SOFA API  6dc60b15
Open source framework for multi-physics simuation
sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 > Class Template Reference

#include <MechanicalMatrixMapper.h>

This component allows to map mechanical matrices (Stiffness, Mass) through a mapping. More...

Inheritance diagram for sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >:

Detailed Description

template<typename TDataTypes1, typename TDataTypes2>
class sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >

This component allows to map mechanical matrices (Stiffness, Mass) through a mapping.

This is needed in SOFA scenes having these two following particularities:

  • There are using a direct solver (e.g. SparseLDLSolver) that, unlike iterative solvers, need to build the mechanical matrices.
  • They involves ForceFields that implement addKToMatrix (i.e. that compute internal forces such as e.g. TetrahedronFEMForceField, TetrahedronHyperElasticityFEMForceField, but not ConstantForceField which only contributes to the right-hand side) and that ARE USED UNDER mappings. Without this component, such a scene either crashes or gives unlogical behaviour.

The component supports the case of subsetMultiMappings that map from one to two mechanical objects. An example using this component can be found in examples/Components/animationLoop/MechanicalMatrixMapper.pyscn

Static Public Attributes

static const unsigned int DerivSize1 = Deriv1::total_size
 
static const unsigned int DerivSize2 = Deriv2::total_size
 

Protected Attributes

Data< helper::vector< std::string > > d_forceFieldList
 
SingleLink< MechanicalMatrixMapper< DataTypes1, DataTypes2 >, sofa::simulation::Node, BaseLink::FLAG_STOREPATHl_nodeToParse
 
Data< boold_stopAtNodeToParse
 
Data< boold_skipJ1tKJ1
 
Data< boold_skipJ2tKJ2
 
SingleLink< MechanicalMatrixMapper< DataTypes1, DataTypes2 >, sofa::core::behavior::BaseMechanicalState, BaseLink::FLAG_NONEl_mechanicalState
 
SingleLink< MechanicalMatrixMapper< DataTypes1, DataTypes2 >, sofa::core::behavior::BaseMass, BaseLink::FLAG_NONEl_mappedMass
 
MultiLink< MechanicalMatrixMapper< DataTypes1, DataTypes2 >, sofa::core::behavior::BaseForceField, BaseLink::FLAG_NONEl_forceField
 
size_t m_nbInteractionForceFields
 
- Protected Attributes inherited from sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >
SingleLink< MixedInteractionForceField< DataTypes1, DataTypes2 >, MechanicalState< DataTypes1 >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKmstate1
 
SingleLink< MixedInteractionForceField< DataTypes1, DataTypes2 >, MechanicalState< DataTypes2 >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKmstate2
 
- 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
std::map< std::string, sofa::core::DataTrackerCallbackm_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...
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE2(MechanicalMatrixMapper, TDataTypes1, TDataTypes2), SOFA_TEMPLATE2(MixedInteractionForceField, TDataTypes1, TDataTypes2))
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void addForce (const MechanicalParams *mparams, DataVecDeriv1 &f1, DataVecDeriv2 &f2, const DataVecCoord1 &x1, const DataVecCoord2 &x2, const DataVecDeriv1 &v1, const DataVecDeriv2 &v2) override
 
void addDForce (const MechanicalParams *mparams, DataVecDeriv1 &df1, DataVecDeriv2 &df2, const DataVecDeriv1 &dx1, const DataVecDeriv2 &dx2) override
 
void addKToMatrix (const MechanicalParams *mparams, const MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to k K. More...
 
double getPotentialEnergy (const MechanicalParams *mparams, const DataVecCoord1 &x1, const DataVecCoord2 &x2) const override
 
void parseNode (sofa::simulation::Node *node, std::string massName)
 Walk recursively through a node and its children linking with their forcefield. More...
 
