SOFA API  6a688117
Open source framework for multi-physics simuation
sofa::core::behavior::Mass< DataTypes > Class Template Reference

#include <Mass.h>

Component responsible for mass-related computations (gravity, acceleration). More...

Inheritance diagram for sofa::core::behavior::Mass< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::core::behavior::Mass< DataTypes >

Component responsible for mass-related computations (gravity, acceleration).

Mass can be defined either as a scalar, vector, or a full mass-matrix. It is responsible for converting forces to accelerations (for explicit integrators), or displacements to forces (for implicit integrators).

It is also a ForceField, computing gravity-related forces.

Protected Attributes

std::ofstream * m_gnuplotFileEnergy
 stream to export Kinematic, Potential and Mechanical Energy to gnuplot files More...
 
- Protected Attributes inherited from sofa::core::behavior::ForceField< DataTypes >
SingleLink< ForceField< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINK > mstate
 
- 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...
 

Public Member Functions

 SOFA_CLASS2 (SOFA_TEMPLATE(Mass, DataTypes), SOFA_TEMPLATE(ForceField, DataTypes), BaseMass)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 Retrieve the associated MechanicalState. More...
 
void initGnuplot (const std::string path) override
 initialization to export kinetic and potential energy to gnuplot files format More...
 
void exportGnuplot (const MechanicalParams *mparams, SReal time) override
 export kinetic and potential energy state at "time" to a gnuplot file More...
 
void addGravityToV (const MechanicalParams *mparams, MultiVecDerivId) override
 perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v. More...
 
virtual void addGravityToV (const MechanicalParams *, DataVecDeriv &)
 
SReal getElementMass (sofa::defaulttype::index_type) const override
 recover the mass of an element More...
 
void getElementMass (sofa::defaulttype::index_type index, defaulttype::BaseMatrix *m) const override
 Get the matrix relative to the DOF at index. More...
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
Vector operations

$ f += factor M dx $

This method retrieves the force and dx vector and call the internal addMDx(const MechanicalParams*, DataVecDeriv&, const DataVecDeriv&, SReal) method implemented by the component.

void addMDx (const MechanicalParams *mparams, MultiVecDerivId fid, SReal factor) override
 f += factor M dx More...
 
virtual void addMDx (const MechanicalParams *mparams, DataVecDeriv &f, const DataVecDeriv &dx, SReal factor)
 
void accFromF (const MechanicalParams *mparams, MultiVecDerivId aid) override
 
virtual void accFromF (const MechanicalParams *mparams, DataVecDeriv &a, const DataVecDeriv &f)
 
void addDForce (const MechanicalParams *, DataVecDeriv &, const DataVecDeriv &) override
 Mass forces (gravity) often have null derivative. More...
 
void addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId) override
 
SReal getKineticEnergy (const MechanicalParams *mparams) const override
 
virtual SReal getKineticEnergy (const MechanicalParams *mparams, const DataVecDeriv &v) const
 
SReal getPotentialEnergy (const MechanicalParams *mparams) const override
 
SReal getPotentialEnergy (const MechanicalParams *mparams, const DataVecCoord &x) const override
 
defaulttype::Vector6 getMomentum (const MechanicalParams *mparams) const override
 
virtual defaulttype::Vector6 getMomentum (const MechanicalParams *, const DataVecCoord &, const DataVecDeriv &) const
 
Matrix operations
void addKToMatrix (sofa::defaulttype::BaseMatrix *, SReal, unsigned int &) override
 
void addBToMatrix (sofa::defaulttype::BaseMatrix *, SReal, unsigned int &) override
 
void addMToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Add Mass contribution to global Matrix assembling. More...
 
virtual void addMToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal mFact, unsigned int &offset)
 
void addMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 
void addSubMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > subMatrixIndex) override
 addMBKToMatrix only on the subMatrixIndex More...
 
- Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(ForceField, DataTypes), 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
 
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
 
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
 
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 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 addSubBToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal bFact, unsigned int &offset)
 addBToMatrix only on the subMatrixIndex More...
 
void addToMatrix (sofa::defaulttype::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)
 
void updateForceMask () override
 
- Public Member Functions inherited from sofa::core::behavior::BaseForceField
 SOFA_ABSTRACT_CLASS (BaseForceField, objectmodel::BaseObject)
 
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 override
 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 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...
 
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)
 
- Public Member Functions inherited from sofa::core::behavior::BaseMass
 SOFA_ABSTRACT_CLASS (BaseMass, objectmodel::BaseObject)
 
virtual bool isDiagonal ()
 

Protected Member Functions

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

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< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- Public Attributes inherited from sofa::core::behavior::BaseMass
Data< boolm_separateGravity
 
Data< SReal > rayleighMass
 Rayleigh Damping mass matrix coefficient. More...
 
- Static Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
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 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

template<class DataTypes >
std::ofstream* sofa::core::behavior::Mass< DataTypes >::m_gnuplotFileEnergy
protected

stream to export Kinematic, Potential and Mechanical Energy to gnuplot files

Constructor details

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

Function details

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::accFromF ( const MechanicalParams mparams,
MultiVecDerivId  aid 
)
overridevirtual

$ dx = M^-1 f $

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

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addBToMatrix ( sofa::defaulttype::BaseMatrix ,
SReal  ,
unsigned int  
)
inlineoverridevirtual
template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addDForce ( const MechanicalParams mparams,
DataVecDeriv ,
const DataVecDeriv  
)
overridevirtual

Mass forces (gravity) often have null derivative.

