#include <HexahedronFEMForceFieldAndMass.h>

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

Detailed Description

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

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

Protected Attributes
Data< VecElementMass >	d_elementMasses
	mass matrices per element More...

Data< Real >	d_density
	density == volumetric mass in english (kg.m-3) More...

Data< bool >	d_lumpedMass
	Does it use lumped masses? More...

MassVector	_particleMasses
	masses per particle in order to compute gravity More...

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_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

Protected Attributes inherited from sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >
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_CLASS2 (SOFA_TEMPLATE(HexahedronFEMForceFieldAndMass, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Mass, DataTypes), SOFA_TEMPLATE(HexahedronFEMForceField, 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...

virtual void	computeElementMasses ()
	compute the mass matrices More...

virtual void	computeElementMass (ElementMass &Mass, const type::fixed_array< Coord, 8 > &nodes, const Index elementIndice, SReal stiffnessFactor=1.0)
	compute the mass matrix of an element More...

Real	integrateMass (int signx, int signy, int signz, Real l0, Real l1, Real l2)

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 . More...

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

void	buildMassMatrix (sofa::core::behavior::MassMatrixAccumulator *matrices) override

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	getKineticEnergy (const core::MechanicalParams *, const DataVecDeriv &) const override
	< vMv/2 using dof->getV() override More...

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

SReal	getPotentialEnergy (const core::MechanicalParams *) const override
	Get the potential energy associated to this ForceField during the last call of addForce( const MechanicalParams* mparams );. More...

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

void	addGravityToV (const core::MechanicalParams *mparams, DataVecDeriv &d_v) override

SReal	getElementMass (Index index) const override
	Get the mass relative to the DOF at index. More...

void	draw (const core::visual::VisualParams *vparams) override
	Render internal data of this object, for debugging purposes. More...

virtual void	initTextures ()

virtual void	update ()

void	setDensity (Real d)

Real	getDensity ()

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

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

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)
	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

Public Member Functions inherited from sofa::core::behavior::BaseMass
	SOFA_ABSTRACT_CLASS (BaseMass, StateAccessor)

Public Member Functions inherited from sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >
	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)

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

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

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

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

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

void	handleTopologyChange () override

Protected Member Functions
	HexahedronFEMForceFieldAndMass ()

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::HexahedronFEMForceField< DataTypes >
	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)

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

Data< bool >	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 objet belongs to More...

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

Data< sofa::core::objectmodel::ComponentState >	d_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< bool >	m_separateGravity

Data< SReal >	rayleighMass
	Rayleigh Damping mass matrix coefficient. More...

Public Attributes inherited from sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >
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...

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)

Static Protected Member Functions inherited from sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< DataTypes >
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)

Attribute details

◆ _lumpedMasses

template<class DataTypes >

type::vector<Coord> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::_lumpedMasses

protected

masses per particle computed by lumping mass matrices

◆ _particleMasses

template<class DataTypes >

MassVector sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::_particleMasses

protected

masses per particle in order to compute gravity

◆ d_density

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::d_density

protected

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

◆ d_elementMasses

template<class DataTypes >

Data<VecElementMass> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::d_elementMasses

protected

mass matrices per element

◆ d_lumpedMass

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::d_lumpedMass

protected

Does it use lumped masses?

Constructor details

◆ HexahedronFEMForceFieldAndMass()

template<class DataTypes >

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

protected

Function details

◆ accFromF()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::accFromF	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	a,
		const DataVecDeriv &	f
	)

overridevirtual

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

◆ addDForce()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< 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

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

◆ addForce()

template<class DataTypes >

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

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

◆ addGravityToV()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::addGravityToV	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	d_v
	)

overridevirtual

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

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

◆ addKToMatrix() [1/2]

template<class DataTypes >

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

override

◆ addKToMatrix() [2/2]

template<class DataTypes >

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

inlineoverridevirtual

Compute the system matrix corresponding to $ k K $ .

