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

Compute Finite Element forces based on hexahedral elements. More...

#include <HexahedronFEMForceField.h>

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

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


Public Types
typedef DataTypes::VecCoord	VecCoord
typedef DataTypes::VecDeriv	VecDeriv
typedef VecCoord	Vector
typedef DataTypes::Coord	Coord
typedef DataTypes::Deriv	Deriv
typedef Coord::value_type	Real
typedef core::componentmodel::topology::BaseMeshTopology::index_type	Index
typedef core::componentmodel::topology::BaseMeshTopology::Cube	Element
typedef core::componentmodel::topology::BaseMeshTopology::SeqCubes	VecElement
Public Member Functions
	HexahedronFEMForceField ()
void	parse (core::objectmodel::BaseObjectDescription *arg)
	Parse the given description to assign values to this object's fields and potentially other parameters.
void	setPoissonRatio (Real val)
void	setYoungModulus (Real val)
void	setMethod (int val)
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	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 &x)
	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.
Data Fields
int	method
Data< std::string >	f_method
	the computation method of the displacements
Data< Real >	f_poissonRatio
Data< Real >	f_youngModulus
Data< bool >	f_updateStiffnessMatrix
Data< bool >	f_assembling
Static Public Attributes
static const int	LARGE = 0
	Symbol of mean large displacements tetrahedron solver (frame = edges mean on the 3 directions).
static const int	POLAR = 1
	Symbol of polar displacements tetrahedron solver.
Protected Types
typedef Vec< 24, Real >	Displacement
	the displacement vector
typedef Mat< 6, 6, Real >	MaterialStiffness
	the matrix of material stiffness
typedef vector< MaterialStiffness >	VecMaterialStiffness
	a vector of material stiffness matrices
typedef Mat< 24, 24, Real >	ElementStiffness
typedef helper::vector < ElementStiffness >	VecElementStiffness
typedef Mat< 3, 3, Real >	Mat33
typedef Mat33	Transformation
	matrix for rigid transformations like rotations
typedef std::pair< int, Real >	Col_Value
typedef vector< Col_Value >	CompressedValue
typedef vector< CompressedValue >	CompressedMatrix
Protected Member Functions
virtual void	computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const helper::fixed_array< Coord, 8 > &nodes, const int elementIndice, double stiffnessFactor=1.0)
Mat33	integrateStiffness (int signx0, int signy0, int signz0, int signx1, int signy1, int signz1, const Real u, const Real v, const Real w, const Mat33 &J_1)
void	computeMaterialStiffness (int i)
void	computeForce (Displacement &F, const Displacement &Depl, const ElementStiffness &K)
void	initLarge (int i, const Element &elem)
void	computeRotationLarge (Transformation &r, Coord &edgex, Coord &edgey)
virtual void	accumulateForceLarge (Vector &f, const Vector &p, int i, const Element &elem)
void	initPolar (int i, const Element &elem)
void	computeRotationPolar (Transformation &r, Vec< 8, Coord > &nodes)
virtual void	accumulateForcePolar (Vector &f, const Vector &p, int i, const Element &elem)
Protected Attributes
VecMaterialStiffness	_materialsStiffnesses
	the material stiffness matrices vector
Data< VecElementStiffness >	_elementStiffnesses
CompressedMatrix	_stiffnesses
double	m_potentialEnergy
sofa::core::componentmodel::topology::BaseMeshTopology *	_mesh
topology::SparseGridTopology *	_sparseGrid
const VecElement *	_indexedElements
Data< VecCoord >	_initialPoints
	the intial positions of the points
Mat< 8, 3, int >	_coef
	coef of each vertices to compute the strain stress matrix
vector< helper::fixed_array < Coord, 8 > >	_rotatedInitialElements
	The initials positions in its frame.
vector< Transformation >	_rotations
bool	_alreadyInit
Static Protected Attributes
static const int	_indices [8] = {0,1,3,2,4,5,7,6}
	indices ordering is different than in topology node

Detailed Description

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

Compute Finite Element forces based on hexahedral elements.

Corotational hexahedron from {NMPCPF05, author = "Nesme, Matthieu and Marchal, Maud and Promayon, Emmanuel and Chabanas, Matthieu and Payan, Yohan and Faure, Fran\c{c}ois", title = "Physically Realistic Interactive Simulation for Biological Soft Tissues", journal = "Recent Research Developments in Biomechanics", volume = "2", year = "2005", keywords = "surgical simulation physical animation truth cube", url = "http://www-evasion.imag.fr/Publications/2005/NMPCPF05" }

WARNING: indices ordering is different than in topology node

Y 7---------6 ^ / /| |/ Z / | 3----^----2 | | / | | | 4------|--5 | / | / |/ |/ 0---------1-->X

Definition at line 74 of file HexahedronFEMForceField.h.

