sofa::core::componentmodel::behavior::Mass< DataTypes > Class Template Reference
Component responsible for mass-related computations (gravity, acceleration). More...
#include <Mass.h>
Vector operations | |
| std::ofstream * | m_gnuplotFileEnergy |
| stream to export Kinematic, Potential and Mechanical Energy to gnuplot files | |
| virtual void | addMDx (double factor=1.0) |
| f += factor M dx | |
| virtual void | accFromF () |
| dx = M^-1 f | |
| virtual void | addMDx (VecDeriv &f, const VecDeriv &dx, double factor=1.0)=0 |
| f += factor M dx | |
| virtual void | accFromF (VecDeriv &a, const VecDeriv &f)=0 |
| dx = M^-1 f | |
| virtual void | addDForce (VecDeriv &, const VecDeriv &, double, double) |
| Mass forces (gravity) often have null derivative. | |
| virtual double | getKineticEnergy () |
| vMv/2 using dof->getV() | |
| virtual double | getKineticEnergy (const VecDeriv &v)=0 |
| vMv/2 | |
| virtual void | addMBKdx (double mFactor, double bFactor, double kFactor) |
| Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients. | |
| virtual void | addMBKv (double mFactor, double bFactor, double kFactor) |
| Accumulate the contribution of M, B, and/or K matrices multiplied by the v vector with the given coefficients. | |
| virtual void | addMBKToMatrix (sofa::defaulttype::BaseMatrix *matrix, double mFact, double bFact, double kFact, unsigned int &offset) |
| Compute the system matrix corresponding to m M + b B + k K. | |
| virtual void | initGnuplot (const std::string path) |
| initialization to export kinetic and potential energy to gnuplot files format | |
| virtual void | exportGnuplot (double time) |
| export kinetic and potential energy state at "time" to a gnuplot file | |
| virtual void | addGravityToV (double dt)=0 |
| perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v. | |
Public Types | |
| typedef DataTypes::VecCoord | VecCoord |
| typedef DataTypes::VecDeriv | VecDeriv |
| typedef DataTypes::Coord | Coord |
| typedef DataTypes::Deriv | Deriv |
Public Member Functions | |
| Mass (MechanicalState< DataTypes > *mm=NULL) | |
| virtual | ~Mass () |
Detailed Description
template<class DataTypes>
class sofa::core::componentmodel::behavior::Mass< DataTypes >
Component responsible for mass-related computations (gravity, acceleration).
Mass can be defined either as a scalar, vector, or a full mass-matrix. It is responsible for converting forces to accelerations (for explicit integrators), or displacements to forces (for implicit integrators).
It is also a ForceField, computing gravity-related forces.
Definition at line 56 of file Mass.h.
Member Typedef Documentation
| typedef DataTypes::Coord sofa::core::componentmodel::behavior::Mass< DataTypes >::Coord |
| typedef DataTypes::Deriv sofa::core::componentmodel::behavior::Mass< DataTypes >::Deriv |
| typedef DataTypes::VecCoord sofa::core::componentmodel::behavior::Mass< DataTypes >::VecCoord |
| typedef DataTypes::VecDeriv sofa::core::componentmodel::behavior::Mass< DataTypes >::VecDeriv |
Constructor & Destructor Documentation
| sofa::core::componentmodel::behavior::Mass< DataTypes >::Mass | ( | MechanicalState< DataTypes > * | mm = NULL |
) | [inline] |
Definition at line 46 of file Mass.inl.
References sofa::core::objectmodel::Base::initData(), and sofa::core::componentmodel::behavior::BaseMass::m_separateGravity.
| sofa::core::componentmodel::behavior::Mass< DataTypes >::~Mass | ( | ) | [inline, virtual] |
Member Function Documentation
| virtual void sofa::core::componentmodel::behavior::Mass< DataTypes >::accFromF | ( | VecDeriv & | a, | |
| const VecDeriv & | f | |||
| ) | [pure virtual] |
dx = M^-1 f
This method must be implemented by the component.
Implemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >, sofa::component::mass::MatrixMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, and sofa::component::mass::UniformMass< DataTypes, MassType >.
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::accFromF | ( | ) | [inline, virtual] |
dx = M^-1 f
This method retrieves the force and dx vector and call the internal accFromF(VecDeriv&,const VecDeriv&) method implemented by the component.
Implements sofa::core::componentmodel::behavior::BaseMass.
Definition at line 65 of file Mass.inl.
References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.
| virtual void sofa::core::componentmodel::behavior::Mass< DataTypes >::addDForce | ( | VecDeriv & | , | |
| const VecDeriv & | , | |||
| double | , | |||
| double | ||||
| ) | [inline, virtual] |
Mass forces (gravity) often have null derivative.
Reimplemented from sofa::core::componentmodel::behavior::ForceField< DataTypes >.
| virtual void sofa::core::componentmodel::behavior::Mass< DataTypes >::addGravityToV | ( | double | dt | ) | [pure 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::BaseMass.
Implemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >, sofa::component::mass::MatrixMass< DataTypes, MassType >, and sofa::component::mass::UniformMass< DataTypes, MassType >.
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKdx | ( | double | mFactor, | |
| double | bFactor, | |||
| double | kFactor | |||
| ) | [inline, virtual] |
Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients.
This method computes $ df += mFactor M dx + bFactor B dx + kFactor K dx $ For masses, it calls both addMdx and addDForce (which is often empty).
