SOFA API  d5d9f025
Open source framework for multi-physics simuation
sofa::core::behavior::BaseMechanicalState Class Referenceabstract

#include <BaseMechanicalState.h>

Component storing all state vectors of a simulated body (position, velocity, etc). More...

Inheritance diagram for sofa::core::behavior::BaseMechanicalState:

Detailed Description

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 :

  • VecCoord
    : containing positions.
  • VecDeriv
    : 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 :

  • position
  • velocity
  • force
  • dx
    (displacement)

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.

Classes

class  ConstraintBlock
 
class  VMultiOpEntry
 

Public Member Functions

 SOFA_ABSTRACT_CLASS (BaseMechanicalState, BaseState)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
Methods allowing to have access to the geometry without a template class (generic but not efficient)
virtual SReal getPX (size_t) const
 
virtual SReal getPY (size_t) const
 
virtual SReal getPZ (size_t) const
 
Mechanical integration related methods

Note: all these methods can now be implemented generically using VecId-based operations

virtual void beginIntegration (SReal)
 Called at the beginning of each integration step. More...
 
virtual void endIntegration (const ExecParams *params, SReal)
 Called at the end of each integration step. More...
 
virtual void resetForce (const ExecParams *params, VecDerivId f=VecDerivId::force())
 Set F = 0. More...
 
virtual void resetAcc (const ExecParams *params, VecDerivId a=VecDerivId::dx())
 Set Acc =0. More...
 
virtual void accumulateForce (const ExecParams *params, VecDerivId f=VecDerivId::force())
 Add stored external forces to F. More...
 
Constraints related methods
virtual void resetConstraint (const ConstraintParams *params)=0
 Reset the constraint matrix. More...
 
virtual void getConstraintJacobian (const ConstraintParams *params, sofa::defaulttype::BaseMatrix *J, unsigned int &off)=0
 build the jacobian of the constraint in a baseMatrix More...
 
virtual void buildIdentityBlocksInJacobian (const sofa::helper::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...
 
virtual std::list< ConstraintBlockconstraintBlocks (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...
 
virtual SReal getConstraintJacobianTimesVecDeriv (unsigned int, ConstVecId)
 Compute the error given a state vector and a line of the Jacobian (line in vector C) More...
 
events

Methods related to Event processing

virtual void handleStateChange ()
 
virtual void handleStateChange (core::topology::Topology *t)
 Handle state Changes from a given Topology. More...
 
Misc properties and actions
virtual void writeState (std::ostream &out)
 Write current state to the given output stream. More...
 
virtual size_t getCoordDimension () const
 
virtual size_t getDerivDimension () const
 
virtual void applyTranslation (const SReal dx, const SReal dy, const SReal dz)=0
 Translate the current state. More...
 
virtual void applyRotation (const SReal, const SReal, const SReal)
 Rotate the current state. More...
 
virtual void applyRotation (const defaulttype::Quat q)=0
 Rotate the current state. More...
 
virtual void applyScale (const SReal, const SReal, const SReal)=0
 Scale the current state. More...
 
virtual defaulttype::Vector3 getScale () const
 
virtual bool addBBox (SReal *, SReal *)
 
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...
 
Interface with BaseMatrix / BaseVector
virtual size_t getMatrixBlockSize () const
 Get the number of scalars per Deriv value, as necessary to build mechanical matrices and vectors. More...
 
virtual size_t getMatrixSize () const
 Get the number of rows necessary to build mechanical matrices and vectors. More...
 
virtual void copyToBaseVector (defaulttype::BaseVector *dest, ConstVecId src, unsigned int &offset)=0
 Copy data to a global BaseVector from the state stored in a local vector. More...
 
virtual void copyFromBaseVector (VecId dest, const defaulttype::BaseVector *src, unsigned int &offset)=0
 Copy data to a local vector from the state stored in a global BaseVector. More...
 
virtual void copyToBuffer (SReal *dst, ConstVecId src, unsigned int n) const =0
 Copy data to an external, user-allocated buffer. More...
 
