sofa::component::solidmechanics::fem::elastic Namespace Reference

Namespaces
	detail

Classes
class	BaseElementLinearFEMForceField
struct	_2DMaterials
struct	_3DMaterials
class	BaseLinearElasticityFEMForceField
struct	RotationMethods
	A container for rotation computation methods in corotational formulations. More...
struct	RotationMethods< Vec3Real< Real >, sofa::geometry::Triangle >
struct	RotationMethods< DataTypes, sofa::geometry::Tetrahedron >
struct	RotationMethods< DataTypes, sofa::geometry::Hexahedron >
class	ElementCorotationalFEMForceField
class	ElementLinearSmallStrainFEMForceField
class	FastTetrahedralCorotationalForceField
class	FastTetrahedralCorotationalForceFieldData
	This class can be overridden if needed for additional storage within template specializations. More...
class	FEMForceField
class	HexahedralFEMForceField
class	HexahedralFEMForceFieldAndMass
class	HexahedronFEMForceField
class	HexahedronFEMForceFieldInternalData
class	HexahedronFEMForceFieldAndMass
struct	FactorizedElementStiffness
class	OrthotropicElasticityTensor
	Represents an elasticity tensor for orthotropic materials. More...
class	HexahedronRotation
	Computes the orientation matrix for 8-node hexahedral elements. More...
struct	IdentityRotation
struct	PolarDecomposition
class	RotationMethodsContainer
	A container for rotation computation methods in corotational formulations. More...
struct	StablePolarDecomposition
struct	TriangleRotation
struct	StrainDisplacement
struct	trait
class	QuadBendingFEMForceField
class	TetrahedralCorotationalFEMForceField
class	TetrahedronFEMForceField
class	TetrahedronFEMForceFieldInternalData
	This class can be overridden if needed for additional storage within template specializations. More...
class	TriangleFEMForceField
class	TriangleFEMUtils
class	TriangularAnisotropicFEMForceField
class	TriangularFEMForceField
class	TriangularFEMForceFieldOptim
class	TriangularFEMForceFieldOptimInternalData
	This class can be overridden if needed for additional storage within template specializations. More...

Typedefs
template<class Real >
using	Vec3Real = sofa::defaulttype::StdVectorTypes< sofa::type::Vec< 3, Real >, sofa::type::Vec< 3, Real >, Real >
template<class real >
using	YoungModulus = sofa::type::StrongType< real, struct YoungModulusTag, sofa::type::functionality::Arithmetic >
template<class real >
using	PoissonRatio = sofa::type::StrongType< real, struct PoissonRatioTag, sofa::type::functionality::Arithmetic >
template<class real >
using	LameLambda = sofa::type::StrongType< real, struct LameLambdaTag, sofa::type::functionality::Arithmetic >
template<class real >
using	LameMu = sofa::type::StrongType< real, struct LameMuTag, sofa::type::functionality::Arithmetic >

