[Constraint] Improve initialization and state validation in StopperLagrangianConstraint#5935
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alxbilger wants to merge 1 commit intosofa-framework:masterfrom
Open
[Constraint] Improve initialization and state validation in StopperLagrangianConstraint#5935alxbilger wants to merge 1 commit intosofa-framework:masterfrom
alxbilger wants to merge 1 commit intosofa-framework:masterfrom
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…grangianConstraint
alxbilger
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bakpaul
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Feb 4, 2026
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| helper::WriteAccessor<Data<VecCoord> > xData = *this->mstate->write(core::vec_id::write_access::position); | ||
| VecCoord& x = xData.wref(); | ||
| if (x[d_index.getValue()].x() < d_min.getValue()) | ||
| x[d_index.getValue()].x() = (Real) d_min.getValue(); | ||
| if (x[d_index.getValue()].x() > d_max.getValue()) | ||
| x[d_index.getValue()].x() = (Real) d_max.getValue(); | ||
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I get that this is just the old code refactored. But I find it intriguing that a lagrangian constraint is performing a pure projection at init. Nobody asked for this. I would remove this because it might create very bad internal stress in some cases.
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This projection is here since the introduction of the component (9be66af)
If we remove the projection, we can remove the entire init method.
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I would advocate for it. Let the constraint solver do the work instead of doing something unrelated before the solving...
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