#include <ForceField.h>

Component computing forces within a simulated body. More...

Inheritance diagram for sofa::core::behavior::ForceField< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::core::behavior::ForceField< TDataTypes >

Component computing forces within a simulated body.

This class defines the abstract API common to force fields using a given type of DOFs. A force field computes forces applied to one simulated body given its current position and velocity.

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

Public Member Functions
	SOFA_CLASS2 (SOFA_TEMPLATE(ForceField, TDataTypes), BaseForceField, SOFA_TEMPLATE(SingleStateAccessor, TDataTypes))

Vector operations
void	addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override

virtual void	addForce (const MechanicalParams *, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v)=0

void	addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override

virtual void	addDForce (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx)=0

virtual void	addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor)

SReal	getPotentialEnergy (const MechanicalParams *mparams) const override

virtual SReal	getPotentialEnergy (const MechanicalParams *, const DataVecCoord &x) const =0

virtual void	addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal)
	Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...

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

virtual void	addKToMatrix (sofa::linearalgebra::BaseMatrix *matrix, SReal kFact, unsigned int &offset)

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

template<class IndexArray , class ElementMat >
void	addToMatrix (sofa::linearalgebra::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)

virtual void	addBToMatrix (sofa::linearalgebra::BaseMatrix *matrix, SReal bFact, unsigned int &offset)

Public Member Functions inherited from sofa::core::behavior::BaseForceField
	SOFA_ABSTRACT_CLASS (BaseForceField, StateAccessor)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

virtual void	addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId)
	Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients. More...

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

virtual void	buildStiffnessMatrix (StiffnessMatrix *matrix)

virtual void	buildDampingMatrix (DampingMatrix *matrix)

virtual const sofa::linearalgebra::BaseMatrix *	getComplianceMatrix (const MechanicalParams *)

virtual void	addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal)
	Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...

Public Member Functions inherited from sofa::core::behavior::StateAccessor
	SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)

virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container &	getMechanicalStates () const
	Return a list of mechanical states to which this component is associated. More...

void	computeBBox (const core::ExecParams *params, bool onlyVisible=false) override

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	draw (const core::visual::VisualParams *)
	Render internal data of this object, for debugging purposes. More...

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

void	setSrc (const std::string &v, const BaseObject loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleEvent (Event *)
	Handle an event. More...

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	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)

Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, TDataTypes), StateAccessor)

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

MechanicalState< TDataTypes > *	getMState ()

const MechanicalState< TDataTypes > *	getMState () const

Static Public Member Functions
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)

template<class T >
static std::string	shortName (const T ptr=nullptr, objectmodel::BaseObjectDescription arg=nullptr)

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)

Protected Member Functions
	ForceField (MechanicalState< DataTypes > *mm=nullptr)

	~ForceField () override

Protected Member Functions inherited from sofa::core::behavior::BaseForceField
	BaseForceField ()

	~BaseForceField () override=default

Protected Member Functions inherited from sofa::core::behavior::StateAccessor
	StateAccessor ()

	~StateAccessor () override=default

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	BaseObject ()

	~BaseObject () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Protected Member Functions inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
	SingleStateAccessor (MechanicalState< TDataTypes > *mm=nullptr)

	~SingleStateAccessor () override=default

Additional Inherited Members
Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal >	rayleighStiffness
	Rayleigh Damping stiffness matrix coefficient. More...

objectmodel::lifecycle::DeprecatedData	isCompliance
	Considered as compliance, else considered as stiffness (default to false) More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >	l_mechanicalStates

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< TDataTypes >
SingleLink< SingleStateAccessor< TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STRONGLINK >	mstate

Constructor details

◆ ForceField()

template<class DataTypes >

sofa::core::behavior::ForceField< DataTypes >::ForceField ( MechanicalState< DataTypes > * mm = nullptr )

explicitprotected

◆ ~ForceField()

template<class DataTypes >

sofa::core::behavior::ForceField< DataTypes >::~ForceField ( )

overrideprotecteddefault

Function details

◆ addBToMatrix() [1/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addBToMatrix	(	const MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

overridevirtual

Compute the system matrix corresponding to $ b B $ .

Parameters

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

Reimplemented from sofa::core::behavior::BaseForceField.

◆ addBToMatrix() [2/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addBToMatrix	(	sofa::linearalgebra::BaseMatrix *	matrix,
		SReal	bFact,
		unsigned int &	offset
	)

virtual

Reimplemented in sofa::component::mechanicalload::UniformVelocityDampingForceField< DataTypes >, sofa::component::mechanicalload::DiagonalVelocityDampingForceField< DataTypes >, and sofa::core::behavior::Mass< DataTypes >.

◆ addClambda() [1/2]

template<class TDataTypes >

virtual void sofa::core::behavior::BaseForceField::addClambda

inline

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

This method computes

$res += cFactor C \lambda$

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

◆ addClambda() [2/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addClambda	(	const MechanicalParams *	mparams,
		DataVecDeriv &	df,
		const DataVecDeriv &	lambda,
		SReal	cFactor
	)

virtual

◆ addDForce() [1/2]

template<class TDataTypes >

virtual void sofa::core::behavior::ForceField< TDataTypes >::addDForce	(	const MechanicalParams *	mparams,
		DataVecDeriv &	df,
		const DataVecDeriv &	dx
	)

pure virtual

Internal addDForce Overloaded function, usually called from the generic addDForce version. This addDForce version directly gives access to df and dx vectors through its parameters.

