sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes > Class Template Reference

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

#include <UncoupledConstraintCorrection.h>

Inheritance diagram for sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >:

Collaboration diagram for sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >:


Public Types
typedef TDataTypes	DataTypes
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::VecConst	VecConst
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
Public Member Functions
	UncoupledConstraintCorrection (behavior::MechanicalState< DataTypes > *mm=NULL)
virtual	~UncoupledConstraintCorrection ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
behavior::MechanicalState < DataTypes > *	getMState ()
	Retrieve the associated MechanicalState.
virtual void	getCompliance (defaulttype::BaseMatrix *W)
virtual void	applyContactForce (const defaulttype::BaseVector *f)
virtual void	resetContactForce ()
virtual std::string	getTemplateName () const
	Get the template type names (if any) used to instantiate this object.
template<>
void	getCompliance (defaulttype::BaseMatrix *W)
template<>
void	applyContactForce (const defaulttype::BaseVector *f)
template<>
void	getCompliance (defaulttype::BaseMatrix *W)
template<>
void	applyContactForce (const defaulttype::BaseVector *f)
template<>
void	getCompliance (defaulttype::BaseMatrix *W)
template<>
void	applyContactForce (const defaulttype::BaseVector *f)
template<>
void	getCompliance (defaulttype::BaseMatrix *W)
template<>
void	applyContactForce (const defaulttype::BaseVector *f)
Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)
	Pre-construction check method called by ObjectFactory.
static std::string	templateName (const UncoupledConstraintCorrection< DataTypes > *=NULL)
Protected Attributes
behavior::MechanicalState < DataTypes > *	mstate

Detailed Description

template<class TDataTypes>
class sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >

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

Definition at line 47 of file UncoupledConstraintCorrection.h.

Member Typedef Documentation

template<class TDataTypes >

typedef DataTypes::Coord sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::Coord

Definition at line 54 of file UncoupledConstraintCorrection.h.

template<class TDataTypes >

typedef TDataTypes sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::DataTypes

Definition at line 50 of file UncoupledConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::Deriv sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::Deriv

Definition at line 55 of file UncoupledConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::VecConst sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::VecConst

Definition at line 53 of file UncoupledConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::VecCoord sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::VecCoord

Definition at line 51 of file UncoupledConstraintCorrection.h.

template<class TDataTypes >

typedef DataTypes::VecDeriv sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::VecDeriv

Definition at line 52 of file UncoupledConstraintCorrection.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::constraint::UncoupledConstraintCorrection< DataTypes >::UncoupledConstraintCorrection ( behavior::MechanicalState< DataTypes > * mm = NULL ) [inline]

Definition at line 44 of file UncoupledConstraintCorrection.inl.

template<class DataTypes >

sofa::component::constraint::UncoupledConstraintCorrection< DataTypes >::~UncoupledConstraintCorrection ( ) [inline, virtual]

Definition at line 50 of file UncoupledConstraintCorrection.inl.

Member Function Documentation

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Vec1fTypes >::applyContactForce ( const defaulttype::BaseVector * f ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 505 of file UncoupledConstraintCorrection.inl.

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Rigid3fTypes >::applyContactForce ( const defaulttype::BaseVector * f ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 373 of file UncoupledConstraintCorrection.inl.

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Vec1dTypes >::applyContactForce ( const defaulttype::BaseVector * f ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 260 of file UncoupledConstraintCorrection.inl.

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Rigid3Types >::applyContactForce ( const defaulttype::BaseVector * f ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 129 of file UncoupledConstraintCorrection.inl.

template<class TDataTypes >

virtual void sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::applyContactForce ( const defaulttype::BaseVector * f ) [virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

template<class TDataTypes >

template<class T >

static bool sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::canCreate	(	T *&	obj,
		objectmodel::BaseContext *	context,
		objectmodel::BaseObjectDescription *	arg
	)			`[inline, static]`

Pre-construction check method called by ObjectFactory.

Check that DataTypes matches the MechanicalState.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 75 of file UncoupledConstraintCorrection.h.

References sofa::core::objectmodel::BaseContext::getMechanicalState().

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Vec1fTypes >::getCompliance ( defaulttype::BaseMatrix * W ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 446 of file UncoupledConstraintCorrection.inl.

References sofa::defaulttype::BaseMatrix::add(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getConstraintId(), and sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Rigid3fTypes >::getCompliance ( defaulttype::BaseMatrix * W ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 306 of file UncoupledConstraintCorrection.inl.

References sofa::defaulttype::BaseMatrix::add(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getConstraintId(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getDt(), sofa::component::mass::UniformMass< DataTypes, MassType >::getMass(), sofa::simulation::Node::mass, and sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Vec1dTypes >::getCompliance ( defaulttype::BaseMatrix * W ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 202 of file UncoupledConstraintCorrection.inl.

References sofa::defaulttype::BaseMatrix::add(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getConstraintId(), and sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<>

void sofa::component::constraint::UncoupledConstraintCorrection< defaulttype::Rigid3Types >::getCompliance ( defaulttype::BaseMatrix * W ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 62 of file UncoupledConstraintCorrection.inl.

References sofa::defaulttype::BaseMatrix::add(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getConstraintId(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getDt(), sofa::component::mass::UniformMass< DataTypes, MassType >::getMass(), sofa::simulation::Node::mass, and sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<class TDataTypes >

virtual void sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::getCompliance ( defaulttype::BaseMatrix * W ) [virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

template<class TDataTypes >

behavior::MechanicalState<DataTypes>* sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::getMState ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 64 of file UncoupledConstraintCorrection.h.

References sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<class TDataTypes >

virtual std::string sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::getTemplateName ( ) const [inline, virtual]

Get the template type names (if any) used to instantiate this object.

Reimplemented from sofa::core::objectmodel::Base.

Definition at line 82 of file UncoupledConstraintCorrection.h.

References sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::templateName().

template<class DataTypes >

void sofa::component::constraint::UncoupledConstraintCorrection< DataTypes >::init ( void ) [inline, virtual]

Initialization method called at graph modification, during bottom-up traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

Definition at line 55 of file UncoupledConstraintCorrection.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMechanicalState(), and sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<class DataTypes >

void sofa::component::constraint::UncoupledConstraintCorrection< DataTypes >::resetContactForce ( void ) [inline, virtual]

Implements sofa::core::componentmodel::behavior::BaseConstraintCorrection.

Definition at line 552 of file UncoupledConstraintCorrection.inl.

References force, sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getExternalForces(), and sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::mstate.

template<class TDataTypes >

static std::string sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::templateName ( const UncoupledConstraintCorrection< DataTypes > * = NULL ) [inline, static]