Enumerations
enum class	MatrixVectorProductType { Factorization , Dense }

Functions
void	registerBeamFEMForceField (sofa::core::ObjectFactory *factory)
void	registerElementCorotationalFEMForceField (sofa::core::ObjectFactory *factory)
void	registerElementLinearSmallStrainFEMForceField (sofa::core::ObjectFactory *factory)
void	registerFastTetrahedralCorotationalForceField (sofa::core::ObjectFactory *factory)
void	registerHexahedralFEMForceField (sofa::core::ObjectFactory *factory)
void	registerHexahedralFEMForceFieldAndMass (sofa::core::ObjectFactory *factory)
void	registerHexahedronFEMForceField (sofa::core::ObjectFactory *factory)
void	registerHexahedronFEMForceFieldAndMass (sofa::core::ObjectFactory *factory)
	MAKE_SELECTABLE_ITEMS (ComputeStrategy, sofa::helper::Item{parallelComputeStrategy, "The algorithm is executed in parallel"}, sofa::helper::Item{sequencedComputeStrategy, "The algorithm is executed sequentially"},)
template<class DataTypes , class ElementType , MatrixVectorProductType matrixVectorProductType = MatrixVectorProductType::Dense>
FactorizedElementStiffness< DataTypes, ElementType, matrixVectorProductType >	integrate (const std::array< sofa::Coord_t< DataTypes >, ElementType::NumberOfNodes > &nodesCoordinates, const sofa::type::FullySymmetric4Tensor< DataTypes::spatial_dimensions, sofa::Real_t< DataTypes >> &elasticityTensor)
template<std::size_t spatial_dimensions, class real >
void	toLameParameters (YoungModulus< real > youngModulus, PoissonRatio< real > poissonRatio, LameLambda< real > &lambda, LameMu< real > &mu)
	Converts Young's modulus and Poisson's ratio to Lamé parameters. More...
template<sofa::Size D, class real >
auto	makeIsotropicElasticityTensor (LameMu< real > mu, LameLambda< real > lambda)
	Creates an isotropic elasticity tensor for given material properties. More...
template<sofa::Size N, class real >
constexpr sofa::type::Vec< N, real >	orthotropicElasticityTensorProduct (const sofa::type::Mat< N, N, real > &tensor, const sofa::type::Vec< N, real > &v)
template<class real >
constexpr sofa::type::Vec< 6, real >	orthotropicElasticityTensorProduct (const sofa::type::Mat< 6, 6, real > &tensor, const sofa::type::Vec< 6, real > &v)
template<class StrainDisplacement >
sofa::type::Vec< StrainDisplacement::nbLines, typename StrainDisplacement::Real >	strainDisplacementVectorProduct (const StrainDisplacement &B, const sofa::type::Vec< StrainDisplacement::nbColumns, typename StrainDisplacement::Real > &v)
template<class StrainDisplacement >
sofa::type::Vec< StrainDisplacement::nbColumns, typename StrainDisplacement::Real >	strainDisplacementTransposedVectorProduct (const StrainDisplacement &B, const sofa::type::Vec< StrainDisplacement::nbLines, typename StrainDisplacement::Real > &v)
template<sofa::Size L, sofa::Size C, class real , class DataTypes , class ElementType >
sofa::type::Mat< L, StrainDisplacement< DataTypes, ElementType >::nbColumns, real >	operator* (const sofa::type::Mat< L, C, real > &A, const StrainDisplacement< DataTypes, ElementType > &B)
template<class DataTypes , class ElementType >
StrainDisplacement< DataTypes, ElementType >	makeStrainDisplacement (const sofa::type::Mat< ElementType::NumberOfNodes, DataTypes::spatial_dimensions, sofa::Real_t< DataTypes > > &gradientShapeFunctions)
template<class ElementType , class VecCoord >
auto	extractRefNodesVectorFromGlobalVector (const sofa::topology::Element< ElementType > &element, const VecCoord &vector)
template<class ElementType , class VecCoord >
std::array< typename VecCoord::value_type, ElementType::NumberOfNodes >	extractNodesVectorFromGlobalVector (const sofa::topology::Element< ElementType > &element, const VecCoord &vector)
void	registerQuadBendingFEMForceField (sofa::core::ObjectFactory *factory)
void	registerTetrahedralCorotationalFEMForceField (sofa::core::ObjectFactory *factory)
void	registerTetrahedronFEMForceField (sofa::core::ObjectFactory *factory)
void	registerTriangleFEMForceField (sofa::core::ObjectFactory *factory)
void	registerTriangularAnisotropicFEMForceField (sofa::core::ObjectFactory *factory)
void	registerTriangularFEMForceField (sofa::core::ObjectFactory *factory)
void	registerTriangularFEMForceFieldOptim (sofa::core::ObjectFactory *factory)
SOFA_EXPORT_DYNAMIC_LIBRARY void	initExternalModule ()
SOFA_EXPORT_DYNAMIC_LIBRARY const char *	getModuleName ()
SOFA_EXPORT_DYNAMIC_LIBRARY const char *	getModuleVersion ()
SOFA_EXPORT_DYNAMIC_LIBRARY void	registerObjects (sofa::core::ObjectFactory *factory)
void	init ()

