iMSTK: imstk::ReducedStVK Class Reference

Inheritance diagram for imstk::ReducedStVK:

Collaboration diagram for imstk::ReducedStVK:

Public Member Functions
	ReducedStVK ()
	Constructor.

virtual	~ReducedStVK () override
	Destructor.

void	configure (const std::string &configFileName)
	Configure the force model from external file.

void	configure (std::shared_ptr< ReducedStVKConfig > config=std::make_shared< ReducedStVKConfig >())

bool	initialize () override
	Initialize the deformable body model.

void	setForceModelConfiguration (std::shared_ptr< ReducedStVKConfig > config)
	Set/Get internal force model.

std::shared_ptr< ReducedStVKConfig >	getForceModelConfiguration () const

void	setInternalForceModel (std::shared_ptr< vega::StVKReducedInternalForces > fm)
	Set/Get time integrator. More...

std::shared_ptr< imstk::InternalForceModel >	getInternalForceModel () const

void	setTimeIntegrator (std::shared_ptr< TimeIntegrator > timeIntegrator)
	Set/Get time integrator.

std::shared_ptr< TimeIntegrator >	getTimeIntegrator () const

void	loadInitialStates ()
	Load the initial conditions of the deformable object.

bool	initializeForceModel ()
	Initialize the force model.

bool	initializeMassMatrix ()
	Initialize the mass matrix from the mesh.

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	updateDampingMatrix ()
	Update damping Matrix.

void	updateMassMatrix ()
	Update mass matrix Note: Not supported yet!

void	applyBoundaryConditions (Matrixd &M, const bool withCompliance=false) const
	Applies boundary conditions to matrix and a vector.

void	applyBoundaryConditions (Vectord &x) const

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.

NonLinearSystem< Matrixd >::VectorFunctionType	getFunction ()
	Returns the "function" that evaluates the nonlinear function given the state vector.

NonLinearSystem< Matrixd >::UpdateFunctionType	getUpdateFunction ()
	Get the function that updates the model given the solution.

NonLinearSystem< Matrixd >::UpdatePrevStateFunctionType	getUpdatePrevStateFunction ()

NonLinearSystem< Matrixd >::MatrixFunctionType	getFunctionGradient ()
	Returns the "function" that evaluates the gradient of the nonlinear function given the state vector.

Vectord &	getContactForce ()
	Get the contact force vector.

Vectord &	getUnknownVec ()
	Returns the unknown vectors.

void	setUpdateType (const StateUpdateType &updateType)
	Set/Get the update type.

const StateUpdateType &	getUpdateType () const

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

void	prolongate (const Vectord &uReduced, Vectord &u) const
	prolongate reduced vector into full space, ie, u = U * uReduced

void	prolongate (kinematicState &uReduced, kinematicState &u) const
	prolongate reduced state into full space

void	project (const Vectord &u, Vectord &uReduced) const
	project full-space vector into reduced space, uReduced = U^T u

void	readModalMatrix (const std::string &fname)
	Read in the basis file and create m_modalMatrix. More...

std::shared_ptr< TaskNode >	getSolveNode () const

std::shared_ptr< SolverBase >	getSolver () const

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	initializeEigenMatrixFromStdVector (const std::vector< double > &v, Matrixd &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< vega::StVKReducedInternalForces >	m_internalForceModel

std::shared_ptr< vega::ReducedStVKForceModel >	m_forceModel
	Mathematical model for intenal forces

std::shared_ptr< TimeIntegrator >	m_timeIntegrator

std::shared_ptr< NonLinearSystem< Matrixd > >	m_nonLinearSystem
	Time integrator

std::shared_ptr< vega::ModalMatrix >	m_modalMatrix
	Nonlinear system resulting from TI and force model

std::shared_ptr< ReducedStVKConfig >	m_config

Matrixd	m_M
	Matrices typical to a elastodynamics and 2nd order analogous systems.

Matrixd	m_C
	Mass matrix

Matrixd	m_K
	Damping coefficient matrix

Matrixd	m_Keff
	Tangent (derivative of internal force w.r.t displacements) stiffness matrix

Vectord	m_Fcontact
	integrator) More...

Vectord	m_Fgravity
	Vector of contact forces

Vectord	m_FexplicitExternal
	Vector of gravity forces

Vectord	m_qSol
	Vector of explicitly defined external forces

Vectord	m_Feff
	Vector to maintain solution at each iteration of nonlinear solver

Vectord	m_Finternal
	Vector of effective forces

Vectord	m_qSolReduced
	Vector of internal forces

Vectord	m_FcontactReduced
	Vector to maintain solution at each iteration of nonlinear solver

Vectord	m_FgravityReduced

Vectord	m_FexplicitExternalReduced
	Vector of gravity forces

size_t	m_numDOFReduced
	Vector of explicitly defined external forces

std::shared_ptr< vega::VolumetricMesh >	m_vegaPhysicsMesh

std::vector< double >	m_massMatrix
	Mesh used for Physics

std::vector< double >	m_stiffnessMatrix
	Vega mass matrix

std::vector< double >	m_dampingMatrix
	Vega Tangent stiffness matrix

std::vector< std::size_t >	m_fixedNodeIds
	Vega Laplacian damping matrix

StateUpdateType	m_updateType = StateUpdateType::DeltaVelocity
	Nodal IDs of the nodes that are fixed

bool	m_damped = false
	Update type of the model

bool	m_implementFixedBC = false
	Viscous or structurally damped system

std::shared_ptr< kinematicState >	m_initialStateReduced

std::shared_ptr< kinematicState >	m_previousStateReduced

std::shared_ptr< kinematicState >	m_currentStateReduced

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

Additional Inherited Members
Public Types inherited from imstk::AbstractDynamicalModel
enum	StateUpdateType { Displacement, Velocity, DeltaDisplacement, DeltaVelocity, None }
	Type of the update of the state of the body.