sofa::component::forcefield::BeamFEMForceField< DataTypes > Class Template Reference

Compute Finite Element forces based on 6D beam elements. More...

#include <BeamFEMForceField.h>

Inheritance diagram for sofa::component::forcefield::BeamFEMForceField< DataTypes >:

Collaboration diagram for sofa::component::forcefield::BeamFEMForceField< DataTypes >:


Data Structures
struct	BeamInfo
Public Types
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef DataTypes::VecReal	VecReal
typedef VecCoord	Vector
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
typedef unsigned int	Index
typedef topology::Edge	Element
typedef sofa::helper::vector < topology::Edge >	VecElement
Public Member Functions
	BeamFEMForceField ()
void	setUpdateStiffnessMatrix (bool val)
void	setComputeGlobalMatrix (bool val)
virtual void	init ()
	Initialization method called at graph modification, during bottom-up traversal.
virtual void	reinit ()
	Update method called when variables used in precomputation are modified.
virtual void	reinitBeam (unsigned int i)
virtual void	handleTopologyChange ()
	Handle topological Changes.
virtual void	addForce (VecDeriv &f, const VecCoord &x, const VecDeriv &v)
	Given the current position and velocity states, update the current force vector by computing and adding the forces associated with this ForceField.
virtual void	addDForce (VecDeriv &df, const VecDeriv &dx)
	Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().
virtual double	getPotentialEnergy (const VecCoord &)
	Get the potential energy associated to this ForceField.
void	addKToMatrix (sofa::defaulttype::BaseMatrix *mat, SReal k, unsigned int &offset)
	Compute the system matrix corresponding to k K.
void	draw ()
	Render internal data of this object, for debugging purposes.
void	setBeam (unsigned int i, double E, double L, double nu, double r)
void	initBeams (unsigned int size)
Protected Types
typedef Vec< 12, Real >	Displacement
	the displacement vector
typedef Mat< 3, 3, Real >	Transformation
	matrix for rigid transformations like rotations
typedef Mat< 12, 12, Real >	StiffnessMatrix
Protected Member Functions
Quat &	beamQuat (int i)
Real	peudo_determinant_for_coef (const Mat< 2, 3, Real > &M)
void	computeStiffness (int i, Index a, Index b)
void	initLarge (int i, Index a, Index b)
void	accumulateForceLarge (VecDeriv &f, const VecCoord &x, int i, Index a, Index b)
void	applyStiffnessLarge (VecDeriv &f, const VecDeriv &x, int i, Index a, Index b)
Static Protected Member Functions
static void	BeamFEMEdgeCreationFunction (int edgeIndex, void *param, BeamInfo &ei, const topology::Edge &, const sofa::helper::vector< unsigned int > &, const sofa::helper::vector< double > &)
Protected Attributes
VecDeriv	_forces
topology::EdgeData< BeamInfo >	beamsData
const VecElement *	_indexedElements
Data< VecCoord >	_initialPoints
	the intial positions of the points
int	_method
	the computation method of the displacements
Data< Real >	_poissonRatio
Data< Real >	_youngModulus
Data< bool >	_timoshenko
Data< Real >	_radius
bool	_updateStiffnessMatrix
bool	_assembling
StiffnessContainer *	stiffnessContainer
LengthContainer *	lengthContainer
PoissonContainer *	poissonContainer
RadiusContainer *	radiusContainer
sofa::core::componentmodel::topology::BaseMeshTopology *	_topology
vector< Transformation >	_nodeRotations

Detailed Description

template<class DataTypes>
class sofa::component::forcefield::BeamFEMForceField< DataTypes >

Compute Finite Element forces based on 6D beam elements.

Definition at line 57 of file BeamFEMForceField.h.

