sofa::component::forcefield::JointSpringForceField< DataTypes > Class Template Reference

JointSpringForceField simulates 6D springs between Rigid DOFS Use kst vector to specify the directionnal stiffnesses (on each local axe) Use ksr vector to specify the rotational stiffnesses (on each local axe). More...

#include <JointSpringForceField.h>

Inheritance diagram for sofa::component::forcefield::JointSpringForceField< DataTypes >:

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Collaboration diagram for sofa::component::forcefield::JointSpringForceField< DataTypes >:

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Data Structures
class	Spring
Public Types
enum	{ N = Coord::static_size }
typedef core::componentmodel::behavior::PairInteractionForceField < DataTypes >	Inherit
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
typedef core::componentmodel::behavior::MechanicalState < DataTypes >	MechanicalState
typedef defaulttype::Mat< N, N, Real >	Mat
typedef Vec< N, Real >	Vector
Public Member Functions
	JointSpringForceField (MechanicalState object1, MechanicalState object2)
	JointSpringForceField ()
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject1 ()
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject2 ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
virtual void	addForce (VecDeriv &f1, VecDeriv &f2, const VecCoord &x1, const VecCoord &x2, const VecDeriv &v1, const VecDeriv &v2)
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
virtual void	addDForce (VecDeriv &df1, VecDeriv &df2, const VecDeriv &dx1, const VecDeriv &dx2)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual double	getPotentialEnergy (const VecCoord &, const VecCoord &)
	Get the potential energy associated to this ForceField.
sofa::helper::vector< Spring > *	getSprings ()
void	draw ()
	Render internal data of this object, for debugging purposes.
void	clear (int reserve=0)
void	addSpring (const Spring &s)
void	addSpring (int m1, int m2, Real softKst, Real hardKst, Real softKsr, Real hardKsr, Real blocKsr, Real axmin, Real axmax, Real aymin, Real aymax, Real azmin, Real azmax, Real kd)
Protected Member Functions
void	addSpringForce (double &potentialEnergy, VecDeriv &f1, const VecCoord &p1, const VecDeriv &v1, VecDeriv &f2, const VecCoord &p2, const VecDeriv &v2, int i, Spring &spring)
	Accumulate the spring force and compute and store its stiffness.
void	addSpringDForce (VecDeriv &df1, const VecDeriv &dx1, VecDeriv &df2, const VecDeriv &dx2, int i, Spring &spring)
	Apply the stiffness, i.e. accumulate df given dx.
Protected Attributes
double	m_potentialEnergy
Data< sofa::helper::vector < Spring > >	springs
	the list of the springs
VecCoord	springRef
	the list of the local referentials of the springs
Data< bool >	showLawfulTorsion
	bool to allow the display of the 2 parts of springs torsions
Data< bool >	showExtraTorsion
JointSpringForceFieldInternalData < DataTypes >	data

Detailed Description

template<class DataTypes>
class sofa::component::forcefield::JointSpringForceField< DataTypes >

JointSpringForceField simulates 6D springs between Rigid DOFS Use kst vector to specify the directionnal stiffnesses (on each local axe) Use ksr vector to specify the rotational stiffnesses (on each local axe).

Definition at line 57 of file JointSpringForceField.h.

Member Typedef Documentation

template<class DataTypes >

typedef DataTypes::Coord sofa::component::forcefield::JointSpringForceField< DataTypes >::Coord

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >.

Definition at line 63 of file JointSpringForceField.h.

template<class DataTypes >

typedef DataTypes::Deriv sofa::component::forcefield::JointSpringForceField< DataTypes >::Deriv

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >.

Definition at line 64 of file JointSpringForceField.h.

template<class DataTypes >

typedef core::componentmodel::behavior::PairInteractionForceField<DataTypes> sofa::component::forcefield::JointSpringForceField< DataTypes >::Inherit

Definition at line 60 of file JointSpringForceField.h.

template<class DataTypes >

typedef defaulttype::Mat<N,N,Real> sofa::component::forcefield::JointSpringForceField< DataTypes >::Mat

Definition at line 68 of file JointSpringForceField.h.

template<class DataTypes >

typedef core::componentmodel::behavior::MechanicalState<DataTypes> sofa::component::forcefield::JointSpringForceField< DataTypes >::MechanicalState

Definition at line 66 of file JointSpringForceField.h.

template<class DataTypes >

typedef Coord::value_type sofa::component::forcefield::JointSpringForceField< DataTypes >::Real

Definition at line 65 of file JointSpringForceField.h.

template<class DataTypes >

typedef DataTypes::VecCoord sofa::component::forcefield::JointSpringForceField< DataTypes >::VecCoord

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >.

Definition at line 61 of file JointSpringForceField.h.

template<class DataTypes >

typedef DataTypes::VecDeriv sofa::component::forcefield::JointSpringForceField< DataTypes >::VecDeriv

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >.

