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

Bending springs added between vertices of triangles sharing a common edge. More...

#include <TriangularBendingSprings.h>

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

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


Data Structures
class	EdgeInformation
class	Mat3
Public Types
enum	{ N = Coord::static_size }
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
typedef defaulttype::Mat< N, N, Real >	Mat
Public Member Functions
	TriangularBendingSprings ()
virtual	~TriangularBendingSprings ()
virtual double	getPotentialEnergy (const VecCoord &x)
	Get the potential energy associated to this ForceField.
virtual void	init ()
	Searches triangle topology and creates the bending springs.
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	getKs () const
virtual double	getKd () const
void	setKs (const double ks)
void	setKd (const double kd)
virtual void	handleTopologyChange ()
	Handle topological Changes.
void	draw ()
	Render internal data of this object, for debugging purposes.
Protected Member Functions
EdgeData< EdgeInformation > &	getEdgeInfo ()
Static Protected Member Functions
static void	TriangularBSEdgeCreationFunction (int edgeIndex, void *param, EdgeInformation &ei, const Edge &, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double > &)
static void	TriangularBSTriangleCreationFunction (const sofa::helper::vector< unsigned int > &triangleAdded, void *param, vector< EdgeInformation > &edgeData)
static void	TriangularBSTriangleDestructionFunction (const sofa::helper::vector< unsigned int > &triangleRemoved, void *param, vector< EdgeInformation > &edgeData)
Protected Attributes
EdgeData< EdgeInformation >	edgeInfo
sofa::core::componentmodel::topology::BaseMeshTopology *	_topology
bool	updateMatrix
Data< double >	f_ks
Data< double >	f_kd
double	m_potentialEnergy

Detailed Description

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

Bending springs added between vertices of triangles sharing a common edge.

The springs connect the vertices not belonging to the common edge. It compresses when the surface bends along the common edge.

Author:: The SOFA team </www.sofa-framework.org>

Definition at line 75 of file TriangularBendingSprings.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 84 of file TriangularBendingSprings.h.

template<class DataTypes >

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

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

Definition at line 85 of file TriangularBendingSprings.h.

template<class DataTypes >

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

Definition at line 78 of file TriangularBendingSprings.h.

template<class DataTypes >

typedef defaulttype::Mat<N,N,Real> sofa::component::forcefield::TriangularBendingSprings< DataTypes >::Mat

Definition at line 90 of file TriangularBendingSprings.h.

template<class DataTypes >

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

Definition at line 86 of file TriangularBendingSprings.h.

template<class DataTypes >

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

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

Definition at line 80 of file TriangularBendingSprings.h.

template<class DataTypes >

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

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

Definition at line 83 of file TriangularBendingSprings.h.

Member Enumeration Documentation

template<class DataTypes >

anonymous enum

Enumerator:

N

Definition at line 89 of file TriangularBendingSprings.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 283 of file TriangularBendingSprings.inl.

template<class DataTypes >

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

Definition at line 292 of file TriangularBendingSprings.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::TriangularBendingSprings< 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 576 of file TriangularBendingSprings.inl.

References sofa::component::forcefield::TriangularBendingSprings< DataTypes >::_topology, sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::DfDx, sofa::component::forcefield::TriangularBendingSprings< DataTypes >::edgeInfo, sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::is_activated, sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::m1, sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::m2, and sofa::component::forcefield::TriangularBendingSprings< DataTypes >::updateMatrix.

template<class DataTypes >

void sofa::component::forcefield::TriangularBendingSprings< 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 459 of file TriangularBendingSprings.inl.

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 631 of file TriangularBendingSprings.inl.

References sofa::component::forcefield::TriangularBendingSprings< DataTypes >::edgeInfo, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and norm().

template<class DataTypes >

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

Definition at line 175 of file TriangularBendingSprings.h.

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

template<class DataTypes >

virtual double sofa::component::forcefield::TriangularBendingSprings< DataTypes >::getKd ( ) const [inline, virtual]

Definition at line 159 of file TriangularBendingSprings.h.

References sofa::component::forcefield::TriangularBendingSprings< DataTypes >::f_kd, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleCreationFunction(), and sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleDestructionFunction().

template<class DataTypes >

virtual double sofa::component::forcefield::TriangularBendingSprings< DataTypes >::getKs ( ) const [inline, virtual]

Definition at line 158 of file TriangularBendingSprings.h.

References sofa::component::forcefield::TriangularBendingSprings< DataTypes >::f_ks, and sofa::core::objectmodel::Data< T >::getValue().

Referenced by sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleCreationFunction(), and sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleDestructionFunction().

template<class DataTypes >

double sofa::component::forcefield::TriangularBendingSprings< 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 451 of file TriangularBendingSprings.inl.

template<class DataTypes >

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

Handle topological Changes.

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

Definition at line 296 of file TriangularBendingSprings.inl.

template<class DataTypes >

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

Searches triangle topology and creates the bending springs.

prepare to store info in the edge array

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

Definition at line 409 of file TriangularBendingSprings.inl.

References sofa::component::forcefield::TriangularBendingSprings< DataTypes >::_topology, sofa::component::forcefield::TriangularBendingSprings< DataTypes >::edgeInfo, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::objectmodel::BaseContext::getMeshTopology(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbTriangles(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::init(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSEdgeCreationFunction(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleCreationFunction(), and sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleDestructionFunction().

template<class DataTypes >

void sofa::component::forcefield::TriangularBendingSprings< DataTypes >::setKd ( const double kd ) [inline]

Definition at line 164 of file TriangularBendingSprings.h.

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

template<class DataTypes >

void sofa::component::forcefield::TriangularBendingSprings< DataTypes >::setKs ( const double ks ) [inline]

Definition at line 161 of file TriangularBendingSprings.h.

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

template<class DataTypes >

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

set to zero the edge stiffness matrix

Definition at line 70 of file TriangularBendingSprings.inl.

References sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::DfDx, sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::is_activated, and sofa::component::forcefield::TriangularBendingSprings< DataTypes >::EdgeInformation::is_initialized.

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

template<class DataTypes >

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

describe the jth edge index of triangle no i

describe the jth vertex index of triangle no i

set to zero the edge stiffness matrix

Definition at line 92 of file TriangularBendingSprings.inl.

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

template<class DataTypes >

void sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleDestructionFunction	(	const sofa::helper::vector< unsigned int > &	triangleRemoved,
		void *	param,
		vector< EdgeInformation > &	edgeData
	)			`[inline, static, protected]`