#include <MechanicalObject.h>

This class can be overridden if needed for additionnal storage within template specializations. More...

Inheritance diagram for sofa::component::statecontainer::MechanicalObject< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::statecontainer::MechanicalObject< DataTypes >

This class can be overridden if needed for additionnal storage within template specializations.

Public Attributes
Data< VecCoord >	x
	position coordinates of the degrees of freedom More...

Data< VecDeriv >	v
	velocity coordinates of the degrees of freedom More...

Data< VecDeriv >	f
	force vector of the degrees of freedom More...

Data< VecCoord >	x0
	rest position coordinates of the degrees of freedom More...

Data< VecDeriv >	externalForces
	externalForces vector of the degrees of freedom More...

Data< VecDeriv >	dx
	dx vector of the degrees of freedom More...

Data< VecCoord >	xfree
	free position coordinates of the degrees of freedom More...

Data< VecDeriv >	vfree
	free velocity coordinates of the degrees of freedom More...

Data< MatrixDeriv >	c
	constraints applied to the degrees of freedom More...

Data< MatrixDeriv >	m
	mappingJacobian applied to the degrees of freedom More...

Data< VecCoord >	reset_position
	reset position coordinates of the degrees of freedom More...

Data< VecDeriv >	reset_velocity
	reset velocity coordinates of the degrees of freedom More...

defaulttype::MapMapSparseMatrix< Deriv >	c2

Data< SReal >	restScale
	optional scaling of rest position coordinates (to simulated pre-existing internal tension).(default = 1.0) More...

Data< bool >	d_useTopology
	Shall this object rely on any active topology to initialize its size and positions. More...

Data< bool >	showObject
	Show objects. (default=false) More...

Data< float >	showObjectScale
	Scale for object display. (default=0.1) More...

Data< bool >	showIndices
	Show indices. (default=false) More...

Data< float >	showIndicesScale
	Scale for indices display. (default=0.02) More...

Data< bool >	showVectors
	Show velocity. (default=false) More...

Data< float >	showVectorsScale
	Scale for vectors display. (default=0.0001) More...

Data< int >	drawMode
	The way vectors will be drawn: - 0: Line - 1:Cylinder - 2: Arrow. The DOFS will be drawn: - 0: point - >1: sphere. (default=0) More...

Data< type::RGBAColor >	d_color
	drawing color More...

Protected Attributes
Data< int >	d_size
	Size of the vectors. More...

SingleLink< MechanicalObject< DataTypes >, core::topology::BaseMeshTopology, BaseLink::FLAG_STRONGLINK\|BaseLink::FLAG_STOREPATH >	l_topology

Data< int >	f_reserve
	Size to reserve when creating vectors. (default=0) More...

bool	m_initialized

MechanicalObjectInternalData< DataTypes >	data
	Given the number of a constraint Equation, find the index in the MatrixDeriv C, where the constraint is actually stored. More...

std::ofstream *	m_gnuplotFileX

std::ofstream *	m_gnuplotFileV

Initial geometric transformations
Data< type::Vec3 >	translation
	Translation of the DOFs. More...

Data< type::Vec3 >	rotation
	Rotation of the DOFs. More...

Data< type::Vec3 >	scale
	Scale of the DOFs in 3 dimensions. More...

Data< type::Vec3 >	translation2
	Translation of the DOFs, applied after the rest position has been computed. More...

Data< type::Vec3 >	rotation2
	Rotation of the DOFs, applied the after the rest position has been computed. More...

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(MechanicalObject, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::MechanicalState, DataTypes))

	SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER (Vector3, sofa::type::Vec3)

	SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER (Index, sofa::Index)

MechanicalObject &	operator= (const MechanicalObject &)

void	parse (core::objectmodel::BaseObjectDescription *arg) override

void	init () override

void	reinit () override

void	storeResetState () override

void	reset () override

void	writeVec (core::ConstVecId v, std::ostream &out) override

void	readVec (core::VecId v, std::istream &in) override

SReal	compareVec (core::ConstVecId v, std::istream &in) override

void	writeState (std::ostream &out) override

void	initGnuplot (const std::string path) override

void	exportGnuplot (SReal time) override

void	resize (Size vsize) override

virtual void	reserve (Size vsize)

Size	getSize () const override

SReal	getPX (sofa::Index i) const override

SReal	getPY (sofa::Index i) const override

SReal	getPZ (sofa::Index i) const override

SReal	getVX (sofa::Index i) const

SReal	getVY (sofa::Index i) const

SReal	getVZ (sofa::Index i) const

void	replaceValue (const sofa::Index inputIndex, const sofa::Index outputIndex)
	Overwrite values at index outputIndex by the ones at inputIndex. More...

void	swapValues (const sofa::Index idx1, const sofa::Index idx2)
	Exchange values at indices idx1 and idx2. More...

void	renumberValues (const sofa::type::vector< sofa::Index > &index)
	Reorder values according to parameter. More...

void	computeWeightedValue (const sofa::Index i, const sofa::type::vector< sofa::Index > &ancestors, const sofa::type::vector< double > &coefs)
	Replace the value at index by the sum of the ancestors values weithed by the coefs. More...

void	forcePointPosition (const sofa::Index i, const sofa::type::vector< double > &m_x)
	Force the position of a point (and force its velocity to zero value) More...

void	getIndicesInSpace (sofa::type::vector< sofa::Index > &indices, Real xmin, Real xmax, Real ymin, Real ymax, Real zmin, Real zmax) const override
	Get the indices of the particles located in the given bounding box. More...

bool	addBBox (SReal minBBox, SReal maxBBox) override
	update the given bounding box, to include this More...

void	computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
	Bounding Box computation method. More...

virtual std::list< ConstraintBlock >	constraintBlocks (const std::list< unsigned int > &indices) const override
	Express the matrix L in term of block of matrices, using the indices of the lines in the MatrixDeriv container. More...

SReal	getConstraintJacobianTimesVecDeriv (unsigned int line, core::ConstVecId id) override

void	handleStateChange () override

bool	pickParticles (const core::ExecParams params, double rayOx, double rayOy, double rayOz, double rayDx, double rayDy, double rayDz, double radius0, double dRadius, std::multimap< double, std::pair< sofa::core::behavior::BaseMechanicalState , int > > &particles) override

bool	isIndependent () const
	if this mechanical object stores independent dofs (in opposition to mapped dofs) More...

void	applyRotation (const type::Quat< SReal > q)

void	addFromBaseVectorDifferentSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)

void	addFromBaseVectorSameSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)

void	draw (const core::visual::VisualParams *vparams)

SOFA_COMPONENT_STATECONTAINER_API void	applyRotation (const type::Quat< SReal > q)

SOFA_COMPONENT_STATECONTAINER_API void	addFromBaseVectorSameSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)

SOFA_COMPONENT_STATECONTAINER_API void	addFromBaseVectorDifferentSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)

SOFA_COMPONENT_STATECONTAINER_API void	draw (const core::visual::VisualParams *vparams)

New vectors access API based on VecId
Data< VecCoord > *	write (core::VecCoordId v) override

const Data< VecCoord > *	read (core::ConstVecCoordId v) const override

Data< VecDeriv > *	write (core::VecDerivId v) override

const Data< VecDeriv > *	read (core::ConstVecDerivId v) const override

Data< MatrixDeriv > *	write (core::MatrixDerivId v) override

const Data< MatrixDeriv > *	read (core::ConstMatrixDerivId v) const override

Initial transformations application methods.
void	applyTranslation (const SReal dx, const SReal dy, const SReal dz) override
	Apply translation vector to the position. More...

void	applyRotation (const SReal rx, const SReal ry, const SReal rz) override
	Rotation using Euler Angles in degree. More...

void	applyRotation (const type::Quat< SReal > q) override

void	applyScale (const SReal sx, const SReal sy, const SReal sz) override

Base Matrices and Vectors Interface
void	copyToBaseVector (linearalgebra::BaseVector *dest, core::ConstVecId src, unsigned int &offset) override

void	copyFromBaseVector (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset) override

void	copyToBaseMatrix (linearalgebra::BaseMatrix *dest, core::ConstMatrixDerivId src, unsigned int &offset) override
	Copy data to a global BaseMatrix from the state stored in a local vector. More...

void	addToBaseVector (linearalgebra::BaseVector *dest, core::ConstVecId src, unsigned int &offset) override

void	addFromBaseVectorSameSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset) override

void	addFromBaseVectorDifferentSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset) override

Initial transformations accessors.
void	setTranslation (SReal dx, SReal dy, SReal dz)

void	setRotation (SReal rx, SReal ry, SReal rz)

void	setScale (SReal sx, SReal sy, SReal sz)

virtual type::Vec3	getTranslation () const

virtual type::Vec3	getRotation () const

type::Vec3	getScale () const override

Integration related methods
void	beginIntegration (SReal dt) override

void	endIntegration (const core::ExecParams *params, SReal dt) override

void	accumulateForce (const core::ExecParams *params, core::VecDerivId f=core::VecDerivId::force()) override

void	vAvail (const core::ExecParams *params, core::VecCoordId &v) override
	Increment the index of the given VecCoordId, so that all 'allocated' vectors in this state have a lower index. More...

void	vAvail (const core::ExecParams *params, core::VecDerivId &v) override
	Increment the index of the given VecDerivId, so that all 'allocated' vectors in this state have a lower index. More...

void	vAlloc (const core::ExecParams *params, core::VecCoordId v, const core::VecIdProperties &properties={}) override
	Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index. More...

void	vAlloc (const core::ExecParams *params, core::VecDerivId v, const core::VecIdProperties &properties={}) override
	Allocate a new temporary vector. More...

void	vRealloc (const core::ExecParams *params, core::VecCoordId v, const core::VecIdProperties &properties={}) override
	Allocate a new temporary vector. More...

void	vRealloc (const core::ExecParams *params, core::VecDerivId v, const core::VecIdProperties &properties={}) override
	Reallocate a new temporary vector. More...

void	vFree (const core::ExecParams *params, core::VecCoordId v) override
	Free a temporary vector. More...

void	vFree (const core::ExecParams *params, core::VecDerivId v) override
	Free a temporary vector. More...

