Base class for all deformable representations MassSprings, Finite Element Models,... More...

#include <DeformableRepresentation.h>

Inheritance diagram for SurgSim::Physics::DeformableRepresentation:

Public Member Functions
	DeformableRepresentation (const std::string &name)
	Constructor. More...

virtual	~DeformableRepresentation ()
	Destructor.

void	resetState () override
	Reset the representation to its initial/default state.

virtual void	setInitialState (std::shared_ptr< SurgSim::Math::OdeState > initialState)
	Initialize the state variables to initialState. More...

virtual const std::shared_ptr< SurgSim::Math::OdeState >	getCurrentState () const
	Return the current state of the deformable representation. More...

virtual const std::shared_ptr< SurgSim::Math::OdeState >	getPreviousState () const
	Return the previous state of the deformable representation. More...

virtual const std::shared_ptr< SurgSim::Math::OdeState >	getFinalState () const
	Return the final state of the deformable representation. More...

virtual void	interpolatePreviousState (double t)
	Declare a new previous state by interpolating between the old previous state and the current state using parametric time variable t. More...

size_t	getNumDofPerNode () const
	Gets the number of degrees of freedom per node. More...

void	setIntegrationScheme (SurgSim::Math::IntegrationScheme integrationScheme)
	Sets the numerical integration scheme. More...

SurgSim::Math::IntegrationScheme	getIntegrationScheme () const
	Gets the numerical integration scheme. More...

std::shared_ptr< SurgSim::Math::OdeSolver >	getOdeSolver () const

void	setLinearSolver (SurgSim::Math::LinearSolver linearSolver)
	Sets the linear algebraic solver. More...

SurgSim::Math::LinearSolver	getLinearSolver () const
	Gets the linear algebraic solver. More...

virtual void	addExternalGeneralizedForce (std::shared_ptr< Localization > localization, const SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix())=0
	Add an external generalized force applied on a specific localization. More...

const SurgSim::Math::Vector &	getExternalGeneralizedForce () const

const SurgSim::Math::SparseMatrix &	getExternalGeneralizedStiffness () const

const SurgSim::Math::SparseMatrix &	getExternalGeneralizedDamping () const

Math::Matrix	applyCompliance (const Math::OdeState &state, const Math::Matrix &b) override
	Calculate the product \(C.b\) where \(C\) is the compliance matrix with boundary conditions applied. More...

virtual const SurgSim::Math::Matrix &	getComplianceMatrix () const
	Gets the compliance matrix associated with motion.

void	update (double dt) override
	Update the representation state to the current time step. More...

void	afterUpdate (double dt) override
	Postprocessing done after the update call This needs to be called from the outside usually from a Computation. More...

void	applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override
	Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...

void	deactivateAndReset ()
	Deactivate and call resetState.

void	setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override
	Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...

void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose) override
	Set the pose of the representation with respect to the Scene Element. More...

Public Member Functions inherited from SurgSim::Physics::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual	~Representation ()
	Destructor.

size_t	getNumDof () const
	Query the object number of degrees of freedom. More...

void	setIsGravityEnabled (bool isGravityEnabled)
	Set the gravity enable flag. More...

bool	isGravityEnabled () const
	Get the gravity enable flag. More...

void	setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
	Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...

bool	isDrivingSceneElementPose ()
	Query if this Representation is controlling the pose of the SceneElement that it is part of. More...

virtual void	beforeUpdate (double dt)
	Preprocessing done before the update call This needs to be called from the outside usually from a Computation. More...

virtual std::shared_ptr< Localization >	createLocalization (const SurgSim::DataStructures::Location &location)
	Computes a localized coordinate w.r.t this representation, given a Location object. More...

std::shared_ptr< SurgSim::Collision::Representation >	getCollisionRepresentation () const

std::shared_ptr< ConstraintImplementation >	getConstraintImplementation (SurgSim::Physics::ConstraintType type)
	Get a constraint implementation of the given type for this representation. More...

