Public Types | Public Member Functions | Public Attributes | List of all members
SofaCaribou::forcefield::TractionForce Class Reference

Detailed Description

Defines a traction (tractive force) field.

A traction is a force applied to a surface region (planar discretization such as triangle or quad elements). It does not take into account the surface normal, but instead follows a force direction explicitly defined in the input parameters of the component.

This component allows to apply the total tractive force from a set of smaller load increments following a linear slope until the total load is reach, or apply all the load at once.

Template Parameters
DataTypesThe datatype of the coordinates/derivatives vectors (3D float vector, 3D double vector, 2D float vector or 2D double vector).

#include <TractionForce.h>

Inheritance diagram for SofaCaribou::forcefield::TractionForce:

Public Types

typedef sofa::defaulttype::Vec3Types DataTypes
typedef DataTypes::VecCoord VecCoord
typedef DataTypes::VecDeriv VecDeriv
typedef DataTypes::Coord Coord
typedef DataTypes::Deriv Deriv
typedef Coord::value_type Real
typedef sofa::defaulttype::Mat< 3, 3, Real > Mat33
template<int nRows, int Options = 0>
using Vector = Eigen::Matrix< Real, nRows, 1, Options >
template<int nRows>
using MapVector = Eigen::Map< const Vector< nRows, Eigen::ColMajor > >
using Triange = TriangleSetTopologyContainer::Triangle
using Quad = QuadSetTopologyContainer::Quad
using MechanicalStateLink = SingleLink< TractionForce, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINK >

Public Member Functions

 SOFA_CLASS (TractionForce, SOFA_TEMPLATE(sofa::core::behavior::ForceField, sofa::defaulttype::Vec3Types))
void init () override
void reset () override
void addForce (const sofa::core::MechanicalParams *mparams, Data< VecDeriv > &d_f, const Data< VecCoord > &d_x, const Data< VecDeriv > &d_v) override
void addDForce (const sofa::core::MechanicalParams *, Data< VecDeriv > &, const Data< VecDeriv > &) override
void addKToMatrix (sofa::defaulttype::BaseMatrix *, SReal, unsigned int &) override
void draw (const sofa::core::visual::VisualParams *vparams) override
void handleEvent (sofa::core::objectmodel::Event *event) override
SReal getPotentialEnergy (const sofa::core::MechanicalParams *, const Data< VecDeriv > &) const override
void increment_load (Deriv traction_increment_per_unit_area)
 Increment the traction load by an increment of traction_increment (vector of tractive force per unit area).

Public Attributes

Data< Deriv > d_traction
 Tractive force per unit area.
Data< sofa::helper::vector< Triange > > d_triangles
 List of triangles (ex: [t1p1 t1p2 t1p3 t2p1 t2p2 t2p3 ...])
Data< sofa::helper::vector< Quad > > d_quads
 List of quads (ex: [q1p1 q1p2 q1p3 q1p4 q2p1 q2p2 q2p3 ...])
Data< Real > d_slope
 Slope of force increment, the resulting traction will be p^t = p^{t-1} + p*slope. If slope = 0, the force will be constant.
MechanicalStateLink d_mechanicalState
 Mechanical state that contains the triangle positions.
Data< unsigned int > d_number_of_steps_before_increment
 Number of steps to wait before a load increment. This can be used to simulate a Newton-Raphson solver.
Data< bool > d_draw_faces
 Draw the faces on which the traction will be applied.
Data< VecDeriv > d_nodal_forces
Data< Real > d_total_load
 Tractive force for each nodes of the surface on which we are applying the traction. More...

Member Data Documentation

◆ d_total_load

Data<Real> SofaCaribou::forcefield::TractionForce::d_total_load

Tractive force for each nodes of the surface on which we are applying the traction.

Current total load applied (tractive force vector times the total surface area)

The documentation for this class was generated from the following files: