For BaseMatrix. More...

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

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

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

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

class	BaseConstraintSet

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

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

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

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

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

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

class	StiffnessMatrixAccumulator

class	ListStiffnessMatrixAccumulator

class	DampingMatrixAccumulator

class	ListDampingMatrixAccumulator

class	StiffnessMatrix

class	DampingMatrix

class	MassMatrixAccumulator

class	ListMassMatrixAccumulator

class	MassMatrix

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

class	BaseMatrixLinearSystem

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

class	BaseOrderingMethod
	Abstract base class for ordering methods in sparse linear solvers. More...

struct	ZeroDirichletCondition

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

class	BaseRotationFinder

class	BaseVectorOperations

struct	BlockType

class	BlocMatrixWriter

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

class	ConstraintCorrection

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

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

class	CRSMultiMatrixAccessor

class	DefaultMultiMatrixAccessor

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

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

class	LinearSolverAccessor

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

class	MatrixAccessorCompat

class	AddToMatrixCompatMatrix

class	ApplyConstraintCompat

class	MechanicalMatrix

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

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

class	MultiMatrix

class	MultiMatrixAccessor

class	TMultiVec

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

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

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

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

class	PairStateAccessor

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

class	RotationFinder

class	SingleMatrixAccessor

class	SingleStateAccessor

class	StateAccessor

Typedefs
typedef TMultiVec< V_COORD >	MultiVecCoord

typedef TMultiVec< V_DERIV >	MultiVecDeriv

typedef TMultiVec< V_MATDERIV >	MultiVecMatrixDeriv

Enumerations
enum class	BlocData { SCALAR , MAT33 }

enum class	BlocPrecision { FLOAT , DOUBLE }

Functions
template<class T >
BlocPrecision	getBlockPrecision ()

template<class TReal >
std::enable_if_t< std::is_floating_point_v< TReal >, BlockType >	getScalarBlocType ()

template<class TReal >
std::enable_if_t< std::is_floating_point_v< TReal >, BlockType >	getMat33BlocType ()

template<int blocRsize, int blocCsize, class elementType >
linearalgebra::BaseMatrix *	createBlocSparseMatrixT (int nbRowBloc, int nbColBloc, bool _debug)

template<int blocRsize, int blocCsize>
linearalgebra::BaseMatrix *	createBlocSparseMatrixTReal (int elementSize, int nbRowBloc, int nbColBloc, bool _debug)

template<int blocRsize>
linearalgebra::BaseMatrix *	createBlocSparseMatrixTRow (int blocCsize, int elementSize, int nbRowBloc, int nbColBloc, bool _debug)

linearalgebra::BaseMatrix *	createBlocSparseMatrix (int blocRsize, int blocCsize, int elementSize, int nbRowBloc, int nbColBloc, bool _debug=false)

template<int JblocRsize, int JblocCsize, int MblocCsize, class JelementType , class MelementType >
bool	opAddMulJTM_TBloc (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix J, linearalgebra::BaseMatrix *stiffMatrix2, int offsetRow, int offsetCol, bool _debug)

template<int JblocRsize, int JblocCsize, int MblocCsize, class JelementType >
bool	opAddMulJTM_T4 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix J, linearalgebra::BaseMatrix *stiffMatrix2, int offsetRow, int offsetCol, int MelementSize, bool _debug)

template<int JblocRsize, int JblocCsize, int MblocCsize>
bool	opAddMulJTM_T3 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix J, linearalgebra::BaseMatrix *stiffMatrix2, int offsetRow, int offsetCol, int JelementSize, int MelementSize, bool _debug)

template<int JblocRsize, int JblocCsize>
bool	opAddMulJTM_T2 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix J, linearalgebra::BaseMatrix *stiffMatrix2, int offsetRow, int offsetCol, int _MblocCsize, int JelementSize, int MelementSize, bool _debug)

template<int JblocRsize>
bool	opAddMulJTM_T1 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix J, linearalgebra::BaseMatrix *stiffMatrix2, int offsetRow, int offsetCol, int _JblocCsize, int _MblocCsize, int JelementSize, int MelementSize, bool _debug)

bool	opAddMulJTM (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix J, linearalgebra::BaseMatrix *stiffMatrix2, int offsetRow, int offsetCol, int _JblocRsize, int _JblocCsize, int _MblocCsize, int JelementSize, int MelementSize, bool _debug=false)

template<int MblocRsize, int MblocCsize, int JblocCsize, class JelementType , class MelementType >
bool	opAddMulMJ_TBloc (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix stiffMatrix2, linearalgebra::BaseMatrix *J, int offsetRow, int offsetCol, bool _debug)

template<int MblocRsize, int MblocCsize, int JblocCsize, class JelementType >
bool	opAddMulMJ_T4 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix stiffMatrix2, linearalgebra::BaseMatrix *J, int offsetRow, int offsetCol, int MelementSize, bool _debug)

template<int MblocRsize, int MblocCsize, int JblocCsize>
bool	opAddMulMJ_T3 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix stiffMatrix2, linearalgebra::BaseMatrix *J, int offsetRow, int offsetCol, int JelementSize, int MelementSize, bool _debug)

