#include <BaseForceField.h>

Component computing forces within simulated bodies. More...

Inheritance diagram for sofa::core::behavior::BaseForceField:

Detailed Description

Component computing forces within simulated bodies.

This class define the abstract API common to all force fields. A force field computes forces applied to one or more simulated body given its current position and velocity.

Forces can be internal to a given body (attached to one MechanicalState, see the ForceField class), or link several bodies together (such as contact forces, see the InteractionForceField class).

For implicit integration schemes, it must also compute the derivative ( df, given a displacement dx ).

Public Attributes
Rayleigh Damping (stiffness contribution)
Data< SReal >	rayleighStiffness
	Rayleigh Damping stiffness matrix coefficient. 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}

Public Member Functions
	SOFA_ABSTRACT_CLASS (BaseForceField, StateAccessor)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

Vector operations
virtual void	addForce (const MechanicalParams *mparams, MultiVecDerivId fId)=0
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField. More...

virtual void	addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId)=0
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce(). More...

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 SReal	getPotentialEnergy (const MechanicalParams *mparams=mechanicalparams::defaultInstance()) const =0
	Get the potential energy associated to this ForceField during the last call of addForce( const MechanicalParams* mparams );. More...

Matrix operations
virtual void	addKToMatrix (const MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix)=0
	Compute the system matrix corresponding to . More...

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

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

virtual void	buildStiffnessMatrix (StiffnessMatrix *matrix)

virtual void	buildDampingMatrix (DampingMatrix *matrix)

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

Protected Member Functions
	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...

API to consider the ForceField as a constraint as in the "Compliant formulation"
See [M Tournier, M Nesme, B Gilles, F Faure, Stable Constrained Dynamics, Siggraph 2015] for more details. Each ForceField may be processed either as a traditional force function, or as a compliance (provided that its stiffness matrix is invertible). If isCompliance==false then the ForceField is handled as a traditional force function. In this case, the stiffness matrix is used to set up the implicit equation matrix, while addForce is used to set up the right-hand term as usual. If isCompliance==true, the ForceField is handled as a compliance and getComplianceMatrix must return a non-null pointer for assembled solver and/or must implement addClambda for a graph-scattered (unassembled) implementation.
Data< bool >	isCompliance
	Considered as compliance, else considered as stiffness (default to false) More...

virtual const sofa::linearalgebra::BaseMatrix *	getComplianceMatrix (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...

Additional Inherited Members
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...

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)

Attribute details

◆ isCompliance

Data< bool > sofa::core::behavior::BaseForceField::isCompliance

Considered as compliance, else considered as stiffness (default to false)

◆ rayleighStiffness

Data< SReal > sofa::core::behavior::BaseForceField::rayleighStiffness

Rayleigh Damping stiffness matrix coefficient.

Constructor details

◆ BaseForceField()

sofa::core::behavior::BaseForceField::BaseForceField ( )

protected

◆ ~BaseForceField()

sofa::core::behavior::BaseForceField::~BaseForceField ( )

overrideprotecteddefault

Function details

◆ addBToMatrix()

void sofa::core::behavior::BaseForceField::addBToMatrix	(	const MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

virtual

Compute the system matrix corresponding to $ b B $ .

Parameters

mparams	sofa::core::mechanicalparams::bFactor(mparams) is the coefficient for damping contributions (i.e. first derivatives term in the ODE)
matrix	the matrix to add the result to

Reimplemented in sofa::core::behavior::ForceField< TDataTypes >, sofa::core::behavior::ForceField< _DataTypes >, sofa::core::behavior::ForceField< T >, and sofa::core::behavior::ForceField< DataTypes >.

◆ addClambda()

virtual void sofa::core::behavior::BaseForceField::addClambda	(	const MechanicalParams *	,
		MultiVecDerivId	,
		MultiVecDerivId	,
		SReal
	)

inlinevirtual

Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient.

This method computes

$res += cFactor C \lambda$

where C is the Compliant matrix (inverse of the Stiffness matrix $ K $ : $C = K^{-1}$ )

Reimplemented in sofa::core::behavior::ForceField< TDataTypes >, sofa::core::behavior::ForceField< _DataTypes >, sofa::core::behavior::ForceField< T >, and sofa::core::behavior::ForceField< DataTypes >.

◆ addDForce()

virtual void sofa::core::behavior::BaseForceField::addDForce	(	const MechanicalParams *	mparams,
		MultiVecDerivId	dfId
	)

pure virtual

Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().

The derivative should be directly derived from the computations done by addForce. Any forces neglected in addDForce will be integrated explicitly (i.e. using its value at the beginning of the timestep).

If the ForceField can be represented as a matrix, this method computes

$df += kFactor K dx + bFactor B dx$

where K is the stiffness matrix (associated with forces which derive from a potential), and B is the damping matrix (associated with viscous forces).

Parameters

mparams	mparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE) mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE) mparams->readDx() input vector
dfId	the output vector

Implemented in sofa::core::behavior::PairInteractionForceField< TDataTypes >, sofa::core::behavior::PairInteractionForceField< DataTypes >, sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >, sofa::core::behavior::ForceField< TDataTypes >, sofa::core::behavior::ForceField< _DataTypes >, sofa::core::behavior::ForceField< T >, and sofa::core::behavior::ForceField< DataTypes >.

◆ addForce()

virtual void sofa::core::behavior::BaseForceField::addForce	(	const MechanicalParams *	mparams,
		MultiVecDerivId	fId
	)

pure 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

$f += B v + K x$

where K is the stiffness matrix (associated with forces which derive from a potential), and B is the damping matrix (associated with viscous forces). Very often, at least one of these matrices is null.

