sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes > Class Template Reference

#include <CudaPenalityContactForceField.h>

Inheritance diagram for sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >:

Collaboration diagram for sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >:


Public Types
typedef CudaVec3fTypes	DataTypes
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, const Deriv &norm, Real dist, Real ks, Real mu_s=0.0f, Real mu_v=0.0f, int oldIndex=0)
void	setContacts (Real distance, Real ks, sofa::core::componentmodel::collision::GPUDetectionOutputVector outputs, bool useDistance, defaulttype::Mat3x3f normXForm=NULL)
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	draw ()
	Render internal data of this object, for debugging purposes.
Data Fields
sofa::gpu::cuda::CudaVector < sofa::defaulttype::Vec4f >	contacts
sofa::gpu::cuda::CudaVector < float >	pen

Detailed Description

template<>
class sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >

Definition at line 54 of file CudaPenalityContactForceField.h.

Member Typedef Documentation

typedef DataTypes::Coord sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::Coord

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< CudaVec3fTypes >.

Definition at line 63 of file CudaPenalityContactForceField.h.

typedef CudaVec3fTypes sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::DataTypes

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< CudaVec3fTypes >.

Definition at line 57 of file CudaPenalityContactForceField.h.

typedef DataTypes sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::DataTypes1

Definition at line 59 of file CudaPenalityContactForceField.h.

typedef DataTypes sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::DataTypes2

Definition at line 60 of file CudaPenalityContactForceField.h.

typedef DataTypes::Deriv sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::Deriv

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< CudaVec3fTypes >.

Definition at line 64 of file CudaPenalityContactForceField.h.

typedef core::componentmodel::behavior::PairInteractionForceField<DataTypes> sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::Inherit

Definition at line 58 of file CudaPenalityContactForceField.h.

typedef core::componentmodel::behavior::MechanicalState<DataTypes> sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::MechanicalState

Definition at line 66 of file CudaPenalityContactForceField.h.

typedef Coord::value_type sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::Real

Definition at line 65 of file CudaPenalityContactForceField.h.

typedef DataTypes::VecCoord sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::VecCoord

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< CudaVec3fTypes >.

Definition at line 61 of file CudaPenalityContactForceField.h.

typedef DataTypes::VecDeriv sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::VecDeriv

Reimplemented from sofa::core::componentmodel::behavior::PairInteractionForceField< CudaVec3fTypes >.

Definition at line 62 of file CudaPenalityContactForceField.h.

Constructor & Destructor Documentation

sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::PenalityContactForceField	(	MechanicalState *	object1,
		MechanicalState *	object2
	)			`[inline]`

Definition at line 90 of file CudaPenalityContactForceField.h.

sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::PenalityContactForceField ( ) [inline]

Definition at line 95 of file CudaPenalityContactForceField.h.

Member Function Documentation

void sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::addContact	(	int	m1,
		int	m2,
		const Deriv &	norm,
		Real	dist,
		Real	ks,
		Real	mu_s = `0.0f`,
		Real	mu_v = `0.0f`,
		int	oldIndex = `0`
	)

Definition at line 74 of file CudaPenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, and sofa::helper::rsqrt().

void sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	dx2,
		double	kFactor,
		double	bFactor
	)			`[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< CudaVec3fTypes >.

Definition at line 168 of file CudaPenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, norm(), and sofa::gpu::cuda::PenalityContactForceFieldCuda3f_addDForce().

void sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::addForce	(	VecDeriv &	f1,
		VecDeriv &	f2,
		const VecCoord &	x1,
		const VecCoord &	x2,
		const VecDeriv &	v1,
		const VecDeriv &	v2
	)			`[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< CudaVec3fTypes >.

Definition at line 137 of file CudaPenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, force, norm(), and sofa::gpu::cuda::PenalityContactForceFieldCuda3f_addForce().

void sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::clear ( int reserve = 0 )

Definition at line 61 of file CudaPenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts.

void sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::draw ( ) [virtual]

Render internal data of this object, for debugging purposes.

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

Definition at line 204 of file CudaPenalityContactForceField.inl.

References sofa::component::forcefield::PenalityContactForceField< DataTypes >::contacts, sofa::core::objectmodel::BaseObject::getContext(), 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, and norm().

double sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::getPotentialEnergy	(	const VecCoord &	x1,
		const VecCoord &	x2
	)			`[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< CudaVec3fTypes >.

Definition at line 197 of file CudaPenalityContactForceField.inl.

void sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::setContacts	(	Real	distance,
		Real	ks,
		sofa::core::componentmodel::collision::GPUDetectionOutputVector *	outputs,
		bool	useDistance,
		defaulttype::Mat3x3f *	normXForm = `NULL`
	)