SOFA API  59c939c2
Open source framework for multi-physics simuation
sofa::core::behavior::ForceField< TDataTypes > Class Template Referenceabstract

#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 define 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_CLASS (SOFA_TEMPLATE(ForceField, TDataTypes), BaseForceField)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 Retrieve the associated MechanicalState. More...
 
const MechanicalState< DataTypes > * getMState () const
 
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
 
void addClambda (const MechanicalParams *mparams, MultiVecDerivId resId, MultiVecDerivId lambdaId, SReal cFactor) override
 
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
 
- Public Member Functions inherited from sofa::core::behavior::BaseForceField
 SOFA_ABSTRACT_CLASS (BaseForceField, objectmodel::BaseObject)
 
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 m M + b B + k K. More...
 
virtual void addSubMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > subMatrixIndex)
 addMBKToMatrix only on the subMatrixIndex More...
 
virtual const sofa::defaulttype::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- 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 bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
virtual void reinit ()
 Update method called when variables used in precomputation are modified. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void 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 addOutputToCallback (const std::string &name, BaseData *output)
 
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...
 
virtual 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
 
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
 
bool IsInheritingFromBase ()
 
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 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

 ForceField (MechanicalState< DataTypes > *mm=nullptr)
 
 ~ForceField () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseForceField
 BaseForceField ()
 
 ~BaseForceField () 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...
 

Matrix operations

SingleLink< ForceField< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINKmstate
 
void addKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to k K. More...
 
void addSubKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex) override
 addToMatrix only on the subMatrixIndex More...
 
virtual void addKToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal kFact, unsigned int &offset)
 
virtual void addSubKToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal kFact, unsigned int &offset)
 addToMatrix only on the subMatrixIndex More...
 
void addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to b B. More...
 
void addSubBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex) override
 addBToMatrix only on the subMatrixIndex More...
 
virtual void addBToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal bFact, unsigned int &offset)
 
virtual void addSubBToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal bFact, unsigned int &offset)
 addBToMatrix only on the subMatrixIndex More...
 
template<class IndexArray , class ElementMat >
void addToMatrix (sofa::defaulttype::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)
 
void updateForceMask () override
 
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)
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal > rayleighStiffness
 Rayleigh Damping stiffness matrix coefficient. More...
 
Data< boolisCompliance
 Considered as compliance, else considered as stiffness (default to false) More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
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 BaseClassGetClass ()
 
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

Constructor details

template<class DataTypes >
sofa::core::behavior::ForceField< DataTypes >::ForceField ( MechanicalState< DataTypes > *  mm = nullptr)
protected
template<class DataTypes >
sofa::core::behavior::ForceField< DataTypes >::~ForceField ( )
overrideprotected

Function details

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
mparamsmparams->bFactor() is the coefficient for damping contributions (i.e. first derivatives term in the ODE)
matrixthe matrix to add the result to

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

template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::addClambda ( const MechanicalParams mparams,
MultiVecDerivId  resId,
MultiVecDerivId  lambdaId,
SReal  cFactor 
)
overridevirtual

Compute the product of the Compliance matrix C with the Lagrange multipliers lambda res += cFactor * C * lambda used by the graph-scattered (unassembledà API when the ForceField is handled as a constraint

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

template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::addClambda ( const MechanicalParams mparams,
DataVecDeriv df,
const DataVecDeriv lambda,
SReal  cFactor 
)
virtual
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.

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

Implemented in sofa::component::forcefield::SurfacePressureForceField< DataTypes >, sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::component::forcefield::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::forcefield::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::FastTetrahedralCorotationalForceField< DataTypes >, sofa::component::forcefield::TriangularBendingSprings< DataTypes >, sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >, sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >, sofa::component::forcefield::HexahedralFEMForceField< DataTypes >, sofa::component::forcefield::SurfacePressureForceField< DataTypes >, sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >, sofa::component::forcefield::QuadularBendingSprings< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::component::forcefield::PlaneForceField< DataTypes >, sofa::component::forcefield::SphereForceField< DataTypes >, sofa::component::forcefield::TriangleFEMForceField< DataTypes >, sofa::component::forcefield::TaitSurfacePressureForceField< DataTypes >, sofa::component::forcefield::TrianglePressureForceField< DataTypes >, sofa::component::forcefield::TriangularFEMForceFieldOptim< DataTypes >, sofa::component::forcefield::QuadPressureForceField< DataTypes >, sofa::component::forcefield::ConicalForceField< DataTypes >, sofa::component::forcefield::HexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::EllipsoidForceField< DataTypes >, sofa::component::forcefield::TetrahedronDiffusionFEMForceField< DataTypes >, sofa::component::forcefield::EdgePressureForceField< DataTypes >, sofa::component::forcefield::TriangularFEMForceField< DataTypes >, sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >, sofa::component::forcefield::SurfacePressureForceField< DataTypes >, sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >, sofa::component::forcefield::OscillatingTorsionPressureForceField< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::AngularSpringForceField< DataTypes >, sofa::component::forcefield::FastTriangularBendingSprings< _DataTypes >, sofa::core::behavior::Mass< DataTypes >, sofa::component::forcefield::FastTriangularBendingSprings< DataTypes >, sofa::component::forcefield::LennardJonesForceField< DataTypes >, sofa::component::forcefield::ConstantForceField< DataTypes >, sofa::component::forcefield::UniformVelocityDampingForceField< DataTypes >, and sofa::component::forcefield::DiagonalVelocityDampingForceField< DataTypes >.

