sofa::core::componentmodel::behavior Namespace Reference
[sofa-framework package]

Abstract API of components related to the behavior of simulated objects. More...

Data Structures
class	BaseConstraint
	The classes applyConstraint, getConstraintValue && getConstraintId need to be commented More...
class	BaseConstraintCorrection
	All methods in this class need to be commented More...
class	BaseController
	BaseController Class. More...
class	BaseForceField
	Component computing forces within simulated bodies. More...
class	BaseMass
	Component responsible for mass-related computations (gravity, acceleration). More...
class	BaseMechanicalMapping
	An interface to convert a mechanical model to another mechanical model. More...
class	BaseMechanicalState
	Component storing all state vectors of a simulated body (position, velocity, etc). More...
class	Constraint
	Component computing constraints within a simulated body. More...
class	ForceField
	Component computing forces within a simulated body. More...
class	InteractionConstraint
	InteractionConstraint is a constraint linking several bodies (MechanicalState) together. More...
class	InteractionForceField
	InteractionForceField is a force field linking several bodies (MechanicalState) together. More...
class	LinearSolver
	Abstract interface for linear system solvers. More...
class	MappedModel
	Component storing position and velocity vectors as computed by a Mapping. More...
class	Mass
	Component responsible for mass-related computations (gravity, acceleration). More...
class	MasterSolver
	Component responsible for main simulation algorithms, managing how and when collisions and integrations computations happen. More...
class	MechanicalMapping
	Specialized interface to convert a mechanical model of type In to another mechanical model of type Out. More...
class	MechanicalState
	Component storing all state vectors of a simulated body (position, velocity, etc), using the datatype specified in the templace. More...
class	MixedInteractionConstraint
	Component computing constraints between a pair of simulated body. More...
class	MixedInteractionForceField
	Component computing forces between a pair of simulated body. More...
class	MechanicalMatrix
	Helper class allowing to construct mechanical expressions. More...
class	MultiMatrix
	Helper class providing a high-level view of underlying linear system matrices. More...
class	MultiVector
	Helper class providing a high-level view of underlying state vectors. More...
class	OdeSolver
	Component responsible for timestep integration, i.e. More...
class	PairInteractionConstraint
	Component computing constraints between a pair of simulated body. More...
class	PairInteractionForceField
	Component computing forces between a pair of simulated body. More...
class	State
	Component storing position and velocity vectors. More...
Functions
std::ostream &	operator<< (std::ostream &o, const BaseMechanicalState::VecId &v)
template<class Coord , class Deriv , class Vec , class M , class SV >
Deriv	inertiaForce (const SV &, const Vec &, const M &, const Coord &, const Deriv &)
	Return the inertia force applied to a body referenced in a moving coordinate system.
template<>
defaulttype::LaparoscopicRigid3Types::Deriv	inertiaForce< defaulttype::LaparoscopicRigid3Types::Coord, defaulttype::LaparoscopicRigid3Types::Deriv, defaulttype::Vector3, defaulttype::Rigid3Mass, objectmodel::BaseContext::SpatialVector > (const objectmodel::BaseContext::SpatialVector &vframe, const defaulttype::Vector3 &aframe, const defaulttype::Rigid3Mass &mass, const defaulttype::LaparoscopicRigid3Types::Coord &x, const defaulttype::LaparoscopicRigid3Types::Deriv &v)
	Specialization of the inertia force for defaulttype::RigidTypes.

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Detailed Description

Abstract API of components related to the behavior of simulated objects.

Simulated bodies in SOFA are split into components storing the current state (MechanicalState), handling mass properties (Mass), computing forces (ForceField) and constraints (Constraint), and managing the integration algorithm (MasterSolver, OdeSolver).

Depending on the solvers used, two modes of computations are used :

• vector mode : computations are done directly in the vectors stored in MechanicalState (used for explicit schemes or iterative solvers such as conjugate gradient).
• matrix mode : matrices corresponding to the mechanical system of equations are constructed, and then inversed to compute the new state. Not all components support the matrix mode of computation, as it is rather new and not yet finalized.

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Function Documentation

template<class Coord , class Deriv , class Vec , class M , class SV >

Deriv sofa::core::componentmodel::behavior::inertiaForce	(	const SV &	,
		const Vec &	,
		const M &	,
		const Coord &	,
		const Deriv &
	)			[inline]

Return the inertia force applied to a body referenced in a moving coordinate system.

Parameters:

	sv	spatial velocity (omega, vorigin) of the coordinate system
	a	acceleration of the origin of the coordinate system
	m	mass of the body
	x	position of the body in the moving coordinate system
	v	velocity of the body in the moving coordinate system This default implementation returns no inertia.

Definition at line 169 of file Mass.h.

Referenced by sofa::component::mass::UniformMass< DataTypes, MassType >::addForce(), sofa::component::mass::MatrixMass< DataTypes, MassType >::addForce(), and sofa::component::mass::DiagonalMass< DataTypes, MassType >::addForce().

template<>

defaulttype::LaparoscopicRigid3Types::Deriv sofa::core::componentmodel::behavior::inertiaForce< defaulttype::LaparoscopicRigid3Types::Coord, defaulttype::LaparoscopicRigid3Types::Deriv, defaulttype::Vector3, defaulttype::Rigid3Mass, objectmodel::BaseContext::SpatialVector >	(	const objectmodel::BaseContext::SpatialVector &	vframe,
		const defaulttype::Vector3 &	aframe,
		const defaulttype::Rigid3Mass &	mass,
		const defaulttype::LaparoscopicRigid3Types::Coord &	x,
		const defaulttype::LaparoscopicRigid3Types::Deriv &	v
	)			[inline]

Specialization of the inertia force for defaulttype::RigidTypes.

Todo:

replace zero by Jomega.cross(omega)

std::ostream& sofa::core::componentmodel::behavior::operator<<	(	std::ostream &	o,
		const BaseMechanicalState::VecId &	v
	)			[inline]

Definition at line 322 of file BaseMechanicalState.h.

References sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::index, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::type, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_CONST, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_COORD, sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_DERIV, and sofa::core::componentmodel::behavior::BaseMechanicalState::VecId::V_NULL.