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

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

#include <PairInteractionForceField.h>

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

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


Public Types
typedef TDataTypes	DataTypes
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
Public Member Functions
	PairInteractionForceField (MechanicalState< DataTypes > mm1=NULL, MechanicalState< DataTypes > mm2=NULL)
virtual	~PairInteractionForceField ()
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
MechanicalState< DataTypes > *	getMState1 ()
	Retrieve the associated MechanicalState.
BaseMechanicalState *	getMechModel1 ()
	Get the first MechanicalState.
MechanicalState< DataTypes > *	getMState2 ()
	Retrieve the associated MechanicalState.
BaseMechanicalState *	getMechModel2 ()
	Get the first MechanicalState.
BaseMechanicalState *	getMState (sofa::core::objectmodel::BaseContext *context, std::string path)
	Retrieve the associated MechanicalState given the path.
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 (VecDeriv &f1, VecDeriv &f2, const VecCoord &x1, const VecCoord &x2, const VecDeriv &v1, const VecDeriv &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 (VecDeriv &df1, VecDeriv &df2, const VecDeriv &dx1, const VecDeriv &dx2)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual void	addDForce (VecDeriv &df1, VecDeriv &df2, const VecDeriv &dx1, const VecDeriv &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 VecCoord &x1, const VecCoord &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 PairInteractionForceField< DataTypes > *=NULL)
Protected Attributes
sofa::core::objectmodel::Data < std::string >	_object1
sofa::core::objectmodel::Data < std::string >	_object2
MechanicalState< DataTypes > *	mstate1
MechanicalState< DataTypes > *	mstate2

Detailed Description

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

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 55 of file PairInteractionForceField.h.

Member Typedef Documentation

template<class TDataTypes >

typedef DataTypes::Coord sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::Coord

Definition at line 62 of file PairInteractionForceField.h.

template<class TDataTypes >

typedef TDataTypes sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::DataTypes

Reimplemented in sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >.

Definition at line 59 of file PairInteractionForceField.h.

template<class TDataTypes >

typedef DataTypes::Deriv sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::Deriv

Definition at line 63 of file PairInteractionForceField.h.

template<class TDataTypes >

typedef DataTypes::VecCoord sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::VecCoord

Definition at line 60 of file PairInteractionForceField.h.

template<class TDataTypes >

typedef DataTypes::VecDeriv sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::VecDeriv

Definition at line 61 of file PairInteractionForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 51 of file PairInteractionForceField.inl.

template<class DataTypes >

sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::~PairInteractionForceField ( ) [inline, virtual]

Definition at line 59 of file PairInteractionForceField.inl.

Member Function Documentation

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	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 PairInteractionForceField::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

Reimplemented in sofa::component::forcefield::PenalityContactForceField< DataTypes >, sofa::component::forcefield::RegularGridSpringForceField< DataTypes >, sofa::component::forcefield::SparseGridSpringForceField< DataTypes >, sofa::component::forcefield::StiffSpringForceField< DataTypes >, sofa::component::forcefield::VectorSpringForceField< DataTypes >, sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >, and sofa::component::forcefield::StiffSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 202 of file PairInteractionForceField.inl.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::addDForce	(	VecDeriv &	df1,
		VecDeriv &	df2,
		const VecDeriv &	dx1,
		const VecDeriv &	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 PairInteractionForceField::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::forcefield::FrameSpringForceField< DataTypes >, sofa::component::forcefield::JointSpringForceField< DataTypes >, and sofa::component::forcefield::SpringForceField< DataTypes >.

Definition at line 196 of file PairInteractionForceField.inl.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::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(VecDeriv&,VecDeriv&,const VecDeriv&,const VecDeriv&,double,double) method implemented by the component.

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

Definition at line 178 of file PairInteractionForceField.inl.

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

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::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(VecDeriv&,VecDeriv&,const VecDeriv&,const VecDeriv&,double,double) method implemented by the component.

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

Definition at line 187 of file PairInteractionForceField.inl.

References sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addDForce(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV(), sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::mstate1, and sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::mstate2.

template<class TDataTypes >

virtual void sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::addForce	(	VecDeriv &	f1,
		VecDeriv &	f2,
		const VecCoord &	x1,
		const VecCoord &	x2,
		const VecDeriv &	v1,
		const VecDeriv &	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.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::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 168 of file PairInteractionForceField.inl.

References sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getF(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getV(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::mstate1, and sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::mstate2.

template<class TDataTypes >

template<class T >

static bool sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::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 196 of file PairInteractionForceField.h.

Referenced by sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::canCreate().

template<class TDataTypes >

template<class T >

static void sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::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 225 of file PairInteractionForceField.h.

Referenced by sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::create().

template<class TDataTypes >

BaseMechanicalState* sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::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 74 of file PairInteractionForceField.h.

template<class TDataTypes >

BaseMechanicalState* sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::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 77 of file PairInteractionForceField.h.

template<class DataTypes >

BaseMechanicalState * sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::getMState	(	sofa::core::objectmodel::BaseContext *	context,
		std::string	path
	)			`[inline]`

Retrieve the associated MechanicalState given the path.

Definition at line 65 of file PairInteractionForceField.inl.

References sofa::core::objectmodel::BaseContext::get(), sofa::core::objectmodel::BaseNode::getChildren(), sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::Base::getName(), and sofa::core::objectmodel::BaseContext::SearchDown.

template<class TDataTypes >

MechanicalState<DataTypes>* sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::getMState1 ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 73 of file PairInteractionForceField.h.

template<class TDataTypes >

MechanicalState<DataTypes>* sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::getMState2 ( ) [inline]

Retrieve the associated MechanicalState.

Definition at line 76 of file PairInteractionForceField.h.

template<class TDataTypes >

virtual double sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::getPotentialEnergy	(	const VecCoord &	x1,
		const VecCoord &	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::forcefield::FrameSpringForceField< DataTypes >, sofa::component::forcefield::JointSpringForceField< DataTypes >, sofa::component::forcefield::PenalityContactForceField< DataTypes >, sofa::component::forcefield::SpringForceField< DataTypes >, sofa::component::forcefield::VectorSpringForceField< DataTypes >, and sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >.

template<class DataTypes >

double sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::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.

Reimplemented in sofa::component::forcefield::MeshSpringForceField< DataTypes >, sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >, and sofa::component::forcefield::MeshSpringForceField< sofa::defaulttype::StdVectorTypes >.

Definition at line 243 of file PairInteractionForceField.inl.

template<class TDataTypes >

virtual std::string sofa::core::componentmodel::behavior::PairInteractionForceField< TDataTypes >::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 243 of file PairInteractionForceField.h.

template<class DataTypes >

void sofa::core::componentmodel::behavior::PairInteractionForceField< DataTypes >::init ( ) [inline, virtual]

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

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

Definition at line 107 of file PairInteractionForceField.inl.

References sofa::core::objectmodel::BaseNode::getContext(), sofa::core::objectmodel::Base::getName(), sofa::core::objectmodel::BaseNode::getParent(), and sofa::component::init().

template<class TDataTypes >

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