#include <MechanicalObject.h>

This class can be overridden if needed for additional storage within template specializations. More...

Inheritance diagram for sofa::component::statecontainer::MechanicalObject< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::statecontainer::MechanicalObject< DataTypes >

This class can be overridden if needed for additional storage within template specializations.

Public Attributes
Data< VecCoord >	x
	position coordinates of the degrees of freedom More...

Data< VecDeriv >	v
	velocity coordinates of the degrees of freedom More...

Data< VecDeriv >	f
	force vector of the degrees of freedom More...

Data< VecCoord >	x0
	rest position coordinates of the degrees of freedom More...

Data< VecDeriv >	externalForces
	externalForces vector of the degrees of freedom More...

Data< VecDeriv >	dx
	dx vector of the degrees of freedom More...

Data< VecCoord >	xfree
	free position coordinates of the degrees of freedom More...

Data< VecDeriv >	vfree
	free velocity coordinates of the degrees of freedom More...

Data< MatrixDeriv >	c
	constraints applied to the degrees of freedom More...

Data< MatrixDeriv >	m
	mappingJacobian applied to the degrees of freedom More...

Data< VecCoord >	reset_position
	reset position coordinates of the degrees of freedom More...

Data< VecDeriv >	reset_velocity
	reset velocity coordinates of the degrees of freedom More...

defaulttype::MapMapSparseMatrix< Deriv >	c2

Data< SReal >	restScale
	optional scaling of rest position coordinates (to simulated pre-existing internal tension).(default = 1.0) More...

Data< bool >	d_useTopology
	Shall this object rely on any active topology to initialize its size and positions. More...

Data< bool >	showObject
	Show objects. (default=false) More...

Data< float >	showObjectScale
	Scale for object display. (default=0.1) More...

Data< bool >	showIndices
	Show indices. (default=false) More...

Data< float >	showIndicesScale
	Scale for indices display. (default=0.02) More...

Data< bool >	showVectors
	Show velocity. (default=false) More...

Data< float >	showVectorsScale
	Scale for vectors display. (default=0.0001) More...

Data< int >	drawMode
	The way vectors will be drawn: - 0: Line - 1:Cylinder - 2: Arrow. The DOFS will be drawn: - 0: point - >1: sphere. (default=0) More...

Data< type::RGBAColor >	d_color
	Color for object display. (default=[1 1 1 1]) More...

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

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

Data< int >	d_messageLogCount

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

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

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

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

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

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Public Attributes inherited from sofa::core::State< DataTypes >
AccumulationVecId< DataTypes, V_DERIV, V_READ >	accumulatedForces
	Stores all the VecDerivId corresponding to a force. They can then be accumulated. More...

Protected Attributes
Data< int >	d_size
	Size of the vectors. More...

SingleLink< MechanicalObject< DataTypes >, core::topology::BaseMeshTopology, BaseLink::FLAG_STRONGLINK\|BaseLink::FLAG_STOREPATH >	l_topology

Data< int >	f_reserve
	Size to reserve when creating vectors. (default=0) More...

bool	m_initialized

MechanicalObjectInternalData< DataTypes >	data
	Given the number of a constraint Equation, find the index in the MatrixDeriv C, where the constraint is actually stored. More...

std::ofstream *	m_gnuplotFileX

std::ofstream *	m_gnuplotFileV

Initial geometric transformations
Data< type::Vec3 >	translation
	Translation of the DOFs. More...

Data< type::Vec3 >	rotation
	Rotation of the DOFs. More...

Data< type::Vec3 >	scale
	Scale of the DOFs in 3 dimensions. More...

Data< type::Vec3 >	translation2
	Translation of the DOFs, applied after the rest position has been computed. More...

Data< type::Vec3 >	rotation2
	Rotation of the DOFs, applied the after the rest position has been computed. More...

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

LinkSlaves	l_slaves

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

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

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

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

VecLink	m_vecLink
	List of links. More...

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

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(MechanicalObject, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::MechanicalState, DataTypes))

	SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER (Vector3, sofa::type::Vec3)

	SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER (Index, sofa::Index)

MechanicalObject &	operator= (const MechanicalObject &)

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

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

void	reinit () override
	Update method called when variables used in precomputation are modified. More...

void	storeResetState () override
	Save the initial state for later uses in reset() More...

void	reset () override
	Reset to initial state. More...

void	writeVec (core::ConstVecId v, std::ostream &out) override

void	readVec (core::VecId v, std::istream &in) override

SReal	compareVec (core::ConstVecId v, std::istream &in) override

void	writeState (std::ostream &out) override
	Write current state to the given output stream. More...

void	initGnuplot (const std::string path) override

void	exportGnuplot (SReal time) override

void	resize (Size vsize) override
	Resize all stored vector. More...

virtual void	reserve (Size vsize)

Size	getSize () const override
	Current size of all stored vectors. More...

SReal	getPX (sofa::Index i) const override

SReal	getPY (sofa::Index i) const override

SReal	getPZ (sofa::Index i) const override

SReal	getVX (sofa::Index i) const

SReal	getVY (sofa::Index i) const

SReal	getVZ (sofa::Index i) const

void	replaceValue (const sofa::Index inputIndex, const sofa::Index outputIndex)
	Overwrite values at index outputIndex by the ones at inputIndex. More...

void	swapValues (const sofa::Index idx1, const sofa::Index idx2)
	Exchange values at indices idx1 and idx2. More...

void	renumberValues (const sofa::type::vector< sofa::Index > &index)
	Reorder values according to parameter. More...

void	computeWeightedValue (const sofa::Index i, const sofa::type::vector< sofa::Index > &ancestors, const sofa::type::vector< double > &coefs)
	Replace the value at index by the sum of the ancestors values weithed by the coefs. More...

void	forcePointPosition (const sofa::Index i, const sofa::type::vector< double > &m_x)
	Force the position of a point (and force its velocity to zero value) More...

void	getIndicesInSpace (sofa::type::vector< sofa::Index > &indices, Real xmin, Real xmax, Real ymin, Real ymax, Real zmin, Real zmax) const override
	Get the indices of the particles located in the given bounding box. More...

bool	addBBox (SReal minBBox, SReal maxBBox) override
	update the given bounding box, to include this More...

void	computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
	Bounding Box computation method. More...

virtual std::list< ConstraintBlock >	constraintBlocks (const std::list< unsigned int > &indices) const override
	Express the matrix L in term of block of matrices, using the indices of the lines in the MatrixDeriv container. More...

