Mathematical model of the physics governing the dynamic deformable object. More...
#include <imstkFemDeformableBodyModel.h>
Inheritance diagram for imstk::FemDeformableBodyModel:
Collaboration diagram for imstk::FemDeformableBodyModel:
Public Types | |
| using | kinematicState = FeDeformBodyState |
| using | System = NonLinearSystem< SparseMatrixd > |
 Public Types inherited from imstk::AbstractDynamicalModel | |
| enum | StateUpdateType { Displacement, Velocity, DeltaDisplacement, DeltaVelocity, None } |
| Type of the update of the state of the body. | |
Public Member Functions | |
| void | configure (const std::string &configFileName) |
| Configure the force model from external file. | |
| void | configure (std::shared_ptr< FemModelConfig > config=std::make_shared< FemModelConfig >()) |
| bool | initialize () override |
| Initialize the deformable body model. | |
| void | loadInitialStates () |
| Load the initial conditions of the deformable object. | |
| bool | loadBoundaryConditions () |
| Load the boundary conditions from external file. | |
| bool | initializeForceModel () |
| Initialize the force model. | |
| bool | initializeMassMatrix () |
| Initialize the mass matrix from the mesh. More... | |
| bool | initializeDampingMatrix () |
| Initialize the damping (combines structural and viscous damping) matrix. | |
| bool | initializeTangentStiffness () |
| Initialize the tangent stiffness matrix. | |
| bool | initializeGravityForce () |
| Initialize the gravity force. | |
| bool | initializeExplicitExternalForces () |
| Initialize explicit external forces. | |
| void | computeImplicitSystemRHS (kinematicState &prevState, kinematicState &newState, const StateUpdateType updateType) |
| Compute the RHS of the resulting linear system. | |
| void | computeSemiImplicitSystemRHS (kinematicState &stateAtT, kinematicState &newState, const StateUpdateType updateType) |
| Compute the RHS of the resulting linear system using semi-implicit scheme. | |
| void | computeImplicitSystemLHS (const kinematicState &prevState, kinematicState &newState, const StateUpdateType updateType) |
| Compute the LHS of the resulting linear system. | |
| void | computeSemiImplicitSystemRHSAndLHS (kinematicState &prevState, kinematicState &newState, const StateUpdateType updateType) |
| Compute the RHS and LHS of the resulting linear system using semi-implicit scheme. | |
| void | computeImplicitSystemRHSAndLHS (kinematicState &prevState, kinematicState &newState, const StateUpdateType updateType) |
| Compute the RHS and LHS of the resulting linear system using fully-implicit scheme. | |
| void | updateDampingMatrix () |
| Update damping Matrix. | |
| void | applyBoundaryConditions (SparseMatrixd &M, const bool withCompliance=false) const |
| Applies boundary conditions to matrix and a vector. | |
| void | applyBoundaryConditions (Vectord &x) const |
| void | updateMassMatrix () |
| Update mass matrix Note: Not supported yet! | |
| void | updatePhysicsGeometry () override |
| Updates the Physics geometry. | |
| void | updateBodyStates (const Vectord &solution, const StateUpdateType updateType) |
| Update states. | |
| void | updateBodyIntermediateStates (const Vectord &solution, const StateUpdateType updateType) |
| void | updateBodyPreviousStates () |
| Update the previous states given the current state. | |
| System::VectorFunctionType | getFunction () |
| Returns the "function" that evaluates the nonlinear function given the state vector. | |
| System::UpdateFunctionType | getUpdateFunction () |
| Get the function that updates the model given the solution. | |
| System::UpdatePrevStateFunctionType | getUpdatePrevStateFunction () |
| System::MatrixFunctionType | getFunctionGradient () |
| Returns the "function" that evaluates the gradient of the nonlinear function given the state vector. | |