- Public Member Functions inherited from sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(MixedInteractionForceField, TDataTypes1, TDataTypes2), BaseInteractionForceField)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes1 > * getMState1 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel1 () override
 
MechanicalState< DataTypes2 > * getMState2 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel2 () override
 
void addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override
 
void addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override
 
SReal getPotentialEnergy (const MechanicalParams *mparams) const override
 
void updateForceMask () override
 
- Public Member Functions inherited from sofa::core::behavior::BaseInteractionForceField
 SOFA_ABSTRACT_CLASS (BaseInteractionForceField, BaseForceField)
 
void addKToMatrix (const MechanicalParams *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Compute the system matrix corresponding to k K. 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, objectmodel::BaseObject)
 
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 addSubKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex)
 
virtual void addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix)
 Compute the system matrix corresponding to b B. More...
 
virtual void addSubBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &vecIds)
 
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 *)
 
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::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
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 override
 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)
 
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 BaseClassgetClass () const
 
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...
 
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...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual 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
 
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
 
bool IsInheritingFromBase ()
 
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 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

 MechanicalMatrixMapper ()
 
void accumulateJacobians (const MechanicalParams *mparams)
 This method computes the mapping jacobian. More...
 
virtual void buildIdentityBlocksInJacobian (core::behavior::BaseMechanicalState *mstate, sofa::core::MatrixDerivId Id)
 This method fills the jacobian matrix (of the mapping) with identity blocks on the provided list of nodes(dofs) More...
 
virtual void accumulateJacobiansOptimized (const MechanicalParams *mparams)
 This method encapsulates the jacobian accumulation to allow for specific optimisations in child classes. More...
 
virtual void addMassToSystem (const MechanicalParams *mparams, const DefaultMultiMatrixAccessor *KAccessor)
 This method adds the mass matrix to the system. More...
 
virtual void addPrecomputedMassToSystem (const MechanicalParams *mparams, const unsigned int mstateSize, const Eigen::SparseMatrix< double > &Jeig, Eigen::SparseMatrix< double > &JtKJeig)
 This method does not do anything in this class but is used in child classes. More...
 
virtual void optimizeAndCopyMappingJacobianToEigenFormat1 (const typename DataTypes1::MatrixDeriv &J, Eigen::SparseMatrix< double > &Jeig)
 This method performs the copy of the jacobian matrix of the first mstate to the eigen sparse format. More...
 
virtual void optimizeAndCopyMappingJacobianToEigenFormat2 (const typename DataTypes2::MatrixDeriv &J, Eigen::SparseMatrix< double > &Jeig)
 This method performs the copy of the jacobian matrix of the second mstate (not mandatory) to the eigen sparse format. More...
 
- Protected Member Functions inherited from sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >
 MixedInteractionForceField (MechanicalState< DataTypes1 > *mm1=nullptr, MechanicalState< DataTypes2 > *mm2=nullptr)
 
 ~MixedInteractionForceField () 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, 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...
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal > rayleighStiffness
 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< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- Static Public Member Functions inherited from sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >
template<class T >
static T::SPtr create (T *, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
template<class T >
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 BaseClassGetClass ()
 
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<typename TDataTypes1 , typename TDataTypes2 >
Data<helper::vector<std::string> > sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::d_forceFieldList
protected
template<typename TDataTypes1 , typename TDataTypes2 >
Data<bool> sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::d_skipJ1tKJ1
protected
template<typename TDataTypes1 , typename TDataTypes2 >
Data<bool> sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::d_skipJ2tKJ2
protected
template<typename TDataTypes1 , typename TDataTypes2 >
Data<bool> sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::d_stopAtNodeToParse
protected
template<typename TDataTypes1 , typename TDataTypes2 >
const unsigned int sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::DerivSize1 = Deriv1::total_size
static
template<typename TDataTypes1 , typename TDataTypes2 >
const unsigned int sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::DerivSize2 = Deriv2::total_size
static
template<typename TDataTypes1 , typename TDataTypes2 >
MultiLink< MechanicalMatrixMapper<DataTypes1, DataTypes2>, sofa::core::behavior::BaseForceField, BaseLink::FLAG_NONE > sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::l_forceField
protected
template<typename TDataTypes1 , typename TDataTypes2 >
SingleLink< MechanicalMatrixMapper<DataTypes1, DataTypes2>, sofa::core::behavior::BaseMass , BaseLink::FLAG_NONE > sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::l_mappedMass
protected
template<typename TDataTypes1 , typename TDataTypes2 >
SingleLink< MechanicalMatrixMapper<DataTypes1, DataTypes2>, sofa::core::behavior::BaseMechanicalState , BaseLink::FLAG_NONE > sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::l_mechanicalState
protected
template<typename TDataTypes1 , typename TDataTypes2 >
SingleLink< MechanicalMatrixMapper<DataTypes1, DataTypes2>, sofa::simulation::Node , BaseLink::FLAG_STOREPATH > sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::l_nodeToParse
protected
template<typename TDataTypes1 , typename TDataTypes2 >
size_t sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::m_nbInteractionForceFields
protected

Constructor details

template<class DataTypes1 , class DataTypes2 >
sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::MechanicalMatrixMapper ( )
protected

Function details

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::accumulateJacobians ( const MechanicalParams mparams)
protected

This method computes the mapping jacobian.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::accumulateJacobiansOptimized ( const MechanicalParams mparams)
protectedvirtual

This method encapsulates the jacobian accumulation to allow for specific optimisations in child classes.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::addDForce ( const MechanicalParams mparams,
DataVecDeriv1 df1,
DataVecDeriv2 df2,
const DataVecDeriv1 dx1,
const DataVecDeriv2 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 += K dx $

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

Implements sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::addForce ( const MechanicalParams mparams,
DataVecDeriv1 f1,
DataVecDeriv2 f2,
const DataVecCoord1 x1,
const DataVecCoord2 x2,
const DataVecDeriv1 v1,
const DataVecDeriv2 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::MixedInteractionForceField< TDataTypes1, TDataTypes2 >.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::addKToMatrix ( const MechanicalParams mparams,
const MultiMatrixAccessor matrix 
)
overridevirtual

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

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

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::addMassToSystem ( const MechanicalParams mparams,
const DefaultMultiMatrixAccessor KAccessor 
)
protectedvirtual

This method adds the mass matrix to the system.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::addPrecomputedMassToSystem ( const MechanicalParams mparams,
const unsigned int  mstateSize,
const Eigen::SparseMatrix< double > &  Jeig,
Eigen::SparseMatrix< double > &  JtKJeig 
)
protectedvirtual

This method does not do anything in this class but is used in child classes.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::buildIdentityBlocksInJacobian ( core::behavior::BaseMechanicalState mstate,
sofa::core::MatrixDerivId  Id 
)
protectedvirtual

This method fills the jacobian matrix (of the mapping) with identity blocks on the provided list of nodes(dofs)

template<class DataTypes1 , class DataTypes2 >
double sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::getPotentialEnergy ( const MechanicalParams mparams,
const DataVecCoord1 x1,
const DataVecCoord2 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 MixedInteractionForceField::getPotentialEnergy() method.

Implements sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::init ( void  )
overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

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

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::optimizeAndCopyMappingJacobianToEigenFormat1 ( const typename DataTypes1::MatrixDeriv &  J,
Eigen::SparseMatrix< double > &  Jeig 
)
protectedvirtual

This method performs the copy of the jacobian matrix of the first mstate to the eigen sparse format.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::optimizeAndCopyMappingJacobianToEigenFormat2 ( const typename DataTypes2::MatrixDeriv &  J,
Eigen::SparseMatrix< double > &  Jeig 
)
protectedvirtual

This method performs the copy of the jacobian matrix of the second mstate (not mandatory) to the eigen sparse format.

template<class DataTypes1 , class DataTypes2 >
void sofa::component::interactionforcefield::MechanicalMatrixMapper< DataTypes1, DataTypes2 >::parseNode ( sofa::simulation::Node node,
std::string  massName 
)

Walk recursively through a node and its children linking with their forcefield.

Parameters
node: from which node it start
massName: won't link with given mass component
template<typename TDataTypes1 , typename TDataTypes2 >
sofa::component::interactionforcefield::MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >::SOFA_CLASS ( SOFA_TEMPLATE2(MechanicalMatrixMapper< TDataTypes1, TDataTypes2 >, TDataTypes1, TDataTypes2)  ,
SOFA_TEMPLATE2(MixedInteractionForceField, TDataTypes1, TDataTypes2)   
)