sofa::component::mass::MatrixMass< DataTypes, MassType > Class Template Reference

Mass Matrices. More...

#include <MatrixMass.h>

Inheritance diagram for sofa::component::mass::MatrixMass< DataTypes, MassType >:

Collaboration diagram for sofa::component::mass::MatrixMass< DataTypes, MassType >:


Public Types
typedef core::componentmodel::behavior::Mass < DataTypes >	Inherited
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef DataTypes::Real	Real
typedef helper::vector< MassType >	VecMass
Public Member Functions
	MatrixMass ()
	~MatrixMass ()
void	clear ()
void	resize (int vsize)
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
virtual void	reinit ()
	Update method called when variables used in precomputation are modified.
void	addMDx (VecDeriv &f, const VecDeriv &dx, double factor=1.0)
	f += factor M dx
void	accFromF (VecDeriv &a, const VecDeriv &f)
	dx = M^-1 f
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.
void	addGravityToV (double dt)
	perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v.
double	getKineticEnergy (const VecDeriv &v)
	vMv/2 using dof->getV()
double	getPotentialEnergy (const VecCoord &x)
	Mgx potential in a uniform gravity field, null at origin.
void	addMToMatrix (defaulttype::BaseMatrix *mat, double mFact, unsigned int &offset)
	Add Mass contribution to global Matrix assembling.
double	getElementMass (unsigned int index)
	return the mass relative to the DOF index
Data Fields
Data< VecMass >	f_mass
Data< bool >	_lumped
Data< Real >	_defaultValue
VecMass	_lumpedMasses
	lumped mass matrices
const VecMass *	_usedMassMatrices
	what VecMass is used to represent matrices ? f_mass.getValue() or _lumpedMasses ?
Protected Member Functions
MassType	diagonalMass (const Real &m)
	return a diagonal matrix mass with value m on all the diagonal
MassType	lump (const MassType &m)
	lump the matrix m, ie sum line on diagonal
void	lumpMatrices ()
	lump all mass matrices
void	defaultDiagonalMatrices ()
	compute default diagonal matrices
Protected Attributes
bool	_usingDefaultDiagonalMatrices
	default diagonal matrices are used

Detailed Description

template<class DataTypes, class MassType>
class sofa::component::mass::MatrixMass< DataTypes, MassType >

Mass Matrices.

By default a diagonal matrix is created with diagonal to _defaultValue. Else matrices have to be given in the .scn file. It is possible to use lumped matrices.

Definition at line 54 of file MatrixMass.h.

Member Typedef Documentation

template<class DataTypes , class MassType >

typedef DataTypes::Coord sofa::component::mass::MatrixMass< DataTypes, MassType >::Coord

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

Definition at line 60 of file MatrixMass.h.

template<class DataTypes , class MassType >

typedef DataTypes::Deriv sofa::component::mass::MatrixMass< DataTypes, MassType >::Deriv

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

Definition at line 61 of file MatrixMass.h.

template<class DataTypes , class MassType >

typedef core::componentmodel::behavior::Mass<DataTypes> sofa::component::mass::MatrixMass< DataTypes, MassType >::Inherited

Definition at line 57 of file MatrixMass.h.

template<class DataTypes , class MassType >

typedef DataTypes::Real sofa::component::mass::MatrixMass< DataTypes, MassType >::Real

Definition at line 62 of file MatrixMass.h.

template<class DataTypes , class MassType >

typedef DataTypes::VecCoord sofa::component::mass::MatrixMass< DataTypes, MassType >::VecCoord

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

Definition at line 58 of file MatrixMass.h.

template<class DataTypes , class MassType >

typedef DataTypes::VecDeriv sofa::component::mass::MatrixMass< DataTypes, MassType >::VecDeriv

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

Definition at line 59 of file MatrixMass.h.

template<class DataTypes , class MassType >

typedef helper::vector<MassType> sofa::component::mass::MatrixMass< DataTypes, MassType >::VecMass

Definition at line 64 of file MatrixMass.h.

