#include <TetrahedronFEMForceField.h>

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

Detailed Description

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

Compute Finite Element forces based on tetrahedral elements. Corotational methods are based on a rotation from world-space to material-space.

Public Attributes
type::vector< Mat33 >	m_rotations

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

int	method

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

Data< Real >	_poissonRatio
	FEM Poisson Ratio [0,0.5[. More...

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

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

Data< bool >	drawHeterogeneousTetra
	Draw Heterogeneous Tetra in different color. More...

Real	minYoung

Real	maxYoung

type::vector< Real >	elemLambda

type::vector< Real >	elemMu

type::vector< Mat44 >	elemShapeFun

Real	prevMaxStress

Data< int >	_computeVonMisesStress
	compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain More...

Data< type::vector< Real > >	_vonMisesPerElement
	von Mises Stress per element More...

Data< type::vector< Real > >	_vonMisesPerNode
	von Mises Stress per node More...

Data< type::vector< type::RGBAColor > >	_vonMisesStressColors
	Vector of colors describing the VonMises stress. More...

Real	m_minVonMisesPerNode

Real	m_maxVonMisesPerNode

Data< std::string >	_showStressColorMap
	Color map used to show stress values. More...

Data< float >	_showStressAlpha
	Alpha for vonMises visualisation. More...

Data< bool >	_showVonMisesStressPerNode
	draw points showing vonMises stress interpolated in nodes More...

Data< bool >	d_showVonMisesStressPerNodeColorMap
	draw triangles showing vonMises stress interpolated in nodes More...

Data< bool >	_showVonMisesStressPerElement
	draw triangles showing vonMises stress interpolated in elements More...

Data< Real >	d_showElementGapScale
	draw gap between elements (when showWireFrame is disabled) More...

Data< bool >	_updateStiffness
	udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1) More...

SingleLink< TetrahedronFEMForceField< 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...

type::vector< type::Vec< 6, Real > >	elemDisplacements

bool	updateVonMisesStress

Plasticity such as "Interactive Virtual Materials", Muller & Gross, GI 2004
Data< Real >	_plasticMaxThreshold

Data< Real >	_plasticYieldThreshold
	Plastic Yield Threshold (2-norm of the strain) More...

Data< Real >	_plasticCreep
	this parameters is different from the article, here it includes the multiplication by dt More...

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}

Protected Attributes
VecMaterialStiffness	materialsStiffnesses
	Vector of material stiffness matrices of each tetrahedron. More...

VecStrainDisplacement	strainDisplacements
	the strain-displacement matrices vector More...

type::vector< Transformation >	rotations

type::vector< VoigtTensor >	_plasticStrains
	one plastic strain per element More...

SReal	m_potentialEnergy

core::topology::BaseMeshTopology *	m_topology

const VecElement *	_indexedElements

bool	needUpdateTopology

TetrahedronFEMForceFieldInternalData< DataTypes >	data

Real	m_restVolume

sofa::helper::ColorMap *	m_VonMisesColorMap

Transformation	InvalidTransform

type::fixed_array< Coord, 4 >	InvalidCoords

MaterialStiffness	InvalidMaterialStiffness

StrainDisplacement	InvalidStrainDisplacement

std::vector< sofa::type::Vec3 >	m_renderedPoints

std::vector< sofa::type::RGBAColor >	m_renderedColors

type::vector< type::fixed_array< Coord, 4 > >	_rotatedInitialElements
	The initials positions in its frame. More...

type::vector< Transformation >	_initialRotations

type::vector< unsigned int >	_rotationIdx

type::vector< Transformation >	_initialTransformation

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_CLASS2 (SOFA_TEMPLATE(TetrahedronFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes), SOFA_TEMPLATE(core::behavior::RotationFinder, DataTypes))

Real	getRestVolume ()

void	getRotation (Mat33 &R, Index nodeIdx)

void	getRotations (VecReal &vecR)

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

const type::vector< Mat33 > &	getRotations () override

void	setPoissonRatio (Real val)

void	setYoungModulus (Real val)

void	setComputeGlobalMatrix (bool val)

const Transformation &	getActualTetraRotation (Index index)

const Transformation &	getInitialTetraRotation (Index index)

const MaterialStiffness &	getMaterialStiffness (TetrahedronID tetraId)

const StrainDisplacement &	getStrainDisplacement (TetrahedronID tetraId)

const type::fixed_array< Coord, 4 > &	getRotatedInitialElements (TetrahedronID tetraId)

void	setMethod (std::string methodName)

void	setMethod (int val)

void	setUpdateStiffnessMatrix (bool val)

void	reset () override
	Reset to initial state. More...

