SOFA API  d5d9f025
Open source framework for multi-physics simuation
sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< DataTypes > Class Template Reference

#include <NonUniformHexahedralFEMForceFieldAndMass.h>

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

Detailed Description

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

{NPF06, author = "Nesme, Matthieu and Payan, Yohan and Faure, Fran\c{c}ois", title = "Animating Shapes at Arbitrary Resolution with Non-Uniform Stiffness", booktitle = "Eurographics Workshop in Virtual Reality Interaction and Physical Simulation (VRIPHYS)", month = "nov", year = "2006", organization = "Eurographics", address = "Madrid", url = "http://www-evasion.imag.fr/Publications/2006/NPF06" }

indices ordering (same as in HexahedronSetTopology):

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

Protected Attributes

Data< booluseMBK
 if true, compute and use MBK matrix More...
 
bool matrixIsDirty
 Matrix $ \alpha M + \beta B + \gamma C $ needs to be recomputed. More...
 
helper::vector< ElementMassmbkMatrix
 Matrix $ \alpha M + \beta B + \gamma C $. More...
 
- Protected Attributes inherited from sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >
Data< Real_density
 density == volumetric mass in english (kg.m-3) More...
 
Data< bool_useLumpedMass
 Does it use lumped masses? More...
 
topology::HexahedronData< sofa::helper::vector< ElementMass > > _elementMasses
 mass matrices per element More...
 
topology::HexahedronData< sofa::helper::vector< Real > > _elementTotalMass
 total mass per element More...
 
topology::PointData< sofa::helper::vector< Real > > _particleMasses
 masses per particle in order to compute gravity More...
 
topology::PointData< sofa::helper::vector< Coord > > _lumpedMasses
 masses per particle computed by lumping mass matrices More...
 
- Protected Attributes inherited from sofa::core::behavior::Mass< DataTypes >
std::ofstream * m_gnuplotFileEnergy
 stream to export Kinematic, Potential and Mechanical Energy to gnuplot files More...
 
- 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...
 
- Protected Attributes inherited from sofa::component::forcefield::HexahedralFEMForceField< DataTypes >
HFFHexahedronHandlerhexahedronHandler
 
topology::HexahedronSetTopologyContainer_topology
 
defaulttype::Mat< 8, 3, int_coef
 coef of each vertices to compute the strain stress matrix More...
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(NonUniformHexahedralFEMForceFieldAndMass, DataTypes), SOFA_TEMPLATE(HexahedralFEMForceFieldAndMass, DataTypes))
 
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 handleTopologyChange (core::topology::Topology *) override
 
- Public Member Functions inherited from sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >
 SOFA_CLASS2 (SOFA_TEMPLATE(HexahedralFEMForceFieldAndMass, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Mass, DataTypes), SOFA_TEMPLATE(HexahedralFEMForceField, DataTypes))
 
void addMDx (const core::MechanicalParams *mparams, DataVecDeriv &f, const DataVecDeriv &dx, SReal factor) override
 
void addMToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Add Mass contribution to global Matrix assembling. More...
 
void addKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to k K. More...
 
void addMBKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to m M + b B + k K. More...
 
void accFromF (const core::MechanicalParams *mparams, DataVecDeriv &a, const DataVecDeriv &f) override
 
void addForce (const core::MechanicalParams *mparams, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v) override
 
SReal getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &) const override
 
SReal getKineticEnergy (const core::MechanicalParams *, const DataVecDeriv &) const override
 < vMv/2 using dof->getV() override More...
 
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx) override
 
void addGravityToV (const core::MechanicalParams *mparams, DataVecDeriv &d_v) override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
SReal getElementMass (unsigned int index) const override
 Get the mass relative to the DOF at index. More...
 
void setDensity (Real d)
 
Real getDensity ()
 
- Public Member Functions inherited from sofa::core::behavior::Mass< DataTypes >
 SOFA_CLASS2 (SOFA_TEMPLATE(Mass, DataTypes), SOFA_TEMPLATE(ForceField, DataTypes), BaseMass)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 Retrieve the associated MechanicalState. More...
 
void initGnuplot (const std::string path) override
 initialization to export kinetic and potential energy to gnuplot files format More...
 
void exportGnuplot (const MechanicalParams *mparams, SReal time) override
 export kinetic and potential energy state at "time" to a gnuplot file More...
 
void addGravityToV (const MechanicalParams *mparams, MultiVecDerivId) override
 perform v += dt*g operation. Used if mass wants to added G separately from the other forces to v. More...
 