Constructor & Destructor Documentation

template<class DataTypes , class MassType >

sofa::component::mass::MatrixMass< DataTypes, MassType >::MatrixMass ( ) [inline]

Definition at line 77 of file MatrixMass.h.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_lumped, and sofa::core::objectmodel::Base::initData().

template<class DataTypes , class MassType >

sofa::component::mass::MatrixMass< DataTypes, MassType >::~MatrixMass ( ) [inline]

Definition at line 57 of file MatrixMass.inl.

Member Function Documentation

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::accFromF	(	VecDeriv &	a,
		const VecDeriv &	f
	)			`[inline, virtual]`

dx = M^-1 f

This method must be implemented by the component.

Implements sofa::core::componentmodel::behavior::Mass< DataTypes >.

Definition at line 111 of file MatrixMass.inl.

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::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 151 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_usedMassMatrices, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getPositionInWorld(), sofa::core::objectmodel::Data< T >::getValue(), sofa::core::objectmodel::BaseContext::getVelocityBasedLinearAccelerationInWorld(), sofa::core::objectmodel::BaseContext::getVelocityInWorld(), sofa::core::componentmodel::behavior::inertiaForce(), and sofa::core::componentmodel::behavior::BaseMass::m_separateGravity.

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::addGravityToV ( double dt ) [inline, virtual]

perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v.

Implements sofa::core::componentmodel::behavior::Mass< DataTypes >.

Definition at line 132 of file MatrixMass.inl.

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

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::addMDx	(	VecDeriv &	f,
		const VecDeriv &	dx,
		double	factor = `1.0`
	)			`[inline, virtual]`

f += factor M dx

This method must be implemented by the component.

Implements sofa::core::componentmodel::behavior::Mass< DataTypes >.

Definition at line 91 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_usedMassMatrices.

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::addMToMatrix	(	defaulttype::BaseMatrix *	mat,
		double	mFact,
		unsigned int &	offset
	)			`[inline, virtual]`

Add Mass contribution to global Matrix assembling.

Implements sofa::core::componentmodel::behavior::BaseMass.

Definition at line 179 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_usedMassMatrices.

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::clear ( ) [inline]

Definition at line 66 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::f_mass.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::defaultDiagonalMatrices ( ) [inline, protected]

compute default diagonal matrices

Definition at line 281 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_defaultValue, sofa::component::mass::MatrixMass< DataTypes, MassType >::_usingDefaultDiagonalMatrices, sofa::component::mass::MatrixMass< DataTypes, MassType >::diagonalMass(), sofa::component::mass::MatrixMass< DataTypes, MassType >::f_mass, sofa::core::objectmodel::Data< T >::getValue(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

MassType sofa::component::mass::MatrixMass< DataTypes, MassType >::diagonalMass ( const Real & m ) [inline, protected]

return a diagonal matrix mass with value m on all the diagonal

Definition at line 251 of file MatrixMass.inl.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::defaultDiagonalMatrices().

template<class DataTypes , class MassType >

double sofa::component::mass::MatrixMass< DataTypes, MassType >::getElementMass ( unsigned int index ) [inline, virtual]

return the mass relative to the DOF index

Implements sofa::core::componentmodel::behavior::BaseMass.

Definition at line 190 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_defaultValue, and sofa::core::objectmodel::Data< T >::getValue().

template<class DataTypes , class MassType >

double sofa::component::mass::MatrixMass< DataTypes, MassType >::getKineticEnergy ( const VecDeriv & v ) [inline, virtual]

vMv/2 using dof->getV()

Implements sofa::core::componentmodel::behavior::Mass< DataTypes >.

Definition at line 117 of file MatrixMass.inl.

template<class DataTypes , class MassType >

double sofa::component::mass::MatrixMass< DataTypes, MassType >::getPotentialEnergy ( const VecCoord & x ) [inline, virtual]

Mgx potential in a uniform gravity field, null at origin.

