SOFA API  59c939c2
Open source framework for multi-physics simuation
sofa::component::forcefield::HexahedronFEMForceField< DataTypes > Class Template Reference

#include <HexahedronFEMForceField.h>

Inheritance diagram for sofa::component::forcefield::HexahedronFEMForceField< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::forcefield::HexahedronFEMForceField< DataTypes >

Compute Finite Element forces based on hexahedral elements.

Corotational hexahedron from {NMPCPF05, author = "Nesme, Matthieu and Marchal, Maud and Promayon, Emmanuel and Chabanas, Matthieu and Payan, Yohan and Faure, Fran\c{c}ois", title = "Physically Realistic Interactive Simulation for Biological Soft Tissues", journal = "Recent Research Developments in Biomechanics", volume = "2", year = "2005", keywords = "surgical simulation physical animation truth cube", url = "http://www-evasion.imag.fr/Publications/2005/NMPCPF05" }

WARNING: indices ordering is different than in topology node

Y  7---------6
^ /         /|
|/    Z    / |
3----^----2  |
|   /     |  |
|  4------|--5
| /       | /
|/        |/
0---------1-->X

Public Attributes

int method
 
Data< std::string > f_method
 the computation method of the displacements More...
 
Data< Realf_poissonRatio
 
Data< Realf_youngModulus
 
Data< boolf_updateStiffnessMatrix
 
Data< boolf_assembling
 
Data< sofa::helper::OptionsGroup_gatherPt
 use in GPU version More...
 
Data< sofa::helper::OptionsGroup_gatherBsize
 use in GPU version More...
 
Data< boolf_drawing
 draw the forcefield if true More...
 
Data< Realf_drawPercentageOffset
 size of the hexa More...
 
bool needUpdateTopology
 
SingleLink< HexahedronFEMForceField< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKl_topology
 Link to be set to the topology container in the component graph. More...
 
- Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal > rayleighStiffness
 Rayleigh Damping stiffness matrix coefficient. More...
 
Data< boolisCompliance
 Considered as compliance, else considered as stiffness (default to false) More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

VecMaterialStiffness _materialsStiffnesses
 the material stiffness matrices vector More...
 
Data< VecElementStiffness_elementStiffnesses
 Stiffness matrices per element (K_i) More...
 
CompressedMatrix _stiffnesses
 
SReal m_potentialEnergy
 
sofa::core::topology::BaseMeshTopologym_topology
 Pointer to the topology container. Will be set by link. More...
 
topology::SparseGridTopology_sparseGrid
 
Data< VecCoord_initialPoints
 the intial positions of the points More...
 
defaulttype::Mat< 8, 3, int_coef
 coef of each vertices to compute the strain stress matrix More...
 
HexahedronFEMForceFieldInternalData< DataTypes > * data
 
helper::vector< helper::fixed_array< Coord, 8 > > _rotatedInitialElements
 The initials positions in its frame. More...
 
helper::vector< Transformation_rotations
 
helper::vector< Transformation_initialrotations
 
bool _alreadyInit
 
- Protected Attributes inherited from sofa::core::behavior::ForceField< DataTypes >
SingleLink< ForceField< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINK > mstate
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(HexahedronFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes))
 
void setPoissonRatio (Real val)
 
void setYoungModulus (Real val)
 
void setMethod (int val)
 
void setUpdateStiffnessMatrix (bool val)
 
void setComputeGlobalMatrix (bool val)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void reinit () override
 Update method called when variables used in precomputation are modified. More...
 
void addForce (const core::MechanicalParams *mparams, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v) override
 
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx) override
 
SReal getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &) const override
 
SReal getPotentialEnergy (const core::MechanicalParams *) const override
 Get the potential energy associated to this ForceField during the last call of addForce( const MechanicalParams* mparams );. More...
 
const TransformationgetElementRotation (const unsigned elemidx)
 
void getNodeRotation (Transformation &R, unsigned int nodeIdx)
 
void getRotations (defaulttype::BaseMatrix *rotations, int offset=0) override
 
void addKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to k K. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible) override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
void handleTopologyChange () override
 
- Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(ForceField, DataTypes), BaseForceField)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 Retrieve the associated MechanicalState. More...
 
const MechanicalState< DataTypes > * getMState () const
 
void addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override
 
void addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override
 
void addClambda (const MechanicalParams *mparams, MultiVecDerivId resId, MultiVecDerivId lambdaId, SReal cFactor) override
 
virtual void addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor)
 
SReal getPotentialEnergy (const MechanicalParams *mparams) const override
 
void addKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to k K. More...
 
virtual void addKToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal kFact, unsigned int &offset)
 
void addSubKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex) override
 addToMatrix only on the subMatrixIndex More...
 
