TriangularFEMForceField.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_FORCEFIELD_TRIANGULARFEMFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_TRIANGULARFEMFORCEFIELD_H

#if !defined(__GNUC__) || (__GNUC__ > 3 || (_GNUC__ == 3 && __GNUC_MINOR__ > 3))
#pragma once
#endif

#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/core/componentmodel/topology/BaseMeshTopology.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/component/topology/TriangleData.h>
#include <sofa/component/topology/EdgeData.h>
#include <sofa/component/topology/PointData.h>
#include <newmat/newmat.h>
#include <newmat/newmatap.h>



namespace sofa
{

namespace component
{

namespace forcefield
{

using namespace sofa::defaulttype;
using sofa::helper::vector;
using namespace sofa::component::topology;


template<class DataTypes>
class TriangularFEMForceField : public core::componentmodel::behavior::ForceField<DataTypes>, public virtual core::objectmodel::BaseObject
{
public:
  typedef core::componentmodel::behavior::ForceField<DataTypes> Inherited;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::VecReal VecReal;
    typedef VecCoord Vector;
    typedef typename DataTypes::Coord    Coord   ;
    typedef typename DataTypes::Deriv    Deriv   ;
    typedef typename Coord::value_type   Real    ;

    typedef sofa::core::componentmodel::topology::BaseMeshTopology::index_type Index;
    typedef sofa::core::componentmodel::topology::BaseMeshTopology::Triangle Element;
    typedef sofa::core::componentmodel::topology::BaseMeshTopology::SeqTriangles VecElement;

    static const int SMALL = 1;                                     
    static const int LARGE = 0;                                     

    
protected:
//    component::MechanicalObject<DataTypes>* _object;

    typedef Vec<6, Real> Displacement;                              
    typedef Mat<3, 3, Real> MaterialStiffness;                      
    typedef sofa::helper::vector<MaterialStiffness> VecMaterialStiffness;    
    typedef Mat<6, 3, Real> StrainDisplacement;                     
    typedef sofa::helper::vector<StrainDisplacement> VecStrainDisplacement; 
    typedef Mat<3, 3, Real > Transformation;                        

   class TriangleInformation
    {
    public:
        MaterialStiffness materialMatrix;
        StrainDisplacement strainDisplacementMatrix;
        // large displacement method
        helper::fixed_array<Coord,3> rotatedInitialElements;
        Transformation rotation;
        Transformation initialTransformation;
        
        Coord principalStrainDirection;
        double eigenValue;

        TriangleInformation() {
        }
    };

   class EdgeInformation
   {
   public:
       EdgeInformation()
           :fracturable(false){};

       bool fracturable;
   };

   class VertexInformation
   {
   public:
        VertexInformation()
            :sumEigenValues(0.0){};

       Coord meanStrainDirection;
       double sumEigenValues;
   };
    
    TriangleData<TriangleInformation> triangleInfo;
    PointData<VertexInformation> vertexInfo;
    EdgeData<EdgeInformation> edgeInfo;

    sofa::core::componentmodel::topology::BaseMeshTopology* _topology;
    //const VecElement *_indexedElements;
    //Data< VecCoord > _initialPoints; ///< the intial positions of the points
    VecCoord* _initialPoints;
//     int _method; ///< the computation method of the displacements
//     Real _poissonRatio;
//     Real _youngModulus;
//     Real _dampingRatio;

    bool updateMatrix;
    int lastFracturedEdgeIndex;

public:

    TriangularFEMForceField();

    //virtual const char* getTypeName() const { return "TriangularFEMForceField"; }

    virtual ~TriangularFEMForceField();
    virtual void init();
    virtual void reinit();
    virtual void addForce (VecDeriv& f, const VecCoord& x, const VecDeriv& v);
    virtual void addDForce (VecDeriv& df, const VecDeriv& dx);
    virtual double getPotentialEnergy(const VecCoord& x);
    virtual void handleTopologyChange();

    void draw();

    int method;
    Data<std::string> f_method;
    Data<Real> f_poisson;
    Data<Real> f_young;
    Data<Real> f_damping;
    Data<bool> f_fracturable;

    Data<bool> showStressValue;
    Data<bool> showStressVector;

    Real getPoisson() { return f_poisson.getValue(); }
    void setPoisson(Real val) { f_poisson.setValue(val); }
    Real getYoung() { return f_young.getValue(); }
    void setYoung(Real val) { f_young.setValue(val); }
    Real getDamping() { return f_damping.getValue(); }
    void setDamping(Real val) { f_damping.setValue(val); }
    int  getMethod() { return method; }
    void setMethod(int val) { method = val; }
    int getFracturedEdge();

protected :

    void computeEigenStrain( Coord &v, StrainDisplacement &J, Displacement &Depl , double &maxEigenValue);

    //EdgeData<EdgeInformation> &getEdgeInfo() {return edgeInfo;}

/*  
    static void TRQSEdgeCreationFunction(int edgeIndex, void* param, EdgeInformation &ei,
                                         const Edge& ,  const sofa::helper::vector< unsigned int > &,
                                         const sofa::helper::vector< double >&);
*/  
    static void TRQSTriangleCreationFunction (int , void* , 
                            TriangleInformation &,
                            const Triangle& , const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double >&);
                                    

    //static void TRQSTriangleDestroyFunction ( int , void* , TriangleInformation &);

    virtual void applyStiffness( VecCoord& f, Real h, const VecCoord& x );
    virtual void computeMaterialStiffness(int i, Index& a, Index& b, Index& c);
    void computeStrainDisplacement( StrainDisplacement &J, Coord a, Coord b, Coord c);
    void computeForce( Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacement &J );

    void initSmall(void);
    void accumulateForceSmall( VecCoord& f, const VecCoord & p, Index elementIndex, bool implicit = false );
    void accumulateDampingSmall( VecCoord& f, Index elementIndex );
    void applyStiffnessSmall( VecCoord& f, Real h, const VecCoord& x );

    //sofa::helper::vector< helper::fixed_array <Coord, 3> > _rotatedInitialElements;   ///< The initials positions in its frame
    //sofa::helper::vector< Transformation > _rotations;
    void initLarge(int i, Index&a, Index&b, Index&c);
    void computeRotationLarge( Transformation &r, const VecCoord &p, const Index &a, const Index &b, const Index &c);
    void accumulateForceLarge( VecCoord& f, const VecCoord & p, Index elementIndex, bool implicit=false );
    void accumulateDampingLarge( VecCoord& f, Index elementIndex );
    void applyStiffnessLarge( VecCoord& f, Real h, const VecCoord& x );
};


} // namespace forcefield

} // namespace component

} // namespace sofa

#endif