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 &x) const override

void	addKToMatrix (sofa::linearalgebra::BaseMatrix *m, SReal kFactor, unsigned int &offset) override

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

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

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

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

void	getElementStiffnessMatrix (Real *stiffness, Index nodeIdx)

void	getElementStiffnessMatrix (Real *stiffness, Tetrahedron &te)

virtual void	computeMaterialStiffness (MaterialStiffness &materialMatrix, Index &a, Index &b, Index &c, Index &d)

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...

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 *)

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	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	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::RotationFinder< DataTypes >
virtual void	getRotations (linearalgebra::BaseMatrix *m, int offset=0)=0

Protected Member Functions
	TetrahedronFEMForceField ()

	~TetrahedronFEMForceField () override

void	computeStrainDisplacement (StrainDisplacement &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 StrainDisplacement &J, const Transformation &Rot)

virtual void	computeMaterialStiffness (Index i, Index &a, Index &b, Index &c, Index &d)

void	computeForce (Displacement &F, const Displacement &Depl, VoigtTensor &plasticStrain, const MaterialStiffness &K, const StrainDisplacement &J)

void	computeForce (Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacement &J, SReal fact)

void	initSmall (Index i, Index &a, Index &b, Index &c, Index &d)

void	accumulateForceSmall (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)

void	applyStiffnessSmall (Vector &f, const Vector &x, Index i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)

void	initLarge (Index 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, typename VecElement::const_iterator elementIt, Index elementIndex)

void	initPolar (Index i, Index &a, Index &b, Index &c, Index &d)

void	accumulateForcePolar (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)

void	initSVD (Index i, Index &a, Index &b, Index &c, Index &d)

void	accumulateForceSVD (Vector &f, const Vector &p, typename VecElement::const_iterator elementIt, Index elementIndex)

void	applyStiffnessCorotational (Vector &f, const Vector &x, Index i=0, Index a=0, Index b=1, Index c=2, Index d=3, SReal fact=1.0)

void	handleTopologyChange () override

void	computeVonMisesStress ()

bool	isComputeVonMisesStressMethodSet ()

void	computeMinMaxFromYoungsModulus ()

virtual void	drawTrianglesFromTetrahedra (const core::visual::VisualParams *vparams, bool showVonMisesStressPerElement, bool drawVonMisesStress, const VecCoord &x, const VecReal &youngModulus, bool heterogeneous, Real minVM, Real maxVM, helper::ReadAccessor< Data< type::vector< Real >>> vM)

virtual void	drawTrianglesFromRangeOfTetrahedra (const simulation::Range< VecElement::const_iterator > &range, const core::visual::VisualParams *vparams, bool showVonMisesStressPerElement, bool drawVonMisesStress, bool showWireFrame, const VecCoord &x, const VecReal &youngModulus, bool heterogeneous, Real minVM, Real maxVM, helper::ReadAccessor< Data< type::vector< Real >>> vM)

void	handleEvent (core::objectmodel::Event *event) override
	Handle an event. More...

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

Friends
class	TetrahedronFEMForceFieldInternalData< DataTypes >

Per element (tetrahedron) data
typedef type::VecNoInit< 12, Real >	Displacement
	Displacement vector (deformation of the 4 corners of a tetrahedron. More...

typedef type::Mat< 6, 6, Real >	MaterialStiffness
	Material stiffness matrix of a tetrahedron. More...

typedef type::Mat< 12, 6, Real >	StrainDisplacement
	Strain-displacement matrix. More...

typedef type::MatNoInit< 3, 3, Real >	Transformation
	Rigid transformation (rotation) matrix. More...

typedef type::Mat< 12, 12, Real >	StiffnessMatrix
	Stiffness matrix ( = RJKJtRt with K the Material stiffness matrix, J the strain-displacement matrix, and R the transformation matrix if any ) More...

typedef type::VecNoInit< 6, Real >	VoigtTensor
	Symmetrical tensor written as a vector following the Voigt notation. More...

type::MatNoInit< 3, 3, Real >	R0

Full system matrix assembly support
typedef std::pair< Index, Real >	Col_Value

typedef type::vector< Col_Value >	CompressedValue

typedef type::vector< CompressedValue >	CompressedMatrix

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 BaseClass *	GetClass ()

