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

#include <TetrahedronFEMForceField.h>

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

Detailed Description

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

Compute Finite Element forces based on tetrahedral elements. Corotational methods are based on a rotation from world-space to material-space.

Public Attributes

Data< VecCoord_initialPoints
 the initial positions of the points More...
 
int method
 
Data< std::string > f_method
 the computation method of the displacements More...
 
Data< Real_poissonRatio
 FEM Poisson Ratio [0,0.5[. More...
 
Data< VecReal_youngModulus
 FEM Young Modulus. More...
 
Data< VecReal_localStiffnessFactor
 Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N]. More...
 
Data< bool_updateStiffnessMatrix
 
Data< bool_assembling
 
Data< sofa::helper::OptionsGroup_gatherPt
 use in GPU version More...
 
Data< sofa::helper::OptionsGroup_gatherBsize
 use in GPU version More...
 
Data< booldrawHeterogeneousTetra
 Draw Heterogeneous Tetra in different color. More...
 
Data< booldrawAsEdges
 Draw as edges instead of tetrahedra. More...
 
Real minYoung
 
Real maxYoung
 
helper::vector< RealelemLambda
 
helper::vector< RealelemMu
 
helper::vector< Mat44elemShapeFun
 
Real prevMaxStress
 
Data< int_computeVonMisesStress
 compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain More...
 
Data< helper::vector< Real > > _vonMisesPerElement
 von Mises Stress per element More...
 
Data< helper::vector< Real > > _vonMisesPerNode
 von Mises Stress per node More...
 
Data< helper::vector< defaulttype::Vec4f > > _vonMisesStressColors
 Vector of colors describing the VonMises stress. More...
 
helper::ColorMap m_VonMisesColorMap
 
Data< std::string > _showStressColorMap
 Color map used to show stress values. More...
 
Data< float_showStressAlpha
 Alpha for vonMises visualisation. More...
 
Data< bool_showVonMisesStressPerNode
 draw points showing vonMises stress interpolated in nodes More...
 
Data< bool_updateStiffness
 udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1) More...
 
SingleLink< TetrahedronFEMForceField< 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...
 
helper::vector< defaulttype::Vec< 6, Real > > elemDisplacements
 
bool updateVonMisesStress
 
Plasticity such as "Interactive Virtual Materials", Muller & Gross, GI 2004
Data< Real_plasticMaxThreshold
 
Data< Real_plasticYieldThreshold
 Plastic Yield Threshold (2-norm of the strain) More...
 
Data< Real_plasticCreep
 
- 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
 Vector of material stiffness matrices of each tetrahedron. More...
 
VecStrainDisplacement strainDisplacements
 the strain-displacement matrices vector More...
 
helper::vector< Transformationrotations
 
helper::vector< VoigtTensor_plasticStrains
 one plastic strain per element More...
 
SReal m_potentialEnergy
 
core::topology::BaseMeshTopologym_topology
 
const VecElement_indexedElements
 
bool needUpdateTopology
 
TetrahedronFEMForceFieldInternalData< DataTypesdata
 
Real m_restVolume
 
helper::vector< helper::fixed_array< Coord, 4 > > _rotatedInitialElements
 The initials positions in its frame. More...
 
helper::vector< Transformation_initialRotations
 
helper::vector< unsigned int_rotationIdx
 
helper::vector< Transformation_initialTransformation
 
- 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_CLASS2 (SOFA_TEMPLATE(TetrahedronFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes), core::behavior::BaseRotationFinder)
 
Real getRestVolume ()
 
void getRotation (Transformation &R, unsigned int nodeIdx)
 
void getRotations (VecReal &vecR)
 
void getRotations (defaulttype::BaseMatrix *rotations, int offset=0) override
 
void setPoissonRatio (Real val)
 
void setYoungModulus (Real val)
 
void setComputeGlobalMatrix (bool val)
 
Transformation getActualTetraRotation (unsigned int index)
 
Transformation getInitialTetraRotation (unsigned int index)
 
void setMethod (std::string methodName)
 
void setMethod (int val)
 
void setUpdateStiffnessMatrix (bool val)
 
void reset () override
 Reset to initial state. More...
 
