BUILD.bazel

#- * - python - * -
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
    "//tools/skylark:drake_cc.bzl",
    "drake_cc_googletest",
    "drake_cc_library",
    "drake_cc_package_library",
)

package(
    default_visibility = ["//visibility:public"],
)

drake_cc_package_library(
    name = "fem",
    visibility = ["//visibility:public"],
    deps = [
        ":acceleration_newmark_scheme",
        ":calc_lame_parameters",
        ":constitutive_model",
        ":corotated_model",
        ":corotated_model_data",
        ":damping_model",
        ":deformable_body_config",
        ":deformation_gradient_data",
        ":dirichlet_boundary_condition",
        ":discrete_time_integrator",
        ":fem_element",
        ":fem_indexes",
        ":fem_model",
        ":fem_plant_data",
        ":fem_solver",
        ":fem_state",
        ":fem_state_system",
        ":isoparametric_element",
        ":linear_constitutive_model",
        ":linear_constitutive_model_data",
        ":linear_corotated_model",
        ":linear_corotated_model_data",
        ":linear_simplex_element",
        ":matrix_utilities",
        ":quadrature",
        ":schur_complement",
        ":simplex_gaussian_quadrature",
        ":velocity_newmark_scheme",
        ":volumetric_element",
        ":volumetric_model",
    ],
)

drake_cc_library(
    name = "acceleration_newmark_scheme",
    srcs = [
        "acceleration_newmark_scheme.cc",
    ],
    hdrs = [
        "acceleration_newmark_scheme.h",
    ],
    deps = [
        ":discrete_time_integrator",
        "//common:default_scalars",
    ],
)

drake_cc_library(
    name = "calc_lame_parameters",
    srcs = [
        "calc_lame_parameters.cc",
    ],
    hdrs = [
        "calc_lame_parameters.h",
    ],
    deps = [
        "//common:default_scalars",
    ],
)

drake_cc_library(
    name = "constitutive_model",
    hdrs = [
        "constitutive_model.h",
    ],
    deps = [
        "//common:essential",
        "//common:nice_type_name",
    ],
)

drake_cc_library(
    name = "corotated_model",
    srcs = [
        "corotated_model.cc",
    ],
    hdrs = [
        "corotated_model.h",
    ],
    deps = [
        ":calc_lame_parameters",
        ":constitutive_model",
        ":corotated_model_data",
        ":matrix_utilities",
        "//common:autodiff",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "corotated_model_data",
    srcs = [
        "corotated_model_data.cc",
    ],
    hdrs = [
        "corotated_model_data.h",
    ],
    deps = [
        ":deformation_gradient_data",
        ":matrix_utilities",
        "//common:autodiff",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "damping_model",
    srcs = [
        "damping_model.cc",
    ],
    hdrs = [
        "damping_model.h",
    ],
    deps = [
        "//common:default_scalars",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "deformable_body_config",
    hdrs = [
        "deformable_body_config.h",
    ],
    deps = [
        "//common:essential",
    ],
)

drake_cc_library(
    name = "deformation_gradient_data",
    srcs = [
        "deformation_gradient_data.cc",
    ],
    hdrs = [
        "deformation_gradient_data.h",
    ],
    deps = [
        "//common:essential",
        "//common:nice_type_name",
    ],
)

drake_cc_library(
    name = "dirichlet_boundary_condition",
    srcs = [
        "dirichlet_boundary_condition.cc",
    ],
    hdrs = [
        "dirichlet_boundary_condition.h",
    ],
    deps = [
        ":fem_state",
        "//common:essential",
        "//multibody/contact_solvers:block_sparse_lower_triangular_or_symmetric_matrix",  # noqa
    ],
)

drake_cc_library(
    name = "discrete_time_integrator",
    srcs = [
        "discrete_time_integrator.cc",
    ],
    hdrs = [
        "discrete_time_integrator.h",
    ],
    deps = [
        ":fem_state",
        "//common:default_scalars",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "fem_indexes",
    hdrs = [
        "fem_indexes.h",
    ],
    deps = [
        "//common:essential",
        "//common:identifier",
        "//common:type_safe_index",
    ],
)