SReal getElementMass (unsigned int) const override
 recover the mass of an element More...
 
void getElementMass (unsigned int index, defaulttype::BaseMatrix *m) const override
 Get the matrix relative to the DOF at index. More...
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
void addMDx (const MechanicalParams *mparams, MultiVecDerivId fid, SReal factor) override
 f += factor M dx More...
 
void accFromF (const MechanicalParams *mparams, MultiVecDerivId aid) override
 
void addDForce (const MechanicalParams *, DataVecDeriv &, const DataVecDeriv &) override
 Mass forces (gravity) often have null derivative. More...
 
void addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId) override
 
SReal getKineticEnergy (const MechanicalParams *mparams) const override
 
SReal getPotentialEnergy (const MechanicalParams *mparams) const override
 
SReal getPotentialEnergy (const MechanicalParams *mparams, const DataVecCoord &x) const override
 
defaulttype::Vector6 getMomentum (const MechanicalParams *mparams) const override
 
virtual defaulttype::Vector6 getMomentum (const MechanicalParams *, const DataVecCoord &, const DataVecDeriv &) const
 
void addKToMatrix (sofa::defaulttype::BaseMatrix *, SReal, unsigned int &) override
 
void addBToMatrix (sofa::defaulttype::BaseMatrix *, SReal, unsigned int &) override
 
void addMToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Add Mass contribution to global Matrix assembling. More...
 
virtual void addMToMatrix (sofa::defaulttype::BaseMatrix *matrix, SReal mFact, unsigned int &offset)
 
void addMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 
void addSubMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix, const helper::vector< unsigned > subMatrixIndex) override
 addMBKToMatrix only on the subMatrixIndex More...
 
- 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...
 
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...
 
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)
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
void updateForceMask () override
 
- Public Member Functions inherited from sofa::core::behavior::BaseForceField
 SOFA_ABSTRACT_CLASS (BaseForceField, objectmodel::BaseObject)
 
virtual const sofa::defaulttype::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
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 ()
 
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
 
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...
 
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
 
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 removeLink (BaseLink *l)
 Remove 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)
 
- Public Member Functions inherited from sofa::core::behavior::BaseMass
 SOFA_ABSTRACT_CLASS (BaseMass, objectmodel::BaseObject)
 
virtual bool isDiagonal ()
 
- Public Member Functions inherited from sofa::component::forcefield::HexahedralFEMForceField< DataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(HexahedralFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes))
 
void setPoissonRatio (Real val)
 
void setYoungModulus (Real val)
 
void setMethod (int val)
 

Protected Member Functions

 NonUniformHexahedralFEMForceFieldAndMass ()
 
virtual void computeMechanicalMatricesByCondensation (ElementStiffness &K, ElementMass &M, Real &totalMass, const int elementIndex)
 condensate matrice from finest level to the actual mechanical level More...
 
void initLarge (const int i)
 
void initPolar (const int i)
 
void addMBKdx (const core::MechanicalParams *mparams, core::MultiVecDerivId dfId) override
 
virtual void computeCorrection (ElementMass &)
 Limit the conditioning number of each mbkMatrix as defined by maxConditioning (in derived classes). More...
 
- Protected Member Functions inherited from sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >
 HexahedralFEMForceFieldAndMass ()
 
virtual void computeElementMasses ()
 compute the mass matrices More...
 
