sofa::core::componentmodel::behavior::BaseMechanicalState Class Reference

Component storing all state vectors of a simulated body (position, velocity, etc). More...

#include <BaseMechanicalState.h>

Inheritance diagram for sofa::core::componentmodel::behavior::BaseMechanicalState:

Collaboration diagram for sofa::core::componentmodel::behavior::BaseMechanicalState:


Integration related methods
typedef helper::vector < std::pair< VecId, helper::vector< std::pair < VecId, double > > > >	VMultiOp
	Data structure describing a set of linear operation on vectors.
virtual void	beginIntegration (double)
	Called at the beginning of each integration step.
virtual void	endIntegration (double)
	Called at the end of each iteration step.
virtual void	resetForce ()=0
	Set F = 0.
virtual void	resetConstraint ()=0
	Reset the constraint matrix.
virtual void	accumulateForce ()
	Add stored external forces to F.
virtual void	accumulateDf ()
	Add external forces derivatives to F.
virtual void	applyTranslation (const double dx, const double dy, const double dz)=0
	Translate the current state.
virtual void	applyRotation (const double, const double, const double)
	Rotate the current state This method is optional, it is used when the user want to interactively change the position of an object using Euler angles.
virtual void	applyRotation (const defaulttype::Quat q)=0
	Rotate the current state.
virtual void	applyScale (const double s)=0
	Scale the current state.
virtual void	writeX (std::ostream &out)=0
virtual void	readX (std::istream &in)=0
virtual double	compareX (std::istream &in)=0
virtual void	writeV (std::ostream &out)=0
virtual void	readV (std::istream &in)=0
virtual double	compareV (std::istream &in)=0
virtual bool	addBBox (double , double )
virtual void	vAvail (VecId &v)=0
	Increment the index of the given VecId, so that all 'allocated' vectors in this state have a lower index.
virtual void	vAlloc (VecId v)=0
	Allocate a new temporary vector.
virtual void	vFree (VecId v)=0
	Free a temporary vector.
virtual void	vOp (VecId v, VecId a=VecId::null(), VecId b=VecId::null(), double f=1.0)=0
	Compute a linear operation on vectors : v = a + b * f.
virtual void	vMultiOp (const VMultiOp &ops)
	Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$.
virtual double	vDot (VecId a, VecId b)=0
	Compute the scalar products between two vectors.
virtual void	vThreshold (VecId a, double threshold)=0
	Apply a threshold to all entries.
virtual void	setX (VecId v)=0
	Make the position vector point to the identified vector.
virtual void	setXfree (VecId v)=0
	Make the free-motion position vector point to the identified vector.
virtual void	setVfree (VecId v)=0
	Make the free-motion velocity vector point to the identified vector.
virtual void	setV (VecId v)=0
	Make the velocity vector point to the identified vector.
virtual void	setF (VecId v)=0
	Make the force vector point to the identified vector.
virtual void	setDx (VecId v)=0
	Make the displacement vector point to the identified vector.
virtual void	setC (VecId v)=0
	Make the holonomic constraint system matrix point to either holonomic Constraints or nonHolonomic Constraints.
virtual void	getCompliance (double **)
	new : get compliance on the constraints
virtual void	applyContactForce (double *)
	apply contact force AND compute the subsequent dX
virtual void	resetContactForce (void)
virtual void	addDxToCollisionModel (void)=0
virtual void	contributeToMatrixDimension (unsigned int const, unsigned int const)=0
	Add the Mechanical State Dimension [DOF number * DOF dimension] to the global matrix dimension.
virtual void	loadInBaseVector (defaulttype::BaseVector *, VecId, unsigned int &)=0
	Load local mechanical data stored in the state in a global BaseVector basically stored in solvers.
virtual void	addBaseVectorToState (VecId, defaulttype::BaseVector *, unsigned int &)=0
	Add data stored in a BaseVector to a local mechanical vector of the MechanicalState.
virtual void	setOffset (unsigned int &)=0
	Update offset index during the subgraph traversal.
Data Structures
class	VecId
	Identify one vector stored in MechanicalState. More...
Public Member Functions
	BaseMechanicalState ()
virtual	~BaseMechanicalState ()
virtual void	resize (int vsize)=0
	Resize all stored vector.
virtual int	getSize () const
	functions that allows to have access to the geometry without a template class : not efficient
virtual double	getPX (int) const
virtual double	getPY (int) const
virtual double	getPZ (int) const
Data output
virtual void	printDOF (VecId, std::ostream &=std::cerr)=0
virtual void	initGnuplot (const std::string)
virtual void	exportGnuplot (double)
virtual unsigned	printDOFWithElapsedTime (VecId, unsigned=0, unsigned=0, std::ostream &=std::cerr)

