearDamping, 0.2, "")

	DEF_VAR (Real, AngularDamping, 0.2, "")

	DEF_VAR_IN (Real, TimeStep, "Time step size")

	DEF_ARRAY_IN (Real, Mass, DeviceType::GPU, "Mass of rigid bodies")

	DEF_ARRAY_IN (Coord, Center, DeviceType::GPU, "Center of rigid bodies")

	DEF_ARRAY_IN (Coord, Velocity, DeviceType::GPU, "Velocity of rigid bodies")

	DEF_ARRAY_IN (Coord, AngularVelocity, DeviceType::GPU, "Angular velocity of rigid bodies")

	DEF_ARRAY_IN (Matrix, RotationMatrix, DeviceType::GPU, "Rotation matrix of rigid bodies")

	DEF_ARRAY_IN (Matrix, Inertia, DeviceType::GPU, "Interial matrix")

	DEF_ARRAY_IN (Matrix, InitialInertia, DeviceType::GPU, "Interial matrix")

	DEF_ARRAY_IN (TQuat, Quaternion, DeviceType::GPU, "Quaternion")

	DEF_ARRAY_IN (ContactPair, Contacts, DeviceType::GPU, "")

	DEF_INSTANCE_IN (DiscreteElements< TDataType >, DiscreteElements, "")

	DEF_ARRAY_IN (Attribute, Attribute, DeviceType::GPU, "Rigid body attributes")

	DEF_ARRAY_IN (Real, FrictionCoefficients, DeviceType::GPU, "FrictionCoefficients of rigid bodies")

Public Member Functions inherited from dyno::ConstraintModule
	ConstraintModule ()

	~ConstraintModule () override

std::string	getModuleType () override

Public Member Functions inherited from dyno::Module
	Module (std::string name="default")

	~Module (void) override

bool	initialize ()

void	update ()

void	setName (std::string name)

std::string	getName () override

virtual void	setParentNode (Node *node)
	Set the parent node.

Node *	getParentNode ()

SceneGraph *	getSceneGraph ()

bool	isInitialized ()

bool	attachField (FBase *field, std::string name, std::string desc, bool autoDestroy=true) override
	Attach a field to Base.

bool	isInputComplete ()
	Check the completeness of input fields.

bool	isOutputCompete ()

	DEF_VAR (bool, ForceUpdate, false, "")

void	setUpdateAlways (bool b)
	Set the update strategy for the module.

Public Member Functions inherited from dyno::OBase
	OBase ()

	~OBase () override

virtual std::string	caption ()
	Return the caption.

virtual bool	captionVisible ()
	Whether to hide the caption in the GUI.

virtual std::string	description ()
	Return a description for the node or module, override this function to support user-defined description.

bool	addField (FBase *data)
	Add a field to Base FieldID will be set to the name of Field by default.

bool	addField (FieldID name, FBase *data)
	Add a field to Base.

bool	addFieldAlias (FieldID name, FBase *data)

bool	addFieldAlias (FieldID name, FBase *data, FieldMap &fieldAlias)

bool	findField (FBase *data)
	Find a field by its pointer.

bool	findFieldAlias (const FieldID name)
	Find a field by its name.

bool	findFieldAlias (const FieldID name, FieldMap &fieldAlias)
	Find a field in fieldAlias by its name This function is typically called by other functions.

bool	removeField (FBase *data)
	Remove a field by its pointer.

bool	removeFieldAlias (const FieldID name)
	Remove a field by its name.

bool	removeFieldAlias (const FieldID name, FieldMap &fieldAlias)

FBase *	getField (const FieldID name)
	Return a field by its name.

std::vector< FBase * > &	getAllFields ()

template<typename T>
T *	getField (FieldID name)

bool	isAllFieldsReady ()
	Check the completeness of all required fields.

std::vector< FieldID >	getFieldAlias (FBase *data)

int	getFieldAliasCount (FBase *data)

void	setBlockCoord (float x, float y)

float	bx ()

float	by ()

bool	findInputField (FBase *field)

bool	addInputField (FBase *field)

bool	removeInputField (FBase *field)

std::vector< FBase * > &	getInputFields ()

bool	findOutputField (FBase *field)

bool	addOutputField (FBase *field)

bool	addToOutput (FBase *field)

bool	removeOutputField (FBase *field)

bool	removeFromOutput (FBase *field)

std::vector< FBase * > &	getOutputFields ()

bool	findParameter (FBase *field)

bool	addParameter (FBase *field)

bool	removeParameter (FBase *field)

std::vector< FBase * > &	getParameters ()

Public Member Functions inherited from dyno::Object
	Object ()

virtual	~Object ()

ObjectId	objectId ()

Protected Member Functions
void	constrain () override

Protected Member Functions inherited from dyno::ConstraintModule
void	updateImpl () override

Protected Member Functions inherited from dyno::Module
virtual bool	initializeImpl ()

virtual void	preprocess ()

virtual void	postprocess ()

virtual bool	validateInputs ()

virtual bool	validateOutputs ()

virtual bool	requireUpdate ()

virtual void	updateStarted ()
	Two functions called at the beginning and end of update() used for debug.

virtual void	updateEnded ()

Private Member Functions
void	initializeJacobian (Real dt)

Private Attributes
DArray< Coord >	mJ

DArray< Coord >	mB

DArray< Coord >	mImpulseC

DArray< Coord >	mImpulseExt

DArray< Real >	mEta

DArray< Real >	mLambda

DArray< ContactPair >	mContactsInLocalFrame

DArray< Constraint >	mVelocityConstraints

DArray< int >	mContactNumber

DArray< Real >	mK_1

DArray< Mat2f >	mK_2

DArray< Matrix >	mK_3

DArray< Real >	mErrors

Additional Inherited Members
Static Public Member Functions inherited from dyno::Object
static bool	registerClass (ClassInfo *ci)

static Object *	createObject (std::string name)

static std::map< std::string, ClassInfo * > *	getClassMap ()

static ObjectId	baseId ()
	Base Id.

Protected Attributes inherited from dyno::OBase
std::vector< FBase * >	fields_input

std::vector< FBase * >	fields_output

std::vector< FBase * >	fields_param

Detailed Description

template<typename TDataType>
class dyno::TJConstraintSolver< TDataType >

Definition at line 30 of file TJConstraintSolver.h.

Member Typedef Documentation

◆ BallAndSocketJoint

template<typename TDataType>

typedef ::dyno::BallAndSocketJoint<Real> dyno::TJConstraintSolver< TDataType >::BallAndSocketJoint

Definition at line 42 of file TJConstraintSolver.h.

◆ Constraint

template<typename TDataType>

typedef ::dyno::TConstraintPair<Real> dyno::TJConstraintSolver< TDataType >::Constraint

Definition at line 40 of file TJConstraintSolver.h.

◆ ContactPair

template<typename TDataType>

typedef ::dyno::TContactPair<Real> dyno::TJConstraintSolver< TDataType >::ContactPair

Definition at line 39 of file TJConstraintSolver.h.

◆ Coord

template<typename TDataType>

typedef TDataType::Coord dyno::TJConstraintSolver< TDataType >::Coord

Definition at line 35 of file TJConstraintSolver.h.

◆ FixedJoint

template<typename TDataType>

typedef ::dyno::FixedJoint<Real> dyno::TJConstraintSolver< TDataType >::FixedJoint

Definition at line 45 of file TJConstraintSolver.h.

◆ HingeJoint

template<typename TDataType>

typedef ::dyno::HingeJoint<Real> dyno::TJConstraintSolver< TDataType >::HingeJoint

Definition at line 44 of file TJConstraintSolver.h.

◆ Matrix

template<typename TDataType>

typedef TDataType::Matrix dyno::TJConstraintSolver< TDataType >::Matrix

Definition at line 36 of file TJConstraintSolver.h.

◆ PointJoint

template<typename TDataType>

typedef ::dyno::PointJoint<Real> dyno::TJConstraintSolver< TDataType >::PointJoint

Definition at line 46 of file TJConstraintSolver.h.

◆ Real

template<typename TDataType>

typedef TDataType::Real dyno::TJConstraintSolver< TDataType >::Real

Definition at line 34 of file TJConstraintSolver.h.

◆ SliderJoint

template<typename TDataType>

typedef ::dyno::SliderJoint<Real> dyno::TJConstraintSolver< TDataType >::SliderJoint

Definition at line 43 of file TJConstraintSolver.h.

◆ TQuat

template<typename TDataType>

typedef ::dyno::Quat<Real> dyno::TJConstraintSolver< TDataType >::TQuat

Definition at line 38 of file TJConstraintSolver.h.

Constructor & Destructor Documentation

◆ TJConstraintSolver()

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::TJConstraintSolver ( )

◆ ~TJConstraintSolver()

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::~TJConstraintSolver ( )

Member Function Documentation

◆ constrain()

template<typename TDataType>

void dyno::TJConstraintSolver< TDataType >::constrain ( )

overrideprotectedvirtual

Implements dyno::ConstraintModule.

◆ DEF_ARRAY_IN() [1/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Attribute	,
		Attribute	,
		DeviceType::GPU	,
		"Rigid body attributes"	)

◆ DEF_ARRAY_IN() [2/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	ContactPair	,
		Contacts	,
		DeviceType::GPU	,
		""	)

◆ DEF_ARRAY_IN() [3/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Coord	,
		AngularVelocity	,
		DeviceType::GPU	,
		"Angular velocity of rigid bodies"	)

◆ DEF_ARRAY_IN() [4/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Coord	,
		Center	,
		DeviceType::GPU	,
		"Center of rigid bodies"	)

◆ DEF_ARRAY_IN() [5/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Coord	,
		Velocity	,
		DeviceType::GPU	,
		"Velocity of rigid bodies"	)

◆ DEF_ARRAY_IN() [6/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Matrix	,
		Inertia	,
		DeviceType::GPU	,
		"Interial matrix"	)

◆ DEF_ARRAY_IN() [7/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Matrix	,
		InitialInertia	,
		DeviceType::GPU	,
		"Interial matrix"	)

◆ DEF_ARRAY_IN() [8/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Matrix	,
		RotationMatrix	,
		DeviceType::GPU	,
		"Rotation matrix of rigid bodies"	)

◆ DEF_ARRAY_IN() [9/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Real	,
		FrictionCoefficients	,
		DeviceType::GPU	,
		"FrictionCoefficients of rigid bodies"	)

◆ DEF_ARRAY_IN() [10/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	Real	,
		Mass	,
		DeviceType::GPU	,
		"Mass of rigid bodies"	)

◆ DEF_ARRAY_IN() [11/11]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_ARRAY_IN	(	TQuat	,
		Quaternion	,
		DeviceType::GPU	,
		"Quaternion"	)

◆ DEF_INSTANCE_IN()

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_INSTANCE_IN	(	DiscreteElements< TDataType >	,
		DiscreteElements	,
		""	)

◆ DEF_VAR() [1/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	bool	,
		FrictionEnabled	,
		true	,
		""	)

◆ DEF_VAR() [2/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	bool	,
		GravityEnabled	,
		true	,
		""	)

◆ DEF_VAR() [3/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	Real	,
		AngularDamping	,
		0.	2,
		""	)

◆ DEF_VAR() [4/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	Real	,
		BaumgarteBias	,
		0.	6,
		""	)

◆ DEF_VAR() [5/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	Real	,
		FrictionCoefficient	,
		100	,
		""	)

◆ DEF_VAR() [6/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	Real	,
		GravityValue	,
		9.	8,
		""	)

◆ DEF_VAR() [7/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	Real	,
		LinearDamping	,
		0.	2,
		""	)

◆ DEF_VAR() [8/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	Real	,
		Slop	,
		0	,
		""	)

◆ DEF_VAR() [9/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	uint	,
		IterationNumberForVelocitySolver	,
		30	,
		""	)

◆ DEF_VAR() [10/10]

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR	(	uint	,
		SubStepping	,
		10	,
		""	)

◆ DEF_VAR_IN()

template<typename TDataType>

dyno::TJConstraintSolver< TDataType >::DEF_VAR_IN	(	Real	,
		TimeStep	,
		"Time step size"	)

◆ initializeJacobian()

template<typename TDataType>

void dyno::TJConstraintSolver< TDataType >::initializeJacobian ( Real dt )

private

Member Data Documentation

◆ mB

template<typename TDataType>

DArray<Coord> dyno::TJConstraintSolver< TDataType >::mB

private

Definition at line 107 of file TJConstraintSolver.h.

◆ mContactNumber

template<typename TDataType>

DArray<int> dyno::TJConstraintSolver< TDataType >::mContactNumber

private

Definition at line 119 of file TJConstraintSolver.h.