Definition at line 62 of file JointSpringForceField.h.

template<class DataTypes >

typedef Vec<N,Real> sofa::component::forcefield::JointSpringForceField< DataTypes >::Vector

Definition at line 69 of file JointSpringForceField.h.

Member Enumeration Documentation

template<class DataTypes >

anonymous enum

Enumerator:

N

Definition at line 67 of file JointSpringForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::forcefield::JointSpringForceField< DataTypes >::JointSpringForceField	(	MechanicalState *	object1,
		MechanicalState *	object2
	)			`[inline]`

Definition at line 51 of file JointSpringForceField.inl.

template<class DataTypes >

sofa::component::forcefield::JointSpringForceField< DataTypes >::JointSpringForceField ( ) [inline]

Definition at line 60 of file JointSpringForceField.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	dx2
	)			`[inline, virtual]`

Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().

The derivative should be directly derived from the computations done by addForce. Any forces neglected in addDForce will be integrated explicitly (i.e. using its value at the beginning of the timestep).

If the ForceField can be represented as a matrix, this method computes $ df += K dx $

This method must be implemented by the component, and is usually called by the generic PairInteractionForceField::addDForce() method.

Deprecated:: to more efficiently accumulate contributions from all terms of the system equation, a new addDForce method allowing to pass two coefficients for the stiffness and damping terms should now be used.

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >.

Definition at line 194 of file JointSpringForceField.inl.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpringDForce(), and sofa::component::forcefield::JointSpringForceField< DataTypes >::springs.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::addForce	(	VecDeriv &	f1,
		VecDeriv &	f2,
		const VecCoord &	x1,
		const VecCoord &	x2,
		const VecDeriv &	v1,
		const VecDeriv &	v2
	)			`[inline, virtual]`

Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.

If the ForceField can be represented as a matrix, this method computes $ f += B v + K x $

This method must be implemented by the component, and is usually called by the generic ForceField::addForce() method.

Implements sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >.

Definition at line 177 of file JointSpringForceField.inl.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpringForce(), sofa::component::forcefield::JointSpringForceField< DataTypes >::m_potentialEnergy, sofa::component::forcefield::JointSpringForceField< DataTypes >::springRef, and sofa::component::forcefield::JointSpringForceField< DataTypes >::springs.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpring	(	int	m1,
		int	m2,
		Real	softKst,
		Real	hardKst,
		Real	softKsr,
		Real	hardKsr,
		Real	blocKsr,
		Real	axmin,
		Real	axmax,
		Real	aymin,
		Real	aymax,
		Real	azmin,
		Real	azmax,
		Real	kd
	)			`[inline]`

Definition at line 320 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initRot, sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initTrans, and sofa::component::forcefield::JointSpringForceField< DataTypes >::springs.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpring ( const Spring & s ) [inline]

Definition at line 313 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::springs.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpringDForce	(	VecDeriv &	df1,
		const VecDeriv &	dx1,
		VecDeriv &	df2,
		const VecDeriv &	dx2,
		int	i,
		Spring &	spring
	)			`[inline, protected]`

Apply the stiffness, i.e. accumulate df given dx.

Definition at line 149 of file JointSpringForceField.inl.

Referenced by sofa::component::forcefield::JointSpringForceField< DataTypes >::addDForce().

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpringForce	(	double &	potentialEnergy,
		VecDeriv &	f1,
		const VecCoord &	p1,
		const VecDeriv &	v1,
		VecDeriv &	f2,
		const VecCoord &	p2,
		const VecDeriv &	v2,
		int	i,
		Spring &	spring
	)			`[inline, protected]`

Accumulate the spring force and compute and store its stiffness.

Definition at line 75 of file JointSpringForceField.inl.

Referenced by sofa::component::forcefield::JointSpringForceField< DataTypes >::addForce().

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::clear ( int reserve = 0 ) [inline]

Definition at line 305 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::springs.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::draw ( ) [inline, virtual]

Render internal data of this object, for debugging purposes.

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

Definition at line 208 of file JointSpringForceField.inl.

References sofa::helper::gl::Axis::draw(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1, sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate2, sofa::component::forcefield::JointSpringForceField< DataTypes >::showExtraTorsion, sofa::component::forcefield::JointSpringForceField< DataTypes >::showLawfulTorsion, and sofa::component::forcefield::JointSpringForceField< DataTypes >::springs.

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::JointSpringForceField< DataTypes >::getObject1 ( ) [inline]

Definition at line 288 of file JointSpringForceField.h.

References sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1.

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::JointSpringForceField< DataTypes >::getObject2 ( ) [inline]

Definition at line 289 of file JointSpringForceField.h.

References sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate2.

template<class DataTypes >

virtual double sofa::component::forcefield::JointSpringForceField< DataTypes >::getPotentialEnergy	(	const VecCoord &	x1,
		const VecCoord &	x2
	)			`[inline, virtual]`