Member Typedef Documentation

template<class DataTypes >

typedef DataTypes::Coord sofa::component::forcefield::BeamFEMForceField< DataTypes >::Coord

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

Definition at line 64 of file BeamFEMForceField.h.

template<class DataTypes >

typedef DataTypes::Deriv sofa::component::forcefield::BeamFEMForceField< DataTypes >::Deriv

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

Definition at line 65 of file BeamFEMForceField.h.

template<class DataTypes >

typedef Vec<12, Real> sofa::component::forcefield::BeamFEMForceField< DataTypes >::Displacement [protected]

the displacement vector

Definition at line 76 of file BeamFEMForceField.h.

template<class DataTypes >

typedef topology::Edge sofa::component::forcefield::BeamFEMForceField< DataTypes >::Element

Definition at line 69 of file BeamFEMForceField.h.

template<class DataTypes >

typedef unsigned int sofa::component::forcefield::BeamFEMForceField< DataTypes >::Index

Definition at line 68 of file BeamFEMForceField.h.

template<class DataTypes >

typedef Coord::value_type sofa::component::forcefield::BeamFEMForceField< DataTypes >::Real

Definition at line 66 of file BeamFEMForceField.h.

template<class DataTypes >

typedef Mat<12, 12, Real> sofa::component::forcefield::BeamFEMForceField< DataTypes >::StiffnessMatrix [protected]

Definition at line 89 of file BeamFEMForceField.h.

template<class DataTypes >

typedef Mat<3, 3, Real> sofa::component::forcefield::BeamFEMForceField< DataTypes >::Transformation [protected]

matrix for rigid transformations like rotations

Definition at line 86 of file BeamFEMForceField.h.

template<class DataTypes >

typedef DataTypes::VecCoord sofa::component::forcefield::BeamFEMForceField< DataTypes >::VecCoord

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

Definition at line 60 of file BeamFEMForceField.h.

template<class DataTypes >

typedef DataTypes::VecDeriv sofa::component::forcefield::BeamFEMForceField< DataTypes >::VecDeriv

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

Definition at line 61 of file BeamFEMForceField.h.

template<class DataTypes >

typedef sofa::helper::vector<topology::Edge> sofa::component::forcefield::BeamFEMForceField< DataTypes >::VecElement

Definition at line 70 of file BeamFEMForceField.h.

template<class DataTypes >

typedef DataTypes::VecReal sofa::component::forcefield::BeamFEMForceField< DataTypes >::VecReal

Definition at line 62 of file BeamFEMForceField.h.

template<class DataTypes >

typedef VecCoord sofa::component::forcefield::BeamFEMForceField< DataTypes >::Vector

Definition at line 63 of file BeamFEMForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

sofa::component::forcefield::BeamFEMForceField< DataTypes >::BeamFEMForceField ( ) [inline]

Definition at line 157 of file BeamFEMForceField.h.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::accumulateForceLarge	(	VecDeriv &	f,
		const VecCoord &	x,
		int	i,
		Index	a,
		Index	b
	)			`[inline, protected]`

Definition at line 355 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamQuat(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData, force, sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, sofa::component::forcefield::qDiff(), and sofa::helper::Quater< Real >::toEulerVector().

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::addForce().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::addDForce	(	VecDeriv &	df,
		const VecDeriv &	dx
	)			`[inline, virtual]`

Compute the force derivative given a small displacement from the position and velocity used in the previous call to addForce().

The derivative should be directly derived from the computations done by addForce. Any forces neglected in addDForce will be integrated explicitly (i.e. using its value at the beginning of the timestep).

If the ForceField can be represented as a matrix, this method computes $ df += K dx $

This method must be implemented by the component, and is usually called by the generic ForceField::addDForce() method.

Deprecated:: to more efficiently accumulate contributions from all terms of the system equation, a new addDForce method allowing to pass two coefficients for the stiffness and damping terms should now be used.

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

Definition at line 223 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::_indexedElements, and sofa::component::forcefield::BeamFEMForceField< DataTypes >::applyStiffnessLarge().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::addForce	(	VecDeriv &	f,
		const VecCoord &	x,
		const VecDeriv &	v
	)			`[inline, virtual]`

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 method must be implemented by the component, and is usually called by the generic ForceField::addForce() method.

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

Definition at line 192 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::_indexedElements, sofa::component::forcefield::BeamFEMForceField< DataTypes >::_nodeRotations, sofa::component::forcefield::BeamFEMForceField< DataTypes >::accumulateForceLarge(), and sofa::component::forcefield::BeamFEMForceField< DataTypes >::initLarge().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::addKToMatrix	(	sofa::defaulttype::BaseMatrix *	matrix,
		SReal	kFact,
		unsigned int &	offset
	)			`[inline, virtual]`

Compute the system matrix corresponding to k K.

