SOFA API  384d495c
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 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
 
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
 
Matrix operations
void addKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to $ k K $. 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 $ b B $. 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 $ m M + b B + k K $. More...
 
virtual void buildStiffnessMatrix (StiffnessMatrix *matrix)
 
virtual void buildDampingMatrix (DampingMatrix *matrix)
 
virtual const sofa::linearalgebra::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- 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)
 
BasefindLinkDestClass (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 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 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::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 (::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 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)
 
- 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 BaseClassGetClass ()
 
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< SRealrayleighStiffness
 Rayleigh Damping stiffness matrix coefficient. More...
 
Data< bool > 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< intd_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::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_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::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 
- 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
std::map< std::string, sofa::core::DataTrackerCallbackm_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
mparamssofa::core::mechanicalparams::bFactor(mparams) 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.

◆ addBToMatrix() [2/2]

◆ addClambda() [1/2]

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

◆ addClambda() [2/2]

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 (unassembled API when the ForceField is handled as a constraint)

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

◆ 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
dfOutput vector to fill, result of $ kFactor K dx + bFactor B dx $
dxInput vector used to compute $ df = kFactor K dx + bFactor B dx $

Implemented in sofa::component::diffusion::TetrahedronDiffusionFEMForceField< DataTypes >, sofa::component::mechanicalload::EllipsoidForceField< DataTypes >, sofa::component::mechanicalload::ConicalForceField< DataTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::core::behavior::Mass< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangleFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >, sofa::component::solidmechanics::fem::elastic::QuadBendingFEMForceField< DataTypes >, sofa::component::mechanicalload::PlaneForceField< DataTypes >, sofa::component::solidmechanics::spring::PolynomialRestShapeSpringsForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangularFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::RestShapeSpringsForceField< DataTypes >, sofa::component::solidmechanics::spring::AngularSpringForceField< DataTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::TriangularBiquadraticSpringsForceField< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::TriangularBendingSprings< DataTypes >, sofa::component::solidmechanics::spring::TriangularQuadraticSpringsForceField< DataTypes >, sofa::component::solidmechanics::tensormass::TriangularTensorMassForceField< DataTypes >, sofa::component::solidmechanics::spring::QuadularBendingSprings< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< T >, sofa::component::mechanicalload::QuadPressureForceField< DataTypes >, sofa::component::solidmechanics::tensormass::TetrahedralTensorMassForceField< DataTypes >, sofa::component::mechanicalload::TaitSurfacePressureForceField< DataTypes >, sofa::component::mechanicalload::SphereForceField< DataTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, sofa::component::mechanicalload::DiagonalVelocityDampingForceField< DataTypes >, sofa::component::mechanicalload::UniformVelocityDampingForceField< DataTypes >, sofa::component::solidmechanics::spring::FastTriangularBendingSprings< _DataTypes >, sofa::component::mechanicalload::SurfacePressureForceField< DataTypes >, sofa::component::mechanicalload::EdgePressureForceField< DataTypes >, sofa::component::mechanicalload::OscillatingTorsionPressureForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::mechanicalload::SurfacePressureForceField< DataTypes >, and sofa::component::mechanicalload::SurfacePressureForceField< DataTypes >.

◆ 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

Implemented in sofa::component::mechanicalload::EdgePressureForceField< DataTypes >, sofa::component::mechanicalload::EllipsoidForceField< DataTypes >, sofa::component::mechanicalload::ConicalForceField< DataTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, sofa::component::mass::DiagonalMass< DataTypes, GeometricalTypes >, sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >, sofa::component::mass::UniformMass< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangleFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::nonuniform::NonUniformHexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::solidmechanics::fem::elastic::QuadBendingFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::mechanicalload::PlaneForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::solidmechanics::spring::PolynomialRestShapeSpringsForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangularFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::RestShapeSpringsForceField< DataTypes >, sofa::component::solidmechanics::spring::AngularSpringForceField< DataTypes >, sofa::component::diffusion::TetrahedronDiffusionFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::TriangularBiquadraticSpringsForceField< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::TriangularBendingSprings< DataTypes >, sofa::component::solidmechanics::spring::TriangularQuadraticSpringsForceField< DataTypes >, sofa::component::solidmechanics::tensormass::TriangularTensorMassForceField< DataTypes >, sofa::component::solidmechanics::spring::QuadularBendingSprings< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< T >, sofa::component::mechanicalload::QuadPressureForceField< DataTypes >, sofa::component::solidmechanics::tensormass::TetrahedralTensorMassForceField< DataTypes >, sofa::component::mechanicalload::TaitSurfacePressureForceField< DataTypes >, sofa::component::mechanicalload::OscillatingTorsionPressureForceField< DataTypes >, sofa::component::mechanicalload::SphereForceField< DataTypes >, sofa::component::mechanicalload::SurfacePressureForceField< DataTypes >, sofa::component::solidmechanics::spring::FastTriangularBendingSprings< _DataTypes >, sofa::component::mass::MeshMatrixMass< DataTypes, GeometricalTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::component::mechanicalload::DiagonalVelocityDampingForceField< DataTypes >, and sofa::component::mechanicalload::UniformVelocityDampingForceField< DataTypes >.