void	vInit (const core::ExecParams *params, core::VecCoordId v, core::ConstVecCoordId vSrc) override
	Free a temporary vector. More...

void	vInit (const core::ExecParams *params, core::VecDerivId v, core::ConstVecDerivId vSrc) override
	Initialize an unset vector. More...

void	vOp (const core::ExecParams *params, core::VecId v, core::ConstVecId a=core::ConstVecId::null(), core::ConstVecId b=core::ConstVecId::null(), SReal f=1.0) override
	Initialize an unset vector. More...

void	vMultiOp (const core::ExecParams *params, const VMultiOp &ops) override

void	vThreshold (core::VecId a, SReal threshold) override

SReal	vDot (const core::ExecParams *params, core::ConstVecId a, core::ConstVecId b) override

SReal	vSum (const core::ExecParams *params, core::ConstVecId a, unsigned l) override
	Sum of the entries of state vector a at the power of l>0. This is used to compute the l-norm of the vector. More...

SReal	vMax (const core::ExecParams *params, core::ConstVecId a) override
	Maximum of the absolute values of the entries of state vector a. This is used to compute the infinite-norm of the vector. More...

Size	vSize (const core::ExecParams *params, core::ConstVecId v) override

void	resetForce (const core::ExecParams *params, core::VecDerivId f=core::VecDerivId::force()) override

void	resetAcc (const core::ExecParams *params, core::VecDerivId a=core::VecDerivId::dx()) override

void	resetConstraint (const core::ConstraintParams *cparams) override

void	getConstraintJacobian (const core::ConstraintParams cparams, sofa::linearalgebra::BaseMatrix J, unsigned int &off) override

void	buildIdentityBlocksInJacobian (const sofa::type::vector< unsigned int > &list_n, core::MatrixDerivId &mID) override

Debug
void	printDOF (core::ConstVecId, std::ostream &=std::cerr, int firstIndex=0, int range=-1) const override

unsigned	printDOFWithElapsedTime (core::ConstVecId, unsigned=0, unsigned=0, std::ostream &=std::cerr) override

void	draw (const core::visual::VisualParams *vparams) override

Protected Member Functions
	MechanicalObject ()

virtual	~MechanicalObject ()

template<core::VecType vtype>
void	vAvailImpl (core::TVecId< vtype, core::V_WRITE > &v, sofa::type::vector< Data< core::StateVecType_t< DataTypes, vtype > > * > &dataContainer)
	Generic implementation of the method vAvail. More...

template<core::VecType vtype>
void	vAllocImpl (core::TVecId< vtype, core::V_WRITE > v, const core::VecIdProperties &properties)
	Generic implementation of the method vAlloc. More...

template<core::VecType vtype>
void	vReallocImpl (core::TVecId< vtype, core::V_WRITE > v, const core::VecIdProperties &properties)
	Generic implementation of the method vRealloc. More...

template<core::VecType vtype>
void	vFreeImpl (core::TVecId< vtype, core::V_WRITE > v)
	Generic implementation of the method vFree. More...

template<core::VecType vtype>
void	vInitImpl (const core::ExecParams *params, core::TVecId< vtype, core::V_WRITE > vId, core::TVecId< vtype, core::V_READ > vSrcId)
	Generic implementation of the method vInit. More...

template<core::VecType vtype>
helper::WriteOnlyAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > >	getWriteOnlyAccessor (core::VecId v)
	Shortcut to get a write-only accessor corresponding to the provided VecType from a VecId. More...

template<core::VecType vtype>
helper::WriteAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > >	getWriteAccessor (core::VecId v)
	Shortcut to get a write accessor corresponding to the provided VecType from a VecId. More...

template<core::VecType vtype>
helper::ReadAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > >	getReadAccessor (core::ConstVecId v)
	Shortcut to get a read accessor corresponding to the provided VecType from a VecId. More...

void	drawIndices (const core::visual::VisualParams *vparams)
	Internal function : Draw indices in 3d coordinates. More...

void	drawVectors (const core::visual::VisualParams *vparams)
	Internal function : Draw vectors. More...

Static Protected Member Functions
template<core::VecType vtype, core::VecAccess vaccess>
static void	setVecIdProperties (core::TVecId< vtype, vaccess > v, const core::VecIdProperties &properties, core::BaseData *vec_d)

Friends
class	MechanicalObjectInternalData< DataTypes >

Integration-related data
sofa::type::vector< Data< VecCoord > * >	vectorsCoord
	Coordinates DOFs vectors table (static and dynamic allocated) More...

sofa::type::vector< Data< VecDeriv > * >	vectorsDeriv
	Derivates DOFs vectors table (static and dynamic allocated) More...

sofa::type::vector< Data< MatrixDeriv > * >	vectorsMatrixDeriv
	Constraint vectors table. More...

void	setVecCoord (core::ConstVecCoordId, Data< VecCoord > *)
	Inserts VecCoord DOF coordinates vector at index in the vectorsCoord container. More...

void	setVecDeriv (core::ConstVecDerivId, Data< VecDeriv > *)
	Inserts VecDeriv DOF derivates vector at index in the vectorsDeriv container. More...

void	setVecMatrixDeriv (core::ConstMatrixDerivId, Data< MatrixDeriv > *)
	Inserts MatrixDeriv DOF at index in the MatrixDeriv container. More...