SReal	getConstraintJacobianTimesVecDeriv (unsigned int line, core::ConstVecId id) override
	Compute the error given a state vector and a line of the Jacobian (line in vector C) More...

void	handleStateChange () override

bool	pickParticles (const core::ExecParams params, double rayOx, double rayOy, double rayOz, double rayDx, double rayDy, double rayDz, double radius0, double dRadius, std::multimap< double, std::pair< sofa::core::behavior::BaseMechanicalState , int > > &particles) override

bool	isIndependent () const
	if this mechanical object stores independent dofs (in opposition to mapped dofs) More...

void	applyRotation (const type::Quat< SReal > q)
	Rotate the current state. More...

void	addFromBaseVectorDifferentSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)
	Perform dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects) More...

void	addFromBaseVectorSameSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)
	Perform dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects) More...

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

SOFA_COMPONENT_STATECONTAINER_API void	applyRotation (const type::Quat< SReal > q)
	Rotate the current state. More...

SOFA_COMPONENT_STATECONTAINER_API void	addFromBaseVectorSameSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)
	Perform dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects) More...

SOFA_COMPONENT_STATECONTAINER_API void	addFromBaseVectorDifferentSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset)
	Perform dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects) More...

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

New vectors access API based on VecId
Data< VecCoord > *	write (core::VecCoordId v) override

const Data< VecCoord > *	read (core::ConstVecCoordId v) const override

Data< VecDeriv > *	write (core::VecDerivId v) override

const Data< VecDeriv > *	read (core::ConstVecDerivId v) const override

Data< MatrixDeriv > *	write (core::MatrixDerivId v) override

const Data< MatrixDeriv > *	read (core::ConstMatrixDerivId v) const override

Initial transformations application methods.
void	applyTranslation (const SReal dx, const SReal dy, const SReal dz) override
	Apply translation vector to the position. More...

void	applyRotation (const SReal rx, const SReal ry, const SReal rz) override
	Rotation using Euler Angles in degree. More...

void	applyRotation (const type::Quat< SReal > q) override
	Rotate the current state. More...

void	applyScale (const SReal sx, const SReal sy, const SReal sz) override
	Scale the current state. More...

Base Matrices and Vectors Interface
void	copyToBaseVector (linearalgebra::BaseVector *dest, core::ConstVecId src, unsigned int &offset) override

void	copyFromBaseVector (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset) override

void	copyToBaseMatrix (linearalgebra::BaseMatrix *dest, core::ConstMatrixDerivId src, unsigned int &offset) override
	Copy data to a global BaseMatrix from the state stored in a local vector. More...

void	addToBaseVector (linearalgebra::BaseVector *dest, core::ConstVecId src, unsigned int &offset) override

void	addFromBaseVectorSameSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset) override

void	addFromBaseVectorDifferentSize (core::VecId dest, const linearalgebra::BaseVector *src, unsigned int &offset) override

Initial transformations accessors.
void	setTranslation (SReal dx, SReal dy, SReal dz)

void	setRotation (SReal rx, SReal ry, SReal rz)

void	setScale (SReal sx, SReal sy, SReal sz)

virtual type::Vec3	getTranslation () const

virtual type::Vec3	getRotation () const

type::Vec3	getScale () const override

Integration related methods
void	beginIntegration (SReal dt) override
	Called at the beginning of each integration step. More...

void	endIntegration (const core::ExecParams *params, SReal dt) override
	Called at the end of each integration step. More...

void	accumulateForce (const core::ExecParams *params, core::VecDerivId f=core::vec_id::write_access::force) override
	Add stored external forces to F. More...

void	vAvail (const core::ExecParams *params, core::VecCoordId &v) override
	Increment the index of the given VecCoordId, so that all 'allocated' vectors in this state have a lower index. More...

void	vAvail (const core::ExecParams *params, core::VecDerivId &v) override
	Increment the index of the given VecDerivId, so that all 'allocated' vectors in this state have a lower index. More...

void	vAlloc (const core::ExecParams *params, core::VecCoordId v, const core::VecIdProperties &properties={}) override
	Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index. More...

void	vAlloc (const core::ExecParams *params, core::VecDerivId v, const core::VecIdProperties &properties={}) override
	Allocate a new temporary vector. More...

void	vRealloc (const core::ExecParams *params, core::VecCoordId v, const core::VecIdProperties &properties={}) override
	Allocate a new temporary vector. More...

void	vRealloc (const core::ExecParams *params, core::VecDerivId v, const core::VecIdProperties &properties={}) override
	Reallocate a new temporary vector. More...

void	vFree (const core::ExecParams *params, core::VecCoordId v) override
	Free a temporary vector. More...

void	vFree (const core::ExecParams *params, core::VecDerivId v) override
	Free a temporary vector. More...

void	vInit (const core::ExecParams *params, core::VecCoordId v, core::ConstVecCoordId vSrc) override
	Free a temporary vector. More...

void	vInit (const core::ExecParams *params, core::VecDerivId v, core::ConstVecDerivId vSrc) override
	Initialize an unset vector. More...

void	vOp (const core::ExecParams *params, core::VecId v, core::ConstVecId a=core::ConstVecId::null(), core::ConstVecId b=core::ConstVecId::null(), SReal f=1.0) override
	Initialize an unset vector. More...

void	vMultiOp (const core::ExecParams *params, const VMultiOp &ops) override
	Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$. More...

void	vThreshold (core::VecId a, SReal threshold) override
	Apply a threshold (lower bound) to all entries. More...

SReal	vDot (const core::ExecParams *params, core::ConstVecId a, core::ConstVecId b) override
	Compute the scalar products between two vectors. More...

SReal	vSum (const core::ExecParams *params, core::ConstVecId a, unsigned l) override
	Sum of the entries of state vector a at the power of l>0. This is used to compute the l-norm of the vector. More...

SReal	vMax (const core::ExecParams *params, core::ConstVecId a) override
	Maximum of the absolute values of the entries of state vector a. This is used to compute the infinite-norm of the vector. More...

Size	vSize (const core::ExecParams *params, core::ConstVecId v) override
	Get vector size. More...

void	resetForce (const core::ExecParams *params, core::VecDerivId f=core::vec_id::write_access::force) override
	Set F = 0. More...

void	resetAcc (const core::ExecParams *params, core::VecDerivId a=core::vec_id::write_access::dx) override
	Set Acc =0. More...

void	resetConstraint (const core::ConstraintParams *cparams) override
	Reset the constraint matrix. More...

void	getConstraintJacobian (const core::ConstraintParams cparams, sofa::linearalgebra::BaseMatrix J, unsigned int &off) override
	build the jacobian of the constraint in a baseMatrix More...

void	buildIdentityBlocksInJacobian (const sofa::type::vector< unsigned int > &list_n, core::MatrixDerivId &mID) override
	fill the jacobian matrix (of the constraints) with identity blocks on the provided list of nodes(dofs) More...