| System::VectorMatrixFunctionType | getFunctionAndGradient () |
| Returns the "function" that evaluates the nonlinear function and its gradient function given the state vector. | |
| Vectord & | getContactForce () |
| Get the contact force vector. | |
| Vectord & | getUnknownVec () |
| Returns the unknown vectors. | |
| std::vector< std::size_t > & | getFixNodeIds () |
| Returns the unknown vectors. | |
| virtual void | setTimeStep (const double timeStep) |
| Set the time step size. | |
| virtual double | getTimeStep () const |
| Returns the time step size. | |
| void | setFixedSizeTimeStepping () |
| Set the time step size to fixed size. | |
| void | enableFixedBC () |
| Set the fixed BC implementation state. | |
| void | disableFixedBC () |
| bool | isFixedBCImplemented () const |
| std::shared_ptr< TaskNode > | getSolveNode () const |
| void | setForceModelConfiguration (std::shared_ptr< FemModelConfig > fmConfig) |
| Get/Set force model configuration. | |
| std::shared_ptr< FemModelConfig > | getForceModelConfiguration () const |
| void | setInternalForceModel (std::shared_ptr< InternalForceModel > fm) |
| Get/Set internal force model. | |
| std::shared_ptr< InternalForceModel > | getInternalForceModel () const |
| void | setTimeIntegrator (std::shared_ptr< TimeIntegrator > timeIntegrator) |
| Get/Set time integrator. | |
| std::shared_ptr< TimeIntegrator > | getTimeIntegrator () const |
| void | setUpdateType (const StateUpdateType &updateType) |
| Get/Set the update type. | |
| const StateUpdateType & | getUpdateType () const |
| std::shared_ptr< SolverBase > | getSolver () const |
| Get/Set the solver pointer. | |
| void | setSolver (std::shared_ptr< SolverBase > solver) |
| Public Member Functions inherited from imstk::DynamicalModel< FeDeformBodyState > | |
| DynamicalModel (DynamicalModelType type=DynamicalModelType::None) | |
| std::shared_ptr< FeDeformBodyState > | getInitialState () const |
| Return the initial state of the problem. | |
| std::shared_ptr< FeDeformBodyState > | getCurrentState () const |
| Return the current state of the problem. | |
| std::shared_ptr< FeDeformBodyState > | getPreviousState () const |
| Return the previous state of the problem. | |
| void | resetToInitialState () override |
| Reset the current state to the initial state. | |
| Public Member Functions inherited from imstk::AbstractDynamicalModel | |
| std::shared_ptr< TaskGraph > | getTaskGraph () const |
| const DynamicalModelType & | getType () const |
| Get the type of the object. | |
| void | setModelGeometry (std::shared_ptr< Geometry > geometry) |
| Sets the model geometry. | |
| bool | isGeometryValid (const std::shared_ptr< Geometry > geometry) |
| Checks if the given geometry is a valid geometry type for the model. | |
| std::shared_ptr< Geometry > | getModelGeometry () const |
| Gets the model geometry. | |
| void | initGraphEdges () |
| Initializes the edges of the graph. | |
| std::size_t | getNumDegreeOfFreedom () const |
| Get/Set the number of degrees of freedom. | |
| void | setNumDegreeOfFreedom (const size_t nDof) |
| virtual void | setTimeStepSizeType (const TimeSteppingType type) |
| Get/Set the type of approach used to update the time step size after every frame. | |
| TimeSteppingType | getTimeStepSizeType () const |
Static Public Member Functions | |
| static void | initializeEigenMatrixFromVegaMatrix (const vega::SparseMatrix &vegaMatrix, SparseMatrixd &eigenMatrix) |
| Initialize the Eigen matrix with data inside vega sparse matrix. | |
Protected Member Functions | |
| void | initGraphEdges (std::shared_ptr< TaskNode > source, std::shared_ptr< TaskNode > sink) override |
| Setup the computational graph of FEM. | |
| Protected Member Functions inherited from imstk::AbstractDynamicalModel | |
| AbstractDynamicalModel (DynamicalModelType type=DynamicalModelType::None) | |
