sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 > Class Template Reference

Component computing forces between a pair of simulated body. More...

#include <MixedInteractionForceField.h>

Inheritance diagram for sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >:

Collaboration diagram for sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >:


Public Types
typedef TDataTypes1	DataTypes1
typedef DataTypes1::VecCoord	VecCoord1
typedef DataTypes1::VecDeriv	VecDeriv1
typedef DataTypes1::Coord	Coord1
typedef DataTypes1::Deriv	Deriv1
typedef TDataTypes2	DataTypes2
typedef DataTypes2::VecCoord	VecCoord2
typedef DataTypes2::VecDeriv	VecDeriv2
typedef DataTypes2::Coord	Coord2
typedef DataTypes2::Deriv	Deriv2
Public Member Functions
	MixedInteractionForceField (MechanicalState< DataTypes1 > mm1=NULL, MechanicalState< DataTypes2 > mm2=NULL)
virtual	~MixedInteractionForceField ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
MechanicalState< DataTypes1 > *	getMState1 ()
	Retrieve the associated MechanicalState.
BaseMechanicalState *	getMechModel1 ()
	Get the first MechanicalState.
MechanicalState< DataTypes2 > *	getMState2 ()
	Retrieve the associated MechanicalState.
BaseMechanicalState *	getMechModel2 ()
	Get the first MechanicalState.
virtual std::string	getTemplateName () const
	Get the template type names (if any) used to instantiate this object.
Vector operations
virtual void	addForce ()
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
virtual void	addDForce (double kFactor, double bFactor)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual void	addDForceV (double kFactor, double bFactor)
	Same as addDForce(), except the velocity vector should be used instead of dx.
virtual double	getPotentialEnergy ()
	Get the potential energy associated to this ForceField.
virtual void	addForce (VecDeriv1 &f1, VecDeriv2 &f2, const VecCoord1 &x1, const VecCoord2 &x2, const VecDeriv1 &v1, const VecDeriv2 &v2)=0
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
virtual void	addDForce (VecDeriv1 &df1, VecDeriv2 &df2, const VecDeriv1 &dx1, const VecDeriv2 &dx2)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual void	addDForce (VecDeriv1 &df1, VecDeriv2 &df2, const VecDeriv1 &dx1, const VecDeriv2 &dx2, double kFactor, double bFactor)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual double	getPotentialEnergy (const VecCoord1 &x1, const VecCoord2 &x2)=0
	Get the potential energy associated to this ForceField.
Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)
	Pre-construction check method called by ObjectFactory.
template<class T >
static void	create (T &obj, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)
	Construction method called by ObjectFactory.
static std::string	templateName (const MixedInteractionForceField< DataTypes1, DataTypes2 > *=NULL)
Protected Attributes
MechanicalState< DataTypes1 > *	mstate1
MechanicalState< DataTypes2 > *	mstate2

Detailed Description

template<class TDataTypes1, class TDataTypes2>
class sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >

Component computing forces between a pair of simulated body.

This class define the abstract API common to interaction force fields between a pair of bodies using a given type of DOFs.

Definition at line 53 of file MixedInteractionForceField.h.

Member Typedef Documentation

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes1::Coord sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::Coord1

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 59 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes2::Coord sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::Coord2

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 64 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef TDataTypes1 sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::DataTypes1

Definition at line 56 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef TDataTypes2 sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::DataTypes2

Definition at line 61 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes1::Deriv sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::Deriv1

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 60 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes2::Deriv sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::Deriv2

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 65 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes1::VecCoord sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::VecCoord1

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 57 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes2::VecCoord sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::VecCoord2

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 62 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes1::VecDeriv sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::VecDeriv1

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 58 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

typedef DataTypes2::VecDeriv sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::VecDeriv2

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 63 of file MixedInteractionForceField.h.

