#include <JointSpring.h>

JOINTSPRING. More...

Detailed Description

template<typename DataTypes>
class sofa::component::solidmechanics::spring::JointSpring< DataTypes >

JOINTSPRING.

Public Attributes
sofa::Index	m1
	Attributes. More...

sofa::Index	m2
	the two extremities of the spring: masses m1 and m2 More...

Real	kd
	damping factor More...

Vector	torsion
	torsion of the springs in axis/angle format More...

Vector	lawfulTorsion
	projected torsion in allowed angles More...

Vector	KT
	linear stiffness More...

Vector	KR
	angular stiffness More...

type::Quat< SReal >	ref
	referential of the spring (p1) to use it in addSpringDForce() More...

Vector	initTrans
	offset length of the spring More...

type::Quat< SReal >	initRot
	offset orientation of the spring More...

sofa::type::Vec< 6, bool >	freeMovements
	defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis More...

Real	softStiffnessTrans
	stiffness to apply on axis where the translations are free (default 0.0) More...

Real	hardStiffnessTrans
	stiffness to apply on axis where the translations are forbidden (default 10000.0) More...

Real	softStiffnessRot
	stiffness to apply on axis where the rotations are free (default 0.0) More...

Real	hardStiffnessRot
	stiffness to apply on axis where the rotations are forbidden (default 10000.0) More...

Real	blocStiffnessRot
	stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100) More...

bool	needToInitializeTrans

bool	needToInitializeRot

sofa::type::Vec< 6, Real >	limitAngles
	limit angles on rotation axis (default no limit) More...

Public Member Functions
	JointSpring (sofa::Index m1=0, sofa::Index m2=0, Real softKst=0, Real hardKst=10000, Real softKsr=0, Real hardKsr=10000, Real blocKsr=100, Real axmin=-100000, Real axmax=100000, Real aymin=-100000, Real aymax=100000, Real azmin=-100000, Real azmax=100000, Real kd=0)
	Constructors. More...

Real	getHardStiffnessRotation ()
	Accessors. More...

Real	getSoftStiffnessRotation ()

Real	getHardStiffnessTranslation ()

Real	getSoftStiffnessTranslation ()

Real	getBlocStiffnessRotation ()

sofa::type::Vec< 6, Real >	getLimitAngles ()

sofa::type::Vec< 6, bool >	getFreeAxis ()

Vector	getInitLength ()

type::Quat< SReal >	getInitOrientation ()

void	setHardStiffnessRotation (Real ksr)
	Affectors. More...

void	setSoftStiffnessRotation (Real ksr)

void	setHardStiffnessTranslation (Real kst)

void	setSoftStiffnessTranslation (Real kst)

void	setBlocStiffnessRotation (Real ksb)

void	setLimitAngles (const sofa::type::Vec< 6, Real > &lims)

void	setLimitAngles (Real minx, Real maxx, Real miny, Real maxy, Real minz, Real maxz)

void	setInitLength (const Vector &l)

void	setInitOrientation (const type::Quat< SReal > &o)

void	setInitOrientation (const Vector &o)

void	setFreeAxis (const sofa::type::Vec< 6, bool > &axis)

void	setFreeAxis (bool isFreeTx, bool isFreeTy, bool isFreeTz, bool isFreeRx, bool isFreeRy, bool isFreeRz)

void	setDamping (Real _kd)

Friends
std::istream &	operator>> (std::istream &in, JointSpring< DataTypes > &s)

std::ostream &	operator<< (std::ostream &out, const JointSpring< DataTypes > &s)

Attribute details

◆ blocStiffnessRot

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::blocStiffnessRot

stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100)

◆ freeMovements

template<typename DataTypes >

sofa::type::Vec<6,bool> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::freeMovements

defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis

◆ hardStiffnessRot

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::hardStiffnessRot

stiffness to apply on axis where the rotations are forbidden (default 10000.0)

◆ hardStiffnessTrans

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::hardStiffnessTrans

stiffness to apply on axis where the translations are forbidden (default 10000.0)

◆ initRot

template<typename DataTypes >

type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::initRot

offset orientation of the spring

◆ initTrans

template<typename DataTypes >

Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::initTrans

offset length of the spring

◆ kd

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::kd

damping factor

◆ KR

template<typename DataTypes >

Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::KR

angular stiffness

◆ KT

template<typename DataTypes >

Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::KT

linear stiffness

◆ lawfulTorsion

template<typename DataTypes >

Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::lawfulTorsion

projected torsion in allowed angles

◆ limitAngles

template<typename DataTypes >

sofa::type::Vec<6,Real> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::limitAngles

limit angles on rotation axis (default no limit)

◆ m1

template<typename DataTypes >

sofa::Index sofa::component::solidmechanics::spring::JointSpring< DataTypes >::m1

Attributes.

◆ m2

template<typename DataTypes >

sofa::Index sofa::component::solidmechanics::spring::JointSpring< DataTypes >::m2

the two extremities of the spring: masses m1 and m2

◆ needToInitializeRot

template<typename DataTypes >

bool sofa::component::solidmechanics::spring::JointSpring< DataTypes >::needToInitializeRot

◆ needToInitializeTrans

template<typename DataTypes >

bool sofa::component::solidmechanics::spring::JointSpring< DataTypes >::needToInitializeTrans

◆ ref

template<typename DataTypes >

type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::ref

referential of the spring (p1) to use it in addSpringDForce()

◆ softStiffnessRot

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::softStiffnessRot

stiffness to apply on axis where the rotations are free (default 0.0)

◆ softStiffnessTrans

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::softStiffnessTrans

stiffness to apply on axis where the translations are free (default 0.0)

◆ torsion

template<typename DataTypes >

Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::torsion

torsion of the springs in axis/angle format

Constructor details

◆ JointSpring()

template<class DataTypes >

sofa::component::solidmechanics::spring::JointSpring< DataTypes >::JointSpring	(	sofa::Index	m1 = `0`,
		sofa::Index	m2 = `0`,
		Real	softKst = `0`,
		Real	hardKst = `10000`,
		Real	softKsr = `0`,
		Real	hardKsr = `10000`,
		Real	blocKsr = `100`,
		Real	axmin = `-100000`,
		Real	axmax = `100000`,
		Real	aymin = `-100000`,
		Real	aymax = `100000`,
		Real	azmin = `-100000`,
		Real	azmax = `100000`,
		Real	kd = `0`
	)

Constructors.

