imstkLinearFemForceModel.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"

namespace vega
{
class StVKInternalForces;
class VolumetricMesh;
} // namespace vega

namespace imstk
{
class LinearFemForceModel : public InternalForceModel
{
public:
    LinearFemForceModel(std::shared_ptr<vega::VolumetricMesh> mesh,
                        const bool withGravity = true, const double gravity = -9.81);
    ~LinearFemForceModel() override;

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

#ifdef WIN32
#pragma warning( push )
#pragma warning( disable : 4100 )
#endif
    inline void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix) override
    {
        InternalForceModel::updateValuesFromMatrix(m_stiffnessMatrix, tangentStiffnessMatrix.valuePtr());
    }

#ifdef WIN32
#pragma warning( pop )
#endif

    inline void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix) override
    {
        *tangentStiffnessMatrix = new vega::SparseMatrix(*m_stiffnessMatrix.get());
    }

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

protected:
    std::shared_ptr<vega::SparseMatrix>       m_stiffnessMatrix;
    std::shared_ptr<vega::StVKInternalForces> m_stVKInternalForces;

    // tmp
    vega::SparseMatrix* m_stiffnessMatrixRawPtr;
};
} // namespace imstk