Protected Attributes | |
| std::shared_ptr< SolverBase > | m_solver = nullptr |
| std::shared_ptr< InternalForceModel > | m_internalForceModel = nullptr |
| Mathematical model for intenal forces. | |
| std::shared_ptr< TimeIntegrator > | m_timeIntegrator = nullptr |
| Time integrator. | |
| std::shared_ptr< NonLinearSystem< SparseMatrixd > > | m_nonLinearSystem = nullptr |
| Nonlinear system resulting from TI and force model. | |
| std::shared_ptr< FemModelConfig > | m_FEModelConfig = nullptr |
| SparseMatrixd | m_M |
| Matrices typical to a elastodynamics and 2nd order analogous systems. More... | |
| SparseMatrixd | m_C |
| Damping coefficient matrix. | |
| SparseMatrixd | m_K |
| Tangent (derivative of internal force w.r.t displacements) stiffness matrix. | |
| SparseMatrixd | m_Keff |
| Effective stiffness matrix (dependent on internal force model and time integrator) | |
| Vectord | m_Finternal |
| Vector of internal forces. | |
| Vectord | m_Feff |
| Vector of effective forces. | |
| Vectord | m_Fcontact |
| Vector of contact forces. | |
| Vectord | m_Fgravity |
| Vector of gravity forces. | |
| Vectord | m_FexplicitExternal |
| Vector of explicitly defined external forces. | |
| Vectord | m_qSol |
| Vector to maintain solution at each iteration of nonlinear solver. | |
| std::shared_ptr< vega::VolumetricMesh > | m_vegaPhysicsMesh = nullptr |
| Mesh used for Physics. | |
| std::shared_ptr< vega::SparseMatrix > | m_vegaMassMatrix = nullptr |
| Vega mass matrix. | |
| std::shared_ptr< vega::SparseMatrix > | m_vegaTangentStiffnessMatrix = nullptr |
| Vega Tangent stiffness matrix. | |
| std::shared_ptr< vega::SparseMatrix > | m_vegaDampingMatrix = nullptr |
| Vega Laplacian damping matrix. | |
| std::vector< std::size_t > | m_fixedNodeIds |
| Nodal IDs of the nodes that are fixed. | |
| StateUpdateType | m_updateType = StateUpdateType::DeltaVelocity |
| Update type of the model. | |
| bool | m_damped = false |
| Viscous or structurally damped system. | |
| bool | m_implementFixedBC = true |
| Protected Attributes inherited from imstk::DynamicalModel< FeDeformBodyState > | |
| std::shared_ptr< FeDeformBodyState > | m_initialState |
| Initial state. | |
| std::shared_ptr< FeDeformBodyState > | m_currentState |
| Current state. | |
| std::shared_ptr< FeDeformBodyState > | m_previousState |
| Previous state. | |
| Protected Attributes inherited from imstk::AbstractDynamicalModel | |
| DynamicalModelType | m_type |
| Mathematical model type. | |
| std::size_t | m_numDof |
| Total number of degree of freedom. | |
| std::shared_ptr< Geometry > | m_geometry = nullptr |
| Physics geometry of the model. | |
| std::set< std::string > | m_validGeometryTypes |
| Valid geometry types of this model. | |
| TimeSteppingType | m_timeStepSizeType = TimeSteppingType::Fixed |
| std::shared_ptr< TaskGraph > | m_taskGraph = nullptr |
Detailed Description
Mathematical model of the physics governing the dynamic deformable object.
- Note
- Vega specifics will removed in future when the inertial and damping calculations are done with in-house code
Definition at line 59 of file imstkFemDeformableBodyModel.h.
Member Function Documentation
◆ initializeMassMatrix()
| bool imstk::FemDeformableBodyModel::initializeMassMatrix | ( | ) |
Initialize the mass matrix from the mesh.
- Todo:
- Add option to save mass matrix to file
Definition at line 318 of file imstkFemDeformableBodyModel.cpp.
Member Data Documentation
◆ m_M
|
protected |
Matrices typical to a elastodynamics and 2nd order analogous systems.
Mass matrix
Definition at line 295 of file imstkFemDeformableBodyModel.h.
The documentation for this class was generated from the following files:
- Source/DynamicalModels/ObjectModels/imstkFemDeformableBodyModel.h
- Source/DynamicalModels/ObjectModels/imstkFemDeformableBodyModel.cpp