◆ mContactsInLocalFrame

template<typename TDataType>

DArray<ContactPair> dyno::TJConstraintSolver< TDataType >::mContactsInLocalFrame

private

Definition at line 115 of file TJConstraintSolver.h.

◆ mErrors

template<typename TDataType>

DArray<Real> dyno::TJConstraintSolver< TDataType >::mErrors

private

Definition at line 125 of file TJConstraintSolver.h.

◆ mEta

template<typename TDataType>

DArray<Real> dyno::TJConstraintSolver< TDataType >::mEta

private

Definition at line 112 of file TJConstraintSolver.h.

◆ mImpulseC

template<typename TDataType>

DArray<Coord> dyno::TJConstraintSolver< TDataType >::mImpulseC

private

Definition at line 109 of file TJConstraintSolver.h.

◆ mImpulseExt

template<typename TDataType>

DArray<Coord> dyno::TJConstraintSolver< TDataType >::mImpulseExt

private

Definition at line 110 of file TJConstraintSolver.h.

◆ mJ

template<typename TDataType>

DArray<Coord> dyno::TJConstraintSolver< TDataType >::mJ

private

Definition at line 106 of file TJConstraintSolver.h.

◆ mK_1

template<typename TDataType>

DArray<Real> dyno::TJConstraintSolver< TDataType >::mK_1

private

Definition at line 121 of file TJConstraintSolver.h.

◆ mK_2

template<typename TDataType>

DArray<Mat2f> dyno::TJConstraintSolver< TDataType >::mK_2

private

Definition at line 122 of file TJConstraintSolver.h.

◆ mK_3

template<typename TDataType>

DArray<Matrix> dyno::TJConstraintSolver< TDataType >::mK_3

private

Definition at line 123 of file TJConstraintSolver.h.

◆ mLambda

template<typename TDataType>

DArray<Real> dyno::TJConstraintSolver< TDataType >::mLambda

private

Definition at line 113 of file TJConstraintSolver.h.

◆ mVelocityConstraints

template<typename TDataType>

DArray<Constraint> dyno::TJConstraintSolver< TDataType >::mVelocityConstraints

private

Definition at line 117 of file TJConstraintSolver.h.

The documentation for this class was generated from the following file:

D:/Peridyno/peridyno/src/Dynamics/Cuda/RigidBody/Module/TJConstraintSolver.h

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BallAndSocketJoint

◆ Constraint

◆ ContactPair

◆ Coord

◆ FixedJoint

◆ HingeJoint

◆ Matrix

◆ PointJoint

◆ Real

◆ SliderJoint

◆ TQuat

Constructor & Destructor Documentation

◆ TJConstraintSolver()

◆ ~TJConstraintSolver()

Member Function Documentation

◆ constrain()

◆ DEF_ARRAY_IN() [1/11]

◆ DEF_ARRAY_IN() [2/11]

◆ DEF_ARRAY_IN() [3/11]

◆ DEF_ARRAY_IN() [4/11]

◆ DEF_ARRAY_IN() [5/11]

◆ DEF_ARRAY_IN() [6/11]

◆ DEF_ARRAY_IN() [7/11]

◆ DEF_ARRAY_IN() [8/11]

◆ DEF_ARRAY_IN() [9/11]

◆ DEF_ARRAY_IN() [10/11]

◆ DEF_ARRAY_IN() [11/11]

◆ DEF_INSTANCE_IN()

◆ DEF_VAR() [1/10]

◆ DEF_VAR() [2/10]

◆ DEF_VAR() [3/10]

◆ DEF_VAR() [4/10]

◆ DEF_VAR() [5/10]

◆ DEF_VAR() [6/10]

◆ DEF_VAR() [7/10]

◆ DEF_VAR() [8/10]

◆ DEF_VAR() [9/10]

◆ DEF_VAR() [10/10]

◆ DEF_VAR_IN()

◆ initializeJacobian()

Member Data Documentation

◆ mB

◆ mContactNumber

◆ mContactsInLocalFrame

◆ mErrors

◆ mEta

◆ mImpulseC

◆ mImpulseExt

◆ mJ

◆ mK_1

◆ mK_2

◆ mK_3

◆ mLambda

◆ mVelocityConstraints