SOFA API  df6198ac
Open source framework for multi-physics simuation
sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes > Class Template Reference

#include <HexahedralFEMForceFieldAndMass.h>

Inheritance diagram for sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >

Compute Finite Element forces based on hexahedral elements including continuum mass matrices

Protected Attributes

Data< Real_density
 density == volumetric mass in english (kg.m-3) More...
 
Data< bool_useLumpedMass
 Does it use lumped masses? More...
 
core::topology::HexahedronData< sofa::type::vector< ElementMass > > _elementMasses
 mass matrices per element More...
 
core::topology::HexahedronData< sofa::type::vector< Real > > _elementTotalMass
 total mass per element More...
 
core::topology::PointData< sofa::type::vector< Real > > _particleMasses
 masses per particle in order to compute gravity More...
 
core::topology::PointData< sofa::type::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::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 
- 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...
 
- Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
SingleLink< SingleStateAccessor< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINKmstate
 
- Protected Attributes inherited from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >
core::topology::BaseMeshTopology_topology
 
type::Mat< 8, 3, int > _coef
 coef of each vertices to compute the strain stress matrix More...
 

Public Member Functions

 SOFA_CLASS2 (SOFA_TEMPLATE(HexahedralFEMForceFieldAndMass, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Mass, DataTypes), SOFA_TEMPLATE(HexahedralFEMForceField, 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 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...
 
bool isDiagonal () const override
 
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 (sofa::Index index) const override
 Get the mass relative to the DOF at index. More...
 
void setDensity (Real d)
 
Real getDensity ()
 
void addKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 
void addKToMatrix (sofa::linearalgebra::BaseMatrix *, SReal, unsigned int &) override
 
- Public Member Functions inherited from sofa::core::behavior::Mass< DataTypes >
 SOFA_CLASS2 (SOFA_TEMPLATE(Mass, DataTypes), SOFA_TEMPLATE(ForceField, DataTypes), BaseMass)
 
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 (sofa::Index) const override
 recover the mass of an element More...
 
void getElementMass (sofa::Index index, linearalgebra::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
 
type::Vec6 getMomentum (const MechanicalParams *mparams) const override
 
virtual type::Vec6 getMomentum (const MechanicalParams *, const DataVecCoord &, const DataVecDeriv &) const
 
void addKToMatrix (sofa::linearalgebra::BaseMatrix *, SReal, unsigned int &) override
 
void addBToMatrix (sofa::linearalgebra::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::linearalgebra::BaseMatrix *matrix, SReal mFact, unsigned int &offset)
 
void addMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 
- Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 SOFA_CLASS2 (SOFA_TEMPLATE(ForceField, DataTypes), BaseForceField, SOFA_TEMPLATE(SingleStateAccessor, DataTypes))
 
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 addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to $ b B $. More...
 
void addToMatrix (sofa::linearalgebra::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale)
 
- Public Member Functions inherited from sofa::core::behavior::BaseForceField
 SOFA_ABSTRACT_CLASS (BaseForceField, StateAccessor)
 
virtual const sofa::linearalgebra::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- Public Member Functions inherited from sofa::core::behavior::StateAccessor
 SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)
 
virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & getMechanicalStates () const
 Return a list of mechanical states to which this component is associated. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 
- 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)
 
BasefindLinkDestClass (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...
 
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 addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
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...
 
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 final
 Get the template type names (if any) used to instantiate this object. More...
 
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
 
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 (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. 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)
 
- Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, DataTypes), StateAccessor)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 
const MechanicalState< DataTypes > * getMState () const
 
- Public Member Functions inherited from sofa::core::behavior::BaseMass
 SOFA_ABSTRACT_CLASS (BaseMass, StateAccessor)
 
virtual void buildMassMatrix (sofa::core::behavior::MassMatrixAccumulator *matrices)
 
- Public Member Functions inherited from sofa::component::solidmechanics::fem::elastic::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)
 
void buildStiffnessMatrix (core::behavior::StiffnessMatrix *matrix) override
 
void buildDampingMatrix (core::behavior::DampingMatrix *) final
 
void createHexahedronInformation (Index, HexahedronInformation &t, const core::topology::BaseMeshTopology::Hexahedron &, const sofa::type::vector< Index > &, const sofa::type::vector< SReal > &)
 

Protected Member Functions

 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 type::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=default
 
- Protected Member Functions inherited from sofa::core::behavior::StateAccessor
 StateAccessor ()
 
 ~StateAccessor () override=default
 
- 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, std::size_t, 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::SingleStateAccessor< DataTypes >
 SingleStateAccessor (MechanicalState< DataTypes > *mm=nullptr)
 
 ~SingleStateAccessor () override=default
 
- Protected Member Functions inherited from sofa::core::behavior::BaseMass
 BaseMass ()
 
 ~BaseMass () override=default
 
- Protected Member Functions inherited from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >
 HexahedralFEMForceField ()
 
virtual ~HexahedralFEMForceField ()
 
virtual void computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const type::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, type::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< 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
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
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::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state 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< SReal > rayleighMass
 Rayleigh Damping mass matrix coefficient. More...
 
