sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 > Class Template Reference

#include <InteractionEllipsoidForceField.h>

Inheritance diagram for sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >:

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Collaboration diagram for sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >:

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Data Structures
class	Contact
struct	TempVars
Public Types
enum	{ N = Coord1::static_size }
typedef core::componentmodel::behavior::MixedInteractionForceField < DataTypes1, DataTypes2 >	Inherit
typedef DataTypes1::VecCoord	VecCoord1
typedef DataTypes1::VecDeriv	VecDeriv1
typedef DataTypes1::Coord	Coord1
typedef DataTypes1::Deriv	Deriv1
typedef Coord1::value_type	Real1
typedef DataTypes2::VecCoord	VecCoord2
typedef DataTypes2::VecDeriv	VecDeriv2
typedef DataTypes2::Coord	Coord2
typedef DataTypes2::Deriv	Deriv2
typedef Coord2::value_type	Real2
typedef defaulttype::Mat< N, N, Real1 >	Mat
Public Member Functions
	InteractionEllipsoidForceField ()
void	setStiffness (Real1 stiff)
void	setDamping (Real1 damp)
virtual void	addForce (VecDeriv1 &f1, VecDeriv2 &f2, const VecCoord1 &p1, const VecCoord2 &p2, const VecDeriv1 &v1, const VecDeriv2 &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	addForce2 (VecDeriv1 &f1, VecDeriv2 &f2, const VecCoord1 &p1, const VecCoord2 &p2, const VecDeriv1 &v1, const VecDeriv2 &v2)
virtual void	addDForce (VecDeriv1 &df1, VecDeriv2 &df2, const VecDeriv1 &dx1, const VecDeriv2 &dx2)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual double	getPotentialEnergy (const VecCoord1 &x1, const VecCoord2 &x2)
	Get the potential energy associated to this ForceField.
void	reinit ()
	Update method called when variables used in precomputation are modified.
void	draw ()
	Render internal data of this object, for debugging purposes.
Data Fields
Data< Coord1 >	center
Data< Coord1 >	vradius
Data< Real1 >	stiffness
Data< Real1 >	damping
Data< defaulttype::Vec3f >	color
Data< bool >	bDraw
Data< int >	object2_dof_index
Protected Member Functions
bool	calcF (const Coord1 &p1, const Deriv1 &v1, Deriv1 &f1, Mat &dfdx)
void	initCalcF ()
Protected Attributes
Data< sofa::helper::vector < Contact > >	contacts
InteractionEllipsoidForceFieldInternalData < DataTypes1, DataTypes2 >	data
struct sofa::component::interactionforcefield::InteractionEllipsoidForceField::TempVars	vars
bool	_update_pos_relative
VecCoord1	X1
VecCoord2	X2
Quat	_orientation

Detailed Description

template<class DataTypes1, class DataTypes2>
class sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >

Definition at line 53 of file InteractionEllipsoidForceField.h.

Member Typedef Documentation

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes1::Coord sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Coord1

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 59 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes2::Coord sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Coord2

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 64 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes1::Deriv sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Deriv1

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 60 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes2::Deriv sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Deriv2

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 65 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef core::componentmodel::behavior::MixedInteractionForceField<DataTypes1, DataTypes2> sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Inherit

Definition at line 56 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef defaulttype::Mat<N,N,Real1> sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Mat

Definition at line 69 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef Coord1::value_type sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Real1

Definition at line 61 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef Coord2::value_type sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Real2

Definition at line 66 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes1::VecCoord sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::VecCoord1

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 57 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes2::VecCoord sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::VecCoord2

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 62 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes1::VecDeriv sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::VecDeriv1

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 58 of file InteractionEllipsoidForceField.h.

template<class DataTypes1 , class DataTypes2 >

typedef DataTypes2::VecDeriv sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::VecDeriv2

Reimplemented from sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 63 of file InteractionEllipsoidForceField.h.

Member Enumeration Documentation

template<class DataTypes1 , class DataTypes2 >

anonymous enum

Enumerator:

N

Definition at line 68 of file InteractionEllipsoidForceField.h.

Constructor & Destructor Documentation

template<class DataTypes1 , class DataTypes2 >

sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::InteractionEllipsoidForceField ( ) [inline]

Definition at line 112 of file InteractionEllipsoidForceField.h.

References sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::_orientation, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::_update_pos_relative, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::center, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::TempVars::center, sofa::helper::Quater< Real >::clear(), and sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::vars.

Member Function Documentation

template<class DataTypes1 , class DataTypes2 >

void sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addDForce	(	VecDeriv1 &	df1,
		VecDeriv2 &	df2,
		const VecDeriv1 &	dx1,
		const VecDeriv2 &	dx2
	)			`[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 MixedInteractionForceField::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::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 257 of file InteractionEllipsoidForceField.inl.

References sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::_orientation, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::contacts, sofa::core::objectmodel::Data< T >::getValue(), sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Contact::index, sofa::helper::Quater< Real >::inverseRotate(), sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::Contact::m, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::object2_dof_index, and sofa::helper::Quater< Real >::rotate().

template<class DataTypes1 , class DataTypes2 >

void sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addForce	(	VecDeriv1 &	f1,
		VecDeriv2 &	f2,
		const VecCoord1 &	x1,
		const VecCoord2 &	x2,
		const VecDeriv1 &	v1,
		const VecDeriv2 &	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::MixedInteractionForceField< DataTypes1, DataTypes2 >.

Definition at line 120 of file InteractionEllipsoidForceField.inl.

template<class DataTypes1 , class DataTypes2 >

void sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addForce2	(	VecDeriv1 &	f1,
		VecDeriv2 &	f2,
		const VecCoord1 &	p1,
		const VecCoord2 &	p2,
		const VecDeriv1 &	v1,
		const VecDeriv2 &	v2
	)			`[inline, virtual]`

Definition at line 216 of file InteractionEllipsoidForceField.inl.

References sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::calcF(), sofa::defaulttype::Vec< N, real >::cross(), sofa::core::objectmodel::Data< T >::getValue(), sofa::helper::Quater< Real >::inverseRotate(), sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::object2_dof_index, and sofa::helper::Quater< Real >::rotate().

template<class DataTypes1 , class DataTypes2 >

bool sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::calcF	(	const Coord1 &	p1,
		const Deriv1 &	v1,
		Deriv1 &	f1,
		Mat &	dfdx
	)			`[inline, protected]`

Definition at line 81 of file InteractionEllipsoidForceField.inl.

References sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::TempVars::center, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::damping, force, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::TempVars::inv_r2, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::N, norm(), norm2(), sofa::helper::rabs(), sofa::helper::rsqrt(), sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::TempVars::stiffabs, sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::TempVars::stiffness, and sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::vars.

Referenced by sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addForce(), and sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addForce2().

template<class DataTypes1 , class DataTypes2 >

void sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::draw ( ) [inline, virtual]

Render internal data of this object, for debugging purposes.

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

Definition at line 289 of file InteractionEllipsoidForceField.inl.

template<class DataTypes1 , class DataTypes2 >

double sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::getPotentialEnergy	(	const VecCoord1 &	x1,
		const VecCoord2 &	x2
	)			`[inline, virtual]`