imstkIsotropicHyperelasticFeForceModel.h

/*
** 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.
*/

#pragma once

#include "imstkInternalForceModel.h"

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

namespace imstk
{
class IsotropicHyperelasticFeForceModel : public InternalForceModel
{
public:
    IsotropicHyperelasticFeForceModel(const HyperElasticMaterialType        materialType,
                                      std::shared_ptr<vega::VolumetricMesh> mesh,
                                      const double                          inversionThreshold,
                                      const bool                            withGravity = true,
                                      const double                          gravity     = 10.0);
    IsotropicHyperelasticFeForceModel() = delete;
    ~IsotropicHyperelasticFeForceModel() override = default;

    inline void getInternalForce(const Vectord& u, Vectord& internalForce) override
    {
        double* data = const_cast<double*>(u.data());
        m_isotropicHyperelasticFem->ComputeForces(data, internalForce.data());
    }

    inline void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix) override
    {
        double* data = const_cast<double*>(u.data());
        m_isotropicHyperelasticFem->GetTangentStiffnessMatrix(data, m_vegaTangentStiffnessMatrix.get());
        InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
    }

    inline void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix) override
    {
        m_isotropicHyperelasticFem->GetStiffnessMatrixTopology(tangentStiffnessMatrix);
    }

    inline void getForceAndMatrix(const Vectord& u, Vectord& internalForce, SparseMatrixd& tangentStiffnessMatrix) override
    {
        double* data = const_cast<double*>(u.data());
        m_isotropicHyperelasticFem->GetForceAndTangentStiffnessMatrix(data, internalForce.data(), m_vegaTangentStiffnessMatrix.get());
        InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
    }

    inline void setTangentStiffness(std::shared_ptr<vega::SparseMatrix> K) override
    {
        m_vegaTangentStiffnessMatrix = K;
    }

protected:
    std::shared_ptr<vega::IsotropicHyperelasticFEM> m_isotropicHyperelasticFem; 
    std::shared_ptr<vega::IsotropicMaterial> m_isotropicMaterial;               
    std::shared_ptr<vega::SparseMatrix>      m_vegaTangentStiffnessMatrix;      
};
} // namespace imstk