SOFA API  c76874b7
Open source framework for multi-physics simuation
sofa::component::forcefield::TriangleFEMForceField< DataTypes > Class Template Reference

#include <TriangleFEMForceField.h>

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

Detailed Description

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

Triangle FEM force field using the QR decomposition of the deformation gradient, inspired from http://www-evasion.imag.fr/Publications/2005/NPF05 , to handle large displacements. The material properties are uniform across the domain. Two methods are proposed, one for small displacements and one for large displacements. The method for small displacements has not been validated and we suspect that it is broke. Use it very carefully, and compare with the method for large displacements.

Public Attributes

int method
 
Data< std::string > f_method
 Choice of method: 0 for small, 1 for large displacements. More...
 
Data< Realf_poisson
 Poisson ratio of the material. More...
 
Data< Realf_young
 Young modulus of the material. More...
 
Data< Realf_thickness
 Thickness of the elements. More...
 
Data< boolf_planeStrain
 compute material stiffness corresponding to the plane strain assumption, or to the plane stress otherwise. More...
 
SingleLink< TriangleFEMForceField< 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< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Static Public Attributes

static const int SMALL = 1
 Symbol of small displacements triangle solver. More...
 
static const int LARGE = 0
 Symbol of large displacements triangle solver. More...
 

Protected Attributes

VecMaterialStiffness _materialsStiffnesses
 the material stiffness matrices vector More...
 
VecStrainDisplacement _strainDisplacements
 the strain-displacement matrices vector More...
 
const VecElement_indexedElements
 
Data< VecCoord_initialPoints
 the intial positions of the points More...
 
sofa::core::topology::BaseMeshTopologym_topology
 
sofa::helper::vector< helper::fixed_array< Coord, 3 > > _rotatedInitialElements
 The initials positions in its frame. More...
 
sofa::helper::vector< Transformation_rotations
 
- 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
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
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(TriangleFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, 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 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
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
Real getPoisson ()
 
void setPoisson (Real val)
 
Real getYoung ()
 
void setYoung (Real val)
 
int getMethod ()
 
void setMethod (int val)
 
- 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...
 
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)
 
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 override
 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 ()
 
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 addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
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

 TriangleFEMForceField ()
 
virtual ~TriangleFEMForceField ()
 
virtual void applyStiffness (VecCoord &f, Real h, const VecCoord &x, const SReal &kFactor)
 f += Kx where K is the stiffness matrix and x a displacement More...
 
void computeStrainDisplacement (StrainDisplacement &J, Coord a, Coord b, Coord c)
 
void computeMaterialStiffnesses ()
 
void computeForce (Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacement &J)
 
void initSmall ()
 
void accumulateForceSmall (VecCoord &f, const VecCoord &p, Index elementIndex, bool implicit=false)
 
void applyStiffnessSmall (VecCoord &f, Real h, const VecCoord &x, const SReal &kFactor)
 
void initLarge ()
 
void computeRotationLarge (Transformation &r, const VecCoord &p, const Index &a, const Index &b, const Index &c)
 
void accumulateForceLarge (VecCoord &f, const VecCoord &p, Index elementIndex, bool implicit=false)
 
void applyStiffnessLarge (VecCoord &f, Real h, const VecCoord &x, const SReal &kFactor)
 
void computeElementStiffnessMatrix (StiffnessMatrix &S, StiffnessMatrix &SR, const MaterialStiffness &K, const StrainDisplacement &J, const Transformation &Rot)
 
void addKToMatrix (sofa::defaulttype::BaseMatrix *mat, SReal k, unsigned int &offset) 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...
 

