#include <MechanicalParams.h>

Class gathering parameters use by mechanical components methods, and transmitted by mechanical visitors. More...

Inheritance diagram for sofa::core::MechanicalParams:

Detailed Description

Class gathering parameters use by mechanical components methods, and transmitted by mechanical visitors.

Protected Attributes
SReal	m_dt
	Time step. More...

bool	m_implicit
	Is the time integration scheme implicit ? More...

bool	m_energy
	Should the kinematic and potential energies be computed ? More...

ConstMultiVecCoordId	m_x
	Ids of position vector. More...

ConstMultiVecDerivId	m_v
	Ids of velocity vector. More...

ConstMultiVecDerivId	m_f
	Ids of force vector. More...

ConstMultiVecDerivId	m_dx
	Ids of dx vector (for implicit schemes) More...

ConstMultiVecDerivId	m_df
	Ids of df vector (for implicit schemes) More...

SReal	m_mFactor
	Mass matrix contributions factor (for implicit schemes) More...

SReal	m_bFactor
	Damping matrix contributions factor (for implicit schemes) More...

SReal	m_kFactor
	Stiffness matrix contributions factor (for implicit schemes) More...

bool	m_supportOnlySymmetricMatrix
	True if a symmetric matrix is assumed in the left-hand term of the dynamics equations, for solvers specialized on symmetric matrices. More...

Public Member Functions
bool	symmetricMatrix () const =delete

bool	supportOnlySymmetricMatrix () const
	Symmetric matrix flag, for solvers specialized on symmetric matrices. More...

bool	energy () const
	Should the kinematic and potential energies be computed ? More...

	MechanicalParams (const sofa::core::ExecParams &p=sofa::core::ExecParams())
	Constructor, initializing all VecIds to default values, implicit and energy flags to false. More...

	MechanicalParams (const MechanicalParams &mparams)
	Copy Constructor. More...

MechanicalParams *	setExecParams (const core::ExecParams *params)

MechanicalParams *	operator= (const MechanicalParams &mparams)

Flags and parameters getters
SReal	dt () const
	Time step. More...

bool	implicit () const
	Is the time integration scheme implicit ? More...

SReal	mFactor () const
	Mass matrix contributions factor (for implicit schemes) More...

SReal	bFactor () const
	Damping matrix contributions factor (for implicit schemes) More...

SReal	kFactor () const
	Stiffness matrix contributions factor (for implicit schemes) More...

Rayleigh Damping D = rayleighStiffnessK - rayleighMassM
SReal	kFactorIncludingRayleighDamping (SReal rayleighStiffness) const

SReal	mFactorIncludingRayleighDamping (SReal rayleighMass) const

Access to vectors from a given state container (i.e. State or MechanicalState)
template<class S >
const Data< typename S::VecCoord > *	readX (const S *state) const
	Read access to current position vector. More...

template<class S >
const Data< typename S::VecDeriv > *	readV (const S *state) const
	Read access to current velocity vector. More...

template<class S >
const Data< typename S::VecDeriv > *	readF (const S *state) const
	Read access to current force vector. More...

template<class S >
const Data< typename S::VecDeriv > *	readDx (const S *state) const
	Read access to current dx vector (for implicit schemes) More...

template<class S >
const Data< typename S::VecDeriv > *	readDf (const S *state) const
	Read access to current df vector (for implicit schemes) More...

Public Member Functions inherited from sofa::core::ExecParams
bool	checkValidStorage () const

ExecMode	execMode () const
	Mode of execution requested. More...

int	threadID () const
	Index of current thread (0 corresponding to the only thread in sequential mode, or first thread in parallel mode) More...

int	nbThreads () const
	Number of threads currently known to Sofa. More...

	ExecParams ()

void	update ()
	Make sure this instance is up-to-date relative to the current thread. More...

ExecParams &	setExecMode (ExecMode v)
	Request a specific mode of execution. More...

ExecParams &	setThreadID (int v)
	Specify the index of the current thread. More...

Static Public Member Functions
static const MechanicalParams *	defaultInstance ()
	Get the default MechanicalParams, to be used to provide a default values for method parameters. More...

Static Public Member Functions inherited from sofa::core::ExecParams
static ExecParams *	defaultInstance ()
	Get the default ExecParams, to be used to provide a default values for method parameters. More...