Debug
void	printDOF (core::ConstVecId, std::ostream &=std::cerr, int firstIndex=0, int range=-1) const override

unsigned	printDOFWithElapsedTime (core::ConstVecId, unsigned=0, unsigned=0, std::ostream &=std::cerr) override

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

Public Member Functions inherited from sofa::core::behavior::MechanicalState< DataTypes >
	SOFA_CLASS2 (SOFA_TEMPLATE(MechanicalState, DataTypes), BaseMechanicalState, SOFA_TEMPLATE(State, DataTypes))

Size	getCoordDimension () const override

Size	getDerivDimension () const override

void	copyToBuffer (SReal *dst, ConstVecId src, unsigned n) const override

void	copyFromBuffer (VecId dst, const SReal *src, unsigned n) override

void	addFromBuffer (VecId dst, const SReal *src, unsigned n) override

Public Member Functions inherited from sofa::core::behavior::BaseMechanicalState
	SOFA_ABSTRACT_CLASS (BaseMechanicalState, BaseState)

	SOFA_BASE_CAST_IMPLEMENTATION (BaseMechanicalState)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

virtual void	handleStateChange (core::topology::Topology *t)
	Handle state Changes from a given Topology. More...

virtual Size	getMatrixBlockSize () const
	Get the number of scalars per Deriv value, as necessary to build mechanical matrices and vectors. More...

virtual Size	getMatrixSize () const
	Get the number of rows necessary to build mechanical matrices and vectors. More...

virtual void	copyToBuffer (SReal *dst, ConstVecId src, unsigned int n) const =0
	Copy data to an external, user-allocated buffer. More...

virtual void	copyFromBuffer (VecId dst, const SReal *src, unsigned int n)=0
	Copy data from an external, user-allocated buffer. More...

virtual void	addFromBuffer (VecId dst, const SReal *src, unsigned int n)=0
	Add data from an external, user-allocated buffer. More...

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

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

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

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

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

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

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

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

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

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

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

virtual void	handleTopologyChange ()

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

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

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Public Member Functions inherited from sofa::core::State< DataTypes >
	SOFA_CLASS (SOFA_TEMPLATE(State, DataTypes), BaseState)

sofa::type::TBoundingBox< Real >	computeBBox () const
	Compute the bounding box independently from the visibility parameters. More...

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

objectmodel::BaseData *	baseWrite (VecId v) override

const objectmodel::BaseData *	baseRead (ConstVecId v) const override

ReadVecCoord	readPositions () const

WriteVecCoord	writePositions ()

WriteOnlyVecCoord	writeOnlyPositions ()

ReadVecCoord	readRestPositions () const

WriteVecCoord	writeRestPositions ()

WriteOnlyVecCoord	writeOnlyRestPositions ()

ReadVecDeriv	readVelocities () const

WriteVecDeriv	writeVelocities ()

WriteOnlyVecDeriv	writeOnlyVelocities ()

ReadVecDeriv	readForces () const

WriteVecDeriv	writeForces ()

WriteOnlyVecDeriv	writeOnlyForces ()

ReadVecDeriv	readDx () const

WriteVecDeriv	writeDx ()

WriteOnlyVecDeriv	writeOnlyDx ()

ReadVecDeriv	readNormals () const

const AccumulationVecId< DataTypes, V_DERIV, V_READ > &	readTotalForces () const
	Returns a proxy objects offering simplified access to elements of the cumulative sum of all force containers. More...

void	addToTotalForces (core::ConstVecDerivId forceId) override
	The provided VecDerivId will contribute to the sum of all force containers. More...

void	removeFromTotalForces (core::ConstVecDerivId forceId) override

Protected Member Functions
	MechanicalObject ()

virtual	~MechanicalObject ()

template<core::VecType vtype>
void	vAvailImpl (core::TVecId< vtype, core::V_WRITE > &v, sofa::type::vector< Data< core::StateVecType_t< DataTypes, vtype > > * > &dataContainer)
	Generic implementation of the method vAvail. More...

template<core::VecType vtype>
void	vAllocImpl (core::TVecId< vtype, core::V_WRITE > v, const core::VecIdProperties &properties)
	Generic implementation of the method vAlloc. More...

template<core::VecType vtype>
void	vReallocImpl (core::TVecId< vtype, core::V_WRITE > v, const core::VecIdProperties &properties)
	Generic implementation of the method vRealloc. More...

template<core::VecType vtype>
void	vFreeImpl (core::TVecId< vtype, core::V_WRITE > v)
	Generic implementation of the method vFree. More...

template<core::VecType vtype>
void	vInitImpl (const core::ExecParams *params, core::TVecId< vtype, core::V_WRITE > vId, core::TVecId< vtype, core::V_READ > vSrcId)
	Generic implementation of the method vInit. More...

template<core::VecType vtype>
helper::WriteOnlyAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > >	getWriteOnlyAccessor (core::VecId v)
	Shortcut to get a write-only accessor corresponding to the provided VecType from a VecId. More...

template<core::VecType vtype>
helper::WriteAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > >	getWriteAccessor (core::VecId v)
	Shortcut to get a write accessor corresponding to the provided VecType from a VecId. More...

template<core::VecType vtype>
helper::ReadAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > >	getReadAccessor (core::ConstVecId v)
	Shortcut to get a read accessor corresponding to the provided VecType from a VecId. More...

void	drawIndices (const core::visual::VisualParams *vparams)
	Internal function : Draw indices in 3d coordinates. More...

void	drawVectors (const core::visual::VisualParams *vparams)
	Internal function : Draw vectors. More...