Constructor & Destructor Documentation

template<class DataTypes1 , class DataTypes2 >

sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::MixedInteractionForceField	(	MechanicalState< DataTypes1 > *	mm1 = `NULL`,
		MechanicalState< DataTypes2 > *	mm2 = `NULL`
	)			`[inline]`

Definition at line 46 of file MixedInteractionForceField.inl.

template<class DataTypes1 , class DataTypes2 >

sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::~MixedInteractionForceField ( ) [inline, virtual]

Definition at line 52 of file MixedInteractionForceField.inl.

Member Function Documentation

template<class DataTypes1 , class DataTypes2 >

void sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::addDForce	(	VecDeriv1 &	df1,
		VecDeriv2 &	df2,
		const VecDeriv1 &	dx1,
		const VecDeriv2 &	dx2,
		double	kFactor,
		double	bFactor
	)			`[inline, virtual]`

Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().

The derivative should be directly derived from the computations done by addForce. Any forces neglected in addDForce will be integrated explicitly (i.e. using its value at the beginning of the timestep).

If the ForceField can be represented as a matrix, this method computes $ df += kFactor K dx + bFactor B dx $

This method must be implemented by the component, and is usually called by the generic MixedInteractionForceField::addDForce() method.

To support old components that implement the deprecated addForce method without scalar coefficients, it defaults to using a temporaty vector to compute $ K dx $ and then manually scaling all values by kFactor.

: Add a better way to get the current VecId of dx

Definition at line 96 of file MixedInteractionForceField.inl.

References sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index.

template<class DataTypes1 , class DataTypes2 >

void sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::addDForce	(	VecDeriv1 &	df1,
		VecDeriv2 &	df2,
		const VecDeriv1 &	dx1,
		const VecDeriv2 &	dx2
	)			`[inline, virtual]`

Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().

The derivative should be directly derived from the computations done by addForce. Any forces neglected in addDForce will be integrated explicitly (i.e. using its value at the beginning of the timestep).

If the ForceField can be represented as a matrix, this method computes $ df += K dx $

This method must be implemented by the component, and is usually called by the generic MixedInteractionForceField::addDForce() method.

Deprecated:: to more efficiently accumulate contributions from all terms of the system equation, a new addDForce method allowing to pass two coefficients for the stiffness and damping terms should now be used.

Reimplemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

Definition at line 90 of file MixedInteractionForceField.inl.

References sofa::core::objectmodel::Base::getClassName().

template<class DataTypes1 , class DataTypes2 >

void sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::addDForce	(	double	kFactor,
		double	bFactor
	)			`[inline, virtual]`

Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().

The derivative should be directly derived from the computations done by addForce. Any forces neglected in addDForce will be integrated explicitly (i.e. using its value at the beginning of the timestep).

If the ForceField can be represented as a matrix, this method computes $ df += kFactor K dx + bFactor B dx $

This method retrieves the force and dx vector from the two MechanicalState and call the internal addDForce(VecDeriv1&,VecDeriv2&,const VecDeriv1&,const VecDeriv2&,double,double) method implemented by the component.

Implements sofa::core::componentmodel::behavior::BaseForceField.

Definition at line 72 of file MixedInteractionForceField.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getDx(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::mstate1, and sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::mstate2.

template<class DataTypes1 , class DataTypes2 >

void sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::addDForceV	(	double	kFactor,
		double	bFactor
	)			`[inline, virtual]`

Same as addDForce(), except the velocity vector should be used instead of dx.

If the ForceField can be represented as a matrix, this method computes $ df += kFactor K v + bFactor B v $

This method retrieves the force and velocity vector from the two MechanicalState and call the internal addDForce(VecDeriv1&,VecDeriv2&,const VecDeriv1&,const VecDeriv2&,double,double) method implemented by the component.

Implements sofa::core::componentmodel::behavior::BaseForceField.

Definition at line 81 of file MixedInteractionForceField.inl.

template<class TDataTypes1 , class TDataTypes2 >

virtual void sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::addForce	(	VecDeriv1 &	f1,
		VecDeriv2 &	f2,
		const VecCoord1 &	x1,
		const VecCoord2 &	x2,
		const VecDeriv1 &	v1,
		const VecDeriv2 &	v2
	)			`[pure 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.

Implemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

template<class DataTypes1 , class DataTypes2 >

void sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::addForce ( ) [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 retrieves the force, x and v vector from the two MechanicalState and call the internal addForce(VecDeriv&,VecDeriv&,const VecCoord&,const VecCoord&,const VecDeriv&,const VecDeriv&) method implemented by the component.

Implements sofa::core::componentmodel::behavior::BaseForceField.

Definition at line 63 of file MixedInteractionForceField.inl.

template<class TDataTypes1 , class TDataTypes2 >

template<class T >

static bool sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::canCreate	(	T *&	obj,
		objectmodel::BaseContext *	context,
		objectmodel::BaseObjectDescription *	arg
	)			`[inline, static]`

Pre-construction check method called by ObjectFactory.

Check that DataTypes matches the MechanicalState.

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

Definition at line 191 of file MixedInteractionForceField.h.

Referenced by sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::canCreate().

template<class TDataTypes1 , class TDataTypes2 >

template<class T >

static void sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::create	(	T *&	obj,
		core::objectmodel::BaseContext *	context,
		core::objectmodel::BaseObjectDescription *	arg
	)			`[inline, static]`

Construction method called by ObjectFactory.

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

Definition at line 205 of file MixedInteractionForceField.h.

Referenced by sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::create().

template<class TDataTypes1 , class TDataTypes2 >

BaseMechanicalState* sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getMechModel1 ( ) [inline, virtual]

Get the first MechanicalState.

Todo:: Rename to getMechState1()

Todo:: Replace with an accessor to a list of states, as an InteractionForceField can be applied to more than two.

Implements sofa::core::componentmodel::behavior::InteractionForceField.

Definition at line 75 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

BaseMechanicalState* sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getMechModel2 ( ) [inline, virtual]

Get the first MechanicalState.

Todo:: Rename to getMechState2()

Todo:: Replace with an accessor to a list of states, as an InteractionForceField can be applied to more than two.

Implements sofa::core::componentmodel::behavior::InteractionForceField.

Definition at line 78 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

MechanicalState<DataTypes1>* sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getMState1 ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 74 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

MechanicalState<DataTypes2>* sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getMState2 ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 77 of file MixedInteractionForceField.h.

template<class TDataTypes1 , class TDataTypes2 >

virtual double sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getPotentialEnergy	(	const VecCoord1 &	x1,
		const VecCoord2 &	x2
	)			`[pure virtual]`

Get the potential energy associated to this ForceField.

Used to extimate the total energy of the system by some post-stabilization techniques.

This method must be implemented by the component, and is usually called by the generic ForceField::getPotentialEnergy() method.

Implemented in sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >.

template<class DataTypes1 , class DataTypes2 >

double sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::getPotentialEnergy ( ) [inline, virtual]

Get the potential energy associated to this ForceField.

Used to extimate the total energy of the system by some post-stabilization techniques.

This method retrieves the x vector from the MechanicalState and call the internal getPotentialEnergy(const VecCoord&,const VecCoord&) method implemented by the component.

Implements sofa::core::componentmodel::behavior::BaseForceField.

Definition at line 130 of file MixedInteractionForceField.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::mstate1, and sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::mstate2.

template<class TDataTypes1 , class TDataTypes2 >

virtual std::string sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::getTemplateName ( ) const [inline, virtual]

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

Reimplemented from sofa::core::objectmodel::Base.

Definition at line 215 of file MixedInteractionForceField.h.

template<class DataTypes1 , class DataTypes2 >

void sofa::core::componentmodel::behavior::MixedInteractionForceField< DataTypes1, DataTypes2 >::init ( ) [inline, virtual]

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

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

Definition at line 57 of file MixedInteractionForceField.inl.

template<class TDataTypes1 , class TDataTypes2 >

static std::string sofa::core::componentmodel::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >::templateName ( const MixedInteractionForceField< DataTypes1, DataTypes2 > * = NULL ) [inline, static]