Detailed Description

Component storing all state vectors of a simulated body (position, velocity, etc).

This class only contains the data of the body and not any of its active computations, which are handled by the Mass, ForceField, and Constraint components.

Two types of vectors are used :

```
 VecCoord 
```
: containing positions.
```
 VecDeriv 
```
: derivative values, i.e. velocity, forces, displacements. In most cases they are the same (i.e. 3D/2D point particles), but they can be different (rigid frames for instance).

Several pre-defined vectors are stored :

```
 position 
```
```
 velocity 
```
```
 force 
```
```
 dx 
```
(displacement)

Other vectors can be allocated to store other temporary values. Vectors can be assigned efficiently by just swapping pointers.

In addition to state vectors, the current constraint system matrix is also stored, containing the coefficient of each constraint defined over the DOFs in this body.

Definition at line 79 of file BaseMechanicalState.h.

Member Typedef Documentation

typedef helper::vector< std::pair< VecId, helper::vector< std::pair< VecId, double > > > > sofa::core::componentmodel::behavior::BaseMechanicalState::VMultiOp

Data structure describing a set of linear operation on vectors.

See also:: vMultiOp

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 201 of file BaseMechanicalState.h.

Constructor & Destructor Documentation

sofa::core::componentmodel::behavior::BaseMechanicalState::BaseMechanicalState ( ) [inline]

Definition at line 82 of file BaseMechanicalState.h.

virtual sofa::core::componentmodel::behavior::BaseMechanicalState::~BaseMechanicalState ( ) [inline, virtual]

Definition at line 84 of file BaseMechanicalState.h.

Member Function Documentation

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::accumulateDf ( ) [inline, virtual]

Add external forces derivatives to F.

Definition at line 115 of file BaseMechanicalState.h.

Referenced by sofa::simulation::MechanicalAddMBKdxVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalComputeDfVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalAddMBKdxVisitor::fwdMechanicalState(), and sofa::simulation::MechanicalComputeDfVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::accumulateForce ( ) [inline, virtual]

Add stored external forces to F.

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 112 of file BaseMechanicalState.h.

Referenced by sofa::simulation::MechanicalComputeContactForceVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalComputeForceVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalComputeContactForceVisitor::fwdMechanicalState(), and sofa::simulation::MechanicalComputeForceVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::addBaseVectorToState	(	VecId	,
		defaulttype::BaseVector *	,
		unsigned int &
	)			`[pure virtual]`

Add data stored in a BaseVector to a local mechanical vector of the MechanicalState.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalMultiVectorPeqBaseVectorVisitor::fwdMechanicalState().

virtual bool sofa::core::componentmodel::behavior::BaseMechanicalState::addBBox	(	double *	,
		double *
	)			`[inline, virtual]`

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, sofa::component::MechanicalObject< TDataTypes >, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< DataTypes >, and sofa::component::MechanicalObject< DataTypes >.

Definition at line 140 of file BaseMechanicalState.h.

Referenced by sofa::simulation::VisualComputeBBoxVisitor::processMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::addDxToCollisionModel ( void ) [pure virtual]

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalPropagateAndAddDxVisitor::fwdMappedMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::applyContactForce ( double * ) [inline, virtual]

apply contact force AND compute the subsequent dX

Definition at line 292 of file BaseMechanicalState.h.

