SOFA API  38ecbea1
Open source framework for multi-physics simuation
sofa::core::behavior::BaseMass Class Referenceabstract

#include <BaseMass.h>

Component responsible for mass-related computations (gravity, acceleration). More...

Inheritance diagram for sofa::core::behavior::BaseMass:

Detailed Description

Component responsible for mass-related computations (gravity, acceleration).

Mass can be defined either as a scalar, vector, or a full mass-matrix. It is responsible for converting forces to accelerations (for explicit integrators), or displacements to forces (for implicit integrators).

It is often also a ForceField, computing gravity-related forces.

Public Attributes

Data< boolm_separateGravity
 
Rayleigh Damping (mass contribution)
Data< SReal > rayleighMass
 Rayleigh Damping mass matrix coefficient. More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Public Member Functions

 SOFA_ABSTRACT_CLASS (BaseMass, StateAccessor)
 
virtual void initGnuplot (const std::string path)=0
 initialization to export kinetic and potential energy to gnuplot files format More...
 
virtual void exportGnuplot (const MechanicalParams *mparams, SReal time)=0
 export kinetic and potential energy state at "time" to a gnuplot file More...
 
virtual SReal getElementMass (sofa::Index index) const =0
 Get the mass relative to the DOF at index. More...
 
virtual void getElementMass (sofa::Index index, linearalgebra::BaseMatrix *m) const =0
 Get the matrix relative to the DOF at index. More...
 
virtual bool isDiagonal () const =0
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
Vector operations
virtual void addMDx (const MechanicalParams *mparams, MultiVecDerivId fid, SReal factor)=0
 f += factor M dx More...
 
virtual void accFromF (const MechanicalParams *mparams, MultiVecDerivId aid)=0
 dx = M^-1 f More...
 
virtual void addGravityToV (const MechanicalParams *mparams, MultiVecDerivId vid)=0
 Perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v. More...
 
virtual SReal getKineticEnergy (const MechanicalParams *mparams=mechanicalparams::defaultInstance()) const =0
 vMv/2 More...
 
virtual SReal getPotentialEnergy (const MechanicalParams *mparams=mechanicalparams::defaultInstance()) const =0
 Mgx. More...
 
virtual type::Vec6 getMomentum (const MechanicalParams *mparams=mechanicalparams::defaultInstance()) const =0
 (Mv,xMv+Iw) (linear and angular momenta against world origin) More...
 
Matrix operations
virtual void addMToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix)=0
 Add Mass contribution to global Matrix assembling. More...
 
virtual void buildMassMatrix (sofa::core::behavior::MassMatrixAccumulator *matrices)
 
- 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)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void 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 BaseClassgetClass () const
 
void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const final
 Get the template type names (if any) used to instantiate this object. More...
 
std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Protected Member Functions

 BaseMass ()
 
 ~BaseMass () 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...
 

Additional Inherited Members

- Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ m_separateGravity

Data<bool> sofa::core::behavior::BaseMass::m_separateGravity

Member specifying if the gravity is added separately to the DOFs velocities (in solve method), or if is added with the other forces(addForceMethod)

◆ rayleighMass

Data< SReal > sofa::core::behavior::BaseMass::rayleighMass

Rayleigh Damping mass matrix coefficient.

Constructor details

◆ BaseMass()

sofa::core::behavior::BaseMass::BaseMass ( )
protected

◆ ~BaseMass()

sofa::core::behavior::BaseMass::~BaseMass ( )
overrideprotecteddefault

Function details

◆ accFromF()

virtual void sofa::core::behavior::BaseMass::accFromF ( const MechanicalParams mparams,
MultiVecDerivId  aid 
)
pure virtual

dx = M^-1 f

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ addGravityToV()

virtual void sofa::core::behavior::BaseMass::addGravityToV ( const MechanicalParams mparams,
MultiVecDerivId  vid 
)
pure virtual

Perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v.

Parameters
mparamssofa::core::mechanicalparams::dt(mparams) is the time step of for temporal discretization.

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ addMDx()

virtual void sofa::core::behavior::BaseMass::addMDx ( const MechanicalParams mparams,
MultiVecDerivId  fid,
SReal  factor 
)
pure virtual

f += factor M dx

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ addMToMatrix()

virtual void sofa::core::behavior::BaseMass::addMToMatrix ( const MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
pure virtual

Add Mass contribution to global Matrix assembling.

This method must be implemented by the component.

Parameters
matrixmatrix to add the result to
mparamsmparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE)

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ buildMassMatrix()

◆ exportGnuplot()

virtual void sofa::core::behavior::BaseMass::exportGnuplot ( const MechanicalParams mparams,
SReal  time 
)
pure virtual

export kinetic and potential energy state at "time" to a gnuplot file

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ getElementMass() [1/2]

◆ getElementMass() [2/2]

◆ getKineticEnergy()

virtual SReal sofa::core::behavior::BaseMass::getKineticEnergy ( const MechanicalParams mparams = mechanicalparams::defaultInstance()) const
pure virtual

◆ getMomentum()

virtual type::Vec6 sofa::core::behavior::BaseMass::getMomentum ( const MechanicalParams mparams = mechanicalparams::defaultInstance()) const
pure virtual

(Mv,xMv+Iw) (linear and angular momenta against world origin)

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ getPotentialEnergy()

virtual SReal sofa::core::behavior::BaseMass::getPotentialEnergy ( const MechanicalParams mparams = mechanicalparams::defaultInstance()) const
pure virtual

◆ initGnuplot()

virtual void sofa::core::behavior::BaseMass::initGnuplot ( const std::string  path)
pure virtual

initialization to export kinetic and potential energy to gnuplot files format

Implemented in sofa::core::behavior::Mass< DataTypes >.

◆ insertInNode()

bool sofa::core::behavior::BaseMass::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 >.

◆ isDiagonal()

◆ removeInNode()

bool sofa::core::behavior::BaseMass::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 >.

◆ SOFA_ABSTRACT_CLASS()

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