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

Bending springs added between vertices of quads sharing a common edge. More...

#include <QuadularBendingSprings.h>

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

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


Data Structures
class	EdgeInformation
class	Mat3
Public Types
enum	{ N = Coord::static_size }
typedef core::componentmodel::behavior::ForceField < DataTypes >	Inherited
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
typedef defaulttype::Mat< N, N, Real >	Mat
Public Member Functions
	QuadularBendingSprings ()
	~QuadularBendingSprings ()
virtual double	getPotentialEnergy (const VecCoord &x)
	Get the potential energy associated to this ForceField.
virtual void	init ()
	Searches quad topology and creates the bending springs.
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)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual double	getKs () const
virtual double	getKd () const
void	setKs (const double ks)
void	setKd (const double kd)
virtual void	handleTopologyChange ()
	Handle topological Changes.
void	draw ()
	Render internal data of this object, for debugging purposes.
void	initTextures ()
void	update ()
Protected Member Functions
EdgeData< EdgeInformation > &	getEdgeInfo ()
Static Protected Member Functions
static void	QuadularBSEdgeCreationFunction (int edgeIndex, void *param, EdgeInformation &ei, const Edge &, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double > &)
static void	QuadularBSQuadCreationFunction (const sofa::helper::vector< unsigned int > &quadAdded, void *param, vector< EdgeInformation > &edgeData)
static void	QuadularBSQuadDestructionFunction (const sofa::helper::vector< unsigned int > &quadAdded, void *param, vector< EdgeInformation > &edgeData)
Protected Attributes
EdgeData< EdgeInformation >	edgeInfo
sofa::core::componentmodel::topology::BaseMeshTopology *	_topology
bool	updateMatrix
Data< double >	f_ks
Data< double >	f_kd
double	m_potentialEnergy

Detailed Description

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

Bending springs added between vertices of quads sharing a common edge.

The springs connect the vertices not belonging to the common edge. It compresses when the surface bends along the common edge.

Definition at line 61 of file QuadularBendingSprings.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 69 of file QuadularBendingSprings.h.

template<class DataTypes >

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

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

Definition at line 70 of file QuadularBendingSprings.h.

template<class DataTypes >

typedef core::componentmodel::behavior::ForceField<DataTypes> sofa::component::forcefield::QuadularBendingSprings< DataTypes >::Inherited

Definition at line 64 of file QuadularBendingSprings.h.

template<class DataTypes >

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

Definition at line 74 of file QuadularBendingSprings.h.

template<class DataTypes >

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

Definition at line 71 of file QuadularBendingSprings.h.

template<class DataTypes >

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

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

Definition at line 66 of file QuadularBendingSprings.h.

template<class DataTypes >

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

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

Definition at line 68 of file QuadularBendingSprings.h.

Member Enumeration Documentation

template<class DataTypes >

anonymous enum

Enumerator:

N

Definition at line 73 of file QuadularBendingSprings.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 287 of file QuadularBendingSprings.inl.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::f_kd, sofa::component::forcefield::QuadularBendingSprings< DataTypes >::f_ks, and sofa::core::objectmodel::Base::initData().

template<class DataTypes >

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

Definition at line 296 of file QuadularBendingSprings.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::addDForce	(	VecDeriv &	df,
		const VecDeriv &	dx
	)			`[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 ForceField::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::ForceField< DataTypes >.

Definition at line 644 of file QuadularBendingSprings.inl.

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< 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 520 of file QuadularBendingSprings.inl.

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 705 of file QuadularBendingSprings.inl.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::_topology, sofa::component::forcefield::QuadularBendingSprings< DataTypes >::edgeInfo, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbQuads(), sofa::core::componentmodel::topology::BaseMeshTopology::getQuad(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and norm().

template<class DataTypes >

EdgeData<EdgeInformation>& sofa::component::forcefield::QuadularBendingSprings< DataTypes >::getEdgeInfo ( ) [inline, protected]

Definition at line 160 of file QuadularBendingSprings.h.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::edgeInfo.

template<class DataTypes >

virtual double sofa::component::forcefield::QuadularBendingSprings< DataTypes >::getKd ( ) const [inline, virtual]

Definition at line 141 of file QuadularBendingSprings.h.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::f_kd, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadCreationFunction(), and sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadDestructionFunction().

template<class DataTypes >

virtual double sofa::component::forcefield::QuadularBendingSprings< DataTypes >::getKs ( ) const [inline, virtual]

Definition at line 140 of file QuadularBendingSprings.h.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::f_ks, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadCreationFunction(), and sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadDestructionFunction().

template<class DataTypes >

double sofa::component::forcefield::QuadularBendingSprings< 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 513 of file QuadularBendingSprings.inl.

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::handleTopologyChange ( ) [inline, virtual]

Handle topological Changes.

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

Definition at line 300 of file QuadularBendingSprings.inl.

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::init ( void ) [inline, virtual]

Searches quad topology and creates the bending springs.

prepare to store info in the edge array

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

Definition at line 441 of file QuadularBendingSprings.inl.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::_topology, sofa::component::forcefield::QuadularBendingSprings< DataTypes >::edgeInfo, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::objectmodel::BaseContext::getMeshTopology(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbQuads(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::init(), sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSEdgeCreationFunction(), sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadCreationFunction(), and sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadDestructionFunction().

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::initTextures ( ) [inline]

Definition at line 155 of file QuadularBendingSprings.h.

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSEdgeCreationFunction	(	int	edgeIndex,
		void *	param,
		EdgeInformation &	ei,
		const Edge &	,
		const sofa::helper::vector< unsigned int > &	,
		const sofa::helper::vector< double > &
	)			`[inline, static, protected]`

set to zero the edge stiffness matrix

Definition at line 62 of file QuadularBendingSprings.inl.

References sofa::component::forcefield::QuadularBendingSprings< DataTypes >::EdgeInformation::DfDx, sofa::component::forcefield::QuadularBendingSprings< DataTypes >::EdgeInformation::is_activated, and sofa::component::forcefield::QuadularBendingSprings< DataTypes >::EdgeInformation::is_initialized.

Referenced by sofa::component::forcefield::QuadularBendingSprings< DataTypes >::init().

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadCreationFunction	(	const sofa::helper::vector< unsigned int > &	quadAdded,
		void *	param,
		vector< EdgeInformation > &	edgeData
	)			`[inline, static, protected]`

describe the jth edge index of quad no i

describe the jth vertex index of quad no i

set to zero the edge stiffness matrix

Definition at line 84 of file QuadularBendingSprings.inl.

Referenced by sofa::component::forcefield::QuadularBendingSprings< DataTypes >::init().

template<class DataTypes >

void sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadDestructionFunction	(	const sofa::helper::vector< unsigned int > &	quadAdded,
		void *	param,
		vector< EdgeInformation > &	edgeData
	)			`[inline, static, protected]`