sofa::core::componentmodel::behavior::MechanicalState< TDataTypes > Class Template Reference

Component storing all state vectors of a simulated body (position, velocity, etc), using the datatype specified in the templace. More...

#include <MechanicalState.h>

Inheritance diagram for sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >:

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Collaboration diagram for sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >:

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Public Types

typedef TDataTypes DataTypes
typedef DataTypes::Real Real
 Scalar values (float or double).
typedef DataTypes::Coord Coord
 Position values.
typedef DataTypes::Deriv Deriv
 Derivative values (velocity, forces, displacements).
typedef DataTypes::VecReal VecReal
 Container of scalar values with the same API as sofa::helper::vector.
typedef DataTypes::VecCoord VecCoord
 Container of Coord values with the same API as sofa::helper::vector.
typedef DataTypes::VecDeriv VecDeriv
 Container of Deriv values with the same API as sofa::helper::vector.
typedef DataTypes::SparseDeriv SparseDeriv
 Index + Deriv value (entry of a sparse vector).
typedef DataTypes::SparseVecDeriv SparseVecDeriv
 Sparse vector of Deriv values (defining coefficient of a constraint).
typedef DataTypes::VecConst VecConst
 Vector of constraints (i.e. of SparseVecDeriv).

Public Member Functions

virtual ~MechanicalState ()
virtual VecDeriv * getVfree ()=0
 Return the free-motion velocity vector (read-write access).
virtual VecDeriv * getV ()=0
 Return the current velocity vector (read-write access).
virtual VecDeriv * getF ()=0
 Return the force vector (read-write access).
virtual VecDeriv * getExternalForces ()=0
 Return the external forces vector (read-write access).
virtual VecDeriv * getDx ()=0
 Return the displacement vector (read-write access).
virtual VecConst * getC ()=0
 Return the constraints system matrix (read-write access).
virtual VecCoord * getXfree ()=0
 Return the free-motion position vector (read-write access).
virtual VecCoord * getX ()=0
 Return the current position vector (read-write access).
virtual VecCoord * getX0 ()=0
 Return the current position vector (read-write access).
virtual const VecCoord * getX () const =0
 Return the current position vector (read-only access).
virtual const VecDeriv * getV () const =0
 Return the current velocity vector (read-only access).
virtual const VecDeriv * getF () const =0
 Return the force vector (read-only access).
virtual const VecDeriv * getExternalForces () const =0
 Return the external forces vector (read-write access).
virtual const VecDeriv * getDx () const =0
 Return the displacement vector (read-only access).
virtual const VecConst * getC () const =0
 Return the constraints system matrix (read-only access).
virtual const VecCoord * getXfree () const =0
 Return the free-motion position vector (read-only access).
virtual const VecDeriv * getVfree () const =0
 Return the free-motion velocity vector (read-only access).
virtual const VecCoord * getX0 () const =0
 Return the current position vector (read-only access).
virtual const VecDeriv * getV0 () const =0
 Return the initial velocity vector (read-only access).
virtual VecCoord * getVecCoord (unsigned int index)=0
 Return a VecCoord given its index.
virtual const VecCoord * getVecCoord (unsigned int index) const =0
 Return a VecCoord given its index, or NULL if it does not exists.
virtual VecDeriv * getVecDeriv (unsigned int index)=0
 Return a VecDeriv given its index.
virtual const VecDeriv * getVecDeriv (unsigned int index) const =0
 Return a VecDeriv given its index, or NULL if it does not exists.
virtual VecConst * getVecConst (unsigned int index)=0
 Return a VecConst given its index.
virtual const VecConst * getVecConst (unsigned int index) const =0
 Return a VecConst given its index, or NULL if it does not exists.
virtual void getIndicesInSpace (sofa::helper::vector< unsigned > &, Real, Real, Real, Real, Real, Real) const =0
 Get the indices of the particles located in the given bounding box.
virtual void setConstraintId (unsigned int)=0
 Add a constraint ID.
virtual sofa::helper::vector
< unsigned int > & 		getConstraintId ()=0
 Return the constraint IDs corresponding to the entries in the constraints matrix returned by getC().
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object.