Public Member Functions inherited from SurgSim::Framework::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Public Member Functions inherited from SurgSim::Math::OdeEquation
virtual	~OdeEquation ()
	Virtual destructor.

const std::shared_ptr< OdeState >	getInitialState () const
	Retrieves the ode initial conditions \((x0, v0)\) (i.e the initial state) More...

virtual void	updateFMDK (const OdeState &state, int options)
	Update the OdeEquation (and support data) based on the given state. More...

const Vector &	getF () const

const SparseMatrix &	getM () const

const SparseMatrix &	getD () const

const SparseMatrix &	getK () const

bool	hasF () const

bool	hasM () const

bool	hasK () const

bool	hasD () const

Protected Member Functions
bool	doInitialize () override
	Interface to be implemented by derived classes. More...

bool	doWakeUp () override
	Interface to be implemented by derived classes. More...

virtual void	transformState (std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)=0
	Transform a state using a given transformation. More...

Protected Member Functions inherited from SurgSim::Physics::Representation
void	setNumDof (size_t numDof)
	Set the number of degrees of freedom. More...

const SurgSim::Math::Vector3d &	getGravity () const
	Get the gravity used by this Representation. More...

void	driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
	This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Protected Member Functions inherited from SurgSim::Math::OdeEquation
virtual void	computeF (const OdeState &state)=0
	Evaluation of the RHS function \(f(x, v)\) for a given state. More...

virtual void	computeM (const OdeState &state)=0
	Evaluation of the LHS matrix \(M(x,v)\) for a given state. More...

virtual void	computeD (const OdeState &state)=0
	Evaluation of \(D = -\frac{\partial f}{\partial v}(x,v)\) for a given state. More...

virtual void	computeK (const OdeState &state)=0
	Evaluation of \(K = -\frac{\partial f}{\partial x}(x,v)\) for a given state. More...

virtual void	computeFMDK (const OdeState &state)=0
	Evaluation of \(f(x,v)\), \(M(x,v)\), \(D = -\frac{\partial f}{\partial v}(x,v)\) and \(K = -\frac{\partial f}{\partial x}(x,v)\). More...

Protected Attributes
std::shared_ptr< SurgSim::Math::OdeState >	m_previousState
	The previous state inside the calculation loop, this has no meaning outside of the loop.

std::shared_ptr< SurgSim::Math::OdeState >	m_currentState
	The currently calculated state inside the physics loop, after the whole calculation is done this will become m_finalState.

std::shared_ptr< SurgSim::Math::OdeState >	m_newState
	New state is a temporary variable to store the newly computed state.

std::shared_ptr< SurgSim::Math::OdeState >	m_finalState
	Last valid state (a.k.a final state) More...

size_t	m_numDofPerNode
	Number of degrees of freedom per node (varies per deformable model) More...

SurgSim::Math::IntegrationScheme	m_integrationScheme
	Numerical Integration scheme (dynamic explicit/implicit solver)

SurgSim::Math::LinearSolver	m_linearSolver
	Linear algebraic solver used.

std::shared_ptr< SurgSim::Math::OdeSolver >	m_odeSolver
	Ode solver (its type depends on the numerical integration scheme)


bool	m_hasExternalGeneralizedForce
	External generalized force, stiffness and damping applied on the deformable representation.

SurgSim::Math::Vector	m_externalGeneralizedForce

SurgSim::Math::SparseMatrix	m_externalGeneralizedStiffness

SurgSim::Math::SparseMatrix	m_externalGeneralizedDamping

bool	m_previousHasExternalGeneralizedForce

SurgSim::Math::SparseMatrix	m_previousExternalGeneralizedStiffness

SurgSim::Math::SparseMatrix	m_previousExternalGeneralizedDamping

Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representation >	m_collisionRepresentation
	This entity's collision representation, these are usually very specific to the physics representation.

std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	Logger for this class.

Protected Attributes inherited from SurgSim::Math::OdeEquation
std::shared_ptr< OdeState >	m_initialState
	The initial state (which defines the ODE initial conditions \((x0, v0)\)) More...

unsigned int	m_initState

Vector	m_f
	The vector containing \(f(x, v)\).

SparseMatrix	m_M
	The matrix \(M(x,v)\).

SparseMatrix	m_D
	The The matrix \(D = -\frac{\partial f}{\partial v}(x,v)\).

SparseMatrix	m_K
	The The matrix \(K = -\frac{\partial f}{\partial x}(x,v)\).

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Detailed Description

Base class for all deformable representations MassSprings, Finite Element Models,...

Note: It is both a Physics::Representation and a Math::OdeEquation; It holds the representation states (common to all deformable) except the initial state,; which is being held by the OdeEquation (initial condition of the ode problem).; It holds the initial pose, which should be set before setting the initial state so the states; can be properly transformed.; The current pose is always identity and therefore cannot be set. Calling setPose will raise an exception.; It holds the force vector; the mass, damping and stiffness matrices; Derived classes must implement the Representation API and the OdeEquation API, also set; m_numDofPerNode and call Representation::setNumDof()

Constructor & Destructor Documentation

§ DeformableRepresentation()

SurgSim::Physics::DeformableRepresentation::DeformableRepresentation ( const std::string & name )

explicit

Constructor.

Parameters

name	The deformable representation's name

Member Function Documentation

§ addExternalGeneralizedForce()

virtual void SurgSim::Physics::DeformableRepresentation::addExternalGeneralizedForce	(	std::shared_ptr< Localization >	localization,
		const SurgSim::Math::Vector &	generalizedForce,
		const SurgSim::Math::Matrix &	K = `SurgSim::Math::Matrix()`,
		const SurgSim::Math::Matrix &	D = `SurgSim::Math::Matrix()`
	)

pure virtual

Add an external generalized force applied on a specific localization.

Parameters

localization	where the generalized force is applied
generalizedForce	The force to apply (of dimension getNumDofPerNode())
K	The stiffness matrix associated with the generalized force (Jacobian of the force w.r.t dof's position)
D	The damping matrix associated with the generalized force (Jacobian of the force w.r.t dof's velocity)

Implemented in SurgSim::Physics::MockFemRepresentation, SurgSim::Physics::MockDeformableRepresentation, SurgSim::Physics::MassSpringRepresentation, SurgSim::Physics::Fem1DRepresentation, SurgSim::Physics::Fem3DRepresentation, and SurgSim::Physics::Fem2DRepresentation.

§ afterUpdate()

void SurgSim::Physics::DeformableRepresentation::afterUpdate ( double dt )

overridevirtual

Postprocessing done after the update call This needs to be called from the outside usually from a Computation.

Parameters

dt	The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

§ applyCompliance()

Math::Matrix SurgSim::Physics::DeformableRepresentation::applyCompliance	(	const Math::OdeState &	state,
		const Math::Matrix &	b
	)

overridevirtual

Calculate the product \(C.b\) where \(C\) is the compliance matrix with boundary conditions applied.

Note that this can be rewritten as \((B^T)(M^{-1})(B.b) = (B^T)((M^{-1})(B.b)) = x\), where \((M^{-1})(B.b) = y\) is simply the solution to \(M.y = B.b\) and \(B^T.y = x\).

Parameters

state	\((x, v)\) the current position and velocity to evaluate the various terms with
b	The input matrix

Returns: The matrix \(C.b\)

Implements SurgSim::Math::OdeEquation.

Reimplemented in SurgSim::Physics::FemRepresentation.

§ applyCorrection()

void SurgSim::Physics::DeformableRepresentation::applyCorrection	(	double	dt,
		const Eigen::VectorBlock< SurgSim::Math::Vector > &	deltaVelocity
	)

overridevirtual

Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity.