Setup methods
Called by the OdeSolver from which the mechanical computations originate. They all return a reference to this MechanicalParam instance, to ease chaining multiple setup calls.
bool	m_kFactorUsed
	Checks if the stiffness matrix contributions factor has been accessed. More...

MechanicalParams &	setDt (SReal v)
	Set time step. More...

MechanicalParams &	setImplicit (bool v)
	Specify if the time integration scheme is implicit. More...

MechanicalParams &	setMFactor (SReal v)
	Set Mass matrix contributions factor (for implicit schemes) More...

MechanicalParams &	setBFactor (SReal v)
	Set Damping matrix contributions factor (for implicit schemes) More...

MechanicalParams &	setKFactor (SReal v)
	Set Stiffness matrix contributions factor (for implicit schemes) More...

MechanicalParams &	setSymmetricMatrix (bool b)=delete

MechanicalParams &	setSupportOnlySymmetricMatrix (bool b)
	Set the flag (for implicit schemes) specifying if solvers are only specialized for symmetric matrices. More...

void	setKFactorUsed (bool b) const
	Checks wether or nor kFactor is used in ForceFields. Temporary here for compatibility reasons. More...

bool	getKFactorUsed () const

MechanicalParams &	setEnergy (bool v)
	Specify if the potential and kinematic energies should be computed ? More...

const ConstMultiVecCoordId &	x () const

ConstMultiVecCoordId &	x ()

const ConstMultiVecDerivId &	v () const

ConstMultiVecDerivId &	v ()

const ConstMultiVecDerivId &	f () const

ConstMultiVecDerivId &	f ()

const ConstMultiVecDerivId &	dx () const

ConstMultiVecDerivId &	dx ()

const ConstMultiVecDerivId &	df () const

ConstMultiVecDerivId &	df ()

MechanicalParams &	setX (ConstVecCoordId v)
	Set the IDs of position vector. More...

MechanicalParams &	setX (ConstMultiVecCoordId v)

template<class StateSet >
MechanicalParams &	setX (const StateSet &g, ConstVecCoordId v)

MechanicalParams &	setV (ConstVecDerivId v)
	Set the IDs of velocity vector. More...

MechanicalParams &	setV (ConstMultiVecDerivId v)

template<class StateSet >
MechanicalParams &	setV (const StateSet &g, ConstVecDerivId v)

MechanicalParams &	setF (ConstVecDerivId v)
	Set the IDs of force vector. More...

MechanicalParams &	setF (ConstMultiVecDerivId v)

template<class StateSet >
MechanicalParams &	setF (const StateSet &g, ConstVecDerivId v)

MechanicalParams &	setDx (ConstVecDerivId v)
	Set the IDs of dx vector (for implicit schemes) More...

MechanicalParams &	setDx (ConstMultiVecDerivId v)

template<class StateSet >
MechanicalParams &	setDx (const StateSet &g, ConstVecDerivId v)

MechanicalParams &	setDf (ConstVecDerivId v)
	Set the IDs of df vector (for implicit schemes) More...

MechanicalParams &	setDf (ConstMultiVecDerivId v)

template<class StateSet >
MechanicalParams &	setDf (const StateSet &g, ConstVecDerivId v)

Experimental compliance API
SReal	m_implicitVelocity
	ratio of future and current force used for velocity update (1 is fully implicit, 0 is fully explicit) More...

SReal	m_implicitPosition
	ratio of future and current velocity used for position update (1 is fully implicit, 0 is fully explicit) More...

void	setImplicitVelocity (SReal i)

const SReal &	implicitVelocity () const

void	setImplicitPosition (SReal i)

const SReal &	implicitPosition () const

Attribute details

◆ m_bFactor

SReal sofa::core::MechanicalParams::m_bFactor

protected

Damping matrix contributions factor (for implicit schemes)

◆ m_df

ConstMultiVecDerivId sofa::core::MechanicalParams::m_df

protected

Ids of df vector (for implicit schemes)

◆ m_dt

SReal sofa::core::MechanicalParams::m_dt

protected

Time step.

◆ m_dx

ConstMultiVecDerivId sofa::core::MechanicalParams::m_dx

protected

Ids of dx vector (for implicit schemes)

◆ m_energy

bool sofa::core::MechanicalParams::m_energy

protected

Should the kinematic and potential energies be computed ?