drake_cc_library(
    name = "fem_element",
    srcs = [
        "fem_element.cc",
    ],
    hdrs = [
        "fem_element.h",
    ],
    deps = [
        ":constitutive_model",
        ":damping_model",
        ":fem_indexes",
        ":fem_plant_data",
        ":fem_state",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "fem_model",
    srcs = [
        "fem_model.cc",
        "fem_model_impl.cc",
    ],
    hdrs = [
        "fem_model.h",
        "fem_model_impl.h",
    ],
    deps = [
        ":dirichlet_boundary_condition",
        ":fem_element",
        ":fem_plant_data",
        ":fem_state",
        "//common:essential",
        "//multibody/contact_solvers:block_sparse_lower_triangular_or_symmetric_matrix",  # noqa
    ],
)

drake_cc_library(
    name = "fem_plant_data",
    srcs = [
        "fem_plant_data.cc",
    ],
    hdrs = [
        "fem_plant_data.h",
    ],
    deps = [
        "//common:default_scalars",
        "//common:essential",
        "//multibody/plant:force_density_field",
        "//systems/framework:context",
    ],
)

drake_cc_library(
    name = "fem_solver",
    srcs = [
        "fem_solver.cc",
    ],
    hdrs = [
        "fem_solver.h",
    ],
    deps = [
        ":discrete_time_integrator",
        ":fem_model",
        ":fem_plant_data",
        "//common:essential",
        "//multibody/contact_solvers:block_sparse_cholesky_solver",
        "//multibody/contact_solvers:block_sparse_lower_triangular_or_symmetric_matrix",  # noqa
        "//multibody/contact_solvers:schur_complement",
    ],
)

drake_cc_library(
    name = "fem_state",
    srcs = [
        "fem_state.cc",
    ],
    hdrs = [
        "fem_state.h",
    ],
    deps = [
        ":fem_indexes",
        ":fem_state_system",
        "//common:essential",
        "//systems/framework:context",
    ],
)

drake_cc_library(
    name = "fem_state_system",
    srcs = [
        "fem_state_system.cc",
    ],
    hdrs = [
        "fem_state_system.h",
    ],
    deps = [
        "//common:essential",
        "//systems/framework:leaf_system",
    ],
)

drake_cc_library(
    name = "isoparametric_element",
    srcs = [
        "isoparametric_element.cc",
    ],
    hdrs = [
        "isoparametric_element.h",
    ],
    deps = [
        "//common:essential",
    ],
)

drake_cc_library(
    name = "linear_constitutive_model",
    srcs = [
        "linear_constitutive_model.cc",
    ],
    hdrs = [
        "linear_constitutive_model.h",
    ],
    deps = [
        ":calc_lame_parameters",
        ":constitutive_model",
        ":linear_constitutive_model_data",
        "//common:autodiff",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "linear_constitutive_model_data",
    srcs = [
        "linear_constitutive_model_data.cc",
    ],
    hdrs = [
        "linear_constitutive_model_data.h",
    ],
    deps = [
        ":deformation_gradient_data",
        "//common:autodiff",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "linear_corotated_model",
    srcs = [
        "linear_corotated_model.cc",
    ],
    hdrs = [
        "linear_corotated_model.h",
    ],
    deps = [
        ":calc_lame_parameters",
        ":constitutive_model",
        ":linear_corotated_model_data",
        ":matrix_utilities",
        "//common:autodiff",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "linear_corotated_model_data",
    srcs = [
        "linear_corotated_model_data.cc",
    ],
    hdrs = [
        "linear_corotated_model_data.h",
    ],
    deps = [
        ":deformation_gradient_data",
        ":matrix_utilities",
        "//common:autodiff",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "linear_simplex_element",
    srcs = [
        "linear_simplex_element.cc",
    ],
    hdrs = [
        "linear_simplex_element.h",
    ],
    deps = [
        ":isoparametric_element",
        "//common:default_scalars",
    ],
)

drake_cc_library(
    name = "matrix_utilities",
    srcs = [
        "matrix_utilities.cc",
    ],
    hdrs = [
        "matrix_utilities.h",
    ],
    deps = [
        "//common:default_scalars",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "quadrature",
    srcs = [
        "quadrature.cc",
    ],
    hdrs = [
        "quadrature.h",
    ],
    deps = [
        "//common:default_scalars",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "schur_complement",
    srcs = [
        "schur_complement.cc",
    ],
    hdrs = [
        "schur_complement.h",
    ],
    deps = [
        "//common:default_scalars",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "simplex_gaussian_quadrature",
    srcs = [
        "simplex_gaussian_quadrature.cc",
    ],
    hdrs = [
        "simplex_gaussian_quadrature.h",
    ],
    deps = [
        ":quadrature",
    ],
)

