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

#include <VectorSpringForceField.h>

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

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


Data Structures
class	Loader
struct	Spring
Public Types
enum	{ N = Coord::static_size }
typedef core::componentmodel::behavior::PairInteractionForceField < DataTypes >	Inherit
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
typedef core::componentmodel::behavior::MechanicalState < DataTypes >	MechanicalState
Public Member Functions
	VectorSpringForceField (MechanicalState *_object=NULL)
	VectorSpringForceField (MechanicalState _object1, MechanicalState _object2)
bool	load (const char *filename)
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject1 ()
core::componentmodel::behavior::MechanicalState < DataTypes > *	getObject2 ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
void	createDefaultSprings ()
virtual void	handleEvent (Event *e)
	Handle an event.
virtual void	addForce (VecDeriv &f1, VecDeriv &f2, const VecCoord &x1, const VecCoord &x2, const VecDeriv &v1, const VecDeriv &v2)
	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 &df1, VecDeriv &df2, const VecDeriv &dx1, const VecDeriv &dx2, double kFactor, double bFactor)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual double	getPotentialEnergy (const VecCoord &, const VecCoord &)
	Get the potential energy associated to this ForceField.
Real	getStiffness () const
const Real	getViscosity () const
const topology::EdgeData < Spring > &	getSpringArray () const
void	draw ()
	Render internal data of this object, for debugging purposes.
void	clear (int reserve=0)
void	addSpring (int m1, int m2, SReal ks, SReal kd, Coord restVector)
Data Fields
sofa::core::componentmodel::topology::BaseMeshTopology *	_topology
sofa::component::topology::EdgeSetTopologyContainer *	edgeCont
sofa::component::topology::EdgeSetGeometryAlgorithms < DataTypes > *	edgeGeo
sofa::component::topology::EdgeSetTopologyModifier *	edgeMod
Protected Member Functions
void	resizeArray (unsigned int n)
Static Protected Member Functions
static void	springCreationFunction (int, void *param, Spring &t, const topology::Edge &e, const sofa::helper::vector< unsigned int > &ancestors, const sofa::helper::vector< double > &coefs)
Protected Attributes
double	m_potentialEnergy
bool	useTopology
	true if the springs are initialized from the topology
sofa::helper::vector < topology::Edge >	edgeArray
	indices in case we don't use the topology
sofa::component::topology::EdgeData < Spring >	springArray
	where the springs information are stored
Data< std::string >	m_filename
	the filename where to load the spring information
Data< double >	m_stiffness
	By default, assume that all edges have the same stiffness.
Data< double >	m_viscosity
	By default, assume that all edges have the same viscosity.
Friends
class	Loader

Detailed Description

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

Definition at line 53 of file VectorSpringForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

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

Definition at line 61 of file VectorSpringForceField.h.

template<class DataTypes >

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

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

Definition at line 62 of file VectorSpringForceField.h.

template<class DataTypes >

typedef core::componentmodel::behavior::PairInteractionForceField<DataTypes> sofa::component::forcefield::VectorSpringForceField< DataTypes >::Inherit

Definition at line 58 of file VectorSpringForceField.h.

template<class DataTypes >

typedef core::componentmodel::behavior::MechanicalState<DataTypes> sofa::component::forcefield::VectorSpringForceField< DataTypes >::MechanicalState

Definition at line 64 of file VectorSpringForceField.h.

template<class DataTypes >

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

Definition at line 63 of file VectorSpringForceField.h.

template<class DataTypes >

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

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

Definition at line 59 of file VectorSpringForceField.h.

template<class DataTypes >

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

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

Definition at line 60 of file VectorSpringForceField.h.

Member Enumeration Documentation

template<class DataTypes >

anonymous enum

Enumerator:

N

Definition at line 65 of file VectorSpringForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::forcefield::VectorSpringForceField< DataTypes >::VectorSpringForceField ( MechanicalState * _object = NULL ) [inline]

Definition at line 132 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::springCreationFunction().

template<class DataTypes >

sofa::component::forcefield::VectorSpringForceField< DataTypes >::VectorSpringForceField	(	MechanicalState *	_object1,
		MechanicalState *	_object2
	)			`[inline]`

Definition at line 144 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::springCreationFunction().

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	dx2,
		double	kFactor,
		double	bFactor
	)			`[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 += kFactor K dx + bFactor B dx $

This method must be implemented by the component, and is usually called by the generic PairInteractionForceField::addDForce() method.

To support old components that implement the deprecated addForce method without scalar coefficients, it defaults to using a temporaty vector to compute $ K dx $ and then manually scaling all values by kFactor.