◆ m_f

ConstMultiVecDerivId sofa::core::MechanicalParams::m_f

protected

Ids of force vector.

◆ m_implicit

bool sofa::core::MechanicalParams::m_implicit

protected

Is the time integration scheme implicit ?

◆ m_implicitPosition

SReal sofa::core::MechanicalParams::m_implicitPosition

protected

ratio of future and current velocity used for position update (1 is fully implicit, 0 is fully explicit)

◆ m_implicitVelocity

SReal sofa::core::MechanicalParams::m_implicitVelocity

protected

ratio of future and current force used for velocity update (1 is fully implicit, 0 is fully explicit)

◆ m_kFactor

SReal sofa::core::MechanicalParams::m_kFactor

protected

Stiffness matrix contributions factor (for implicit schemes)

◆ m_kFactorUsed

bool sofa::core::MechanicalParams::m_kFactorUsed

mutableprotected

Checks if the stiffness matrix contributions factor has been accessed.

◆ m_mFactor

SReal sofa::core::MechanicalParams::m_mFactor

protected

Mass matrix contributions factor (for implicit schemes)

◆ m_supportOnlySymmetricMatrix

bool sofa::core::MechanicalParams::m_supportOnlySymmetricMatrix

protected

True if a symmetric matrix is assumed in the left-hand term of the dynamics equations, for solvers specialized on symmetric matrices.

◆ m_v

ConstMultiVecDerivId sofa::core::MechanicalParams::m_v

protected

Ids of velocity vector.

◆ m_x

ConstMultiVecCoordId sofa::core::MechanicalParams::m_x

protected

Ids of position vector.

Constructor details

◆ MechanicalParams() [1/2]

sofa::core::MechanicalParams::MechanicalParams ( const sofa::core::ExecParams & p = sofa::core::ExecParams() )

Constructor, initializing all VecIds to default values, implicit and energy flags to false.

◆ MechanicalParams() [2/2]

sofa::core::MechanicalParams::MechanicalParams ( const MechanicalParams & mparams )

Copy Constructor.

Function details

◆ bFactor()

SReal sofa::core::MechanicalParams::bFactor ( ) const

inline

Damping matrix contributions factor (for implicit schemes)

◆ defaultInstance()

const MechanicalParams * sofa::core::MechanicalParams::defaultInstance ( )

static

Get the default MechanicalParams, to be used to provide a default values for method parameters.

◆ df() [1/2]

ConstMultiVecDerivId& sofa::core::MechanicalParams::df ( )

inline

◆ df() [2/2]

const ConstMultiVecDerivId& sofa::core::MechanicalParams::df ( ) const

inline

◆ dt()

SReal sofa::core::MechanicalParams::dt ( ) const

inline

Time step.

◆ dx() [1/2]

ConstMultiVecDerivId& sofa::core::MechanicalParams::dx ( )

inline

◆ dx() [2/2]

const ConstMultiVecDerivId& sofa::core::MechanicalParams::dx ( ) const

inline

◆ energy()

bool sofa::core::MechanicalParams::energy ( ) const

inline

Should the kinematic and potential energies be computed ?

◆ f() [1/2]

ConstMultiVecDerivId& sofa::core::MechanicalParams::f ( )

inline

◆ f() [2/2]

const ConstMultiVecDerivId& sofa::core::MechanicalParams::f ( ) const

inline

◆ getKFactorUsed()

bool sofa::core::MechanicalParams::getKFactorUsed ( ) const

inline

◆ implicit()

bool sofa::core::MechanicalParams::implicit ( ) const

inline

Is the time integration scheme implicit ?

◆ implicitPosition()

const SReal& sofa::core::MechanicalParams::implicitPosition ( ) const

inline

◆ implicitVelocity()

const SReal& sofa::core::MechanicalParams::implicitVelocity ( ) const

inline

◆ kFactor()

SReal sofa::core::MechanicalParams::kFactor ( ) const

inline

Stiffness matrix contributions factor (for implicit schemes)

◆ kFactorIncludingRayleighDamping()

SReal sofa::core::MechanicalParams::kFactorIncludingRayleighDamping ( SReal rayleighStiffness ) const

inline

Returns: kfactor + bfactor*rayleighStiffness

◆ mFactor()

SReal sofa::core::MechanicalParams::mFactor ( ) const

inline

Mass matrix contributions factor (for implicit schemes)

