[SofaConstraint] ADD control on constraint force in UniformConstraint #1027
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…orce to zero or restPosition
| :d_iterative(initData(&d_iterative, true, "iterative", "Iterate over the bilateral constraints, otherwise a block factorisation\ | ||
| is computed.")) | ||
| :d_iterative(initData(&d_iterative, true, "iterative", "Iterate over the bilateral constraints, otherwise a block factorisation is computed.")) | ||
| ,d_constraintRestPos(initData(&d_constraintRestPos, false, "constraintRestPos", "if false, constraint the pos to be zero / if true constraint the current position to stay at rest position")) |
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a verb... constrainToRestPos
| resV->set(m_constraintIndex + i*N + j, vfree[i][j] + invDt * pos[i][j] ); | ||
| } | ||
| if (d_constraintRestPos.getValue()){ | ||
| computeViolation(resV, m_constraintIndex, vfree, Deriv::size(),[&invDt,&pos,&vfree,&restPos](int i, int j) |
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Lambda is indeed nice but the indentation is strange.
I'd suggest
computeViolation( resV, m_constraintIndex, vfree, Deriv::size(), [&invDt, &pos, &vfree, &restPos](int i, int j) {
return vfree[i][j] + invDt * ( pos[i][j] - restPos[i][j] );
});
|
Hello Youness, Thank for the PR, could you explain abit if this is a new version of the one made by @ChristianDuriez (#1022) |
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Force the constraint force to zero or restPosition
As @damienmarchal said, this is a new version of what Christian proposed in PR #1022 the only difference is that Damien propose to change all the for loops (inside the getConstraintViolation function) by one lambda function. And I will complete this PR next weeks by doing this in all constraints component.
This PR:
Reviewers will merge only if all these checks are true.