◆ 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
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.

◆ 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
matrixthe 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.
kFactstiffness factor that needs to be multiplied to each matrix entry.
offsetStarting index of the submatrix to fill in the global matrix.

Reimplemented in sofa::component::solidmechanics::fem::hyperelastic::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangleFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangularFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::FastTriangularBendingSprings< _DataTypes >, sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::core::behavior::Mass< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< T >, sofa::component::mechanicalload::QuadPressureForceField< DataTypes >, sofa::component::mechanicalload::SphereForceField< DataTypes >, sofa::component::mechanicalload::DiagonalVelocityDampingForceField< DataTypes >, sofa::component::mechanicalload::UniformVelocityDampingForceField< DataTypes >, and sofa::component::mechanicalload::TorsionForceField< DataTypes >.

◆ 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
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

◆ 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

Implemented in sofa::component::mass::UniformMass< DataTypes >, sofa::component::mass::UniformMass< DataTypes >, sofa::core::behavior::Mass< DataTypes >, sofa::component::mass::DiagonalMass< DataTypes, GeometricalTypes >, sofa::component::mass::DiagonalMass< DataTypes, GeometricalTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, sofa::component::mechanicalload::DiagonalVelocityDampingForceField< DataTypes >, sofa::component::mechanicalload::UniformVelocityDampingForceField< DataTypes >, sofa::component::mass::DiagonalMass< DataTypes, GeometricalTypes >, sofa::component::mass::UniformMass< DataTypes >, sofa::component::solidmechanics::fem::elastic::QuadBendingFEMForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangularFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::RestShapeSpringsForceField< DataTypes >, sofa::component::mass::DiagonalMass< DataTypes, GeometricalTypes >, sofa::component::mass::DiagonalMass< DataTypes, GeometricalTypes >, sofa::component::solidmechanics::spring::TriangularBendingSprings< DataTypes >, sofa::component::solidmechanics::spring::FastTriangularBendingSprings< _DataTypes >, sofa::component::mass::MeshMatrixMass< DataTypes, GeometricalTypes >, sofa::component::diffusion::TetrahedronDiffusionFEMForceField< DataTypes >, sofa::component::mass::UniformMass< DataTypes >, sofa::component::mass::UniformMass< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::StandardTetrahedralFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::TriangularBiquadraticSpringsForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >, sofa::component::solidmechanics::fem::hyperelastic::TetrahedronHyperelasticityFEMForceField< DataTypes >, sofa::component::solidmechanics::spring::TriangularQuadraticSpringsForceField< DataTypes >, sofa::component::solidmechanics::tensormass::TriangularTensorMassForceField< DataTypes >, sofa::component::solidmechanics::spring::QuadularBendingSprings< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< DataTypes >, sofa::component::mechanicalload::TrianglePressureForceField< T >, sofa::component::mechanicalload::QuadPressureForceField< DataTypes >, sofa::component::solidmechanics::tensormass::TetrahedralTensorMassForceField< DataTypes >, sofa::component::mechanicalload::TaitSurfacePressureForceField< DataTypes >, sofa::component::mechanicalload::EdgePressureForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::TriangleFEMForceField< DataTypes >, sofa::component::mechanicalload::OscillatingTorsionPressureForceField< DataTypes >, sofa::component::mechanicalload::EllipsoidForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::solidmechanics::spring::PolynomialRestShapeSpringsForceField< DataTypes >, sofa::component::mechanicalload::PlaneForceField< DataTypes >, sofa::component::mechanicalload::SphereForceField< DataTypes >, sofa::component::mechanicalload::ConicalForceField< DataTypes >, sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >, sofa::component::mechanicalload::SurfacePressureForceField< DataTypes >, sofa::component::mechanicalload::TorsionForceField< DataTypes >, sofa::component::solidmechanics::spring::AngularSpringForceField< DataTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::mechanicalload::LinearForceField< DataTypes >, sofa::component::mechanicalload::ConstantForceField< DataTypes >, and sofa::component::mechanicalload::ConstantForceField< DataTypes >.

◆ 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)   
)