template<int MblocRsize, int MblocCsize>
bool	opAddMulMJ_T2 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix stiffMatrix2, linearalgebra::BaseMatrix *J, int offsetRow, int offsetCol, int _JblocCsize, int JelementSize, int MelementSize, bool _debug)

template<int MblocRsize>
bool	opAddMulMJ_T1 (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix stiffMatrix2, linearalgebra::BaseMatrix *J, int offsetRow, int offsetCol, int _MblocCsize, int _JblocCsize, int JelementSize, int MelementSize, bool _debug)

bool	opAddMulMJ (linearalgebra::BaseMatrix out, linearalgebra::BaseMatrix stiffMatrix2, linearalgebra::BaseMatrix *J, int offsetRow, int offsetCol, int _MblocRsize, int _MblocCsize, int _JblocCsize, int JelementSize, int MelementSize, bool _debug=false)

std::ostream &	operator<< (std::ostream &out, const MechanicalMatrix &m)

Variables
template class SOFA_CORE_API	Constraint< Vec6Types >

template class SOFA_CORE_API	Constraint< Vec3Types >

template class SOFA_CORE_API	Constraint< Vec2Types >

template class SOFA_CORE_API	Constraint< Vec1Types >

template class SOFA_CORE_API	Constraint< Rigid3Types >

template class SOFA_CORE_API	Constraint< Rigid2Types >

template class SOFA_CORE_API	ConstraintCorrection< Vec3Types >

template class SOFA_CORE_API	ConstraintCorrection< Vec1Types >

template class SOFA_CORE_API	ConstraintCorrection< Vec2Types >

template class SOFA_CORE_API	ConstraintCorrection< Rigid3Types >

template class SOFA_CORE_API	ForceField< Vec3Types >

template class SOFA_CORE_API	ForceField< Vec2Types >

template class SOFA_CORE_API	ForceField< Vec1Types >

template class SOFA_CORE_API	ForceField< Vec6Types >

template class SOFA_CORE_API	ForceField< Rigid3Types >

template class SOFA_CORE_API	ForceField< Rigid2Types >

template class SOFA_CORE_API	Mass< Vec3Types >

template class SOFA_CORE_API	Mass< Vec2Types >

template class SOFA_CORE_API	Mass< Vec1Types >

template class SOFA_CORE_API	Mass< Vec6Types >

template class SOFA_CORE_API	Mass< Rigid3Types >

template class SOFA_CORE_API	Mass< Rigid2Types >

template class SOFA_CORE_API	MechanicalState< Vec3Types >

template class SOFA_CORE_API	MechanicalState< Vec2Types >

template class SOFA_CORE_API	MechanicalState< Vec1Types >

template class SOFA_CORE_API	MechanicalState< Vec6Types >

template class SOFA_CORE_API	MechanicalState< Rigid3Types >

template class SOFA_CORE_API	MechanicalState< Rigid2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec2Types, Vec2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec1Types, Vec1Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Vec2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionConstraint< Rigid2Types, Vec2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec1Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec1Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec2Types, Vec2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec1Types, Vec1Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec3Types, Rigid3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Vec2Types, Rigid2Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid3Types, Vec3Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid3Types, Vec1Types >

template class SOFA_CORE_API	MixedInteractionForceField< Rigid2Types, Vec2Types >

template class SOFA_CORE_API	PairInteractionConstraint< Vec3Types >

template class SOFA_CORE_API	PairInteractionConstraint< Vec2Types >

template class SOFA_CORE_API	PairInteractionConstraint< Vec1Types >

template class SOFA_CORE_API	PairInteractionConstraint< Rigid3Types >

template class SOFA_CORE_API	PairInteractionConstraint< Rigid2Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec6Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec3Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec2Types >

template class SOFA_CORE_API	PairInteractionForceField< Vec1Types >

template class SOFA_CORE_API	PairInteractionForceField< Rigid3Types >

template class SOFA_CORE_API	PairInteractionForceField< Rigid2Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Vec3Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Vec2Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Vec1Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Rigid3Types >

template class SOFA_CORE_API	PairInteractionProjectiveConstraintSet< Rigid2Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec6Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec3Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec2Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Vec1Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Rigid3Types >

template class SOFA_CORE_API	ProjectiveConstraintSet< Rigid2Types >

Detailed Description

For BaseMatrix.

This line registers the DefaultMultiMatrixAccessor to the messaging system allowing to use msg_info() instead of msg_info("DefaultMultiMatrixAccessor")