Attribute details

◆ c

template<class DataTypes >

Data< MatrixDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::c

constraints applied to the degrees of freedom

◆ c2

template<class DataTypes >

defaulttype::MapMapSparseMatrix< Deriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::c2

◆ d_color

template<class DataTypes >

Data< type::RGBAColor > sofa::component::statecontainer::MechanicalObject< DataTypes >::d_color

drawing color

◆ d_size

template<class DataTypes >

Data< int > sofa::component::statecontainer::MechanicalObject< DataTypes >::d_size

protected

Size of the vectors.

◆ d_useTopology

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::d_useTopology

Shall this object rely on any active topology to initialize its size and positions.

◆ data

template<class DataTypes >

MechanicalObjectInternalData<DataTypes> sofa::component::statecontainer::MechanicalObject< DataTypes >::data

protected

Given the number of a constraint Equation, find the index in the MatrixDeriv C, where the constraint is actually stored.

◆ drawMode

template<class DataTypes >

Data< int > sofa::component::statecontainer::MechanicalObject< DataTypes >::drawMode

The way vectors will be drawn: - 0: Line - 1:Cylinder - 2: Arrow. The DOFS will be drawn: - 0: point - >1: sphere. (default=0)

◆ dx

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::dx

dx vector of the degrees of freedom

◆ externalForces

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::externalForces

externalForces vector of the degrees of freedom

◆ f

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::f

force vector of the degrees of freedom

◆ f_reserve

template<class DataTypes >

Data< int > sofa::component::statecontainer::MechanicalObject< DataTypes >::f_reserve

protected

Size to reserve when creating vectors. (default=0)

◆ l_topology

template<class DataTypes >

SingleLink< MechanicalObject<DataTypes>, core::topology::BaseMeshTopology,BaseLink::FLAG_STRONGLINK|BaseLink::FLAG_STOREPATH> sofa::component::statecontainer::MechanicalObject< DataTypes >::l_topology

protected

◆ m

template<class DataTypes >

Data< MatrixDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::m

mappingJacobian applied to the degrees of freedom

◆ m_gnuplotFileV

template<class DataTypes >

std::ofstream* sofa::component::statecontainer::MechanicalObject< DataTypes >::m_gnuplotFileV

protected

◆ m_gnuplotFileX

template<class DataTypes >

std::ofstream* sofa::component::statecontainer::MechanicalObject< DataTypes >::m_gnuplotFileX

protected

◆ m_initialized

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::m_initialized

protected

◆ reset_position

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::reset_position

reset position coordinates of the degrees of freedom

◆ reset_velocity

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::reset_velocity

reset velocity coordinates of the degrees of freedom

◆ restScale

template<class DataTypes >

Data< SReal > sofa::component::statecontainer::MechanicalObject< DataTypes >::restScale

optional scaling of rest position coordinates (to simulated pre-existing internal tension).(default = 1.0)

◆ rotation

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::rotation

protected

Rotation of the DOFs.

◆ rotation2

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::rotation2

protected

Rotation of the DOFs, applied the after the rest position has been computed.

◆ scale

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::scale

protected

Scale of the DOFs in 3 dimensions.

◆ showIndices

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::showIndices

Show indices. (default=false)

◆ showIndicesScale

template<class DataTypes >

Data< float > sofa::component::statecontainer::MechanicalObject< DataTypes >::showIndicesScale

Scale for indices display. (default=0.02)

◆ showObject

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::showObject

Show objects. (default=false)

◆ showObjectScale

template<class DataTypes >

Data< float > sofa::component::statecontainer::MechanicalObject< DataTypes >::showObjectScale

Scale for object display. (default=0.1)

◆ showVectors

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::showVectors

Show velocity. (default=false)

◆ showVectorsScale

template<class DataTypes >

Data< float > sofa::component::statecontainer::MechanicalObject< DataTypes >::showVectorsScale

Scale for vectors display. (default=0.0001)

◆ translation

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::translation

protected

Translation of the DOFs.

◆ translation2

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::translation2

protected

Translation of the DOFs, applied after the rest position has been computed.

◆ v

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::v

velocity coordinates of the degrees of freedom

◆ vectorsCoord

template<class DataTypes >

sofa::type::vector< Data< VecCoord > * > sofa::component::statecontainer::MechanicalObject< DataTypes >::vectorsCoord

protected

Coordinates DOFs vectors table (static and dynamic allocated)

◆ vectorsDeriv

template<class DataTypes >

sofa::type::vector< Data< VecDeriv > * > sofa::component::statecontainer::MechanicalObject< DataTypes >::vectorsDeriv

protected

Derivates DOFs vectors table (static and dynamic allocated)

◆ vectorsMatrixDeriv

template<class DataTypes >

sofa::type::vector< Data< MatrixDeriv > * > sofa::component::statecontainer::MechanicalObject< DataTypes >::vectorsMatrixDeriv

protected

Constraint vectors table.