Parameters

mparams	mparams->kFactor() is the coefficient for stiffness contributions (i.e. DOFs term in the ODE)
matrix	the matrix to add the result to

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

◆ addMDx()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::addMDx	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	f,
		const DataVecDeriv &	dx,
		SReal	factor
	)

overridevirtual

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

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

◆ addMToMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< 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

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

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

◆ buildMassMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::buildMassMatrix ( sofa::core::behavior::MassMatrixAccumulator * matrices )

overridevirtual

Reimplemented from sofa::core::behavior::BaseMass.

◆ buildStiffnessMatrix()

template<class DataTypes >

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

overridevirtual

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

◆ computeElementMass()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::computeElementMass	(	ElementMass &	Mass,
		const type::fixed_array< Coord, 8 > &	nodes,
		const Index	elementIndice,
		SReal	stiffnessFactor = `1.0`
	)

virtual

compute the mass matrix of an element

◆ computeElementMasses()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::computeElementMasses

virtual

compute the mass matrices

◆ draw()

template<class DataTypes >

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

overridevirtual

Render internal data of this object, for debugging purposes.

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

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

◆ getDensity()

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::getDensity ( )

inline

◆ getElementMass()

template<class DataTypes >

SReal sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::getElementMass ( 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::HexahedronFEMForceFieldAndMass< DataTypes >::getKineticEnergy	(	const core::MechanicalParams *	,
		const DataVecDeriv &
	)		const

inlineoverridevirtual

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

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

◆ getPotentialEnergy() [1/2]

template<class DataTypes >

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

inlineoverridevirtual

Get the potential energy associated to this ForceField during the last call of addForce( const MechanicalParams* mparams );.

Used to extimate the total energy of the system by some post-stabilization techniques.

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

◆ getPotentialEnergy() [2/2]

template<class DataTypes >

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

inlineoverridevirtual

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

◆ init()

template<class DataTypes >

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

overridevirtual

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

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

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

◆ initTextures()

template<class DataTypes >

virtual void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::initTextures ( )

inlinevirtual

◆ integrateMass()

template<class DataTypes >

HexahedronFEMForceFieldAndMass< DataTypes >::Real sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::integrateMass	(	int	signx,
		int	signy,
		int	signz,
		Real	l0,
		Real	l1,
		Real	l2
	)

◆ isDiagonal()

template<class DataTypes >

bool sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::isDiagonal ( ) const

inlineoverridevirtual

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

◆ reinit()

template<class DataTypes >

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

overridevirtual

Update method called when variables used in precomputation are modified.

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

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

◆ setDensity()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::setDensity ( Real d )

inline

◆ SOFA_CLASS2()

template<class DataTypes >

sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::SOFA_CLASS2	(	SOFA_TEMPLATE(HexahedronFEMForceFieldAndMass< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(sofa::core::behavior::Mass, DataTypes)	,
		SOFA_TEMPLATE(HexahedronFEMForceField, DataTypes)
	)

◆ update()

template<class DataTypes >

virtual void sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< DataTypes >::update ( )

inlinevirtual

Detailed Description

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

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ _lumpedMasses

◆ _particleMasses

◆ d_density

◆ d_elementMasses

◆ d_lumpedMass

Constructor details

◆ HexahedronFEMForceFieldAndMass()

Function details

◆ accFromF()

◆ addDForce()

◆ addForce()

◆ addGravityToV()

◆ addKToMatrix() [1/2]

◆ addKToMatrix() [2/2]

◆ addMDx()

◆ addMToMatrix()

◆ buildMassMatrix()

◆ buildStiffnessMatrix()

◆ computeElementMass()

◆ computeElementMasses()

◆ draw()

◆ getDensity()

◆ getElementMass()

◆ getKineticEnergy()

◆ getPotentialEnergy() [1/2]

◆ getPotentialEnergy() [2/2]

◆ init()

◆ initTextures()

◆ integrateMass()

◆ isDiagonal()

◆ reinit()

◆ setDensity()

◆ SOFA_CLASS2()

◆ update()

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