Typedef Documentation

◆ MultiVecCoord

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

◆ MultiVecDeriv

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

◆ MultiVecMatrixDeriv

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

Enumeration Type Documentation

◆ BlocData

enum sofa::core::behavior::BlocData

strong

Enumerator
SCALAR
MAT33

◆ BlocPrecision

enum sofa::core::behavior::BlocPrecision

strong

Enumerator
FLOAT
DOUBLE

Function Documentation

◆ createBlocSparseMatrix()

linearalgebra::BaseMatrix* sofa::core::behavior::createBlocSparseMatrix	(	int	blocRsize,
		int	blocCsize,
		int	elementSize,
		int	nbRowBloc,
		int	nbColBloc,
		bool	_debug = `false`
	)

inline

◆ createBlocSparseMatrixT()

template<int blocRsize, int blocCsize, class elementType >

linearalgebra::BaseMatrix* sofa::core::behavior::createBlocSparseMatrixT	(	int	nbRowBloc,
		int	nbColBloc,
		bool	_debug
	)

inline

◆ createBlocSparseMatrixTReal()

template<int blocRsize, int blocCsize>

linearalgebra::BaseMatrix* sofa::core::behavior::createBlocSparseMatrixTReal	(	int	elementSize,
		int	nbRowBloc,
		int	nbColBloc,
		bool	_debug
	)

inline

◆ createBlocSparseMatrixTRow()

template<int blocRsize>

linearalgebra::BaseMatrix* sofa::core::behavior::createBlocSparseMatrixTRow	(	int	blocCsize,
		int	elementSize,
		int	nbRowBloc,
		int	nbColBloc,
		bool	_debug
	)

inline

◆ getBlockPrecision()

template<class T >

BlocPrecision sofa::core::behavior::getBlockPrecision ( )

◆ getMat33BlocType()

template<class TReal >

std::enable_if_t<std::is_floating_point_v<TReal>, BlockType> sofa::core::behavior::getMat33BlocType ( )

◆ getScalarBlocType()

template<class TReal >

std::enable_if_t<std::is_floating_point_v<TReal>, BlockType> sofa::core::behavior::getScalarBlocType ( )

◆ opAddMulJTM()

bool sofa::core::behavior::opAddMulJTM	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	J,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		int	offsetRow,
		int	offsetCol,
		int	_JblocRsize,
		int	_JblocCsize,
		int	_MblocCsize,
		int	JelementSize,
		int	MelementSize,
		bool	_debug = `false`
	)

inline

◆ opAddMulJTM_T1()

template<int JblocRsize>

bool sofa::core::behavior::opAddMulJTM_T1	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	J,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		int	offsetRow,
		int	offsetCol,
		int	_JblocCsize,
		int	_MblocCsize,
		int	JelementSize,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulJTM_T2()

template<int JblocRsize, int JblocCsize>

bool sofa::core::behavior::opAddMulJTM_T2	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	J,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		int	offsetRow,
		int	offsetCol,
		int	_MblocCsize,
		int	JelementSize,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulJTM_T3()

template<int JblocRsize, int JblocCsize, int MblocCsize>

bool sofa::core::behavior::opAddMulJTM_T3	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	J,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		int	offsetRow,
		int	offsetCol,
		int	JelementSize,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulJTM_T4()

template<int JblocRsize, int JblocCsize, int MblocCsize, class JelementType >

bool sofa::core::behavior::opAddMulJTM_T4	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	J,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		int	offsetRow,
		int	offsetCol,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulJTM_TBloc()

template<int JblocRsize, int JblocCsize, int MblocCsize, class JelementType , class MelementType >

bool sofa::core::behavior::opAddMulJTM_TBloc	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	J,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		int	offsetRow,
		int	offsetCol,
		bool	_debug
	)

inline

◆ opAddMulMJ()

bool sofa::core::behavior::opAddMulMJ	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		linearalgebra::BaseMatrix *	J,
		int	offsetRow,
		int	offsetCol,
		int	_MblocRsize,
		int	_MblocCsize,
		int	_JblocCsize,
		int	JelementSize,
		int	MelementSize,
		bool	_debug = `false`
	)

inline

◆ opAddMulMJ_T1()

template<int MblocRsize>

bool sofa::core::behavior::opAddMulMJ_T1	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		linearalgebra::BaseMatrix *	J,
		int	offsetRow,
		int	offsetCol,
		int	_MblocCsize,
		int	_JblocCsize,
		int	JelementSize,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulMJ_T2()

template<int MblocRsize, int MblocCsize>

bool sofa::core::behavior::opAddMulMJ_T2	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		linearalgebra::BaseMatrix *	J,
		int	offsetRow,
		int	offsetCol,
		int	_JblocCsize,
		int	JelementSize,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulMJ_T3()

template<int MblocRsize, int MblocCsize, int JblocCsize>

bool sofa::core::behavior::opAddMulMJ_T3	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		linearalgebra::BaseMatrix *	J,
		int	offsetRow,
		int	offsetCol,
		int	JelementSize,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulMJ_T4()

template<int MblocRsize, int MblocCsize, int JblocCsize, class JelementType >

bool sofa::core::behavior::opAddMulMJ_T4	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		linearalgebra::BaseMatrix *	J,
		int	offsetRow,
		int	offsetCol,
		int	MelementSize,
		bool	_debug
	)

inline

◆ opAddMulMJ_TBloc()

template<int MblocRsize, int MblocCsize, int JblocCsize, class JelementType , class MelementType >

bool sofa::core::behavior::opAddMulMJ_TBloc	(	linearalgebra::BaseMatrix *	out,
		linearalgebra::BaseMatrix *	stiffMatrix2,
		linearalgebra::BaseMatrix *	J,
		int	offsetRow,
		int	offsetCol,
		bool	_debug
	)