- Public Attributes inherited from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >
int method
 
Data< std::string > f_method
 the computation method of the displacements More...
 
Data< Realf_poissonRatio
 
Data< Realf_youngModulus
 
core::topology::HexahedronData< sofa::type::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 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 std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ _density

density == volumetric mass in english (kg.m-3)

◆ _elementMasses

◆ _elementTotalMass

◆ _lumpedMasses

masses per particle computed by lumping mass matrices

◆ _particleMasses

masses per particle in order to compute gravity

◆ _useLumpedMass

Does it use lumped masses?

Constructor details

◆ HexahedralFEMForceFieldAndMass()

Function details

◆ accFromF()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::accFromF ( const core::MechanicalParams mparams,
DataVecDeriv a,
const DataVecDeriv f 
)
overridevirtual

◆ addDForce()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::addDForce ( const core::MechanicalParams mparams,
DataVecDeriv df,
const DataVecDeriv dx 
)
overridevirtual

Internal addDForce Overloaded function, usually called from the generic addDForce version. This addDForce version directly gives access to df and dx vectors through its parameters.

Parameters
mparams
dfOutput vector to fill, result of $ kFactor K dx + bFactor B dx $
dxInput vector used to compute $ df = kFactor K dx + bFactor B dx $

Reimplemented from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >.

◆ addForce()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< 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

Reimplemented from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >.

◆ addGravityToV()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::addGravityToV ( const core::MechanicalParams mparams,
DataVecDeriv d_v 
)
overridevirtual

◆ addKToMatrix() [1/3]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >::addKToMatrix
override

◆ addKToMatrix() [2/3]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< 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

Reimplemented from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >.

◆ addKToMatrix() [3/3]

template<class DataTypes >
void sofa::core::behavior::Mass< DataTypes >::addKToMatrix
inlineoverride

◆ addMBKToMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::addMBKToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Compute the system matrix corresponding to $ m M + b B + k K $.

Parameters
mparams
  • mparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE)
  • sofa::core::mechanicalparams::bFactor(mparams) is the coefficient for damping contributions (i.e. first derivatives term in the ODE)
  • mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
matrixthe matrix to add the result to

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

◆ addMDx()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::addMDx ( const core::MechanicalParams mparams,
DataVecDeriv f,
const DataVecDeriv dx,
SReal  factor 
)
overridevirtual

◆ addMToMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::addMToMatrix ( const core::MechanicalParams mparams,
const sofa::core::behavior::MultiMatrixAccessor matrix 
)
overridevirtual

Add Mass contribution to global Matrix assembling.

This method must be implemented by the component.

Parameters
matrixmatrix to add the result to
mparamsmparams->mFactor() is the coefficient for mass contributions (i.e. second-order derivatives term in the ODE)

Implements sofa::core::behavior::BaseMass.

◆ computeElementMass()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::computeElementMass ( ElementMass Mass,
Real totalMass,
const type::fixed_array< Coord, 8 > &  nodes 
)
protectedvirtual

compute the mass matrix of an element

◆ computeElementMasses()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::computeElementMasses
protectedvirtual

compute the mass matrices

◆ computeLumpedMasses()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::computeLumpedMasses
protected

◆ computeParticleMasses()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::computeParticleMasses
protected

◆ draw()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

Reimplemented from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >.

◆ getDensity()

◆ getElementMass()

template<class DataTypes >
SReal sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::getElementMass ( sofa::Index  index) const
overridevirtual

Get the mass relative to the DOF at index.

Implements sofa::core::behavior::BaseMass.

◆ getKineticEnergy()

template<class DataTypes >
SReal sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::getKineticEnergy ( const core::MechanicalParams ,
const DataVecDeriv  
) const
inlineoverridevirtual

< vMv/2 using dof->getV() override

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

◆ getPotentialEnergy()

template<class DataTypes >
SReal sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::getPotentialEnergy ( const core::MechanicalParams ,
const DataVecCoord  
) const
inlineoverridevirtual

◆ init()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::init ( void  )
overridevirtual

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

Reimplemented from sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >.

Reimplemented in sofa::component::solidmechanics::fem::nonuniform::NonUniformHexahedralFEMForceFieldAndMass< DataTypes >.

◆ integrateVolume()

template<class DataTypes >
HexahedralFEMForceFieldAndMass< DataTypes >::Real sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::integrateVolume ( int  signx,
int  signy,
int  signz,
Real  l0,
Real  l1,
Real  l2 
)
protected

◆ isDiagonal()

template<class DataTypes >
bool sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::isDiagonal ( ) const
inlineoverridevirtual

◆ reinit()

◆ setDensity()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< DataTypes >::setDensity ( Real  d)
inline

◆ SOFA_CLASS2()