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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 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. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* 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_TENSORFORCEFIELD_H
#define SOFA_COMPONENT_FORCEFIELD_TENSORFORCEFIELD_H
#include <sofa/core/componentmodel/behavior/ForceField.h>
#include <sofa/component/container/MechanicalObject.h>
namespace sofa
{
namespace component
{
namespace forcefield
{
/**
* @class TensorForceField
* @brief Tensors based internal force field class.
*
* Internal Force field (ie it has only one parent object) based on a Finite
* Element Model modelisation, using strain and stiffness tensors on vertices
* and edges.
*/
template <class DataTypes>
class TensorForceField : public core::componentmodel::behavior::BaseForceField
{
public:
TensorForceField (const char *filename);
TensorForceField (component::MechanicalObject<DataTypes>* object,
const char* filename);
virtual void addForce ();
virtual void addDForce();
virtual double getPotentialEnergy();
void draw();
public:
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord ;
typedef typename DataTypes::Deriv Deriv ;
typedef typename Coord::value_type Real ;
class VertexTensor {
public:
Real tensor[3][3];
void resetToNull() {
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
tensor[i][j] = 0.0;
}
}
}
}; //class VertexTensor
class Edge {
public:
int index;
int vertex[2];
}; // class Edge
class EdgeTensor {
public:
Real tensor[3][3];
void resetToNull() {
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
tensor[i][j] = 0.0;
}
}
}
}; // class EdgeTensor
class Triangle {
public:
int index;
int vertex[3];
double shapeVector[3];
double squareRestArea;
}; // class Triangle
class Tetrahedron {
public:
int index;
int vertex [4];
int edge [6];
int triangle[4];
Real triangleShapeVector[4][3];
Real restVolume;
}; // class Tetrahedron
private:
// Mechanical Object containing this Force Field
component::MechanicalObject<DataTypes>* object_;
// damping factor
Real alpha_;
// Lame coefficient
Real lambda_, mu_;
sofa::helper::vector< Coord > vertex_ ;
sofa::helper::vector< Edge > edge_ ;
sofa::helper::vector< Triangle > triangle_ ;
sofa::helper::vector< Tetrahedron > tetrahedron_ ;
sofa::helper::vector< VertexTensor > vertexTensor_;
sofa::helper::vector< EdgeTensor > edgeTensor_ ;
private:
// load the topological informations from a file.
void load(const char *filename);
// initialize the tensors
void initialize();
// search for the edge connecting the given vertices, create it if not found
int getEdge(const int v0, const int v1);
// search for the triangle connecting the given vertices, create it if not found
int getTriangle(const int v0, const int v1, const int v2);
// add the elastic tensors for this tetrahedron
void addElasticTensors(Tetrahedron& tetra);
}; // class TensorForceField
} // namespace forcefield
} // namespace component
} // namespace sofa
#endif /* _TENSORMASSFORCEFIELD_H_ */
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