virtual void copyFromBuffer (VecId dst, const SReal *src, unsigned int n)=0
 Copy data from an external, user-allocated buffer. More...
 
virtual void addFromBuffer (VecId dst, const SReal *src, unsigned int n)=0
 Add data from an external, user-allocated buffer. More...
 
virtual void addToBaseVector (defaulttype::BaseVector *dest, ConstVecId src, unsigned int &offset)=0
 Add data to a global BaseVector from the state stored in a local vector. More...
 
virtual void addFromBaseVectorSameSize (VecId dest, const defaulttype::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...
 
virtual void addFromBaseVectorDifferentSize (VecId dest, const defaulttype::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...
 
Data output
virtual void printDOF (ConstVecId v, std::ostream &out=std::cerr, int firstIndex=0, int range=-1) const =0
 
virtual unsigned printDOFWithElapsedTime (ConstVecId, unsigned=0, unsigned=0, std::ostream &=std::cerr)
 
virtual void initGnuplot (const std::string)
 
virtual void exportGnuplot (SReal)
 
virtual void writeVec (ConstVecId v, std::ostream &out)=0
 
virtual void readVec (VecId v, std::istream &in)=0
 
virtual SReal compareVec (ConstVecId v, std::istream &in)=0
 
- Public Member Functions inherited from sofa::core::BaseState
 SOFA_ABSTRACT_CLASS (BaseState, objectmodel::BaseObject)
 
virtual size_t getSize () const =0
 Current size of all stored vectors. More...
 
virtual void resize (size_t vsize)=0
 Resize all stored vector. More...
 
virtual objectmodel::BaseDatabaseWrite (VecId v)=0
 
virtual const objectmodel::BaseDatabaseRead (ConstVecId v) const =0
 
- 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...
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
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)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
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
 
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...
 
virtual 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
 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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
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 (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 removeLink (BaseLink *l)
 Remove 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

 BaseMechanicalState ()
 
 ~BaseMechanicalState () override
 
- Protected Member Functions inherited from sofa::core::BaseState
 BaseState ()
 
 ~BaseState () override
 
- 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, unsigned int, 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...
 

Vectors allocation and generic operations (based on VecId)

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

typedef helper::vector< VMultiOpEntryVMultiOp
 
virtual void vAvail (const ExecParams *params, VecCoordId &v)=0
 
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...
 
virtual void vAlloc (const ExecParams *params, VecCoordId v)=0
 Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index. More...
 
virtual void vAlloc (const ExecParams *params, VecDerivId v)=0
 Allocate a new temporary vector. More...
 
virtual void vRealloc (const ExecParams *params, VecCoordId v)=0
 Allocate a new temporary vector. More...
 
virtual void vRealloc (const ExecParams *params, VecDerivId v)=0
 Reallocate a new temporary vector. More...
 
virtual void vFree (const ExecParams *params, VecCoordId v)=0
 Free a temporary vector. More...
 
virtual void vFree (const ExecParams *params, VecDerivId v)=0
 Free a temporary vector. More...
 
virtual void vInit (const ExecParams *params, VecCoordId v, ConstVecCoordId vSrc)=0
 Free a temporary vector. More...
 
virtual void vInit (const ExecParams *params, VecDerivId v, ConstVecDerivId vSrc)=0
 Initialize an unset vector. More...
 
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...
 
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...
 
virtual SReal vDot (const ExecParams *params, ConstVecId a, ConstVecId b)=0
 Compute the scalar products between two vectors. More...
 
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...
 
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...
 
virtual size_t vSize (const ExecParams *params, ConstVecId v)=0
 Get vector size. More...
 
virtual void vThreshold (VecId a, SReal threshold)=0
 Apply a threshold (lower bound) to all entries. More...
 

Mask-based optimized computations (by only updating a subset of the DOFs)

typedef helper::StateMask ForceMask
 
ForceMask forceMask
 Mask to filter the particles. Used inside MechanicalMappings inside applyJ and applyJT methods. More...
 

