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

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

#include <TetrahedralCorotationalFEMForceField.h>

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

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


Full system matrix assembly support
typedef std::pair< int, Real >	Col_Value
typedef vector< Col_Value >	CompressedValue
typedef vector< CompressedValue >	CompressedMatrix
typedef unsigned int	Index
CompressedMatrix	_stiffnesses
Data Structures
class	TetrahedronInformation
	the information stored for each tetrahedron More...
Public Types
enum	{ SMALL = 0, LARGE = 1, POLAR = 2 }
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
Public Member Functions
	TetrahedralCorotationalFEMForceField ()
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.
virtual void	addKToMatrix (sofa::defaulttype::BaseMatrix *, SReal, unsigned int &)
	Compute the system matrix corresponding to k K.
virtual void	handleTopologyChange ()
	Handle topological Changes.
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
Real	_poissonRatio
DataPtr< Real >	f_poissonRatio
Real	_youngModulus
DataPtr< Real >	f_youngModulus
VecReal	_localStiffnessFactor
DataPtr< VecReal >	f_localStiffnessFactor
bool	_updateStiffnessMatrix
DataPtr< bool >	f_updateStiffnessMatrix
bool	_assembling
DataPtr< bool >	f_assembling
Protected Types
Per element (tetrahedron) data
typedef VecNoInit< 12, Real >	Displacement
	Displacement vector (deformation of the 4 corners of a tetrahedron.
typedef Mat< 6, 6, Real >	MaterialStiffness
	Material stiffness matrix of a tetrahedron.
typedef Mat< 12, 6, Real >	StrainDisplacement
	Strain-displacement matrix.
typedef MatNoInit< 3, 3, Real >	Transformation
	Rigid transformation (rotation) matrix.
typedef 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 ).
Protected Member Functions
void	computeStrainDisplacement (StrainDisplacement &J, Coord a, Coord b, Coord c, Coord d)
Real	peudo_determinant_for_coef (const Mat< 2, 3, Real > &M)
void	computeStiffnessMatrix (StiffnessMatrix &S, StiffnessMatrix &SR, const MaterialStiffness &K, const StrainDisplacement &J, const Transformation &Rot)
void	computeMaterialStiffness (int i, Index &a, Index &b, Index &c, Index &d)
void	computeForce (Displacement &F, const Displacement &Depl, const MaterialStiffness &K, const StrainDisplacement &J)
void	initSmall (int i, Index &a, Index &b, Index &c, Index &d)
void	accumulateForceSmall (Vector &f, const Vector &p, Index elementIndex)
void	applyStiffnessSmall (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3)
void	initLarge (int 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, Index elementIndex)
void	applyStiffnessLarge (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3)
void	initPolar (int i, Index &a, Index &b, Index &c, Index &d)
void	accumulateForcePolar (Vector &f, const Vector &p, Index elementIndex)
void	applyStiffnessPolar (Vector &f, const Vector &x, int i=0, Index a=0, Index b=1, Index c=2, Index d=3)
Static Protected Member Functions
static void	CFTetrahedronCreationFunction (int, void *, TetrahedronInformation &, const Tetrahedron &, const helper::vector< unsigned int > &, const helper::vector< double > &)
	the callback function called when a tetrahedron is created
Protected Attributes
TetrahedronData < TetrahedronInformation >	tetrahedronInfo
	container that stotes all requires information for each tetrahedron
double	m_potentialEnergy
sofa::core::componentmodel::topology::BaseMeshTopology *	_topology

Detailed Description

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

Compute Finite Element forces based on tetrahedral elements.

Definition at line 67 of file TetrahedralCorotationalFEMForceField.h.

Member Typedef Documentation

template<class DataTypes >

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

Definition at line 128 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Definition at line 130 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Definition at line 129 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 74 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 75 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

typedef VecNoInit<12, Real> sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::Displacement [protected]

Displacement vector (deformation of the 4 corners of a tetrahedron.