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 &d_f, const DataVecCoord &d_x, const DataVecDeriv &d_v) override
 
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &d_df, const DataVecDeriv &d_dx) override
 
SReal getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &x) const override
 
void addKToMatrix (sofa::defaulttype::BaseMatrix *m, SReal kFactor, unsigned int &offset) override
 
void addKToMatrix (const core::MechanicalParams *, const sofa::core::behavior::MultiMatrixAccessor *) override
 Compute the system matrix corresponding to k K. More...
 
void addSubKToMatrix (sofa::defaulttype::BaseMatrix *mat, const helper::vector< unsigned > &subMatrixIndex, SReal k, unsigned int &offset) override
 addToMatrix only on the subMatrixIndex More...
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible) override
 
void getElementStiffnessMatrix (Real *stiffness, unsigned int nodeIdx)
 
void getElementStiffnessMatrix (Real *stiffness, Tetrahedron &te)
 
virtual void computeMaterialStiffness (MaterialStiffness &materialMatrix, Index &a, Index &b, Index &c, Index &d)
 
- 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...
 
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 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 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

 TetrahedronFEMForceField ()
 
 ~TetrahedronFEMForceField () override
 
void computeStrainDisplacement (StrainDisplacement &J, Coord a, Coord b, Coord c, Coord d)
 
Real peudo_determinant_for_coef (const defaulttype::Mat< 2, 3, Real > &M)
 
void computeStiffnessMatrix (StiffnessMatrix &S, StiffnessMatrix &SR, const MaterialStiffness &K, const StrainDisplacement &J, const Transformation &Rot)
 
virtual void computeMaterialStiffness (int i, Index &a, Index &b, Index &c, Index &d)
 
void computeForce (Displacement &F, const Displacement &Depl, VoigtTensor &plasticStrain, const MaterialStiffness &K, const StrainDisplacement &J)
 
void computeForce (Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacement &J, SReal fact)
 
void initSmall (int i, Index &a, Index &b, Index &c, Index &d)
 
void accumulateForceSmall (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)
 
void applyStiffnessSmall (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)
 
void initLarge (int i, Index &a, Index &b, Index &c, Index &d)
 
void computeRotationLarge (Transformation &r, const Vector &p, const Index &a, const Index &b, const Index &c)
 
void accumulateForceLarge (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)
 
void initPolar (int i, Index &a, Index &b, Index &c, Index &d)
 
void accumulateForcePolar (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)
 
void initSVD (int i, Index &a, Index &b, Index &c, Index &d)
 
void accumulateForceSVD (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)
 
void applyStiffnessCorotational (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)
 
void handleTopologyChange () override
 
void computeVonMisesStress ()
 
void handleEvent (core::objectmodel::Event *event) override
 Handle an event. More...
 
- 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 TetrahedronFEMForceFieldInternalData< DataTypes >
 

Per element (tetrahedron) data

typedef defaulttype::VecNoInit< 12, RealDisplacement
 Displacement vector (deformation of the 4 corners of a tetrahedron. More...
 
typedef defaulttype::Mat< 6, 6, RealMaterialStiffness
 Material stiffness matrix of a tetrahedron. More...
 
typedef defaulttype::Mat< 12, 6, RealStrainDisplacement
 Strain-displacement matrix. More...
 
typedef defaulttype::MatNoInit< 3, 3, RealTransformation
 Rigid transformation (rotation) matrix. More...
 
typedef defaulttype::Mat< 12, 12, RealStiffnessMatrix
 Stiffness matrix ( = RJKJtRt with K the Material stiffness matrix, J the strain-displacement matrix, and R the transformation matrix if any ) More...
 
typedef defaulttype::VecNoInit< 6, RealVoigtTensor
 Symmetrical tensor written as a vector following the Voigt notation. More...
 
defaulttype::MatNoInit< 3, 3, RealR0
 

Full system matrix assembly support

typedef std::pair< int, RealCol_Value
 
typedef helper::vector< Col_ValueCompressedValue
 
typedef helper::vector< CompressedValueCompressedMatrix
 
CompressedMatrix _stiffnesses
 

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>
Data<bool> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_assembling
template<class DataTypes>
Data<int> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_computeVonMisesStress

compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain

use in GPU version

use in GPU version

template<class DataTypes>
const VecElement* sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_indexedElements
protected
template<class DataTypes>
Data< VecCoord > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_initialPoints

the initial positions of the points

template<class DataTypes>
helper::vector<Transformation> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_initialRotations
protected
template<class DataTypes>
helper::vector<Transformation> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_initialTransformation
protected
template<class DataTypes>
Data<VecReal> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_localStiffnessFactor

Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N].

