imstkCorotationalFemForceModel.cpp

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#include "imstkCorotationalFemForceModel.h"

#ifdef WIN32
#pragma warning( push )
#pragma warning( disable : 4458 )
#endif
#include <corotationalLinearFEM.h>
#ifdef WIN32
#pragma warning( pop )
#endif

namespace imstk
{
CorotationalFemForceModel::CorotationalFemForceModel(std::shared_ptr<vega::VolumetricMesh> mesh, const int warp) : InternalForceModel(), m_warp(warp)
{
    auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);
    m_corotationalLinearFem = std::make_shared<vega::CorotationalLinearFEM>(tetMesh.get());
}

void
CorotationalFemForceModel::getInternalForce(const Vectord& u, Vectord& internalForce)
{
    double* data = const_cast<double*>(u.data());
    m_corotationalLinearFem->ComputeEnergyAndForceAndStiffnessMatrix(data, nullptr, internalForce.data(), nullptr, m_warp);
}

void
CorotationalFemForceModel::getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix)
{
    double* data = const_cast<double*>(u.data());
    m_corotationalLinearFem->ComputeEnergyAndForceAndStiffnessMatrix(data, nullptr, nullptr, m_vegaTangentStiffnessMatrix.get(), m_warp);
    InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
}

void
CorotationalFemForceModel::getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix)
{
    m_corotationalLinearFem->GetStiffnessMatrixTopology(tangentStiffnessMatrix);
}

void
CorotationalFemForceModel::getForceAndMatrix(const Vectord& u, Vectord& internalForce, SparseMatrixd& tangentStiffnessMatrix)
{
    double* data = const_cast<double*>(u.data());
    m_corotationalLinearFem->ComputeEnergyAndForceAndStiffnessMatrix(data, nullptr, internalForce.data(), m_vegaTangentStiffnessMatrix.get(), m_warp);
    InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
}

void
CorotationalFemForceModel::setWarp(const int warp)
{
    m_warp = warp;
}

void
CorotationalFemForceModel::setTangentStiffness(std::shared_ptr<vega::SparseMatrix> K)
{
    m_vegaTangentStiffnessMatrix = K;
}
} // namespace imstk