#include <PenalityContactForceField.h>

Inheritance diagram for sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >

Distance-based, frictionless penalty force. The force is applied to vertices attached to collision elements.

Public Attributes
Data< sofa::type::vector< Contact > >	contacts
	Contacts. More...

Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal >	rayleighStiffness
	Rayleigh Damping stiffness matrix coefficient. More...

Data< bool >	isCompliance
	Considered as compliance, else considered as stiffness (default to false) More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	the object state More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
sofa::type::vector< Contact >	prevContacts

Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >	l_mechanicalStates

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Protected Attributes inherited from sofa::core::behavior::PairStateAccessor< DataTypes1, DataTypes2 >
SingleLink< PairStateAccessor< DataTypes1, DataTypes2 >, MechanicalState< DataTypes1 >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate1

SingleLink< PairStateAccessor< DataTypes1, DataTypes2 >, MechanicalState< DataTypes2 >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate2

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(PenalityContactForceField, DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionForceField, DataTypes))

void	clear (sofa::Size reserve=0)

void	addContact (sofa::Index m1, sofa::Index m2, sofa::Index index1, sofa::Index index2, const Deriv &norm, Real dist, Real ks, Real mu_s=0.0f, Real mu_v=0.0f, sofa::Index oldIndex=0)

void	addForce (const sofa::core::MechanicalParams *mparams, DataVecDeriv &data_f1, DataVecDeriv &data_f2, const DataVecCoord &data_x1, const DataVecCoord &data_x2, const DataVecDeriv &data_v1, const DataVecDeriv &data_v2) override

void	addDForce (const sofa::core::MechanicalParams *mparams, DataVecDeriv &data_df1, DataVecDeriv &data_df2, const DataVecDeriv &data_dx1, const DataVecDeriv &data_dx2) override

void	addKToMatrix (const sofa::core::MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix) override
	Compute the system matrix corresponding to . More...

void	buildStiffnessMatrix (core::behavior::StiffnessMatrix *matrix) override

void	buildDampingMatrix (core::behavior::DampingMatrix *) final

SReal	getPotentialEnergy (const sofa::core::MechanicalParams *, const DataVecCoord &, const DataVecCoord &) const override

const type::vector< Contact > &	getContact () const

void	grabPoint (const core::behavior::MechanicalState< defaulttype::Vec3Types > tool, const type::vector< sofa::Index > &index, type::vector< std::pair< core::objectmodel::BaseObject , type::Vec3f > > &result, type::vector< sofa::Index > &triangle, type::vector< sofa::Index > &index_point)

void	draw (const core::visual::VisualParams *vparams) override
	Render internal data of this object, for debugging purposes. More...

Public Member Functions inherited from sofa::core::behavior::PairInteractionForceField< DataTypes >
	SOFA_ABSTRACT_CLASS2 (SOFA_TEMPLATE(PairInteractionForceField, DataTypes), BaseInteractionForceField, SOFA_TEMPLATE2(PairStateAccessor, DataTypes, DataTypes))

void	setPathObject1 (const std::string &path)
	Set the Object1 path. More...

void	setPathObject2 (const std::string &path)
	Set the Object2 path. More...

std::string	getPathObject1 () const
	Retrieve the Object1 path. More...

std::string	getPathObject2 () const
	Retrieve the Object2 path. More...

void	addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override

void	addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override

SReal	getPotentialEnergy (const MechanicalParams *mparams) const override

Public Member Functions inherited from sofa::core::behavior::BaseInteractionForceField
	SOFA_ABSTRACT_CLASS (BaseInteractionForceField, BaseForceField)

virtual BaseMechanicalState *	getMechModel1 ()

virtual BaseMechanicalState *	getMechModel2 ()

void	addKToMatrix (const MechanicalParams , const sofa::core::behavior::MultiMatrixAccessor ) override
	Compute the system matrix corresponding to . More...

virtual void	initGnuplot (const std::string path)
	initialization to export potential energy to gnuplot files format More...

virtual void	exportGnuplot (SReal time)
	export kinetic and potential energy state at "time" to a gnuplot file More...

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

Public Member Functions inherited from sofa::core::behavior::BaseForceField
	SOFA_ABSTRACT_CLASS (BaseForceField, StateAccessor)

virtual void	addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId)
	Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients. More...

virtual void	addBToMatrix (const MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix)
	Compute the system matrix corresponding to . More...

virtual void	addMBKToMatrix (const MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix)
	Compute the system matrix corresponding to . More...

virtual const sofa::linearalgebra::BaseMatrix *	getComplianceMatrix (const MechanicalParams *)

virtual void	addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal)
	Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...

Public Member Functions inherited from sofa::core::behavior::StateAccessor
	SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)

virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container &	getMechanicalStates () const
	Return a list of mechanical states to which this component is associated. More...

void	computeBBox (const core::ExecParams *params, bool onlyVisible=false) override

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

void	setSrc (const std::string &v, const BaseObject loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleEvent (Event *)
	Handle an event. More...

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Public Member Functions inherited from sofa::core::behavior::PairStateAccessor< DataTypes1, DataTypes2 >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(PairStateAccessor, DataTypes1, DataTypes2), StateAccessor)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

MechanicalState< DataTypes1 > *	getMState1 ()
	Retrieve the associated MechanicalState #1. More...

const MechanicalState< DataTypes1 > *	getMState1 () const
	Retrieve the associated MechanicalState #1. More...

BaseMechanicalState *	getMechModel1 ()
	Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...

const BaseMechanicalState *	getMechModel1 () const
	Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...

