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

Tensors based internal force field class. More...

#include <TensorForceField.h>

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

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

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Data Structures

class  Edge
class  EdgeTensor
class  Tetrahedron
class  Triangle
class  VertexTensor

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

 TensorForceField (const char *filename)
 TensorForceField (component::MechanicalObject< DataTypes > *object, const char *filename)
virtual void addForce ()
 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 ()
virtual double getPotentialEnergy ()
 Get the potential energy associated to this ForceField.
void draw ()
 Render internal data of this object, for debugging purposes.

Private Member Functions

void load (const char *filename)
void initialize ()
int getEdge (const int v0, const int v1)
int getTriangle (const int v0, const int v1, const int v2)
void addElasticTensors (Tetrahedron &tetra)

Private Attributes

component::MechanicalObject
< DataTypes > * 		object_
Real alpha_
Real lambda_
Real mu_
sofa::helper::vector< Coord > vertex_
sofa::helper::vector< Edge > edge_
sofa::helper::vector< Triangle > triangle_
sofa::helper::vector< Tetrahedron > tetrahedron_
sofa::helper::vector
< VertexTensor > 		vertexTensor_
sofa::helper::vector< EdgeTensor > edgeTensor_

Detailed Description

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

Tensors based internal force field class.

Internal Force field (ie it has only one parent object) based on a Finite Element Model modelisation, using strain and stiffness tensors on vertices and edges.

Definition at line 51 of file TensorForceField.h.

Member Typedef Documentation

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

Definition at line 75 of file TensorForceField.h.

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

Definition at line 76 of file TensorForceField.h.

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

Definition at line 77 of file TensorForceField.h.

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

Definition at line 73 of file TensorForceField.h.

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

Definition at line 74 of file TensorForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >
sofa::component::forcefield::TensorForceField< DataTypes >::TensorForceField ( const char *  filename  )  [inline]

Definition at line 50 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::initialize(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
sofa::component::forcefield::TensorForceField< DataTypes >::TensorForceField ( component::MechanicalObject< DataTypes > *  object,
const char *  filename 
) [inline]

Definition at line 58 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::initialize(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

Member Function Documentation

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

Definition at line 320 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::alpha_, sofa::component::forcefield::TensorForceField< DataTypes >::edge_, sofa::component::forcefield::TensorForceField< DataTypes >::edgeTensor_, sofa::component::forcefield::TensorForceField< DataTypes >::object_, sofa::component::forcefield::TensorForceField< DataTypes >::vertex_, and sofa::component::forcefield::TensorForceField< DataTypes >::vertexTensor_.

template<class DataTypes >
void sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors ( Tetrahedron &  tetra  )  [inline, private]

Definition at line 500 of file TensorForceField.cpp.

References dot(), sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::edge, sofa::component::forcefield::TensorForceField< DataTypes >::edge_, sofa::component::forcefield::TensorForceField< DataTypes >::edgeTensor_, sofa::component::forcefield::TensorForceField< DataTypes >::lambda_, sofa::component::forcefield::TensorForceField< DataTypes >::mu_, sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::restVolume, sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::triangleShapeVector, sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::vertex, sofa::component::forcefield::vertexEdge, and sofa::component::forcefield::TensorForceField< DataTypes >::vertexTensor_.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::initialize().

template<class DataTypes >
void sofa::component::forcefield::TensorForceField< DataTypes >::addForce (  )  [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 $

Implements sofa::core::componentmodel::behavior::BaseForceField.

Definition at line 244 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::alpha_, sofa::component::forcefield::TensorForceField< DataTypes >::edge_, sofa::component::forcefield::TensorForceField< DataTypes >::edgeTensor_, sofa::component::forcefield::TensorForceField< DataTypes >::object_, sofa::component::forcefield::TensorForceField< DataTypes >::vertex_, and sofa::component::forcefield::TensorForceField< DataTypes >::vertexTensor_.

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

Render internal data of this object, for debugging purposes.

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

Definition at line 402 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::edge_, sofa::core::objectmodel::BaseObject::getContext(), and sofa::component::forcefield::TensorForceField< DataTypes >::object_.

template<class DataTypes >
int sofa::component::forcefield::TensorForceField< DataTypes >::getEdge ( const int  v0,
const int  v1 
) [inline, private]

Definition at line 436 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::edge_, sofa::component::forcefield::TensorForceField< DataTypes >::Edge::index, and sofa::component::forcefield::TensorForceField< DataTypes >::Edge::vertex.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
double sofa::component::forcefield::TensorForceField< DataTypes >::getPotentialEnergy (  )  [inline, virtual]

Get the potential energy associated to this ForceField.

Used to extimate the total energy of the system by some post-stabilization techniques.

Implements sofa::core::componentmodel::behavior::BaseForceField.

