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

#include <PlaneForceField.h>

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

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


Public Types
typedef core::componentmodel::behavior::ForceField < DataTypes >	Inherit
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
Public Member Functions
	PlaneForceField ()
void	setPlane (const Deriv &normal, Real d)
void	setMState (core::componentmodel::behavior::MechanicalState< DataTypes > *mstate)
void	setStiffness (Real stiff)
void	setDamping (Real damp)
void	rotate (Deriv axe, Real angle)
virtual void	addForce (VecDeriv &f, const VecCoord &x, const VecDeriv &v)
	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 &df, const VecDeriv &dx, 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 &x)
	Get the potential energy associated to this ForceField.
virtual void	updateStiffness (const VecCoord &x)
void	draw ()
	Render internal data of this object, for debugging purposes.
void	drawPlane (float size=1000.0f)
bool	addBBox (double minBBox, double maxBBox)
template<>
void	addForce (VecDeriv &f, const VecCoord &x, const VecDeriv &v)
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
template<>
void	addDForce (VecDeriv &df, const VecDeriv &dx, double kFactor, double bFactor)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
template<>
void	addForce (VecDeriv &f, const VecCoord &x, const VecDeriv &v)
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
template<>
void	addDForce (VecDeriv &df, const VecDeriv &dx, double kFactor, double bFactor)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
template<>
void	addForce (VecDeriv &f, const VecCoord &x, const VecDeriv &v)
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
template<>
void	addDForce (VecDeriv &df, const VecCoord &dx, double kFactor, double)
template<>
void	addForce (VecDeriv &f, const VecCoord &x, const VecDeriv &v)
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
template<>
void	addDForce (VecDeriv &df, const VecCoord &dx, double kFactor, double)
Data Fields
Data< Deriv >	planeNormal
Data< Real >	planeD
Data< Real >	stiffness
Data< Real >	damping
Data< defaulttype::Vec3f >	color
Data< bool >	bDraw
Protected Attributes
sofa::helper::vector< unsigned int >	contacts
PlaneForceFieldInternalData < DataTypes >	data

Detailed Description

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

Definition at line 49 of file PlaneForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 55 of file PlaneForceField.h.

template<class DataTypes >

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

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

Definition at line 56 of file PlaneForceField.h.

template<class DataTypes >

typedef core::componentmodel::behavior::ForceField<DataTypes> sofa::component::forcefield::PlaneForceField< DataTypes >::Inherit

Definition at line 52 of file PlaneForceField.h.

template<class DataTypes >

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

Definition at line 57 of file PlaneForceField.h.

template<class DataTypes >

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

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

Definition at line 53 of file PlaneForceField.h.

template<class DataTypes >

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

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

Definition at line 54 of file PlaneForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 73 of file PlaneForceField.h.

References sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal.

Member Function Documentation

template<class DataTypes >

bool sofa::component::forcefield::PlaneForceField< DataTypes >::addBBox	(	double *	minBBox,
		double *	maxBBox
	)			`[inline]`

Definition at line 191 of file PlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::bDraw, sofa::defaulttype::Vec< N, real >::cross(), sofa::core::objectmodel::Data< T >::getValue(), sofa::defaulttype::Vec< N, real >::normalize(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeD, and sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal.

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3f1Types >::addDForce	(	VecDeriv &	df,
		const VecCoord &	dx,
		double	kFactor,
		double
	)			`[inline]`

Definition at line 101 of file CudaPlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::data, and sofa::gpu::cuda::PlaneForceFieldCuda3f1_addDForce().

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3fTypes >::addDForce	(	VecDeriv &	df,
		const VecCoord &	dx,
		double	kFactor,
		double
	)			`[inline]`

Definition at line 78 of file CudaPlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::data, and sofa::gpu::cuda::PlaneForceFieldCuda3f_addDForce().

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3f1Types >::addDForce	(	VecDeriv &	df,
		const VecDeriv &	dx,
		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 ForceField::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::ForceField< DataTypes >.

