#include <HexahedronFEMForceField.h>

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

[legend]

Detailed Description

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

Compute Finite Element forces based on hexahedral elements.

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

WARNING: indices ordering is different than in topology node

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

Public Attributes
int	method

Data< std::string >	f_method
	the computation method of the displacements More...

Data< Real >	f_poissonRatio

Data< Real >	f_youngModulus

Data< bool >	f_updateStiffnessMatrix

Data< sofa::helper::OptionsGroup >	_gatherPt
	use in GPU version More...

Data< sofa::helper::OptionsGroup >	_gatherBsize
	use in GPU version More...

Data< bool >	f_drawing
	draw the forcefield if true More...

Data< Real >	f_drawPercentageOffset
	size of the hexa More...

bool	needUpdateTopology

SingleLink< HexahedronFEMForceField< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_topology
	Link to be set to the topology container in the component graph. More...

Protected Attributes
VecMaterialStiffness	_materialsStiffnesses
	the material stiffness matrices vector More...

Data< VecElementStiffness >	_elementStiffnesses
	Stiffness matrices per element (K_i) More...

CompressedMatrix	_stiffnesses

SReal	m_potentialEnergy

sofa::core::topology::BaseMeshTopology *	m_topology
	Pointer to the topology container. Will be set by link. More...

topology::container::grid::SparseGridTopology *	_sparseGrid

Data< VecCoord >	_initialPoints
	the intial positions of the points More...

type::Mat< 8, 3, int >	_coef
	coef of each vertices to compute the strain stress matrix More...

HexahedronFEMForceFieldInternalData< DataTypes > *	data

type::vector< type::fixed_array< Coord, 8 > >	_rotatedInitialElements
	The initials positions in its frame. More...

type::vector< Transformation >	_rotations

type::vector< Transformation >	_initialrotations

bool	_alreadyInit

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(HexahedronFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes))

void	setPoissonRatio (Real val)

void	setYoungModulus (Real val)

void	setMethod (int val)

void	setUpdateStiffnessMatrix (bool val)

void	init () override

void	reinit () override

void	addForce (const core::MechanicalParams *mparams, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v) override

void	addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx) override

SReal	getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &) const override

SReal	getPotentialEnergy (const core::MechanicalParams *) const override

const Transformation &	getElementRotation (const sofa::Index elemidx)

void	getNodeRotation (Transformation &R, sofa::Index nodeIdx)

void	getRotations (linearalgebra::BaseMatrix *rotations, int offset=0) override

void	addKToMatrix (const core::MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix) override

void	buildStiffnessMatrix (core::behavior::StiffnessMatrix *matrix) override

void	buildDampingMatrix (core::behavior::DampingMatrix *) override

void	computeBBox (const core::ExecParams *params, bool onlyVisible) override

void	draw (const core::visual::VisualParams *vparams) override

void	handleTopologyChange () override

Protected Member Functions
	HexahedronFEMForceField ()

const VecElement *	getIndexedElements ()

virtual void	computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const type::fixed_array< Coord, 8 > &nodes, const sofa::Index elementIndice, double stiffnessFactor=1.0) const

void	computeMaterialStiffness (sofa::Index i)

void	initLarge (sofa::Index i, const Element &elem)

virtual void	accumulateForceLarge (WDataRefVecDeriv &f, RDataRefVecCoord &p, sofa::Index i, const Element &elem)

void	initPolar (sofa::Index i, const Element &elem)

void	computeRotationPolar (Transformation &r, type::Vec< 8, Coord > &nodes)

virtual void	accumulateForcePolar (WDataRefVecDeriv &f, RDataRefVecCoord &p, sofa::Index i, const Element &elem)

void	initSmall (sofa::Index i, const Element &elem)

virtual void	accumulateForceSmall (WDataRefVecDeriv &f, RDataRefVecCoord &p, sofa::Index i, const Element &elem)

Static Protected Member Functions
static 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)

static void	computeForce (Displacement &F, const Displacement &Depl, const ElementStiffness &K)

static void	computeRotationLarge (Transformation &r, Coord &edgex, Coord &edgey)

Friends
class	HexahedronFEMForceFieldInternalData< DataTypes >

Attribute details

◆ _alreadyInit

template<class DataTypes >

bool sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_alreadyInit

protected

◆ _coef

template<class DataTypes >

type::Mat<8,3,int> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_coef

protected

coef of each vertices to compute the strain stress matrix

◆ _elementStiffnesses

template<class DataTypes >

Data<VecElementStiffness> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_elementStiffnesses

protected

Stiffness matrices per element (K_i)