Protected Member Functions inherited from sofa::core::behavior::MechanicalState< DataTypes >
	~MechanicalState () override

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

	~BaseMechanicalState () override

Protected Member Functions inherited from sofa::core::BaseState
	BaseState ()

	~BaseState () 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::State< DataTypes >
	State ()

	~State () override

Static Protected Member Functions
template<core::VecType vtype, core::VecAccess vaccess>
static void	setVecIdProperties (core::TVecId< vtype, vaccess > v, const core::VecIdProperties &properties, core::BaseData *vec_d)

Friends
class	MechanicalObjectInternalData< DataTypes >

Integration-related data
sofa::type::vector< Data< VecCoord > * >	vectorsCoord
	Coordinates DOFs vectors table (static and dynamic allocated) More...

sofa::type::vector< Data< VecDeriv > * >	vectorsDeriv
	Derivates DOFs vectors table (static and dynamic allocated) More...

sofa::type::vector< Data< MatrixDeriv > * >	vectorsMatrixDeriv
	Constraint vectors table. More...

void	setVecCoord (core::ConstVecCoordId, Data< VecCoord > *)
	Inserts VecCoord DOF coordinates vector at index in the vectorsCoord container. More...

void	setVecDeriv (core::ConstVecDerivId, Data< VecDeriv > *)
	Inserts VecDeriv DOF derivates vector at index in the vectorsDeriv container. More...

void	setVecMatrixDeriv (core::ConstMatrixDerivId, Data< MatrixDeriv > *)
	Inserts MatrixDeriv DOF at index in the MatrixDeriv container. More...

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::behavior::MechanicalState< DataTypes >
static std::string	shortName (const T ptr=nullptr, objectmodel::BaseObjectDescription arg=nullptr)

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

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

Attribute details

◆ c

template<class DataTypes >

Data< MatrixDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::c

constraints applied to the degrees of freedom

◆ c2

template<class DataTypes >

defaulttype::MapMapSparseMatrix< Deriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::c2

◆ d_color

template<class DataTypes >

Data< type::RGBAColor > sofa::component::statecontainer::MechanicalObject< DataTypes >::d_color

Color for object display. (default=[1 1 1 1])

◆ d_size

template<class DataTypes >

Data< int > sofa::component::statecontainer::MechanicalObject< DataTypes >::d_size

protected

Size of the vectors.

◆ d_useTopology

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::d_useTopology

Shall this object rely on any active topology to initialize its size and positions.

◆ data

template<class DataTypes >

MechanicalObjectInternalData<DataTypes> sofa::component::statecontainer::MechanicalObject< DataTypes >::data

protected

Given the number of a constraint Equation, find the index in the MatrixDeriv C, where the constraint is actually stored.

◆ drawMode

template<class DataTypes >

Data< int > sofa::component::statecontainer::MechanicalObject< DataTypes >::drawMode

The way vectors will be drawn: - 0: Line - 1:Cylinder - 2: Arrow. The DOFS will be drawn: - 0: point - >1: sphere. (default=0)

◆ dx

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::dx

dx vector of the degrees of freedom

◆ externalForces

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::externalForces

externalForces vector of the degrees of freedom

◆ f

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::f

force vector of the degrees of freedom

◆ f_reserve

template<class DataTypes >

Data< int > sofa::component::statecontainer::MechanicalObject< DataTypes >::f_reserve

protected

Size to reserve when creating vectors. (default=0)

◆ l_topology

template<class DataTypes >

SingleLink< MechanicalObject<DataTypes>, core::topology::BaseMeshTopology,BaseLink::FLAG_STRONGLINK|BaseLink::FLAG_STOREPATH> sofa::component::statecontainer::MechanicalObject< DataTypes >::l_topology

protected

◆ m

template<class DataTypes >

Data< MatrixDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::m

mappingJacobian applied to the degrees of freedom

◆ m_gnuplotFileV

template<class DataTypes >

std::ofstream* sofa::component::statecontainer::MechanicalObject< DataTypes >::m_gnuplotFileV

protected

◆ m_gnuplotFileX

template<class DataTypes >

std::ofstream* sofa::component::statecontainer::MechanicalObject< DataTypes >::m_gnuplotFileX

protected

◆ m_initialized

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::m_initialized

protected

◆ reset_position

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::reset_position

reset position coordinates of the degrees of freedom

◆ reset_velocity

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::reset_velocity

reset velocity coordinates of the degrees of freedom

◆ restScale

template<class DataTypes >

Data< SReal > sofa::component::statecontainer::MechanicalObject< DataTypes >::restScale

optional scaling of rest position coordinates (to simulated pre-existing internal tension).(default = 1.0)

◆ rotation

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::rotation

protected

Rotation of the DOFs.

◆ rotation2

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::rotation2

protected

Rotation of the DOFs, applied the after the rest position has been computed.

◆ scale

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::scale

protected

Scale of the DOFs in 3 dimensions.

◆ showIndices

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::showIndices

Show indices. (default=false)

◆ showIndicesScale

template<class DataTypes >

Data< float > sofa::component::statecontainer::MechanicalObject< DataTypes >::showIndicesScale

Scale for indices display. (default=0.02)

◆ showObject

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::showObject

Show objects. (default=false)

◆ showObjectScale

template<class DataTypes >

Data< float > sofa::component::statecontainer::MechanicalObject< DataTypes >::showObjectScale

Scale for object display. (default=0.1)

◆ showVectors

template<class DataTypes >

Data< bool > sofa::component::statecontainer::MechanicalObject< DataTypes >::showVectors

Show velocity. (default=false)

◆ showVectorsScale

template<class DataTypes >

Data< float > sofa::component::statecontainer::MechanicalObject< DataTypes >::showVectorsScale

Scale for vectors display. (default=0.0001)

◆ translation

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::translation

protected

Translation of the DOFs.

◆ translation2

template<class DataTypes >

Data< type::Vec3 > sofa::component::statecontainer::MechanicalObject< DataTypes >::translation2

protected

Translation of the DOFs, applied after the rest position has been computed.

◆ v

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::v

velocity coordinates of the degrees of freedom

◆ vectorsCoord

template<class DataTypes >

sofa::type::vector< Data< VecCoord > * > sofa::component::statecontainer::MechanicalObject< DataTypes >::vectorsCoord

protected

Coordinates DOFs vectors table (static and dynamic allocated)

◆ vectorsDeriv

template<class DataTypes >

sofa::type::vector< Data< VecDeriv > * > sofa::component::statecontainer::MechanicalObject< DataTypes >::vectorsDeriv

protected

Derivates DOFs vectors table (static and dynamic allocated)

◆ vectorsMatrixDeriv

template<class DataTypes >

sofa::type::vector< Data< MatrixDeriv > * > sofa::component::statecontainer::MechanicalObject< DataTypes >::vectorsMatrixDeriv

protected

Constraint vectors table.