Definition at line 89 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

typedef unsigned int sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::Index [protected]

Definition at line 131 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Material stiffness matrix of a tetrahedron.

Definition at line 92 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Definition at line 76 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Stiffness matrix ( = RJKJtRt with K the Material stiffness matrix, J the strain-displacement matrix, and R the transformation matrix if any ).

Definition at line 101 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

typedef Mat<12, 6, Real> sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::StrainDisplacement [protected]

Strain-displacement matrix.

Definition at line 95 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

typedef MatNoInit<3, 3, Real> sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::Transformation [protected]

Rigid transformation (rotation) matrix.

Definition at line 98 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 70 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

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

Definition at line 71 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Definition at line 72 of file TetrahedralCorotationalFEMForceField.h.

template<class DataTypes >

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

Definition at line 73 of file TetrahedralCorotationalFEMForceField.h.

Member Enumeration Documentation

template<class DataTypes >

anonymous enum

Enumerator:

SMALL	Symbol of small displacements tetrahedron solver.
LARGE	Symbol of large displacements tetrahedron solver.
POLAR	Symbol of polar displacements tetrahedron solver.

Definition at line 79 of file TetrahedralCorotationalFEMForceField.h.

Constructor & Destructor Documentation

template<class DataTypes >

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

Definition at line 154 of file TetrahedralCorotationalFEMForceField.h.

Member Function Documentation

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceLarge	(	Vector &	f,
		const Vector &	p,
		Index	elementIndex
	)			`[inline, protected]`

Definition at line 719 of file TetrahedralCorotationalFEMForceField.inl.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForcePolar	(	Vector &	f,
		const Vector &	p,
		Index	elementIndex
	)			`[inline, protected]`

Definition at line 916 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_assembling, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_updateStiffnessMatrix, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStrainDisplacement(), sofa::core::componentmodel::topology::BaseMeshTopology::getTetra(), sofa::helper::polar_decomp(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceSmall	(	Vector &	f,
		const Vector &	p,
		Index	elementIndex
	)			`[inline, protected]`

Definition at line 519 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_assembling, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_stiffnesses, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStiffnessMatrix(), sofa::core::componentmodel::topology::BaseMeshTopology::getTetra(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< 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 193 of file TetrahedralCorotationalFEMForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< 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 160 of file TetrahedralCorotationalFEMForceField.inl.

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< 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 1075 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::defaulttype::BaseMatrix::add(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStiffnessMatrix(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbTetras(), sofa::core::componentmodel::topology::BaseMeshTopology::getTetra(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessLarge	(	Vector &	f,
		const Vector &	x,
		int	i = `0`,
		Index	a = `0`,
		Index	b = `1`,
		Index	c = `2`,
		Index	d = `3`
	)			`[inline, protected]`

Definition at line 846 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessPolar	(	Vector &	f,
		const Vector &	x,
		int	i = `0`,
		Index	a = `0`,
		Index	b = `1`,
		Index	c = `2`,
		Index	d = `3`
	)			`[inline, protected]`

Definition at line 972 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessSmall	(	Vector &	f,
		const Vector &	x,
		int	i = `0`,
		Index	a = `0`,
		Index	b = `1`,
		Index	c = `2`,
		Index	d = `3`
	)			`[inline, protected]`

Definition at line 624 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::CFTetrahedronCreationFunction	(	int	tetrahedronIndex,
		void *	param,
		TetrahedronInformation &	,
		const Tetrahedron &	,
		const helper::vector< unsigned int > &	,
		const helper::vector< double > &
	)			`[inline, static, protected]`

the callback function called when a tetrahedron is created

Definition at line 57 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeMaterialStiffness(), sofa::core::componentmodel::topology::BaseMeshTopology::getTetra(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initPolar(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initSmall(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::LARGE, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::method, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::POLAR, and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::SMALL.