Static Public Member Functions

static std::string templateName (const MechanicalState< DataTypes > *=NULL)
static std::string Name (const State< DataTypes > *=NULL)

Detailed Description

template<class TDataTypes>
class sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >

Component storing all state vectors of a simulated body (position, velocity, etc), using the datatype specified in the templace.

The given DataTypes class should define the following internal types:

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 69 of file MechanicalState.h.

Member Typedef Documentation

template<class TDataTypes >
typedef DataTypes::Coord sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::Coord

Position values.

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 76 of file MechanicalState.h.

template<class TDataTypes >
typedef TDataTypes sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::DataTypes

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

Reimplemented in sofa::component::collision::RayModel, sofa::component::collision::TSphereModel< TDataTypes >, and sofa::component::collision::SphereTreeModel.

Definition at line 72 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::Deriv sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::Deriv

Derivative values (velocity, forces, displacements).

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 78 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::Real sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::Real

Scalar values (float or double).

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 74 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::SparseDeriv sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::SparseDeriv

Index + Deriv value (entry of a sparse vector).

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 86 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::SparseVecDeriv sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::SparseVecDeriv

Sparse vector of Deriv values (defining coefficient of a constraint).

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 88 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::VecConst sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::VecConst

Vector of constraints (i.e. of SparseVecDeriv).

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 90 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::VecCoord sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::VecCoord

Container of Coord values with the same API as sofa::helper::vector.

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 82 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::VecDeriv sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::VecDeriv

Container of Deriv values with the same API as sofa::helper::vector.

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

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

Definition at line 84 of file MechanicalState.h.

template<class TDataTypes >
typedef DataTypes::VecReal sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::VecReal

Container of scalar values with the same API as sofa::helper::vector.

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

Reimplemented in sofa::component::collision::TSphereModel< TDataTypes >.

Definition at line 80 of file MechanicalState.h.

Constructor & Destructor Documentation

template<class TDataTypes >
virtual sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::~MechanicalState (  )  [inline, virtual]

Definition at line 92 of file MechanicalState.h.

Member Function Documentation

template<class TDataTypes >
virtual const VecConst* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC (  )  const [pure virtual]

Return the constraints system matrix (read-only access).

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

template<class TDataTypes >
virtual VecConst* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getC (  )  [pure virtual]

Return the constraints system matrix (read-write access).

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::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateConstraint(), sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::applyConstraint(), sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::applyConstraint(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::applyConstraint(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::getCompliance(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::getCompliance(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::getCompliance(), and sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::rotateConstraints().

template<class TDataTypes >
virtual sofa::helper::vector<unsigned int>& sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getConstraintId (  )  [pure virtual]

Return the constraint IDs corresponding to the entries in the constraints matrix returned by getC().

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::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::getCompliance(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::getCompliance(), and sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::getCompliance().

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx (  )  const [pure virtual]

Return the displacement vector (read-only access).

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

template<class TDataTypes >
virtual VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx (  )  [pure virtual]

Return the displacement vector (read-write access).

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::Mass< DataTypes >::accFromF(), sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::addDForce(), sofa::core::componentmodel::behavior::ForceField< TDataTypes >::addDForce(), sofa::core::componentmodel::behavior::Mass< DataTypes >::addMDx(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectResponse(), sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::projectResponse(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectResponse(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateDx(), and sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::rotateResponse().

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getExternalForces (  )  const [pure virtual]

Return the external forces vector (read-write access).

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

template<class TDataTypes >
virtual VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getExternalForces (  )  [pure virtual]

Return the external forces vector (read-write access).

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::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::init(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::resetContactForce(), and sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::resetContactForce().

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF (  )  const [pure virtual]

Return the force vector (read-only access).

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

template<class TDataTypes >
virtual VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF (  )  [pure virtual]

Return the force vector (read-write access).

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::Mass< DataTypes >::accFromF(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateDf(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateForce(), sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::addDForce(), sofa::core::componentmodel::behavior::ForceField< TDataTypes >::addDForce(), sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addDForceV(), sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addForce(), sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKv(), sofa::core::componentmodel::behavior::Mass< DataTypes >::addMDx(), and sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::resetContactForce().

template<class TDataTypes >
virtual void sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getIndicesInSpace ( sofa::helper::vector< unsigned > &  ,
Real  ,
Real  ,
Real  ,
Real  ,
Real  ,
Real   
) const [pure virtual]

Get the indices of the particles located in the given bounding box.