This function typically is called in the physics pipeline (PhysicsManager::doUpdate) after solving the equations that enforce constraints when collisions occur. Specifically it is called in the PushResults::doUpdate step.

Parameters

dt	The time step
deltaVelocity	The block of a vector containing the correction to be applied to the velocity

Reimplemented from SurgSim::Physics::Representation.

§ doInitialize()

bool SurgSim::Physics::DeformableRepresentation::doInitialize ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

Reimplemented in SurgSim::Physics::MockFem1DRepresentation, SurgSim::Physics::MassSpringRepresentation, SurgSim::Physics::FemRepresentation, SurgSim::Physics::Fem3DRepresentation, SurgSim::Physics::Fem1DRepresentation, and SurgSim::Physics::Fem2DRepresentation.

§ doWakeUp()

bool SurgSim::Physics::DeformableRepresentation::doWakeUp ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is woken up successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

Reimplemented in SurgSim::Physics::Fem3DRepresentation.

§ getCurrentState()

const std::shared_ptr< SurgSim::Math::OdeState > SurgSim::Physics::DeformableRepresentation::getCurrentState ( ) const

virtual

Return the current state of the deformable representation.

Returns: the current state

§ getExternalGeneralizedDamping()

const SurgSim::Math::SparseMatrix & SurgSim::Physics::DeformableRepresentation::getExternalGeneralizedDamping ( ) const

Returns: the external generalized damping matrix

§ getExternalGeneralizedForce()

const SurgSim::Math::Vector & SurgSim::Physics::DeformableRepresentation::getExternalGeneralizedForce ( ) const

Returns: the external generalized force vector

§ getExternalGeneralizedStiffness()

const SurgSim::Math::SparseMatrix & SurgSim::Physics::DeformableRepresentation::getExternalGeneralizedStiffness ( ) const

Returns: the external generalized stiffness matrix

§ getFinalState()

const std::shared_ptr< SurgSim::Math::OdeState > SurgSim::Physics::DeformableRepresentation::getFinalState ( ) const

virtual

Return the final state of the deformable representation.

Returns: the final state

§ getIntegrationScheme()

SurgSim::Math::IntegrationScheme SurgSim::Physics::DeformableRepresentation::getIntegrationScheme ( ) const

Gets the numerical integration scheme.

Returns: The integration scheme currently in use

Note: Default is SurgSim::Math::INTEGRATIONSCHEME_EULER_EXPLICIT

§ getLinearSolver()

SurgSim::Math::LinearSolver SurgSim::Physics::DeformableRepresentation::getLinearSolver ( ) const

Gets the linear algebraic solver.

Returns: The linear solver currently in use

Note: Default is SurgSim::Math::LINEARSOLVER_LU

§ getNumDofPerNode()

size_t SurgSim::Physics::DeformableRepresentation::getNumDofPerNode ( ) const

Gets the number of degrees of freedom per node.

Returns: The number of degrees of freedom per node for this Deformable Representation

§ getOdeSolver()

std::shared_ptr< SurgSim::Math::OdeSolver > SurgSim::Physics::DeformableRepresentation::getOdeSolver ( ) const

Returns: The ode solver (dependent on the integration scheme)

Note: Will return nullptr if called before initialization.

§ getPreviousState()

const std::shared_ptr< SurgSim::Math::OdeState > SurgSim::Physics::DeformableRepresentation::getPreviousState ( ) const

virtual

Return the previous state of the deformable representation.

Returns: the previous state

§ interpolatePreviousState()

void SurgSim::Physics::DeformableRepresentation::interpolatePreviousState ( double t )

virtual

Declare a new previous state by interpolating between the old previous state and the current state using parametric time variable t.

Parameters

t	parametric time at which to calculate the new state

§ setCollisionRepresentation()

void SurgSim::Physics::DeformableRepresentation::setCollisionRepresentation ( std::shared_ptr< SurgSim::Collision::Representation > representation )

overridevirtual

Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation.