◆ vfree

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::vfree

free velocity coordinates of the degrees of freedom

◆ x

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::x

position coordinates of the degrees of freedom

◆ x0

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::x0

rest position coordinates of the degrees of freedom

◆ xfree

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::xfree

free position coordinates of the degrees of freedom

Constructor details

◆ MechanicalObject()

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::MechanicalObject

protected

◆ ~MechanicalObject()

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::~MechanicalObject

protectedvirtual

Function details

◆ accumulateForce()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::accumulateForce	(	const core::ExecParams *	params,
		core::VecDerivId	f = `core::VecDerivId::force()`
	)

override

◆ addBBox()

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::addBBox	(	SReal *	minBBox,
		SReal *	maxBBox
	)

override

update the given bounding box, to include this

◆ addFromBaseVectorDifferentSize() [1/3]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorDifferentSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

◆ addFromBaseVectorDifferentSize() [2/3]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorDifferentSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

◆ addFromBaseVectorDifferentSize() [3/3]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::addFromBaseVectorDifferentSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

override

src size can be smaller or equal to dest size. Performs: dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the MechanicalObject local vector specified by VecId dest. It will be updated to the first scalar value after the ones used by this operation when this method returns.

◆ addFromBaseVectorSameSize() [1/3]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorSameSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

◆ addFromBaseVectorSameSize() [2/3]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorSameSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

◆ addFromBaseVectorSameSize() [3/3]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::addFromBaseVectorSameSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

override

src and dest must have the same size. Performs: dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

◆ addToBaseVector()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::addToBaseVector	(	linearalgebra::BaseVector *	dest,
		core::ConstVecId	src,
		unsigned int &	offset
	)

override

Add data to a global BaseVector from the state stored in a local vector

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

◆ applyRotation() [1/4]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyRotation	(	const SReal	rx,
		const SReal	ry,
		const SReal	rz
	)

override

Rotation using Euler Angles in degree.

◆ applyRotation() [2/4]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::applyRotation ( const type::Quat< SReal > q )

◆ applyRotation() [3/4]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::applyRotation ( const type::Quat< SReal > q )

◆ applyRotation() [4/4]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyRotation ( const type::Quat< SReal > q )

override

◆ applyScale()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyScale	(	const SReal	sx,
		const SReal	sy,
		const SReal	sz
	)

override

◆ applyTranslation()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyTranslation	(	const SReal	dx,
		const SReal	dy,
		const SReal	dz
	)

override

Apply translation vector to the position.

◆ beginIntegration()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::beginIntegration ( SReal dt )

override

◆ buildIdentityBlocksInJacobian()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::buildIdentityBlocksInJacobian	(	const sofa::type::vector< unsigned int > &	list_n,
		core::MatrixDerivId &	mID
	)

override

◆ compareVec()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::compareVec	(	core::ConstVecId	v,
		std::istream &	in
	)

override

◆ computeBBox()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::computeBBox	(	const core::ExecParams *	params,
		bool	onlyVisible = `false`
	)

override

Bounding Box computation method.

◆ computeWeightedValue()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::computeWeightedValue	(	const sofa::Index	i,
		const sofa::type::vector< sofa::Index > &	ancestors,
		const sofa::type::vector< double > &	coefs
	)

Replace the value at index by the sum of the ancestors values weithed by the coefs.

Sum of the coefs should usually equal to 1.0

◆ constraintBlocks()

template<class DataTypes >

std::list< core::behavior::BaseMechanicalState::ConstraintBlock > sofa::component::statecontainer::MechanicalObject< DataTypes >::constraintBlocks ( const std::list< unsigned int > & indices ) const

overridevirtual

Express the matrix L in term of block of matrices, using the indices of the lines in the MatrixDeriv container.

◆ copyFromBaseVector()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::copyFromBaseVector	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

override

Copy data to a local vector the state stored in a global BaseVector

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

◆ copyToBaseMatrix()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::copyToBaseMatrix	(	linearalgebra::BaseMatrix *	dest,
		core::ConstMatrixDerivId	src,
		unsigned int &	offset
	)

override

Copy data to a global BaseMatrix from the state stored in a local vector.

◆ copyToBaseVector()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::copyToBaseVector	(	linearalgebra::BaseVector *	dest,
		core::ConstVecId	src,
		unsigned int &	offset
	)

override

Copy data to a global BaseVector the state stored in a local vector

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

◆ draw() [1/3]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::draw ( const core::visual::VisualParams * vparams )

◆ draw() [2/3]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::draw ( const core::visual::VisualParams * vparams )

◆ draw() [3/3]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::draw ( const core::visual::VisualParams * vparams )

inlineoverride

◆ drawIndices()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::drawIndices ( const core::visual::VisualParams * vparams )

inlineprotected

Internal function : Draw indices in 3d coordinates.

◆ drawVectors()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::drawVectors ( const core::visual::VisualParams * vparams )

inlineprotected

Internal function : Draw vectors.