Variables
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	FastTetrahedralCorotationalForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	HexahedralFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	HexahedralFEMForceFieldAndMass< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	HexahedronFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	HexahedronFEMForceFieldAndMass< Vec3Types >
constexpr std::string_view	parallelComputeStrategy = "parallel"
constexpr std::string_view	sequencedComputeStrategy = "sequenced"
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	QuadBendingFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	TetrahedralCorotationalFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	TetrahedronFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	TriangleFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	TriangularAnisotropicFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	TriangularFEMForceField< Vec3Types >
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API	TriangularFEMForceFieldOptim< Vec3Types >

Typedef Documentation

LameLambda

template<class real >

using sofa::component::solidmechanics::fem::elastic::LameLambda = typedef sofa::type::StrongType<real, struct LameLambdaTag, sofa::type::functionality::Arithmetic>

LameMu

template<class real >

using sofa::component::solidmechanics::fem::elastic::LameMu = typedef sofa::type::StrongType<real, struct LameMuTag, sofa::type::functionality::Arithmetic>

PoissonRatio

template<class real >

using sofa::component::solidmechanics::fem::elastic::PoissonRatio = typedef sofa::type::StrongType<real, struct PoissonRatioTag, sofa::type::functionality::Arithmetic>

Vec3Real

template<class Real >

using sofa::component::solidmechanics::fem::elastic::Vec3Real = typedef sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, Real>, sofa::type::Vec<3, Real>, Real>

YoungModulus

template<class real >

using sofa::component::solidmechanics::fem::elastic::YoungModulus = typedef sofa::type::StrongType<real, struct YoungModulusTag, sofa::type::functionality::Arithmetic>

Enumeration Type Documentation

MatrixVectorProductType

enum sofa::component::solidmechanics::fem::elastic::MatrixVectorProductType

strong

Specifies the type of matrix-vector product to be used with the stiffness matrix.

Enumerator
Factorization	The matrix-vector product is computed using the factorization of the matrix
Dense	The matrix-vector product is computed using the dense matrix representation

Function Documentation

extractNodesVectorFromGlobalVector()

template<class ElementType , class VecCoord >

std::array<typename VecCoord::value_type, ElementType::NumberOfNodes> sofa::component::solidmechanics::fem::elastic::extractNodesVectorFromGlobalVector	(	const sofa::topology::Element< ElementType > &	element,
		const VecCoord &	vector
	)

extractRefNodesVectorFromGlobalVector()

template<class ElementType , class VecCoord >

auto sofa::component::solidmechanics::fem::elastic::extractRefNodesVectorFromGlobalVector	(	const sofa::topology::Element< ElementType > &	element,
		const VecCoord &	vector
	)

getModuleName()

const char * sofa::component::solidmechanics::fem::elastic::getModuleName

(

)

getModuleVersion()

const char * sofa::component::solidmechanics::fem::elastic::getModuleVersion

(

)

init()

SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API void sofa::component::solidmechanics::fem::elastic::init

(

)

initExternalModule()

void sofa::component::solidmechanics::fem::elastic::initExternalModule

(

)

integrate()

template<class DataTypes , class ElementType , MatrixVectorProductType matrixVectorProductType = MatrixVectorProductType::Dense>

FactorizedElementStiffness<DataTypes, ElementType, matrixVectorProductType> sofa::component::solidmechanics::fem::elastic::integrate	(	const std::array< sofa::Coord_t< DataTypes >, ElementType::NumberOfNodes > &	nodesCoordinates,
		const sofa::type::FullySymmetric4Tensor< DataTypes::spatial_dimensions, sofa::Real_t< DataTypes >> &	elasticityTensor
	)

MAKE_SELECTABLE_ITEMS()

sofa::component::solidmechanics::fem::elastic::MAKE_SELECTABLE_ITEMS	(	ComputeStrategy	,
		sofa::helper::Item{parallelComputeStrategy, "The algorithm is executed in parallel"}	,
		sofa::helper::Item{sequencedComputeStrategy, "The algorithm is executed sequentially"}
	)

makeIsotropicElasticityTensor()

template<sofa::Size D, class real >

auto sofa::component::solidmechanics::fem::elastic::makeIsotropicElasticityTensor	(	LameMu< real >	mu,
		LameLambda< real >	lambda
	)

Creates an isotropic elasticity tensor for given material properties.

