SOFA API  1df67014
Open source framework for multi-physics simuation
sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 > Class Template Reference

#include <InteractionEllipsoidForceField.h>

Inheritance diagram for sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >:

Classes

class  Contact
 
struct  TempVars
 

Public Attributes

Data< VecCoord1center
 ellipsoid center More...
 
Data< VecCoord1vradius
 ellipsoid radius More...
 
Data< Real1stiffness
 force stiffness (positive to repulse outward, negative inward) More...
 
Data< Real1damping
 force damping More...
 
Data< sofa::type::RGBAColorcolor
 ellipsoid color. (default=[0.0,0.5,1.0,1.0]) More...
 
Data< boolbDraw
 enable/disable drawing of the ellipsoid More...
 
Data< int > object2_dof_index
 Dof index of object 2 where the forcefield is attached. More...
 
Data< boolobject2_forces
 enable/disable propagation of forces to object 2 More...
 
Data< boolobject2_invert
 inverse transform from object 2 (use when object 1 is in local coordinates within a frame defined by object 2) More...
 
- 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
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

Data< sofa::type::vector< Contact > > contacts
 Contacts. More...
 
InteractionEllipsoidForceFieldInternalData< DataTypes1, DataTypes2data
 
struct sofa::component::mechanicalload::InteractionEllipsoidForceField::TempVars vars
 
- Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 
- 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...
 
- Protected Attributes inherited from sofa::core::behavior::PairStateAccessor< TDataTypes1, TDataTypes2 >
SingleLink< PairStateAccessor< TDataTypes1, TDataTypes2 >, MechanicalState< TDataTypes1 >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate1
 
SingleLink< PairStateAccessor< TDataTypes1, TDataTypes2 >, MechanicalState< TDataTypes2 >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate2
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE2(InteractionEllipsoidForceField, TDataTypes1, TDataTypes2), SOFA_TEMPLATE2(core::behavior::MixedInteractionForceField, TDataTypes1, TDataTypes2))
 
void setStiffness (Real1 stiff)
 
void setDamping (Real1 damp)
 
void addForce (const sofa::core::MechanicalParams *mparams, DataVecDeriv1 &f1, DataVecDeriv2 &f2, const DataVecCoord1 &x1, const DataVecCoord2 &x2, const DataVecDeriv1 &v1, const DataVecDeriv2 &v2) override
 
virtual void addForce2 (DataVecDeriv1 &f1, DataVecDeriv2 &f2, const DataVecCoord1 &p1, const DataVecCoord2 &p2, const DataVecDeriv1 &v1, const DataVecDeriv2 &v2)
 
void addDForce (const sofa::core::MechanicalParams *mparams, DataVecDeriv1 &df1, DataVecDeriv2 &df2, const DataVecDeriv1 &dx1, const DataVecDeriv2 &dx2) override
 
SReal getPotentialEnergy (const sofa::core::MechanicalParams *mparams, const DataVecCoord1 &x1, const DataVecCoord2 &x2) const override
 
void buildDampingMatrix (core::behavior::DampingMatrix *) final
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
- Public Member Functions inherited from sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >
 SOFA_ABSTRACT_CLASS2 (SOFA_TEMPLATE2(MixedInteractionForceField, TDataTypes1, TDataTypes2), BaseInteractionForceField, SOFA_TEMPLATE2(PairStateAccessor, TDataTypes1, TDataTypes2))
 
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 BaseMechanicalStategetMechModel1 ()
 
virtual BaseMechanicalStategetMechModel2 ()
 
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, StateAccessor)
 
virtual void addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId)
 Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients. More...
 
virtual void addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix)
 Compute the system matrix corresponding to $ b B $. 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 buildStiffnessMatrix (StiffnessMatrix *matrix)
 
virtual const sofa::linearalgebra::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::behavior::StateAccessor
 SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)
 
virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & getMechanicalStates () const
 Return a list of mechanical states to which this component is associated. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
SReal getTime () const
 Current time. More...
 
const 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...
 
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 addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const final
 Get the template type names (if any) used to instantiate this object. More...
 
std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const 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)
 
- Public Member Functions inherited from sofa::core::behavior::PairStateAccessor< TDataTypes1, TDataTypes2 >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(PairStateAccessor, TDataTypes1, TDataTypes2), StateAccessor)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< TDataTypes1 > * getMState1 ()
 Retrieve the associated MechanicalState #1. More...
 
const MechanicalState< TDataTypes1 > * getMState1 () const
 Retrieve the associated MechanicalState #1. More...
 
BaseMechanicalStategetMechModel1 ()
 Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...
 
const BaseMechanicalStategetMechModel1 () const
 Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...
 
MechanicalState< TDataTypes2 > * getMState2 ()
 Retrieve the associated MechanicalState #2. More...
 
const MechanicalState< TDataTypes2 > * getMState2 () const
 Retrieve the associated MechanicalState #2. More...
 
BaseMechanicalStategetMechModel2 ()
 Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...
 
const BaseMechanicalStategetMechModel2 () const
 Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...
 