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.

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

Implemented in sofa::component::mass::DiagonalMass< DataTypes, TMassType >, sofa::component::mass::DiagonalMass< DataTypes, MassType >, sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >, sofa::component::mass::MeshMatrixMass< DataTypes, TMassType >, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::component::forcefield::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::forcefield::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::forcefield::FastTetrahedralCorotationalForceField< DataTypes >, sofa::component::forcefield::TriangularBendingSprings< DataTypes >, sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >, sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >, sofa::component::forcefield::HexahedralFEMForceField< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >, sofa::component::mass::UniformMass< DataTypes, TMassType >, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >, sofa::component::forcefield::QuadularBendingSprings< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::SphereForceField< DataTypes >, sofa::component::forcefield::TriangleFEMForceField< DataTypes >, sofa::component::forcefield::PlaneForceField< DataTypes >, sofa::component::forcefield::TaitSurfacePressureForceField< DataTypes >, sofa::component::forcefield::TrianglePressureForceField< DataTypes >, sofa::component::forcefield::TriangularFEMForceFieldOptim< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::component::forcefield::QuadPressureForceField< DataTypes >, sofa::component::forcefield::ConicalForceField< DataTypes >, sofa::component::forcefield::EdgePressureForceField< DataTypes >, sofa::component::forcefield::TetrahedronDiffusionFEMForceField< DataTypes >, sofa::component::forcefield::EllipsoidForceField< DataTypes >, sofa::component::forcefield::TriangularFEMForceField< DataTypes >, sofa::component::forcefield::SurfacePressureForceField< DataTypes >, sofa::component::forcefield::OscillatingTorsionPressureForceField< DataTypes >, sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::AngularSpringForceField< DataTypes >, sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::HexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::FastTriangularBendingSprings< _DataTypes >, sofa::component::forcefield::FastTriangularBendingSprings< DataTypes >, sofa::component::forcefield::NonUniformHexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::LennardJonesForceField< DataTypes >, sofa::component::forcefield::ConstantForceField< DataTypes >, sofa::component::forcefield::UniformVelocityDampingForceField< DataTypes >, sofa::component::forcefield::DiagonalVelocityDampingForceField< DataTypes >, and sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >.

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

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

Reimplemented in sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >.

template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::addSubBToMatrix ( const MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix,
const helper::vector< unsigned > &  subMatrixIndex 
)
overridevirtual

addBToMatrix only on the subMatrixIndex

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

template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::addSubBToMatrix ( sofa::defaulttype::BaseMatrix matrix,
const helper::vector< unsigned > &  subMatrixIndex,
SReal  bFact,
unsigned int offset 
)
virtual

addBToMatrix only on the subMatrixIndex

template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::addSubKToMatrix ( const MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix,
const helper::vector< unsigned > &  subMatrixIndex 
)
overridevirtual

addToMatrix only on the subMatrixIndex

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

template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::addSubKToMatrix ( sofa::defaulttype::BaseMatrix matrix,
const helper::vector< unsigned > &  subMatrixIndex,
SReal  kFact,
unsigned int offset 
)
virtual

addToMatrix only on the subMatrixIndex

Reimplemented in sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >.

template<class TDataTypes>
template<class IndexArray , class ElementMat >
void sofa::core::behavior::ForceField< TDataTypes >::addToMatrix ( sofa::defaulttype::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
bmthe global assembly matrix
offsetstart index of the local DOFs within the global matrix
nodeIndexindices of the nodes of the element within the local nodes, as stored in the topology
emelement matrix, typically a stiffness, damping, mass, or weighted sum thereof
scaleweight applied to the matrix, typically ┬▒params->kfactor() for a stiffness matrix
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.