template<class DataTypes>
Data<Real> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_plasticCreep

this parameters is different from the article, here it includes the multiplication by dt

template<class DataTypes>
Data<Real> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_plasticMaxThreshold
template<class DataTypes>
helper::vector<VoigtTensor> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_plasticStrains
protected

one plastic strain per element

template<class DataTypes>
Data<Real> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_plasticYieldThreshold

Plastic Yield Threshold (2-norm of the strain)

template<class DataTypes>
Data<Real> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_poissonRatio

FEM Poisson Ratio [0,0.5[.

template<class DataTypes>
helper::vector<helper::fixed_array<Coord,4> > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_rotatedInitialElements
protected

The initials positions in its frame.

template<class DataTypes>
helper::vector<unsigned int> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_rotationIdx
protected
template<class DataTypes>
Data<float> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_showStressAlpha

Alpha for vonMises visualisation.

template<class DataTypes>
Data<std::string> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_showStressColorMap

Color map used to show stress values.

template<class DataTypes>
Data<bool> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_showVonMisesStressPerNode

draw points showing vonMises stress interpolated in nodes

template<class DataTypes>
CompressedMatrix sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_stiffnesses
protected
template<class DataTypes>
Data<bool> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_updateStiffness

udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1)

template<class DataTypes>
Data<bool> sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_updateStiffnessMatrix
template<class DataTypes>
Data<helper::vector<Real> > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_vonMisesPerElement

von Mises Stress per element

template<class DataTypes>
Data<helper::vector<Real> > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_vonMisesPerNode

von Mises Stress per node

template<class DataTypes>
Data<helper::vector<defaulttype::Vec4f> > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_vonMisesStressColors

Vector of colors describing the VonMises stress.

template<class DataTypes>
Data<VecReal > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::_youngModulus

FEM Young Modulus.

template<class DataTypes>
Data< bool > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::drawAsEdges

Draw as edges instead of tetrahedra.

template<class DataTypes>
Data< bool > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::drawHeterogeneousTetra

Draw Heterogeneous Tetra in different color.

template<class DataTypes>
helper::vector<defaulttype::Vec<6,Real> > sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::elemDisplacements

to compute vonMises stress for visualization two options: either using corotational strain (TODO) or full Green strain tensor (which must be therefore computed for each element and requires some pre-calculations in reinit)

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

the computation method of the displacements

template<class DataTypes>
SReal sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::m_potentialEnergy
protected
template<class DataTypes>
Real sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::m_restVolume
protected
template<class DataTypes>
helper::ColorMap sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::m_VonMisesColorMap
template<class DataTypes>
VecMaterialStiffness sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::materialsStiffnesses
protected

Vector of material stiffness matrices of each tetrahedron.

template<class DataTypes>
bool sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::needUpdateTopology
protected
template<class DataTypes>
Real sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::prevMaxStress
template<class DataTypes>
VecStrainDisplacement sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::strainDisplacements
protected

the strain-displacement matrices vector

template<class DataTypes>
bool sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::updateVonMisesStress

Constructor details

template<class DataTypes >
sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::~TetrahedronFEMForceField ( )
overrideprotected

Function details

template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::accumulateForceLarge ( Vector f,
const Vector p,
typename VecElement::const_iterator  elementIt,
Index  elementIndex 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::accumulateForcePolar ( Vector f,
const Vector p,
typename VecElement::const_iterator  elementIt,
Index  elementIndex 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::accumulateForceSmall ( Vector f,
const Vector p,
typename VecElement::const_iterator  elementIt,
Index  elementIndex 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::accumulateForceSVD ( Vector f,
const Vector p,
typename VecElement::const_iterator  elementIt,
Index  elementIndex 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::addDForce ( const core::MechanicalParams mparams,
DataVecDeriv d_df,
const DataVecDeriv d_dx 
)
inlineoverridevirtual
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::addForce ( const core::MechanicalParams ,
DataVecDeriv f,
const DataVecCoord x,
const DataVecDeriv v 
)
inlineoverridevirtual

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::TetrahedronFEMForceField< DataTypes >::addKToMatrix ( sofa::defaulttype::BaseMatrix m,
SReal  kFactor,
unsigned int offset 
)
overridevirtual
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< 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::TetrahedronFEMForceField< DataTypes >::addSubKToMatrix ( sofa::defaulttype::BaseMatrix matrix,
const helper::vector< unsigned > &  subMatrixIndex,
SReal  kFact,
unsigned int offset 
)
overridevirtual

addToMatrix only on the subMatrixIndex

Reimplemented from sofa::core::behavior::ForceField< DataTypes >.