- Parameters:
-
mFact coefficient for mass contributions (i.e. second-order derivatives term in the ODE) bFact coefficient for damping contributions (i.e. first derivatives term in the ODE) kFact coefficient for stiffness contributions (i.e. DOFs term in the ODE)
Reimplemented from sofa::core::componentmodel::behavior::BaseForceField.
Definition at line 80 of file Mass.inl.
References sofa::core::componentmodel::behavior::Mass< DataTypes >::addMDx().
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKToMatrix | ( | sofa::defaulttype::BaseMatrix * | matrix, | |
| double | mFact, | |||
| double | bFact, | |||
| double | kFact, | |||
| unsigned int & | offset | |||
| ) | [inline, virtual] |
Compute the system matrix corresponding to m M + b B + k K.
- Parameters:
-
matrix matrix to add the result to mFact coefficient for mass contributions (i.e. second-order derivatives term in the ODE) bFact coefficient for damping contributions (i.e. first derivatives term in the ODE) kFact coefficient for stiffness contributions (i.e. DOFs term in the ODE) offset current row/column offset
Reimplemented from sofa::core::componentmodel::behavior::BaseForceField.
Definition at line 99 of file Mass.inl.
References sofa::core::componentmodel::behavior::BaseMass::addMToMatrix().
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKv | ( | double | mFactor, | |
| double | bFactor, | |||
| double | kFactor | |||
| ) | [inline, virtual] |
Accumulate the contribution of M, B, and/or K matrices multiplied by the v vector with the given coefficients.
This method computes $ df += mFactor M v + bFactor B v + kFactor K v $ For masses, it calls both addMdx and addDForce (which is often empty).
- Parameters:
-
mFact coefficient for mass contributions (i.e. second-order derivatives term in the ODE) bFact coefficient for damping contributions (i.e. first derivatives term in the ODE) kFact coefficient for stiffness contributions (i.e. DOFs term in the ODE)
Reimplemented from sofa::core::componentmodel::behavior::BaseForceField.
Definition at line 88 of file Mass.inl.
References sofa::core::componentmodel::behavior::Mass< DataTypes >::addMDx(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.
| virtual void sofa::core::componentmodel::behavior::Mass< DataTypes >::addMDx | ( | VecDeriv & | f, | |
| const VecDeriv & | dx, | |||
| double | factor = 1.0 | |||
| ) | [pure virtual] |
f += factor M dx
This method must be implemented by the component.
Implemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >, sofa::component::mass::MatrixMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, sofa::component::mass::UniformMass< DataTypes, MassType >, and sofa::component::mass::UniformMass< DataTypes, MassType >.
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::addMDx | ( | double | factor = 1.0 |
) | [inline, virtual] |
f += factor M dx
This method retrieves the force and dx vector and call the internal addMDx(VecDeriv&,const VecDeriv&) method implemented by the component.
Implements sofa::core::componentmodel::behavior::BaseMass.
Definition at line 58 of file Mass.inl.
References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.
Referenced by sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKdx(), and sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKv().
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::exportGnuplot | ( | double | time | ) | [inline, virtual] |
export kinetic and potential energy state at "time" to a gnuplot file
Implements sofa::core::componentmodel::behavior::BaseMass.
Definition at line 118 of file Mass.inl.
References sofa::core::componentmodel::behavior::Mass< DataTypes >::getKineticEnergy(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::getPotentialEnergy(), and sofa::core::componentmodel::behavior::Mass< DataTypes >::m_gnuplotFileEnergy.
| virtual double sofa::core::componentmodel::behavior::Mass< DataTypes >::getKineticEnergy | ( | const VecDeriv & | v | ) | [pure virtual] |
vMv/2
This method must be implemented by the component.
Implemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >, sofa::component::mass::MatrixMass< DataTypes, MassType >, and sofa::component::mass::UniformMass< DataTypes, MassType >.
| double sofa::core::componentmodel::behavior::Mass< DataTypes >::getKineticEnergy | ( | ) | [inline, virtual] |
vMv/2 using dof->getV()
This method retrieves the velocity vector and call the internal getKineticEnergy(const VecDeriv&) method implemented by the component.
Implements sofa::core::componentmodel::behavior::BaseMass.
Definition at line 72 of file Mass.inl.
References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.
Referenced by sofa::core::componentmodel::behavior::Mass< DataTypes >::exportGnuplot().
| void sofa::core::componentmodel::behavior::Mass< DataTypes >::initGnuplot | ( | const std::string | path | ) | [inline, virtual] |
initialization to export kinetic and potential energy to gnuplot files format
Implements sofa::core::componentmodel::behavior::BaseMass.
Definition at line 107 of file Mass.inl.
References sofa::core::objectmodel::Base::getName(), and sofa::core::componentmodel::behavior::Mass< DataTypes >::m_gnuplotFileEnergy.
Field Documentation
std::ofstream* sofa::core::componentmodel::behavior::Mass< DataTypes >::m_gnuplotFileEnergy [protected] |
stream to export Kinematic, Potential and Mechanical Energy to gnuplot files
Definition at line 155 of file Mass.h.
Referenced by sofa::core::componentmodel::behavior::Mass< DataTypes >::exportGnuplot(), and sofa::core::componentmodel::behavior::Mass< DataTypes >::initGnuplot().
The documentation for this class was generated from the following files:
