SOFA API  4a493466
Open source framework for multi-physics simuation
sofa::component::forcefield::RestShapeSpringsForceField< DataTypes > Class Template Reference

#include <RestShapeSpringsForceField.h>

This class describes a simple elastic springs ForceField between DOFs positions and rest positions. More...

Inheritance diagram for sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >

This class describes a simple elastic springs ForceField between DOFs positions and rest positions.

Springs are applied to given degrees of freedom between their current positions and their rest shape positions. An external MechanicalState reference can also be passed to the ForceField as rest shape position.

Public Attributes

Data< helper::vector< unsigned int > > points
 points controlled by the rest shape springs More...
 
Data< VecRealstiffness
 stiffness values between the actual position and the rest shape position More...
 
Data< VecRealangularStiffness
 angularStiffness assigned when controlling the rotation of the points More...
 
Data< helper::vector< CPos > > pivotPoints
 global pivot points used when translations instead of the rigid mass centers More...
 
Data< helper::vector< unsigned int > > external_points
 points from the external Mechancial State that define the rest shape springs More...
 
Data< boolrecompute_indices
 Recompute indices (should be false for BBOX) More...
 
Data< booldrawSpring
 draw Spring More...
 
Data< defaulttype::RGBAColorspringColor
 spring color. (default=[0.0,1.0,0.0,1.0]) More...
 
SingleLink< RestShapeSpringsForceField< DataTypes >, sofa::core::behavior::MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKrestMState
 
linearsolver::EigenBaseSparseMatrix< typename DataTypes::Real > matS
 
- Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SRealrayleighStiffness
 Rayleigh Damping stiffness matrix coefficient. More...
 
Data< boolisCompliance
 Considered as compliance, else considered as stiffness (default to false) More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

VecIndex m_indices
 
VecIndex m_ext_indices
 
helper::vector< CPosm_pivots
 
SReal lastUpdatedStep
 
- Protected Attributes inherited from sofa::core::behavior::ForceField< DataTypes >
SingleLink< ForceField< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINK > mstate
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
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...
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(RestShapeSpringsForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes))
 
void bwdInit () override
 BaseObject initialization method. More...
 
void parse (core::objectmodel::BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void addForce (const core::MechanicalParams *mparams, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v) override
 Add the forces. More...
 
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx) override
 
SReal getPotentialEnergy (const core::MechanicalParams *mparams, const DataVecCoord &x) const override
 
void addKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Brings ForceField contribution to the global system stiffness matrix. More...
 
void addSubKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &addSubIndex) override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
const DataVecCoordgetExtPosition () const
 
const VecIndexgetIndices () const
 
const VecIndexgetExtIndices () const
 
void updateForceMask () override
 
template<>
void addForce (const core::MechanicalParams *, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &)
 
template<>
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx)
 
template<>
void addKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix)
 Compute the system matrix corresponding to k K. More...
 
template<>
void draw (const core::visual::VisualParams *vparams)
 Render internal data of this object, for debugging purposes. More...
 
- Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(ForceField, DataTypes), BaseForceField)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 Retrieve the associated MechanicalState. More...
 
const MechanicalState< DataTypes > * getMState () const
 
void addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override
 
void addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override
 
void addClambda (const MechanicalParams *mparams, MultiVecDerivId resId, MultiVecDerivId lambdaId, SReal cFactor) override
 
virtual void addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor)
 
SReal getPotentialEnergy (const MechanicalParams *mparams) const override
 
virtual void addKToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal kFact, unsigned int &offset)
 
void addSubKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex) override
 addToMatrix only on the subMatrixIndex More...
 
virtual void addSubKToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal kFact, unsigned int &offset)
 addToMatrix only on the subMatrixIndex More...
 
void addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to b B. More...
 
virtual void addBToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal bFact, unsigned int &offset)
 
void addSubBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex) override
 addBToMatrix only on the subMatrixIndex More...
 
virtual void addSubBToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal bFact, unsigned int &offset)
 addBToMatrix only on the subMatrixIndex More...
 
void addToMatrix (sofa::defaulttype::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
void updateForceMask () override
 
- Public Member Functions inherited from sofa::core::behavior::BaseForceField
 SOFA_ABSTRACT_CLASS (BaseForceField, objectmodel::BaseObject)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
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 addMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix)
 Compute the system matrix corresponding to m M + b B + k K. More...
 
virtual void addSubMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > subMatrixIndex)
 addMBKToMatrix only on the subMatrixIndex More...
 
virtual const sofa::defaulttype::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
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)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. More...
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
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 BaseClassgetClass () const
 
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...
 
virtual 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...
 
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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
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::TagSetgetTags () 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=" ")
 
BaseDatafindData (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...
 
BaseLinkfindLink (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 (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 removeLink (BaseLink *l)
 Remove a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () 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)
 

Protected Member Functions

 RestShapeSpringsForceField ()
 
void recomputeIndices ()
 
bool checkOutOfBoundsIndices ()
 
bool checkOutOfBoundsIndices (const VecIndex &indices, const unsigned int dimension)
 
- Protected Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 ForceField (MechanicalState< DataTypes > *mm=nullptr)
 
 ~ForceField () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseForceField
 BaseForceField ()
 
 ~BaseForceField () override
 
- 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, unsigned int, 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...
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
static std::string templateName (const ForceField< DataTypes > *=nullptr)
 
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 MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

template<class DataTypes >
Data< VecReal > sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::angularStiffness

angularStiffness assigned when controlling the rotation of the points

template<class DataTypes >
Data< bool > sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::drawSpring

draw Spring

template<class DataTypes >
Data< helper::vector< unsigned int > > sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::external_points

points from the external Mechancial State that define the rest shape springs

template<class DataTypes >
SReal sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::lastUpdatedStep
protected
template<class DataTypes >
VecIndex sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::m_ext_indices
protected
template<class DataTypes >
VecIndex sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::m_indices
protected
template<class DataTypes >
helper::vector<CPos> sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::m_pivots
protected
template<class DataTypes >
linearsolver::EigenBaseSparseMatrix<typename DataTypes::Real> sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::matS

global pivot points used when translations instead of the rigid mass centers

template<class DataTypes >
Data< helper::vector< unsigned int > > sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::points

points controlled by the rest shape springs

template<class DataTypes >
Data< bool > sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::recompute_indices

Recompute indices (should be false for BBOX)

spring color. (default=[0.0,1.0,0.0,1.0])

stiffness values between the actual position and the rest shape position

Constructor details

Function details

template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::addDForce ( const core::MechanicalParams mparams,
DataVecDeriv df,
const DataVecDeriv dx 
)
overridevirtual
template<>
void sofa::component::forcefield::RestShapeSpringsForceField< Rigid3Types >::addForce ( const core::MechanicalParams ,
DataVecDeriv f,
const DataVecCoord x,
const DataVecDeriv v 
)
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 is the method that should be implemented by the component

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

template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::addForce ( const core::MechanicalParams mparams,
DataVecDeriv f,
const DataVecCoord x,
const DataVecDeriv v 
)
overridevirtual

Add the forces.

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

template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::addKToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Brings ForceField contribution to the global system stiffness matrix.

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

template<>
void sofa::component::forcefield::RestShapeSpringsForceField< Rigid3Types >::addKToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
virtual

Compute the system matrix corresponding to k K.

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

Reimplemented from sofa::core::behavior::ForceField< DataTypes >.

template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::addSubKToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix,
const helper::vector< unsigned > &  addSubIndex 
)
overridevirtual
template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::bwdInit ( )
overridevirtual

BaseObject initialization method.

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

template<class DataTypes >
bool sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::checkOutOfBoundsIndices ( )
protected
template<class DataTypes >
bool sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::checkOutOfBoundsIndices ( const VecIndex indices,
const unsigned int  dimension 
)
protected
template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

Render internal data of this object, for debugging purposes.

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

template<class DataTypes >
const VecIndex& sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::getExtIndices ( ) const
inline
template<class DataTypes >
const RestShapeSpringsForceField< DataTypes >::DataVecCoord * sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::getExtPosition ( ) const
template<class DataTypes >
const VecIndex& sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::getIndices ( ) const
inline
template<class DataTypes >
SReal sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams mparams,
const DataVecCoord x 
) const
inlineoverridevirtual
template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::parse ( core::objectmodel::BaseObjectDescription arg)
overridevirtual

Parse the given description to assign values to this object's fields and potentially other parameters.

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

template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::recomputeIndices ( )
protected
template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::reinit ( )
overridevirtual

Update method called when variables used in precomputation are modified.

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

template<class DataTypes >
sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(RestShapeSpringsForceField< DataTypes >, DataTypes ,
SOFA_TEMPLATE(core::behavior::ForceField, DataTypes  
)
template<class DataTypes >
void sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >::updateForceMask ( )
overridevirtual

Useful when the forcefield is applied only on a subset of dofs. It is automatically called by addForce.

That way, we can optimize the time spent to transfer quantities through the mechanical mappings. Every Dofs are inserted by default. The forcefields using only a subset of dofs should only insert these dofs in the mask.

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