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

Attribute details

◆ _assembling

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_assembling

◆ _computeVonMisesStress

template<class DataTypes >

Data<int> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_computeVonMisesStress

compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain

◆ _gatherBsize

template<class DataTypes >

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

use in GPU version

◆ _gatherPt

template<class DataTypes >

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

use in GPU version

◆ _indexedElements

template<class DataTypes >

const VecElement* sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_indexedElements

protected

◆ _initialPoints

template<class DataTypes >

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

the initial positions of the points

◆ _initialRotations

template<class DataTypes >

type::vector<Transformation> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_initialRotations

protected

◆ _initialTransformation

template<class DataTypes >

type::vector<Transformation> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_initialTransformation

protected

◆ _localStiffnessFactor

template<class DataTypes >

Data<VecReal> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_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].

◆ _plasticCreep

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_plasticCreep

this parameters is different from the article, here it includes the multiplication by dt

◆ _plasticMaxThreshold

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_plasticMaxThreshold

◆ _plasticStrains

template<class DataTypes >

type::vector<VoigtTensor> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_plasticStrains

protected

one plastic strain per element

◆ _plasticYieldThreshold

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_plasticYieldThreshold

Plastic Yield Threshold (2-norm of the strain)

◆ _poissonRatio

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_poissonRatio

FEM Poisson Ratio [0,0.5[.

◆ _rotatedInitialElements

template<class DataTypes >

type::vector<type::fixed_array<Coord,4> > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_rotatedInitialElements

protected

The initials positions in its frame.

◆ _rotationIdx

template<class DataTypes >

type::vector<unsigned int> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_rotationIdx

protected

◆ _showStressAlpha

template<class DataTypes >

Data<float> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_showStressAlpha

Alpha for vonMises visualisation.

◆ _showStressColorMap

template<class DataTypes >

Data<std::string> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_showStressColorMap

Color map used to show stress values.

◆ _showVonMisesStressPerElement

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_showVonMisesStressPerElement

draw triangles showing vonMises stress interpolated in elements

◆ _showVonMisesStressPerNode

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_showVonMisesStressPerNode

draw points showing vonMises stress interpolated in nodes

◆ _stiffnesses

template<class DataTypes >

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

protected

◆ _updateStiffness

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_updateStiffness

udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1)

◆ _updateStiffnessMatrix

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_updateStiffnessMatrix

◆ _vonMisesPerElement

template<class DataTypes >

Data<type::vector<Real> > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_vonMisesPerElement

von Mises Stress per element

◆ _vonMisesPerNode

template<class DataTypes >

Data<type::vector<Real> > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_vonMisesPerNode

von Mises Stress per node

◆ _vonMisesStressColors

template<class DataTypes >

Data<type::vector<type::RGBAColor> > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_vonMisesStressColors

Vector of colors describing the VonMises stress.

◆ _youngModulus

template<class DataTypes >

Data<VecReal > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::_youngModulus

FEM Young Modulus.

◆ d_showElementGapScale

template<class DataTypes >

Data<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::d_showElementGapScale

draw gap between elements (when showWireFrame is disabled)

◆ d_showVonMisesStressPerNodeColorMap

template<class DataTypes >

Data<bool> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::d_showVonMisesStressPerNodeColorMap

draw triangles showing vonMises stress interpolated in nodes

◆ data

template<class DataTypes >

TetrahedronFEMForceFieldInternalData<DataTypes> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::data

protected

◆ drawHeterogeneousTetra

template<class DataTypes >

Data< bool > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::drawHeterogeneousTetra

Draw Heterogeneous Tetra in different color.

◆ elemDisplacements

template<class DataTypes >

type::vector<type::Vec<6,Real> > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::elemDisplacements

◆ elemLambda

template<class DataTypes >

type::vector<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::elemLambda

to compute vonMises stress for visualization two options: either using corotational strain (TODO) or full Green strain tensor (which must be therefore computed for each element and requires some pre-calculations in reinit)

◆ elemMu

template<class DataTypes >

type::vector<Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::elemMu

◆ elemShapeFun

template<class DataTypes >

type::vector<Mat44> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::elemShapeFun