Real integrateVolume (int signx, int signy, int signz, Real l0, Real l1, Real l2)
 
virtual void computeElementMass (ElementMass &Mass, Real &totalMass, const helper::fixed_array< Coord, 8 > &nodes)
 compute the mass matrix of an element More...
 
void computeParticleMasses ()
 
void computeLumpedMasses ()
 
- Protected Member Functions inherited from sofa::core::behavior::Mass< DataTypes >
 Mass (MechanicalState< DataTypes > *mm=nullptr)
 
 ~Mass () override
 
- 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...
 
- Protected Member Functions inherited from sofa::core::behavior::BaseMass
 BaseMass ()
 
 ~BaseMass () override
 
- Protected Member Functions inherited from sofa::component::forcefield::HexahedralFEMForceField< DataTypes >
 HexahedralFEMForceField ()
 
virtual ~HexahedralFEMForceField ()
 
virtual void computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const defaulttype::Vec< 8, Coord > &nodes)
 
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 (MaterialStiffness &m, double youngModulus, double poissonRatio)
 compute the hookean material matrix More...
 
void computeForce (Displacement &F, const Displacement &Depl, const ElementStiffness &K)
 
void initLarge (const int i)
 
void computeRotationLarge (Transformation &r, Coord &edgex, Coord &edgey)
 
virtual void accumulateForceLarge (WDataRefVecDeriv &f, RDataRefVecCoord &p, const int i)
 
void initPolar (const int i)
 
void computeRotationPolar (Transformation &r, defaulttype::Vec< 8, Coord > &nodes)
 
virtual void accumulateForcePolar (WDataRefVecDeriv &f, RDataRefVecCoord &p, const int i)
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SRealrayleighStiffness
 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}
 
- Public Attributes inherited from sofa::core::behavior::BaseMass
Data< boolm_separateGravity
 
Data< SRealrayleighMass
 Rayleigh Damping mass matrix coefficient. More...
 
- Public Attributes inherited from sofa::component::forcefield::HexahedralFEMForceField< DataTypes >
int method
 
Data< std::string > f_method
 the computation method of the displacements More...
 
Data< Realf_poissonRatio
 
Data< Realf_youngModulus
 
topology::HexahedronData< sofa::helper::vector< HexahedronInformation > > hexahedronInfo
 container that stotes all requires information for each hexahedron More...
 
- 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 templateName (const ForceField< DataTypes > *=nullptr)
 
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 MyClassGetClass ()
 
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::NonUniformHexahedralFEMForceFieldAndMass< DataTypes >::matrixIsDirty
protected

Matrix $ \alpha M + \beta B + \gamma C $ needs to be recomputed.

if true, compute and use MBK matrix

Constructor details

Function details

template<class DataTypes >
void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< DataTypes >::addMBKdx ( const core::MechanicalParams mparams,
core::MultiVecDerivId  dfId 
)
overrideprotectedvirtual

Matrix-vector product for implicit methods with iterative solvers. If the MBK matrix is ill-conditionned, recompute it, and correct it to avoid too small singular values.

Reimplemented from sofa::core::behavior::BaseForceField.

template<class DataTypes>
virtual void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< DataTypes >::computeCorrection ( ElementMass )
inlineprotectedvirtual

Limit the conditioning number of each mbkMatrix as defined by maxConditioning (in derived classes).

template<class T >
void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< T >::computeMechanicalMatricesByCondensation ( ElementStiffness K,
ElementMass M,
Real totalMass,
const int  elementIndex 
)
protectedvirtual

condensate matrice from finest level to the actual mechanical level

template<class T >
void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< T >::handleTopologyChange ( core::topology::Topology t)
overridevirtual

Handle topological Changes from a given Topology

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

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

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

Reimplemented from sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >.

template<class T >
void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< T >::initLarge ( const int  i)
protected
template<class T >
void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< T >::initPolar ( const int  i)
protected
template<class T >
void sofa::component::forcefield::NonUniformHexahedralFEMForceFieldAndMass< T >::reinit ( )
overridevirtual

Update method called when variables used in precomputation are modified.

Reimplemented from sofa::component::forcefield::HexahedralFEMForceFieldAndMass< DataTypes >.