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

#include <SpringEdgeDataForceField.h>

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

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


Data Structures
class	Loader
class	Mat3
struct	Spring
Public Types
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
Public Member Functions
	SpringEdgeDataForceField (core::componentmodel::behavior::MechanicalState< DataTypes > *_object)
bool	load (const char *filename)
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
void	createDefaultSprings ()
virtual void	handleEvent (Event *e)
	Handle an event.
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	getPotentialEnergy (const VecCoord &)
	Get the potential energy associated to this ForceField.
Real	getStiffness () const
const Real	getViscosity () const
const component::topology::EdgeData < Spring > &	getSpringArray () const
void	draw ()
	Render internal data of this object, for debugging purposes.
void	clear (int reserve=0)
Protected Member Functions
z void	addSpring (int m1, int m2, SReal ks, SReal kd, SReal initlen)
void	resizeArray (unsigned int n)
Protected Attributes
double	m_potentialEnergy
bool	updateMatrix
	if the edge matrices should be updated
component::topology::EdgeData < Spring >	springArray
	where the springs information are stored
core::componentmodel::behavior::MechanicalState < DataTypes > *	object
component::topology::EdgeSetTopology < DataTypes > *	topology
	the EdgeSet topology used to get the list of edges
DataField< std::string >	m_filename
	the filename where to load the spring information
DataField< double >	m_stiffness
	By default, assume that all edges have the same stiffness.
DataField< double >	m_viscosity
	By default, assume that all edges have the same viscosity.
Friends
class	Loader

Detailed Description

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

Definition at line 50 of file SpringEdgeDataForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 55 of file SpringEdgeDataForceField.h.

template<class DataTypes >

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

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

Definition at line 56 of file SpringEdgeDataForceField.h.

template<class DataTypes >

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

Definition at line 57 of file SpringEdgeDataForceField.h.

template<class DataTypes >

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

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

Definition at line 53 of file SpringEdgeDataForceField.h.

template<class DataTypes >

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

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

Definition at line 54 of file SpringEdgeDataForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::SpringEdgeDataForceField ( core::componentmodel::behavior::MechanicalState< DataTypes > * _object ) [inline]

Definition at line 122 of file SpringEdgeDataForceField.inl.

References sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::SpringEdgeDataForceField< 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 240 of file SpringEdgeDataForceField.inl.

References sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::dfdx, dot(), sofa::component::topology::EdgeSetTopologyContainer::getEdgeArray(), sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::kd, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::ks, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::restLength, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::topology, and sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::updateMatrix.

template<class DataTypes >

void sofa::component::forcefield::SpringEdgeDataForceField< 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 209 of file SpringEdgeDataForceField.inl.

References dot(), force, sofa::component::topology::EdgeSetTopologyContainer::getEdgeArray(), sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::kd, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::ks, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::m_potentialEnergy, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::restLength, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::topology, and sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::updateMatrix.

template<class DataTypes >

void sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::addSpring	(	int	m1,
		int	m2,
		SReal	ks,
		SReal	kd,
		SReal	initlen
	)			`[inline, protected]`

Definition at line 112 of file SpringEdgeDataForceField.inl.

References sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray, and sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::topology.

template<class DataTypes >

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

Definition at line 132 of file SpringEdgeDataForceField.h.

References sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray.

template<class DataTypes >

void sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::createDefaultSprings ( ) [inline]

Definition at line 164 of file SpringEdgeDataForceField.inl.

References sofa::component::topology::EdgeSetGeometryAlgorithms< DataTypes >::computeEdgeLength(), sofa::component::topology::EdgeSetTopologyContainer::getEdgeArray(), sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::m_stiffness, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::m_viscosity, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray, and sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::topology.

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

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 297 of file SpringEdgeDataForceField.inl.

References sofa::core::objectmodel::BaseObject::getContext(), sofa::component::topology::EdgeSetTopologyContainer::getEdgeArray(), norm(), sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::Spring::restLength, sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::springArray, and sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::topology.

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::getObject ( ) [inline]