#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)

	SOFA_BASE_CAST_IMPLEMENTATION (BaseMechanicalState)

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 (Index) const

virtual SReal	getPY (Index) const

virtual SReal	getPZ (Index) 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::linearalgebra::BaseMatrix J, unsigned int &off)=0
	build the jacobian of the constraint in a baseMatrix More...

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...

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...

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	getCoordDimension () const

virtual Size	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 type::Quat< SReal > q)=0
	Rotate the current state. More...

virtual void	applyScale (const SReal, const SReal, const SReal)=0
	Scale the current state. More...

virtual type::Vec3	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	getMatrixBlockSize () const
	Get the number of scalars per Deriv value, as necessary to build mechanical matrices and vectors. More...

virtual Size	getMatrixSize () const
	Get the number of rows necessary to build mechanical matrices and vectors. More...

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...

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...

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...

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 (linearalgebra::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 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...

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...

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	getSize () const =0
	Current size of all stored vectors. More...

virtual void	resize (Size vsize)=0
	Resize all stored vector. More...

virtual void	addToTotalForces (core::ConstVecDerivId forceId)

virtual void	removeFromTotalForces (core::ConstVecDerivId forceId)

virtual objectmodel::BaseData *	baseWrite (VecId v)=0

virtual const objectmodel::BaseData *	baseRead (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)

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
	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, 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...

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 type::vector< VMultiOpEntry >	VMultiOp

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, 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...

virtual void	vAlloc (const ExecParams *params, VecDerivId v, const core::VecIdProperties &properties={})=0
	Allocate a new temporary vector. More...

virtual void	vRealloc (const ExecParams *params, VecCoordId v, const core::VecIdProperties &properties={})=0
	Allocate a new temporary vector. More...

virtual void	vRealloc (const ExecParams *params, VecDerivId v, const core::VecIdProperties &properties={})=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	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...

Additional Inherited Members
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}

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)

Constructor details

◆ BaseMechanicalState()

sofa::core::behavior::BaseMechanicalState::BaseMechanicalState ( )

protected

◆ ~BaseMechanicalState()

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

overrideprotected

Function details

◆ accumulateForce()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ addBBox()

virtual bool sofa::core::behavior::BaseMechanicalState::addBBox	(	SReal *	,
		SReal *
	)

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ addFromBaseVectorDifferentSize()

virtual void sofa::core::behavior::BaseMechanicalState::addFromBaseVectorDifferentSize	(	VecId	dest,
		const linearalgebra::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

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

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

◆ addFromBaseVectorSameSize()

virtual void sofa::core::behavior::BaseMechanicalState::addFromBaseVectorSameSize	(	VecId	dest,
		const linearalgebra::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

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

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

◆ addFromBuffer()

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.

◆ addToBaseVector()

virtual void sofa::core::behavior::BaseMechanicalState::addToBaseVector	(	linearalgebra::BaseVector *	dest,
		ConstVecId	src,
		unsigned int &	offset
	)

pure virtual

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

Parameters

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

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

◆ applyRotation() [1/2]

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ applyRotation() [2/2]

virtual void sofa::core::behavior::BaseMechanicalState::applyRotation ( const type::Quat< SReal > q )

pure virtual

Rotate the current state.

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

◆ applyScale()

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

pure virtual

Scale the current state.

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

◆ applyTranslation()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ beginIntegration()

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

inlinevirtual

Called at the beginning of each integration step.

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ buildIdentityBlocksInJacobian()

virtual void sofa::core::behavior::BaseMechanicalState::buildIdentityBlocksInJacobian	(	const sofa::type::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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ compareVec()

virtual SReal sofa::core::behavior::BaseMechanicalState::compareVec	(	ConstVecId	v,
		std::istream &	in
	)

pure virtual

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

◆ constraintBlocks()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ copyFromBaseVector()

virtual void sofa::core::behavior::BaseMechanicalState::copyFromBaseVector	(	VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

pure virtual

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

Parameters

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

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

◆ copyFromBuffer()

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.

◆ copyToBaseMatrix()

virtual void sofa::core::behavior::BaseMechanicalState::copyToBaseMatrix	(	linearalgebra::BaseMatrix *	dest,
		ConstMatrixDerivId	src,
		unsigned int &	offset
	)

pure virtual

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

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

◆ copyToBaseVector()

virtual void sofa::core::behavior::BaseMechanicalState::copyToBaseVector	(	linearalgebra::BaseVector *	dest,
		ConstVecId	src,
		unsigned int &	offset
	)

pure virtual

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

Parameters

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

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

◆ copyToBuffer()

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.

