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

#include <PenalityContactForceField.h>

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

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


Data Structures
class	Contact
Public Types
typedef core::componentmodel::behavior::PairInteractionForceField < DataTypes >	Inherit
typedef DataTypes	DataTypes1
typedef DataTypes	DataTypes2
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
Public Member Functions
	PenalityContactForceField (MechanicalState object1, MechanicalState object2)
	PenalityContactForceField ()
void	clear (int reserve=0)
void	addContact (int m1, int m2, int index1, int index2, const Deriv &norm, Real dist, Real ks, Real mu_s=0.0f, Real mu_v=0.0f, int oldIndex=0)
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, double kFactor, double bFactor)
	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.
void	grabPoint (const core::componentmodel::behavior::MechanicalState< defaulttype::Vec3Types > tool, const helper::vector< unsigned int > &index, helper::vector< std::pair< core::objectmodel::BaseObject , defaulttype::Vec3f > > &result, helper::vector< unsigned int > &triangle, helper::vector< unsigned int > &index_point)
void	draw ()
	Render internal data of this object, for debugging purposes.
Protected Attributes
Data< sofa::helper::vector < Contact > >	contacts
sofa::helper::vector< Contact >	prevContacts

Detailed Description

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

Definition at line 45 of file PenalityContactForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 53 of file PenalityContactForceField.h.

template<class DataTypes >

typedef DataTypes sofa::component::forcefield::PenalityContactForceField< DataTypes >::DataTypes1

Definition at line 49 of file PenalityContactForceField.h.

template<class DataTypes >

typedef DataTypes sofa::component::forcefield::PenalityContactForceField< DataTypes >::DataTypes2

Definition at line 50 of file PenalityContactForceField.h.

template<class DataTypes >

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

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

Definition at line 54 of file PenalityContactForceField.h.

template<class DataTypes >

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

Definition at line 48 of file PenalityContactForceField.h.

template<class DataTypes >

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

Definition at line 56 of file PenalityContactForceField.h.

template<class DataTypes >

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

Definition at line 55 of file PenalityContactForceField.h.

template<class DataTypes >

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

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

Definition at line 51 of file PenalityContactForceField.h.

template<class DataTypes >

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

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

Definition at line 52 of file PenalityContactForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 98 of file PenalityContactForceField.h.

template<class DataTypes >

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

Definition at line 103 of file PenalityContactForceField.h.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::PenalityContactForceField< DataTypes >::addContact	(	int	m1,
		int	m2,
		int	index1,
		int	index2,
		const Deriv &	norm,
		Real	dist,
		Real	ks,
		Real	mu_s = `0.0f`,
		Real	mu_v = `0.0f`,
		int	oldIndex = `0`
	)			`[inline]`

Definition at line 57 of file PenalityContactForceField.inl.

Referenced by sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().

template<class DataTypes >

void sofa::component::forcefield::PenalityContactForceField< DataTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	dx2,
		double	kFactor,
		double	bFactor
	)			`[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 += kFactor K dx + bFactor B dx $

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

To support old components that implement the deprecated addForce method without scalar coefficients, it defaults to using a temporaty vector to compute $ K dx $ and then manually scaling all values by kFactor.

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

Definition at line 105 of file PenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::ks, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::m1, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::m2, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::norm, and sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::pen.

template<class DataTypes >

void sofa::component::forcefield::PenalityContactForceField< 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 84 of file PenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::dist, force, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::ks, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::m1, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::m2, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::norm, and sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::pen.

template<class DataTypes >

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

Definition at line 47 of file PenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, and sofa::component::forcefield::PenalityContactForceField< DataTypes >::prevContacts.

Referenced by sofa::component::collision::BarycentricPenalityContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs().

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 133 of file PenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::age, sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::dist, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::m1, sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::m2, sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1, sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate2, and sofa::component::forcefield::PenalityContactForceField< DataTypes >::Contact::norm.

template<class DataTypes >

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

Get the potential energy associated to this ForceField.

Used to extimate the total energy of the system by some post-stabilization techniques.

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

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

Definition at line 126 of file PenalityContactForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::PenalityContactForceField< DataTypes >::grabPoint	(	const core::componentmodel::behavior::MechanicalState< defaulttype::Vec3Types > *	tool,
		const helper::vector< unsigned int > &	index,
		helper::vector< std::pair< core::objectmodel::BaseObject *, defaulttype::Vec3f > > &	result,
		helper::vector< unsigned int > &	triangle,
		helper::vector< unsigned int > &	index_point
	)			`[inline]`