Additional Inherited Members

- 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
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
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::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- 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
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 MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

ForceMask sofa::core::behavior::BaseMechanicalState::forceMask

Mask to filter the particles. Used inside MechanicalMappings inside applyJ and applyJT methods.

Constructor details

sofa::core::behavior::BaseMechanicalState::BaseMechanicalState ( )
protected
sofa::core::behavior::BaseMechanicalState::~BaseMechanicalState ( )
overrideprotected

Function details

virtual void sofa::core::behavior::BaseMechanicalState::accumulateForce ( const ExecParams params,
VecDerivId  f = VecDerivId::force() 
)
inlinevirtual

Add stored external forces to F.

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual bool sofa::core::behavior::BaseMechanicalState::addBBox ( SReal ,
SReal  
)
inlinevirtual
virtual void sofa::core::behavior::BaseMechanicalState::addFromBaseVectorDifferentSize ( VecId  dest,
const defaulttype::BaseVector src,
unsigned int offset 
)
pure virtual

Perform dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters
offsetthe 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.

Implemented in sofa::component::container::MechanicalObject< DataTypes >, sofa::component::container::MechanicalObject< DataTypes >, and sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::addFromBaseVectorSameSize ( VecId  dest,
const defaulttype::BaseVector src,
unsigned int offset 
)
pure virtual

Perform dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters
offsetthe 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

Implemented in sofa::component::container::MechanicalObject< DataTypes >, sofa::component::container::MechanicalObject< DataTypes >, and sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::addFromBuffer ( VecId  dst,
const SReal src,
unsigned int  n 
)
pure virtual

Add data from an external, user-allocated buffer.

Exact element count must be provided for consistency checks.

virtual void sofa::core::behavior::BaseMechanicalState::addToBaseVector ( defaulttype::BaseVector dest,
ConstVecId  src,
unsigned int offset 
)
pure virtual

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

Parameters
offsetthe 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

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::applyRotation ( const SReal  ,
const SReal  ,
const SReal   
)
inlinevirtual

Rotate the current state.

This method is optional, it is used when the user want to interactively change the position of an object using Euler angles

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::applyRotation ( const defaulttype::Quat  q)
pure virtual
virtual void sofa::core::behavior::BaseMechanicalState::applyScale ( const SReal  ,
const SReal  ,
const SReal   
)
pure virtual

Scale the current state.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::applyTranslation ( const SReal  dx,
const SReal  dy,
const SReal  dz 
)
pure virtual

Translate the current state.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::beginIntegration ( SReal  )
inlinevirtual

Called at the beginning of each integration step.

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::buildIdentityBlocksInJacobian ( const sofa::helper::vector< unsigned int > &  list_n,
core::MatrixDerivId mID 
)
pure virtual

fill the jacobian matrix (of the constraints) with identity blocks on the provided list of nodes(dofs)

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual SReal sofa::core::behavior::BaseMechanicalState::compareVec ( ConstVecId  v,
std::istream &  in 
)
pure virtual
virtual std::list<ConstraintBlock> sofa::core::behavior::BaseMechanicalState::constraintBlocks ( const std::list< unsigned int > &  ) const
inlinevirtual

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

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::copyFromBaseVector ( VecId  dest,
const defaulttype::BaseVector src,
unsigned int offset 
)
pure virtual

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

Parameters
offsetthe 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

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::copyFromBuffer ( VecId  dst,
const SReal src,
unsigned int  n 
)
pure virtual

Copy data from an external, user-allocated buffer.

Exact element count must be provided for consistency checks.

virtual void sofa::core::behavior::BaseMechanicalState::copyToBaseVector ( defaulttype::BaseVector dest,
ConstVecId  src,
unsigned int offset 
)
pure virtual

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

Parameters
offsetthe 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

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::copyToBuffer ( SReal dst,
ConstVecId  src,
unsigned int  n 
) const
pure virtual

Copy data to an external, user-allocated buffer.

