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

#include <TriangularTensorMassForceField.h>

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

Collaboration diagram for sofa::component::forcefield::TriangularTensorMassForceField< 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
	TriangularTensorMassForceField ()
	second Lame coefficient
virtual	~TriangularTensorMassForceField ()
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
void	setYoungModulus (const double modulus)
void	setPoissonRatio (const double ratio)
virtual void	handleTopologyChange ()
	Handle topological Changes.
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	TriangularTMEdgeCreationFunction (int edgeIndex, void *param, EdgeRestInformation &ei, const Edge &, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double > &)
static void	TriangularTMTriangleCreationFunction (const sofa::helper::vector< unsigned int > &triangleAdded, void *param, vector< EdgeRestInformation > &edgeData)
static void	TriangularTMTriangleDestructionFunction (const sofa::helper::vector< unsigned int > &triangleAdded, void *param, 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::TriangularTensorMassForceField< DataTypes >

Definition at line 55 of file TriangularTensorMassForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 61 of file TriangularTensorMassForceField.h.

template<class DataTypes >

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

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

Definition at line 62 of file TriangularTensorMassForceField.h.

template<class DataTypes >

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

Definition at line 58 of file TriangularTensorMassForceField.h.

template<class DataTypes >

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

Definition at line 63 of file TriangularTensorMassForceField.h.

template<class DataTypes >

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

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

Definition at line 59 of file TriangularTensorMassForceField.h.

template<class DataTypes >

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

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

Definition at line 60 of file TriangularTensorMassForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

second Lame coefficient

Definition at line 225 of file TriangularTensorMassForceField.inl.

template<class DataTypes >

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

Definition at line 243 of file TriangularTensorMassForceField.inl.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::TriangularTensorMassForceField< 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 331 of file TriangularTensorMassForceField.inl.

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

template<class DataTypes >

void sofa::component::forcefield::TriangularTensorMassForceField< 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 303 of file TriangularTensorMassForceField.inl.

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

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 368 of file TriangularTensorMassForceField.inl.

References sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::_topology, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbTriangles(), sofa::core::componentmodel::topology::BaseMeshTopology::getTriangle(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.

template<class DataTypes >

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

Definition at line 138 of file TriangularTensorMassForceField.h.

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

template<class DataTypes >

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

Definition at line 117 of file TriangularTensorMassForceField.h.

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

Referenced by sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::TriangularTMTriangleCreationFunction(), and sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::TriangularTMTriangleDestructionFunction().

template<class DataTypes >

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

Definition at line 118 of file TriangularTensorMassForceField.h.

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

Referenced by sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::TriangularTMTriangleCreationFunction(), and sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::TriangularTMTriangleDestructionFunction().

template<class DataTypes >

double sofa::component::forcefield::TriangularTensorMassForceField< 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 297 of file TriangularTensorMassForceField.inl.

template<class DataTypes >

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

Handle topological Changes.

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

Definition at line 235 of file TriangularTensorMassForceField.inl.

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

template<class DataTypes >

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

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

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

Definition at line 248 of file TriangularTensorMassForceField.inl.

template<class DataTypes >

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

Definition at line 123 of file TriangularTensorMassForceField.h.

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

template<class DataTypes >

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

Definition at line 120 of file TriangularTensorMassForceField.h.

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

template<class DataTypes >

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

set to zero the stiffness matrix

Definition at line 54 of file TriangularTensorMassForceField.inl.

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

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

template<class DataTypes >

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

describe the jth edge index of triangle no i

describe the jth vertex index of triangle no i

Definition at line 73 of file TriangularTensorMassForceField.inl.

References sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::_topology, sofa::core::objectmodel::BaseObject::f_printLog, sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::topology::BaseMeshTopology::getEdgeTriangleShell(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::getLambda(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::getMu(), sofa::core::componentmodel::topology::BaseMeshTopology::getTriangle(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::lambda, sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::mu, and norm2().

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

template<class DataTypes >

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