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

SpringForceField able to evaluate and apply its stiffness. More...

#include <StiffSpringForceField.h>

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

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

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Public Types

enum  { N = Coord::static_size }
typedef SpringForceField
< DataTypes > 		Inherit
typedef DataTypes::VecCoord VecCoord
typedef DataTypes::VecDeriv VecDeriv
typedef DataTypes::Coord Coord
typedef DataTypes::Deriv Deriv
typedef Coord::value_type Real
typedef Inherit::Spring Spring
typedef
core::componentmodel::behavior::MechanicalState
< DataTypes > 		MechanicalState
typedef defaulttype::Mat< N, N,
Real > 		Mat

Public Member Functions

 StiffSpringForceField (MechanicalState *object1, MechanicalState *object2, double ks=100.0, double kd=5.0)
 StiffSpringForceField (double ks=100.0, double kd=5.0)
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)
 Accumulate f corresponding to x,v.
virtual void addDForce (VecDeriv &df1, VecDeriv &df2, const VecDeriv &dx1, const VecDeriv &dx2, double kFactor, double bFactor)
 Accumulate df corresponding to dx.

Protected Member Functions

void addSpringForce (double &potentialEnergy, VecDeriv &f1, const VecCoord &p1, const VecDeriv &v1, VecDeriv &f2, const VecCoord &p2, const VecDeriv &v2, int i, const Spring &spring)
 Accumulate the spring force and compute and store its stiffness.
void addSpringDForce (VecDeriv &df1, const VecDeriv &dx1, VecDeriv &df2, const VecDeriv &dx2, int i, const Spring &spring, double kFactor, double bFactor)
 Apply the stiffness, i.e. accumulate df given dx.

Protected Attributes

sofa::helper::vector< Mat > dfdx
double m_potentialEnergy

Detailed Description

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

SpringForceField able to evaluate and apply its stiffness.

This allows to perform implicit integration. Stiffness is evaluated and stored by the addForce method. When explicit integration is used, SpringForceField is slightly more efficient.

Definition at line 49 of file StiffSpringForceField.h.

Member Typedef Documentation

template<class DataTypes >
typedef DataTypes::Coord sofa::component::forcefield::StiffSpringForceField< DataTypes >::Coord

Reimplemented from sofa::component::forcefield::SpringForceField< 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::interactionforcefield::RepulsiveSpringForceField< DataTypes >, and sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 55 of file StiffSpringForceField.h.

template<class DataTypes >
typedef DataTypes::Deriv sofa::component::forcefield::StiffSpringForceField< DataTypes >::Deriv

Reimplemented from sofa::component::forcefield::SpringForceField< 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::interactionforcefield::RepulsiveSpringForceField< DataTypes >, and sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 56 of file StiffSpringForceField.h.

template<class DataTypes >
typedef SpringForceField<DataTypes> sofa::component::forcefield::StiffSpringForceField< DataTypes >::Inherit

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

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

Definition at line 52 of file StiffSpringForceField.h.

template<class DataTypes >
typedef defaulttype::Mat<N,N,Real> sofa::component::forcefield::StiffSpringForceField< DataTypes >::Mat

Reimplemented in sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >.

Definition at line 61 of file StiffSpringForceField.h.

template<class DataTypes >
typedef core::componentmodel::behavior::MechanicalState<DataTypes> sofa::component::forcefield::StiffSpringForceField< DataTypes >::MechanicalState

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

Reimplemented in sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >.

Definition at line 59 of file StiffSpringForceField.h.

template<class DataTypes >
typedef Coord::value_type sofa::component::forcefield::StiffSpringForceField< DataTypes >::Real

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

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

Definition at line 57 of file StiffSpringForceField.h.

template<class DataTypes >
typedef Inherit::Spring sofa::component::forcefield::StiffSpringForceField< DataTypes >::Spring

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

Definition at line 58 of file StiffSpringForceField.h.

template<class DataTypes >
typedef DataTypes::VecCoord sofa::component::forcefield::StiffSpringForceField< DataTypes >::VecCoord

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

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

Definition at line 53 of file StiffSpringForceField.h.

template<class DataTypes >
typedef DataTypes::VecDeriv sofa::component::forcefield::StiffSpringForceField< DataTypes >::VecDeriv

Reimplemented from sofa::component::forcefield::SpringForceField< 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::interactionforcefield::RepulsiveSpringForceField< DataTypes >, and sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 54 of file StiffSpringForceField.h.

