Methods

{
  "name": "RuleBasedContactManager",
  "namespace": "sofa::component::collision::response::contact",
  "module": "Sofa.Component.Collision.Response.Contact",
  "include": "sofa/component/collision/response/contact/RuleBasedContactManager.h",
  "doc": "Create different response to the collisions based on a set of rules.",
  "inherits": [
    "CollisionResponse"
  ],
  "templates": [],
  "data_fields": [],
  "links": [],
  "methods": [
    {
      "name": "getContactResponse",
      "return_type": "int",
      "params": [
        {
          "name": "model1",
          "type": "core::CollisionModel *"
        },
        {
          "name": "model2",
          "type": "core::CollisionModel *"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "createVariableData",
      "return_type": "void",
      "params": [
        {
          "name": "variable",
          "type": "int"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "parse",
      "return_type": "void",
      "params": [
        {
          "name": "arg",
          "type": "sofa::core::objectmodel::BaseObjectDescription *"
        }
      ],
      "is_virtual": true,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "public"
    },
    {
      "name": "replaceVariables",
      "return_type": "int",
      "params": [
        {
          "name": "response",
          "type": "int"
        }
      ],
      "is_virtual": false,
      "is_pure_virtual": false,
      "is_static": false,
      "access": "protected"
    }
  ],
  "description": "The `RuleBasedContactManager` is a component in the SOFA ecosystem that manages collision responses based on predefined rules. It inherits from `CollisionResponse`, which indicates its role in handling contact interactions between collision models within simulations. The purpose of this component is to provide flexibility in defining different response behaviors for collisions, allowing users to customize how specific pairs of collision models interact based on rules defined at runtime.\n\nThe component interacts with other SOFA components through the `getContactResponse` method, which returns a string representing the contact response algorithm to be used when two specified collision models collide. It also uses the `createVariableData` method to define variables that can be referenced within these rules, enhancing its configurability. The `parse` method is overridden from the base class and handles parsing of the input arguments to configure the component's behavior.\n\nPractical usage involves defining a list of variables (`d_variables`) and an ordered set of rules (`d_rules`). Each rule specifies conditions for matching collision models based on their names or group numbers, and assigns a specific contact response algorithm. The `replaceVariables` method is used internally to resolve variable references in the defined rules.\n\nTo use this component effectively, users should ensure that collision models are appropriately named or grouped so they can be matched by the rules specified in `d_rules`. Additionally, variables referenced within these rules must be correctly defined and initialized.",
  "maths": "The `RuleBasedContactManager` is a component in the SOFA framework that manages collision responses based on predefined rules. It does not directly contribute to the governing equations or operators such as mass matrix $M$, stiffness matrix $K$, internal force $f_{int}$, or residual $R$. Instead, it focuses on handling contact interactions between different collision models within a simulation and deciding which response algorithm to use for specific pairs of these models. This component is part of the broader SOFA architecture that deals with mechanical modeling and physical simulations, particularly in medical applications.\n\n### Governing Equations or Operators\n- **Mass Matrix ($M$)**: The `RuleBasedContactManager` does not directly manipulate or compute the mass matrix $M$. Its role is more about defining rules for contact responses rather than contributing to the FEM equations.\n- **Stiffness Matrix ($K$)** and **Internal Force ($f_{int}$)**: Similarly, the component does not contribute to the stiffness matrix $K$ or internal forces $f_{int}$. It operates at a higher level of abstraction by defining contact response algorithms.\n- **Residual ($R$)**: The residual $R$ is typically associated with nonlinear equations and implicit time integration schemes. `RuleBasedContactManager` does not directly influence the computation of this residual but can affect the overall dynamics through its defined collision responses, which might modify forces acting on the system indirectly.\n\n### Constitutive or Kinematic Laws Involved\n- **Strain Measures and Stress Tensors**: The component itself does not involve strain measures or stress tensors. These are typically handled by other components such as `MechanicalObject` and `ForceField` that define the material properties and interactions within the simulation domain.\n- **Hyperelastic Potentials and Damping Models**: Again, these are managed by other SOFA components like `LinearElasticMaterial`, `NeoHookean`, etc., and not directly by `RuleBasedContactManager`. The latter focuses on managing contact responses based on predefined rules rather than defining material behaviors.\n- **Constraint Jacobians**: The component does not involve constraint Jacobians. Constraints in SOFA are typically handled through other components like `RigidMapping` or `AttachMovement` that define the relationship between different parts of a mechanical system.\n\n### Role in the Global FEM Pipeline\n- **Assembly Phase**: The `RuleBasedContactManager` does not directly participate in the assembly phase where global mass and force operators are constructed. Its role is more about defining how collisions should be handled based on specified rules.\n- **Time Integration**: It influences time integration indirectly by modifying contact forces according to predefined responses, but it does not contribute to the explicit numerical methods used for time stepping such as implicit Euler or Newmark schemes.\n- **Nonlinear and Linear Resolution**: The component does not directly solve nonlinear systems or perform linear resolution steps. However, its defined collision responses can affect these processes by changing the forces acting on the system.\n- **Constraint Handling and Mapping**: While it handles contact interactions which are a form of constraint (i.e., preventing penetration), `RuleBasedContactManager` does not manage general constraints like those handled through Lagrange multipliers or other constraint-based formulations. It specifically deals with collision responses.\n\n### Numerical Methods or Discretization Choices\n- **Numerical Integration**: The component itself is not involved in numerical integration schemes such as Gauss quadrature, which are used for spatial discretization within the FEM framework.\n- **Time Stepping Schemes**: While it does not directly implement time stepping schemes like implicit Euler, its defined collision responses can be integrated into these schemes to update the state of the system over time.\n\n### Integration into Variational / Lagrangian Mechanics Framework\nThe `RuleBasedContactManager` fits into the broader variational/Lagrangian mechanics framework by ensuring that contact interactions are handled consistently and according to user-defined rules. This ensures that collision models interact in a predefined manner, maintaining physical consistency within the simulation environment.\n\n### Conclusion\nIn summary, while the `RuleBasedContactManager` does not directly contribute to core FEM equations or operators, it plays a crucial role in defining how collisions are handled within SOFA simulations by providing a flexible and configurable way to specify contact response algorithms based on user-defined rules.",
  "abstract": "The `RuleBasedContactManager` manages collision responses based on predefined rules, enabling flexible customization of contact interactions between collision models in SOFA simulations.",
  "sheet": "# RuleBasedContactManager\n\n## Overview\n\nThe `RuleBasedContactManager` is a component that handles collision responses by applying user-defined rules. It inherits from the `CollisionResponse` class and allows for customizable behavior when specific pairs of collision models interact.\n\n## Practical Notes\n\nTo use this component effectively, ensure that collision models are appropriately named or grouped to match the defined rules. Variables referenced within these rules must be correctly defined and initialized. The component's flexibility in defining contact responses can influence the overall dynamics of a simulation by modifying forces acting on the system."
}