◆ vfree

template<class DataTypes >

Data< VecDeriv > sofa::component::statecontainer::MechanicalObject< DataTypes >::vfree

free velocity coordinates of the degrees of freedom

◆ x

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::x

position coordinates of the degrees of freedom

◆ x0

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::x0

rest position coordinates of the degrees of freedom

◆ xfree

template<class DataTypes >

Data< VecCoord > sofa::component::statecontainer::MechanicalObject< DataTypes >::xfree

free position coordinates of the degrees of freedom

Constructor details

◆ MechanicalObject()

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::MechanicalObject

protected

◆ ~MechanicalObject()

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::~MechanicalObject

protectedvirtual

Function details

◆ accumulateForce()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::accumulateForce	(	const core::ExecParams *	params,
		core::VecDerivId	f = `core::vec_id::write_access::force`
	)

overridevirtual

Add stored external forces to F.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ addBBox()

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::addBBox	(	SReal *	minBBox,
		SReal *	maxBBox
	)

overridevirtual

update the given bounding box, to include this

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ addFromBaseVectorDifferentSize() [1/3]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorDifferentSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

virtual

Perform dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the MechanicalObject local vector specified by VecId dest. It will be updated to the first scalar value after the ones used by this operation when this method returns.

Implements sofa::core::behavior::BaseMechanicalState.

◆ addFromBaseVectorDifferentSize() [2/3]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorDifferentSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

virtual

Perform dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the MechanicalObject local vector specified by VecId dest. It will be updated to the first scalar value after the ones used by this operation when this method returns.

Implements sofa::core::behavior::BaseMechanicalState.

◆ addFromBaseVectorDifferentSize() [3/3]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::addFromBaseVectorDifferentSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

overridevirtual

src size can be smaller or equal to dest size. Performs: dest[ offset + i ][j] += src[i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the MechanicalObject local vector specified by VecId dest. It will be updated to the first scalar value after the ones used by this operation when this method returns.

Implements sofa::core::behavior::BaseMechanicalState.

◆ addFromBaseVectorSameSize() [1/3]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorSameSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

virtual

Perform dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

Implements sofa::core::behavior::BaseMechanicalState.

◆ addFromBaseVectorSameSize() [2/3]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::addFromBaseVectorSameSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

virtual

Perform dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

Implements sofa::core::behavior::BaseMechanicalState.

◆ addFromBaseVectorSameSize() [3/3]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::addFromBaseVectorSameSize	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

overridevirtual

src and dest must have the same size. Performs: dest[i][j] += src[offset + i][j] 0<= i < src_entries 0<= j < 3 (for 3D objects) 0 <= j < 2 (for 2D objects)

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

Implements sofa::core::behavior::BaseMechanicalState.

◆ addToBaseVector()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::addToBaseVector	(	linearalgebra::BaseVector *	dest,
		core::ConstVecId	src,
		unsigned int &	offset
	)

overridevirtual

Add data to a global BaseVector from the state stored in a local vector

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

Implements sofa::core::behavior::BaseMechanicalState.

◆ applyRotation() [1/4]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyRotation	(	const SReal	rx,
		const SReal	ry,
		const SReal	rz
	)

overridevirtual

Rotation using Euler Angles in degree.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ applyRotation() [2/4]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::applyRotation ( const type::Quat< SReal > q )

virtual

Rotate the current state.

Implements sofa::core::behavior::BaseMechanicalState.

◆ applyRotation() [3/4]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::applyRotation ( const type::Quat< SReal > q )

virtual

Rotate the current state.

Implements sofa::core::behavior::BaseMechanicalState.

◆ applyRotation() [4/4]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyRotation ( const type::Quat< SReal > q )

overridevirtual

Rotate the current state.

Implements sofa::core::behavior::BaseMechanicalState.

◆ applyScale()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyScale	(	const SReal	SReal,
		const SReal	SReal,
		const SReal	SReal
	)

overridevirtual

Scale the current state.

Implements sofa::core::behavior::BaseMechanicalState.

◆ applyTranslation()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::applyTranslation	(	const SReal	dx,
		const SReal	dy,
		const SReal	dz
	)

overridevirtual

Apply translation vector to the position.

Implements sofa::core::behavior::BaseMechanicalState.

◆ beginIntegration()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::beginIntegration ( SReal )

overridevirtual

Called at the beginning of each integration step.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ buildIdentityBlocksInJacobian()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::buildIdentityBlocksInJacobian	(	const sofa::type::vector< unsigned int > &	list_n,
		core::MatrixDerivId &	mID
	)

overridevirtual

fill the jacobian matrix (of the constraints) with identity blocks on the provided list of nodes(dofs)

Implements sofa::core::behavior::BaseMechanicalState.

◆ compareVec()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::compareVec	(	core::ConstVecId	v,
		std::istream &	in
	)

overridevirtual

Implements sofa::core::behavior::BaseMechanicalState.

◆ computeBBox()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::computeBBox	(	const core::ExecParams *	params,
		bool	onlyVisible = `false`
	)

overridevirtual

Bounding Box computation method.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ computeWeightedValue()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::computeWeightedValue	(	const sofa::Index	i,
		const sofa::type::vector< sofa::Index > &	ancestors,
		const sofa::type::vector< double > &	coefs
	)

Replace the value at index by the sum of the ancestors values weithed by the coefs.

Sum of the coefs should usually equal to 1.0

◆ constraintBlocks()

template<class DataTypes >

std::list< core::behavior::BaseMechanicalState::ConstraintBlock > sofa::component::statecontainer::MechanicalObject< DataTypes >::constraintBlocks ( const std::list< unsigned int > & indices ) const

overridevirtual

Express the matrix L in term of block of matrices, using the indices of the lines in the MatrixDeriv container.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ copyFromBaseVector()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::copyFromBaseVector	(	core::VecId	dest,
		const linearalgebra::BaseVector *	src,
		unsigned int &	offset
	)

overridevirtual

Copy data to a local vector the state stored in a global BaseVector

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

Implements sofa::core::behavior::BaseMechanicalState.

◆ copyToBaseMatrix()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::copyToBaseMatrix	(	linearalgebra::BaseMatrix *	dest,
		core::ConstMatrixDerivId	src,
		unsigned int &	offset
	)

overridevirtual

Copy data to a global BaseMatrix from the state stored in a local vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ copyToBaseVector()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::copyToBaseVector	(	linearalgebra::BaseVector *	dest,
		core::ConstVecId	src,
		unsigned int &	offset
	)

overridevirtual

Copy data to a global BaseVector the state stored in a local vector

Parameters

offset the offset in the BaseVector where the scalar values will be used. It will be updated to the first scalar value after the ones used by this operation when this method returns

Implements sofa::core::behavior::BaseMechanicalState.