◆ endIntegration()

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

inlinevirtual

Called at the end of each integration step.

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ exportGnuplot()

virtual void sofa::core::behavior::BaseMechanicalState::exportGnuplot ( SReal )

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ getConstraintJacobian()

virtual void sofa::core::behavior::BaseMechanicalState::getConstraintJacobian	(	const ConstraintParams *	params,
		sofa::linearalgebra::BaseMatrix *	J,
		unsigned int &	off
	)

pure virtual

build the jacobian of the constraint in a baseMatrix

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

◆ getConstraintJacobianTimesVecDeriv()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ getCoordDimension()

virtual Size sofa::core::behavior::BaseMechanicalState::getCoordDimension ( ) const

inlinevirtual

Reimplemented in sofa::core::behavior::MechanicalState< TDataTypes >, sofa::core::behavior::MechanicalState< sofa::defaulttype::StdVectorTypes >, and sofa::core::behavior::MechanicalState< DataTypes >.

◆ getDerivDimension()

virtual Size sofa::core::behavior::BaseMechanicalState::getDerivDimension ( ) const

inlinevirtual

Reimplemented in sofa::core::behavior::MechanicalState< TDataTypes >, sofa::core::behavior::MechanicalState< sofa::defaulttype::StdVectorTypes >, and sofa::core::behavior::MechanicalState< DataTypes >.

◆ getMatrixBlockSize()

virtual Size 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.

◆ getMatrixSize()

virtual Size 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().

◆ getPX()

virtual SReal sofa::core::behavior::BaseMechanicalState::getPX ( Index ) const

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ getPY()

virtual SReal sofa::core::behavior::BaseMechanicalState::getPY ( Index ) const

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ getPZ()

virtual SReal sofa::core::behavior::BaseMechanicalState::getPZ ( Index ) const

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ getScale()

virtual type::Vec3 sofa::core::behavior::BaseMechanicalState::getScale ( ) const

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ handleStateChange() [1/2]

virtual void sofa::core::behavior::BaseMechanicalState::handleStateChange ( )

inlinevirtual

Handle state Changes

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ handleStateChange() [2/2]

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

◆ initGnuplot()

virtual void sofa::core::behavior::BaseMechanicalState::initGnuplot ( const std::string )

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ insertInNode()

bool sofa::core::behavior::BaseMechanicalState::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::BaseState.

◆ pickParticles()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ printDOF()

virtual void sofa::core::behavior::BaseMechanicalState::printDOF	(	ConstVecId	v,
		std::ostream &	out = `std::cerr`,
		int	firstIndex = `0`,
		int	range = `-1`
	)		const

pure virtual

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

◆ printDOFWithElapsedTime()

virtual unsigned sofa::core::behavior::BaseMechanicalState::printDOFWithElapsedTime	(	ConstVecId	,
		unsigned	= `0`,
		unsigned	= `0`,
		std::ostream &	= `std::cerr`
	)

inlinevirtual

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ readVec()

virtual void sofa::core::behavior::BaseMechanicalState::readVec	(	VecId	v,
		std::istream &	in
	)

pure virtual

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

◆ removeInNode()

bool sofa::core::behavior::BaseMechanicalState::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::BaseState.

◆ resetAcc()

virtual void sofa::core::behavior::BaseMechanicalState::resetAcc	(	const ExecParams *	params,
		VecDerivId	a = `VecDerivId::dx()`
	)

inlinevirtual

Set Acc =0.

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ resetConstraint()

virtual void sofa::core::behavior::BaseMechanicalState::resetConstraint ( const ConstraintParams * params )

pure virtual

Reset the constraint matrix.

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

◆ resetForce()

virtual void sofa::core::behavior::BaseMechanicalState::resetForce	(	const ExecParams *	params,
		VecDerivId	f = `VecDerivId::force()`
	)

inlinevirtual

Set F = 0.