◆ mFactorIncludingRayleighDamping()

SReal sofa::core::MechanicalParams::mFactorIncludingRayleighDamping ( SReal rayleighMass ) const

inline

Returns: mfactor + bfactor*rayleighMass

◆ operator=()

MechanicalParams * sofa::core::MechanicalParams::operator= ( const MechanicalParams & mparams )

◆ readDf()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::MechanicalParams::readDf ( const S * state ) const

inline

Read access to current df vector (for implicit schemes)

◆ readDx()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::MechanicalParams::readDx ( const S * state ) const

inline

Read access to current dx vector (for implicit schemes)

◆ readF()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::MechanicalParams::readF ( const S * state ) const

inline

Read access to current force vector.

◆ readV()

template<class S >

const Data<typename S::VecDeriv>* sofa::core::MechanicalParams::readV ( const S * state ) const

inline

Read access to current velocity vector.

◆ readX()

template<class S >

const Data<typename S::VecCoord>* sofa::core::MechanicalParams::readX ( const S * state ) const

inline

Read access to current position vector.

◆ setBFactor()

MechanicalParams& sofa::core::MechanicalParams::setBFactor ( SReal v )

inline

Set Damping matrix contributions factor (for implicit schemes)

◆ setDf() [1/3]

template<class StateSet >

MechanicalParams& sofa::core::MechanicalParams::setDf	(	const StateSet &	g,
		ConstVecDerivId	v
	)

inline

◆ setDf() [2/3]

MechanicalParams& sofa::core::MechanicalParams::setDf ( ConstMultiVecDerivId v )

inline

◆ setDf() [3/3]

MechanicalParams& sofa::core::MechanicalParams::setDf ( ConstVecDerivId v )

inline

Set the IDs of df vector (for implicit schemes)

◆ setDt()

MechanicalParams& sofa::core::MechanicalParams::setDt ( SReal v )

inline

Set time step.

◆ setDx() [1/3]

template<class StateSet >

MechanicalParams& sofa::core::MechanicalParams::setDx	(	const StateSet &	g,
		ConstVecDerivId	v
	)

inline

◆ setDx() [2/3]

MechanicalParams& sofa::core::MechanicalParams::setDx ( ConstMultiVecDerivId v )

inline

◆ setDx() [3/3]

MechanicalParams& sofa::core::MechanicalParams::setDx ( ConstVecDerivId v )

inline

Set the IDs of dx vector (for implicit schemes)

◆ setEnergy()

MechanicalParams& sofa::core::MechanicalParams::setEnergy ( bool v )

inline

Specify if the potential and kinematic energies should be computed ?

◆ setExecParams()

MechanicalParams * sofa::core::MechanicalParams::setExecParams ( const core::ExecParams * params )

◆ setF() [1/3]

template<class StateSet >

MechanicalParams& sofa::core::MechanicalParams::setF	(	const StateSet &	g,
		ConstVecDerivId	v
	)

inline

◆ setF() [2/3]

MechanicalParams& sofa::core::MechanicalParams::setF ( ConstMultiVecDerivId v )

inline

◆ setF() [3/3]

MechanicalParams& sofa::core::MechanicalParams::setF ( ConstVecDerivId v )

inline

Set the IDs of force vector.

◆ setImplicit()

MechanicalParams& sofa::core::MechanicalParams::setImplicit ( bool v )

inline

Specify if the time integration scheme is implicit.

◆ setImplicitPosition()

void sofa::core::MechanicalParams::setImplicitPosition ( SReal i )

inline

◆ setImplicitVelocity()

void sofa::core::MechanicalParams::setImplicitVelocity ( SReal i )

inline

◆ setKFactor()

MechanicalParams& sofa::core::MechanicalParams::setKFactor ( SReal v )

inline

Set Stiffness matrix contributions factor (for implicit schemes)

◆ setKFactorUsed()

void sofa::core::MechanicalParams::setKFactorUsed ( bool b ) const

inline

Checks wether or nor kFactor is used in ForceFields. Temporary here for compatibility reasons.

◆ setMFactor()

MechanicalParams& sofa::core::MechanicalParams::setMFactor ( SReal v )

inline

Set Mass matrix contributions factor (for implicit schemes)

◆ setSupportOnlySymmetricMatrix()

MechanicalParams& sofa::core::MechanicalParams::setSupportOnlySymmetricMatrix ( bool b )

inline

Set the flag (for implicit schemes) specifying if solvers are only specialized for symmetric matrices.