◆ draw() [1/3]

void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::draw ( const core::visual::VisualParams * )

virtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ draw() [2/3]

SOFA_COMPONENT_STATECONTAINER_API void sofa::component::statecontainer::MechanicalObject< defaulttype::Rigid3Types >::draw ( const core::visual::VisualParams * )

virtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ draw() [3/3]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::draw ( const core::visual::VisualParams * )

inlineoverridevirtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ drawIndices()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::drawIndices ( const core::visual::VisualParams * vparams )

inlineprotected

Internal function : Draw indices in 3d coordinates.

◆ drawVectors()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::drawVectors ( const core::visual::VisualParams * vparams )

inlineprotected

Internal function : Draw vectors.

◆ endIntegration()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::endIntegration	(	const core::ExecParams *	params,
		SReal
	)

overridevirtual

Called at the end of each integration step.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ exportGnuplot()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::exportGnuplot ( SReal time )

overridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ forcePointPosition()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::forcePointPosition	(	const sofa::Index	i,
		const sofa::type::vector< double > &	m_x
	)

Force the position of a point (and force its velocity to zero value)

◆ getConstraintJacobian()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::getConstraintJacobian	(	const core::ConstraintParams *	params,
		sofa::linearalgebra::BaseMatrix *	J,
		unsigned int &	off
	)

overridevirtual

build the jacobian of the constraint in a baseMatrix

Implements sofa::core::behavior::BaseMechanicalState.

◆ getConstraintJacobianTimesVecDeriv()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getConstraintJacobianTimesVecDeriv	(	unsigned int	,
		core::ConstVecId
	)

overridevirtual

Compute the error given a state vector and a line of the Jacobian (line in vector C)

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ getIndicesInSpace()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::getIndicesInSpace	(	sofa::type::vector< sofa::Index > &	indices,
		Real	xmin,
		Real	xmax,
		Real	ymin,
		Real	ymax,
		Real	zmin,
		Real	zmax
	)		const

overridevirtual

Get the indices of the particles located in the given bounding box.

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

◆ getPX()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getPX ( sofa::Index i ) const

inlineoverridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ getPY()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getPY ( sofa::Index i ) const

inlineoverridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ getPZ()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getPZ ( sofa::Index i ) const

inlineoverridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ getReadAccessor()

template<class DataTypes >

template<core::VecType vtype>

helper::ReadAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > > sofa::component::statecontainer::MechanicalObject< DataTypes >::getReadAccessor ( core::ConstVecId v )

protected

Shortcut to get a read accessor corresponding to the provided VecType from a VecId.

◆ getRotation()

template<class DataTypes >

virtual type::Vec3 sofa::component::statecontainer::MechanicalObject< DataTypes >::getRotation ( ) const

inlinevirtual

◆ getScale()

template<class DataTypes >

type::Vec3 sofa::component::statecontainer::MechanicalObject< DataTypes >::getScale ( ) const

inlineoverridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ getSize()

template<class DataTypes >

Size sofa::component::statecontainer::MechanicalObject< DataTypes >::getSize ( ) const

inlineoverridevirtual

Current size of all stored vectors.

Implements sofa::core::BaseState.

◆ getTranslation()

template<class DataTypes >

virtual type::Vec3 sofa::component::statecontainer::MechanicalObject< DataTypes >::getTranslation ( ) const

inlinevirtual

◆ getVX()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getVX ( sofa::Index i ) const

inline

◆ getVY()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getVY ( sofa::Index i ) const

inline

◆ getVZ()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::getVZ ( sofa::Index i ) const

inline

◆ getWriteAccessor()

template<class DataTypes >

template<core::VecType vtype>

helper::WriteAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > > sofa::component::statecontainer::MechanicalObject< DataTypes >::getWriteAccessor ( core::VecId v )

protected

Shortcut to get a write accessor corresponding to the provided VecType from a VecId.

◆ getWriteOnlyAccessor()

template<class DataTypes >

template<core::VecType vtype>

helper::WriteOnlyAccessor< core::objectmodel::Data< core::StateVecType_t< DataTypes, vtype > > > sofa::component::statecontainer::MechanicalObject< DataTypes >::getWriteOnlyAccessor ( core::VecId v )

protected

Shortcut to get a write-only accessor corresponding to the provided VecType from a VecId.

◆ handleStateChange()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::handleStateChange

overridevirtual

Handle state Changes

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ init()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::init ( void )

overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ initGnuplot()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::initGnuplot ( const std::string path )

overridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ isIndependent()

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::isIndependent

if this mechanical object stores independent dofs (in opposition to mapped dofs)

◆ operator=()

template<class DataTypes >

MechanicalObject< DataTypes > & sofa::component::statecontainer::MechanicalObject< DataTypes >::operator= ( const MechanicalObject< DataTypes > & obj )

◆ parse()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::parse ( core::objectmodel::BaseObjectDescription * arg )

overridevirtual

Parse the given description to assign values to this object's fields and potentially other parameters.

Reimplemented from sofa::core::objectmodel::Base.

◆ pickParticles()

template<class DataTypes >

bool sofa::component::statecontainer::MechanicalObject< DataTypes >::pickParticles	(	const core::ExecParams *	params,
		double	rayOx,
		double	rayOy,
		double	rayOz,
		double	rayDx,
		double	rayDy,
		double	rayDz,
		double	radius0,
		double	dRadius,
		std::multimap< double, std::pair< sofa::core::behavior::BaseMechanicalState *, int > > &	particles
	)

overridevirtual

Find mechanical particles hit by the given ray. A mechanical particle is defined as a 2D or 3D, position or rigid DOF Returns false if this object does not support picking

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ printDOF()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::printDOF	(	core::ConstVecId	v,
		std::ostream &	out = `std::cerr`,
		int	firstIndex = `0`,
		int	range = `-1`
	)		const

overridevirtual

Implements sofa::core::behavior::BaseMechanicalState.

◆ printDOFWithElapsedTime()

template<class DataTypes >

unsigned sofa::component::statecontainer::MechanicalObject< DataTypes >::printDOFWithElapsedTime	(	core::ConstVecId	v,
		unsigned	count = `0`,
		unsigned	time = `0`,
		std::ostream &	out = `std::cerr`
	)

overridevirtual

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ read() [1/3]

template<class DataTypes >

const Data< typename MechanicalObject< DataTypes >::MatrixDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::read ( core::ConstMatrixDerivId v ) const

overridevirtual

Implements sofa::core::State< DataTypes >.