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::forcefield::BoxStiffSpringForceField< DataTypes >::bwdInit(), sofa::component::forcefield::BoxConstantForceField< DataTypes >::init(), and sofa::component::constraint::BoxConstraint< DataTypes >::init().

template<class TDataTypes >
virtual std::string sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getTemplateName (  )  const [inline, virtual]

Get the template type names (if any) used to instantiate this object.

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

Definition at line 162 of file MechanicalState.h.

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV (  )  const [pure virtual]

Return the current velocity vector (read-only access).

Implements sofa::core::componentmodel::behavior::State< TDataTypes >.

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

template<class TDataTypes >
virtual VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV (  )  [pure virtual]

Return the current velocity vector (read-write access).

Implements sofa::core::componentmodel::behavior::State< TDataTypes >.

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 >::addDForceV(), sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addForce(), sofa::component::mass::UniformMass< DataTypes, MassType >::addGravityToV(), sofa::component::mass::MatrixMass< DataTypes, MassType >::addGravityToV(), sofa::component::mass::DiagonalMass< DataTypes, MassType >::addGravityToV(), sofa::core::componentmodel::behavior::Mass< DataTypes >::addMBKv(), sofa::component::collision::ContactMapper< sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::collision::ContactMapper< RigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::ParticleSource< TDataTypes >::animateBegin(), sofa::component::ParticleSink< TDataTypes >::animateBegin(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), sofa::core::componentmodel::behavior::Mass< DataTypes >::getKineticEnergy(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::init(), sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::projectVelocity(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectVelocity(), and sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::propagateV().

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV0 (  )  const [pure virtual]

Return the initial velocity vector (read-only access).

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

template<class TDataTypes >
virtual const VecConst* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVecConst ( unsigned int  index  )  const [pure virtual]

Return a VecConst given its index, or NULL if it does not exists.

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

template<class TDataTypes >
virtual VecConst* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVecConst ( unsigned int  index  )  [pure virtual]

Return a VecConst given its index.

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

template<class TDataTypes >
virtual const VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVecCoord ( unsigned int  index  )  const [pure virtual]

Return a VecCoord given its index, or NULL if it does not exists.

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

template<class TDataTypes >
virtual VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVecCoord ( unsigned int  index  )  [pure virtual]

Return a VecCoord given its index.

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

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVecDeriv ( unsigned int  index  )  const [pure virtual]

Return a VecDeriv given its index, or NULL if it does not exists.

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

template<class TDataTypes >
virtual VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVecDeriv ( unsigned int  index  )  [pure virtual]

Return a VecDeriv given its 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().

template<class TDataTypes >
virtual const VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVfree (  )  const [pure virtual]

Return the free-motion velocity vector (read-only access).

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

template<class TDataTypes >
virtual VecDeriv* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getVfree (  )  [pure virtual]

Return the free-motion velocity vector (read-write access).

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::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::projectFreeVelocity(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreeVelocity().

template<class TDataTypes >
virtual const VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX (  )  const [pure virtual]

Return the current position vector (read-only access).

Implements sofa::core::componentmodel::behavior::State< TDataTypes >.

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

template<class TDataTypes >
virtual VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX (  )  [pure virtual]

Return the current position vector (read-write access).

Implements sofa::core::componentmodel::behavior::State< TDataTypes >.