Protected Member Functions

bool calcF (const Coord1 &p1, const Deriv1 &v1, Deriv1 &f1, Mat &dfdx)
 
void initCalcF ()
 
 InteractionEllipsoidForceField ()
 
- 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=default
 
- Protected Member Functions inherited from sofa::core::behavior::StateAccessor
 StateAccessor ()
 
 ~StateAccessor () override=default
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
- Protected Member Functions inherited from sofa::core::behavior::PairStateAccessor< TDataTypes1, TDataTypes2 >
 PairStateAccessor (MechanicalState< TDataTypes1 > *mm1, MechanicalState< TDataTypes2 > *mm2)
 
 ~PairStateAccessor () override=default
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >
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 std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ bDraw

template<typename TDataTypes1 , typename TDataTypes2 >
Data<bool> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::bDraw

enable/disable drawing of the ellipsoid

◆ center

template<typename TDataTypes1 , typename TDataTypes2 >
Data<VecCoord1> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::center

ellipsoid center

◆ color

template<typename TDataTypes1 , typename TDataTypes2 >
Data<sofa::type::RGBAColor> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::color

ellipsoid color. (default=[0.0,0.5,1.0,1.0])

◆ contacts

template<typename TDataTypes1 , typename TDataTypes2 >
Data<sofa::type::vector<Contact> > sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::contacts
protected

Contacts.

◆ damping

template<typename TDataTypes1 , typename TDataTypes2 >
Data<Real1> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::damping

force damping

◆ data

template<typename TDataTypes1 , typename TDataTypes2 >
InteractionEllipsoidForceFieldInternalData<DataTypes1, DataTypes2> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::data
protected

◆ object2_dof_index

template<typename TDataTypes1 , typename TDataTypes2 >
Data<int> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::object2_dof_index

Dof index of object 2 where the forcefield is attached.

◆ object2_forces

template<typename TDataTypes1 , typename TDataTypes2 >
Data<bool> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::object2_forces

enable/disable propagation of forces to object 2

◆ object2_invert

template<typename TDataTypes1 , typename TDataTypes2 >
Data<bool> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::object2_invert

inverse transform from object 2 (use when object 1 is in local coordinates within a frame defined by object 2)

◆ stiffness

template<typename TDataTypes1 , typename TDataTypes2 >
Data<Real1> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::stiffness

force stiffness (positive to repulse outward, negative inward)

◆ vars

template<typename TDataTypes1 , typename TDataTypes2 >
struct sofa::component::mechanicalload::InteractionEllipsoidForceField::TempVars sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::vars
protected

◆ vradius

template<typename TDataTypes1 , typename TDataTypes2 >
Data<VecCoord1> sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::vradius

ellipsoid radius

Constructor details

◆ InteractionEllipsoidForceField()

template<typename TDataTypes1 , typename TDataTypes2 >
sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::InteractionEllipsoidForceField ( )
inlineprotected

Function details

◆ addDForce()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addDForce ( const sofa::core::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 >.

◆ addForce()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addForce ( const sofa::core::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 >.

◆ addForce2()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::addForce2 ( DataVecDeriv1 f1,
DataVecDeriv2 f2,
const DataVecCoord1 p1,
const DataVecCoord2 p2,
const DataVecDeriv1 v1,
const DataVecDeriv2 v2 
)
virtual

◆ buildDampingMatrix()

template<typename TDataTypes1 , typename TDataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::buildDampingMatrix ( core::behavior::DampingMatrix )
finalvirtual

◆ calcF()

template<class DataTypes1 , class DataTypes2 >
bool sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::calcF ( const Coord1 p1,
const Deriv1 v1,
Deriv1 f1,
Mat dfdx 
)
protected

◆ draw()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getPotentialEnergy()

template<class DataTypes1 , class DataTypes2 >
SReal sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::getPotentialEnergy ( const sofa::core::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 >.

◆ init()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::init ( void  )
overridevirtual

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

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

◆ initCalcF()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::initCalcF
protected

◆ reinit()

template<class DataTypes1 , class DataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::reinit
overridevirtual

Update method called when variables used in precomputation are modified.

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

◆ setDamping()

template<typename TDataTypes1 , typename TDataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::setDamping ( Real1  damp)
inline

◆ setStiffness()

template<typename TDataTypes1 , typename TDataTypes2 >
void sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::setStiffness ( Real1  stiff)
inline

◆ SOFA_CLASS()

template<typename TDataTypes1 , typename TDataTypes2 >
sofa::component::mechanicalload::InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >::SOFA_CLASS ( SOFA_TEMPLATE2(InteractionEllipsoidForceField< TDataTypes1, TDataTypes2 >, TDataTypes1, TDataTypes2)  ,
SOFA_TEMPLATE2(core::behavior::MixedInteractionForceField, TDataTypes1, TDataTypes2)   
)

Enum details

◆ anonymous enum

template<typename TDataTypes1 , typename TDataTypes2 >
anonymous enum
Enumerator