Specializes for discarding anything besides a rigid collision representation.

Parameters

representation The collision representation to be used.

Reimplemented from SurgSim::Physics::Representation.

§ setInitialState()

void SurgSim::Physics::DeformableRepresentation::setInitialState ( std::shared_ptr< SurgSim::Math::OdeState > initialState )

virtual

Initialize the state variables to initialState.

Parameters

initialState is the state to be set as the starting state

Reimplemented in SurgSim::Physics::MockFemRepresentation.

§ setIntegrationScheme()

void SurgSim::Physics::DeformableRepresentation::setIntegrationScheme ( SurgSim::Math::IntegrationScheme integrationScheme )

Sets the numerical integration scheme.

Parameters

integrationScheme The integration scheme to use

Exceptions

SurgSim::Framework::AssertionFailure raised if called after the component has been initialized.

§ setLinearSolver()

void SurgSim::Physics::DeformableRepresentation::setLinearSolver ( SurgSim::Math::LinearSolver linearSolver )

Sets the linear algebraic solver.

Parameters

linearSolver The linear algebraic solver to use

Exceptions

SurgSim::Framework::AssertionFailure raised if called after the component has been initialized.

§ setLocalPose()

void SurgSim::Physics::DeformableRepresentation::setLocalPose ( const SurgSim::Math::RigidTransform3d & pose )

overridevirtual

Set the pose of the representation with respect to the Scene Element.

Parameters

pose	The pose to set the representation to

Reimplemented from SurgSim::Framework::Representation.

§ transformState()

virtual void SurgSim::Physics::DeformableRepresentation::transformState	(	std::shared_ptr< SurgSim::Math::OdeState >	state,
		const SurgSim::Math::RigidTransform3d &	transform
	)

protectedpure virtual

Transform a state using a given transformation.

Parameters

[in,out]	state	The state to be transformed
	transform	The transformation to apply

Implemented in SurgSim::Physics::MockDeformableRepresentation, SurgSim::Physics::MassSpringRepresentation, SurgSim::Physics::Fem3DRepresentation, SurgSim::Physics::Fem1DRepresentation, and SurgSim::Physics::Fem2DRepresentation.

§ update()

void SurgSim::Physics::DeformableRepresentation::update ( double dt )

overridevirtual

Update the representation state to the current time step.

Parameters

dt	The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

Reimplemented in SurgSim::Physics::FemRepresentation.

Member Data Documentation

§ m_finalState

std::shared_ptr<SurgSim::Math::OdeState> SurgSim::Physics::DeformableRepresentation::m_finalState

protected

Last valid state (a.k.a final state)

Note: Backup of the current state for thread-safety access while the current state is being recomputed.

§ m_numDofPerNode

size_t SurgSim::Physics::DeformableRepresentation::m_numDofPerNode

protected

Number of degrees of freedom per node (varies per deformable model)

Note: MUST be set by the derived classes

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

SurgSim/Physics/DeformableRepresentation.h
SurgSim/Physics/DeformableRepresentation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ DeformableRepresentation()

Member Function Documentation

§ addExternalGeneralizedForce()

§ afterUpdate()

§ applyCompliance()

§ applyCorrection()

§ doInitialize()

§ doWakeUp()

§ getCurrentState()

§ getExternalGeneralizedDamping()

§ getExternalGeneralizedForce()

§ getExternalGeneralizedStiffness()

§ getFinalState()

§ getIntegrationScheme()

§ getLinearSolver()

§ getNumDofPerNode()

§ getOdeSolver()

§ getPreviousState()

§ interpolatePreviousState()

§ setCollisionRepresentation()

§ setInitialState()

§ setIntegrationScheme()

§ setLinearSolver()

§ setLocalPose()

§ transformState()

§ update()

Member Data Documentation

§ m_finalState

§ m_numDofPerNode