template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::applyStiffnessCorotational ( Vector f,
const Vector x,
int  i = 0,
Index  a = 0,
Index  b = 1,
Index  c = 2,
Index  d = 3,
SReal  fact = 1.0 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::applyStiffnessSmall ( Vector f,
const Vector x,
int  i = 0,
Index  a = 0,
Index  b = 1,
Index  c = 2,
Index  d = 3,
SReal  fact = 1.0 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< 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::TetrahedronFEMForceField< DataTypes >::computeForce ( Displacement F,
const Displacement Depl,
VoigtTensor plasticStrain,
const MaterialStiffness K,
const StrainDisplacement J 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeForce ( Displacement F,
const Displacement Depl,
const MaterialStiffness K,
const StrainDisplacement J,
SReal  fact 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeMaterialStiffness ( MaterialStiffness materialMatrix,
Index a,
Index b,
Index c,
Index d 
)
virtual
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeMaterialStiffness ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protectedvirtual
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeRotationLarge ( Transformation r,
const Vector p,
const Index a,
const Index b,
const Index c 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeStiffnessMatrix ( StiffnessMatrix S,
StiffnessMatrix SR,
const MaterialStiffness K,
const StrainDisplacement J,
const Transformation Rot 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeStrainDisplacement ( StrainDisplacement J,
Coord  a,
Coord  b,
Coord  c,
Coord  d 
)
inlineprotected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::computeVonMisesStress ( )
protected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< 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 >
TetrahedronFEMForceField< DataTypes >::Transformation sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getActualTetraRotation ( unsigned int  index)
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getElementStiffnessMatrix ( Real stiffness,
unsigned int  nodeIdx 
)
inline
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getElementStiffnessMatrix ( Real stiffness,
Tetrahedron te 
)
inline
template<class DataTypes >
TetrahedronFEMForceField< DataTypes >::Transformation sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getInitialTetraRotation ( unsigned int  index)
template<class DataTypes >
SReal sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams ,
const DataVecCoord x 
) const
inlineoverridevirtual
template<class DataTypes>
Real sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getRestVolume ( )
inline
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getRotation ( Transformation R,
unsigned int  nodeIdx 
)
inline
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getRotations ( VecReal vecR)
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::getRotations ( defaulttype::BaseMatrix rotations,
int  offset = 0 
)
overridevirtual
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::handleEvent ( core::objectmodel::Event )
overrideprotectedvirtual

Handle an event.

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

template<class DataTypes>
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::handleTopologyChange ( )
inlineoverrideprotectedvirtual

Handle topological Changes

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

template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< 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::TetrahedronFEMForceField< DataTypes >::initLarge ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::initPolar ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::initSmall ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::initSVD ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected
template<class DataTypes >
TetrahedronFEMForceField< DataTypes >::Real sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::peudo_determinant_for_coef ( const defaulttype::Mat< 2, 3, Real > &  M)
protected
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::reinit ( )
inlineoverridevirtual

Update method called when variables used in precomputation are modified.

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

template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::reset ( void  )
overridevirtual

Reset to initial state.

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

template<class DataTypes>
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::setComputeGlobalMatrix ( bool  val)
inline
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::setMethod ( std::string  methodName)
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::setMethod ( int  val)
template<class DataTypes>
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::setPoissonRatio ( Real  val)
inline
template<class DataTypes>
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::setUpdateStiffnessMatrix ( bool  val)
inline
template<class DataTypes >
void sofa::component::forcefield::TetrahedronFEMForceField< DataTypes >::setYoungModulus ( Real  val)

Enum details

template<class DataTypes>
anonymous enum
Enumerator
SMALL 

Symbol of small displacements tetrahedron solver.

LARGE 

Symbol of corotational large displacements tetrahedron solver based on a QR decomposition -> Nesme et al 2005 "Efficient, Physically Plausible Finite Elements".

POLAR 

Symbol of corotational large displacements tetrahedron solver based on a polar decomposition -> Muller et al 2004 "Interactive Virtual Materials".

SVD 

Symbol of corotational large displacements tetrahedron solver based on a SVD decomposition -> inspired from Irving et al 2004 "Invertible Finite Element for Robust Simulation of Large Deformation".

Related details

template<class DataTypes>
friend class TetrahedronFEMForceFieldInternalData< DataTypes >
friend