◆ endIntegration()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::endIntegration	(	const core::ExecParams *	params,
		SReal	dt
	)

override

◆ exportGnuplot()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::exportGnuplot ( SReal time )

override

◆ forcePointPosition()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::forcePointPosition	(	const sofa::Index	i,
		const sofa::type::vector< double > &	m_x
	)

Force the position of a point (and force its velocity to zero value)

◆ getConstraintJacobian()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::getConstraintJacobian	(	const core::ConstraintParams *	cparams,
		sofa::linearalgebra::BaseMatrix *	J,
		unsigned int &	off
	)

override

◆ getConstraintJacobianTimesVecDeriv()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getConstraintJacobianTimesVecDeriv	(	unsigned int	line,
		core::ConstVecId	id
	)

override

◆ getIndicesInSpace()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::getIndicesInSpace	(	sofa::type::vector< sofa::Index > &	indices,
		Real	xmin,
		Real	xmax,
		Real	ymin,
		Real	ymax,
		Real	zmin,
		Real	zmax
	)		const

override

Get the indices of the particles located in the given bounding box.

◆ getPX()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getPX ( sofa::Index i ) const

inlineoverride

◆ getPY()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getPY ( sofa::Index i ) const

inlineoverride

◆ getPZ()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getPZ ( sofa::Index i ) const

inlineoverride

◆ getReadAccessor()

template<class DataTypes >

template<core::VecType vtype>

helper::ReadAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > > sofa::component::statecontainer::MechanicalObject< DataTypes >::getReadAccessor ( core::ConstVecId v )

protected

Shortcut to get a read accessor corresponding to the provided VecType from a VecId.

◆ getRotation()

template<class DataTypes >

virtual type::Vec3 sofa::component::statecontainer::MechanicalObject< DataTypes >::getRotation ( ) const

inlinevirtual

◆ getScale()

template<class DataTypes >

type::Vec3 sofa::component::statecontainer::MechanicalObject< DataTypes >::getScale ( ) const

inlineoverride

◆ getSize()

template<class DataTypes >

Size sofa::component::statecontainer::MechanicalObject< DataTypes >::getSize ( ) const

inlineoverride

◆ getTranslation()

template<class DataTypes >

virtual type::Vec3 sofa::component::statecontainer::MechanicalObject< DataTypes >::getTranslation ( ) const

inlinevirtual

◆ getVX()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getVX ( sofa::Index i ) const

inline

◆ getVY()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getVY ( sofa::Index i ) const

inline

◆ getVZ()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getVZ ( sofa::Index i ) const

inline

◆ getWriteAccessor()

template<class DataTypes >

template<core::VecType vtype>

helper::WriteAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > > sofa::component::statecontainer::MechanicalObject< DataTypes >::getWriteAccessor ( core::VecId v )

protected

Shortcut to get a write accessor corresponding to the provided VecType from a VecId.

◆ getWriteOnlyAccessor()

template<class DataTypes >

template<core::VecType vtype>

helper::WriteOnlyAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > > sofa::component::statecontainer::MechanicalObject< DataTypes >::getWriteOnlyAccessor ( core::VecId v )

protected

Shortcut to get a write-only accessor corresponding to the provided VecType from a VecId.

◆ handleStateChange()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::handleStateChange

override

◆ init()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::init

override

◆ initGnuplot()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::initGnuplot ( const std::string path )

override

◆ isIndependent()

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::isIndependent

if this mechanical object stores independent dofs (in opposition to mapped dofs)

◆ operator=()

template<class DataTypes >

MechanicalObject< DataTypes > & sofa::component::statecontainer::MechanicalObject< DataTypes >::operator= ( const MechanicalObject< DataTypes > & obj )

◆ parse()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::parse ( core::objectmodel::BaseObjectDescription * arg )

override

◆ pickParticles()

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::pickParticles	(	const core::ExecParams *	params,
		double	rayOx,
		double	rayOy,
		double	rayOz,
		double	rayDx,
		double	rayDy,
		double	rayDz,
		double	radius0,
		double	dRadius,
		std::multimap< double, std::pair< sofa::core::behavior::BaseMechanicalState *, int > > &	particles
	)

override

Find mechanical particles hit by the given ray. A mechanical particle is defined as a 2D or 3D, position or rigid DOF Returns false if this object does not support picking

◆ printDOF()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::printDOF	(	core::ConstVecId	v,
		std::ostream &	out = `std::cerr`,
		int	firstIndex = `0`,
		int	range = `-1`
	)		const

override

◆ printDOFWithElapsedTime()

template<class DataTypes >

unsigned sofa::component::statecontainer::MechanicalObject< DataTypes >::printDOFWithElapsedTime	(	core::ConstVecId	v,
		unsigned	count = `0`,
		unsigned	time = `0`,
		std::ostream &	out = `std::cerr`
	)

override

◆ read() [1/3]

template<class DataTypes >

const Data< typename MechanicalObject< DataTypes >::MatrixDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::read ( core::ConstMatrixDerivId v ) const

override

◆ read() [2/3]

template<class DataTypes >

const Data< typename MechanicalObject< DataTypes >::VecCoord > * sofa::component::statecontainer::MechanicalObject< DataTypes >::read ( core::ConstVecCoordId v ) const

override

◆ read() [3/3]

template<class DataTypes >

const Data< typename MechanicalObject< DataTypes >::VecDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::read ( core::ConstVecDerivId v ) const

override

◆ readVec()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::readVec	(	core::VecId	v,
		std::istream &	in
	)

override

◆ reinit()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::reinit

override

◆ renumberValues()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::renumberValues ( const sofa::type::vector< sofa::Index > & index )

Reorder values according to parameter.