◆ _gatherBsize

template<class DataTypes >

Data< sofa::helper::OptionsGroup > sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_gatherBsize

use in GPU version

◆ _gatherPt

template<class DataTypes >

Data< sofa::helper::OptionsGroup > sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_gatherPt

use in GPU version

◆ _initialPoints

template<class DataTypes >

Data< VecCoord > sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_initialPoints

protected

the intial positions of the points

◆ _initialrotations

template<class DataTypes >

type::vector<Transformation> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_initialrotations

protected

◆ _materialsStiffnesses

template<class DataTypes >

VecMaterialStiffness sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_materialsStiffnesses

protected

the material stiffness matrices vector

◆ _rotatedInitialElements

template<class DataTypes >

type::vector<type::fixed_array<Coord,8> > sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_rotatedInitialElements

protected

The initials positions in its frame.

◆ _rotations

template<class DataTypes >

type::vector<Transformation> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_rotations

protected

◆ _sparseGrid

template<class DataTypes >

topology::container::grid::SparseGridTopology* sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_sparseGrid

protected

◆ _stiffnesses

template<class DataTypes >

CompressedMatrix sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::_stiffnesses

protected

◆ data

template<class DataTypes >

HexahedronFEMForceFieldInternalData<DataTypes>* sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::data

protected

◆ f_drawing

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::f_drawing

draw the forcefield if true

◆ f_drawPercentageOffset

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::f_drawPercentageOffset

size of the hexa

◆ f_method

template<class DataTypes >

Data<std::string> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::f_method

the computation method of the displacements

◆ f_poissonRatio

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::f_poissonRatio

◆ f_updateStiffnessMatrix

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::f_updateStiffnessMatrix

◆ f_youngModulus

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::f_youngModulus

◆ l_topology

template<class DataTypes >

SingleLink<HexahedronFEMForceField<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::l_topology

Link to be set to the topology container in the component graph.

◆ m_potentialEnergy

template<class DataTypes >

SReal sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::m_potentialEnergy

protected

◆ m_topology

template<class DataTypes >

sofa::core::topology::BaseMeshTopology* sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::m_topology

protected

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

See also: l_topology

◆ method

template<class DataTypes >

int sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::method

◆ needUpdateTopology

template<class DataTypes >

bool sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::needUpdateTopology

Constructor details

◆ HexahedronFEMForceField()

template<class DataTypes >

sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::HexahedronFEMForceField

protected

Function details

◆ accumulateForceLarge()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::accumulateForceLarge	(	WDataRefVecDeriv &	f,
		RDataRefVecCoord &	p,
		sofa::Index	i,
		const Element &	elem
	)

protectedvirtual

◆ accumulateForcePolar()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::accumulateForcePolar	(	WDataRefVecDeriv &	f,
		RDataRefVecCoord &	p,
		sofa::Index	i,
		const Element &	elem
	)

protectedvirtual

◆ accumulateForceSmall()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::accumulateForceSmall	(	WDataRefVecDeriv &	f,
		RDataRefVecCoord &	p,
		sofa::Index	i,
		const Element &	elem
	)

protectedvirtual

◆ addDForce()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::addDForce	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	df,
		const DataVecDeriv &	dx
	)

override

◆ addForce()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::addForce	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	f,
		const DataVecCoord &	x,
		const DataVecDeriv &	v
	)

override

◆ addKToMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::addKToMatrix	(	const core::MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

override

◆ buildDampingMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::buildDampingMatrix ( core::behavior::DampingMatrix * )

inlineoverride

◆ buildStiffnessMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::buildStiffnessMatrix ( core::behavior::StiffnessMatrix * matrix )

override

◆ computeBBox()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeBBox	(	const core::ExecParams *	params,
		bool	onlyVisible
	)

override

◆ computeElementStiffness()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeElementStiffness	(	ElementStiffness &	K,
		const MaterialStiffness &	M,
		const type::fixed_array< Coord, 8 > &	nodes,
		const sofa::Index	elementIndice,
		double	stiffnessFactor = `1.0`
	)		const

protectedvirtual

◆ computeForce()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeForce	(	Displacement &	F,
		const Displacement &	Depl,
		const ElementStiffness &	K
	)

staticprotected

◆ computeMaterialStiffness()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeMaterialStiffness ( sofa::Index i )

protected

◆ computeRotationLarge()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeRotationLarge	(	Transformation &	r,
		Coord &	edgex,
		Coord &	edgey
	)

staticprotected

◆ computeRotationPolar()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeRotationPolar	(	Transformation &	r,
		type::Vec< 8, Coord > &	nodes
	)

protected

◆ draw()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::draw ( const core::visual::VisualParams * vparams )

override

◆ getElementRotation()

template<class DataTypes >

const HexahedronFEMForceField< DataTypes >::Transformation & sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::getElementRotation ( const sofa::Index elemidx )

