#include <HexahedronFEMForceField.h>

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

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 >	d_method
	"large" or "polar" or "small" displacements More...

Data< bool >	d_updateStiffnessMatrix

Data< sofa::helper::OptionsGroup >	d_gatherPt
	number of dof accumulated per threads during the gather operation (Only use in GPU version) More...

Data< sofa::helper::OptionsGroup >	d_gatherBsize
	number of dof accumulated per threads during the gather operation (Only use in GPU version) More...

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

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

bool	needUpdateTopology

Public Attributes inherited from sofa::component::solidmechanics::fem::elastic::BaseLinearElasticityFEMForceField< DataTypes >
Data< VecReal >	d_poissonRatio
	FEM Poisson Ratio in Hooke's law [0,0.5[. More...

Data< VecReal >	d_youngModulus
	FEM Young's Modulus in Hooke's law. More...

SingleLink< BaseLinearElasticityFEMForceField< 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...

Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal >	rayleighStiffness
	Rayleigh Damping stiffness matrix coefficient. More...

objectmodel::lifecycle::RemovedData	isCompliance
	Considered as compliance, else considered as stiffness (default to false) More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_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< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

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

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

CompressedMatrix	_stiffnesses

SReal	m_potentialEnergy

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

Data< VecCoord >	d_initialPoints
	Initial Position. 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

Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >	l_mechanicalStates

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_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_STRONGLINK >	mstate

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(HexahedronFEMForceField, DataTypes), SOFA_TEMPLATE(BaseLinearElasticityFEMForceField, DataTypes))

void	setMethod (int val)

void	setUpdateStiffnessMatrix (bool val)

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 *mparams, const DataVecCoord &x) 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 (sofa::linearalgebra::BaseMatrix *matrix, SReal kFact, unsigned int &offset) 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
	Render internal data of this object, for debugging purposes. More...

void	handleTopologyChange () override

Public Member Functions inherited from sofa::component::solidmechanics::fem::elastic::BaseLinearElasticityFEMForceField< DataTypes >
	SOFA_CLASS (SOFA_TEMPLATE(BaseLinearElasticityFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes))

	BaseLinearElasticityFEMForceField ()

void	setPoissonRatio (Real val)

void	setYoungModulus (Real val)

Real	getYoungModulusInElement (sofa::Size elementId) const

Real	getPoissonRatioInElement (sofa::Size elementId) const

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

virtual void	addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor)=delete

virtual void	addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal)=delete
	Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...

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 . More...

void	addBToMatrix (const MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix) override
	Compute the system matrix corresponding to . More...

virtual void	addBToMatrix (sofa::linearalgebra::BaseMatrix *matrix, SReal bFact, unsigned int &offset)

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)

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 . More...

virtual const sofa::linearalgebra::BaseMatrix *	getComplianceMatrix (const MechanicalParams *)=delete

virtual void	addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal)=delete
	Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...

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)

Base *	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...

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (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 (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 BaseClass *	getClass () 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::TagSet &	getTags () 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)=delete
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (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...

BaseLink *	findLink (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 VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () 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

Protected Member Functions
	HexahedronFEMForceField ()

const VecElement *	getIndexedElements ()

virtual void	computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const type::Vec< 8, Coord > &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)

Protected Member Functions inherited from sofa::component::solidmechanics::fem::elastic::BaseLinearElasticityFEMForceField< DataTypes >
void	checkPoissonRatio ()

void	checkYoungModulus ()

Real	getVecRealInElement (sofa::Size elementId, const Data< VecReal > &data, Real defaultValue) const

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::IntrusiveObject
virtual	~IntrusiveObject ()=default

Protected Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
	SingleStateAccessor (MechanicalState< DataTypes > *mm=nullptr)

	~SingleStateAccessor () override=default

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 >

Additional Inherited Members
Static Protected Attributes inherited from sofa::component::solidmechanics::fem::elastic::BaseLinearElasticityFEMForceField< DataTypes >
static constexpr Real	defaultYoungModulusValue = 5000

static constexpr Real	defaultPoissonRatioValue = 0.45

Static Public Member Functions inherited from sofa::component::solidmechanics::fem::elastic::BaseLinearElasticityFEMForceField< DataTypes >
static std::pair< Real, Real >	toLameParameters (_2DMaterials, Real youngModulus, Real poissonRatio)

static std::pair< Real, Real >	toLameParameters (_3DMaterials, Real youngModulus, Real poissonRatio)

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 BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

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

◆ _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

◆ d_drawing

template<class DataTypes >

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

draw the forcefield if true

◆ d_drawPercentageOffset

template<class DataTypes >

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

size of the hexa

◆ d_elementStiffnesses

template<class DataTypes >

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

protected

Stiffness matrices per element (K_i)

◆ d_gatherBsize

template<class DataTypes >

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

number of dof accumulated per threads during the gather operation (Only use in GPU version)

◆ d_gatherPt

template<class DataTypes >

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

number of dof accumulated per threads during the gather operation (Only use in GPU version)

◆ d_initialPoints

template<class DataTypes >

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

protected

Initial Position.

