#include <JointSpring.h>
JOINTSPRING. More...
JOINTSPRING.
| Public Attributes | |
| sofa::Index | m1 | 
| Attributes.  More... | |
| sofa::Index | m2 | 
| the two extremities of the spring: masses m1 and m2  More... | |
| Real | kd | 
| damping factor  More... | |
| Vector | torsion | 
| torsion of the springs in axis/angle format  More... | |
| Vector | lawfulTorsion | 
| projected torsion in allowed angles  More... | |
| Vector | KT | 
| linear stiffness  More... | |
| Vector | KR | 
| angular stiffness  More... | |
| type::Quat< SReal > | ref | 
| referential of the spring (p1) to use it in addSpringDForce()  More... | |
| Vector | initTrans | 
| offset length of the spring  More... | |
| type::Quat< SReal > | initRot | 
| offset orientation of the spring  More... | |
| sofa::type::Vec< 6, bool > | freeMovements | 
| defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis  More... | |
| Real | softStiffnessTrans | 
| stiffness to apply on axis where the translations are free (default 0.0)  More... | |
| Real | hardStiffnessTrans | 
| stiffness to apply on axis where the translations are forbidden (default 10000.0)  More... | |
| Real | softStiffnessRot | 
| stiffness to apply on axis where the rotations are free (default 0.0)  More... | |
| Real | hardStiffnessRot | 
| stiffness to apply on axis where the rotations are forbidden (default 10000.0)  More... | |
| Real | blocStiffnessRot | 
| stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100)  More... | |
| bool | needToInitializeTrans | 
| bool | needToInitializeRot | 
| sofa::type::Vec< 6, Real > | limitAngles | 
| limit angles on rotation axis (default no limit)  More... | |
| Friends | |
| std::istream & | operator>> (std::istream &in, JointSpring< DataTypes > &s) | 
| std::ostream & | operator<< (std::ostream &out, const JointSpring< DataTypes > &s) | 
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::blocStiffnessRot | 
stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100)
| sofa::type::Vec<6,bool> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::freeMovements | 
defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::hardStiffnessRot | 
stiffness to apply on axis where the rotations are forbidden (default 10000.0)
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::hardStiffnessTrans | 
stiffness to apply on axis where the translations are forbidden (default 10000.0)
| type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::initRot | 
offset orientation of the spring
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::initTrans | 
offset length of the spring
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::kd | 
damping factor
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::KR | 
angular stiffness
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::KT | 
linear stiffness
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::lawfulTorsion | 
projected torsion in allowed angles
| sofa::type::Vec<6,Real> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::limitAngles | 
limit angles on rotation axis (default no limit)
| sofa::Index sofa::component::solidmechanics::spring::JointSpring< DataTypes >::m1 | 
Attributes.
| sofa::Index sofa::component::solidmechanics::spring::JointSpring< DataTypes >::m2 | 
the two extremities of the spring: masses m1 and m2
| bool sofa::component::solidmechanics::spring::JointSpring< DataTypes >::needToInitializeRot | 
| bool sofa::component::solidmechanics::spring::JointSpring< DataTypes >::needToInitializeTrans | 
| type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::ref | 
referential of the spring (p1) to use it in addSpringDForce()
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::softStiffnessRot | 
stiffness to apply on axis where the rotations are free (default 0.0)
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::softStiffnessTrans | 
stiffness to apply on axis where the translations are free (default 0.0)
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::torsion | 
torsion of the springs in axis/angle format
| sofa::component::solidmechanics::spring::JointSpring< DataTypes >::JointSpring | ( | sofa::Index | m1 = 0, | 
| sofa::Index | m2 = 0, | ||
| Real | softKst = 0, | ||
| Real | hardKst = 10000, | ||
| Real | softKsr = 0, | ||
| Real | hardKsr = 10000, | ||
| Real | blocKsr = 100, | ||
| Real | axmin = -100000, | ||
| Real | axmax = 100000, | ||
| Real | aymin = -100000, | ||
| Real | aymax = 100000, | ||
| Real | azmin = -100000, | ||
| Real | azmax = 100000, | ||
| Real | kd = 0 | ||
| ) | 
Constructors.
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 | inline | 
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 | inline | 
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 | inline | 
Accessors.
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
Affectors.
| 
 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | inline | 
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 | friend | 
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 | friend |