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

Define a set of springs between particles. More...

#include <SpringForceField.h>

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

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


Data Structures
class	Loader
class	Spring
Public Types
typedef core::componentmodel::behavior::PairInteractionForceField < DataTypes >	Inherit
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
	SpringForceField (MechanicalState object1, MechanicalState object2, SReal _ks=100.0, SReal _kd=5.0)
	SpringForceField (SReal _ks=100.0, SReal _kd=5.0)
virtual void	parse (core::objectmodel::BaseObjectDescription *arg)
	Parse the given description to assign values to this object's fields and potentially other parameters.
bool	load (const char *filename)
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject1 ()
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject2 ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
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)
	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.
SReal	getStiffness ()
SReal	getDamping ()
void	setStiffness (SReal _ks)
void	setDamping (SReal _kd)
void	draw ()
	Render internal data of this object, for debugging purposes.
void	clear (int reserve=0)
void	addSpring (int m1, int m2, SReal ks, SReal kd, SReal initlen)
Protected Member Functions
void	addSpringForce (SReal &potentialEnergy, VecDeriv &f1, const VecCoord &p1, const VecDeriv &v1, VecDeriv &f2, const VecCoord &p2, const VecDeriv &v2, int i, const Spring &spring)
Protected Attributes
SReal	m_potentialEnergy
Data< SReal >	ks
Data< SReal >	kd
Data< sofa::helper::vector < Spring > >	springs
SpringForceFieldInternalData < DataTypes >	data
Friends
class	SpringForceFieldInternalData< DataTypes >

Detailed Description

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

Define a set of springs between particles.

Definition at line 57 of file SpringForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >, sofa::component::forcefield::MeshSpringForceField< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::SparseGridSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >, sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 63 of file SpringForceField.h.

template<class DataTypes >

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

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

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >, sofa::component::forcefield::MeshSpringForceField< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::SparseGridSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >, sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 64 of file SpringForceField.h.

template<class DataTypes >

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

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::SparseGridSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 60 of file SpringForceField.h.

template<class DataTypes >

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

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 66 of file SpringForceField.h.

template<class DataTypes >

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

Definition at line 65 of file SpringForceField.h.

template<class DataTypes >

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

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

Definition at line 61 of file SpringForceField.h.

template<class DataTypes >

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

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

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >, sofa::component::forcefield::MeshSpringForceField< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::SparseGridSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >, sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 62 of file SpringForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::forcefield::SpringForceField< DataTypes >::SpringForceField	(	MechanicalState *	object1,
		MechanicalState *	object2,
		SReal	_ks = `100.0`,
		SReal	_kd = `5.0`
	)			`[inline]`

Definition at line 53 of file SpringForceField.inl.

template<class DataTypes >

sofa::component::forcefield::SpringForceField< DataTypes >::SpringForceField	(	SReal	_ks = `100.0`,
		SReal	_kd = `5.0`
	)			`[inline]`

Definition at line 62 of file SpringForceField.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::SpringForceField< DataTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	dx2
	)			`[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 PairInteractionForceField::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::PairInteractionForceField< DataTypes >.

Definition at line 145 of file SpringForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::SpringForceField< 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 >.

Reimplemented in sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::SparseGridSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 133 of file SpringForceField.inl.

References sofa::component::forcefield::SpringForceField< DataTypes >::addSpringForce(), sofa::component::forcefield::SpringForceField< DataTypes >::m_potentialEnergy, and sofa::component::forcefield::SpringForceField< DataTypes >::springs.

template<class DataTypes >

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

Definition at line 138 of file SpringForceField.h.

References sofa::component::forcefield::SpringForceField< DataTypes >::springs.

Referenced by sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >::bwdInit(), and main().

template<class DataTypes >

void sofa::component::forcefield::SpringForceField< DataTypes >::addSpringForce	(	SReal &	potentialEnergy,
		VecDeriv &	f1,
		const VecCoord &	p1,
		const VecDeriv &	v1,
		VecDeriv &	f2,
		const VecCoord &	p2,
		const VecDeriv &	v2,
		int	i,
		const Spring &	spring
	)			`[inline, protected]`

Reimplemented in sofa::component::forcefield::StiffSpringForceField< DataTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 112 of file SpringForceField.inl.

References dot(), force, sofa::component::forcefield::SpringForceField< DataTypes >::Spring::initpos, sofa::component::forcefield::SpringForceField< DataTypes >::Spring::kd, sofa::component::forcefield::SpringForceField< DataTypes >::Spring::ks, sofa::component::forcefield::SpringForceField< DataTypes >::Spring::m1, and sofa::component::forcefield::SpringForceField< DataTypes >::Spring::m2.

Referenced by sofa::component::forcefield::SpringForceField< DataTypes >::addForce().

template<class DataTypes >

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

Definition at line 130 of file SpringForceField.h.

References sofa::component::forcefield::SpringForceField< DataTypes >::springs.

Referenced by sofa::component::forcefield::TriangleBendingSprings< DataTypes >::init(), and sofa::component::forcefield::MeshSpringForceField< DataTypes >::init().

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >, sofa::component::forcefield::QuadBendingSprings< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, and sofa::component::forcefield::SparseGridSpringForceField< DataTypes >.

Definition at line 151 of file SpringForceField.inl.

References 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, norm(), and sofa::component::forcefield::SpringForceField< DataTypes >::springs.

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

template<class DataTypes >

SReal sofa::component::forcefield::SpringForceField< DataTypes >::getDamping ( ) [inline]

Definition at line 122 of file SpringForceField.h.

References sofa::component::forcefield::SpringForceField< DataTypes >::kd.

Referenced by sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >::bwdInit().

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::SpringForceField< DataTypes >::getObject1 ( ) [inline]

Definition at line 113 of file SpringForceField.h.

References sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1.

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::SpringForceField< DataTypes >::getObject2 ( ) [inline]

Definition at line 114 of file SpringForceField.h.

References sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate2.

template<class DataTypes >

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