sofa::component::MechanicalObject< DataTypes > Class Template Reference
#include <MechanicalObject.h>
Integration-related data | |
| sofa::helper::vector< VecCoord * > | vectorsCoord |
| sofa::helper::vector< VecDeriv * > | vectorsDeriv |
| sofa::helper::vector< VecConst * > | vectorsConst |
| int | vsize |
| Number of elements to allocate in vectors. | |
| void | setVecCoord (unsigned int index, VecCoord *v) |
| void | setVecDeriv (unsigned int index, VecDeriv *v) |
| void | setVecConst (unsigned int index, VecConst *v) |
Data Structures | |
| class | Loader |
Public Types | |
| typedef MechanicalState < DataTypes > | Inherited |
| typedef Inherited::VecId | VecId |
| typedef Inherited::VMultiOp | VMultiOp |
| Data structure describing a set of linear operation on vectors. | |
| typedef DataTypes::VecCoord | VecCoord |
| Container of Coord values with the same API as sofa::helper::vector. | |
| typedef DataTypes::VecDeriv | VecDeriv |
| Container of Deriv values with the same API as sofa::helper::vector. | |
| typedef DataTypes::Coord | Coord |
| Position values. | |
| typedef DataTypes::Deriv | Deriv |
| Derivative values (velocity, forces, displacements). | |
| typedef DataTypes::Real | Real |
| Scalar values (float or double). | |
| typedef DataTypes::SparseDeriv | SparseDeriv |
| Index + Deriv value (entry of a sparse vector). | |
| typedef DataTypes::SparseVecDeriv | SparseVecDeriv |
| Sparse vector of Deriv values (defining coefficient of a constraint). | |
| typedef DataTypes::VecConst | VecConst |
| Vector of constraints (i.e. of SparseVecDeriv). | |
Public Member Functions | |
| MechanicalObject () | |
| MechanicalObject & | operator= (const MechanicalObject &) |
| virtual | ~MechanicalObject () |
| virtual bool | load (const char *filename) |
| virtual void | parse (BaseObjectDescription *arg) |
| Parse the given description to assign values to this object's fields and potentially other parameters. | |
| virtual VecCoord * | getX () |
| Return the current position vector (read-write access). | |
| virtual VecDeriv * | getV () |
| Return the current velocity vector (read-write access). | |
| virtual VecDeriv * | getF () |
| Return the force vector (read-write access). | |
| virtual VecDeriv * | getExternalForces () |
| Return the external forces vector (read-write access). | |
| virtual VecDeriv * | getDx () |
| Return the displacement vector (read-write access). | |
| virtual VecConst * | getC () |
| Return the constraints system matrix (read-write access). | |
| virtual VecCoord * | getXfree () |
| Return the free-motion position vector (read-write access). | |
| virtual VecDeriv * | getVfree () |
| Return the free-motion velocity vector (read-write access). | |
| VecCoord * | getX0 () |
| Return the current position vector (read-write access). | |
| virtual const VecCoord * | getX () const |
| Return the current position vector (read-only access). | |
| virtual const VecCoord * | getX0 () const |
| Return the current position vector (read-only access). | |
| virtual const VecDeriv * | getV () const |
| Return the current velocity vector (read-only access). | |
| virtual const VecDeriv * | getV0 () const |
| Return the initial velocity vector (read-only access). | |
| virtual const VecDeriv * | getF () const |
| Return the force vector (read-only access). | |
| virtual const VecDeriv * | getExternalForces () const |
| Return the external forces vector (read-write access). | |
| virtual const VecDeriv * | getDx () const |
| Return the displacement vector (read-only access). | |
| virtual const VecConst * | getC () const |
| Return the constraints system matrix (read-only access). | |
| virtual const VecCoord * | getXfree () const |
| Return the free-motion position vector (read-only access). | |
| virtual const VecDeriv * | getVfree () const |
| Return the free-motion velocity vector (read-only access). | |
| virtual void | init () |
| Initialization method called at graph modification, during bottom-up traversal. | |
| virtual void | reinit () |
| Update method called when variables used in precomputation are modified. | |
| virtual void | storeResetState () |
| Save the initial state for later uses in reset(). | |
| virtual void | reset () |
| Reset to initial state. | |
| virtual void | writeX (std::ostream &out) |
| virtual void | readX (std::istream &in) |
| virtual double | compareX (std::istream &in) |
| virtual void | writeV (std::ostream &out) |
| virtual void | readV (std::istream &in) |
| virtual double | compareV (std::istream &in) |
| virtual void | writeState (std::ostream &out) |
| Write current state to the given output stream. | |
| virtual void | initGnuplot (const std::string path) |
| virtual void | exportGnuplot (Real time) |
| virtual void | resize (int vsize) |
| Resize all stored vector. | |
| virtual bool | addBBox (double *minBBox, double *maxBBox) |
| int | getSize () const |
| functions that allows to have access to the geometry without a template class : not efficient | |
| double | getPX (int i) const |
| double | getPY (int i) const |
| double | getPZ (int i) const |
| void | replaceValue (const int inputIndex, const int outputIndex) |
| Overwrite values at index outputIndex by the ones at inputIndex. | |
| void | swapValues (const int idx1, const int idx2) |
| Exchange values at indices idx1 and idx2. | |
| void | renumberValues (const sofa::helper::vector< unsigned int > &index) |
| Reorder values according to parameter. | |
| void | computeWeightedValue (const unsigned int i, const sofa::helper::vector< unsigned int > &ancestors, const sofa::helper::vector< double > &coefs) |
| Replace the value at index by the sum of the ancestors values weithed by the coefs. | |
| void | computeNewPoint (const unsigned int i, const sofa::helper::vector< double > &m_x) |
| Compute the values attached to a new point. | |
| void | forcePointPosition (const unsigned int i, const sofa::helper::vector< double > &m_x) |
| virtual void | applyTranslation (const double dx, const double dy, const double dz) |
| Translate the current state. | |
| virtual void | applyRotation (const double rx, const double ry, const double rz) |
| Rotate the current state This method is optional, it is used when the user want to interactively change the position of an object using Euler angles. | |
| virtual void | applyRotation (const defaulttype::Quat q) |
| Rotate the current state. | |
| virtual void | applyScale (const double s) |
| Scale the current state. | |
| void | getIndicesInSpace (sofa::helper::vector< unsigned > &indices, Real xmin, Real xmax, Real ymin, Real ymax, Real zmin, Real zmax) const |
| Get the indices of the particles located in the given bounding box. | |
| void | setFilename (std::string s) |
| std::string | getFilename () |
| virtual void | addDxToCollisionModel (void) |
| void | setConstraintId (unsigned int) |
| Add a constraint ID. | |
| sofa::helper::vector< unsigned int > & | getConstraintId () |
| Return the constraint IDs corresponding to the entries in the constraints matrix returned by getC(). | |
| virtual void | handleStateChange () |
| Handle state Changes. | |
| template<> | |
| void | applyRotation (const defaulttype::Quat q) |
| Rotate the current state. | |
| template<> | |
| bool | addBBox (double *, double *) |
| template<> | |
| void | applyRotation (const defaulttype::Quat q) |
| Rotate the current state. | |
| template<> | |
| bool | addBBox (double *, double *) |
| template<> | |
| void | applyRotation (const defaulttype::Quat q) |
| Rotate the current state. | |
| template<> | |
| bool | addBBox (double *minBBox, double *maxBBox) |