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ SOFA_ABSTRACT_CLASS()

sofa::core::behavior::BaseMechanicalState::SOFA_ABSTRACT_CLASS	(	BaseMechanicalState	,
		BaseState
	)

◆ SOFA_BASE_CAST_IMPLEMENTATION()

sofa::core::behavior::BaseMechanicalState::SOFA_BASE_CAST_IMPLEMENTATION ( BaseMechanicalState )

◆ vAlloc() [1/2]

virtual void sofa::core::behavior::BaseMechanicalState::vAlloc	(	const ExecParams *	params,
		VecCoordId	v,
		const core::VecIdProperties &	properties = `{}`
	)

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vAlloc() [2/2]

virtual void sofa::core::behavior::BaseMechanicalState::vAlloc	(	const ExecParams *	params,
		VecDerivId	v,
		const core::VecIdProperties &	properties = `{}`
	)

pure virtual

Allocate a new temporary vector.

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

◆ vAvail() [1/2]

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

pure virtual

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

◆ vAvail() [2/2]

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vDot()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vFree() [1/2]

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

pure virtual

Free a temporary vector.

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

◆ vFree() [2/2]

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

pure virtual

Free a temporary vector.

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

◆ vInit() [1/2]

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vInit() [2/2]

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

pure virtual

Initialize an unset vector.

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

◆ vMax()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vMultiOp()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vOp()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vRealloc() [1/2]

virtual void sofa::core::behavior::BaseMechanicalState::vRealloc	(	const ExecParams *	params,
		VecCoordId	v,
		const core::VecIdProperties &	properties = `{}`
	)

pure virtual

Allocate a new temporary vector.

Reallocate a new temporary vector

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

◆ vRealloc() [2/2]

virtual void sofa::core::behavior::BaseMechanicalState::vRealloc	(	const ExecParams *	params,
		VecDerivId	v,
		const core::VecIdProperties &	properties = `{}`
	)

pure virtual

Reallocate a new temporary vector.

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

◆ vSize()

virtual Size sofa::core::behavior::BaseMechanicalState::vSize	(	const ExecParams *	params,
		ConstVecId	v
	)

pure virtual

Get vector size.

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

◆ vSum()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ vThreshold()

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::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ writeState()

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

virtual

Write current state to the given output stream.

Reimplemented in sofa::component::statecontainer::MechanicalObject< DataTypes >, and sofa::component::statecontainer::MechanicalObject< T >.

◆ writeVec()

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

pure virtual

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

Detailed Description

Classes

Public Member Functions

Protected Member Functions

Vectors allocation and generic operations (based on VecId)

Additional Inherited Members

Constructor details

◆ BaseMechanicalState()

◆ ~BaseMechanicalState()

Function details

◆ accumulateForce()

◆ addBBox()

◆ addFromBaseVectorDifferentSize()

◆ addFromBaseVectorSameSize()

◆ addFromBuffer()

◆ addToBaseVector()

◆ applyRotation() [1/2]

◆ applyRotation() [2/2]

◆ applyScale()

◆ applyTranslation()

◆ beginIntegration()

◆ buildIdentityBlocksInJacobian()

◆ compareVec()

◆ constraintBlocks()

◆ copyFromBaseVector()

◆ copyFromBuffer()

◆ copyToBaseMatrix()

◆ copyToBaseVector()

◆ copyToBuffer()

◆ endIntegration()

◆ exportGnuplot()

◆ getConstraintJacobian()

◆ getConstraintJacobianTimesVecDeriv()

◆ getCoordDimension()

◆ getDerivDimension()

◆ getMatrixBlockSize()

◆ getMatrixSize()

◆ getPX()

◆ getPY()

◆ getPZ()

◆ getScale()

◆ handleStateChange() [1/2]

◆ handleStateChange() [2/2]

◆ initGnuplot()

◆ insertInNode()

◆ pickParticles()

◆ printDOF()

◆ printDOFWithElapsedTime()

◆ readVec()

◆ removeInNode()

◆ resetAcc()

◆ resetConstraint()

◆ resetForce()

◆ SOFA_ABSTRACT_CLASS()

◆ SOFA_BASE_CAST_IMPLEMENTATION()

◆ vAlloc() [1/2]

◆ vAlloc() [2/2]

◆ vAvail() [1/2]

◆ vAvail() [2/2]

◆ vDot()

◆ vFree() [1/2]

◆ vFree() [2/2]

◆ vInit() [1/2]

◆ vInit() [2/2]

◆ vMax()

◆ vMultiOp()

◆ vOp()

◆ vRealloc() [1/2]

◆ vRealloc() [2/2]

◆ vSize()

◆ vSum()

◆ vThreshold()

◆ writeState()

◆ writeVec()