Component storing all state vectors of a simulated body (position, velocity, etc).
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Component storing all state vectors of a simulated body (position, velocity, etc).
This class only contains the data of the body and not any of its active computations, which are handled by the Mass, ForceField, and Constraint components.
Two types of vectors are used :
- : containing positions.
- : derivative values, i.e. velocity, forces, displacements. In most cases they are the same (i.e. 3D/2D point particles), but they can be different (rigid frames for instance).
Several pre-defined vectors are stored :
Other vectors can be allocated to store other temporary values. Vectors can be assigned efficiently by just swapping pointers.
In addition to state vectors, the current constraint system matrix is also stored, containing the coefficient of each constraint defined over the DOFs in this body.
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| SOFA_ABSTRACT_CLASS (BaseMechanicalState, BaseState) |
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| SOFA_BASE_CAST_IMPLEMENTATION (BaseMechanicalState) |
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bool | insertInNode (objectmodel::BaseNode *node) override |
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bool | removeInNode (objectmodel::BaseNode *node) override |
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virtual SReal | getPX (Index) const |
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virtual SReal | getPY (Index) const |
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virtual SReal | getPZ (Index) const |
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Note: all these methods can now be implemented generically using VecId-based operations
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virtual void | beginIntegration (SReal) |
| Called at the beginning of each integration step. More...
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virtual void | endIntegration (const ExecParams *params, SReal) |
| Called at the end of each integration step. More...
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virtual void | resetForce (const ExecParams *params, VecDerivId f=vec_id::write_access::force) |
| Set F = 0. More...
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virtual void | resetAcc (const ExecParams *params, VecDerivId a=vec_id::write_access::dx) |
| Set Acc =0. More...
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virtual void | accumulateForce (const ExecParams *params, VecDerivId f=vec_id::write_access::force) |
| Add stored external forces to F. More...
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virtual void | resetConstraint (const ConstraintParams *params)=0 |
| Reset the constraint matrix. More...
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virtual void | getConstraintJacobian (const ConstraintParams *params, sofa::linearalgebra::BaseMatrix *J, unsigned int &off)=0 |
| build the jacobian of the constraint in a baseMatrix More...
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virtual void | buildIdentityBlocksInJacobian (const sofa::type::vector< unsigned int > &list_n, core::MatrixDerivId &mID)=0 |
| fill the jacobian matrix (of the constraints) with identity blocks on the provided list of nodes(dofs) More...
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virtual std::list< ConstraintBlock > | constraintBlocks (const std::list< unsigned int > &) const |
| Express the matrix L in term of block of matrices, using the indices of the lines in the MatrixDeriv container. More...
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virtual SReal | getConstraintJacobianTimesVecDeriv (unsigned int, ConstVecId) |
| Compute the error given a state vector and a line of the Jacobian (line in vector C) More...
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Methods related to Event processing
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virtual void | handleStateChange () |
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virtual void | handleStateChange (core::topology::Topology *t) |
| Handle state Changes from a given Topology. More...
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virtual void | writeState (std::ostream &out) |
| Write current state to the given output stream. More...
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virtual Size | getCoordDimension () const |
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virtual Size | getDerivDimension () const |
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virtual void | applyTranslation (const SReal dx, const SReal dy, const SReal dz)=0 |
| Translate the current state. More...
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virtual void | applyRotation (const SReal, const SReal, const SReal) |
| Rotate the current state. More...
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virtual void | applyRotation (const type::Quat< SReal > q)=0 |
| Rotate the current state. More...
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virtual void | applyScale (const SReal, const SReal, const SReal)=0 |
| Scale the current state. More...
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virtual type::Vec3 | getScale () const |
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virtual bool | addBBox (SReal *, SReal *) |
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virtual bool | pickParticles (const ExecParams *, double, double, double, double, double, double, double, double, std::multimap< double, std::pair< sofa::core::behavior::BaseMechanicalState *, int > > &) |
| Find mechanical particles hit by the given ray. More...
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virtual Size | getMatrixBlockSize () const |
| Get the number of scalars per Deriv value, as necessary to build mechanical matrices and vectors. More...
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virtual Size | getMatrixSize () const |
| Get the number of rows necessary to build mechanical matrices and vectors. More...
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virtual void | copyToBaseVector (linearalgebra::BaseVector *dest, ConstVecId src, unsigned int &offset)=0 |
| Copy data to a global BaseVector from the state stored in a local vector. More...
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virtual void | copyFromBaseVector (VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)=0 |
| Copy data to a local vector from the state stored in a global BaseVector. More...
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virtual void | copyToBaseMatrix (linearalgebra::BaseMatrix *dest, ConstMatrixDerivId src, unsigned int &offset)=0 |
| Copy data to a global BaseMatrix from the state stored in a local vector. More...
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virtual void | copyToBuffer (SReal *dst, ConstVecId src, unsigned int n) const =0 |
| Copy data to an external, user-allocated buffer. More...
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virtual void | copyFromBuffer (VecId dst, const SReal *src, unsigned int n)=0 |
| Copy data from an external, user-allocated buffer. More...