◆ f_method

template<class DataTypes >

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

the computation method of the displacements

◆ InvalidCoords

template<class DataTypes >

type::fixed_array<Coord, 4> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::InvalidCoords

protected

◆ InvalidMaterialStiffness

template<class DataTypes >

MaterialStiffness sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::InvalidMaterialStiffness

protected

◆ InvalidStrainDisplacement

template<class DataTypes >

StrainDisplacement sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::InvalidStrainDisplacement

protected

◆ InvalidTransform

template<class DataTypes >

Transformation sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::InvalidTransform

protected

◆ l_topology

template<class DataTypes >

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

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

◆ m_maxVonMisesPerNode

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_maxVonMisesPerNode

◆ m_minVonMisesPerNode

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_minVonMisesPerNode

◆ m_potentialEnergy

template<class DataTypes >

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

protected

◆ m_renderedColors

template<class DataTypes >

std::vector< sofa::type::RGBAColor > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_renderedColors

protected

◆ m_renderedPoints

template<class DataTypes >

std::vector< sofa::type::Vec3 > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_renderedPoints

protected

◆ m_restVolume

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_restVolume

protected

◆ m_rotations

template<class DataTypes >

type::vector< Mat33 > sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_rotations

◆ m_topology

template<class DataTypes >

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

protected

◆ m_VonMisesColorMap

template<class DataTypes >

sofa::helper::ColorMap* sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::m_VonMisesColorMap

protected

◆ materialsStiffnesses

template<class DataTypes >

VecMaterialStiffness sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::materialsStiffnesses

protected

Vector of material stiffness matrices of each tetrahedron.

◆ maxYoung

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::maxYoung

◆ method

template<class DataTypes >

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

◆ minYoung

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::minYoung

◆ needUpdateTopology

template<class DataTypes >

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

protected

◆ prevMaxStress

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::prevMaxStress

◆ R0

template<class DataTypes >

type::MatNoInit<3, 3, Real> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::R0

protected

◆ rotations

template<class DataTypes >

type::vector<Transformation> sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::rotations

protected

◆ strainDisplacements

template<class DataTypes >

VecStrainDisplacement sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::strainDisplacements

protected

the strain-displacement matrices vector

◆ updateVonMisesStress

template<class DataTypes >

bool sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::updateVonMisesStress

Constructor details

◆ TetrahedronFEMForceField()

template<class DataTypes >

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

protected

◆ ~TetrahedronFEMForceField()

template<class DataTypes >

sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::~TetrahedronFEMForceField

overrideprotected

Function details

◆ accumulateForceLarge()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::accumulateForceLarge	(	Vector &	f,
		const Vector &	p,
		typename VecElement::const_iterator	elementIt,
		Index	elementIndex
	)

inlineprotected

◆ accumulateForcePolar()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::accumulateForcePolar	(	Vector &	f,
		const Vector &	p,
		typename VecElement::const_iterator	elementIt,
		Index	elementIndex
	)

inlineprotected

◆ accumulateForceSmall()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::accumulateForceSmall	(	Vector &	f,
		const Vector &	p,
		typename VecElement::const_iterator	elementIt,
		Index	elementIndex
	)

inlineprotected

◆ accumulateForceSVD()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::accumulateForceSVD	(	Vector &	f,
		const Vector &	p,
		typename VecElement::const_iterator	elementIt,
		Index	elementIndex
	)

inlineprotected

◆ addDForce()

template<class DataTypes >

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

inlineoverridevirtual

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 >.

◆ addForce()

template<class DataTypes >

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

inlineoverridevirtual

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() [1/2]

template<class DataTypes >

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

overridevirtual

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

Implements sofa::core::behavior::BaseForceField.

◆ addKToMatrix() [2/2]

template<class DataTypes >

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

◆ applyStiffnessCorotational()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::applyStiffnessCorotational	(	Vector &	f,
		const Vector &	x,
		Index	i = `0`,
		Index	a = `0`,
		Index	b = `1`,
		Index	c = `2`,
		Index	d = `3`,
		SReal	fact = `1.0`
	)

inlineprotected

◆ applyStiffnessSmall()

template<class DataTypes >

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

inlineprotected

◆ buildDampingMatrix()

template<class DataTypes >

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

finalvirtual

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

◆ buildStiffnessMatrix()

template<class DataTypes >

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

overridevirtual

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

◆ computeBBox()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< 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::TetrahedronFEMForceField< DataTypes >::computeForce	(	Displacement &	F,
		const Displacement &	Depl,
		const MaterialStiffness &	K,
		const StrainDisplacement &	J,
		SReal	fact
	)

inlineprotected

◆ computeForce() [2/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::computeForce	(	Displacement &	F,
		const Displacement &	Depl,
		VoigtTensor &	plasticStrain,
		const MaterialStiffness &	K,
		const StrainDisplacement &	J
	)