This function constructs and returns an elasticity tensor for an isotropic material characterized by its Young's modulus and Poisson's ratio. It computes the tensor using the Lamé parameters, which are derived from the given material properties.

Parameters

mu	Lamé's first parameter
lambda	Lamé's second parameter

Returns

The isotropic elasticity tensor

makeStrainDisplacement()

template<class DataTypes , class ElementType >

StrainDisplacement<DataTypes, ElementType> sofa::component::solidmechanics::fem::elastic::makeStrainDisplacement

(

const sofa::type::Mat< ElementType::NumberOfNodes, DataTypes::spatial_dimensions, sofa::Real_t< DataTypes > > &

gradientShapeFunctions

)

Creates a strain-displacement matrix (B-matrix) for finite element calculations.

This function constructs a strain-displacement matrix based on the provided gradient of shape functions. The matrix is filled according to spatial dimensions and the number of nodes in the element.

Parameters

gradientShapeFunctions

A matrix containing the gradient of the shape functions.

Returns

A strain-displacement matrix of type StrainDisplacement<DataTypes, ElementType>, constructed for the finite element with the given gradient shape functions.

operator*()

template<sofa::Size L, sofa::Size C, class real , class DataTypes , class ElementType >

sofa::type::Mat<L, StrainDisplacement<DataTypes, ElementType>::nbColumns, real> sofa::component::solidmechanics::fem::elastic::operator*	(	const sofa::type::Mat< L, C, real > &	A,
		const StrainDisplacement< DataTypes, ElementType > &	B
	)

Multiplies a matrix by a strain-displacement matrix.

Template Parameters

L	Number of lines in matrix A.
C	Number of columns in matrix A (must match nbLines of B).

Parameters

A	Matrix to multiply with B.
B	Strain-displacement matrix.

Returns

Resulting matrix product A * B.

orthotropicElasticityTensorProduct() [1/2]

template<class real >

constexpr sofa::type::Vec<6, real> sofa::component::solidmechanics::fem::elastic::orthotropicElasticityTensorProduct ( const sofa::type::Mat< 6, 6, real > &  tensor, const sofa::type::Vec< 6, real > &  v  )

constexpr

Specialization for 3D where the operations containing known zeros in the elasticity tensor are omitted.

WARNING: this specialization is only valid for a give Voigt index mapping. If this mapping happens to change, this specialization will need to be updated accordingly.

orthotropicElasticityTensorProduct() [2/2]

template<sofa::Size N, class real >

constexpr sofa::type::Vec<N, real> sofa::component::solidmechanics::fem::elastic::orthotropicElasticityTensorProduct ( const sofa::type::Mat< N, N, real > &  tensor, const sofa::type::Vec< N, real > &  v  )

constexpr

registerBeamFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerBeamFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerElementCorotationalFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerElementCorotationalFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerElementLinearSmallStrainFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerElementLinearSmallStrainFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerFastTetrahedralCorotationalForceField()

void sofa::component::solidmechanics::fem::elastic::registerFastTetrahedralCorotationalForceField

(

sofa::core::ObjectFactory *

factory

)

registerHexahedralFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerHexahedralFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerHexahedralFEMForceFieldAndMass()

void sofa::component::solidmechanics::fem::elastic::registerHexahedralFEMForceFieldAndMass

(

sofa::core::ObjectFactory *

factory

)

registerHexahedronFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerHexahedronFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerHexahedronFEMForceFieldAndMass()

void sofa::component::solidmechanics::fem::elastic::registerHexahedronFEMForceFieldAndMass

(

sofa::core::ObjectFactory *

factory

)

registerObjects()

void sofa::component::solidmechanics::fem::elastic::registerObjects

(

sofa::core::ObjectFactory *

factory

)

registerQuadBendingFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerQuadBendingFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerTetrahedralCorotationalFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerTetrahedralCorotationalFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerTetrahedronFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerTetrahedronFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerTriangleFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerTriangleFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerTriangularAnisotropicFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerTriangularAnisotropicFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerTriangularFEMForceField()

void sofa::component::solidmechanics::fem::elastic::registerTriangularFEMForceField