Referenced by sofa::component::odesolver::MechanicalApplyContactForceVisitor::fwdMappedMechanicalState(), and sofa::component::odesolver::MechanicalApplyContactForceVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::applyRotation ( const defaulttype::Quat q ) [pure virtual]

Rotate the current state.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, sofa::component::MechanicalObject< TDataTypes >, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< DataTypes >, and sofa::component::MechanicalObject< DataTypes >.

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::applyRotation	(	const	double,
		const	double,
		const	double
	)			`[inline, virtual]`

Rotate the current state This method is optional, it is used when the user want to interactively change the position of an object using Euler angles.

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 123 of file BaseMechanicalState.h.

Referenced by sofa::simulation::TransformationVisitor::processMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::applyScale ( const double s ) [pure virtual]

Scale the current state.

Implemented in sofa::component::collision::TSphereModel< TDataTypes >, sofa::component::collision::SphereTreeModel, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::TransformationVisitor::processMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::applyTranslation	(	const double	dx,
		const double	dy,
		const double	dz
	)			`[pure virtual]`

Translate the current state.

Implemented in sofa::component::collision::RayModel, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::TransformationVisitor::processMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::beginIntegration ( double ) [inline, virtual]

Called at the beginning of each integration step.

Definition at line 100 of file BaseMechanicalState.h.

Referenced by sofa::simulation::MechanicalBeginIntegrationVisitor::fwdMappedMechanicalState(), and sofa::simulation::MechanicalBeginIntegrationVisitor::fwdMechanicalState().

virtual double sofa::core::componentmodel::behavior::BaseMechanicalState::compareV ( std::istream & in ) [pure virtual]

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::component::misc::CompareState::processCompareState().

virtual double sofa::core::componentmodel::behavior::BaseMechanicalState::compareX ( std::istream & in ) [pure virtual]

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::component::misc::CompareState::processCompareState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::contributeToMatrixDimension	(	unsigned int *	const,
		unsigned int *	const
	)			`[pure virtual]`

Add the Mechanical State Dimension [DOF number * DOF dimension] to the global matrix dimension.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalGetMatrixDimensionVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::endIntegration ( double ) [inline, virtual]

Called at the end of each iteration step.

Definition at line 103 of file BaseMechanicalState.h.

Referenced by sofa::simulation::MechanicalEndIntegrationVisitor::fwdMappedMechanicalState(), and sofa::simulation::MechanicalEndIntegrationVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::exportGnuplot ( double ) [inline, virtual]

Definition at line 316 of file BaseMechanicalState.h.

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::getCompliance ( double ** ) [inline, virtual]

new : get compliance on the constraints

Definition at line 290 of file BaseMechanicalState.h.

Referenced by sofa::simulation::MechanicalComputeComplianceVisitor::fwdMappedMechanicalState(), and sofa::simulation::MechanicalComputeComplianceVisitor::fwdMechanicalState().

virtual double sofa::core::componentmodel::behavior::BaseMechanicalState::getPX ( int ) const [inline, virtual]

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 92 of file BaseMechanicalState.h.

Referenced by sofa::component::visualmodel::VisualModelImpl::computeMesh().

virtual double sofa::core::componentmodel::behavior::BaseMechanicalState::getPY ( int ) const [inline, virtual]

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 93 of file BaseMechanicalState.h.

Referenced by sofa::component::visualmodel::VisualModelImpl::computeMesh().

virtual double sofa::core::componentmodel::behavior::BaseMechanicalState::getPZ ( int ) const [inline, virtual]

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 94 of file BaseMechanicalState.h.

Referenced by sofa::component::visualmodel::VisualModelImpl::computeMesh().

virtual int sofa::core::componentmodel::behavior::BaseMechanicalState::getSize ( ) const [inline, virtual]

functions that allows to have access to the geometry without a template class : not efficient

Reimplemented in sofa::component::collision::TSphereModel< TDataTypes >, sofa::component::collision::SphereTreeModel, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 91 of file BaseMechanicalState.h.

