#include <TorsionForceField.h>

Inheritance diagram for sofa::component::mechanicalload::TorsionForceField< DataTypes >:

Detailed Description

template<typename DataTypes>
class sofa::component::mechanicalload::TorsionForceField< DataTypes >

This forcefield applies a torque to a set of selected nodes. The force is applied from a specified axis (origin and direction) and a torque value.

Public Attributes
Data< VecId >	m_indices
	indices of the selected nodes. More...

Data< Real >	m_torque
	torque to be applied. More...

Data< Pos >	m_axis
	direction of the axis. More...

Data< Pos >	m_origin
	origin of the axis. More...

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

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

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

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

Data< int >	d_messageLogCount

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

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

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

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

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

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
Pos	m_u
	normalized axis More...

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

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

LinkSlaves	l_slaves

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

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

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

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

VecLink	m_vecLink
	List of links. More...

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

Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
SingleLink< SingleStateAccessor< TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STRONGLINK >	mstate

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(TorsionForceField, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::ForceField, DataTypes))

	TorsionForceField ()

virtual	~TorsionForceField ()

void	addForce (const MechanicalParams *, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v) override

void	addDForce (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx) override

void	addKToMatrix (linearalgebra::BaseMatrix *matrix, SReal kFact, unsigned int &offset) override

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

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

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

void	addForce (const core::MechanicalParams *, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v)

void	addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx)

void	addForce (const core::MechanicalParams *, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &)

void	addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx)

Public Member Functions inherited from sofa::core::behavior::ForceField< TDataTypes >
	SOFA_CLASS2 (SOFA_TEMPLATE(ForceField, TDataTypes), BaseForceField, SOFA_TEMPLATE(SingleStateAccessor, TDataTypes))

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

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

void	addClambda (const MechanicalParams *mparams, MultiVecDerivId resId, MultiVecDerivId lambdaId, SReal cFactor) override

virtual void	addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor)

SReal	getPotentialEnergy (const MechanicalParams *mparams) const override

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

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

template<class IndexArray , class ElementMat >
void	addToMatrix (sofa::linearalgebra::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)

virtual void	addBToMatrix (sofa::linearalgebra::BaseMatrix *matrix, SReal bFact, unsigned int &offset)

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

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

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

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

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

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)

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

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

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

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

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

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

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

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

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

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

virtual void	handleTopologyChange ()

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

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

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

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

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

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

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

virtual void	cleanup ()

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

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

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

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

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

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

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

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

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

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

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

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

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

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

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

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

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

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

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

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

void	clearLoggedMessages () const

bool	notMuted () const

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

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

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

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

ComponentState	getComponentState () const

bool	isComponentStateValid () const

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	addData (BaseData *f)

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

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

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

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

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

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

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

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

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

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

Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, TDataTypes), StateAccessor)

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

MechanicalState< TDataTypes > *	getMState ()

const MechanicalState< TDataTypes > *	getMState () const

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

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 BaseClass *	GetClass ()

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

Protected Member Functions inherited from sofa::core::behavior::ForceField< TDataTypes >
	ForceField (MechanicalState< DataTypes > *mm=nullptr)

	~ForceField () 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::SingleStateAccessor< TDataTypes >
	SingleStateAccessor (MechanicalState< TDataTypes > *mm=nullptr)

	~SingleStateAccessor () override=default

Attribute details

◆ m_axis

template<typename DataTypes >

Data<Pos> sofa::component::mechanicalload::TorsionForceField< DataTypes >::m_axis

direction of the axis.

◆ m_indices

template<typename DataTypes >

Data<VecId> sofa::component::mechanicalload::TorsionForceField< DataTypes >::m_indices

indices of the selected nodes.

◆ m_origin

template<typename DataTypes >

Data<Pos> sofa::component::mechanicalload::TorsionForceField< DataTypes >::m_origin

origin of the axis.

◆ m_torque

template<typename DataTypes >

Data<Real> sofa::component::mechanicalload::TorsionForceField< DataTypes >::m_torque

torque to be applied.

◆ m_u

template<typename DataTypes >

Pos sofa::component::mechanicalload::TorsionForceField< DataTypes >::m_u

protected

normalized axis

Constructor details

◆ TorsionForceField()

template<typename DataTypes >

sofa::component::mechanicalload::TorsionForceField< DataTypes >::TorsionForceField

◆ ~TorsionForceField()

template<typename DataTypes >

sofa::component::mechanicalload::TorsionForceField< DataTypes >::~TorsionForceField

virtual

Function details

◆ addDForce() [1/3]

void sofa::component::mechanicalload::TorsionForceField< Rigid3Types >::addDForce	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	df,
		const DataVecDeriv &	dx
	)

virtual

Internal addDForce Overloaded function, usually called from the generic addDForce version. This addDForce version directly gives access to df and dx vectors through its parameters.