Result of this method is : newValue[ i ] = oldValue[ index[i] ];

◆ replaceValue()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::replaceValue	(	const sofa::Index	inputIndex,
		const sofa::Index	outputIndex
	)

Overwrite values at index outputIndex by the ones at inputIndex.

◆ reserve()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::reserve ( Size vsize )

virtual

◆ reset()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::reset

override

◆ resetAcc()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resetAcc	(	const core::ExecParams *	params,
		core::VecDerivId	a = `core::VecDerivId::dx()`
	)

override

◆ resetConstraint()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resetConstraint ( const core::ConstraintParams * cparams )

override

◆ resetForce()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resetForce	(	const core::ExecParams *	params,
		core::VecDerivId	f = `core::VecDerivId::force()`
	)

override

◆ resize()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resize ( Size vsize )

override

◆ setRotation()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setRotation	(	SReal	rx,
		SReal	ry,
		SReal	rz
	)

inline

◆ setScale()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setScale	(	SReal	sx,
		SReal	sy,
		SReal	sz
	)

inline

◆ setTranslation()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setTranslation	(	SReal	dx,
		SReal	dy,
		SReal	dz
	)

inline

◆ setVecCoord()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecCoord	(	core::ConstVecCoordId	vecId,
		Data< VecCoord > *	v
	)

protected

Inserts VecCoord DOF coordinates vector at index in the vectorsCoord container.

◆ setVecDeriv()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecDeriv	(	core::ConstVecDerivId	vecId,
		Data< VecDeriv > *	v
	)

protected

Inserts VecDeriv DOF derivates vector at index in the vectorsDeriv container.

◆ setVecIdProperties()

template<class DataTypes >

template<core::VecType vtype, core::VecAccess vaccess>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecIdProperties	(	core::TVecId< vtype, vaccess >	v,
		const core::VecIdProperties &	properties,
		core::BaseData *	vec_d
	)

staticprotected

◆ setVecMatrixDeriv()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecMatrixDeriv	(	core::ConstMatrixDerivId	vecId,
		Data< MatrixDeriv > *	m
	)

protected

Inserts MatrixDeriv DOF at index in the MatrixDeriv container.

◆ SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER() [1/2]

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER	(	Index	,
		sofa::Index
	)

◆ SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER() [2/2]

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER	(	Vector3	,
		sofa::type::Vec3
	)

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(MechanicalObject< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(sofa::core::behavior::MechanicalState, DataTypes)
	)

◆ storeResetState()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::storeResetState

override

◆ swapValues()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::swapValues	(	const sofa::Index	idx1,
		const sofa::Index	idx2
	)

Exchange values at indices idx1 and idx2.

◆ vAlloc() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAlloc	(	const core::ExecParams *	params,
		core::VecCoordId	v,
		const core::VecIdProperties &	properties = `{}`
	)

override

Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index.

Allocate a new temporary vector

◆ vAlloc() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAlloc	(	const core::ExecParams *	params,
		core::VecDerivId	v,
		const core::VecIdProperties &	properties = `{}`
	)

override

Allocate a new temporary vector.

◆ vAllocImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAllocImpl	(	core::TVecId< vtype, core::V_WRITE >	v,
		const core::VecIdProperties &	properties
	)

protected

Generic implementation of the method vAlloc.

◆ vAvail() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAvail	(	const core::ExecParams *	params,
		core::VecCoordId &	v
	)

override

Increment the index of the given VecCoordId, so that all 'allocated' vectors in this state have a lower index.

◆ vAvail() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAvail	(	const core::ExecParams *	params,
		core::VecDerivId &	v
	)

override

Increment the index of the given VecDerivId, so that all 'allocated' vectors in this state have a lower index.

◆ vAvailImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAvailImpl	(	core::TVecId< vtype, core::V_WRITE > &	v,
		sofa::type::vector< Data< core::StateVecType_t< DataTypes, vtype > > * > &	dataContainer
	)

protected

Generic implementation of the method vAvail.

◆ vDot()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::vDot	(	const core::ExecParams *	params,
		core::ConstVecId	a,
		core::ConstVecId	b
	)

override

◆ vFree() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vFree	(	const core::ExecParams *	params,
		core::VecCoordId	v
	)

override

Free a temporary vector.

◆ vFree() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vFree	(	const core::ExecParams *	params,
		core::VecDerivId	v
	)

override

Free a temporary vector.

◆ vFreeImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vFreeImpl ( core::TVecId< vtype, core::V_WRITE > v )

protected

Generic implementation of the method vFree.

◆ vInit() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vInit	(	const core::ExecParams *	params,
		core::VecCoordId	v,
		core::ConstVecCoordId	vSrc
	)

override

Free a temporary vector.

Initialize an unset vector

◆ vInit() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vInit	(	const core::ExecParams *	params,
		core::VecDerivId	v,
		core::ConstVecDerivId	vSrc
	)

override

Initialize an unset vector.