◆ getIndexedElements()

template<class DataTypes >

const VecElement* sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::getIndexedElements ( )

inlineprotected

◆ getNodeRotation()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::getNodeRotation	(	Transformation &	R,
		sofa::Index	nodeIdx
	)

◆ getPotentialEnergy() [1/2]

template<class DataTypes >

SReal sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::getPotentialEnergy ( const core::MechanicalParams * ) const

inlineoverride

◆ getPotentialEnergy() [2/2]

template<class DataTypes >

SReal sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::getPotentialEnergy	(	const core::MechanicalParams *	,
		const DataVecCoord &
	)		const

override

◆ getRotations()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::getRotations	(	linearalgebra::BaseMatrix *	rotations,
		int	offset = `0`
	)

override

◆ handleTopologyChange()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::handleTopologyChange

inlineoverride

◆ init()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::init

override

◆ initLarge()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::initLarge	(	sofa::Index	i,
		const Element &	elem
	)

protected

◆ initPolar()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::initPolar	(	sofa::Index	i,
		const Element &	elem
	)

protected

◆ initSmall()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::initSmall	(	sofa::Index	i,
		const Element &	elem
	)

protected

◆ integrateStiffness()

template<class DataTypes >

HexahedronFEMForceField< DataTypes >::Mat33 sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::integrateStiffness	(	int	signx0,
		int	signy0,
		int	signz0,
		int	signx1,
		int	signy1,
		int	signz1,
		const Real	u,
		const Real	v,
		const Real	w,
		const Mat33 &	J_1
	)

staticprotected

◆ reinit()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::reinit

override

◆ setMethod()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::setMethod ( int val )

inline

◆ setPoissonRatio()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::setPoissonRatio ( Real val )

inline

◆ setUpdateStiffnessMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::setUpdateStiffnessMatrix ( bool val )

inline

◆ setYoungModulus()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::setYoungModulus ( Real val )

inline

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(HexahedronFEMForceField< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)
	)

Enum details

◆ anonymous enum

template<class DataTypes >

anonymous enum

Enumerator
LARGE	Symbol of mean large displacements tetrahedron solver (frame = edges mean on the 3 directions)
POLAR	Symbol of polar displacements tetrahedron solver.
SMALL

Related details

◆ HexahedronFEMForceFieldInternalData< DataTypes >

template<class DataTypes >

friend class HexahedronFEMForceFieldInternalData< DataTypes >

friend

Detailed Description

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

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Friends

Attribute details

◆ _alreadyInit

◆ _coef

◆ _elementStiffnesses

◆ _gatherBsize

◆ _gatherPt

◆ _initialPoints

◆ _initialrotations

◆ _materialsStiffnesses

◆ _rotatedInitialElements

◆ _rotations

◆ _sparseGrid

◆ _stiffnesses

◆ data

◆ f_drawing

◆ f_drawPercentageOffset

◆ f_method

◆ f_poissonRatio

◆ f_updateStiffnessMatrix

◆ f_youngModulus

◆ l_topology

◆ m_potentialEnergy

◆ m_topology

◆ method

◆ needUpdateTopology

Constructor details

◆ HexahedronFEMForceField()

Function details

◆ accumulateForceLarge()

◆ accumulateForcePolar()

◆ accumulateForceSmall()

◆ addDForce()

◆ addForce()

◆ addKToMatrix()

◆ buildDampingMatrix()

◆ buildStiffnessMatrix()

◆ computeBBox()

◆ computeElementStiffness()

◆ computeForce()

◆ computeMaterialStiffness()

◆ computeRotationLarge()

◆ computeRotationPolar()

◆ draw()

◆ getElementRotation()

◆ getIndexedElements()

◆ getNodeRotation()

◆ getPotentialEnergy() [1/2]

◆ getPotentialEnergy() [2/2]

◆ getRotations()

◆ handleTopologyChange()

◆ init()

◆ initLarge()

◆ initPolar()

◆ initSmall()

◆ integrateStiffness()

◆ reinit()

◆ setMethod()

◆ setPoissonRatio()

◆ setUpdateStiffnessMatrix()

◆ setYoungModulus()

◆ SOFA_CLASS()

Enum details

◆ anonymous enum

Related details

◆ HexahedronFEMForceFieldInternalData< DataTypes >

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