template<class TDataTypes>
MechanicalState<DataTypes>* sofa::core::behavior::ForceField< TDataTypes >::getMState ( )
inline

Retrieve the associated MechanicalState.

template<class TDataTypes>
const MechanicalState<DataTypes>* sofa::core::behavior::ForceField< TDataTypes >::getMState ( ) const
inline
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 extimate 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.

template<class TDataTypes>
virtual SReal sofa::core::behavior::ForceField< TDataTypes >::getPotentialEnergy ( const MechanicalParams ,
const DataVecCoord x 
) const
pure virtual

Implemented in sofa::component::mass::DiagonalMass< DataTypes, TMassType >, sofa::component::mass::DiagonalMass< DataTypes, TMassType >, sofa::component::mass::DiagonalMass< DataTypes, TMassType >, sofa::component::mass::DiagonalMass< DataTypes, MassType >, sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >, sofa::component::mass::MeshMatrixMass< DataTypes, TMassType >, sofa::component::mass::UniformMass< DataTypes, TMassType >, sofa::component::mass::UniformMass< DataTypes, TMassType >, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::component::forcefield::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::forcefield::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::forcefield::FastTetrahedralCorotationalForceField< DataTypes >, sofa::component::forcefield::TriangularBendingSprings< DataTypes >, sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >, sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >, sofa::component::forcefield::HexahedralFEMForceField< DataTypes >, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >, sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::component::forcefield::ConstantForceField< DataTypes >, sofa::component::mass::UniformMass< DataTypes, TMassType >, sofa::component::forcefield::ConstantForceField< DataTypes >, sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >, sofa::component::forcefield::QuadularBendingSprings< DataTypes >, sofa::component::forcefield::TrianglePressureForceField< DataTypes >, sofa::component::forcefield::QuadPressureForceField< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::core::behavior::Mass< DataTypes >, sofa::component::forcefield::PlaneForceField< DataTypes >, sofa::component::forcefield::SphereForceField< DataTypes >, sofa::component::forcefield::TaitSurfacePressureForceField< DataTypes >, sofa::component::forcefield::TriangularFEMForceFieldOptim< DataTypes >, sofa::component::forcefield::TriangleFEMForceField< DataTypes >, sofa::component::forcefield::TetrahedronDiffusionFEMForceField< DataTypes >, sofa::component::forcefield::EllipsoidForceField< DataTypes >, sofa::component::forcefield::ConicalForceField< DataTypes >, sofa::component::forcefield::EdgePressureForceField< DataTypes >, sofa::component::forcefield::TriangularFEMForceField< DataTypes >, sofa::component::forcefield::SurfacePressureForceField< DataTypes >, sofa::component::forcefield::RestShapeSpringsForceField< DataTypes >, sofa::component::forcefield::OscillatingTorsionPressureForceField< DataTypes >, sofa::component::forcefield::TorsionForceField< DataTypes >, sofa::component::forcefield::HexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::ConstantForceField< DataTypes >, sofa::component::forcefield::AngularSpringForceField< DataTypes >, sofa::component::forcefield::FastTriangularBendingSprings< _DataTypes >, sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >, sofa::component::forcefield::FastTriangularBendingSprings< DataTypes >, sofa::component::forcefield::LennardJonesForceField< DataTypes >, sofa::component::forcefield::UniformVelocityDampingForceField< DataTypes >, sofa::component::forcefield::DiagonalVelocityDampingForceField< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::component::forcefield::LinearForceField< DataTypes >, sofa::component::forcefield::ConstantForceField< DataTypes >, and sofa::component::forcefield::ConstantForceField< DataTypes >.

template<class TDataTypes>
template<class T >
static std::string sofa::core::behavior::ForceField< TDataTypes >::shortName ( const T *  ptr = nullptr,
objectmodel::BaseObjectDescription arg = nullptr 
)
inlinestatic
template<class TDataTypes>
sofa::core::behavior::ForceField< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(ForceField< TDataTypes >, TDataTypes)  ,
BaseForceField< TDataTypes >   
)
template<class DataTypes >
void sofa::core::behavior::ForceField< DataTypes >::updateForceMask ( )
overridevirtual

Useful when the forcefield is applied only on a subset of dofs. It is automatically called by addForce.

That way, we can optimize the time spent to transfer quantities through the mechanical mappings. Every Dofs are inserted by default. The forcefields using only a subset of dofs should only insert these dofs in the mask.

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