| template<> | |
| void | applyRotation (const defaulttype::Quat q) |
| Rotate the current state. | |
| template<> | |
| bool | addBBox (double *minBBox, double *maxBBox) |
| virtual void | contributeToMatrixDimension (unsigned int *const, unsigned int *const) |
| Matrices and Vectors Interface | |
| virtual void | loadInBaseVector (defaulttype::BaseVector *, VecId, unsigned int &) |
| Load local mechanical data stored in the state in a global BaseVector basically stored in solvers. | |
| virtual void | addBaseVectorToState (VecId, defaulttype::BaseVector *, unsigned int &) |
| Add data stored in a BaseVector to a local mechanical vector of the MechanicalState. | |
| virtual void | setOffset (unsigned int &) |
| Update offset index during the subgraph traversal. | |
Integration related methods | |
| virtual void | beginIntegration (Real dt) |
| virtual void | endIntegration (Real dt) |
| virtual void | accumulateForce () |
| Add stored external forces to F. | |
| VecCoord * | getVecCoord (unsigned int index) |
| Return a VecCoord given its index. | |
| const VecCoord * | getVecCoord (unsigned int index) const |
| Return a VecCoord given its index, or NULL if it does not exists. | |
| VecDeriv * | getVecDeriv (unsigned int index) |
| Return a VecDeriv given its index. | |
| const VecDeriv * | getVecDeriv (unsigned int index) const |
| Return a VecDeriv given its index, or NULL if it does not exists. | |
| VecConst * | getVecConst (unsigned int index) |
| Return a VecConst given its index. | |
| const VecConst * | getVecConst (unsigned int index) const |
| Return a VecConst given its index, or NULL if it does not exists. | |
| virtual void | vAvail (VecId &v) |
| Increment the index of the given VecId, so that all 'allocated' vectors in this state have a lower index. | |
| virtual void | vAlloc (VecId v) |
| Allocate a new temporary vector. | |
| virtual void | vFree (VecId v) |
| Free a temporary vector. | |
| virtual void | vOp (VecId v, VecId a=VecId::null(), VecId b=VecId::null(), double f=1.0) |
| Compute a linear operation on vectors : v = a + b * f. | |
| virtual void | vMultiOp (const VMultiOp &ops) |
| Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$. | |
| virtual void | vThreshold (VecId a, double threshold) |
| Apply a threshold to all entries. | |
| virtual double | vDot (VecId a, VecId b) |
| Compute the scalar products between two vectors. | |
| virtual void | setX (VecId v) |
| Make the position vector point to the identified vector. | |
| virtual void | setXfree (VecId v) |
| Make the free-motion position vector point to the identified vector. | |
| virtual void | setVfree (VecId v) |
| Make the free-motion velocity vector point to the identified vector. | |
| virtual void | setV (VecId v) |
| Make the velocity vector point to the identified vector. | |
| virtual void | setF (VecId v) |
| Make the force vector point to the identified vector. | |
| virtual void | setDx (VecId v) |
| Make the displacement vector point to the identified vector. | |
| virtual void | setC (VecId v) |
| Make the holonomic constraint system matrix point to either holonomic Constraints or nonHolonomic Constraints. | |
| virtual void | resetForce () |
| Set F = 0. | |
| virtual void | resetConstraint () |
| Reset the constraint matrix. | |
Debug | |
| virtual void | printDOF (VecId, std::ostream &=std::cerr) |
| virtual unsigned | printDOFWithElapsedTime (VecId, unsigned=0, unsigned=0, std::ostream &=std::cerr) |
| void | draw () |
| Render internal data of this object, for debugging purposes. | |
Data Fields | |
| XDataPtr< DataTypes > *const | f_X |
| VDataPtr< DataTypes > *const | f_V |
| VDataPtr< DataTypes > *const | f_F |
| VDataPtr< DataTypes > *const | f_Dx |
| XDataPtr< DataTypes > *const | f_Xfree |
| VDataPtr< DataTypes > *const | f_Vfree |
| XDataPtr< DataTypes > *const | f_X0 |
| Data< SReal > | restScale |
| Data< bool > | debugViewIndices |
| Data< float > | debugViewIndicesScale |
Protected Attributes | |
| VecCoord * | x |
| VecDeriv * | v |
| VecDeriv * | f |
| VecDeriv * | dx |
| VecCoord * | x0 |
| VecCoord * | reset_position |
| VecDeriv * | v0 |
| VecDeriv * | internalForces |
| VecDeriv * | externalForces |
| VecCoord * | xfree |
| VecDeriv * | vfree |
| VecConst * | c |
| sofa::helper::vector< unsigned int > | constraintId |
| bool | initialized |
| Data< Vector3 > | translation |
| Data< Vector3 > | rotation |
| Data< SReal > | scale |
| Data< std::string > | filename |
| MechanicalObjectInternalData < DataTypes > | data |
| std::ofstream * | m_gnuplotFileX |
| std::ofstream * | m_gnuplotFileV |
| sofa::core::componentmodel::topology::BaseMeshTopology * | _topology |
Friends | |
| class | MechanicalObjectInternalData< DataTypes > |
Detailed Description
template<class DataTypes>
class sofa::component::MechanicalObject< DataTypes >
Definition at line 57 of file MechanicalObject.h.
Member Typedef Documentation
| typedef DataTypes::Coord sofa::component::MechanicalObject< DataTypes >::Coord |
Position values.
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 65 of file MechanicalObject.h.
| typedef DataTypes::Deriv sofa::component::MechanicalObject< DataTypes >::Deriv |
Derivative values (velocity, forces, displacements).
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 66 of file MechanicalObject.h.
| typedef MechanicalState<DataTypes> sofa::component::MechanicalObject< DataTypes >::Inherited |
Definition at line 60 of file MechanicalObject.h.
| typedef DataTypes::Real sofa::component::MechanicalObject< DataTypes >::Real |
Scalar values (float or double).
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Reimplemented in sofa::component::collision::TSphereModel< TDataTypes >.
Definition at line 67 of file MechanicalObject.h.
| typedef DataTypes::SparseDeriv sofa::component::MechanicalObject< DataTypes >::SparseDeriv |
Index + Deriv value (entry of a sparse vector).
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 68 of file MechanicalObject.h.
| typedef DataTypes::SparseVecDeriv sofa::component::MechanicalObject< DataTypes >::SparseVecDeriv |
Sparse vector of Deriv values (defining coefficient of a constraint).
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 69 of file MechanicalObject.h.
| typedef DataTypes::VecConst sofa::component::MechanicalObject< DataTypes >::VecConst |
Vector of constraints (i.e. of SparseVecDeriv).
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 70 of file MechanicalObject.h.
| typedef DataTypes::VecCoord sofa::component::MechanicalObject< DataTypes >::VecCoord |
Container of Coord values with the same API as sofa::helper::vector.
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Reimplemented in sofa::component::collision::SphereTreeModel.
Definition at line 63 of file MechanicalObject.h.
| typedef DataTypes::VecDeriv sofa::component::MechanicalObject< DataTypes >::VecDeriv |
Container of Deriv values with the same API as sofa::helper::vector.
Reimplemented from sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 64 of file MechanicalObject.h.
| typedef Inherited::VecId sofa::component::MechanicalObject< DataTypes >::VecId |
Definition at line 61 of file MechanicalObject.h.
| typedef Inherited::VMultiOp sofa::component::MechanicalObject< DataTypes >::VMultiOp |
Data structure describing a set of linear operation on vectors.
- See also:
- vMultiOp
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 62 of file MechanicalObject.h.
Constructor & Destructor Documentation
| sofa::component::MechanicalObject< DataTypes >::MechanicalObject | ( | ) | [inline] |
Definition at line 58 of file MechanicalObject.inl.