Parameters:

	matrix	matrix to add the result to
	kFact	coefficient for stiffness contributions (i.e. DOFs term in the ODE)
	offset	current row/column offset

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

Definition at line 447 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::_indexedElements, sofa::defaulttype::BaseMatrix::add(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamQuat(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData, sofa::defaulttype::Mat< L, C, real >::setsub(), and sofa::helper::Quater< Real >::toMatrix().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::applyStiffnessLarge	(	VecDeriv &	f,
		const VecDeriv &	x,
		int	i,
		Index	a,
		Index	b
	)			`[inline, protected]`

Definition at line 406 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamQuat(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData, sofa::helper::Quater< Real >::inverseRotate(), and sofa::helper::Quater< Real >::rotate().

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::addDForce().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::BeamFEMEdgeCreationFunction	(	int	edgeIndex,
		void *	param,
		BeamInfo &	ei,
		const topology::Edge &	e,
		const sofa::helper::vector< unsigned int > &	a,
		const sofa::helper::vector< double > &
	)			`[inline, static, protected]`

Definition at line 168 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData, and sofa::component::forcefield::BeamFEMForceField< DataTypes >::reinitBeam().

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::init().

template<class DataTypes >

Quat& sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamQuat ( int i ) [inline, protected]

Definition at line 152 of file BeamFEMForceField.h.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData.

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::addKToMatrix(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::applyStiffnessLarge(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::draw(), and sofa::component::forcefield::BeamFEMForceField< DataTypes >::initLarge().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::computeStiffness	(	int	i,
		Index	a,
		Index	b
	)			`[inline, protected]`

Definition at line 249 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData.

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::reinitBeam().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::draw ( ) [inline, virtual]

Render internal data of this object, for debugging purposes.

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

Definition at line 487 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::_indexedElements, sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamQuat(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and sofa::helper::Quater< Real >::rotate().

template<class DataTypes >

virtual double sofa::component::forcefield::BeamFEMForceField< DataTypes >::getPotentialEnergy ( const VecCoord & x ) [inline, virtual]

Get the potential energy associated to this ForceField.

Used to extimate the total energy of the system by some post-stabilization techniques.

This method must be implemented by the component, and is usually called by the generic ForceField::getPotentialEnergy() method.

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

Definition at line 186 of file BeamFEMForceField.h.

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::handleTopologyChange ( ) [inline, virtual]

Handle topological Changes.

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

Definition at line 181 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::_topology, sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData, sofa::core::componentmodel::topology::BaseMeshTopology::firstChange(), and sofa::core::componentmodel::topology::BaseMeshTopology::lastChange().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::init ( void ) [inline, virtual]

Initialization method called at graph modification, during bottom-up traversal.

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

Definition at line 63 of file BeamFEMForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::initBeams ( unsigned int size ) [inline]

Definition at line 529 of file BeamFEMForceField.inl.

References sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamsData.

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::reinit().

template<class DataTypes >

void sofa::component::forcefield::BeamFEMForceField< DataTypes >::initLarge	(	int	i,
		Index	a,
		Index	b
	)			`[inline, protected]`

Definition at line 325 of file BeamFEMForceField.inl.

References sofa::helper::Quater< Real >::axisToQuat(), sofa::component::forcefield::BeamFEMForceField< DataTypes >::beamQuat(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, sofa::defaulttype::Vec< N, real >::norm(), sofa::helper::Quater< Real >::normalize(), sofa::defaulttype::Vec< N, real >::normalize(), sofa::component::forcefield::qDiff(), and sofa::helper::Quater< Real >::toEulerVector().

Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::addForce(), and sofa::component::forcefield::BeamFEMForceField< DataTypes >::reinitBeam().

template<class DataTypes >

BeamFEMForceField< DataTypes >::Real sofa::component::forcefield::BeamFEMForceField< DataTypes >::peudo_determinant_for_coef ( const Mat< 2, 3, Real > & M ) [inline, protected]