Member Typedef Documentation

template<class DataTypes >

typedef std::pair<int,Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::Col_Value [protected]

Definition at line 117 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef vector< CompressedValue > sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::CompressedMatrix [protected]

Definition at line 119 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef vector< Col_Value > sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::CompressedValue [protected]

Definition at line 118 of file HexahedronFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 80 of file HexahedronFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 81 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef Vec<24, Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::Displacement [protected]

the displacement vector

Definition at line 103 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef core::componentmodel::topology::BaseMeshTopology::Cube sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::Element

Definition at line 89 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef Mat<24, 24, Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::ElementStiffness [protected]

Definition at line 109 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef core::componentmodel::topology::BaseMeshTopology::index_type sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::Index

Definition at line 84 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef Mat<3, 3, Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::Mat33 [protected]

Definition at line 113 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef Mat<6, 6, Real> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::MaterialStiffness [protected]

the matrix of material stiffness

Definition at line 105 of file HexahedronFEMForceField.h.

template<class DataTypes >

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

Definition at line 82 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef Mat33 sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::Transformation [protected]

matrix for rigid transformations like rotations

Definition at line 114 of file HexahedronFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 77 of file HexahedronFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 78 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef core::componentmodel::topology::BaseMeshTopology::SeqCubes sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::VecElement

Definition at line 90 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef helper::vector<ElementStiffness> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::VecElementStiffness [protected]

Definition at line 110 of file HexahedronFEMForceField.h.

template<class DataTypes >

typedef vector<MaterialStiffness> sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::VecMaterialStiffness [protected]

a vector of material stiffness matrices

Definition at line 106 of file HexahedronFEMForceField.h.

template<class DataTypes >

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

Definition at line 79 of file HexahedronFEMForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 145 of file HexahedronFEMForceField.h.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_alreadyInit, and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_coef.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge	(	Vector &	f,
		const Vector &	p,
		int	i,
		const Element &	elem
	)			`[inline, protected, virtual]`

Definition at line 893 of file HexahedronFEMForceField.inl.

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

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar	(	Vector &	f,
		const Vector &	p,
		int	i,
		const Element &	elem
	)			`[inline, protected, virtual]`

Definition at line 1021 of file HexahedronFEMForceField.inl.

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

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< 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 241 of file HexahedronFEMForceField.inl.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_elementStiffnesses, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_indexedElements, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_indices, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_rotations, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeForce(), and SOFA_NEW_HEXA.

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< 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 208 of file HexahedronFEMForceField.inl.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_indexedElements, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::LARGE, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::method, and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::POLAR.

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< 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 1082 of file HexahedronFEMForceField.inl.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_elementStiffnesses, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_indexedElements, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_indices, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_rotations, and sofa::defaulttype::BaseMatrix::add().

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeElementStiffness	(	ElementStiffness &	K,
		const MaterialStiffness &	M,
		const helper::fixed_array< Coord, 8 > &	nodes,
		const int	elementIndice,
		double	stiffnessFactor = `1.0`
	)			`[inline, protected, virtual]`

Definition at line 311 of file HexahedronFEMForceField.inl.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_coef, sofa::defaulttype::determinant(), sofa::core::objectmodel::BaseObject::f_printLog, sofa::defaulttype::Mat< L, C, real >::fill(), sofa::core::objectmodel::Data< T >::getValue(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::integrateStiffness(), and norm().

Referenced by sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initLarge(), and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initPolar().

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeForce	(	Displacement &	F,
		const Displacement &	Depl,
		const ElementStiffness &	K
	)			`[inline, protected]`

Definition at line 804 of file HexahedronFEMForceField.inl.

Referenced by sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar(), and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::addDForce().

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeMaterialStiffness ( int i ) [inline, protected]

Definition at line 778 of file HexahedronFEMForceField.inl.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_materialsStiffnesses, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_poissonRatio, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::f_youngModulus, and sofa::core::objectmodel::Data< T >::getValue().

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

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeRotationLarge	(	Transformation &	r,
		Coord &	edgex,
		Coord &	edgey
	)			`[inline, protected]`

Definition at line 858 of file HexahedronFEMForceField.inl.

References cross().

Referenced by sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForceLarge(), and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initLarge().

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeRotationPolar	(	Transformation &	r,
		Vec< 8, Coord > &	nodes
	)			`[inline, protected]`

Definition at line 989 of file HexahedronFEMForceField.inl.

References sofa::helper::polar_decomp().

Referenced by sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::accumulateForcePolar(), and sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initPolar().

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 1128 of file HexahedronFEMForceField.inl.

References sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_indexedElements, sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::_sparseGrid, sofa::component::topology::SparseGridTopology::BOUNDARY, sofa::core::objectmodel::BaseObject::getContext(), sofa::component::topology::SparseGridTopology::getType(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX(), sofa::helper::gl::glVertexT(), and sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate.

template<class DataTypes >

double sofa::component::forcefield::HexahedronFEMForceField< 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 284 of file HexahedronFEMForceField.inl.

template<class DataTypes >

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

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

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

Definition at line 82 of file HexahedronFEMForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initLarge	(	int	i,
		const Element &	elem
	)			`[inline, protected]`

Definition at line 821 of file HexahedronFEMForceField.inl.

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

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::initPolar	(	int	i,
		const Element &	elem
	)			`[inline, protected]`

Definition at line 959 of file HexahedronFEMForceField.inl.

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

template<class DataTypes >

HexahedronFEMForceField< DataTypes >::Mat33 sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::integrateStiffness	(	int	signx0,
		int	signy0,
		int	signz0,
		int	signx1,
		int	signy1,
		int	signz1,
		const Real	u,
		const Real	v,
		const Real	w,
		const Mat33 &	J_1
	)			`[inline, protected]`

Definition at line 546 of file HexahedronFEMForceField.inl.

Referenced by sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::computeElementStiffness().

template<class DataTypes >

void sofa::component::forcefield::HexahedronFEMForceField< DataTypes >::parse ( core::objectmodel::BaseObjectDescription * arg ) [inline, virtual]