Definition at line 394 of file TensorForceField.cpp.

template<class DataTypes >
int sofa::component::forcefield::TensorForceField< DataTypes >::getTriangle ( const int  v0,
const int  v1,
const int  v2 
) [inline, private]

Definition at line 463 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::Triangle::index, sofa::component::forcefield::TensorForceField< DataTypes >::triangle_, and sofa::component::forcefield::TensorForceField< DataTypes >::Triangle::vertex.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
void sofa::component::forcefield::TensorForceField< DataTypes >::initialize (  )  [inline, private]

Definition at line 168 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors(), sofa::component::forcefield::TensorForceField< DataTypes >::edge_, sofa::component::forcefield::TensorForceField< DataTypes >::edgeTensor_, sofa::component::forcefield::TensorForceField< DataTypes >::tetrahedron_, sofa::component::forcefield::TensorForceField< DataTypes >::vertex_, and sofa::component::forcefield::TensorForceField< DataTypes >::vertexTensor_.

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

template<class DataTypes >
void sofa::component::forcefield::TensorForceField< DataTypes >::load ( const char *  filename  )  [inline, private]

Definition at line 70 of file TensorForceField.cpp.

References sofa::component::forcefield::TensorForceField< DataTypes >::alpha_, sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::edge, sofa::component::forcefield::TensorForceField< DataTypes >::getEdge(), sofa::component::forcefield::TensorForceField< DataTypes >::getTriangle(), sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::index, sofa::component::forcefield::TensorForceField< DataTypes >::lambda_, sofa::component::forcefield::TensorForceField< DataTypes >::mu_, sofa::component::forcefield::TensorForceField< DataTypes >::tetrahedron_, sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::triangle, sofa::component::forcefield::TensorForceField< DataTypes >::Tetrahedron::vertex, sofa::component::forcefield::TensorForceField< DataTypes >::vertex_, and sofa::component::forcefield::vertexEdge.

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

Field Documentation

template<class DataTypes >
Real sofa::component::forcefield::TensorForceField< DataTypes >::alpha_ [private]

Definition at line 151 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addDForce(), sofa::component::forcefield::TensorForceField< DataTypes >::addForce(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
sofa::helper::vector< Edge > sofa::component::forcefield::TensorForceField< DataTypes >::edge_ [private]

Definition at line 155 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addDForce(), sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors(), sofa::component::forcefield::TensorForceField< DataTypes >::addForce(), sofa::component::forcefield::TensorForceField< DataTypes >::draw(), sofa::component::forcefield::TensorForceField< DataTypes >::getEdge(), and sofa::component::forcefield::TensorForceField< DataTypes >::initialize().

template<class DataTypes >
sofa::helper::vector< EdgeTensor > sofa::component::forcefield::TensorForceField< DataTypes >::edgeTensor_ [private]

Definition at line 159 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addDForce(), sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors(), sofa::component::forcefield::TensorForceField< DataTypes >::addForce(), and sofa::component::forcefield::TensorForceField< DataTypes >::initialize().

template<class DataTypes >
Real sofa::component::forcefield::TensorForceField< DataTypes >::lambda_ [private]

Definition at line 153 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
Real sofa::component::forcefield::TensorForceField< DataTypes >::mu_ [private]

Definition at line 153 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
component::MechanicalObject<DataTypes>* sofa::component::forcefield::TensorForceField< DataTypes >::object_ [private]

Definition at line 149 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addDForce(), sofa::component::forcefield::TensorForceField< DataTypes >::addForce(), and sofa::component::forcefield::TensorForceField< DataTypes >::draw().

template<class DataTypes >
sofa::helper::vector< Tetrahedron > sofa::component::forcefield::TensorForceField< DataTypes >::tetrahedron_ [private]

Definition at line 157 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::initialize(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
sofa::helper::vector< Triangle > sofa::component::forcefield::TensorForceField< DataTypes >::triangle_ [private]

Definition at line 156 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::getTriangle().

template<class DataTypes >
sofa::helper::vector< Coord > sofa::component::forcefield::TensorForceField< DataTypes >::vertex_ [private]

Definition at line 154 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addDForce(), sofa::component::forcefield::TensorForceField< DataTypes >::addForce(), sofa::component::forcefield::TensorForceField< DataTypes >::initialize(), and sofa::component::forcefield::TensorForceField< DataTypes >::load().

template<class DataTypes >
sofa::helper::vector< VertexTensor > sofa::component::forcefield::TensorForceField< DataTypes >::vertexTensor_ [private]

Definition at line 158 of file TensorForceField.h.

Referenced by sofa::component::forcefield::TensorForceField< DataTypes >::addDForce(), sofa::component::forcefield::TensorForceField< DataTypes >::addElasticTensors(), sofa::component::forcefield::TensorForceField< DataTypes >::addForce(), and sofa::component::forcefield::TensorForceField< DataTypes >::initialize().

The documentation for this class was generated from the following files:
Generated on Sun Nov 23 04:20:11 2008 for Sofa by  doxygen 1.5.7.1