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

the intial positions of the points

template<class DataTypes >
VecMaterialStiffness sofa::component::forcefield::TriangleFEMForceField< DataTypes >::_materialsStiffnesses
protected

the material stiffness matrices vector

template<class DataTypes >
sofa::helper::vector< helper::fixed_array <Coord, 3> > sofa::component::forcefield::TriangleFEMForceField< DataTypes >::_rotatedInitialElements
protected

The initials positions in its frame.

template<class DataTypes >
VecStrainDisplacement sofa::component::forcefield::TriangleFEMForceField< DataTypes >::_strainDisplacements
protected

the strain-displacement matrices vector

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

Choice of method: 0 for small, 1 for large displacements.

template<class DataTypes >
Data<bool> sofa::component::forcefield::TriangleFEMForceField< DataTypes >::f_planeStrain

compute material stiffness corresponding to the plane strain assumption, or to the plane stress otherwise.

template<class DataTypes >
Data<Real> sofa::component::forcefield::TriangleFEMForceField< DataTypes >::f_poisson

Poisson ratio of the material.

template<class DataTypes >
Data<Real> sofa::component::forcefield::TriangleFEMForceField< DataTypes >::f_thickness

Thickness of the elements.

template<class DataTypes >
Data<Real> sofa::component::forcefield::TriangleFEMForceField< DataTypes >::f_young

Young modulus of the material.

template<class DataTypes >
const int sofa::component::forcefield::TriangleFEMForceField< DataTypes >::LARGE = 0
static

Symbol of large displacements triangle solver.

template<class DataTypes >
int sofa::component::forcefield::TriangleFEMForceField< DataTypes >::method
template<class DataTypes >
const int sofa::component::forcefield::TriangleFEMForceField< DataTypes >::SMALL = 1
static

Symbol of small displacements triangle solver.

Constructor details

template<class DataTypes >
sofa::component::forcefield::TriangleFEMForceField< DataTypes >::~TriangleFEMForceField ( )
protectedvirtual

Function details

template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::accumulateForceLarge ( VecCoord f,
const VecCoord p,
Index  elementIndex,
bool  implicit = false 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::accumulateForceSmall ( VecCoord f,
const VecCoord p,
Index  elementIndex,
bool  implicit = false 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::addDForce ( const core::MechanicalParams mparams,
DataVecDeriv df,
const DataVecDeriv dx 
)
overridevirtual
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< 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::TriangleFEMForceField< DataTypes >::addKToMatrix ( sofa::defaulttype::BaseMatrix mat,
SReal  k,
unsigned int offset 
)
overrideprotectedvirtual
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::applyStiffness ( VecCoord f,
Real  h,
const VecCoord x,
const SReal &  kFactor 
)
protectedvirtual

f += Kx where K is the stiffness matrix and x a displacement

template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::applyStiffnessLarge ( VecCoord f,
Real  h,
const VecCoord x,
const SReal &  kFactor 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::applyStiffnessSmall ( VecCoord f,
Real  h,
const VecCoord x,
const SReal &  kFactor 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::computeElementStiffnessMatrix ( StiffnessMatrix S,
StiffnessMatrix SR,
const MaterialStiffness K,
const StrainDisplacement J,
const Transformation Rot 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::computeForce ( Displacement F,
const Displacement Depl,
const MaterialStiffness K,
const StrainDisplacement J 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::computeMaterialStiffnesses ( )
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::computeRotationLarge ( Transformation r,
const VecCoord p,
const Index a,
const Index b,
const Index c 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::computeStrainDisplacement ( StrainDisplacement J,
Coord  a,
Coord  b,
Coord  c 
)
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< 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 >
int sofa::component::forcefield::TriangleFEMForceField< DataTypes >::getMethod ( )
inline
template<class DataTypes >
Real sofa::component::forcefield::TriangleFEMForceField< DataTypes >::getPoisson ( )
inline
template<class DataTypes >
SReal sofa::component::forcefield::TriangleFEMForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams ,
const DataVecCoord  
) const
inlineoverridevirtual
template<class DataTypes >
Real sofa::component::forcefield::TriangleFEMForceField< DataTypes >::getYoung ( )
inline
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< 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::TriangleFEMForceField< DataTypes >::initLarge ( )
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::initSmall ( )
protected
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< 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::TriangleFEMForceField< DataTypes >::setMethod ( int  val)
inline
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::setPoisson ( Real  val)
inline
template<class DataTypes >
void sofa::component::forcefield::TriangleFEMForceField< DataTypes >::setYoung ( Real  val)
inline
template<class DataTypes >
sofa::component::forcefield::TriangleFEMForceField< DataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(TriangleFEMForceField< DataTypes >, DataTypes ,
SOFA_TEMPLATE(core::behavior::ForceField, DataTypes  
)