Classes
class	BaseAnimationLoop
	Component responsible for main animation algorithms, managing how and when mechanical computation happens in one animation step. More...

class	BaseConstraint
	Component computing constraints within a simulated body. More...

class	BaseConstraintCorrection
	Component computing constraint forces within a simulated body using the compliance method. More...

class	BaseConstraintSet

class	BaseController
	BaseController Class. Interface of user interaction on SOFA Components. Empty class to provide an interface for the Factory. More...

class	BaseForceField
	Component computing forces within simulated bodies. More...

class	BaseInteractionConstraint
	BaseInteractionConstraint is a constraint linking several bodies (MechanicalState) together. More...

class	BaseInteractionForceField
	BaseInteractionForceField is a force field linking several bodies (MechanicalState) together. More...

class	BaseInteractionProjectiveConstraintSet
	BaseInteractionProjectiveConstraintSet is a constraint linking several bodies (MechanicalState) together. More...

class	BaseLinearSolver
	Abstract base class (as type identifier) for linear system solvers without any API. More...

class	BaseLMConstraint
	Object storing constraints base on Lagrangrian Multipliers. More...

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

class	BaseMechanicalState
	Component storing all state vectors of a simulated body (position, velocity, etc). More...

class	BaseProjectiveConstraintSet
	Component computing projective constraints within a simulated body. More...

class	BaseRotationFinder

class	BaseVectorOperations

class	ConstraintCorrection

struct	ConstraintEquation
	Expression of a line of the system created to solve the constraint. More...

class	ConstraintGroup
	Intern storage of the constraints. a ConstraintGroup is a list of equations that will be solved together. They are defined by a ConstOrder(position, velocity or acceleration) More...

class	ConstraintResolution
	Object computing a constraint resolution within a Gauss-Seidel algorithm. More...

class	ConstraintSolver
	Component responsible for the expression and solution of system of equations related to constraints. The main method is solveConstraint(const ConstraintParams *, MultiVecId , MultiVecId ); The default implementation successively calls: prepareStates, buildSystem, solveSystem, applyCorrection. The parameters are defined in class ConstraintParams. More...

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

class	LinearSolver
	Abstract interface for linear system solvers. More...

class	LMConstraint
	Component computing constraints within a simulated body. More...

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

class	MechanicalMatrix

class	MechanicalState
	Component storing all state vectors of a simulated body (position, velocity, etc), using the datatype specified in the templace. More...

class	MixedInteractionConstraint
	Component computing constraints between a pair of simulated body. More...

class	MixedInteractionForceField
	Component computing forces between a pair of simulated body. More...

class	MultiMatrix

class	MultiMatrixAccessor

class	OdeSolver
	Component responsible for timestep integration, i.e. advancing the state from time t to t+dt. More...

class	PairInteractionConstraint
	Component computing constraints between a pair of simulated body. More...

class	PairInteractionForceField
	Component computing forces between a pair of simulated body. More...

class	PairInteractionProjectiveConstraintSet
	Component computing constraints between a pair of simulated body. More...

class	ProjectiveConstraintSet
	Component computing constraints within a simulated body. More...

class	RotationFinder

class	TMultiVec

class	TParallelMultiVec

Typedefs
typedef TMultiVec< V_COORD >	MultiVecCoord

typedef TMultiVec< V_DERIV >	MultiVecDeriv

typedef TMultiVec< V_MATDERIV >	MultiVecMatrixDeriv

typedef TParallelMultiVec< V_COORD >	ParallelMultiVecCoord

typedef TParallelMultiVec< V_DERIV >	ParallelMultiVecDeriv

typedef TParallelMultiVec< V_MATDERIV >	ParallelMultiVecMatrixDeriv

Functions
template<class Coord , class Deriv , class Vec , class M , class SV >
Deriv	inertiaForce (const SV &sv, const Vec &a, const M &m, const Coord &x, const Deriv &v)

template<>
defaulttype::LaparoscopicRigid3Types::Deriv	inertiaForce< defaulttype::LaparoscopicRigid3Types::Coord, defaulttype::LaparoscopicRigid3Types::Deriv, defaulttype::Vector3, defaulttype::Rigid3Mass, objectmodel::BaseContext::SpatialVector > (const objectmodel::BaseContext::SpatialVector &vframe, const defaulttype::Vector3 &aframe, const defaulttype::Rigid3Mass &mass, const defaulttype::LaparoscopicRigid3Types::Coord &x, const defaulttype::LaparoscopicRigid3Types::Deriv &v)
	Specialization of the inertia force for defaulttype::LaparoscopicRigid3Types. More...