◆ setSymmetricMatrix()

MechanicalParams& sofa::core::MechanicalParams::setSymmetricMatrix ( bool b )

delete

◆ setV() [1/3]

template<class StateSet >

MechanicalParams& sofa::core::MechanicalParams::setV	(	const StateSet &	g,
		ConstVecDerivId	v
	)

inline

◆ setV() [2/3]

MechanicalParams& sofa::core::MechanicalParams::setV ( ConstMultiVecDerivId v )

inline

◆ setV() [3/3]

MechanicalParams& sofa::core::MechanicalParams::setV ( ConstVecDerivId v )

inline

Set the IDs of velocity vector.

◆ setX() [1/3]

template<class StateSet >

MechanicalParams& sofa::core::MechanicalParams::setX	(	const StateSet &	g,
		ConstVecCoordId	v
	)

inline

◆ setX() [2/3]

MechanicalParams& sofa::core::MechanicalParams::setX ( ConstMultiVecCoordId v )

inline

◆ setX() [3/3]

MechanicalParams& sofa::core::MechanicalParams::setX ( ConstVecCoordId v )

inline

Set the IDs of position vector.

◆ supportOnlySymmetricMatrix()

bool sofa::core::MechanicalParams::supportOnlySymmetricMatrix ( ) const

inline

Symmetric matrix flag, for solvers specialized on symmetric matrices.

◆ symmetricMatrix()

bool sofa::core::MechanicalParams::symmetricMatrix ( ) const

delete

◆ v() [1/2]

ConstMultiVecDerivId& sofa::core::MechanicalParams::v ( )

inline

◆ v() [2/2]

const ConstMultiVecDerivId& sofa::core::MechanicalParams::v ( ) const

inline

◆ x() [1/2]

ConstMultiVecCoordId& sofa::core::MechanicalParams::x ( )

inline

◆ x() [2/2]

const ConstMultiVecCoordId& sofa::core::MechanicalParams::x ( ) const

inline

Detailed Description

Protected Attributes

Public Member Functions

Static Public Member Functions

Setup methods

Experimental compliance API

Attribute details

◆ m_bFactor

◆ m_df

◆ m_dt

◆ m_dx

◆ m_energy

◆ m_f

◆ m_implicit

◆ m_implicitPosition

◆ m_implicitVelocity

◆ m_kFactor

◆ m_kFactorUsed

◆ m_mFactor

◆ m_supportOnlySymmetricMatrix

◆ m_v

◆ m_x

Constructor details

◆ MechanicalParams() [1/2]

◆ MechanicalParams() [2/2]

Function details

◆ bFactor()

◆ defaultInstance()

◆ df() [1/2]

◆ df() [2/2]

◆ dt()

◆ dx() [1/2]

◆ dx() [2/2]

◆ energy()

◆ f() [1/2]

◆ f() [2/2]

◆ getKFactorUsed()

◆ implicit()

◆ implicitPosition()

◆ implicitVelocity()

◆ kFactor()

◆ kFactorIncludingRayleighDamping()

◆ mFactor()

◆ mFactorIncludingRayleighDamping()

◆ operator=()

◆ readDf()

◆ readDx()

◆ readF()

◆ readV()

◆ readX()

◆ setBFactor()

◆ setDf() [1/3]

◆ setDf() [2/3]

◆ setDf() [3/3]

◆ setDt()

◆ setDx() [1/3]

◆ setDx() [2/3]

◆ setDx() [3/3]

◆ setEnergy()

◆ setExecParams()

◆ setF() [1/3]

◆ setF() [2/3]

◆ setF() [3/3]

◆ setImplicit()

◆ setImplicitPosition()

◆ setImplicitVelocity()

◆ setKFactor()

◆ setKFactorUsed()

◆ setMFactor()

◆ setSupportOnlySymmetricMatrix()

◆ setSymmetricMatrix()

◆ setV() [1/3]

◆ setV() [2/3]

◆ setV() [3/3]

◆ setX() [1/3]

◆ setX() [2/3]

◆ setX() [3/3]

◆ supportOnlySymmetricMatrix()

◆ symmetricMatrix()

◆ v() [1/2]