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virtual void | addFromBuffer (VecId dst, const SReal *src, unsigned int n)=0 |
| Add data from an external, user-allocated buffer. More...
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virtual void | addToBaseVector (linearalgebra::BaseVector *dest, ConstVecId src, unsigned int &offset)=0 |
| Add data to a global BaseVector from the state stored in a local vector. More...
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virtual void | addFromBaseVectorSameSize (VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)=0 |
| Perform dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects) More...
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virtual void | addFromBaseVectorDifferentSize (VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)=0 |
| Perform dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects) More...
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virtual void | printDOF (ConstVecId v, std::ostream &out=std::cerr, int firstIndex=0, int range=-1) const =0 |
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virtual unsigned | printDOFWithElapsedTime (ConstVecId, unsigned=0, unsigned=0, std::ostream &=std::cerr) |
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virtual void | initGnuplot (const std::string) |
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virtual void | exportGnuplot (SReal) |
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virtual void | writeVec (ConstVecId v, std::ostream &out)=0 |
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virtual void | readVec (VecId v, std::istream &in)=0 |
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virtual SReal | compareVec (ConstVecId v, std::istream &in)=0 |
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| SOFA_ABSTRACT_CLASS (BaseState, objectmodel::BaseObject) |
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virtual Size | getSize () const =0 |
| Current size of all stored vectors. More...
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virtual void | resize (Size vsize)=0 |
| Resize all stored vector. More...
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virtual void | addToTotalForces (core::ConstVecDerivId forceId) |
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virtual void | removeFromTotalForces (core::ConstVecDerivId forceId) |
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virtual objectmodel::BaseData * | baseWrite (VecId v)=0 |
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virtual const objectmodel::BaseData * | baseRead (ConstVecId v) const =0 |
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| SOFA_CLASS (BaseObject, Base) |
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virtual void | draw (const core::visual::VisualParams *) |
| Render internal data of this object, for debugging purposes. More...
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virtual void | computeBBox (const core::ExecParams *, bool=false) |
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void | setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr) |
| Sets a source Object and parses it to collect dependent Data. More...
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void | setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr) |
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Base * | findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override |
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virtual std::string | getPathName () const override |
| Return the full path name of this object. More...
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SReal | getTime () const |
| Current time. More...
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const BaseContext * | getContext () const |
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BaseContext * | getContext () |
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const BaseObject * | getMaster () const |
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BaseObject * | getMaster () |
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const VecSlaves & | getSlaves () const |
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BaseObject * | getSlave (const std::string &name) const |
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virtual void | addSlave (BaseObject::SPtr s) |
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virtual void | removeSlave (BaseObject::SPtr s) |
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virtual void | handleEvent (Event *) |
| Handle an event. More...
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virtual void | handleTopologyChange () |
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virtual void | handleTopologyChange (core::topology::Topology *t) |
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void | parse (BaseObjectDescription *arg) override |
| Parse the given description to assign values to this object's fields and potentially other parameters. More...
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virtual void | init () |
| Initialization method called at graph creation and modification, during top-down traversal. More...
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virtual void | bwdInit () |
| Initialization method called at graph creation and modification, during bottom-up traversal. More...
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virtual void | reinit () |
| Update method called when variables used in precomputation are modified. More...
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void | updateInternal () |
| Update method called when variables (used to compute other internal variables) are modified. More...
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virtual void | storeResetState () |
| Save the initial state for later uses in reset() More...
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virtual void | reset () |
| Reset to initial state. More...
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virtual void | cleanup () |
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virtual const BaseClass * | getClass () const |
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void | addDeprecatedAttribute (lifecycle::DeprecatedData *attribute) |
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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) |
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void | addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs) |
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const std::string & | getName () const |
| Accessor to the object name. More...
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void | setName (const std::string &n) |
| Set the name of this object. More...
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void | setName (const std::string &n, int counter) |
| Set the name of this object, adding an integer counter. More...
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std::string | getTypeName () const |
| Get the type name of this object (i.e. class and template types) More...
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virtual std::string | getClassName () const |
| Get the class name of this object. More...
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virtual std::string | getTemplateName () const final |
| Get the template type names (if any) used to instantiate this object. More...
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std::string | getNameSpaceName () const |
| Get the template type names (if any) used to instantiate this object. More...
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void | setDefinitionSourceFileName (const std::string &sourceFileName) |
| Set the source filename (where the component is implemented) More...
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const std::string & | getDefinitionSourceFileName () const |
| Get the source filename (where the component is implemented) More...
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void | setDefinitionSourceFilePos (const int) |
| Set the source location (where the component is implemented) More...
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int | getDefinitionSourceFilePos () const |
| Get the source location (where the component is implemented) More...