(

sofa::core::ObjectFactory *

factory

)

registerTriangularFEMForceFieldOptim()

void sofa::component::solidmechanics::fem::elastic::registerTriangularFEMForceFieldOptim

(

sofa::core::ObjectFactory *

factory

)

strainDisplacementTransposedVectorProduct()

template<class StrainDisplacement >

sofa::type::Vec<StrainDisplacement::nbColumns, typename StrainDisplacement::Real> sofa::component::solidmechanics::fem::elastic::strainDisplacementTransposedVectorProduct	(	const StrainDisplacement &	B,
		const sofa::type::Vec< StrainDisplacement::nbLines, typename StrainDisplacement::Real > &	v
	)

Computes the product between the transpose of a strain-displacement matrix B and a strain vector v.

This function calculates the nodal force vector f = B^T * v where v is a strain (or stress) vector in Voigt notation.

Template Parameters

StrainDisplacement

The type of the strain-displacement matrix.

Parameters

B	The strain-displacement matrix.
v	The vector to be multiplied by the transpose of B.

Returns

The resulting vector (typically nodal forces).

strainDisplacementVectorProduct()

template<class StrainDisplacement >

sofa::type::Vec<StrainDisplacement::nbLines, typename StrainDisplacement::Real> sofa::component::solidmechanics::fem::elastic::strainDisplacementVectorProduct	(	const StrainDisplacement &	B,
		const sofa::type::Vec< StrainDisplacement::nbColumns, typename StrainDisplacement::Real > &	v
	)

Computes the product between a strain-displacement matrix B and a displacement vector v.

This function calculates the strain vector ε = B * v where B is represented in Voigt notation. For diagonal terms (normal strains), it performs a simple dot product. For off-diagonal terms (shear strains), it sums the contributions from both partial derivatives.

Template Parameters

StrainDisplacement

The type of the strain-displacement matrix.

Parameters

B	The strain-displacement matrix.
v	The displacement vector.

Returns

The strain vector in Voigt notation.

toLameParameters()

template<std::size_t spatial_dimensions, class real >

void sofa::component::solidmechanics::fem::elastic::toLameParameters	(	YoungModulus< real >	youngModulus,
		PoissonRatio< real >	poissonRatio,
		LameLambda< real > &	lambda,
		LameMu< real > &	mu
	)

Converts Young's modulus and Poisson's ratio to Lamé parameters.

This function calculates and returns the two Lamé parameters, μ (shear modulus) and λ, derived from the given Young’s modulus and Poisson’s ratio of a material. These parameters are fundamental in describing isotropic elastic behavior.

Parameters

youngModulus	The Young's modulus of the material, representing its stiffness.
poissonRatio	The Poisson's ratio of the material, describing its deformation behavior.

Returns

A pair containing the calculated Lamé parameters:

• First: μ (shear modulus),
• Second: λ.

Variable Documentation

FastTetrahedralCorotationalForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::FastTetrahedralCorotationalForceField< Vec3Types >

HexahedralFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< Vec3Types >

HexahedralFEMForceFieldAndMass< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceFieldAndMass< Vec3Types >

HexahedronFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceField< Vec3Types >

HexahedronFEMForceFieldAndMass< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::HexahedronFEMForceFieldAndMass< Vec3Types >

parallelComputeStrategy

constexpr std::string_view sofa::component::solidmechanics::fem::elastic::parallelComputeStrategy = "parallel"

constexpr

QuadBendingFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::QuadBendingFEMForceField< Vec3Types >

sequencedComputeStrategy

constexpr std::string_view sofa::component::solidmechanics::fem::elastic::sequencedComputeStrategy = "sequenced"

constexpr

TetrahedralCorotationalFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::TetrahedralCorotationalFEMForceField< Vec3Types >

TetrahedronFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::TetrahedronFEMForceField< Vec3Types >

TriangleFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::TriangleFEMForceField< Vec3Types >

TriangularAnisotropicFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::TriangularAnisotropicFEMForceField< Vec3Types >

TriangularFEMForceField< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::TriangularFEMForceField< Vec3Types >

TriangularFEMForceFieldOptim< Vec3Types >

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API sofa::component::solidmechanics::fem::elastic::TriangularFEMForceFieldOptim< Vec3Types >