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::initGnuplot ( const std::string ) [inline, virtual]

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 315 of file BaseMechanicalState.h.

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::loadInBaseVector	(	defaulttype::BaseVector *	,
		VecId	,
		unsigned int &
	)			`[pure virtual]`

Load local mechanical data stored in the state in a global BaseVector basically stored in solvers.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalMultiVector2BaseVectorVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::printDOF	(	VecId	,
		std::ostream &	= `std::cerr`
	)			`[pure virtual]`

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

virtual unsigned sofa::core::componentmodel::behavior::BaseMechanicalState::printDOFWithElapsedTime	(	VecId	,
		unsigned	= `0`,
		unsigned	= `0`,
		std::ostream &	= `std::cerr`
	)			`[inline, virtual]`

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 317 of file BaseMechanicalState.h.

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::readV ( std::istream & in ) [pure virtual]

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::component::misc::ReadState::processReadState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::readX ( std::istream & in ) [pure virtual]

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::component::misc::ReadState::processReadState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::resetConstraint ( ) [pure virtual]

Reset the constraint matrix.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalResetConstraintVisitor::fwdMappedMechanicalState(), and sofa::simulation::MechanicalResetConstraintVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::resetContactForce ( void ) [inline, virtual]

Definition at line 294 of file BaseMechanicalState.h.

Referenced by sofa::component::odesolver::MechanicalResetContactForceVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::resetForce ( ) [pure virtual]

Set F = 0.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalAddMDxVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalResetForceVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalPropagateDxAndResetForceVisitor::fwdMappedMechanicalState(), sofa::component::odesolver::MechanicalResetContactForceVisitor::fwdMappedMechanicalState(), sofa::simulation::MechanicalResetForceVisitor::fwdMechanicalState(), and sofa::simulation::MechanicalPropagateDxAndResetForceVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::resize ( int vsize ) [pure virtual]

Resize all stored vector.

Implemented in sofa::component::collision::RayModel, sofa::component::collision::TSphereModel< TDataTypes >, sofa::component::collision::SphereTreeModel, sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::component::collision::SubsetContactMapper< sofa::component::collision::TSphereModel, DataTypes >::addPoint(), sofa::component::collision::RigidContactMapper< sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::ParticleSource< TDataTypes >::animateBegin(), sofa::component::ParticleSink< TDataTypes >::animateBegin(), sofa::filemanager::pml::PMLStiffSpringForceField::createMechanicalState(), sofa::filemanager::pml::PMLMappedBody::createMechanicalState(), sofa::filemanager::pml::PMLFemForceField::createMechanicalState(), sofa::filemanager::pml::PMLRigidBody::createVisualModel(), SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), sofa::filemanager::pml::PMLStiffSpringForceField::FusionBody(), sofa::filemanager::pml::PMLFemForceField::FusionBody(), sofa::component::ParticleSource< TDataTypes >::reset(), sofa::component::collision::SubsetContactMapper< sofa::component::collision::TSphereModel, DataTypes >::resize(), and sofa::component::collision::RigidContactMapper< sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel, DataTypes >::resize().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setC ( VecId v ) [pure virtual]

Make the holonomic constraint system matrix point to either holonomic Constraints or nonHolonomic Constraints.

To reset it to the default storage or to make it point to holonomicConstraints use

 setDx(VecId::holonomicC())

To make it point to nonNolonomicConstraints use

 setC(VecId::NonHolonomicC())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setDx ( VecId v ) [pure virtual]

Make the displacement vector point to the identified vector.