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void | setInstanciationSourceFileName (const std::string &sourceFileName) |
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const std::string & | getInstanciationSourceFileName () const |
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void | setInstanciationSourceFilePos (const int) |
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int | getInstanciationSourceFilePos () const |
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void | addMessage (const sofa::helper::logging::Message &m) const |
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size_t | countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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const std::deque< sofa::helper::logging::Message > & | getLoggedMessages () const |
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const std::string | getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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void | clearLoggedMessages () const |
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bool | notMuted () const |
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const sofa::core::objectmodel::TagSet & | getTags () const |
| Represents the subsets the object belongs to. More...
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bool | hasTag (Tag t) const |
| Return true if the object belong to the given subset. More...
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void | addTag (Tag t) |
| Add a subset qualification to the object. More...
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void | removeTag (Tag t) |
| Remove a subset qualification to the object. More...
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ComponentState | getComponentState () const |
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bool | isComponentStateValid () const |
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virtual bool | parseField (const std::string &attribute, const std::string &value) |
| Assign one field value (Data or Link) More...
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virtual bool | hasField (const std::string &attribute) const |
| Check if a given Data field or Link exists. More...
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void | parseFields (const std::list< std::string > &str) |
| Assign the field values stored in the given list of name + value pairs of strings. More...
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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...
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void | writeDatas (std::map< std::string, std::string * > &str) |
| Write the current field values to the given map of name -> value pairs. More...
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void | writeDatas (std::ostream &out, const std::string &separator=" ") |
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BaseData * | findData (const std::string &name) const |
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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...
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BaseLink * | findLink (const std::string &name) const |
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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...
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virtual void | updateLinks (bool logErrors=true) |
| Update pointers in case the pointed-to objects have appeared. More...
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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...
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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...
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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...
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void | addData (BaseData *f, const std::string &name) |
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void | addData (BaseData *f) |
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void | removeData (BaseData *f) |
| Remove a data field. More...
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void | addAlias (BaseData *field, const char *alias) |
| Add an alias to a Data. More...
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void | addLink (BaseLink *l) |
| Add a link. More...
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void | addAlias (BaseLink *link, const char *alias) |
| Add an alias to a Link. More...
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const VecData & | getDataFields () const |
| Accessor to the vector containing all the fields of this object. More...
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const MapData & | getDataAliases () const |
| Accessor to the map containing all the aliases of this object. More...
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const VecLink & | getLinks () const |
| Accessor to the vector containing all the fields of this object. More...
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const MapLink & | getLinkAliases () const |
| Accessor to the map containing all the aliases of this object. More...
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virtual bool | findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link) |
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template<class T > |
bool | findLinkDest (T *&ptr, const std::string &path, const BaseLink *link) |
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Increment the index of the given VecCoordId, so that all 'allocated' vectors in this state have a lower index
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typedef type::vector< VMultiOpEntry > | VMultiOp |
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virtual void | vAvail (const ExecParams *params, VecCoordId &v)=0 |
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virtual void | vAvail (const ExecParams *params, VecDerivId &v)=0 |
| Increment the index of the given VecDerivId, so that all 'allocated' vectors in this state have a lower index. More...
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virtual void | vAlloc (const ExecParams *params, VecCoordId v, const core::VecIdProperties &properties={})=0 |
| Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index. More...
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virtual void | vAlloc (const ExecParams *params, VecDerivId v, const core::VecIdProperties &properties={})=0 |
| Allocate a new temporary vector. More...
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virtual void | vRealloc (const ExecParams *params, VecCoordId v, const core::VecIdProperties &properties={})=0 |
| Allocate a new temporary vector. More...
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virtual void | vRealloc (const ExecParams *params, VecDerivId v, const core::VecIdProperties &properties={})=0 |
| Reallocate a new temporary vector. More...
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virtual void | vFree (const ExecParams *params, VecCoordId v)=0 |
| Free a temporary vector. More...
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virtual void | vFree (const ExecParams *params, VecDerivId v)=0 |
| Free a temporary vector. More...
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virtual void | vInit (const ExecParams *params, VecCoordId v, ConstVecCoordId vSrc)=0 |
| Free a temporary vector. More...
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virtual void | vInit (const ExecParams *params, VecDerivId v, ConstVecDerivId vSrc)=0 |
| Initialize an unset vector. More...
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virtual void | vOp (const ExecParams *params, VecId v, ConstVecId a=ConstVecId::null(), ConstVecId b=ConstVecId::null(), SReal f=1.0)=0 |
| Initialize an unset vector. More...
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virtual void | vMultiOp (const ExecParams *params, const VMultiOp &ops) |
| Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$. More...
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virtual SReal | vDot (const ExecParams *params, ConstVecId a, ConstVecId b)=0 |
| Compute the scalar products between two vectors. More...
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virtual SReal | vSum (const ExecParams *params, ConstVecId a, unsigned l)=0 |
| 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...
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virtual SReal | vMax (const ExecParams *params, ConstVecId a)=0 |
| Maximum of the absolute values of the entries of state vector a. This is used to compute the infinite-norm of the vector. More...
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virtual Size | vSize (const ExecParams *params, ConstVecId v)=0 |
| Get vector size. More...
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virtual void | vThreshold (VecId a, SReal threshold)=0 |
| Apply a threshold (lower bound) to all entries. More...
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