Implements sofa::core::componentmodel::behavior::ForceField< DataTypes >.

Definition at line 124 of file MatrixMass.inl.

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::init ( void ) [inline, virtual]

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

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

Definition at line 206 of file MatrixMass.inl.

template<class DataTypes , class MassType >

MassType sofa::component::mass::MatrixMass< DataTypes, MassType >::lump ( const MassType & m ) [inline, protected]

lump the matrix m, ie sum line on diagonal

Definition at line 259 of file MatrixMass.inl.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::lumpMatrices().

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::lumpMatrices ( ) [inline, protected]

lump all mass matrices

Definition at line 271 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::_lumpedMasses, sofa::component::mass::MatrixMass< DataTypes, MassType >::f_mass, and sofa::component::mass::MatrixMass< DataTypes, MassType >::lump().

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit ( ) [inline, virtual]

Update method called when variables used in precomputation are modified.

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

Definition at line 231 of file MatrixMass.inl.

template<class DataTypes , class MassType >

void sofa::component::mass::MatrixMass< DataTypes, MassType >::resize ( int vsize ) [inline]

Definition at line 75 of file MatrixMass.inl.

References sofa::component::mass::MatrixMass< DataTypes, MassType >::f_mass.

Field Documentation

template<class DataTypes , class MassType >

Data< Real > sofa::component::mass::MatrixMass< DataTypes, MassType >::_defaultValue

Definition at line 69 of file MatrixMass.h.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::defaultDiagonalMatrices(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::getElementMass().

template<class DataTypes , class MassType >

Data< bool > sofa::component::mass::MatrixMass< DataTypes, MassType >::_lumped

Definition at line 68 of file MatrixMass.h.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), sofa::component::mass::MatrixMass< DataTypes, MassType >::MatrixMass(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

VecMass sofa::component::mass::MatrixMass< DataTypes, MassType >::_lumpedMasses

lumped mass matrices

Definition at line 71 of file MatrixMass.h.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), sofa::component::mass::MatrixMass< DataTypes, MassType >::lumpMatrices(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

const VecMass* sofa::component::mass::MatrixMass< DataTypes, MassType >::_usedMassMatrices

what VecMass is used to represent matrices ? f_mass.getValue() or _lumpedMasses ?

Definition at line 73 of file MatrixMass.h.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::addForce(), sofa::component::mass::MatrixMass< DataTypes, MassType >::addMDx(), sofa::component::mass::MatrixMass< DataTypes, MassType >::addMToMatrix(), sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

bool sofa::component::mass::MatrixMass< DataTypes, MassType >::_usingDefaultDiagonalMatrices [protected]

default diagonal matrices are used

Definition at line 120 of file MatrixMass.h.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::defaultDiagonalMatrices(), sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit().

template<class DataTypes , class MassType >

Data< VecMass > sofa::component::mass::MatrixMass< DataTypes, MassType >::f_mass

Definition at line 67 of file MatrixMass.h.

Referenced by sofa::component::mass::MatrixMass< DataTypes, MassType >::clear(), sofa::component::mass::MatrixMass< DataTypes, MassType >::defaultDiagonalMatrices(), sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), sofa::component::mass::MatrixMass< DataTypes, MassType >::lumpMatrices(), sofa::component::mass::MatrixMass< DataTypes, MassType >::reinit(), and sofa::component::mass::MatrixMass< DataTypes, MassType >::resize().

The documentation for this class was generated from the following files:

modules/sofa/component/mass/MatrixMass.h
modules/sofa/component/mass/MatrixMass.inl

sofa::component::mass::MatrixMass< DataTypes, MassType > Class Template Reference

Public Types

Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Detailed Description

template<class DataTypes, class MassType> class sofa::component::mass::MatrixMass< DataTypes, MassType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation

template<class DataTypes, class MassType>
class sofa::component::mass::MatrixMass< DataTypes, MassType >