◆ d_method

template<class DataTypes >

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

"large" or "polar" or "small" displacements

◆ d_updateStiffnessMatrix

template<class DataTypes >

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

◆ data

template<class DataTypes >

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

protected

◆ m_potentialEnergy

template<class DataTypes >

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

protected

◆ 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
	)

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
df	Output vector to fill, result of
dx	Input vector used to compute

Implements sofa::core::behavior::ForceField< DataTypes >.

Reimplemented in sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ addForce()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< 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 >.

Reimplemented in sofa::component::solidmechanics::fem::nonuniform::NonUniformHexahedronFEMForceFieldAndMass< DataTypes >, and sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ addKToMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::addKToMatrix	(	sofa::linearalgebra::BaseMatrix *	matrix,
		SReal	kFact,
		unsigned int &	offset
	)

overridevirtual

Internal addKToMatrix Overloaded function, usually called from the generic addKToMatrix version. This addKToMatrix version directly gives access to the matrix to fill, the stiffness factor and the offset used to identify where the force field must add its contributions in the matrix.

Parameters

matrix	the global stiffness matrix in which the force field adds its contribution. The matrix is global, i.e. different objects can add their contribution into the same large matrix. Each object adds its contribution to a different section of the matrix. That is why, an offset is used to identify where in the matrix the force field must start adding its contribution.
kFact	stiffness factor that needs to be multiplied to each matrix entry.
offset	Starting index of the submatrix to fill in the global matrix.

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

Reimplemented in sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ buildDampingMatrix()

template<class DataTypes >

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

inlineoverridevirtual

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

◆ buildStiffnessMatrix()

template<class DataTypes >

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

overridevirtual

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

Reimplemented in sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ computeBBox()

template<class DataTypes >

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

overridevirtual

Bounding Box computation method. Default to empty method.

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

◆ computeElementStiffness()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::computeElementStiffness	(	ElementStiffness &	K,
		const MaterialStiffness &	M,
		const type::Vec< 8, Coord > &	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 * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

Reimplemented in sofa::component::solidmechanics::fem::nonuniform::HexahedronCompositeFEMForceFieldAndMass< DataTypes >, and sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ 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()

template<class DataTypes >

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

inlineoverridevirtual

Implements sofa::core::behavior::ForceField< DataTypes >.

Reimplemented in sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ getRotations()

template<class DataTypes >

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

overridevirtual

Implements sofa::core::behavior::BaseRotationFinder.

◆ handleTopologyChange()

template<class DataTypes >

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

inlineoverridevirtual

Handle topological Changes

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

◆ init()

template<class DataTypes >

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

overridevirtual

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

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

Reimplemented in sofa::component::solidmechanics::fem::nonuniform::NonUniformHexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::solidmechanics::fem::nonuniform::HexahedronCompositeFEMForceFieldAndMass< DataTypes >, and sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ 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

overridevirtual

Update method called when variables used in precomputation are modified.

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

Reimplemented in sofa::component::solidmechanics::fem::nonuniform::NonUniformHexahedronFEMForceFieldAndMass< DataTypes >, sofa::component::solidmechanics::fem::nonuniform::HexahedronCompositeFEMForceFieldAndMass< DataTypes >, and sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >.

◆ setMethod()

template<class DataTypes >

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

inline

◆ setUpdateStiffnessMatrix()

template<class DataTypes >

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

inline

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(HexahedronFEMForceField< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(BaseLinearElasticityFEMForceField, 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

Additional Inherited Members

Attribute details

◆ _alreadyInit

◆ _coef

◆ _initialrotations

◆ _materialsStiffnesses

◆ _rotatedInitialElements

◆ _rotations

◆ _sparseGrid

◆ _stiffnesses

◆ d_drawing

◆ d_drawPercentageOffset

◆ d_elementStiffnesses

◆ d_gatherBsize

◆ d_gatherPt

◆ d_initialPoints

◆ d_method

◆ d_updateStiffnessMatrix

◆ data

◆ m_potentialEnergy

◆ 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()

◆ getRotations()

◆ handleTopologyChange()

◆ init()

◆ initLarge()

◆ initPolar()

◆ initSmall()

◆ integrateStiffness()

◆ reinit()

◆ setMethod()

◆ setUpdateStiffnessMatrix()

◆ SOFA_CLASS()

Enum details

◆ anonymous enum

Related details

◆ HexahedronFEMForceFieldInternalData< DataTypes >

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