Parameters

mparams
df	Output vector to fill, result of
dx	Input vector used to compute

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

◆ addDForce() [2/3]

void sofa::component::mechanicalload::TorsionForceField< Rigid3Types >::addDForce	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	df,
		const DataVecDeriv &	dx
	)

virtual

Internal addDForce Overloaded function, usually called from the generic addDForce version. This addDForce version directly gives access to df and dx vectors through its parameters.

Parameters

mparams
df	Output vector to fill, result of
dx	Input vector used to compute

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

◆ addDForce() [3/3]

template<typename DataTypes >

void sofa::component::mechanicalload::TorsionForceField< DataTypes >::addDForce	(	const MechanicalParams *	mparams,
		DataVecDeriv &	df,
		const DataVecDeriv &	dx
	)

overridevirtual

Internal addDForce Overloaded function, usually called from the generic addDForce version. This addDForce version directly gives access to df and dx vectors through its parameters.

Parameters

mparams
df	Output vector to fill, result of
dx	Input vector used to compute

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

◆ addForce() [1/3]

void sofa::component::mechanicalload::TorsionForceField< Rigid3Types >::addForce	(	const core::MechanicalParams *	,
		DataVecDeriv &	f,
		const DataVecCoord &	x,
		const DataVecDeriv &	v
	)

virtual

Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.

If the ForceField can be represented as a matrix, this method computes $ f += B v + K x $

This is the method that should be implemented by the component

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

◆ addForce() [2/3]

void sofa::component::mechanicalload::TorsionForceField< Rigid3Types >::addForce	(	const core::MechanicalParams *	,
		DataVecDeriv &	f,
		const DataVecCoord &	x,
		const DataVecDeriv &	v
	)

virtual

Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.

If the ForceField can be represented as a matrix, this method computes $ f += B v + K x $

This is the method that should be implemented by the component

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

◆ addForce() [3/3]

template<typename DataTypes >

void sofa::component::mechanicalload::TorsionForceField< DataTypes >::addForce	(	const MechanicalParams *	,
		DataVecDeriv &	f,
		const DataVecCoord &	x,
		const DataVecDeriv &	v
	)

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 is the method that should be implemented by the component

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

◆ addKToMatrix()

template<typename DataTypes >

void sofa::component::mechanicalload::TorsionForceField< DataTypes >::addKToMatrix	(	linearalgebra::BaseMatrix *	matrix,
		SReal	kFact,
		unsigned int &	offset
	)

overridevirtual

Internal addKToMatrix Overloaded function, usually called from the generic addKToMatrix version. This addKToMatrix version directly gives access to the matrix to fill, the stiffness factor and the offset used to identify where the force field must add its contributions in the matrix.

Parameters

matrix	the global stiffness matrix in which the force field adds its contribution. The matrix is global, i.e. different objects can add their contribution into the same large matrix. Each object adds its contribution to a different section of the matrix. That is why, an offset is used to identify where in the matrix the force field must start adding its contribution.
kFact	stiffness factor that needs to be multiplied to each matrix entry.
offset	Starting index of the submatrix to fill in the global matrix.

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

◆ buildDampingMatrix()

template<typename DataTypes >

void sofa::component::mechanicalload::TorsionForceField< DataTypes >::buildDampingMatrix ( core::behavior::DampingMatrix * )

finalvirtual

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

◆ buildStiffnessMatrix()

template<typename DataTypes >

void sofa::component::mechanicalload::TorsionForceField< DataTypes >::buildStiffnessMatrix ( core::behavior::StiffnessMatrix * matrix )

overridevirtual

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

◆ getPotentialEnergy()

template<typename DataTypes >

SReal sofa::component::mechanicalload::TorsionForceField< DataTypes >::getPotentialEnergy	(	const core::MechanicalParams *	,
		const DataVecCoord &
	)		const

overridevirtual

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

◆ SOFA_CLASS()

template<typename DataTypes >

sofa::component::mechanicalload::TorsionForceField< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(TorsionForceField< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(sofa::core::behavior::ForceField, DataTypes)
	)

Detailed Description

template<typename DataTypes> class sofa::component::mechanicalload::TorsionForceField< DataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Additional Inherited Members

Attribute details

◆ m_axis

◆ m_indices

◆ m_origin

◆ m_torque

◆ m_u

Constructor details

◆ TorsionForceField()

◆ ~TorsionForceField()

Function details

◆ addDForce() [1/3]

◆ addDForce() [2/3]

◆ addDForce() [3/3]

◆ addForce() [1/3]

◆ addForce() [2/3]

◆ addForce() [3/3]

◆ addKToMatrix()

◆ buildDampingMatrix()

◆ buildStiffnessMatrix()

◆ getPotentialEnergy()

◆ SOFA_CLASS()

template<typename DataTypes>
class sofa::component::mechanicalload::TorsionForceField< DataTypes >