MechanicalState< DataTypes2 > *	getMState2 ()
	Retrieve the associated MechanicalState #2. More...

const MechanicalState< DataTypes2 > *	getMState2 () const
	Retrieve the associated MechanicalState #2. More...

BaseMechanicalState *	getMechModel2 ()
	Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...

const BaseMechanicalState *	getMechModel2 () const
	Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...

Protected Member Functions
	PenalityContactForceField (MechanicalState object1, MechanicalState object2)

	PenalityContactForceField ()

Protected Member Functions inherited from sofa::core::behavior::PairInteractionForceField< DataTypes >
	PairInteractionForceField (MechanicalState< DataTypes > mm1=nullptr, MechanicalState< DataTypes > mm2=nullptr)

	~PairInteractionForceField () override

Protected Member Functions inherited from sofa::core::behavior::BaseForceField
	BaseForceField ()

	~BaseForceField () override=default

Protected Member Functions inherited from sofa::core::behavior::StateAccessor
	StateAccessor ()

	~StateAccessor () override=default

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	BaseObject ()

	~BaseObject () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Protected Member Functions inherited from sofa::core::behavior::PairStateAccessor< DataTypes1, DataTypes2 >
	PairStateAccessor (MechanicalState< DataTypes1 > mm1, MechanicalState< DataTypes2 > mm2)

	~PairStateAccessor () override=default

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::behavior::PairInteractionForceField< DataTypes >
static bool	canCreate (T obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)

static T::SPtr	create (T , core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

static std::string	shortName (const T ptr=nullptr, objectmodel::BaseObjectDescription arg=nullptr)

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Attribute details

◆ contacts

template<class DataTypes >

Data<sofa::type::vector<Contact> > sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::contacts

Contacts.

◆ prevContacts

template<class DataTypes >

sofa::type::vector<Contact> sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::prevContacts

protected

Constructor details

◆ PenalityContactForceField() [1/2]

template<class DataTypes >

sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::PenalityContactForceField	(	MechanicalState *	object1,
		MechanicalState *	object2
	)

inlineprotected

◆ PenalityContactForceField() [2/2]

template<class DataTypes >

sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::PenalityContactForceField ( )

inlineprotected

Function details

◆ addContact()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::addContact	(	sofa::Index	m1,
		sofa::Index	m2,
		sofa::Index	index1,
		sofa::Index	index2,
		const Deriv &	norm,
		Real	dist,
		Real	ks,
		Real	mu_s = `0.0f`,
		Real	mu_v = `0.0f`,
		sofa::Index	oldIndex = `0`
	)

◆ addDForce()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::addDForce	(	const sofa::core::MechanicalParams *	mparams,
		DataVecDeriv &	df1,
		DataVecDeriv &	df2,
		const DataVecDeriv &	dx1,
		const DataVecDeriv &	dx2
	)

overridevirtual

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.

Implements sofa::core::behavior::PairInteractionForceField< DataTypes >.

◆ addForce()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::addForce	(	const sofa::core::MechanicalParams *	mparams,
		DataVecDeriv &	f1,
		DataVecDeriv &	f2,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2,
		const DataVecDeriv &	v1,
		const DataVecDeriv &	v2
	)

overridevirtual

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.

Implements sofa::core::behavior::PairInteractionForceField< DataTypes >.

◆ addKToMatrix()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::addKToMatrix	(	const sofa::core::MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

overridevirtual

Compute the system matrix corresponding to $ k K $ .

Parameters

mparams	mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
matrix	the matrix to add the result to

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

◆ buildDampingMatrix()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::buildDampingMatrix ( core::behavior::DampingMatrix * )

finalvirtual

Reimplemented from sofa::core::behavior::BaseForceField.

◆ buildStiffnessMatrix()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::buildStiffnessMatrix ( core::behavior::StiffnessMatrix * matrix )

overridevirtual

Reimplemented from sofa::core::behavior::BaseForceField.

◆ clear()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::clear ( sofa::Size reserve = 0 )

◆ draw()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::draw ( const core::visual::VisualParams * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getContact()

template<class DataTypes >

const type::vector< Contact >& sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::getContact ( ) const

inline

◆ getPotentialEnergy()

template<class DataTypes >

SReal sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::getPotentialEnergy	(	const sofa::core::MechanicalParams *	mparams,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2
	)		const

overridevirtual

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.

Implements sofa::core::behavior::PairInteractionForceField< DataTypes >.

◆ grabPoint()

template<class DataTypes >

void sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::grabPoint	(	const core::behavior::MechanicalState< defaulttype::Vec3Types > *	tool,
		const type::vector< sofa::Index > &	index,
		type::vector< std::pair< core::objectmodel::BaseObject *, type::Vec3f > > &	result,
		type::vector< sofa::Index > &	triangle,
		type::vector< sofa::Index > &	index_point
	)

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(PenalityContactForceField< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(core::behavior::PairInteractionForceField, DataTypes)
	)

Detailed Description

template<class DataTypes> class sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ contacts

◆ prevContacts

Constructor details

◆ PenalityContactForceField() [1/2]

◆ PenalityContactForceField() [2/2]

Function details

◆ addContact()

◆ addDForce()

◆ addForce()

◆ addKToMatrix()

◆ buildDampingMatrix()

◆ buildStiffnessMatrix()

◆ clear()

◆ draw()

◆ getContact()

◆ getPotentialEnergy()

◆ grabPoint()

◆ SOFA_CLASS()

template<class DataTypes>
class sofa::component::collision::response::contact::PenalityContactForceField< DataTypes >