To reset it to the default storage use

 setDx(VecId::dx())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::simulation::MechanicalApplyConstraintsVisitor::fwdMechanicalState(), sofa::simulation::MechanicalAccFromFVisitor::fwdMechanicalState(), sofa::simulation::MechanicalAddMDxVisitor::fwdMechanicalState(), sofa::simulation::MechanicalPropagateDxAndResetForceVisitor::fwdMechanicalState(), and sofa::simulation::MechanicalPropagateDxVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setF ( VecId v ) [pure virtual]

Make the force vector point to the identified vector.

To reset it to the default storage use

 setF(VecId::force())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalComputeContactForceVisitor::fwdMechanicalState(), sofa::simulation::MechanicalAddMBKdxVisitor::fwdMechanicalState(), sofa::simulation::MechanicalComputeDfVisitor::fwdMechanicalState(), sofa::simulation::MechanicalComputeForceVisitor::fwdMechanicalState(), sofa::simulation::MechanicalResetForceVisitor::fwdMechanicalState(), sofa::simulation::MechanicalAccFromFVisitor::fwdMechanicalState(), sofa::simulation::MechanicalAddMDxVisitor::fwdMechanicalState(), and sofa::simulation::MechanicalPropagateDxAndResetForceVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setOffset ( unsigned int & ) [pure virtual]

Update offset index during the subgraph traversal.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalAddMBK_ToMatrixVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setV ( VecId v ) [pure virtual]

Make the velocity vector point to the identified vector.

To reset it to the default storage use

 setV(VecId::velocity())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalPropagatePositionAndVelocityVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setVfree ( VecId v ) [pure virtual]

Make the free-motion velocity vector point to the identified vector.

To reset it to the default storage use

 setV(VecId::freeVelocity())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalPropagateFreePositionVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setX ( VecId v ) [pure virtual]

Make the position vector point to the identified vector.

To reset it to the default storage use

 setX(VecId::position())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalPropagatePositionAndVelocityVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::setXfree ( VecId v ) [pure virtual]

Make the free-motion position vector point to the identified vector.

To reset it to the default storage use

 setV(VecId::freePosition())

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalPropagateFreePositionVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::vAlloc ( VecId v ) [pure virtual]

Allocate a new temporary vector.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addDForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), and sofa::simulation::MechanicalVAllocVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::vAvail ( VecId & v ) [pure virtual]

Increment the index of the given VecId, so that all 'allocated' vectors in this state have a lower index.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addDForce(), and sofa::simulation::MechanicalVAvailVisitor::fwdMechanicalState().

virtual double sofa::core::componentmodel::behavior::BaseMechanicalState::vDot	(	VecId	a,
		VecId	b
	)			`[pure virtual]`

Compute the scalar products between two vectors.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::simulation::MechanicalVDotVisitor::fwdMechanicalState(), and sofa::simulation::MechanicalVDotVisitor::processNodeTopDown().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::vFree ( VecId v ) [pure virtual]

Free a temporary vector.

Implemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Referenced by sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addDForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), and sofa::simulation::MechanicalVFreeVisitor::fwdMechanicalState().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::vMultiOp ( const VMultiOp & ops ) [inline, virtual]

Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$.

This is used to compute in on steps operations such as $v = v + a*dt, x = x + v*dt$. Note that if the result vector appears inside the expression, it must be the first operand. By default this method decompose the computation into multiple vOp calls.

Reimplemented in sofa::component::MechanicalObject< DataTypes >, sofa::component::MechanicalObject< sofa::defaulttype::StdVectorTypes >, sofa::component::MechanicalObject< Rigid3Types >, and sofa::component::MechanicalObject< TDataTypes >.

Definition at line 208 of file BaseMechanicalState.h.

References sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::null(), and vOp().

Referenced by sofa::simulation::MechanicalVMultiOpVisitor::fwdMechanicalState(), and sofa::component::MechanicalObject< DataTypes >::vMultiOp().

virtual void sofa::core::componentmodel::behavior::BaseMechanicalState::vOp	(	VecId	v,
		VecId	a = `VecId::null()`,
		VecId	b = `VecId::null()`,
		double	f = `1.0`
	)			`[pure virtual]`