virtual void addSubKToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal kFact, unsigned int &offset)
 addToMatrix only on the subMatrixIndex More...
 
void addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to b B. More...
 
virtual void addBToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal bFact, unsigned int &offset)
 
void addSubBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > &subMatrixIndex) override
 addBToMatrix only on the subMatrixIndex More...
 
virtual void addSubBToMatrix (sofa::defaulttype::BaseMatrix *matrix, const helper::vector< unsigned > &subMatrixIndex, SReal bFact, unsigned int &offset)
 addBToMatrix only on the subMatrixIndex More...
 
void addToMatrix (sofa::defaulttype::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)
 
void updateForceMask () override
 
- Public Member Functions inherited from sofa::core::behavior::BaseForceField
 SOFA_ABSTRACT_CLASS (BaseForceField, objectmodel::BaseObject)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
virtual void addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId)
 Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients. More...
 
virtual void addMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix)
 Compute the system matrix corresponding to m M + b B + k K. More...
 
virtual void addSubMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > subMatrixIndex)
 addMBKToMatrix only on the subMatrixIndex More...
 
virtual const sofa::defaulttype::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputToCallback (const std::string &name, BaseData *output)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
virtual std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const
 Get the template type names (if any) used to instantiate this object. More...
 
virtual std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
bool IsInheritingFromBase ()
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 

Protected Member Functions

 HexahedronFEMForceField ()
 
const VecElementgetIndexedElements ()
 
virtual void computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const helper::fixed_array< Coord, 8 > &nodes, const int elementIndice, double stiffnessFactor=1.0)
 
Mat33 integrateStiffness (int signx0, int signy0, int signz0, int signx1, int signy1, int signz1, const Real u, const Real v, const Real w, const Mat33 &J_1)
 
void computeMaterialStiffness (int i)
 
void computeForce (Displacement &F, const Displacement &Depl, const ElementStiffness &K)
 
void initLarge (int i, const Element &elem)
 
void computeRotationLarge (Transformation &r, Coord &edgex, Coord &edgey)
 
virtual void accumulateForceLarge (WDataRefVecDeriv &f, RDataRefVecCoord &p, int i, const Element &elem)
 
void initPolar (int i, const Element &elem)
 
void computeRotationPolar (Transformation &r, defaulttype::Vec< 8, Coord > &nodes)
 
virtual void accumulateForcePolar (WDataRefVecDeriv &f, RDataRefVecCoord &p, int i, const Element &elem)
 
void initSmall (int i, const Element &elem)
 
virtual void accumulateForceSmall (WDataRefVecDeriv &f, RDataRefVecCoord &p, int i, const Element &elem)
 
- Protected Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 ForceField (MechanicalState< DataTypes > *mm=nullptr)
 
 ~ForceField () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseForceField
 BaseForceField ()
 
 ~BaseForceField () override
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 Implementation of the internal update. More...
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, unsigned int, bool add)
 This method insures that slaves objects have master and context links set correctly. More...
 
void trackInternalData (const BaseData &data)
 Method called to add the Data to the DataTracker (listing the Data to track) More...
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 Method called to know if a tracked Data has changed. More...
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 Helper method used by initData() More...
 
template<class T >
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used by initData() More...
 

Friends

class HexahedronFEMForceFieldInternalData< DataTypes >
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
static std::string shortName (const T *ptr=nullptr, objectmodel::BaseObjectDescription *arg=nullptr)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

template<class DataTypes>
bool sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_alreadyInit
protected
template<class DataTypes>
defaulttype::Mat<8,3,int> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_coef
protected

coef of each vertices to compute the strain stress matrix

template<class DataTypes>
Data<VecElementStiffness> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_elementStiffnesses
protected

Stiffness matrices per element (K_i)

use in GPU version

use in GPU version

template<class DataTypes>
Data< VecCoord > sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_initialPoints
protected

the intial positions of the points

template<class DataTypes>
helper::vector<Transformation> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_initialrotations
protected
template<class DataTypes>
VecMaterialStiffness sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_materialsStiffnesses
protected

the material stiffness matrices vector

template<class DataTypes>
helper::vector<helper::fixed_array<Coord,8> > sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_rotatedInitialElements
protected

The initials positions in its frame.

template<class DataTypes>
CompressedMatrix sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_stiffnesses
protected
template<class DataTypes>
Data<bool> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_assembling
template<class DataTypes>
Data<bool> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_drawing

draw the forcefield if true

template<class DataTypes>
Data<Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_drawPercentageOffset

size of the hexa

template<class DataTypes>
Data<std::string> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_method

the computation method of the displacements

template<class DataTypes>
Data<Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_poissonRatio
template<class DataTypes>
Data<bool> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_updateStiffnessMatrix
template<class DataTypes>
Data<Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_youngModulus
template<class DataTypes>
SReal sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::m_potentialEnergy
protected

Pointer to the topology container. Will be set by link.

