UncoupledConstraintCorrection
Component computing constraint forces within a simulated body using the compliance method. Supports GPU-side computations using CUDA.
Templates:
Rigid3dVec1dVec2dVec3d
Target: Sofa.Component.Constraint.Lagrangian.Correction
namespace: sofa::component::constraint::lagrangian::correction
parents:
ConstraintCorrection
Data:
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the objet belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| compliance | compliance value on each dof. If Rigid compliance (7 values): 1st value for translations, 6 others for upper-triangular part of symmetric 3x3 rotation compliance matrix | |
| defaultCompliance | Default compliance value for new dof or if all should have the same (in which case compliance vector should be empty) | 1e-05 |
| verbose | Dump the constraint matrix at each iteration | 0 |
| correctionVelocityFactor | Factor applied to the constraint forces when correcting the velocities | 1 |
| correctionPositionFactor | Factor applied to the constraint forces when correcting the positions | 1 |
| useOdeSolverIntegrationFactors | Use odeSolver integration factors instead of correctionVelocityFactor and correctionPositionFactor | 1 |
Links:
| Name | Description |
|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) |
| slaves | Sub-objects used internally by this object |
| master | nullptr for regular objects, or master object for which this object is one sub-objects |
| constraintSolvers | Constraint solvers using this constraint correction |
| topology | link to the topology container |