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

Definition at line 293 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::_topology, sofa::component::forcefield::VectorSpringForceField< DataTypes >::edgeArray, sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::Spring::ks, sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::useTopology.

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::addForce	(	VecDeriv &	f1,
		VecDeriv &	f2,
		const VecCoord &	x1,
		const VecCoord &	x2,
		const VecDeriv &	v1,
		const VecDeriv &	v2
	)			`[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::PairInteractionForceField< DataTypes >.

Definition at line 245 of file VectorSpringForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::addSpring	(	int	m1,
		int	m2,
		SReal	ks,
		SReal	kd,
		Coord	restVector
	)			`[inline]`

Definition at line 116 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::_topology, sofa::component::forcefield::VectorSpringForceField< DataTypes >::edgeArray, sofa::core::componentmodel::topology::BaseMeshTopology::getEdgeIndex(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::useTopology.

Referenced by sofa::component::forcefield::VectorSpringForceField< DataTypes >::Loader::addVectorSpring().

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::clear ( int reserve = 0 ) [inline]

Definition at line 155 of file VectorSpringForceField.h.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray.

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::createDefaultSprings ( ) [inline]

Definition at line 198 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::_topology, sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::m_stiffness, sofa::component::forcefield::VectorSpringForceField< DataTypes >::m_viscosity, sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray.

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

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 328 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::_topology, sofa::component::forcefield::VectorSpringForceField< DataTypes >::edgeArray, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::topology::BaseMeshTopology::getEdge(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1, sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate2, sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::useTopology.

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::VectorSpringForceField< DataTypes >::getObject1 ( ) [inline]

Definition at line 119 of file VectorSpringForceField.h.

References sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate1.

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

template<class DataTypes >

core::componentmodel::behavior::MechanicalState<DataTypes>* sofa::component::forcefield::VectorSpringForceField< DataTypes >::getObject2 ( ) [inline]

Definition at line 120 of file VectorSpringForceField.h.

References sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::mstate2.

template<class DataTypes >

virtual double sofa::component::forcefield::VectorSpringForceField< DataTypes >::getPotentialEnergy	(	const VecCoord &	x1,
		const VecCoord &	x2
	)			`[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::PairInteractionForceField< DataTypes >.

Definition at line 135 of file VectorSpringForceField.h.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::m_potentialEnergy.

template<class DataTypes >

const topology::EdgeData<Spring>& sofa::component::forcefield::VectorSpringForceField< DataTypes >::getSpringArray ( ) const [inline]

Definition at line 146 of file VectorSpringForceField.h.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray.

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

template<class DataTypes >

Real sofa::component::forcefield::VectorSpringForceField< DataTypes >::getStiffness ( ) const [inline]

Definition at line 138 of file VectorSpringForceField.h.

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

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

template<class DataTypes >

const Real sofa::component::forcefield::VectorSpringForceField< DataTypes >::getViscosity ( ) const [inline]

Definition at line 142 of file VectorSpringForceField.h.

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

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

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::handleEvent ( Event * e ) [inline, virtual]

Handle an event.

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

Definition at line 214 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::_topology, sofa::component::forcefield::VectorSpringForceField< DataTypes >::edgeArray, sofa::component::forcefield::VectorSpringForceField< DataTypes >::edgeMod, sofa::core::componentmodel::topology::BaseMeshTopology::firstChange(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbEdges(), sofa::core::componentmodel::topology::BaseMeshTopology::lastChange(), sofa::component::topology::EdgeSetTopologyModifier::removeEdges(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray, and sofa::component::forcefield::VectorSpringForceField< DataTypes >::useTopology.

template<class DataTypes >

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

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

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

Definition at line 156 of file VectorSpringForceField.inl.

template<class DataTypes >

bool sofa::component::forcefield::VectorSpringForceField< DataTypes >::load ( const char * filename ) [inline]

Definition at line 99 of file VectorSpringForceField.inl.

References sofa::helper::io::MassSpringLoader::load().

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

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::resizeArray ( unsigned int n ) [inline, protected]

Definition at line 110 of file VectorSpringForceField.inl.

References sofa::component::forcefield::VectorSpringForceField< DataTypes >::springArray.

template<class DataTypes >

void sofa::component::forcefield::VectorSpringForceField< DataTypes >::springCreationFunction	(	int	,
		void *	param,
		Spring &	t,
		const topology::Edge &	e,
		const sofa::helper::vector< unsigned int > &	ancestors,
		const sofa::helper::vector< double > &	coefs
	)			`[inline, static, protected]`