inlineprotected

◆ computeMaterialStiffness() [1/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::computeMaterialStiffness	(	Index	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)

protectedvirtual

◆ computeMaterialStiffness() [2/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::computeMaterialStiffness	(	MaterialStiffness &	materialMatrix,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)

virtual

◆ computeMinMaxFromYoungsModulus()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::computeMinMaxFromYoungsModulus

protected

◆ computeRotationLarge()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< 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::TetrahedronFEMForceField< DataTypes >::computeStiffnessMatrix	(	StiffnessMatrix &	S,
		StiffnessMatrix &	SR,
		const MaterialStiffness &	K,
		const StrainDisplacement &	J,
		const Transformation &	Rot
	)

protected

◆ computeStrainDisplacement()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::computeStrainDisplacement	(	StrainDisplacement &	J,
		Coord	a,
		Coord	b,
		Coord	c,
		Coord	d
	)

inlineprotected

◆ computeVonMisesStress()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::computeVonMisesStress

protected

◆ draw()

template<class DataTypes >

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

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ drawTrianglesFromRangeOfTetrahedra()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::drawTrianglesFromRangeOfTetrahedra	(	const simulation::Range< VecElement::const_iterator > &	range,
		const core::visual::VisualParams *	vparams,
		bool	showVonMisesStressPerElement,
		bool	drawVonMisesStress,
		bool	showWireFrame,
		const VecCoord &	x,
		const VecReal &	youngModulus,
		bool	heterogeneous,
		Real	minVM,
		Real	maxVM,
		helper::ReadAccessor< Data< type::vector< Real >>>	vM
	)

protectedvirtual

◆ drawTrianglesFromTetrahedra()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::drawTrianglesFromTetrahedra	(	const core::visual::VisualParams *	vparams,
		bool	showVonMisesStressPerElement,
		bool	drawVonMisesStress,
		const VecCoord &	x,
		const VecReal &	youngModulus,
		bool	heterogeneous,
		Real	minVM,
		Real	maxVM,
		helper::ReadAccessor< Data< type::vector< Real >>>	vM
	)

protectedvirtual

◆ getActualTetraRotation()

template<class DataTypes >

const TetrahedronFEMForceField< DataTypes >::Transformation & sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getActualTetraRotation ( Index index )

◆ getElementStiffnessMatrix() [1/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getElementStiffnessMatrix	(	Real *	stiffness,
		Index	nodeIdx
	)

◆ getElementStiffnessMatrix() [2/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getElementStiffnessMatrix	(	Real *	stiffness,
		Tetrahedron &	te
	)

inline

◆ getInitialTetraRotation()

template<class DataTypes >

const TetrahedronFEMForceField< DataTypes >::Transformation & sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getInitialTetraRotation ( Index index )

◆ getMaterialStiffness()

template<class DataTypes >

const TetrahedronFEMForceField< DataTypes >::MaterialStiffness & sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getMaterialStiffness ( TetrahedronID tetraId )

◆ getPotentialEnergy()

template<class DataTypes >

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

inlineoverridevirtual

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

◆ getRestVolume()

template<class DataTypes >

Real sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getRestVolume ( )

inline

◆ getRotatedInitialElements()

template<class DataTypes >

const type::fixed_array< typename TetrahedronFEMForceField< DataTypes >::Coord, 4 > & sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getRotatedInitialElements ( TetrahedronID tetraId )

◆ getRotation()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getRotation	(	Mat33 &	R,
		Index	nodeIdx
	)

inline

◆ getRotations() [1/3]

template<class DataTypes >

const type::vector< typename TetrahedronFEMForceField< DataTypes >::Mat33 > & sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getRotations

overridevirtual

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

◆ getRotations() [2/3]

template<class DataTypes >

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

overridevirtual

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

◆ getRotations() [3/3]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getRotations ( VecReal & vecR )

◆ getStrainDisplacement()

template<class DataTypes >

const TetrahedronFEMForceField< DataTypes >::StrainDisplacement & sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::getStrainDisplacement ( TetrahedronID tetraId )

◆ handleEvent()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::handleEvent ( core::objectmodel::Event * )

overrideprotectedvirtual

Handle an event.