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeForce	(	Displacement &	F,
		const Displacement &	Depl,
		const MaterialStiffness &	K,
		const StrainDisplacement &	J
	)			`[inline, protected]`

Definition at line 408 of file TetrahedralCorotationalFEMForceField.inl.

Referenced by sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForcePolar(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceSmall(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessPolar(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::applyStiffnessSmall().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeMaterialStiffness	(	int	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)			`[inline, protected]`

Definition at line 359 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_localStiffnessFactor, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_poissonRatio, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_youngModulus, cross(), dot(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbTetras(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

Referenced by sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::CFTetrahedronCreationFunction().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeRotationLarge	(	Transformation &	r,
		const Vector &	p,
		const Index &	a,
		const Index &	b,
		const Index &	c
	)			`[inline, protected]`

Definition at line 658 of file TetrahedralCorotationalFEMForceField.inl.

References cross().

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

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStiffnessMatrix	(	StiffnessMatrix &	S,
		StiffnessMatrix &	SR,
		const MaterialStiffness &	K,
		const StrainDisplacement &	J,
		const Transformation &	Rot
	)			`[inline, protected]`

Definition at line 336 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::defaulttype::Mat< L, C, real >::clear(), and sofa::defaulttype::Mat< L, C, real >::transpose().

Referenced by sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::accumulateForceSmall(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::addKToMatrix().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStrainDisplacement	(	StrainDisplacement &	J,
		Coord	a,
		Coord	b,
		Coord	c,
		Coord	d
	)			`[inline, protected]`

Definition at line 250 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::peudo_determinant_for_coef().

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

template<class DataTypes >

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

Render internal data of this object, for debugging purposes.

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

Definition at line 1019 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbTetras(), sofa::core::componentmodel::topology::BaseMeshTopology::getTetra(), 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::TetrahedralCorotationalFEMForceField< 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 243 of file TetrahedralCorotationalFEMForceField.inl.

template<class DataTypes >

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

Handle topological Changes.

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

Definition at line 99 of file TetrahedralCorotationalFEMForceField.inl.

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

template<class DataTypes >

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

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

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

Definition at line 110 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::_topology, sofa::core::objectmodel::DataPtr< T >::beginEdit(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::f_assembling, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::f_localStiffnessFactor, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::f_poissonRatio, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::f_updateStiffnessMatrix, sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::f_youngModulus, sofa::core::objectmodel::BaseObject::getContext(), sofa::core::objectmodel::BaseContext::getMeshTopology(), sofa::core::componentmodel::topology::BaseMeshTopology::getNbTetras(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::reinit().

template<class DataTypes >

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

Definition at line 688 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeRotationLarge(), sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStrainDisplacement(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

Referenced by sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::CFTetrahedronCreationFunction().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initPolar	(	int	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)			`[inline, protected]`

Definition at line 893 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStrainDisplacement(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, sofa::helper::polar_decomp(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

Referenced by sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::CFTetrahedronCreationFunction().

template<class DataTypes >

void sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::initSmall	(	int	i,
		Index &	a,
		Index &	b,
		Index &	c,
		Index &	d
	)			`[inline, protected]`

Definition at line 511 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::computeStrainDisplacement(), sofa::core::componentmodel::behavior::MechanicalState< TDataTypes >::getX0(), sofa::core::componentmodel::behavior::ForceField< DataTypes >::mstate, and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::tetrahedronInfo.

Referenced by sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::CFTetrahedronCreationFunction().

template<class DataTypes >

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

Parse the given description to assign values to this object's fields and potentially other parameters.

Reimplemented from sofa::core::objectmodel::Base.

Definition at line 92 of file TetrahedralCorotationalFEMForceField.inl.

References sofa::core::objectmodel::BaseObjectDescription::getAttribute(), and sofa::component::forcefield::TetrahedralCorotationalFEMForceField< DataTypes >::setComputeGlobalMatrix().

template<class DataTypes >

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