References sofa::core::objectmodel::Base::addField(), sofa::component::MechanicalObject< DataTypes >::debugViewIndices, sofa::component::MechanicalObject< DataTypes >::debugViewIndicesScale, sofa::component::MechanicalObject< DataTypes >::dx, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::dx(), sofa::component::MechanicalObject< DataTypes >::externalForces, sofa::component::MechanicalObject< DataTypes >::f, sofa::component::MechanicalObject< DataTypes >::f_Dx, sofa::component::MechanicalObject< DataTypes >::f_F, sofa::component::MechanicalObject< DataTypes >::f_V, sofa::component::MechanicalObject< DataTypes >::f_Vfree, sofa::component::MechanicalObject< DataTypes >::f_X, sofa::component::MechanicalObject< DataTypes >::f_X0, sofa::component::MechanicalObject< DataTypes >::f_Xfree, sofa::component::MechanicalObject< DataTypes >::filename, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::force(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::freePosition(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::freeVelocity(), sofa::core::objectmodel::Base::initData(), sofa::component::MechanicalObject< DataTypes >::initialized, sofa::component::MechanicalObject< DataTypes >::internalForces, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::position(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::restPosition(), sofa::component::MechanicalObject< DataTypes >::restScale, sofa::component::MechanicalObject< DataTypes >::rotation, sofa::component::MechanicalObject< DataTypes >::scale, sofa::component::MechanicalObject< DataTypes >::setVecCoord(), sofa::component::MechanicalObject< DataTypes >::setVecDeriv(), sofa::component::MechanicalObject< DataTypes >::translation, sofa::component::MechanicalObject< DataTypes >::v, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::velocity(), sofa::component::MechanicalObject< DataTypes >::vfree, sofa::component::MechanicalObject< DataTypes >::x, sofa::component::MechanicalObject< DataTypes >::x0, and sofa::component::MechanicalObject< DataTypes >::xfree.
| sofa::component::MechanicalObject< DataTypes >::~MechanicalObject | ( | ) | [inline, virtual] |
Definition at line 222 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileV, sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileX, sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, and sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
Member Function Documentation
| void sofa::component::MechanicalObject< DataTypes >::accumulateForce | ( | ) | [inline, virtual] |
Add stored external forces to F.
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1143 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, and sofa::component::MechanicalObject< DataTypes >::f.
| void sofa::component::MechanicalObject< DataTypes >::addBaseVectorToState | ( | VecId | dest, | |
| defaulttype::BaseVector * | src, | |||
| unsigned int & | offset | |||
| ) | [inline, virtual] |
Add data stored in a BaseVector to a local mechanical vector of the MechanicalState.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 847 of file MechanicalObject.inl.
References sofa::defaulttype::BaseVector::element(), sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD.
| bool sofa::component::MechanicalObject< Vec1fTypes >::addBBox | ( | double * | minBBox, | |
| double * | maxBBox | |||
| ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
| bool sofa::component::MechanicalObject< Vec1dTypes >::addBBox | ( | double * | minBBox, | |
| double * | maxBBox | |||
| ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
| bool sofa::component::MechanicalObject< Vec1fTypes >::addBBox | ( | double * | , | |
| double * | ||||
| ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 121 of file MechanicalObject.cpp.
| bool sofa::component::MechanicalObject< Vec1dTypes >::addBBox | ( | double * | , | |
| double * | ||||
| ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 102 of file MechanicalObject.cpp.
| bool sofa::component::MechanicalObject< DataTypes >::addBBox | ( | double * | minBBox, | |
| double * | maxBBox | |||
| ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1942 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::c, ftl::Type::get(), sofa::component::MechanicalObject< DataTypes >::getX(), and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< DataTypes >::addDxToCollisionModel | ( | void | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 884 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::dx, sofa::component::MechanicalObject< DataTypes >::x, and sofa::component::MechanicalObject< DataTypes >::xfree.
| void sofa::component::MechanicalObject< defaulttype::Rigid3fTypes >::applyRotation | ( | const defaulttype::Quat | q | ) | [inline, virtual] |
| void sofa::component::MechanicalObject< defaulttype::Rigid3dTypes >::applyRotation | ( | const defaulttype::Quat | q | ) | [inline, virtual] |
| void sofa::component::MechanicalObject< defaulttype::Rigid3fTypes >::applyRotation | ( | const defaulttype::Quat | q | ) | [inline, virtual] |
Rotate the current state.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 110 of file MechanicalObject.cpp.
References sofa::component::MechanicalObject< DataTypes >::getX(), sofa::helper::Quater< Real >::rotate(), and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< defaulttype::Rigid3dTypes >::applyRotation | ( | const defaulttype::Quat | q | ) | [inline, virtual] |
Rotate the current state.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 91 of file MechanicalObject.cpp.
References sofa::component::MechanicalObject< DataTypes >::getX(), sofa::helper::Quater< Real >::rotate(), and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< DataTypes >::applyRotation | ( | const defaulttype::Quat | q | ) | [inline, virtual] |
Rotate the current state.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 554 of file MechanicalObject.inl.
References ftl::Type::get(), sofa::component::MechanicalObject< DataTypes >::getX(), sofa::helper::Quater< Real >::rotate(), and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< DataTypes >::applyRotation | ( | const double | double, | |
| const double | double, | |||
| const double | double | |||
| ) | [inline, virtual] |
Rotate the current state This method is optional, it is used when the user want to interactively change the position of an object using Euler angles.
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 547 of file MechanicalObject.inl.
Referenced by sofa::component::MechanicalObject< DataTypes >::reinit().
| void sofa::component::MechanicalObject< DataTypes >::applyScale | ( | const double | s | ) | [inline, virtual] |
Scale the current state.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Reimplemented in sofa::component::collision::TSphereModel< TDataTypes >, and sofa::component::collision::SphereTreeModel.
Definition at line 580 of file MechanicalObject.inl.
References sofa::core::objectmodel::Base::getName(), sofa::component::MechanicalObject< DataTypes >::getX(), and sofa::component::MechanicalObject< DataTypes >::x.
Referenced by sofa::component::collision::SphereTreeModel::applyScale(), sofa::component::collision::TSphereModel< TDataTypes >::applyScale(), and sofa::component::MechanicalObject< DataTypes >::reinit().
| void sofa::component::MechanicalObject< DataTypes >::applyTranslation | ( | const double | dx, | |
| const double | dy, | |||
| const double | dz | |||
| ) | [inline, virtual] |
Translate the current state.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Reimplemented in sofa::component::collision::RayModel.
Definition at line 534 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getX(), and sofa::component::MechanicalObject< DataTypes >::x.
Referenced by sofa::component::MechanicalObject< DataTypes >::reinit().
| void sofa::component::MechanicalObject< DataTypes >::beginIntegration | ( | Real | dt | ) | [inline, virtual] |
Definition at line 1130 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::f, and sofa::component::MechanicalObject< DataTypes >::internalForces.
| double sofa::component::MechanicalObject< DataTypes >::compareV | ( | std::istream & | in | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1100 of file MechanicalObject.inl.
References error, and sofa::component::MechanicalObject< DataTypes >::getV().
| double sofa::component::MechanicalObject< DataTypes >::compareX | ( | std::istream & | in | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1056 of file MechanicalObject.inl.
References error, and sofa::component::MechanicalObject< DataTypes >::getX().
| void sofa::component::MechanicalObject< DataTypes >::computeNewPoint | ( | const unsigned int | i, | |
| const sofa::helper::vector< double > & | m_x | |||
| ) | [inline] |
Compute the values attached to a new point.
Definition at line 762 of file MechanicalObject.inl.
References sofa::core::objectmodel::Data< T >::getValue(), sofa::component::MechanicalObject< DataTypes >::getX(), sofa::component::MechanicalObject< DataTypes >::getX0(), sofa::component::MechanicalObject< DataTypes >::getXfree(), sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::restScale, sofa::helper::Quater< Real >::rotate(), sofa::component::MechanicalObject< DataTypes >::rotation, sofa::component::MechanicalObject< DataTypes >::scale, and sofa::component::MechanicalObject< DataTypes >::translation.
| void sofa::component::MechanicalObject< DataTypes >::computeWeightedValue | ( | const unsigned int | i, | |
| const sofa::helper::vector< unsigned int > & | ancestors, | |||
| const sofa::helper::vector< double > & | coefs | |||
| ) | [inline] |
Replace the value at index by the sum of the ancestors values weithed by the coefs.
