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

#include <TetrahedralCorotationalFEMForceField.h>

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

Detailed Description

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

Compute Finite Element forces based on tetrahedral elements.

Classes

class  TetrahedronInformation
 the information stored for each tetrahedron More...
 

Public Attributes

core::topology::TetrahedronData< sofa::type::vector< TetrahedronInformation > > tetrahedronInfo
 container that stotes all requires information for each tetrahedron More...
 
SReal m_potentialEnergy
 
sofa::core::topology::BaseMeshTopology_topology
 
int method
 
Data< std::string > f_method
 the computation method of the displacements More...
 
Data< Real_poissonRatio
 FEM Poisson Ratio. More...
 
Data< Real_youngModulus
 FEM Young Modulus. More...
 
Data< VecReal_localStiffnessFactor
 Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N]. More...
 
Data< bool_updateStiffnessMatrix
 
Data< bool_assembling
 
Data< boolf_drawing
 draw the forcefield if true More...
 
Data< bool_displayWholeVolume
 
Data< sofa::type::RGBAColordrawColor1
 draw color for faces 1 More...
 
Data< sofa::type::RGBAColordrawColor2
 draw color for faces 2 More...
 
Data< sofa::type::RGBAColordrawColor3
 draw color for faces 3 More...
 
Data< sofa::type::RGBAColordrawColor4
 draw color for faces 4 More...
 
Data< std::map< std::string, sofa::type::vector< double > > > _volumeGraph
 
SingleLink< TetrahedralCorotationalFEMForceField< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINKl_topology
 Link to be set to the topology container in the component graph. More...
 
- Public Attributes inherited from sofa::core::behavior::BaseForceField
Data< SReal > rayleighStiffness
 Rayleigh Damping stiffness matrix coefficient. More...
 
Data< boolisCompliance
 Considered as compliance, else considered as stiffness (default to false) More...
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

sofa::core::topology::BaseMeshTopologym_topology
 Pointer to the topology container. Will be set by link. More...
 
- Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATEl_mechanicalStates
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 List of fields (Data instances) More...
 
MapData m_aliasData
 name -> Data multi-map (includes names and aliases) More...
 
VecLink m_vecLink
 List of links. More...
 
MapLink m_aliasLink
 name -> Link multi-map (includes names and aliases) More...
 
- Protected Attributes inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
SingleLink< SingleStateAccessor< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STRONGLINKmstate
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(TetrahedralCorotationalFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes))
 
void setPoissonRatio (Real val)
 
void setYoungModulus (Real val)
 
void setMethod (int val)
 
void setUpdateStiffnessMatrix (bool val)
 
void setComputeGlobalMatrix (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 &d_f, const DataVecCoord &d_x, const DataVecDeriv &d_v) override
 
void addDForce (const core::MechanicalParams *mparams, DataVecDeriv &d_df, const DataVecDeriv &d_dx) override
 
SReal getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &) const override
 
void addKToMatrix (sofa::linearalgebra::BaseMatrix *m, SReal kFactor, unsigned int &offset) override
 
void buildStiffnessMatrix (core::behavior::StiffnessMatrix *matrix) override
 
void buildDampingMatrix (core::behavior::DampingMatrix *) final
 
void getRotation (Transformation &R, Index nodeIdx)
 
void getRotations ()
 
void getElementRotation (Transformation &R, Index elementIdx)
 
void getElementStiffnessMatrix (Real *stiffness, Index nodeIdx)
 
void getElementStiffnessMatrix (Real *stiffness, core::topology::BaseMeshTopology::Tetrahedron &te)
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible) override
 
- Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
 SOFA_CLASS2 (SOFA_TEMPLATE(ForceField, DataTypes), BaseForceField, SOFA_TEMPLATE(SingleStateAccessor, DataTypes))
 
void addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override
 
void addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override
 
void addClambda (const MechanicalParams *mparams, MultiVecDerivId resId, MultiVecDerivId lambdaId, SReal cFactor) override
 
virtual void addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor)
 
SReal getPotentialEnergy (const MechanicalParams *mparams) const override
 
void addKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to $ k K $. More...
 
void addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
 Compute the system matrix corresponding to $ b B $. More...
 
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 $ m M + b B + k K $. More...
 
virtual const sofa::linearalgebra::BaseMatrixgetComplianceMatrix (const MechanicalParams *)
 
- Public Member Functions inherited from sofa::core::behavior::StateAccessor
 SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject)
 
virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & getMechanicalStates () const
 Return a list of mechanical states to which this component is associated. More...
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 Sets a source Object and parses it to collect dependent Data. More...
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 Return the full path name of this object. More...
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleEvent (Event *)
 Handle an event. More...
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 Parse the given description to assign values to this object's fields and potentially other parameters. More...
 
virtual void bwdInit ()
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
void updateInternal ()
 Update method called when variables (used to compute other internal variables) are modified. More...
 
virtual void storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 Accessor to the object name. More...
 
void setName (const std::string &n)
 Set the name of this object. More...
 
void setName (const std::string &n, int counter)
 Set the name of this object, adding an integer counter. More...
 
std::string getTypeName () const
 Get the type name of this object (i.e. class and template types) More...
 
virtual std::string getClassName () const
 Get the class name of this object. More...
 
virtual std::string getTemplateName () const final
 Get the template type names (if any) used to instantiate this object. More...
 
std::string getNameSpaceName () const
 Get the template type names (if any) used to instantiate this object. More...
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 Set the source filename (where the component is implemented) More...
 
const std::string & getDefinitionSourceFileName () const
 Get the source filename (where the component is implemented) More...
 
void setDefinitionSourceFilePos (const int)
 Set the source location (where the component is implemented) More...
 
int getDefinitionSourceFilePos () const
 Get the source location (where the component is implemented) More...
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 Represents the subsets the object belongs to. More...
 
bool hasTag (Tag t) const
 Return true if the object belong to the given subset. More...
 
void addTag (Tag t)
 Add a subset qualification to the object. More...
 
void removeTag (Tag t)
 Remove a subset qualification to the object. More...
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 Assign one field value (Data or Link) More...
 
virtual bool hasField (const std::string &attribute) const
 Check if a given Data field or Link exists. More...
 
void parseFields (const std::list< std::string > &str)
 Assign the field values stored in the given list of name + value pairs of strings. More...
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 Assign the field values stored in the given map of name -> value pairs. More...
 
void writeDatas (std::map< std::string, std::string * > &str)
 Write the current field values to the given map of name -> value pairs. More...
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 Find data fields given a name: several can be found as we look into the alias map. More...
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 Find link fields given a name: several can be found as we look into the alias map. More...
 
virtual void updateLinks (bool logErrors=true)
 Update pointers in case the pointed-to objects have appeared. More...
 
template<class T >
BaseData::BaseInitData initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
template<class T >
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 Helper method used to initialize a data field containing a value of type T. More...
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 Remove a data field. More...
 
void addAlias (BaseData *field, const char *alias)
 Add an alias to a Data. More...
 
void addLink (BaseLink *l)
 Add a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
template<class T >
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 
- Public Member Functions inherited from sofa::core::behavior::SingleStateAccessor< DataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, DataTypes), StateAccessor)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState ()
 
const MechanicalState< DataTypes > * getMState () const
 

Protected Member Functions

 TetrahedralCorotationalFEMForceField ()
 
void createTetrahedronInformation (Index tetrahedronIndex, TetrahedronInformation &tInfo, const core::topology::BaseMeshTopology::Tetrahedron &tetra, const sofa::type::vector< Index > &ancestors, const sofa::type::vector< SReal > &coefs)
 
void computeStrainDisplacement (StrainDisplacementTransposed &J, Coord a, Coord b, Coord c, Coord d)
 
Real peudo_determinant_for_coef (const type::Mat< 2, 3, Real > &M)
 
void computeStiffnessMatrix (StiffnessMatrix &S, StiffnessMatrix &SR, const MaterialStiffness &K, const StrainDisplacementTransposed &J, const Transformation &Rot)
 
void computeMaterialStiffness (int i, Index &a, Index &b, Index &c, Index &d)
 
virtual void computeMaterialStiffness (MaterialStiffness &materialMatrix, Index &a, Index &b, Index &c, Index &d, SReal localStiffnessFactor=1)
 overloaded by classes with non-uniform stiffness More...
 
void computeForce (Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacementTransposed &J)
 
void computeForce (Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacementTransposed &J, SReal fact)
 
void initSmall (int i, Index &a, Index &b, Index &c, Index &d)
 
void accumulateForceSmall (Vector &f, const Vector &p, Index elementIndex)
 
void applyStiffnessSmall (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)
 
void initLarge (int i, Index &a, Index &b, Index &c, Index &d)
 
void computeRotationLarge (Transformation &r, const Vector &p, const Index &a, const Index &b, const Index &c)
 
void accumulateForceLarge (Vector &f, const Vector &p, Index elementIndex)
 
void applyStiffnessLarge (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)
 
void initPolar (int i, Index &a, Index &b, Index &c, Index &d)
 
void accumulateForcePolar (Vector &f, const Vector &p, Index elementIndex)
 
void applyStiffnessPolar (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)
 
void printStiffnessMatrix (int idTetra)
 
- 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
 

Full system matrix assembly support

typedef std::pair< int, RealCol_Value
 
typedef type::vector< Col_ValueCompressedValue
 
typedef type::vector< CompressedValueCompressedMatrix
 
CompressedMatrix _stiffnesses
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::core::behavior::ForceField< DataTypes >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
static std::string shortName (const T *ptr=nullptr, objectmodel::BaseObjectDescription *arg=nullptr)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 Pre-construction check method called by ObjectFactory. More...
 
template<class T >
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ _assembling

◆ _displayWholeVolume

◆ _localStiffnessFactor

Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N].

◆ _poissonRatio

FEM Poisson Ratio.

◆ _stiffnesses

◆ _topology

◆ _updateStiffnessMatrix

◆ _volumeGraph

template<class DataTypes >
Data<std::map < std::string, sofa::type::vector<double> > > sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::_volumeGraph

◆ _youngModulus

FEM Young Modulus.

◆ drawColor1

◆ drawColor2

◆ drawColor3

◆ drawColor4

◆ f_drawing

draw the forcefield if true

◆ f_method

the computation method of the displacements

◆ l_topology

◆ m_potentialEnergy

◆ m_topology

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

See also
l_topology

◆ method

◆ tetrahedronInfo

container that stotes all requires information for each tetrahedron

Constructor details

◆ TetrahedralCorotationalFEMForceField()

Function details

◆ accumulateForceLarge()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceLarge ( Vector f,
const Vector p,
Index  elementIndex 
)
protected

◆ accumulateForcePolar()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForcePolar ( Vector f,
const Vector p,
Index  elementIndex 
)
protected

◆ accumulateForceSmall()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceSmall ( Vector f,
const Vector p,
Index  elementIndex 
)
protected

◆ addDForce()

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

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

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

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

◆ addForce()

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

◆ addKToMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< 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
matrixthe 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.
kFactstiffness factor that needs to be multiplied to each matrix entry.
offsetStarting index of the submatrix to fill in the global matrix.

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

◆ applyStiffnessLarge()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessLarge ( Vector f,
const Vector x,
int  i = 0,
Index  a = 0,
Index  b = 1,
Index  c = 2,
Index  d = 3,
SReal  fact = 1.0 
)
protected

◆ applyStiffnessPolar()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessPolar ( Vector f,
const Vector x,
int  i = 0,
Index  a = 0,
Index  b = 1,
Index  c = 2,
Index  d = 3,
SReal  fact = 1.0 
)
protected

◆ applyStiffnessSmall()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessSmall ( Vector f,
const Vector x,
int  i = 0,
Index  a = 0,
Index  b = 1,
Index  c = 2,
Index  d = 3,
SReal  fact = 1.0 
)
protected

◆ buildDampingMatrix()

◆ buildStiffnessMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::buildStiffnessMatrix ( core::behavior::StiffnessMatrix matrix)
overridevirtual

◆ computeBBox()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeBBox ( const core::ExecParams ,
bool   
)
overridevirtual

Bounding Box computation method. Default to empty method.