Parameters

mparams

sofa::core::mechanicalparams::bFactor(mparams) is the coefficient for damping contributions (i.e. first derivatives term in the ODE)
mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
mparams->readX() is the input vector of position
mparams->readV() is the input vector of velocity
mparams->readF() is the input vector of force
if mparams->energy() is true, the method computes and internally stores the potential energy, which will be subsequently returned by method getPotentialEnergy()

fId the output vector of forces

Implemented in sofa::core::behavior::PairInteractionForceField< TDataTypes >, sofa::core::behavior::PairInteractionForceField< DataTypes >, sofa::core::behavior::MixedInteractionForceField< TDataTypes1, TDataTypes2 >, sofa::core::behavior::ForceField< TDataTypes >, sofa::core::behavior::ForceField< _DataTypes >, sofa::core::behavior::ForceField< T >, and sofa::core::behavior::ForceField< DataTypes >.

◆ addKToMatrix()

virtual void sofa::core::behavior::BaseForceField::addKToMatrix	(	const MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

pure virtual

Compute the system matrix corresponding to $ k K $ .

Parameters

mparams	mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
matrix	the matrix to add the result to

◆ addMBKdx()

void sofa::core::behavior::BaseForceField::addMBKdx	(	const MechanicalParams *	mparams,
		MultiVecDerivId	dfId
	)

virtual

Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients.

This method computes

$df += mFactor M dx + bFactor B dx + kFactor K dx$

where M is the mass matrix (associated with inertial forces), K is the stiffness matrix (associated with forces which derive from a potential), and B is the damping matrix (associated with viscous forces).

Very often, at least one of these matrices is null. In most cases only one of these matrices will be non-null for a given component. For forcefields without mass it simply calls addDForce.

Parameters

mparams	mparams->readDx() is the input vector mparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE) sofa::core::mechanicalparams::bFactor(mparams) is the coefficient for damping contributions (i.e. first derivatives term in the ODE) mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
dfId	the output vector

Reimplemented in sofa::core::behavior::Mass< DataTypes >, and sofa::component::solidmechanics::fem::nonuniform::NonUniformHexahedralFEMForceFieldAndMass< DataTypes >.

◆ addMBKToMatrix()

void sofa::core::behavior::BaseForceField::addMBKToMatrix	(	const MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

virtual

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

Parameters

mparams	mparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE) sofa::core::mechanicalparams::bFactor(mparams) is the coefficient for damping contributions (i.e. first derivatives term in the ODE) mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
matrix	the matrix to add the result to

Reimplemented in sofa::core::behavior::Mass< DataTypes >, sofa::component::solidmechanics::spring::PolynomialSpringsForceField< DataTypes >, sofa::component::solidmechanics::spring::PolynomialRestShapeSpringsForceField< DataTypes >, and sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >.

◆ buildDampingMatrix()

void sofa::core::behavior::BaseForceField::buildDampingMatrix ( DampingMatrix * matrix )

virtual

◆ buildStiffnessMatrix()

void sofa::core::behavior::BaseForceField::buildStiffnessMatrix ( StiffnessMatrix * matrix )

virtual

◆ getComplianceMatrix()

virtual const sofa::linearalgebra::BaseMatrix* sofa::core::behavior::BaseForceField::getComplianceMatrix ( const MechanicalParams * )

inlinevirtual

Return a pointer to the compliance matrix C $C = K^{-1}$

◆ getPotentialEnergy()

virtual SReal sofa::core::behavior::BaseForceField::getPotentialEnergy ( const MechanicalParams * mparams = mechanicalparams::defaultInstance() ) const

pure virtual

Get the potential energy associated to this ForceField during the last call of addForce( const MechanicalParams* mparams );.

Used to extimate the total energy of the system by some post-stabilization techniques.

◆ insertInNode()

bool sofa::core::behavior::BaseForceField::insertInNode ( objectmodel::BaseNode * )

overridevirtual

the component can insert itself directly in the right sequence in the Node so the Node does not have to test its type against all known types

Returns: true if the component was inserted

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

Reimplemented in sofa::core::behavior::Mass< DataTypes >, and sofa::core::behavior::BaseInteractionForceField.

◆ removeInNode()

bool sofa::core::behavior::BaseForceField::removeInNode ( objectmodel::BaseNode * )

overridevirtual

the component can remove itself directly in the right sequence in the Node so the Node does not have to test its type against all known types

Returns: true if the component was removed

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

Reimplemented in sofa::core::behavior::Mass< DataTypes >, and sofa::core::behavior::BaseInteractionForceField.

◆ SOFA_ABSTRACT_CLASS()

sofa::core::behavior::BaseForceField::SOFA_ABSTRACT_CLASS	(	BaseForceField	,
		StateAccessor
	)

Detailed Description

Public Attributes

Public Member Functions

Protected Member Functions

API to consider the ForceField as a constraint as in the "Compliant formulation"

Additional Inherited Members

Attribute details

◆ isCompliance

◆ rayleighStiffness

Constructor details

◆ BaseForceField()

◆ ~BaseForceField()

Function details

◆ addBToMatrix()

◆ addClambda()

◆ addDForce()

◆ addForce()

◆ addKToMatrix()

◆ addMBKdx()

◆ addMBKToMatrix()

◆ buildDampingMatrix()

◆ buildStiffnessMatrix()

◆ getComplianceMatrix()

◆ getPotentialEnergy()

◆ insertInNode()

◆ removeInNode()

◆ SOFA_ABSTRACT_CLASS()