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

◆ handleTopologyChange()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::handleTopologyChange ( )

inlineoverrideprotectedvirtual

Handle topological Changes

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

◆ init()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< 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::TetrahedronFEMForceField< DataTypes >::initLarge	(	Index	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)

protected

◆ initPolar()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::initPolar	(	Index	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)

protected

◆ initSmall()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::initSmall	(	Index	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)

protected

◆ initSVD()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::initSVD	(	Index	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)

protected

◆ isComputeVonMisesStressMethodSet()

template<class DataTypes >

bool sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::isComputeVonMisesStressMethodSet

protected

◆ peudo_determinant_for_coef()

template<class DataTypes >

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

protected

◆ reinit()

template<class DataTypes >

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

inlineoverridevirtual

Update method called when variables used in precomputation are modified.

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

◆ reset()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::reset

overridevirtual

Reset to initial state.

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

◆ setComputeGlobalMatrix()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::setComputeGlobalMatrix ( bool val )

inline

◆ setMethod() [1/2]

template<class DataTypes >

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

◆ setMethod() [2/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::setMethod ( std::string methodName )

◆ setPoissonRatio()

template<class DataTypes >

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

inline

◆ setUpdateStiffnessMatrix()

template<class DataTypes >

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

inline

◆ setYoungModulus()

template<class DataTypes >

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

◆ SOFA_CLASS2()

template<class DataTypes >

sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::SOFA_CLASS2	(	SOFA_TEMPLATE(TetrahedronFEMForceField< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)	,
		SOFA_TEMPLATE(core::behavior::RotationFinder, DataTypes)
	)

Enum details

◆ anonymous enum

template<class DataTypes >

anonymous enum

Enumerator
SMALL	Symbol of small displacements tetrahedron solver.
LARGE	Symbol of corotational large displacements tetrahedron solver based on a QR decomposition -> Nesme et al 2005 "Efficient, Physically Plausible Finite Elements".
POLAR	Symbol of corotational large displacements tetrahedron solver based on a polar decomposition -> Muller et al 2004 "Interactive Virtual Materials".
SVD	Symbol of corotational large displacements tetrahedron solver based on a SVD decomposition -> inspired from Irving et al 2004 "Invertible Finite Element for Robust Simulation of Large Deformation".

Related details

◆ TetrahedronFEMForceFieldInternalData< DataTypes >

template<class DataTypes >

friend class TetrahedronFEMForceFieldInternalData< DataTypes >

friend

Detailed Description

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

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Friends

Per element (tetrahedron) data

Full system matrix assembly support

Additional Inherited Members

Attribute details

◆ _assembling

◆ _computeVonMisesStress

◆ _gatherBsize

◆ _gatherPt

◆ _indexedElements

◆ _initialPoints

◆ _initialRotations

◆ _initialTransformation

◆ _localStiffnessFactor

◆ _plasticCreep

◆ _plasticMaxThreshold

◆ _plasticStrains

◆ _plasticYieldThreshold

◆ _poissonRatio

◆ _rotatedInitialElements

◆ _rotationIdx

◆ _showStressAlpha

◆ _showStressColorMap

◆ _showVonMisesStressPerElement

◆ _showVonMisesStressPerNode

◆ _stiffnesses

◆ _updateStiffness

◆ _updateStiffnessMatrix

◆ _vonMisesPerElement

◆ _vonMisesPerNode

◆ _vonMisesStressColors

◆ _youngModulus

◆ d_showElementGapScale

◆ d_showVonMisesStressPerNodeColorMap

◆ data

◆ drawHeterogeneousTetra

◆ elemDisplacements

◆ elemLambda

◆ elemMu

◆ elemShapeFun

◆ f_method

◆ InvalidCoords

◆ InvalidMaterialStiffness

◆ InvalidStrainDisplacement

◆ InvalidTransform

◆ l_topology

◆ m_maxVonMisesPerNode

◆ m_minVonMisesPerNode

◆ m_potentialEnergy

◆ m_renderedColors

◆ m_renderedPoints

◆ m_restVolume

◆ m_rotations

◆ m_topology

◆ m_VonMisesColorMap

◆ materialsStiffnesses

◆ maxYoung

◆ method

◆ minYoung

◆ needUpdateTopology

◆ prevMaxStress

◆ R0

◆ rotations

◆ strainDisplacements

◆ updateVonMisesStress

Constructor details

◆ TetrahedronFEMForceField()

◆ ~TetrahedronFEMForceField()

Function details

◆ accumulateForceLarge()

◆ accumulateForcePolar()

◆ accumulateForceSmall()

◆ accumulateForceSVD()

◆ addDForce()

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