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3fTypes >::addDForce	(	VecDeriv &	df,
		const VecDeriv &	dx,
		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 ForceField::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::ForceField< DataTypes >.

template<class DataTypes >

void sofa::component::forcefield::PlaneForceField< DataTypes >::addDForce	(	VecDeriv &	df,
		const VecDeriv &	dx,
		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 ForceField::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::ForceField< DataTypes >.

Definition at line 74 of file PlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::contacts, sofa::core::objectmodel::Data< T >::getValue(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal, and sofa::component::forcefield::PlaneForceField< DataTypes >::stiffness.

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3f1Types >::addForce	(	VecDeriv &	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			`[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::ForceField< DataTypes >.

Definition at line 89 of file CudaPlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::damping, sofa::component::forcefield::PlaneForceField< DataTypes >::data, sofa::core::objectmodel::Data< T >::getValue(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeD, sofa::gpu::cuda::PlaneForceFieldCuda3f1_addForce(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal, and sofa::component::forcefield::PlaneForceField< DataTypes >::stiffness.

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3fTypes >::addForce	(	VecDeriv &	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			`[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::ForceField< DataTypes >.

Definition at line 66 of file CudaPlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::damping, sofa::component::forcefield::PlaneForceField< DataTypes >::data, sofa::core::objectmodel::Data< T >::getValue(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeD, sofa::gpu::cuda::PlaneForceFieldCuda3f_addForce(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal, and sofa::component::forcefield::PlaneForceField< DataTypes >::stiffness.

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3f1Types >::addForce	(	VecDeriv &	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			`[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::ForceField< DataTypes >.

template<>

void sofa::component::forcefield::PlaneForceField< gpu::cuda::CudaVec3fTypes >::addForce	(	VecDeriv &	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			`[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::ForceField< DataTypes >.

template<class DataTypes >

void sofa::component::forcefield::PlaneForceField< DataTypes >::addForce	(	VecDeriv &	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			`[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::ForceField< DataTypes >.

Definition at line 49 of file PlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::contacts, sofa::component::forcefield::PlaneForceField< DataTypes >::damping, force, sofa::core::objectmodel::Data< T >::getValue(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeD, sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal, and sofa::component::forcefield::PlaneForceField< DataTypes >::stiffness.

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 124 of file PlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::drawPlane(), and sofa::core::objectmodel::BaseObject::getContext().

template<class DataTypes >

void sofa::component::forcefield::PlaneForceField< DataTypes >::drawPlane ( float size = 1000.0f ) [inline]

Definition at line 132 of file PlaneForceField.inl.

References sofa::component::forcefield::PlaneForceField< DataTypes >::color, sofa::defaulttype::Vec< N, real >::cross(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, sofa::defaulttype::Vec< N, real >::normalize(), sofa::component::forcefield::PlaneForceField< DataTypes >::planeD, and sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal.

Referenced by sofa::component::forcefield::PlaneForceField< DataTypes >::draw().

template<class DataTypes >

double sofa::component::forcefield::PlaneForceField< DataTypes >::getPotentialEnergy ( const VecCoord & x ) [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::ForceField< DataTypes >.

Definition at line 102 of file PlaneForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::PlaneForceField< DataTypes >::rotate	(	Deriv	axe,
		Real	angle
	)			`[inline]`

Definition at line 111 of file PlaneForceField.inl.

References sofa::defaulttype::Vec< N, real >::cross(), sofa::defaulttype::Vec< N, real >::normalize(), and sofa::component::forcefield::PlaneForceField< DataTypes >::planeNormal.

template<class DataTypes >

void sofa::component::forcefield::PlaneForceField< DataTypes >::setDamping ( Real damp ) [inline]

Definition at line 100 of file PlaneForceField.h.

References sofa::component::forcefield::PlaneForceField< DataTypes >::damping, and sofa::core::objectmodel::Data< T >::setValue().

template<class DataTypes >

void sofa::component::forcefield::PlaneForceField< DataTypes >::setMState ( core::componentmodel::behavior::MechanicalState< DataTypes > * mstate ) [inline]