◆ read() [2/3]

template<class DataTypes >

const Data< typename MechanicalObject< DataTypes >::VecCoord > * sofa::component::statecontainer::MechanicalObject< DataTypes >::read ( core::ConstVecCoordId v ) const

overridevirtual

Implements sofa::core::State< DataTypes >.

◆ read() [3/3]

template<class DataTypes >

const Data< typename MechanicalObject< DataTypes >::VecDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::read ( core::ConstVecDerivId v ) const

overridevirtual

Implements sofa::core::State< DataTypes >.

◆ readVec()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::readVec	(	core::VecId	v,
		std::istream &	in
	)

overridevirtual

Implements sofa::core::behavior::BaseMechanicalState.

◆ reinit()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::reinit

overridevirtual

Update method called when variables used in precomputation are modified.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ renumberValues()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::renumberValues ( const sofa::type::vector< sofa::Index > & index )

Reorder values according to parameter.

Result of this method is : newValue[ i ] = oldValue[ index[i] ];

◆ replaceValue()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::replaceValue	(	const sofa::Index	inputIndex,
		const sofa::Index	outputIndex
	)

Overwrite values at index outputIndex by the ones at inputIndex.

◆ reserve()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::reserve ( Size vsize )

virtual

◆ reset()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::reset

overridevirtual

Reset to initial state.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ resetAcc()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resetAcc	(	const core::ExecParams *	params,
		core::VecDerivId	a = `core::vec_id::write_access::dx`
	)

overridevirtual

Set Acc =0.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ resetConstraint()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resetConstraint ( const core::ConstraintParams * params )

overridevirtual

Reset the constraint matrix.

Implements sofa::core::behavior::BaseMechanicalState.

◆ resetForce()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resetForce	(	const core::ExecParams *	params,
		core::VecDerivId	f = `core::vec_id::write_access::force`
	)

overridevirtual

Set F = 0.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ resize()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::resize ( Size vsize )

overridevirtual

Resize all stored vector.

Implements sofa::core::BaseState.

◆ setRotation()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setRotation	(	SReal	rx,
		SReal	ry,
		SReal	rz
	)

inline

◆ setScale()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setScale	(	SReal	sx,
		SReal	sy,
		SReal	sz
	)

inline

◆ setTranslation()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setTranslation	(	SReal	dx,
		SReal	dy,
		SReal	dz
	)

inline

◆ setVecCoord()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecCoord	(	core::ConstVecCoordId	vecId,
		Data< VecCoord > *	v
	)

protected

Inserts VecCoord DOF coordinates vector at index in the vectorsCoord container.

◆ setVecDeriv()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecDeriv	(	core::ConstVecDerivId	vecId,
		Data< VecDeriv > *	v
	)

protected

Inserts VecDeriv DOF derivates vector at index in the vectorsDeriv container.

◆ setVecIdProperties()

template<class DataTypes >

template<core::VecType vtype, core::VecAccess vaccess>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecIdProperties	(	core::TVecId< vtype, vaccess >	v,
		const core::VecIdProperties &	properties,
		core::BaseData *	vec_d
	)

staticprotected

◆ setVecMatrixDeriv()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::setVecMatrixDeriv	(	core::ConstMatrixDerivId	vecId,
		Data< MatrixDeriv > *	m
	)

protected

Inserts MatrixDeriv DOF at index in the MatrixDeriv container.

◆ SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER() [1/2]

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER	(	Index	,
		sofa::Index
	)

◆ SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER() [2/2]

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER	(	Vector3	,
		sofa::type::Vec3
	)

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::statecontainer::MechanicalObject< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(MechanicalObject< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(sofa::core::behavior::MechanicalState, DataTypes)
	)

◆ storeResetState()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::storeResetState

overridevirtual

Save the initial state for later uses in reset()

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ swapValues()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::swapValues	(	const sofa::Index	idx1,
		const sofa::Index	idx2
	)

Exchange values at indices idx1 and idx2.

◆ vAlloc() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAlloc	(	const core::ExecParams *	params,
		core::VecCoordId	v,
		const core::VecIdProperties &	properties = `{}`
	)

overridevirtual

Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index.

Allocate a new temporary vector

Implements sofa::core::behavior::BaseMechanicalState.

◆ vAlloc() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAlloc	(	const core::ExecParams *	params,
		core::VecDerivId	v,
		const core::VecIdProperties &	properties = `{}`
	)

overridevirtual

Allocate a new temporary vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vAllocImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAllocImpl	(	core::TVecId< vtype, core::V_WRITE >	v,
		const core::VecIdProperties &	properties
	)

protected

Generic implementation of the method vAlloc.

◆ vAvail() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAvail	(	const core::ExecParams *	params,
		core::VecCoordId &	v
	)

overridevirtual

Increment the index of the given VecCoordId, so that all 'allocated' vectors in this state have a lower index.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vAvail() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAvail	(	const core::ExecParams *	params,
		core::VecDerivId &	v
	)

overridevirtual

Increment the index of the given VecDerivId, so that all 'allocated' vectors in this state have a lower index.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vAvailImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vAvailImpl	(	core::TVecId< vtype, core::V_WRITE > &	v,
		sofa::type::vector< Data< core::StateVecType_t< DataTypes, vtype > > * > &	dataContainer
	)

protected

Generic implementation of the method vAvail.

◆ vDot()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::vDot	(	const core::ExecParams *	params,
		core::ConstVecId	a,
		core::ConstVecId	b
	)

overridevirtual

Compute the scalar products between two vectors.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vFree() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vFree	(	const core::ExecParams *	params,
		core::VecCoordId	v
	)

overridevirtual

Free a temporary vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vFree() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vFree	(	const core::ExecParams *	params,
		core::VecDerivId	v
	)

overridevirtual

Free a temporary vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vFreeImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vFreeImpl ( core::TVecId< vtype, core::V_WRITE > v )

protected

Generic implementation of the method vFree.

◆ vInit() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vInit	(	const core::ExecParams *	params,
		core::VecCoordId	v,
		core::ConstVecCoordId	vSrc
	)

overridevirtual

Free a temporary vector.

Initialize an unset vector

Implements sofa::core::behavior::BaseMechanicalState.

◆ vInit() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vInit	(	const core::ExecParams *	params,
		core::VecDerivId	v,
		core::ConstVecDerivId	vSrc
	)

overridevirtual

Initialize an unset vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vInitImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vInitImpl	(	const core::ExecParams *	params,
		core::TVecId< vtype, core::V_WRITE >	vId,
		core::TVecId< vtype, core::V_READ >	vSrcId
	)

protected

Generic implementation of the method vInit.