See also
l_topology
template<class DataTypes>
bool sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::needUpdateTopology

Constructor details

Function details

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge ( WDataRefVecDeriv f,
RDataRefVecCoord p,
int  i,
const Element elem 
)
protectedvirtual
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar ( WDataRefVecDeriv f,
RDataRefVecCoord p,
int  i,
const Element elem 
)
protectedvirtual
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceSmall ( WDataRefVecDeriv f,
RDataRefVecCoord p,
int  i,
const Element elem 
)
protectedvirtual
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::addDForce ( const core::MechanicalParams mparams,
DataVecDeriv df,
const DataVecDeriv dx 
)
overridevirtual
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::addForce ( const core::MechanicalParams ,
DataVecDeriv f,
const DataVecCoord x,
const DataVecDeriv v 
)
overridevirtual

Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.

If the ForceField can be represented as a matrix, this method computes $ f += B v + K x $

This is the method that should be implemented by the component

Implements sofa::core::behavior::ForceField< DataTypes >.

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::addKToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Compute the system matrix corresponding to k K.

Parameters
mparamsmparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
matrixthe matrix to add the result to

Implements sofa::core::behavior::BaseForceField.

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeBBox ( const core::ExecParams ,
bool   
)
overridevirtual

Bounding Box computation method. Default to empty method.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeElementStiffness ( ElementStiffness K,
const MaterialStiffness M,
const helper::fixed_array< Coord, 8 > &  nodes,
const int  elementIndice,
double  stiffnessFactor = 1.0 
)
protectedvirtual
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeForce ( Displacement F,
const Displacement Depl,
const ElementStiffness K 
)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeMaterialStiffness ( int  i)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeRotationLarge ( Transformation r,
Coord edgex,
Coord edgey 
)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeRotationPolar ( Transformation r,
defaulttype::Vec< 8, Coord > &  nodes 
)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
const HexahedronFEMForceField< DataTypes >::Transformation & sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::getElementRotation ( const unsigned  elemidx)
template<class DataTypes>
const VecElement* sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::getIndexedElements ( )
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::getNodeRotation ( Transformation R,
unsigned int  nodeIdx 
)
template<class DataTypes >
SReal sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams ,
const DataVecCoord  
) const
overridevirtual
template<class DataTypes >
SReal sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams mparams) const
inlineoverridevirtual

Get the potential energy associated to this ForceField during the last call of addForce( const MechanicalParams* mparams );.

Used to extimate the total energy of the system by some post-stabilization techniques.

Implements sofa::core::behavior::BaseForceField.

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::getRotations ( defaulttype::BaseMatrix rotations,
int  offset = 0 
)
overridevirtual
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::handleTopologyChange ( )
inlineoverridevirtual

Handle topological Changes

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::init ( void  )
overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initLarge ( int  i,
const Element elem 
)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initPolar ( int  i,
const Element elem 
)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initSmall ( int  i,
const Element elem 
)
protected
template<class DataTypes >
HexahedronFEMForceField< DataTypes >::Mat33 sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::integrateStiffness ( int  signx0,
int  signy0,
int  signz0,
int  signx1,
int  signy1,
int  signz1,
const Real  u,
const Real  v,
const Real  w,
const Mat33 J_1 
)
protected
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::reinit ( )
overridevirtual

Update method called when variables used in precomputation are modified.

Reimplemented from sofa::core::objectmodel::BaseObject.

template<class DataTypes>
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::setComputeGlobalMatrix ( bool  val)
inline
template<class DataTypes >
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::setMethod ( int  val)
inline
template<class DataTypes>
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::setPoissonRatio ( Real  val)
inline
template<class DataTypes>
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::setUpdateStiffnessMatrix ( bool  val)
inline
template<class DataTypes>
void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::setYoungModulus ( Real  val)
inline
template<class DataTypes>
sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(HexahedronFEMForceField< DataTypes >, DataTypes ,
SOFA_TEMPLATE(core::behavior::ForceField, DataTypes  
)

Enum details

template<class DataTypes>
anonymous enum
Enumerator
LARGE 

Symbol of mean large displacements tetrahedron solver (frame = edges mean on the 3 directions)

POLAR 

Symbol of polar displacements tetrahedron solver.

SMALL 

Related details

template<class DataTypes>
friend class HexahedronFEMForceFieldInternalData< DataTypes >
friend