Function details

◆ getBlocStiffnessRotation()

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getBlocStiffnessRotation ( )

inline

◆ getFreeAxis()

template<typename DataTypes >

sofa::type::Vec<6,bool> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getFreeAxis ( )

inline

◆ getHardStiffnessRotation()

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getHardStiffnessRotation ( )

inline

Accessors.

◆ getHardStiffnessTranslation()

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getHardStiffnessTranslation ( )

inline

◆ getInitLength()

template<typename DataTypes >

Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getInitLength ( )

inline

◆ getInitOrientation()

template<typename DataTypes >

type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getInitOrientation ( )

inline

◆ getLimitAngles()

template<typename DataTypes >

sofa::type::Vec<6,Real> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getLimitAngles ( )

inline

◆ getSoftStiffnessRotation()

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getSoftStiffnessRotation ( )

inline

◆ getSoftStiffnessTranslation()

template<typename DataTypes >

Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::getSoftStiffnessTranslation ( )

inline

◆ setBlocStiffnessRotation()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setBlocStiffnessRotation ( Real ksb )

inline

◆ setDamping()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setDamping ( Real _kd )

inline

◆ setFreeAxis() [1/2]

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setFreeAxis	(	bool	isFreeTx,
		bool	isFreeTy,
		bool	isFreeTz,
		bool	isFreeRx,
		bool	isFreeRy,
		bool	isFreeRz
	)

inline

◆ setFreeAxis() [2/2]

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setFreeAxis ( const sofa::type::Vec< 6, bool > & axis )

inline

◆ setHardStiffnessRotation()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setHardStiffnessRotation ( Real ksr )

inline

Affectors.

◆ setHardStiffnessTranslation()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setHardStiffnessTranslation ( Real kst )

inline

◆ setInitLength()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setInitLength ( const Vector & l )

inline

◆ setInitOrientation() [1/2]

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setInitOrientation ( const type::Quat< SReal > & o )

inline

◆ setInitOrientation() [2/2]

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setInitOrientation ( const Vector & o )

inline

◆ setLimitAngles() [1/2]

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setLimitAngles ( const sofa::type::Vec< 6, Real > & lims )

inline

◆ setLimitAngles() [2/2]

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setLimitAngles	(	Real	minx,
		Real	maxx,
		Real	miny,
		Real	maxy,
		Real	minz,
		Real	maxz
	)

inline

◆ setSoftStiffnessRotation()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setSoftStiffnessRotation ( Real ksr )

inline

◆ setSoftStiffnessTranslation()

template<typename DataTypes >

void sofa::component::solidmechanics::spring::JointSpring< DataTypes >::setSoftStiffnessTranslation ( Real kst )

inline

Enum details

◆ anonymous enum

template<typename DataTypes >

anonymous enum

Enumerator
N

Related details

◆ operator<<

template<typename DataTypes >

std::ostream& operator<<	(	std::ostream &	out,
		const JointSpring< DataTypes > &	s
	)

friend

◆ operator>>

template<typename DataTypes >

std::istream& operator>>	(	std::istream &	in,
		JointSpring< DataTypes > &	s
	)

friend

Detailed Description

template<typename DataTypes> class sofa::component::solidmechanics::spring::JointSpring< DataTypes >

Public Attributes

Public Member Functions

Friends

Attribute details

◆ blocStiffnessRot

◆ freeMovements

◆ hardStiffnessRot

◆ hardStiffnessTrans

◆ initRot

◆ initTrans

◆ kd

◆ KR

◆ KT

◆ lawfulTorsion

◆ limitAngles

◆ m1

◆ m2

◆ needToInitializeRot

◆ needToInitializeTrans

◆ ref

◆ softStiffnessRot

◆ softStiffnessTrans

◆ torsion

Constructor details

◆ JointSpring()

Function details

◆ getBlocStiffnessRotation()

◆ getFreeAxis()

◆ getHardStiffnessRotation()

◆ getHardStiffnessTranslation()

◆ getInitLength()

◆ getInitOrientation()

◆ getLimitAngles()

◆ getSoftStiffnessRotation()

◆ getSoftStiffnessTranslation()

◆ setBlocStiffnessRotation()

◆ setDamping()

◆ setFreeAxis() [1/2]

◆ setFreeAxis() [2/2]

◆ setHardStiffnessRotation()

◆ setHardStiffnessTranslation()

◆ setInitLength()

◆ setInitOrientation() [1/2]

◆ setInitOrientation() [2/2]

◆ setLimitAngles() [1/2]

◆ setLimitAngles() [2/2]

◆ setSoftStiffnessRotation()

◆ setSoftStiffnessTranslation()

Enum details

◆ anonymous enum

Related details

◆ operator<<

◆ operator>>

template<typename DataTypes>
class sofa::component::solidmechanics::spring::JointSpring< DataTypes >