SOFA API  014b24ea
Open source framework for multi-physics simuation
sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes > Class Template Reference

#include <PolynomialSpringsForceField.h>

This class describes a polynomial elastic springs ForceField. More...

Inheritance diagram for sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >

This class describes a polynomial elastic springs ForceField.

Public Attributes

Data< VecIndexd_firstObjectPoints
 
Data< VecIndexd_secondObjectPoints
 
Data< VecReald_polynomialStiffness
 
Data< helper::vector< unsigned int > > d_polynomialDegree
 Describe set of polynomial degrees fro every spring. More...
 
Data< intd_computeZeroLength
 
Data< VecReald_zeroLength
 Flag to verify if initial length has to be computed during the first iteration. More...
 
Data< boold_recomputeIndices
 Springs initial lengths. More...
 
Data< boold_compressible
 
Data< intd_drawMode
 flag to put compressible springs More...
 
Data< floatd_showArrowSize
 Draw Mode: 0=Line - 1=Cylinder - 2=Arrow. More...
 
Data< sofa::helper::types::RGBAColord_springColor
 
Data< floatd_showIndicesScale
 
- 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}
 

Protected Attributes

VecIndex m_firstObjectIndices
 
VecIndex m_secondObjectIndices
 
helper::vector< JacobianMatrixm_differential
 
VecReal m_springLength
 
VecReal m_strainValue
 
VecCoord m_weightedCoordinateDifference
 
helper::vector< helper::vector< unsigned int > > m_polynomialsMap
 
VecReal m_initialSpringLength
 
VecReal m_strainSign
 
std::vector< intm_computeSpringsZeroLength
 
const unsigned int m_dimension
 
- Protected Attributes inherited from sofa::core::behavior::PairInteractionForceField< DataTypes >
SingleLink< PairInteractionForceField< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate1
 
SingleLink< PairInteractionForceField< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate2
 
- 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...
 

Static Protected Attributes

static double constexpr MATH_PI = 3.14159265
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(PolynomialSpringsForceField, DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionForceField, DataTypes))
 
void bwdInit () override
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
void addForce (const core::MechanicalParams *mparams, DataVecDeriv &data_f1, DataVecDeriv &data_f2, const DataVecCoord &data_p1, const DataVecCoord &data_p2, const DataVecDeriv &data_v1, const DataVecDeriv &data_v2) override
 Add the forces. More...
 
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &data_df1, DataVecDeriv &data_df2, const DataVecDeriv &data_dx1, const DataVecDeriv &data_dx2) override
 
virtual void addKToMatrix (const core::MechanicalParams *mparams, const core::behavior::MultiMatrixAccessor *matrix) override
 Brings ForceField contribution to the global system stiffness matrix. More...
 
virtual void addSubKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &addSubIndex) override
 
virtual void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
virtual SReal getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &, const DataVecCoord &) const override
 
void addMBKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to m M + b B + k K. More...
 
const VecIndexgetFirstObjectIndices () const
 
const VecIndexgetSecondObjectIndices () const
 
core::behavior::MechanicalState< DataTypes > * getObject1 ()
 
core::behavior::MechanicalState< DataTypes > * getObject2 ()
 
- Public Member Functions inherited from sofa::core::behavior::PairInteractionForceField< DataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(PairInteractionForceField, DataTypes), BaseInteractionForceField)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState1 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel1 () override
 
MechanicalState< DataTypes > * getMState2 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel2 () override
 
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 updateForceMask () override
 
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 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 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 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 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 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

 PolynomialSpringsForceField ()
 
 PolynomialSpringsForceField (MechanicalState *object1, MechanicalState *object2)
 
void recomputeIndices ()
 
void ComputeJacobian (unsigned int stiffnessIndex, unsigned int springIndex)
 
double PolynomialValue (unsigned int springIndex, double strainValue)
 
double PolynomialDerivativeValue (unsigned int springIndex, double strainValue)
 
- 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
 
- 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::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 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<class DataTypes >
Data<int> sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::d_computeZeroLength

flag to put compressible springs

template<class DataTypes >
Data< helper::vector<unsigned int> > sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::d_polynomialDegree

Describe set of polynomial degrees fro every spring.

template<class DataTypes >
Data<VecReal> sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::d_polynomialStiffness

Describe set of polynomial coefficients combines in one array. The coefficients are put from smaller degree to bigger one, and the free polynomial parameter is also zero (for zero strain we have zero stress). For examples the coeffiencts for polynomials with degrees [3, 2, 4] will be put as [ a1, a2, a3, b1, b2, c1, c2, c3, c4]

template<class DataTypes >
Data<bool> sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::d_recomputeIndices

Springs initial lengths.

Draw Mode: 0=Line - 1=Cylinder - 2=Arrow.

size of the axis

Flag to verify if initial length has to be computed during the first iteration.

template<class DataTypes >
std::vector<int> sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_computeSpringsZeroLength
protected
template<class DataTypes >
const unsigned int sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_dimension
protected
template<class DataTypes >
VecIndex sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_firstObjectIndices
protected
template<class DataTypes >
VecReal sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_initialSpringLength
protected
template<class DataTypes >
helper::vector<helper::vector<unsigned int> > sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_polynomialsMap
protected
template<class DataTypes >
VecIndex sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_secondObjectIndices
protected
template<class DataTypes >
VecReal sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_springLength
protected
template<class DataTypes >
VecReal sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_strainSign
protected
template<class DataTypes >
VecReal sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_strainValue
protected
template<class DataTypes >
VecCoord sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::m_weightedCoordinateDifference
protected
template<class DataTypes >
double constexpr sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::MATH_PI = 3.14159265
staticprotected

Constructor details

Function details

template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::addDForce ( const 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 >.

template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::addForce ( const core::MechanicalParams mparams,
DataVecDeriv data_f1,
DataVecDeriv data_f2,
const DataVecCoord data_p1,
const DataVecCoord data_p2,
const DataVecDeriv data_v1,
const DataVecDeriv data_v2 
)
overridevirtual
template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::addKToMatrix ( const core::MechanicalParams mparams,
const core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Brings ForceField contribution to the global system stiffness matrix.

Reimplemented from sofa::core::behavior::BaseInteractionForceField.

template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::addMBKToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
inlineoverridevirtual

Compute the system matrix corresponding to m M + b B + k K.

Parameters
mparams
  • mparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE)
  • mparams->bFactor() is the coefficient for damping contributions (i.e. first derivatives term in the ODE)
  • mparams->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::BaseForceField.

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

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

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

template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::ComputeJacobian ( unsigned int  stiffnessIndex,
unsigned int  springIndex 
)
protected
template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

template<class DataTypes >
const VecIndex& sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::getFirstObjectIndices ( ) const
inline
template<class DataTypes >
virtual SReal sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams mparams,
const DataVecCoord x1,
const DataVecCoord x2 
) const
inlineoverridevirtual

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 >.

template<class DataTypes >
const VecIndex& sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::getSecondObjectIndices ( ) const
inline
template<class DataTypes >
double sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::PolynomialDerivativeValue ( unsigned int  springIndex,
double  strainValue 
)
protected
template<class DataTypes >
double sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::PolynomialValue ( unsigned int  springIndex,
double  strainValue 
)
protected
template<class DataTypes >
void sofa::component::interactionforcefield::PolynomialSpringsForceField< DataTypes >::recomputeIndices ( )
protected