Implements sofa::core::behavior::ForceField< DataTypes >.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addGravityToV ( const MechanicalParams mparams,
MultiVecDerivId  vid 
)
overridevirtual

perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v.

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addKToMatrix ( sofa::defaulttype::BaseMatrix ,
SReal  ,
unsigned int  
)
inlineoverridevirtual
template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addMBKdx ( const MechanicalParams mparams,
MultiVecDerivId  dfId 
)
overridevirtual

Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients.

This method computes $ df += mFactor M dx + bFactor B dx + kFactor K dx $ For masses, it calls both addMdx and addDForce (which is often empty).

Parameters
mFactcoefficient for mass contributions (i.e. second-order derivatives term in the ODE)
bFactcoefficient for damping contributions (i.e. first derivatives term in the ODE)
kFactcoefficient for stiffness contributions (i.e. DOFs term in the ODE)

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

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addMBKToMatrix ( const MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Compute the system matrix corresponding to m M + b B + k K

Parameters
matrixmatrix to add the result to
mFactcoefficient for mass contributions (i.e. second-order derivatives term in the ODE)
bFactcoefficient for damping contributions (i.e. first derivatives term in the ODE)
kFactcoefficient for stiffness contributions (i.e. DOFs term in the ODE)

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

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addMDx ( const MechanicalParams mparams,
MultiVecDerivId  fid,
SReal  factor 
)
overridevirtual

f += factor M dx

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addMToMatrix ( const MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Add Mass contribution to global Matrix assembling.

This method must be implemented by the component.

Parameters
matrixmatrix to add the result to
mparamsmparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE)

Implements sofa::core::behavior::BaseMass.

Reimplemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addMToMatrix ( sofa::defaulttype::BaseMatrix matrix,
SReal  mFact,
unsigned int offset 
)
virtual
template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addSubMBKToMatrix ( const MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix,
const helper::vector< unsigned >  subMatrixIndex 
)
overridevirtual

addMBKToMatrix only on the subMatrixIndex

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

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::exportGnuplot ( const MechanicalParams mparams,
SReal  time 
)
overridevirtual

export kinetic and potential energy state at "time" to a gnuplot file

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
SReal sofa::core::behavior::Mass< DataTypes >::getElementMass ( sofa::defaulttype::index_type  ) const
overridevirtual

recover the mass of an element

Implements sofa::core::behavior::BaseMass.

Reimplemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::getElementMass ( sofa::defaulttype::index_type  index,
defaulttype::BaseMatrix m 
) const
overridevirtual

Get the matrix relative to the DOF at index.

Implements sofa::core::behavior::BaseMass.

Reimplemented in sofa::component::mass::DiagonalMass< DataTypes, MassType >.

template<class DataTypes >
SReal sofa::core::behavior::Mass< DataTypes >::getKineticEnergy ( const MechanicalParams mparams) const
overridevirtual

$ e = 1/2 v^t M v $

This method retrieves the velocity vector and call the internal getKineticEnergy(const MechanicalParams*, const DataVecDeriv&) method implemented by the component.

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
defaulttype::Vector6 sofa::core::behavior::Mass< DataTypes >::getMomentum ( const MechanicalParams mparams) const
overridevirtual

$ m = ( Mv, cross(x,Mv)+Iw ) $ linearMomentum = Mv, angularMomentum_particle = cross(x,linearMomentum), angularMomentum_body = cross(x,linearMomentum)+Iw

This method retrieves the positions and velocity vectors and call the internal getMomentum(const MechanicalParams*, const VecCoord&, const VecDeriv&) method implemented by the component.

Implements sofa::core::behavior::BaseMass.

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

Retrieve the associated MechanicalState.

template<class DataTypes >
SReal sofa::core::behavior::Mass< DataTypes >::getPotentialEnergy ( const MechanicalParams mparams) const
overridevirtual

$ e = M g x $

This method retrieves the positions vector and call the internal getPotentialEnergy(const MechanicalParams*, const VecCoord&) method implemented by the component.

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::initGnuplot ( const std::string  path)
overridevirtual

initialization to export kinetic and potential energy to gnuplot files format

Implements sofa::core::behavior::BaseMass.

template<class DataTypes >
bool sofa::core::behavior::Mass< DataTypes >::insertInNode ( objectmodel::BaseNode )
inlineoverridevirtual

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

Returns
true iff the component was inserted

Reimplemented from sofa::core::behavior::BaseMass.

template<class DataTypes >
bool sofa::core::behavior::Mass< DataTypes >::removeInNode ( objectmodel::BaseNode )
inlineoverridevirtual

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

Returns
true iff the component was removed

Reimplemented from sofa::core::behavior::BaseMass.

template<class DataTypes >
sofa::core::behavior::Mass< DataTypes >::SOFA_CLASS2 ( SOFA_TEMPLATE(Mass< DataTypes >, DataTypes ,
SOFA_TEMPLATE(ForceField, DataTypes ,
BaseMass< DataTypes  
)