◆ vMax()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::vMax	(	const core::ExecParams *	params,
		core::ConstVecId	a
	)

overridevirtual

Maximum of the absolute values of the entries of state vector a. This is used to compute the infinite-norm of the vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vMultiOp()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vMultiOp	(	const core::ExecParams *	params,
		const VMultiOp &	ops
	)

overridevirtual

Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$.

This is used to compute in on steps operations such as $v = v + a*dt, x = x + v*dt$. Note that if the result vector appears inside the expression, it must be the first operand. By default this method decompose the computation into multiple vOp calls.

Perform a sequence of linear vector accumulation operation $r_i = sum_j (v_j*f_{ij})$

This is used to compute in on steps operations such as $v = v + a*dt, x = x + v*dt$. Note that if the result vector appears inside the expression, it must be the first operand. By default this method decompose the computation into multiple vOp calls.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ vOp()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vOp	(	const core::ExecParams *	params,
		core::VecId	v,
		core::ConstVecId	a = `core::ConstVecId::null()`,
		core::ConstVecId	b = `core::ConstVecId::null()`,
		SReal	f = `1.0`
	)

overridevirtual

Initialize an unset vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vRealloc() [1/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vRealloc	(	const core::ExecParams *	params,
		core::VecCoordId	v,
		const core::VecIdProperties &	properties = `{}`
	)

overridevirtual

Allocate a new temporary vector.

Reallocate a new temporary vector

Implements sofa::core::behavior::BaseMechanicalState.

◆ vRealloc() [2/2]

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vRealloc	(	const core::ExecParams *	params,
		core::VecDerivId	v,
		const core::VecIdProperties &	properties = `{}`
	)

overridevirtual

Reallocate a new temporary vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vReallocImpl()

template<class DataTypes >

template<core::VecType vtype>

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vReallocImpl	(	core::TVecId< vtype, core::V_WRITE >	v,
		const core::VecIdProperties &	properties
	)

protected

Generic implementation of the method vRealloc.

◆ vSize()

template<class DataTypes >

Size sofa::component::statecontainer::MechanicalObject< DataTypes >::vSize	(	const core::ExecParams *	params,
		core::ConstVecId	v
	)

overridevirtual

Get vector size.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vSum()

template<class DataTypes >

SReal sofa::component::statecontainer::MechanicalObject< DataTypes >::vSum	(	const core::ExecParams *	params,
		core::ConstVecId	a,
		unsigned	l
	)

overridevirtual

Sum of the entries of state vector a at the power of l>0. This is used to compute the l-norm of the vector.

Implements sofa::core::behavior::BaseMechanicalState.

◆ vThreshold()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::vThreshold	(	core::VecId	a,
		SReal	threshold
	)

overridevirtual

Apply a threshold (lower bound) to all entries.

Implements sofa::core::behavior::BaseMechanicalState.

◆ write() [1/3]

template<class DataTypes >

Data< typename MechanicalObject< DataTypes >::MatrixDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::write ( core::MatrixDerivId v )

overridevirtual

Implements sofa::core::State< DataTypes >.

◆ write() [2/3]

template<class DataTypes >

Data< typename MechanicalObject< DataTypes >::VecCoord > * sofa::component::statecontainer::MechanicalObject< DataTypes >::write ( core::VecCoordId v )

overridevirtual

Implements sofa::core::State< DataTypes >.

◆ write() [3/3]

template<class DataTypes >

Data< typename MechanicalObject< DataTypes >::VecDeriv > * sofa::component::statecontainer::MechanicalObject< DataTypes >::write ( core::VecDerivId v )

overridevirtual

Implements sofa::core::State< DataTypes >.

◆ writeState()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::writeState ( std::ostream & out )

overridevirtual

Write current state to the given output stream.

Reimplemented from sofa::core::behavior::BaseMechanicalState.

◆ writeVec()

template<class DataTypes >

void sofa::component::statecontainer::MechanicalObject< DataTypes >::writeVec	(	core::ConstVecId	v,
		std::ostream &	out
	)

overridevirtual

Implements sofa::core::behavior::BaseMechanicalState.

Related details

◆ MechanicalObjectInternalData< DataTypes >

template<class DataTypes >

friend class MechanicalObjectInternalData< DataTypes >

friend

Detailed Description

template<class DataTypes> class sofa::component::statecontainer::MechanicalObject< DataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Friends

Integration-related data

Additional Inherited Members

Attribute details

◆ c

◆ c2

◆ d_color

◆ d_size

◆ d_useTopology

◆ data

◆ drawMode

◆ dx

◆ externalForces

◆ f

◆ f_reserve

◆ l_topology

◆ m

◆ m_gnuplotFileV

◆ m_gnuplotFileX

◆ m_initialized

◆ reset_position

◆ reset_velocity

◆ restScale

◆ rotation

◆ rotation2

◆ scale

◆ showIndices

◆ showIndicesScale

◆ showObject

◆ showObjectScale

◆ showVectors

◆ showVectorsScale

◆ translation

◆ translation2

◆ v

◆ vectorsCoord

◆ vectorsDeriv

◆ vectorsMatrixDeriv

◆ vfree

◆ x

◆ x0

◆ xfree

Constructor details

◆ MechanicalObject()

◆ ~MechanicalObject()

Function details

◆ accumulateForce()

◆ addBBox()

◆ addFromBaseVectorDifferentSize() [1/3]

◆ addFromBaseVectorDifferentSize() [2/3]

◆ addFromBaseVectorDifferentSize() [3/3]

◆ addFromBaseVectorSameSize() [1/3]

◆ addFromBaseVectorSameSize() [2/3]

◆ addFromBaseVectorSameSize() [3/3]

◆ addToBaseVector()

◆ applyRotation() [1/4]

◆ applyRotation() [2/4]

◆ applyRotation() [3/4]

◆ applyRotation() [4/4]

◆ applyScale()

◆ applyTranslation()

◆ beginIntegration()

◆ buildIdentityBlocksInJacobian()

◆ compareVec()

◆ computeBBox()

◆ computeWeightedValue()

◆ constraintBlocks()

◆ copyFromBaseVector()

◆ copyToBaseMatrix()

◆ copyToBaseVector()

◆ draw() [1/3]

◆ draw() [2/3]

◆ draw() [3/3]

template<class DataTypes>
class sofa::component::statecontainer::MechanicalObject< DataTypes >