Variables
template class SOFA_CORE_API	ConstraintCorrection< Vec3Types >

template class SOFA_CORE_API	ConstraintCorrection< Vec1Types >

template class SOFA_CORE_API	ConstraintCorrection< Vec2Types >

template class SOFA_CORE_API	ConstraintCorrection< Rigid3Types >

template class SOFA_CORE_API	ForceField< Vec3Types >

template class SOFA_CORE_API	ForceField< Vec2Types >

template class SOFA_CORE_API	ForceField< Vec1Types >

template class SOFA_CORE_API	ForceField< Vec6Types >

template class SOFA_CORE_API	ForceField< Rigid3Types >

template class SOFA_CORE_API	ForceField< Rigid2Types >

template class SOFA_CORE_API	LMConstraint< Vec3Types, Vec3Types >

template class SOFA_CORE_API	LMConstraint< Vec3Types, Vec2Types >

template class SOFA_CORE_API	LMConstraint< Vec3Types, Vec1Types >

template class SOFA_CORE_API	LMConstraint< Vec3Types, Rigid3Types >

template class SOFA_CORE_API	LMConstraint< Vec3Types, Rigid2Types >

template class SOFA_CORE_API	LMConstraint< Vec2Types, Vec3Types >

template class SOFA_CORE_API	LMConstraint< Vec2Types, Vec2Types >

template class SOFA_CORE_API	LMConstraint< Vec2Types, Vec1Types >

template class SOFA_CORE_API	LMConstraint< Vec2Types, Rigid3Types >

template class SOFA_CORE_API	LMConstraint< Vec2Types, Rigid2Types >

template class SOFA_CORE_API	LMConstraint< Vec1Types, Vec3Types >

template class SOFA_CORE_API	LMConstraint< Vec1Types, Vec2Types >

template class SOFA_CORE_API	LMConstraint< Vec1Types, Vec1Types >

template class SOFA_CORE_API	LMConstraint< Vec1Types, Rigid3Types >

template class SOFA_CORE_API	LMConstraint< Vec1Types, Rigid2Types >

template class SOFA_CORE_API	LMConstraint< Rigid3Types, Vec3Types >

template class SOFA_CORE_API	LMConstraint< Rigid3Types, Vec2Types >

template class SOFA_CORE_API	LMConstraint< Rigid3Types, Vec1Types >

template class SOFA_CORE_API	LMConstraint< Rigid3Types, Rigid3Types >

template class SOFA_CORE_API	LMConstraint< Rigid3Types, Rigid2Types >

template class SOFA_CORE_API	LMConstraint< Rigid2Types, Vec3Types >

template class SOFA_CORE_API	LMConstraint< Rigid2Types, Vec2Types >

template class SOFA_CORE_API	LMConstraint< Rigid2Types, Vec1Types >

template class SOFA_CORE_API	LMConstraint< Rigid2Types, Rigid3Types >

template class SOFA_CORE_API	LMConstraint< Rigid2Types, Rigid2Types >

template class SOFA_CORE_API	Mass< Vec3Types >

template class SOFA_CORE_API	Mass< Vec2Types >

template class SOFA_CORE_API	Mass< Vec1Types >

template class SOFA_CORE_API	Mass< Vec6Types >

template class SOFA_CORE_API	Mass< Rigid3Types >

template class SOFA_CORE_API	Mass< Rigid2Types >

template class SOFA_CORE_API	MechanicalState< Vec3dTypes >

template class SOFA_CORE_API	MechanicalState< Vec2Types >

template class SOFA_CORE_API	MechanicalState< Vec1Types >

template class SOFA_CORE_API	MechanicalState< Vec6Types >

template class SOFA_CORE_API	MechanicalState< Rigid3Types >

template class SOFA_CORE_API	MechanicalState< Rigid2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec2Types, Vec2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec1Types, Vec1Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid2Types, Vec2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec1Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec1Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec2Types, Vec2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec1Types, Vec1Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid3Types, Vec1Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid2Types, Vec2Types >

template class SOFA_CORE_API	PairInteractionConstraint< Vec3Types >

template class SOFA_CORE_API	PairInteractionConstraint< Vec2Types >

template class SOFA_CORE_API	PairInteractionConstraint< Vec1Types >

template class SOFA_CORE_API	PairInteractionConstraint< Rigid3Types >

template class SOFA_CORE_API	PairInteractionConstraint< Rigid2Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec6Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec3Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec2Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec1Types >

template class SOFA_CORE_API	PairInteractionForceField< Rigid3Types >

template class SOFA_CORE_API	PairInteractionForceField< Rigid2Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Vec3Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Vec2Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Vec1Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Rigid3Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Rigid2Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec6Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec3Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec2Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec1Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Rigid3Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Rigid2Types >

Typedef Documentation

typedef TMultiVec<V_COORD> sofa::core::behavior::MultiVecCoord

typedef TMultiVec<V_DERIV> sofa::core::behavior::MultiVecDeriv

typedef TMultiVec<V_MATDERIV> sofa::core::behavior::MultiVecMatrixDeriv

typedef TParallelMultiVec<V_COORD> sofa::core::behavior::ParallelMultiVecCoord

typedef TParallelMultiVec<V_DERIV> sofa::core::behavior::ParallelMultiVecDeriv

typedef TParallelMultiVec<V_MATDERIV> sofa::core::behavior::ParallelMultiVecMatrixDeriv

Function Documentation

template<class Coord , class Deriv , class Vec , class M , class SV >

Deriv sofa::core::behavior::inertiaForce	(	const SV &	sv,
		const Vec &	a,
		const M &	m,
		const Coord &	x,
		const Deriv &	v
	)

Return the inertia force applied to a body referenced in a moving coordinate system.

Parameters

sv	spatial velocity (omega, vorigin) of the coordinate system
a	acceleration of the origin of the coordinate system
m	mass of the body
x	position of the body in the moving coordinate system
v	velocity of the body in the moving coordinate system This default implementation returns no inertia.

template<>

defaulttype::LaparoscopicRigid3Types::Deriv sofa::core::behavior::inertiaForce< defaulttype::LaparoscopicRigid3Types::Coord, defaulttype::LaparoscopicRigid3Types::Deriv, defaulttype::Vector3, defaulttype::Rigid3Mass, objectmodel::BaseContext::SpatialVector >	(	const objectmodel::BaseContext::SpatialVector &	vframe,
		const defaulttype::Vector3 &	aframe,
		const defaulttype::Rigid3Mass &	mass,
		const defaulttype::LaparoscopicRigid3Types::Coord &	x,
		const defaulttype::LaparoscopicRigid3Types::Deriv &	v
	)