◆ vInitImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vInitImpl	(	const core::ExecParams *	params,
		core::TVecId< vtype, core::V_WRITE >	vId,
		core::TVecId< vtype, core::V_READ >	vSrcId
	)

protected

Generic implementation of the method vInit.

◆ vMax()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::vMax	(	const core::ExecParams *	params,
		core::ConstVecId	a
	)

override

Maximum of the absolute values of the entries of state vector a. This is used to compute the infinite-norm of the vector.

◆ vMultiOp()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vMultiOp	(	const core::ExecParams *	params,
		const VMultiOp &	ops
	)

override

◆ vOp()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vOp	(	const core::ExecParams *	params,
		core::VecId	v,
		core::ConstVecId	a = `core::ConstVecId::null()`,
		core::ConstVecId	b = `core::ConstVecId::null()`,
		SReal	f = `1.0`
	)

override

Initialize an unset vector.

◆ vRealloc() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vRealloc	(	const core::ExecParams *	params,
		core::VecCoordId	v,
		const core::VecIdProperties &	properties = `{}`
	)

override

Allocate a new temporary vector.

Reallocate a new temporary vector

◆ vRealloc() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vRealloc	(	const core::ExecParams *	params,
		core::VecDerivId	v,
		const core::VecIdProperties &	properties = `{}`
	)

override

Reallocate a new temporary vector.

◆ vReallocImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vReallocImpl	(	core::TVecId< vtype, core::V_WRITE >	v,
		const core::VecIdProperties &	properties
	)

protected

Generic implementation of the method vRealloc.

◆ vSize()

template<class DataTypes >

Size sofa::component::statecontainer::MechanicalObject< DataTypes >::vSize	(	const core::ExecParams *	params,
		core::ConstVecId	v
	)

override

◆ vSum()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::vSum	(	const core::ExecParams *	params,
		core::ConstVecId	a,
		unsigned	l
	)

override

Sum of the entries of state vector a at the power of l>0. This is used to compute the l-norm of the vector.

◆ vThreshold()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vThreshold	(	core::VecId	a,
		SReal	threshold
	)

override

◆ write() [1/3]

template<class DataTypes >

Data< typename MechanicalObject< DataTypes >::MatrixDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::write ( core::MatrixDerivId v )

override

◆ write() [2/3]

template<class DataTypes >

Data< typename MechanicalObject< DataTypes >::VecCoord > * sofa::component::statecontainer::MechanicalObject< DataTypes >::write ( core::VecCoordId v )

override

◆ write() [3/3]

template<class DataTypes >

Data< typename MechanicalObject< DataTypes >::VecDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::write ( core::VecDerivId v )

override

◆ writeState()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::writeState ( std::ostream & out )

override

◆ writeVec()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::writeVec	(	core::ConstVecId	v,
		std::ostream &	out
	)

override

Related details

◆ MechanicalObjectInternalData< DataTypes >

template<class DataTypes >

friend class MechanicalObjectInternalData< DataTypes >

friend

Detailed Description

template<class DataTypes> class sofa::component::statecontainer::MechanicalObject< DataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Friends

Integration-related data

Attribute details

◆ c

◆ c2

◆ d_color

◆ d_size

◆ d_useTopology

◆ data

◆ drawMode

◆ dx

◆ externalForces

◆ f

◆ f_reserve

◆ l_topology

◆ m

◆ m_gnuplotFileV

◆ m_gnuplotFileX

◆ m_initialized

◆ reset_position

◆ reset_velocity

◆ restScale

◆ rotation

◆ rotation2

◆ scale

◆ showIndices

◆ showIndicesScale

◆ showObject

◆ showObjectScale

◆ showVectors

◆ showVectorsScale

◆ translation

◆ translation2

◆ v

◆ vectorsCoord

◆ vectorsDeriv

◆ vectorsMatrixDeriv

◆ vfree

◆ x

◆ x0

◆ xfree

Constructor details

◆ MechanicalObject()

◆ ~MechanicalObject()

Function details

◆ accumulateForce()

◆ addBBox()

◆ addFromBaseVectorDifferentSize() [1/3]

◆ addFromBaseVectorDifferentSize() [2/3]

◆ addFromBaseVectorDifferentSize() [3/3]

◆ addFromBaseVectorSameSize() [1/3]

◆ addFromBaseVectorSameSize() [2/3]

◆ addFromBaseVectorSameSize() [3/3]

◆ addToBaseVector()

◆ applyRotation() [1/4]

◆ applyRotation() [2/4]

◆ applyRotation() [3/4]

◆ applyRotation() [4/4]

◆ applyScale()

◆ applyTranslation()

◆ beginIntegration()

◆ buildIdentityBlocksInJacobian()

◆ compareVec()

◆ computeBBox()

◆ computeWeightedValue()

◆ constraintBlocks()

◆ copyFromBaseVector()

◆ copyToBaseMatrix()

◆ copyToBaseVector()

◆ draw() [1/3]

◆ draw() [2/3]

◆ draw() [3/3]

◆ drawIndices()

template<class DataTypes>
class sofa::component::statecontainer::MechanicalObject< DataTypes >