Exact element count must be provided for consistency checks.

virtual void sofa::core::behavior::BaseMechanicalState::endIntegration ( const ExecParams params,
SReal   
)
inlinevirtual

Called at the end of each integration step.

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::exportGnuplot ( SReal  )
inlinevirtual
virtual void sofa::core::behavior::BaseMechanicalState::getConstraintJacobian ( const ConstraintParams params,
sofa::defaulttype::BaseMatrix J,
unsigned int off 
)
pure virtual

build the jacobian of the constraint in a baseMatrix

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual SReal sofa::core::behavior::BaseMechanicalState::getConstraintJacobianTimesVecDeriv ( unsigned int  ,
ConstVecId   
)
inlinevirtual

Compute the error given a state vector and a line of the Jacobian (line in vector C)

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual size_t sofa::core::behavior::BaseMechanicalState::getMatrixBlockSize ( ) const
inlinevirtual

Get the number of scalars per Deriv value, as necessary to build mechanical matrices and vectors.

If not all Derivs have the same number of scalars, then return 1 here and overload the getMatrixSize() method.

virtual size_t sofa::core::behavior::BaseMechanicalState::getMatrixSize ( ) const
inlinevirtual

Get the number of rows necessary to build mechanical matrices and vectors.

In most cases this is equivalent to getSize() * getMatrixBlockSize().

virtual SReal sofa::core::behavior::BaseMechanicalState::getPX ( size_t  ) const
inlinevirtual
virtual SReal sofa::core::behavior::BaseMechanicalState::getPY ( size_t  ) const
inlinevirtual
virtual SReal sofa::core::behavior::BaseMechanicalState::getPZ ( size_t  ) const
inlinevirtual
virtual defaulttype::Vector3 sofa::core::behavior::BaseMechanicalState::getScale ( ) const
inlinevirtual
virtual void sofa::core::behavior::BaseMechanicalState::handleStateChange ( )
inlinevirtual

Handle state Changes

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

void sofa::core::behavior::BaseMechanicalState::handleStateChange ( core::topology::Topology t)
virtual

Handle state Changes from a given Topology.

Handle state Changes from a given Topology

virtual void sofa::core::behavior::BaseMechanicalState::initGnuplot ( const std::string  )
inlinevirtual
bool sofa::core::behavior::BaseMechanicalState::insertInNode ( objectmodel::BaseNode )
overridevirtual

the component can insert itseft direclty in the right sequence in the Node so the Node does not have to test its type against every known types.

Returns
true iff the component was inserted

Reimplemented from sofa::core::BaseState.

virtual bool sofa::core::behavior::BaseMechanicalState::pickParticles ( const ExecParams ,
double  ,
double  ,
double  ,
double  ,
double  ,
double  ,
double  ,
double  ,
std::multimap< double, std::pair< sofa::core::behavior::BaseMechanicalState *, int > > &   
)
inlinevirtual

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

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::printDOF ( ConstVecId  v,
std::ostream &  out = std::cerr,
int  firstIndex = 0,
int  range = -1 
) const
pure virtual
virtual unsigned sofa::core::behavior::BaseMechanicalState::printDOFWithElapsedTime ( ConstVecId  ,
unsigned  = 0,
unsigned  = 0,
std::ostream &  = std::cerr 
)
inlinevirtual
virtual void sofa::core::behavior::BaseMechanicalState::readVec ( VecId  v,
std::istream &  in 
)
pure virtual
bool sofa::core::behavior::BaseMechanicalState::removeInNode ( objectmodel::BaseNode )
overridevirtual

the component can remove itseft direclty in the right sequence in the Node so the Node does not have to test its type against every known types.