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::visualmodel::OglTetrahedralModel< DataTypes >::addBBox(), sofa::component::mass::UniformMass< DataTypes, MassType >::addBBox(), sofa::component::mass::DiagonalMass< DataTypes, MassType >::addBBox(), sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >::addDForce(), sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >::addDForce(), sofa::component::forcefield::SPHFluidForceField< DataTypes >::addDForce(), sofa::component::forcefield::LennardJonesForceField< DataTypes >::addDForce(), sofa::filemanager::pml::LMLForce< DataTypes >::addForce(), sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addForce(), sofa::component::mass::UniformMass< DataTypes, MassType >::addMDxToVector(), sofa::component::collision::ContactMapper< sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::collision::SubsetContactMapper< sofa::component::collision::TSphereModel, DataTypes >::addPoint(), sofa::component::collision::ContactMapper< RigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::collision::RigidContactMapper< sofa::gpu::cuda::CudaRigidDistanceGridCollisionModel, DataTypes >::addPoint(), sofa::component::ParticleSource< TDataTypes >::animateBegin(), sofa::component::ParticleSink< TDataTypes >::animateBegin(), sofa::component::mapping::ArticulatedSystemMapping< BasicMapping >::apply(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::controller::MechanicalStateController< DataTypes >::applyController(), sofa::component::collision::DefaultPickingManager< TDataTypes, ContactForceField >::attach(), sofa::component::forcefield::BoxStiffSpringForceField< DataTypes >::bwdInit(), sofa::component::mass::MatrixMass< DataTypes, MassType >::defaultDiagonalMatrices(), sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::draw(), sofa::filemanager::pml::LMLForce< DataTypes >::draw(), sofa::filemanager::pml::LMLConstraint< DataTypes >::draw(), sofa::component::mass::UniformMass< DataTypes, MassType >::draw(), sofa::component::mass::DiagonalMass< DataTypes, MassType >::draw(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::draw(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::draw(), sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >::draw(), sofa::component::forcefield::TriangularFEMForceField< DataTypes >::draw(), sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >::draw(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::draw(), sofa::component::forcefield::TriangularAnisotropicFEMForceField< DataTypes >::draw(), sofa::component::forcefield::TrianglePressureForceField< DataTypes >::draw(), sofa::component::forcefield::TriangleFEMForceField< DataTypes >::draw(), sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::draw(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::draw(), sofa::component::forcefield::SpringForceField< DataTypes >::draw(), sofa::component::forcefield::SPHFluidForceField< DataTypes >::draw(), sofa::component::forcefield::RegularGridSpringForceField< DataTypes >::draw(), sofa::component::forcefield::QuadularBendingSprings< DataTypes >::draw(), sofa::component::forcefield::PenalityContactForceField< DataTypes >::draw(), sofa::component::forcefield::LennardJonesForceField< DataTypes >::draw(), sofa::component::forcefield::JointSpringForceField< DataTypes >::draw(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::draw(), sofa::component::forcefield::HexahedralFEMForceField< DataTypes >::draw(), sofa::component::forcefield::FrameSpringForceField< DataTypes >::draw(), sofa::component::forcefield::EdgePressureForceField< DataTypes >::draw(), sofa::component::forcefield::ConstantForceField< DataTypes >::draw(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::draw(), sofa::component::controller::EdgeSetController< DataTypes >::draw(), sofa::component::constraint::FixedPlaneConstraint< DataTypes >::draw(), sofa::component::constraint::FixedConstraint< DataTypes >::draw(), sofa::component::constraint::BoxConstraint< DataTypes >::draw(), sofa::component::constraint::AttachConstraint< DataTypes >::draw(), sofa::component::forcefield::PlaneForceField< DataTypes >::drawPlane(), sofa::component::visualmodel::OglTetrahedralModel< DataTypes >::drawTransparent(), SofaFlowVR::FlowVRInputMesh::flowvrBeginIteration(), sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getPotentialEnergy(), sofa::core::componentmodel::behavior::ForceField< TDataTypes >::getPotentialEnergy(), sofa::component::forcefield::PenalityContactForceField< DataTypes >::grabPoint(), sofa::component::container::SpatialGridContainer< DataTypes >::handleEvent(), sofa::component::mass::UniformMass< DataTypes, MassType >::init(), sofa::component::mass::MatrixMass< DataTypes, MassType >::init(), sofa::component::forcefield::TriangleFEMForceField< DataTypes >::init(), sofa::component::forcefield::SPHFluidForceField< DataTypes >::init(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::init(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::init(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::init(), sofa::component::constraint::AttachConstraint< DataTypes >::init(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::initLarge(), sofa::filemanager::pml::LMLConstraint< DataTypes >::LMLConstraint(), sofa::filemanager::pml::LMLForce< DataTypes >::LMLForce(), sofa::gui::glut::SimpleGUI::mouseEvent(), sofa::gui::qt::viewer::SofaViewer::moveLaparoscopic(), sofa::filemanager::pml::LMLConstraint< DataTypes >::projectPosition(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectPosition(), sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::projectPosition(), sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectPosition(), sofa::filemanager::pml::LMLConstraint< DataTypes >::projectResponse(), sofa::gpu::cuda::CudaTestForceField::reinit(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::rotateConstraints(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::rotateResponse(), sofa::component::constraint::FixedPlaneConstraint< DataTypes >::selectVerticesAlongPlane(), and sofa::component::container::SpatialGridContainer< DataTypes >::sortPoints().

