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

#include <JointSpringForceField.h>

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


Public Member Functions
	Spring ()
	constructors
	Spring (int m1, int m2)
	Spring (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)
Real	getHardStiffnessRotation ()
Real	getSoftStiffnessRotation ()
Real	getHardStiffnessTranslation ()
Real	getSoftStiffnessTranslation ()
Real	getBlocStiffnessRotation ()
sofa::defaulttype::Vec< 6, Real >	getLimitAngles ()
sofa::defaulttype::Vec< 6, bool >	getFreeAxis ()
Vector	getInitLength ()
Quat	getInitOrientation ()
void	setHardStiffnessRotation (Real ksr)
void	setSoftStiffnessRotation (Real ksr)
void	setHardStiffnessTranslation (Real kst)
void	setSoftStiffnessTranslation (Real kst)
void	setBlocStiffnessRotation (Real ksb)
void	setLimitAngles (const sofa::defaulttype::Vec< 6, Real > &lims)
void	setLimitAngles (Real minx, Real maxx, Real miny, Real maxy, Real minz, Real maxz)
void	setInitLength (const Vector &l)
void	setInitOrientation (const Quat &o)
void	setInitOrientation (const Vector &o)
void	setFreeAxis (const sofa::defaulttype::Vec< 6, bool > &axis)
void	setFreeAxis (bool isFreeTx, bool isFreeTy, bool isFreeTz, bool isFreeRx, bool isFreeRy, bool isFreeRz)
void	setDamping (Real _kd)
Data Fields
int	m1
int	m2
Real	kd
	the two extremities of the spring: masses m1 and m2
Vector	initTrans
	damping factor
Quat	initRot
	rest length of the spring
Quat	lawfulTorsion
	rest orientation of the spring
Quat	extraTorsion
	general (lawful) torsion of the springs (used to fix a bug with large rotations)
sofa::defaulttype::Vec< 6, bool >	freeMovements
	extra (illicit) torsion of the springs (used to fix a bug with large rotations)
Real	softStiffnessTrans
	defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis
Real	hardStiffnessTrans
	stiffness to apply on axis where the translations are free (default 0.0)
Real	softStiffnessRot
	stiffness to apply on axis where the translations are forbidden (default 10000.0)
Real	hardStiffnessRot
	stiffness to apply on axis where the rotations are free (default 0.0)
Real	blocStiffnessRot
	stiffness to apply on axis where the rotations are forbidden (default 10000.0)
sofa::defaulttype::Vec< 6, Real >	limitAngles
	stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100)
Vector	bloquage
	limit angles on rotation axis (default no limit)
Friends
std::istream &	operator>> (std::istream &in, Spring &s)
std::ostream &	operator<< (std::ostream &out, const Spring &s)

Detailed Description

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

Definition at line 72 of file JointSpringForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

constructors

Definition at line 95 of file JointSpringForceField.h.

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

template<class DataTypes >

sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::Spring	(	int	m1,
		int	m2
	)			`[inline]`

Definition at line 106 of file JointSpringForceField.h.

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

template<class DataTypes >

sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::Spring	(	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 117 of file JointSpringForceField.h.

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

Member Function Documentation

template<class DataTypes >

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

Definition at line 137 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::blocStiffnessRot.

template<class DataTypes >

sofa::defaulttype::Vec<6,bool> sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::getFreeAxis ( ) [inline]

Definition at line 139 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::freeMovements.

template<class DataTypes >

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

Definition at line 133 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::hardStiffnessRot.

template<class DataTypes >

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

Definition at line 135 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::hardStiffnessTrans.

template<class DataTypes >

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

Definition at line 140 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initTrans.

template<class DataTypes >

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

Definition at line 141 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initRot.

template<class DataTypes >

sofa::defaulttype::Vec<6,Real> sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::getLimitAngles ( ) [inline]

Definition at line 138 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::limitAngles.

template<class DataTypes >

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

Definition at line 134 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::softStiffnessRot.

template<class DataTypes >

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

Definition at line 136 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::softStiffnessTrans.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setBlocStiffnessRotation ( Real ksb ) [inline]

Definition at line 148 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::blocStiffnessRot.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setDamping ( Real _kd ) [inline]

Definition at line 168 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::kd.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setFreeAxis	(	bool	isFreeTx,
		bool	isFreeTy,
		bool	isFreeTz,
		bool	isFreeRx,
		bool	isFreeRy,
		bool	isFreeRz
	)			`[inline]`

Definition at line 165 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::freeMovements.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setFreeAxis ( const sofa::defaulttype::Vec< 6, bool > & axis ) [inline]

Definition at line 164 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::freeMovements.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setHardStiffnessRotation ( Real ksr ) [inline]

Definition at line 144 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::hardStiffnessRot.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setHardStiffnessTranslation ( Real kst ) [inline]

Definition at line 146 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::hardStiffnessTrans.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setInitLength ( const Vector & l ) [inline]

Definition at line 161 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initTrans.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setInitOrientation ( const Vector & o ) [inline]

Definition at line 163 of file JointSpringForceField.h.

References sofa::helper::Quater< Real >::createFromRotationVector(), and sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initRot.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setInitOrientation ( const Quat & o ) [inline]

Definition at line 162 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::initRot.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setLimitAngles	(	Real	minx,
		Real	maxx,
		Real	miny,
		Real	maxy,
		Real	minz,
		Real	maxz
	)			`[inline]`

Definition at line 155 of file JointSpringForceField.h.

References sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::freeMovements, and sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::limitAngles.

template<class DataTypes >

void sofa::component::forcefield::JointSpringForceField< DataTypes >::Spring::setLimitAngles ( const sofa::defaulttype::Vec< 6, Real > & lims ) [inline]