Parameters

mparams
df	Output vector to fill, result of
dx	Input vector used to compute

◆ addDForce() [2/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addDForce	(	const MechanicalParams *	mparams,
		MultiVecDerivId	dfId
	)

overridevirtual

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

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

If the ForceField can be represented as a matrix, this method computes $ df += kFactor K dx + bFactor B dx $

This method retrieves the force and dx vector from the MechanicalState and call the internal addDForce(VecDeriv&,const VecDeriv&,SReal,SReal) method implemented by the component.

Implements sofa::core::behavior::BaseForceField.

◆ addForce() [1/2]

template<class TDataTypes >

virtual void sofa::core::behavior::ForceField< TDataTypes >::addForce	(	const MechanicalParams *	,
		DataVecDeriv &	f,
		const DataVecCoord &	x,
		const DataVecDeriv &	v
	)

pure virtual

Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.

If the ForceField can be represented as a matrix, this method computes $ f += B v + K x $

This is the method that should be implemented by the component

◆ addForce() [2/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addForce	(	const MechanicalParams *	mparams,
		MultiVecDerivId	fId
	)

overridevirtual

Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.

If the ForceField can be represented as a matrix, this method computes $ f += B v + K x $

This method retrieves the force, x and v vector from the MechanicalState and call the internal addForce(const MechanicalParams*, DataVecDeriv&,const DataVecCoord&,const DataVecDeriv&) method implemented by the component.

Implements sofa::core::behavior::BaseForceField.

◆ addKToMatrix() [1/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addKToMatrix	(	const MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

overridevirtual

Compute the system matrix corresponding to $ k K $ .

Parameters

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

Implements sofa::core::behavior::BaseForceField.

◆ addKToMatrix() [2/2]

template<class DataTypes >

void sofa::core::behavior::ForceField< DataTypes >::addKToMatrix	(	sofa::linearalgebra::BaseMatrix *	matrix,
		SReal	kFact,
		unsigned int &	offset
	)

virtual

Internal addKToMatrix Overloaded function, usually called from the generic addKToMatrix version. This addKToMatrix version directly gives access to the matrix to fill, the stiffness factor and the offset used to identify where the force field must add its contributions in the matrix.

Parameters

matrix	the global stiffness matrix in which the force field adds its contribution. The matrix is global, i.e. different objects can add their contribution into the same large matrix. Each object adds its contribution to a different section of the matrix. That is why, an offset is used to identify where in the matrix the force field must start adding its contribution.
kFact	stiffness factor that needs to be multiplied to each matrix entry.
offset	Starting index of the submatrix to fill in the global matrix.

◆ addToMatrix()

template<class TDataTypes >

template<class IndexArray , class ElementMat >

void sofa::core::behavior::ForceField< TDataTypes >::addToMatrix	(	sofa::linearalgebra::BaseMatrix *	bm,
		unsigned	offset,
		const IndexArray &	nodeIndex,
		const ElementMat &	em,
		SReal	scale
	)

inline

Accumulate an element matrix to a global assembly matrix. This is a helper for addKToMatrix, to accumulate each (square) element matrix in the (square) assembled matrix.

Parameters

bm	the global assembly matrix
offset	start index of the local DOFs within the global matrix
nodeIndex	indices of the nodes of the element within the local nodes, as stored in the topology
em	element matrix, typically a stiffness, damping, mass, or weighted sum thereof
scale	weight applied to the matrix, typically ±params->kfactor() for a stiffness matrix

◆ canCreate()

template<class TDataTypes >

template<class T >

static bool sofa::core::behavior::ForceField< TDataTypes >::canCreate	(	T *&	obj,
		objectmodel::BaseContext *	context,
		objectmodel::BaseObjectDescription *	arg
	)

inlinestatic

Pre-construction check method called by ObjectFactory. Check that DataTypes matches the MechanicalState.

◆ getPotentialEnergy() [1/2]

template<class TDataTypes >

virtual SReal sofa::core::behavior::ForceField< TDataTypes >::getPotentialEnergy	(	const MechanicalParams *	,
		const DataVecCoord &	x
	)		const

pure virtual

◆ getPotentialEnergy() [2/2]

template<class DataTypes >

SReal sofa::core::behavior::ForceField< DataTypes >::getPotentialEnergy ( const MechanicalParams * mparams ) const

overridevirtual

Get the potential energy associated to this ForceField.

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

This method must be implemented by the component, and is usually called by the generic ForceField::getPotentialEnergy(const MechanicalParams* mparams) method.

Implements sofa::core::behavior::BaseForceField.

◆ shortName()

template<class TDataTypes >

template<class T >

static std::string sofa::core::behavior::ForceField< TDataTypes >::shortName	(	const T *	ptr = `nullptr`,
		objectmodel::BaseObjectDescription *	arg = `nullptr`
	)

inlinestatic

◆ SOFA_CLASS2()

template<class TDataTypes >

sofa::core::behavior::ForceField< TDataTypes >::SOFA_CLASS2	(	SOFA_TEMPLATE(ForceField< TDataTypes >, TDataTypes)	,
		BaseForceField< TDataTypes >	,
		SOFA_TEMPLATE(SingleStateAccessor, TDataTypes)
	)

Detailed Description

template<class TDataTypes> class sofa::core::behavior::ForceField< TDataTypes >

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor details

◆ ForceField()

◆ ~ForceField()

Function details

◆ addBToMatrix() [1/2]

◆ addBToMatrix() [2/2]

◆ addClambda() [1/2]

◆ addClambda() [2/2]

◆ addDForce() [1/2]

◆ addDForce() [2/2]

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addKToMatrix() [1/2]

◆ addKToMatrix() [2/2]

◆ addToMatrix()

◆ canCreate()

◆ getPotentialEnergy() [1/2]

◆ getPotentialEnergy() [2/2]

◆ shortName()

◆ SOFA_CLASS2()

template<class TDataTypes>
class sofa::core::behavior::ForceField< TDataTypes >