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

◆ computeForce() [1/2]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce ( Displacement F,
const Displacement Depl,
const MaterialStiffness K,
const StrainDisplacementTransposed J 
)
inlineprotected

◆ computeForce() [2/2]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce ( Displacement F,
const Displacement Depl,
const MaterialStiffness K,
const StrainDisplacementTransposed J,
SReal  fact 
)
inlineprotected

◆ computeMaterialStiffness() [1/2]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeMaterialStiffness ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected

◆ computeMaterialStiffness() [2/2]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeMaterialStiffness ( MaterialStiffness materialMatrix,
Index a,
Index b,
Index c,
Index d,
SReal  localStiffnessFactor = 1 
)
protectedvirtual

overloaded by classes with non-uniform stiffness

◆ computeRotationLarge()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeRotationLarge ( Transformation r,
const Vector p,
const Index a,
const Index b,
const Index c 
)
inlineprotected

◆ computeStiffnessMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeStiffnessMatrix ( StiffnessMatrix S,
StiffnessMatrix SR,
const MaterialStiffness K,
const StrainDisplacementTransposed J,
const Transformation Rot 
)
protected

◆ computeStrainDisplacement()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::computeStrainDisplacement ( StrainDisplacementTransposed J,
Coord  a,
Coord  b,
Coord  c,
Coord  d 
)
protected

◆ createTetrahedronInformation()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::createTetrahedronInformation ( Index  tetrahedronIndex,
TetrahedronInformation tInfo,
const core::topology::BaseMeshTopology::Tetrahedron tetra,
const sofa::type::vector< Index > &  ancestors,
const sofa::type::vector< SReal > &  coefs 
)
protected

Method to create

See also
TetrahedronInformation when a new tetrahedron is created. Will be set as creation callback in the TetrahedronData
tetrahedronInfo

◆ draw()

Render internal data of this object, for debugging purposes.

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

◆ getElementRotation()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::getElementRotation ( Transformation R,
Index  elementIdx 
)
inline

◆ getElementStiffnessMatrix() [1/2]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::getElementStiffnessMatrix ( Real stiffness,
core::topology::BaseMeshTopology::Tetrahedron te 
)
inline

◆ getElementStiffnessMatrix() [2/2]

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::getElementStiffnessMatrix ( Real stiffness,
Index  nodeIdx 
)
inline

◆ getPotentialEnergy()

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

◆ getRotation()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::getRotation ( Transformation R,
Index  nodeIdx 
)
inline

◆ getRotations()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::getRotations ( )
inline

◆ init()

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

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

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

◆ initLarge()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::initLarge ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected

◆ initPolar()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::initPolar ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected

◆ initSmall()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::initSmall ( int  i,
Index a,
Index b,
Index c,
Index d 
)
protected

◆ peudo_determinant_for_coef()

template<class DataTypes >
TetrahedralCorotationalFEMForceField< DataTypes >::Real sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::peudo_determinant_for_coef ( const type::Mat< 2, 3, Real > &  M)
protected

◆ printStiffnessMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::printStiffnessMatrix ( int  idTetra)
protected

◆ reinit()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::reinit
overridevirtual

Update method called when variables used in precomputation are modified.

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

◆ setComputeGlobalMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::setComputeGlobalMatrix ( bool  val)
inline

◆ setMethod()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::setMethod ( int  val)
inline

◆ setPoissonRatio()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::setPoissonRatio ( Real  val)
inline

◆ setUpdateStiffnessMatrix()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::setUpdateStiffnessMatrix ( bool  val)
inline

◆ setYoungModulus()

template<class DataTypes >
void sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< DataTypes >::setYoungModulus ( Real  val)
inline

◆ SOFA_CLASS()

Enum details

◆ anonymous enum

template<class DataTypes >
anonymous enum
Enumerator
SMALL 

Symbol of small displacements tetrahedron solver.

LARGE 

Symbol of large displacements tetrahedron solver.

POLAR 

Symbol of polar displacements tetrahedron solver.