Member Enumeration Documentation

template<class DataTypes >
anonymous enum

Enumerator:
N 

Definition at line 60 of file StiffSpringForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >
sofa::component::forcefield::StiffSpringForceField< DataTypes >::StiffSpringForceField ( MechanicalState *  object1,
MechanicalState *  object2,
double  ks = 100.0,
double  kd = 5.0 
) [inline]

Definition at line 74 of file StiffSpringForceField.h.

template<class DataTypes >
sofa::component::forcefield::StiffSpringForceField< DataTypes >::StiffSpringForceField ( double  ks = 100.0,
double  kd = 5.0 
) [inline]

Definition at line 79 of file StiffSpringForceField.h.

Member Function Documentation

template<class DataTypes >
void sofa::component::forcefield::StiffSpringForceField< DataTypes >::addDForce ( VecDeriv &  df1,
VecDeriv &  df2,
const VecDeriv &  dx1,
const VecDeriv &  dx2,
double  kFactor,
double  bFactor 
) [inline, virtual]

Accumulate df corresponding to dx.

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

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

Definition at line 128 of file StiffSpringForceField.inl.

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

template<class DataTypes >
void sofa::component::forcefield::StiffSpringForceField< DataTypes >::addForce ( VecDeriv &  f1,
VecDeriv &  f2,
const VecCoord &  x1,
const VecCoord &  x2,
const VecDeriv &  v1,
const VecDeriv &  v2 
) [inline, virtual]

Accumulate f corresponding to x,v.

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

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

Definition at line 112 of file StiffSpringForceField.inl.

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

template<class DataTypes >
void sofa::component::forcefield::StiffSpringForceField< DataTypes >::addSpringDForce ( VecDeriv &  df1,
const VecDeriv &  dx1,
VecDeriv &  df2,
const VecDeriv &  dx2,
int  i,
const Spring &  spring,
double  kFactor,
double  bFactor 
) [inline, protected]

Apply the stiffness, i.e. accumulate df given dx.

Definition at line 99 of file StiffSpringForceField.inl.

References sofa::component::forcefield::StiffSpringForceField< DataTypes >::dfdx, sofa::component::forcefield::SpringForceField< DataTypes >::Spring::m1, and sofa::component::forcefield::SpringForceField< DataTypes >::Spring::m2.

Referenced by sofa::component::forcefield::StiffSpringForceField< DataTypes >::addDForce(), sofa::component::forcefield::SparseGridSpringForceField< DataTypes >::addDForce(), and sofa::component::forcefield::RegularGridSpringForceField< DataTypes >::addDForce().

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

Accumulate the spring force and compute and store its stiffness.

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

Definition at line 51 of file StiffSpringForceField.inl.

References sofa::component::forcefield::StiffSpringForceField< DataTypes >::dfdx, 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, sofa::component::forcefield::SpringForceField< DataTypes >::Spring::m2, and sofa::component::forcefield::StiffSpringForceField< DataTypes >::N.

Referenced by sofa::component::forcefield::StiffSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::SparseGridSpringForceField< DataTypes >::addForce(), and sofa::component::forcefield::RegularGridSpringForceField< DataTypes >::addForce().

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

Initialization method called at graph modification, during bottom-up traversal.

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

Reimplemented in sofa::component::forcefield::MeshSpringForceField< DataTypes >, sofa::component::forcefield::QuadBendingSprings< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::TriangleBendingSprings< DataTypes >, and sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 45 of file StiffSpringForceField.inl.

Field Documentation

template<class DataTypes >
sofa::helper::vector<Mat> sofa::component::forcefield::StiffSpringForceField< DataTypes >::dfdx [protected]

Definition at line 64 of file StiffSpringForceField.h.

Referenced by sofa::component::forcefield::SparseGridSpringForceField< DataTypes >::addDForce(), sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::StiffSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::SparseGridSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::RegularGridSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::StiffSpringForceField< DataTypes >::addSpringDForce(), and sofa::component::forcefield::StiffSpringForceField< DataTypes >::addSpringForce().

template<class DataTypes >
double sofa::component::forcefield::StiffSpringForceField< DataTypes >::m_potentialEnergy [protected]

Reimplemented from sofa::component::forcefield::SpringForceField< DataTypes >.

Reimplemented in sofa::component::forcefield::RegularGridSpringForceField< DataTypes >.

Definition at line 65 of file StiffSpringForceField.h.

Referenced by sofa::component::forcefield::StiffSpringForceField< DataTypes >::addForce(), and sofa::component::forcefield::SparseGridSpringForceField< DataTypes >::addForce().

The documentation for this class was generated from the following files:
Generated on Sun Nov 23 04:20:10 2008 for Sofa by  doxygen 1.5.7.1