Sum of the coefs should usually equal to 1.0
Definition at line 672 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, and sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
Referenced by sofa::component::MechanicalObject< DataTypes >::handleStateChange().
| void sofa::component::MechanicalObject< DataTypes >::contributeToMatrixDimension | ( | unsigned int * const | nbRow, | |
| unsigned int * const | nbCol | |||
| ) | [inline, virtual] |
Matrices and Vectors Interface
Add the Mechanical State Dimension [DOF number * DOF dimension] to the global matrix dimension
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 793 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::v.
| void sofa::component::MechanicalObject< DataTypes >::draw | ( | ) | [inline, virtual] |
Render internal data of this object, for debugging purposes.
Reimplemented from sofa::core::objectmodel::BaseObject.
Reimplemented in sofa::component::collision::RayModel, sofa::component::collision::RayPickInteractor, sofa::component::collision::TSphereModel< TDataTypes >, and sofa::component::collision::SphereTreeModel.
Definition at line 1960 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::debugViewIndices, sofa::component::MechanicalObject< DataTypes >::debugViewIndicesScale, sofa::component::MechanicalObject< DataTypes >::getPX(), sofa::component::MechanicalObject< DataTypes >::getPY(), sofa::component::MechanicalObject< DataTypes >::getPZ(), sofa::core::objectmodel::Data< T >::getValue(), sofa::component::MechanicalObject< DataTypes >::scale, and sofa::component::MechanicalObject< DataTypes >::vsize.
| void sofa::component::MechanicalObject< DataTypes >::endIntegration | ( | Real | dt | ) | [inline, virtual] |
Definition at line 1136 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, and sofa::component::MechanicalObject< DataTypes >::f.
| void sofa::component::MechanicalObject< DataTypes >::exportGnuplot | ( | Real | time | ) | [inline, virtual] |
Definition at line 131 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getV(), sofa::component::MechanicalObject< DataTypes >::getX(), sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileV, and sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileX.
| void sofa::component::MechanicalObject< DataTypes >::forcePointPosition | ( | const unsigned int | i, | |
| const sofa::helper::vector< double > & | m_x | |||
| ) | [inline] |
Definition at line 786 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getV(), and sofa::component::MechanicalObject< DataTypes >::getX().
Referenced by sofa::component::topology::TriangleSetTopologyAlgorithms< DataTypes >::Suture2Points().
| virtual const VecConst* sofa::component::MechanicalObject< DataTypes >::getC | ( | ) | const [inline, virtual] |
Return the constraints system matrix (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 163 of file MechanicalObject.h.
| virtual VecConst* sofa::component::MechanicalObject< DataTypes >::getC | ( | ) | [inline, virtual] |
Return the constraints system matrix (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 151 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::resetConstraint().
| sofa::helper::vector< unsigned int > & sofa::component::MechanicalObject< DataTypes >::getConstraintId | ( | ) | [inline, virtual] |
Return the constraint IDs corresponding to the entries in the constraints matrix returned by getC().
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1935 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::constraintId.
| virtual const VecDeriv* sofa::component::MechanicalObject< DataTypes >::getDx | ( | ) | const [inline, virtual] |
Return the displacement vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 162 of file MechanicalObject.h.
| virtual VecDeriv* sofa::component::MechanicalObject< DataTypes >::getDx | ( | ) | [inline, virtual] |
Return the displacement vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 150 of file MechanicalObject.h.
| virtual const VecDeriv* sofa::component::MechanicalObject< DataTypes >::getExternalForces | ( | ) | const [inline, virtual] |
Return the external forces vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 161 of file MechanicalObject.h.
| virtual VecDeriv* sofa::component::MechanicalObject< DataTypes >::getExternalForces | ( | ) | [inline, virtual] |
Return the external forces vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 149 of file MechanicalObject.h.
| virtual const VecDeriv* sofa::component::MechanicalObject< DataTypes >::getF | ( | void | ) | const [inline, virtual] |
Return the force vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 160 of file MechanicalObject.h.
| virtual VecDeriv* sofa::component::MechanicalObject< DataTypes >::getF | ( | void | ) | [inline, virtual] |
Return the force vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 148 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::resetForce(), and SensAble::updatePosition().
| std::string sofa::component::MechanicalObject< DataTypes >::getFilename | ( | ) | [inline] |
Definition at line 267 of file MechanicalObject.h.
| void sofa::component::MechanicalObject< DataTypes >::getIndicesInSpace | ( | sofa::helper::vector< unsigned > & | indices, | |
| Real | xmin, | |||
| Real | xmax, | |||
| Real | ymin, | |||
| Real | ymax, | |||
| Real | zmin, | |||
| Real | zmax | |||
| ) | const [inline, virtual] |
Get the indices of the particles located in the given bounding box.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 591 of file MechanicalObject.inl.
References ftl::Type::get(), sofa::component::MechanicalObject< DataTypes >::getX(), and sofa::component::MechanicalObject< DataTypes >::x.
| double sofa::component::MechanicalObject< DataTypes >::getPX | ( | int | i | ) | const [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 195 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::draw().
| double sofa::component::MechanicalObject< DataTypes >::getPY | ( | int | i | ) | const [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 196 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::draw().
| double sofa::component::MechanicalObject< DataTypes >::getPZ | ( | int | i | ) | const [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 197 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::draw().
| int sofa::component::MechanicalObject< DataTypes >::getSize | ( | ) | const [inline, virtual] |
functions that allows to have access to the geometry without a template class : not efficient
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Reimplemented in sofa::component::collision::TSphereModel< TDataTypes >, and sofa::component::collision::SphereTreeModel.
Definition at line 192 of file MechanicalObject.h.
Referenced by sofa::component::collision::SphereTreeModel::getSize(), sofa::component::collision::TSphereModel< TDataTypes >::getSize(), sofa::component::MechanicalObject< DataTypes >::handleStateChange(), sofa::component::MechanicalObject< DataTypes >::operator=(), sofa::component::MechanicalObject< DataTypes >::readV(), and sofa::component::MechanicalObject< DataTypes >::readX().
| virtual const VecDeriv* sofa::component::MechanicalObject< DataTypes >::getV | ( | ) | const [inline, virtual] |
Return the current velocity vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 158 of file MechanicalObject.h.
| virtual VecDeriv* sofa::component::MechanicalObject< DataTypes >::getV | ( | ) | [inline, virtual] |
Return the current velocity vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 147 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::compareV(), sofa::component::MechanicalObject< DataTypes >::exportGnuplot(), sofa::component::MechanicalObject< DataTypes >::forcePointPosition(), sofa::component::MechanicalObject< DataTypes >::init(), main(), and sofa::component::MechanicalObject< DataTypes >::writeV().
| virtual const VecDeriv* sofa::component::MechanicalObject< DataTypes >::getV0 | ( | ) | const [inline, virtual] |
Return the initial velocity vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 159 of file MechanicalObject.h.
| const MechanicalObject< DataTypes >::VecConst * sofa::component::MechanicalObject< DataTypes >::getVecConst | ( | unsigned int | index | ) | const [inline, virtual] |
Return a VecConst given its index, or NULL if it does not exists.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1231 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsConst.
| MechanicalObject< DataTypes >::VecConst * sofa::component::MechanicalObject< DataTypes >::getVecConst | ( | unsigned int | index | ) | [inline, virtual] |
Return a VecConst given its index.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1220 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsConst.
Referenced by sofa::component::MechanicalObject< DataTypes >::setC().
| const MechanicalObject< DataTypes >::VecCoord * sofa::component::MechanicalObject< DataTypes >::getVecCoord | ( | unsigned int | index | ) | const [inline, virtual] |
Return a VecCoord given its index, or NULL if it does not exists.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1188 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsCoord.
| MechanicalObject< DataTypes >::VecCoord * sofa::component::MechanicalObject< DataTypes >::getVecCoord | ( | unsigned int | index | ) | [inline, virtual] |
Return a VecCoord given its index.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1178 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsCoord.
