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

#include <TetrahedralTensorMassForceField.h>

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

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


Data Structures
class	EdgeRestInformation
class	Mat3
Public Types
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
Public Member Functions
	TetrahedralTensorMassForceField ()
	second Lame coefficient
virtual	~TetrahedralTensorMassForceField ()
virtual double	getPotentialEnergy (const VecCoord &x)
	Get the potential energy associated to this ForceField.
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
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 Real	getLambda () const
virtual Real	getMu () const
virtual void	handleTopologyChange ()
	Handle topological Changes.
void	setYoungModulus (const double modulus)
void	setPoissonRatio (const double ratio)
void	draw ()
	Render internal data of this object, for debugging purposes.
void	updateLameCoefficients ()
	compute lambda and mu based on the Young modulus and Poisson ratio
Protected Member Functions
EdgeData< EdgeRestInformation > &	getEdgeInfo ()
Static Protected Member Functions
static void	TetrahedralTMEdgeCreationFunction (int edgeIndex, void *param, EdgeRestInformation &ei, const Edge &, const helper::vector< unsigned int > &, const helper::vector< double > &)
static void	TetrahedralTMTetrahedronCreationFunction (const helper::vector< unsigned int > &triangleAdded, void *param, helper::vector< EdgeRestInformation > &edgeData)
static void	TetrahedralTMTetrahedronDestructionFunction (const helper::vector< unsigned int > &triangleAdded, void *param, helper::vector< EdgeRestInformation > &edgeData)
Protected Attributes
EdgeData< EdgeRestInformation >	edgeInfo
sofa::core::componentmodel::topology::BaseMeshTopology *	_topology
VecCoord	_initialPoints
	the intial positions of the points
bool	updateMatrix
Data< Real >	f_poissonRatio
Data< Real >	f_youngModulus
Real	lambda
Real	mu
	first Lame coefficient

Detailed Description

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

Definition at line 57 of file TetrahedralTensorMassForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 63 of file TetrahedralTensorMassForceField.h.

template<class DataTypes >

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

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

Definition at line 64 of file TetrahedralTensorMassForceField.h.

template<class DataTypes >

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

Definition at line 60 of file TetrahedralTensorMassForceField.h.

template<class DataTypes >

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

Definition at line 65 of file TetrahedralTensorMassForceField.h.

template<class DataTypes >

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

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

Definition at line 61 of file TetrahedralTensorMassForceField.h.

template<class DataTypes >

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

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

Definition at line 62 of file TetrahedralTensorMassForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

second Lame coefficient

Definition at line 234 of file TetrahedralTensorMassForceField.inl.

template<class DataTypes >

sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::~TetrahedralTensorMassForceField ( ) [inline, virtual]

Definition at line 252 of file TetrahedralTensorMassForceField.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::TetrahedralTensorMassForceField< 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 340 of file TetrahedralTensorMassForceField.inl.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::EdgeRestInformation::DfDx, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::edgeInfo, force, sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), and sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::Mat3::transposeMultiply().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralTensorMassForceField< 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 312 of file TetrahedralTensorMassForceField.inl.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::_initialPoints, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::EdgeRestInformation::DfDx, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::edgeInfo, force, sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), and sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::Mat3::transposeMultiply().

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 377 of file TetrahedralTensorMassForceField.inl.

References sofa::core::objectmodel::BaseObject::getContext(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.

template<class DataTypes >

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

Definition at line 139 of file TetrahedralTensorMassForceField.h.

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

template<class DataTypes >

virtual Real sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::getLambda ( ) const [inline, virtual]

Definition at line 119 of file TetrahedralTensorMassForceField.h.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::lambda.

Referenced by sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronCreationFunction(), and sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronDestructionFunction().

template<class DataTypes >

virtual Real sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::getMu ( void ) const [inline, virtual]

Definition at line 120 of file TetrahedralTensorMassForceField.h.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::mu.

Referenced by sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronCreationFunction(), and sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronDestructionFunction().

template<class DataTypes >

double sofa::component::forcefield::TetrahedralTensorMassForceField< 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 306 of file TetrahedralTensorMassForceField.inl.

template<class DataTypes >

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

Handle topological Changes.

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

Definition at line 244 of file TetrahedralTensorMassForceField.inl.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::edgeInfo, sofa::core::componentmodel::topology::BaseMeshTopology::firstChange(), and sofa::core::componentmodel::topology::BaseMeshTopology::lastChange().

template<class DataTypes >

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

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

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

Definition at line 257 of file TetrahedralTensorMassForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::setPoissonRatio ( const double ratio ) [inline]

Definition at line 128 of file TetrahedralTensorMassForceField.h.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::f_poissonRatio, and sofa::core::objectmodel::Data< T >::setValue().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::setYoungModulus ( const double modulus ) [inline]

Definition at line 125 of file TetrahedralTensorMassForceField.h.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::f_youngModulus, and sofa::core::objectmodel::Data< T >::setValue().

template<class DataTypes >

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

set to zero the stiffness matrix

Definition at line 60 of file TetrahedralTensorMassForceField.inl.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::EdgeRestInformation::DfDx.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronCreationFunction	(	const helper::vector< unsigned int > &	triangleAdded,
		void *	param,
		helper::vector< EdgeRestInformation > &	edgeData
	)			`[inline, static, protected]`

get a reference on the edge set of the ith added tetrahedron

get a reference on the vertex set of the ith added tetrahedron

compute 6 times the rest volume

local indices of the edge

Definition at line 79 of file TetrahedralTensorMassForceField.inl.

References sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::_topology, cross(), dot(), sofa::core::objectmodel::BaseObject::f_printLog, sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::topology::BaseMeshTopology::getEdgeTetraShell(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::getLambda(), sofa::core::componentmodel::topology::BaseMeshTopology::getLocalTetrahedronEdges(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::getMu(), sofa::core::componentmodel::topology::BaseMeshTopology::getTetra(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::lambda, sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::mu.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronDestructionFunction	(	const helper::vector< unsigned int > &	triangleAdded,
		void *	param,
		helper::vector< EdgeRestInformation > &	edgeData
	)			`[inline, static, protected]`