UncoupledConstraintCorrection

Context: Sofa.Component.Constraint.Lagrangian.Correction

Component computing constraint forces within a simulated body using the compliance method.

Data:

• name : object name

• printLog : if true, emits extra messages at runtime.

• 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).

• listening : if true, handle the events, otherwise ignore the events

• 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)

• verbose : Dump the constraint matrix at each iteration

• correctionVelocityFactor : Factor applied to the constraint forces when correcting the velocities

• correctionPositionFactor : Factor applied to the constraint forces when correcting the positions

• useOdeSolverIntegrationFactors : Use odeSolver integration factors instead of correctionVelocityFactor and correctionPositionFactor

Links:

• 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