template<class TDataTypes >
virtual const VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0 (  )  const [pure virtual]

Return the current position vector (read-only access).

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

template<class TDataTypes >
virtual VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0 (  )  [pure virtual]

Return the current position vector (read-write access).

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::forcefield::BeamFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceSmall(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::addForce(), sofa::component::forcefield::MeshSpringForceField< DataTypes >::addSpring(), sofa::component::controller::EdgeSetController< DataTypes >::applyController(), sofa::component::constraint::AttachConstraint< DataTypes >::calcRestRotations(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeMaterialStiffness(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::createDefaultSprings(), sofa::component::mass::UniformMass< DataTypes, MassType >::draw(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::init(), sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >::init(), sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >::init(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::init(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::init(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initLarge(), sofa::component::forcefield::HexahedralFEMForceField< DataTypes >::initLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initPolar(), sofa::component::forcefield::HexahedralFEMForceField< DataTypes >::initPolar(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initSmall(), sofa::component::mapping::M_getX0(), sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadCreationFunction(), sofa::component::forcefield::QuadularBendingSprings< DataTypes >::QuadularBSQuadDestructionFunction(), sofa::component::forcefield::TriangularFEMForceField< DataTypes >::reinit(), sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::reinit(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::reinitBeam(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::rotateConstraints(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::rotateResponse(), sofa::component::forcefield::EdgePressureForceField< DataTypes >::selectEdgesAlongPlane(), sofa::component::forcefield::TrianglePressureForceField< DataTypes >::selectTrianglesAlongPlane(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::springCreationFunction(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronCreationFunction(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::TetrahedralTMTetrahedronDestructionFunction(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleCreationFunction(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::TriangularBSTriangleDestructionFunction(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::TriangularTMTriangleCreationFunction(), and sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::TriangularTMTriangleDestructionFunction().

template<class TDataTypes >
virtual const VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getXfree (  )  const [pure virtual]

Return the free-motion position vector (read-only access).

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

template<class TDataTypes >
virtual VecCoord* sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getXfree (  )  [pure virtual]

Return the free-motion position vector (read-write access).

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::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::controller::MechanicalStateController< DataTypes >::applyController(), sofa::core::componentmodel::behavior::PairInteractionConstraint< TDataTypes >::projectFreePosition(), sofa::core::componentmodel::behavior::MixedInteractionConstraint< TDataTypes1, TDataTypes2 >::projectFreePosition(), and sofa::core::componentmodel::behavior::Constraint< DataTypes >::projectFreePosition().

template<class TDataTypes >
static std::string sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::Name ( const State< DataTypes > *  = NULL  )  [inline, static]

Reimplemented from sofa::core::componentmodel::behavior::State< TDataTypes >.

Definition at line 172 of file MechanicalState.h.

Referenced by sofa::core::componentmodel::behavior::MechanicalState< DataTypes >::templateName().

template<class TDataTypes >
virtual void sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::setConstraintId ( unsigned  int  )  [pure virtual]

Add a constraint ID.

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::mapping::ArticulatedSystemMapping< BasicMapping >::accumulateConstraint(), and sofa::component::constraint::UnilateralInteractionConstraint< DataTypes >::applyConstraint().

template<class TDataTypes >
static std::string sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::templateName ( const MechanicalState< DataTypes > *  = NULL  )  [inline, static]

Definition at line 167 of file MechanicalState.h.

Referenced by sofa::core::componentmodel::behavior::MechanicalState< DataTypes >::getTemplateName().

The documentation for this class was generated from the following file:
Generated on Sun Nov 23 04:23:03 2008 for Sofa by  doxygen 1.5.7.1