Referenced by sofa::component::MechanicalObject< DataTypes >::addBaseVectorToState(), sofa::component::MechanicalObject< DataTypes >::loadInBaseVector(), sofa::component::MechanicalObject< DataTypes >::printDOF(), sofa::component::MechanicalObject< DataTypes >::printDOFWithElapsedTime(), sofa::component::MechanicalObject< DataTypes >::reset(), sofa::component::MechanicalObject< DataTypes >::setX(), sofa::component::MechanicalObject< DataTypes >::setXfree(), sofa::component::MechanicalObject< DataTypes >::vAlloc(), sofa::component::MechanicalObject< DataTypes >::vDot(), sofa::component::MechanicalObject< DataTypes >::vFree(), sofa::component::MechanicalObject< DataTypes >::vMultiOp(), and sofa::component::MechanicalObject< DataTypes >::vOp().
| const MechanicalObject< DataTypes >::VecDeriv * sofa::component::MechanicalObject< DataTypes >::getVecDeriv | ( | unsigned int | index | ) | const [inline, virtual] |
Return a VecDeriv given its index, or NULL if it does not exists.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1209 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
| MechanicalObject< DataTypes >::VecDeriv * sofa::component::MechanicalObject< DataTypes >::getVecDeriv | ( | unsigned int | index | ) | [inline, virtual] |
Return a VecDeriv given its index.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1198 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
Referenced by sofa::component::MechanicalObject< DataTypes >::addBaseVectorToState(), sofa::component::MechanicalObject< DataTypes >::loadInBaseVector(), sofa::component::MechanicalObject< DataTypes >::printDOF(), sofa::component::MechanicalObject< DataTypes >::printDOFWithElapsedTime(), sofa::component::MechanicalObject< DataTypes >::reset(), sofa::component::MechanicalObject< DataTypes >::setDx(), sofa::component::MechanicalObject< DataTypes >::setF(), sofa::component::MechanicalObject< DataTypes >::setV(), sofa::component::MechanicalObject< DataTypes >::setVfree(), sofa::component::MechanicalObject< DataTypes >::vAlloc(), sofa::component::MechanicalObject< DataTypes >::vDot(), sofa::component::MechanicalObject< DataTypes >::vFree(), sofa::component::MechanicalObject< DataTypes >::vMultiOp(), sofa::component::MechanicalObject< DataTypes >::vOp(), and sofa::component::MechanicalObject< DataTypes >::vThreshold().
| virtual const VecDeriv* sofa::component::MechanicalObject< DataTypes >::getVfree | ( | ) | const [inline, virtual] |
Return the free-motion velocity vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 165 of file MechanicalObject.h.
| virtual VecDeriv* sofa::component::MechanicalObject< DataTypes >::getVfree | ( | ) | [inline, virtual] |
Return the free-motion velocity vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 153 of file MechanicalObject.h.
| virtual const VecCoord* sofa::component::MechanicalObject< DataTypes >::getX | ( | ) | const [inline, virtual] |
Return the current position vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 156 of file MechanicalObject.h.
| virtual VecCoord* sofa::component::MechanicalObject< DataTypes >::getX | ( | ) | [inline, virtual] |
Return the current position vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 146 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::addBBox(), sofa::component::MechanicalObject< DataTypes >::applyRotation(), sofa::component::MechanicalObject< DataTypes >::applyScale(), sofa::component::MechanicalObject< DataTypes >::applyTranslation(), sofa::component::MechanicalObject< DataTypes >::compareX(), sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::collision::SphereTreeModel::draw(), SensAble::draw(), sofa::component::MechanicalObject< DataTypes >::exportGnuplot(), sofa::component::MechanicalObject< DataTypes >::forcePointPosition(), sofa::component::MechanicalObject< DataTypes >::getIndicesInSpace(), sofa::component::MechanicalObject< TDataTypes >::getPX(), sofa::component::MechanicalObject< TDataTypes >::getPY(), sofa::component::MechanicalObject< TDataTypes >::getPZ(), sofa::component::topology::Edge2QuadTopologicalMapping::init(), sofa::component::MechanicalObject< DataTypes >::init(), main(), sofa::component::MechanicalObject< DataTypes >::parse(), sofa::component::collision::SphereTreeModel::setSphere(), sofa::component::topology::SparseGridTopology::updateMesh(), and sofa::component::MechanicalObject< DataTypes >::writeX().
| virtual const VecCoord* sofa::component::MechanicalObject< DataTypes >::getX0 | ( | ) | const [inline, virtual] |
Return the current position vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 157 of file MechanicalObject.h.
| VecCoord* sofa::component::MechanicalObject< DataTypes >::getX0 | ( | ) | [inline, virtual] |
Return the current position vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 154 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint().
| virtual const VecCoord* sofa::component::MechanicalObject< DataTypes >::getXfree | ( | ) | const [inline, virtual] |
Return the free-motion position vector (read-only access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 164 of file MechanicalObject.h.
| virtual VecCoord* sofa::component::MechanicalObject< DataTypes >::getXfree | ( | ) | [inline, virtual] |
Return the free-motion position vector (read-write access).
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 152 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint().
| void sofa::component::MechanicalObject< DataTypes >::handleStateChange | ( | ) | [inline, virtual] |
Handle state Changes.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 245 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::_topology, sofa::component::MechanicalObject< DataTypes >::computeWeightedValue(), sofa::component::MechanicalObject< DataTypes >::f, sofa::core::componentmodel::topology::BaseMeshTopology::firstStateChange(), sofa::component::MechanicalObject< DataTypes >::getSize(), sofa::core::componentmodel::topology::BaseMeshTopology::lastStateChange(), sofa::core::componentmodel::topology::POINTSADDED, sofa::core::componentmodel::topology::POINTSREMOVED, sofa::core::componentmodel::topology::POINTSRENUMBERING, sofa::component::MechanicalObject< DataTypes >::renumberValues(), sofa::component::MechanicalObject< DataTypes >::replaceValue(), and sofa::component::MechanicalObject< DataTypes >::resize().
| void sofa::component::MechanicalObject< DataTypes >::init | ( | void | ) | [inline, virtual] |
Initialization method called at graph modification, during bottom-up traversal.
Reimplemented from sofa::core::objectmodel::BaseObject.
Reimplemented in sofa::component::collision::RayPickInteractor, and sofa::component::collision::TSphereModel< TDataTypes >.
Definition at line 892 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::_topology, sofa::component::MechanicalObject< DataTypes >::f_Dx, sofa::component::MechanicalObject< DataTypes >::f_F, sofa::component::MechanicalObject< DataTypes >::f_V, sofa::component::MechanicalObject< DataTypes >::f_Vfree, sofa::component::MechanicalObject< DataTypes >::f_X, sofa::component::MechanicalObject< DataTypes >::f_X0, sofa::component::MechanicalObject< DataTypes >::f_Xfree, sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMeshTopology(), sofa::core::componentmodel::topology::Topology::getNbPoints(), sofa::component::MeshLoader::getNbPoints(), sofa::core::componentmodel::topology::BaseMeshTopology::getPX(), sofa::component::MeshLoader::getPX(), sofa::core::componentmodel::topology::BaseMeshTopology::getPY(), sofa::component::MeshLoader::getPY(), sofa::core::componentmodel::topology::BaseMeshTopology::getPZ(), sofa::component::MeshLoader::getPZ(), sofa::component::MechanicalObject< DataTypes >::getV(), sofa::component::MechanicalObject< DataTypes >::getX(), sofa::core::componentmodel::topology::BaseMeshTopology::hasPos(), sofa::component::MechanicalObject< DataTypes >::initialized, sofa::component::MechanicalObject< DataTypes >::reinit(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::restScale, sofa::component::MechanicalObject< DataTypes >::v, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vsize, sofa::component::MechanicalObject< DataTypes >::x, sofa::component::MechanicalObject< DataTypes >::x0, and sofa::component::MechanicalObject< DataTypes >::xfree.
Referenced by sofa::component::collision::TSphereModel< TDataTypes >::init().
| void sofa::component::MechanicalObject< DataTypes >::initGnuplot | ( | const std::string | path | ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 120 of file MechanicalObject.inl.
References sofa::core::objectmodel::Base::getName(), sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileV, and sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileX.
| bool sofa::component::MechanicalObject< DataTypes >::load | ( | const char * | filename | ) | [inline, virtual] |
Reimplemented in sofa::component::collision::TSphereModel< TDataTypes >, and sofa::component::collision::SphereTreeModel.
Definition at line 177 of file MechanicalObject.inl.
References sofa::helper::io::MassSpringLoader::load().
Referenced by sofa::component::MechanicalObject< DataTypes >::parse().
| void sofa::component::MechanicalObject< DataTypes >::loadInBaseVector | ( | defaulttype::BaseVector * | dest, | |
| VecId | src, | |||
| unsigned int & | offset | |||
| ) | [inline, virtual] |
Load local mechanical data stored in the state in a global BaseVector basically stored in solvers.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 814 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::defaulttype::BaseVector::set(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD.
| MechanicalObject< DataTypes > & sofa::component::MechanicalObject< DataTypes >::operator= | ( | const MechanicalObject< DataTypes > & | obj | ) | [inline] |
Definition at line 143 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getSize(), and sofa::component::MechanicalObject< DataTypes >::resize().
| void sofa::component::MechanicalObject< DataTypes >::parse | ( | BaseObjectDescription * | arg | ) | [inline, virtual] |
Parse the given description to assign values to this object's fields and potentially other parameters.
Reimplemented from sofa::core::objectmodel::Base.
Definition at line 184 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::filename, sofa::core::objectmodel::BaseObjectDescription::getAttribute(), sofa::core::objectmodel::Data< T >::getValue(), sofa::component::MechanicalObject< DataTypes >::getX(), sofa::component::MechanicalObject< DataTypes >::load(), sofa::core::objectmodel::Base::parse(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::rotation, sofa::component::MechanicalObject< DataTypes >::scale, sofa::core::objectmodel::Data< T >::setValue(), and sofa::component::MechanicalObject< DataTypes >::translation.
| void sofa::component::MechanicalObject< DataTypes >::printDOF | ( | VecId | v, | |
| std::ostream & | out = std::cerr | |||
| ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1853 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::component::MechanicalObject< DataTypes >::x.
| unsigned sofa::component::MechanicalObject< DataTypes >::printDOFWithElapsedTime | ( | VecId | v, | |
| unsigned | count = 0, |
|||
| unsigned | time = 0, |
|||
| std::ostream & | out = std::cerr | |||
| ) | [inline, virtual] |
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1873 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< DataTypes >::readV | ( | std::istream & | in | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1085 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getSize(), and sofa::component::MechanicalObject< DataTypes >::resize().
| void sofa::component::MechanicalObject< DataTypes >::readX | ( | std::istream & | in | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1042 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getSize(), and sofa::component::MechanicalObject< DataTypes >::resize().
| void sofa::component::MechanicalObject< DataTypes >::reinit | ( | ) | [inline, virtual] |
Update method called when variables used in precomputation are modified.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 970 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::applyRotation(), sofa::component::MechanicalObject< DataTypes >::applyScale(), sofa::component::MechanicalObject< DataTypes >::applyTranslation(), sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::BaseObject::getContext(), sofa::component::topology::RegularGridTopology::getP0(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::objectmodel::BaseContext::Local, sofa::component::MechanicalObject< DataTypes >::rotation, sofa::component::MechanicalObject< DataTypes >::scale, sofa::component::topology::RegularGridTopology::setP0(), sofa::core::objectmodel::Data< T >::setValue(), and sofa::component::MechanicalObject< DataTypes >::translation.
Referenced by sofa::component::MechanicalObject< DataTypes >::init().
| void sofa::component::MechanicalObject< DataTypes >::renumberValues | ( | const sofa::helper::vector< unsigned int > & | index | ) | [inline] |
Reorder values according to parameter.
Result of this method is : newValue[ i ] = oldValue[ index[i] ];
Definition at line 473 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, sofa::component::renumber(), sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, and sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
Referenced by sofa::component::MechanicalObject< DataTypes >::handleStateChange().
| void sofa::component::MechanicalObject< DataTypes >::replaceValue | ( | const int | inputIndex, | |
| const int | outputIndex | |||
| ) | [inline] |
Overwrite values at index outputIndex by the ones at inputIndex.
Definition at line 323 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, and sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
Referenced by sofa::component::MechanicalObject< DataTypes >::handleStateChange().
| void sofa::component::MechanicalObject< DataTypes >::reset | ( | void | ) | [inline, virtual] |
Reset to initial state.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 1014 of file MechanicalObject.inl.
References sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::freePosition(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::freeVelocity(), sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::position(), sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::v0, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::velocity().
| void sofa::component::MechanicalObject< DataTypes >::resetConstraint | ( | ) | [inline, virtual] |
Reset the constraint matrix.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1913 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::c, sofa::component::MechanicalObject< DataTypes >::constraintId, and sofa::component::MechanicalObject< DataTypes >::getC().
| void sofa::component::MechanicalObject< DataTypes >::resetForce | ( | ) | [inline, virtual] |
Set F = 0.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1904 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::f, and sofa::component::MechanicalObject< DataTypes >::getF().
| void sofa::component::MechanicalObject< DataTypes >::resize | ( | int | vsize | ) | [inline, virtual] |
Resize all stored vector.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Reimplemented in sofa::component::collision::RayModel, sofa::component::collision::TSphereModel< TDataTypes >, and sofa::component::collision::SphereTreeModel.
Definition at line 500 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::externalForces, sofa::component::MechanicalObject< DataTypes >::initialized, sofa::component::MechanicalObject< DataTypes >::internalForces, sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, sofa::component::MechanicalObject< DataTypes >::vectorsDeriv, sofa::component::MechanicalObject< DataTypes >::vsize, and sofa::component::MechanicalObject< DataTypes >::x0.
Referenced by sofa::component::MechanicalObject< DataTypes >::Loader::addMass(), sofa::component::collision::DefaultPickingManager< TDataTypes, ContactForceField >::attach(), sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::MechanicalObject< DataTypes >::handleStateChange(), sofa::component::topology::Edge2QuadTopologicalMapping::init(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::container::ArticulatedHierarchyContainer::init(), main(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::operator=(), sofa::component::MechanicalObject< DataTypes >::parse(), sofa::component::MechanicalObject< DataTypes >::readV(), sofa::component::MechanicalObject< DataTypes >::readX(), and sofa::component::MechanicalObject< DataTypes >::reset().
| void sofa::component::MechanicalObject< DataTypes >::setC | ( | VecId | v | ) | [inline, virtual] |
Make the holonomic constraint system matrix point to either holonomic Constraints or nonHolonomic Constraints.
To reset it to the default storage or to make it point to holonomicConstraints use
To make it point to nonNolonomicConstraints usesetC(VecId::NonHolonomicC())
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1839 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::c, sofa::component::MechanicalObject< DataTypes >::getVecConst(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_CONST.
| void sofa::component::MechanicalObject< DataTypes >::setConstraintId | ( | unsigned int | ) | [inline, virtual] |
Add a constraint ID.
Implements sofa::core::componentmodel::behavior::MechanicalState< DataTypes >.
Definition at line 1924 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::constraintId.
| void sofa::component::MechanicalObject< DataTypes >::setDx | ( | VecId | v | ) | [inline, virtual] |
Make the displacement vector point to the identified vector.
To reset it to the default storage use
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1825 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::dx, sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV.
| void sofa::component::MechanicalObject< DataTypes >::setF | ( | VecId | v | ) | [inline, virtual] |
Make the force vector point to the identified vector.
To reset it to the default storage use
setF(VecId::force())
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1812 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::f, sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV.
| void sofa::component::MechanicalObject< DataTypes >::setFilename | ( | std::string | s | ) | [inline] |
Definition at line 266 of file MechanicalObject.h.
| void sofa::component::MechanicalObject< DataTypes >::setOffset | ( | unsigned int & | offset | ) | [inline, virtual] |
Update offset index during the subgraph traversal.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 804 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::v.
| void sofa::component::MechanicalObject< DataTypes >::setV | ( | VecId | v | ) | [inline, virtual] |
Make the velocity vector point to the identified vector.
To reset it to the default storage use
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1799 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV.
| void sofa::component::MechanicalObject< DataTypes >::setVecConst | ( | unsigned int | index, | |
| VecConst * | v | |||
| ) | [inline, protected] |
Definition at line 1169 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsConst.
| void sofa::component::MechanicalObject< DataTypes >::setVecCoord | ( | unsigned int | index, | |
| VecCoord * | v | |||
| ) | [inline, protected] |
Definition at line 1153 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsCoord.
Referenced by sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| void sofa::component::MechanicalObject< DataTypes >::setVecDeriv | ( | unsigned int | index, | |
| VecDeriv * | v | |||
| ) | [inline, protected] |
Definition at line 1161 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
Referenced by sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| void sofa::component::MechanicalObject< DataTypes >::setVfree | ( | VecId | v | ) | [inline, virtual] |
Make the free-motion velocity vector point to the identified vector.
To reset it to the default storage use
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1786 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::component::MechanicalObject< DataTypes >::vfree.
| void sofa::component::MechanicalObject< DataTypes >::setX | ( | VecId | v | ) | [inline, virtual] |
Make the position vector point to the identified vector.
To reset it to the default storage use
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1760 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< DataTypes >::setXfree | ( | VecId | v | ) | [inline, virtual] |
Make the free-motion position vector point to the identified vector.
To reset it to the default storage use
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1773 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, and sofa::component::MechanicalObject< DataTypes >::xfree.
| void sofa::component::MechanicalObject< DataTypes >::storeResetState | ( | ) | [inline, virtual] |
Save the initial state for later uses in reset().
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 1002 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::reset_position, and sofa::component::MechanicalObject< DataTypes >::x.
| void sofa::component::MechanicalObject< DataTypes >::swapValues | ( | const int | idx1, | |
| const int | idx2 | |||
| ) | [inline] |
Exchange values at indices idx1 and idx2.
Definition at line 375 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::reset_position, sofa::component::MechanicalObject< DataTypes >::v0, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, and sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
| void sofa::component::MechanicalObject< DataTypes >::vAlloc | ( | VecId | v | ) | [inline, virtual] |
Allocate a new temporary vector.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1259 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_FIRST_DYNAMIC_INDEX, and sofa::component::MechanicalObject< DataTypes >::vsize.
| void sofa::component::MechanicalObject< DataTypes >::vAvail | ( | VecId & | v | ) | [inline, virtual] |
Increment the index of the given VecId, so that all 'allocated' vectors in this state have a lower index.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1242 of file MechanicalObject.inl.
References sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, sofa::component::MechanicalObject< DataTypes >::vectorsCoord, and sofa::component::MechanicalObject< DataTypes >::vectorsDeriv.
| double sofa::component::MechanicalObject< DataTypes >::vDot | ( | VecId | a, | |
| VecId | b | |||
| ) | [inline, virtual] |
Compute the scalar products between two vectors.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1735 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV.
| void sofa::component::MechanicalObject< DataTypes >::vFree | ( | VecId | v | ) | [inline, virtual] |
Free a temporary vector.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1280 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_FIRST_DYNAMIC_INDEX.
| void sofa::component::MechanicalObject< DataTypes >::vMultiOp | ( | const VMultiOp & | ops | ) | [inline, virtual] |
Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$.
This is used to compute in on steps operations such as $v = v + a*dt, x = x + v*dt$. Note that if the result vector appears inside the expression, it must be the first operand. By default this method decompose the computation into multiple vOp calls.
Reimplemented from sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1644 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::core::componentmodel::behavior::BaseMechanicalState::vMultiOp().
| void sofa::component::MechanicalObject< DataTypes >::vOp | ( | VecId | v, | |
| VecId | a = VecId::null(), |
|||
| VecId | b = VecId::null(), |
|||
| double | f = 1.0 | |||
| ) | [inline, virtual] |
Compute a linear operation on vectors : v = a + b * f.
This generic operation can be used for many simpler cases :
- v = 0
- v = a
- v = a + b
- v = b * f
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1300 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::isNull(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::component::MechanicalObject< DataTypes >::vsize.
| void sofa::component::MechanicalObject< DataTypes >::vThreshold | ( | VecId | a, | |
| double | threshold | |||
| ) | [inline, virtual] |
Apply a threshold to all entries.
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1716 of file MechanicalObject.inl.
References sofa::component::clear(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV.
| void sofa::component::MechanicalObject< DataTypes >::writeState | ( | std::ostream & | out | ) | [inline, virtual] |
Write current state to the given output stream.
Reimplemented from sofa::core::objectmodel::BaseObject.
Definition at line 1124 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::writeV(), and sofa::component::MechanicalObject< DataTypes >::writeX().
| void sofa::component::MechanicalObject< DataTypes >::writeV | ( | std::ostream & | out | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1080 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getV().
Referenced by sofa::component::MechanicalObject< DataTypes >::writeState().
| void sofa::component::MechanicalObject< DataTypes >::writeX | ( | std::ostream & | out | ) | [inline, virtual] |
Implements sofa::core::componentmodel::behavior::BaseMechanicalState.
Definition at line 1037 of file MechanicalObject.inl.
References sofa::component::MechanicalObject< DataTypes >::getX().
Referenced by sofa::component::MechanicalObject< DataTypes >::writeState().
Friends And Related Function Documentation
friend class MechanicalObjectInternalData< DataTypes > [friend] |
Definition at line 114 of file MechanicalObject.h.
Field Documentation
sofa::core::componentmodel::topology::BaseMeshTopology* sofa::component::MechanicalObject< DataTypes >::_topology [protected] |
Definition at line 339 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::handleStateChange(), and sofa::component::MechanicalObject< DataTypes >::init().
VecConst* sofa::component::MechanicalObject< DataTypes >::c [protected] |
Definition at line 89 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::addBBox(), sofa::component::collision::RayModel::computeBoundingTree(), sofa::component::MechanicalObject< TDataTypes >::getC(), sofa::component::MechanicalObject< DataTypes >::resetConstraint(), and sofa::component::MechanicalObject< DataTypes >::setC().
sofa::helper::vector<unsigned int> sofa::component::MechanicalObject< DataTypes >::constraintId [protected] |
MechanicalObjectInternalData<DataTypes> sofa::component::MechanicalObject< DataTypes >::data [protected] |
Definition at line 112 of file MechanicalObject.h.
| Data<bool> sofa::component::MechanicalObject< DataTypes >::debugViewIndices |
Definition at line 143 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::draw(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| Data<float> sofa::component::MechanicalObject< DataTypes >::debugViewIndicesScale |
Definition at line 144 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::draw(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::dx [protected] |
Definition at line 76 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::addDxToCollisionModel(), sofa::component::MechanicalObject< TDataTypes >::getDx(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::setDx().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::externalForces [protected] |
Definition at line 82 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::accumulateForce(), sofa::component::MechanicalObject< DataTypes >::computeWeightedValue(), sofa::component::MechanicalObject< DataTypes >::endIntegration(), sofa::component::MechanicalObject< TDataTypes >::getExternalForces(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::renumberValues(), sofa::component::MechanicalObject< DataTypes >::replaceValue(), sofa::component::MechanicalObject< DataTypes >::resize(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::f [protected] |
Definition at line 75 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::accumulateForce(), sofa::component::MechanicalObject< DataTypes >::beginIntegration(), sofa::component::collision::SphereTreeModel::draw(), sofa::component::MechanicalObject< DataTypes >::endIntegration(), sofa::component::MechanicalObject< TDataTypes >::getF(), sofa::component::MechanicalObject< DataTypes >::handleStateChange(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::resetForce(), and sofa::component::MechanicalObject< DataTypes >::setF().
| VDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_Dx |
Definition at line 135 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getDx(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| VDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_F |
Definition at line 134 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getF(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| VDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_V |
Definition at line 133 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getV(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| VDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_Vfree |
Definition at line 137 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getVfree(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| XDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_X |
Definition at line 132 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getX(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| XDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_X0 |
Definition at line 139 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getX0(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
| XDataPtr<DataTypes>* const sofa::component::MechanicalObject< DataTypes >::f_Xfree |
Definition at line 136 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getXfree(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
Data< std::string > sofa::component::MechanicalObject< DataTypes >::filename [protected] |
Definition at line 96 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getFilename(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::parse(), and sofa::component::MechanicalObject< TDataTypes >::setFilename().
bool sofa::component::MechanicalObject< DataTypes >::initialized [protected] |
Definition at line 92 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::resize().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::internalForces [protected] |
Definition at line 81 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::beginIntegration(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::resize().
std::ofstream* sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileV [protected] |
Definition at line 117 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::exportGnuplot(), sofa::component::MechanicalObject< DataTypes >::initGnuplot(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
std::ofstream* sofa::component::MechanicalObject< DataTypes >::m_gnuplotFileX [protected] |
Definition at line 116 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::exportGnuplot(), sofa::component::MechanicalObject< DataTypes >::initGnuplot(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
VecCoord* sofa::component::MechanicalObject< DataTypes >::reset_position [protected] |
Definition at line 78 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::MechanicalObject< DataTypes >::computeWeightedValue(), sofa::component::MechanicalObject< DataTypes >::renumberValues(), sofa::component::MechanicalObject< DataTypes >::replaceValue(), sofa::component::MechanicalObject< DataTypes >::reset(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::storeResetState(), sofa::component::MechanicalObject< DataTypes >::swapValues(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
| Data<SReal> sofa::component::MechanicalObject< DataTypes >::restScale |
Definition at line 141 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::MechanicalObject< DataTypes >::init(), and sofa::component::MechanicalObject< DataTypes >::MechanicalObject().
Data< Vector3> sofa::component::MechanicalObject< DataTypes >::rotation [protected] |
Definition at line 94 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::parse(), and sofa::component::MechanicalObject< DataTypes >::reinit().
Data< SReal > sofa::component::MechanicalObject< DataTypes >::scale [protected] |
Definition at line 95 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::MechanicalObject< DataTypes >::draw(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::parse(), and sofa::component::MechanicalObject< DataTypes >::reinit().
Data< Vector3 > sofa::component::MechanicalObject< DataTypes >::translation [protected] |
Definition at line 93 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeNewPoint(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::parse(), and sofa::component::MechanicalObject< DataTypes >::reinit().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::v [protected] |
Definition at line 74 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::contributeToMatrixDimension(), sofa::component::MechanicalObject< TDataTypes >::getV(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::setOffset().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::v0 [protected] |
Definition at line 80 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeWeightedValue(), sofa::component::MechanicalObject< TDataTypes >::getV0(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::MechanicalObject< DataTypes >::renumberValues(), sofa::component::MechanicalObject< DataTypes >::replaceValue(), sofa::component::MechanicalObject< DataTypes >::reset(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::swapValues(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
sofa::helper::vector< VecConst * > sofa::component::MechanicalObject< DataTypes >::vectorsConst [protected] |
Definition at line 103 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::getVecConst(), and sofa::component::MechanicalObject< DataTypes >::setVecConst().
sofa::helper::vector< VecCoord * > sofa::component::MechanicalObject< DataTypes >::vectorsCoord [protected] |
Definition at line 101 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeWeightedValue(), sofa::component::MechanicalObject< DataTypes >::getVecCoord(), sofa::component::MechanicalObject< DataTypes >::renumberValues(), sofa::component::MechanicalObject< DataTypes >::replaceValue(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::setVecCoord(), sofa::component::MechanicalObject< DataTypes >::swapValues(), sofa::component::MechanicalObject< DataTypes >::vAvail(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
sofa::helper::vector< VecDeriv * > sofa::component::MechanicalObject< DataTypes >::vectorsDeriv [protected] |
Definition at line 102 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::computeWeightedValue(), sofa::component::MechanicalObject< DataTypes >::getVecDeriv(), sofa::component::MechanicalObject< DataTypes >::renumberValues(), sofa::component::MechanicalObject< DataTypes >::replaceValue(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::setVecDeriv(), sofa::component::MechanicalObject< DataTypes >::swapValues(), sofa::component::MechanicalObject< DataTypes >::vAvail(), and sofa::component::MechanicalObject< DataTypes >::~MechanicalObject().
VecDeriv* sofa::component::MechanicalObject< DataTypes >::vfree [protected] |
Definition at line 84 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getVfree(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::setVfree().
int sofa::component::MechanicalObject< DataTypes >::vsize [protected] |
Number of elements to allocate in vectors.
Definition at line 104 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::draw(), sofa::component::MechanicalObject< TDataTypes >::getSize(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::MechanicalObject< DataTypes >::resize(), sofa::component::MechanicalObject< DataTypes >::vAlloc(), and sofa::component::MechanicalObject< DataTypes >::vOp().
VecCoord* sofa::component::MechanicalObject< DataTypes >::x [protected] |
Definition at line 73 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::addBBox(), sofa::component::MechanicalObject< DataTypes >::addDxToCollisionModel(), sofa::component::MechanicalObject< DataTypes >::applyRotation(), sofa::component::MechanicalObject< DataTypes >::applyScale(), sofa::component::MechanicalObject< DataTypes >::applyTranslation(), sofa::component::MechanicalObject< DataTypes >::getIndicesInSpace(), sofa::component::MechanicalObject< TDataTypes >::getPX(), sofa::component::MechanicalObject< TDataTypes >::getPY(), sofa::component::MechanicalObject< TDataTypes >::getPZ(), sofa::component::MechanicalObject< TDataTypes >::getX(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::collision::SphereTreeModel::loadSphereTree(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), sofa::component::MechanicalObject< DataTypes >::printDOF(), sofa::component::MechanicalObject< DataTypes >::printDOFWithElapsedTime(), sofa::component::MechanicalObject< DataTypes >::setX(), and sofa::component::MechanicalObject< DataTypes >::storeResetState().
VecCoord* sofa::component::MechanicalObject< DataTypes >::x0 [protected] |
Definition at line 77 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< TDataTypes >::getX0(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::resize().
VecCoord* sofa::component::MechanicalObject< DataTypes >::xfree [protected] |
Definition at line 83 of file MechanicalObject.h.
Referenced by sofa::component::MechanicalObject< DataTypes >::addDxToCollisionModel(), sofa::component::MechanicalObject< TDataTypes >::getXfree(), sofa::component::MechanicalObject< DataTypes >::init(), sofa::component::MechanicalObject< DataTypes >::MechanicalObject(), and sofa::component::MechanicalObject< DataTypes >::setXfree().
The documentation for this class was generated from the following files:
- modules/sofa/component/MechanicalObject.h
- modules/sofa/component/MechanicalObject.inl
