#include <TetrahedronFEMForceField.h>

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...

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

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

void	init () override

void	reinit () override

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

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

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

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

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)

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

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

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 &	d_df,
		const DataVecDeriv &	d_dx
	)

inlineoverride

◆ addForce()

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::addForce	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	d_f,
		const DataVecCoord &	d_x,
		const DataVecDeriv &	d_v
	)

inlineoverride

◆ 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
	)

override

◆ addKToMatrix() [2/2]

template<class DataTypes >

void sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< DataTypes >::addKToMatrix	(	sofa::linearalgebra::BaseMatrix *	m,
		SReal	kFactor,
		unsigned int &	offset
	)

override

◆ 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 * )

final

◆ buildStiffnessMatrix()

template<class DataTypes >

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

override

◆ computeBBox()

template<class DataTypes >

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

override

◆ 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 * vparams )

override

◆ 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

inlineoverride

◆ 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

override

◆ getRotations() [2/3]

template<class DataTypes >

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

override

◆ 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 * event )

overrideprotected

◆ handleTopologyChange()

template<class DataTypes >

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

inlineoverrideprotected

◆ init()

template<class DataTypes >

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

override

◆ 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

inlineoverride

◆ reset()

template<class DataTypes >

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

override

◆ 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

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()

◆ addForce()

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