Returns
true iff the component was removed

Reimplemented from sofa::core::BaseState.

virtual void sofa::core::behavior::BaseMechanicalState::resetAcc ( const ExecParams params,
VecDerivId  a = VecDerivId::dx() 
)
inlinevirtual
virtual void sofa::core::behavior::BaseMechanicalState::resetConstraint ( const ConstraintParams params)
pure virtual

Reset the constraint matrix.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::resetForce ( const ExecParams params,
VecDerivId  f = VecDerivId::force() 
)
inlinevirtual
sofa::core::behavior::BaseMechanicalState::SOFA_ABSTRACT_CLASS ( BaseMechanicalState  ,
BaseState   
)
virtual void sofa::core::behavior::BaseMechanicalState::vAlloc ( const ExecParams params,
VecCoordId  v 
)
pure virtual

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

Allocate a new temporary vector

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vAlloc ( const ExecParams params,
VecDerivId  v 
)
pure virtual

Allocate a new temporary vector.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vAvail ( const ExecParams params,
VecCoordId v 
)
pure virtual
virtual void sofa::core::behavior::BaseMechanicalState::vAvail ( const ExecParams params,
VecDerivId v 
)
pure virtual

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

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual SReal sofa::core::behavior::BaseMechanicalState::vDot ( const ExecParams params,
ConstVecId  a,
ConstVecId  b 
)
pure virtual

Compute the scalar products between two vectors.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vFree ( const ExecParams params,
VecCoordId  v 
)
pure virtual

Free a temporary vector.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vFree ( const ExecParams params,
VecDerivId  v 
)
pure virtual

Free a temporary vector.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vInit ( const ExecParams params,
VecCoordId  v,
ConstVecCoordId  vSrc 
)
pure virtual

Free a temporary vector.

Initialize an unset vector

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vInit ( const ExecParams params,
VecDerivId  v,
ConstVecDerivId  vSrc 
)
pure virtual

Initialize an unset vector.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual SReal sofa::core::behavior::BaseMechanicalState::vMax ( const ExecParams params,
ConstVecId  a 
)
pure virtual

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

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

void sofa::core::behavior::BaseMechanicalState::vMultiOp ( const ExecParams params,
const VMultiOp ops 
)
virtual

Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$.

This is used to compute in on steps operations such as $v = v + a*dt, x = x + v*dt$. Note that if the result vector appears inside the expression, it must be the first operand. By default this method decompose the computation into multiple vOp calls.

Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$

This is used to compute in on steps operations such as $v = v + a*dt, x = x + v*dt$. Note that if the result vector appears inside the expression, it must be the first operand. By default this method decompose the computation into multiple vOp calls.

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vOp ( const ExecParams params,
VecId  v,
ConstVecId  a = ConstVecId::null(),
ConstVecId  b = ConstVecId::null(),
SReal  f = 1.0 
)
pure virtual

Initialize an unset vector.

Compute a linear operation on vectors : v = a + b * f.

This generic operation can be used for many simpler cases :

  • v = 0
  • v = a
  • v = a + b
  • v = b * f

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vRealloc ( const ExecParams params,
VecCoordId  v 
)
pure virtual

Allocate a new temporary vector.

Reallocate a new temporary vector

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vRealloc ( const ExecParams params,
VecDerivId  v 
)
pure virtual

Reallocate a new temporary vector.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual size_t sofa::core::behavior::BaseMechanicalState::vSize ( const ExecParams params,
ConstVecId  v 
)
pure virtual
virtual SReal sofa::core::behavior::BaseMechanicalState::vSum ( const ExecParams params,
ConstVecId  a,
unsigned  l 
)
pure virtual

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.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::vThreshold ( VecId  a,
SReal  threshold 
)
pure virtual

Apply a threshold (lower bound) to all entries.

Implemented in sofa::component::container::MechanicalObject< DataTypes >.

void sofa::core::behavior::BaseMechanicalState::writeState ( std::ostream &  out)
virtual

Write current state to the given output stream.

Reimplemented in sofa::component::container::MechanicalObject< DataTypes >.

virtual void sofa::core::behavior::BaseMechanicalState::writeVec ( ConstVecId  v,
std::ostream &  out 
)
pure virtual