imstkLinearFemForceModel.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 "imstkLinearFemForceModel.h"

#include "imstkMacros.h"

DISABLE_WARNING_PUSH
    DISABLE_WARNING_HIDES_CLASS_MEMBER

#include <StVKElementABCDLoader.h>
#include <StVKStiffnessMatrix.h>
#include <tetMesh.h>

DISABLE_WARNING_POP

namespace imstk
{
LinearFemForceModel::LinearFemForceModel(std::shared_ptr<vega::VolumetricMesh> mesh,
                                         const bool withGravity, const double gravity) : InternalForceModel()
{
    auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);

    vega::StVKElementABCD* precomputedIntegrals = vega::StVKElementABCDLoader::load(tetMesh.get());
    m_stVKInternalForces = std::make_shared<vega::StVKInternalForces>(tetMesh.get(), precomputedIntegrals, withGravity, gravity);

    auto stVKStiffnessMatrix = std::make_shared<vega::StVKStiffnessMatrix>(m_stVKInternalForces.get());

    stVKStiffnessMatrix->GetStiffnessMatrixTopology(&m_stiffnessMatrixRawPtr);
    std::shared_ptr<vega::SparseMatrix> m_stiffnessMatrix2(m_stiffnessMatrixRawPtr);
    m_stiffnessMatrix = m_stiffnessMatrix2;

    auto K = m_stiffnessMatrix.get();
    stVKStiffnessMatrix->GetStiffnessMatrixTopology(&K);
    double* zero = (double*)calloc(m_stiffnessMatrix->GetNumRows(), sizeof(double));
    stVKStiffnessMatrix->ComputeStiffnessMatrix(zero, m_stiffnessMatrix.get());
    free(zero);
};

LinearFemForceModel::~LinearFemForceModel()
{
    if (m_stiffnessMatrixRawPtr)
    {
        delete m_stiffnessMatrixRawPtr;
    }
}
} // namespace imstk