drake_cc_library(
    name = "velocity_newmark_scheme",
    srcs = [
        "velocity_newmark_scheme.cc",
    ],
    hdrs = [
        "velocity_newmark_scheme.h",
    ],
    deps = [
        ":discrete_time_integrator",
        "//common:default_scalars",
    ],
)

drake_cc_library(
    name = "volumetric_element",
    srcs = [
        "volumetric_element.cc",
    ],
    hdrs = [
        "volumetric_element.h",
    ],
    deps = [
        ":fem_element",
        ":isoparametric_element",
        ":quadrature",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "volumetric_model",
    hdrs = [
        "volumetric_model.h",
    ],
    deps = [
        ":damping_model",
        ":fem_model",
        ":volumetric_element",
        "//geometry/proximity:volume_mesh",
    ],
)

drake_cc_googletest(
    name = "acceleration_newmark_scheme_test",
    deps = [
        ":acceleration_newmark_scheme",
        ":velocity_newmark_scheme",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "calc_lame_parameters_test",
    deps = [
        ":calc_lame_parameters",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "constitutive_model_test",
    deps = [
        ":constitutive_model",
        "//common/test_utilities:expect_throws_message",
        "//multibody/fem:deformation_gradient_data",
    ],
)

drake_cc_library(
    name = "constitutive_model_test_utilities",
    testonly = 1,
    srcs = ["test/constitutive_model_test_utilities.cc"],
    hdrs = ["test/constitutive_model_test_utilities.h"],
    deps = [
        ":constitutive_model",
        ":corotated_model",
        ":linear_constitutive_model",
        ":linear_corotated_model",
        ":matrix_utilities",
        "//common:autodiff",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
        "//math:gradient",
    ],
)

drake_cc_googletest(
    name = "corotated_model_test",
    deps = [
        ":constitutive_model_test_utilities",
        ":corotated_model",
    ],
)

drake_cc_googletest(
    name = "corotated_model_data_test",
    deps = [
        ":corotated_model",
        "//common/test_utilities:eigen_matrix_compare",
        "//math:geometric_transform",
    ],
)

drake_cc_googletest(
    name = "damping_model_test",
    deps = [
        ":damping_model",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "deformable_body_config_test",
    deps = [
        ":deformable_body_config",
    ],
)

drake_cc_googletest(
    name = "deformation_gradient_data_test",
    deps = [
        ":deformation_gradient_data",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "dirichlet_boundary_condition_test",
    deps = [
        ":dirichlet_boundary_condition",
        ":fem_state",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "discrete_time_integrator_test",
    deps = [
        ":discrete_time_integrator",
    ],
)

drake_cc_library(
    name = "dummy_element",
    testonly = 1,
    srcs = ["test/dummy_element.cc"],
    hdrs = ["test/dummy_element.h"],
    deps = [
        ":corotated_model",
        ":damping_model",
        ":fem_element",
        ":fem_state",
        ":linear_constitutive_model",
    ],
)

drake_cc_library(
    name = "dummy_model",
    testonly = 1,
    srcs = ["test/dummy_model.cc"],
    hdrs = ["test/dummy_model.h"],
    deps = [
        ":dummy_element",
        ":fem_model",
    ],
)

drake_cc_googletest(
    name = "fem_element_test",
    deps = [
        ":dummy_element",
        "//multibody/plant",
    ],
)

drake_cc_googletest(
    name = "fem_model_test",
    deps = [
        ":dummy_model",
        ":linear_corotated_model",
        ":linear_simplex_element",
        ":simplex_gaussian_quadrature",
        ":volumetric_element",
        ":volumetric_model",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
        "//multibody/plant",
    ],
)

drake_cc_googletest(
    name = "fem_solver_test",
    deps = [
        ":acceleration_newmark_scheme",
        ":dummy_model",
        ":fem_solver",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "fem_state_test",
    deps = [
        ":fem_state",
        ":fem_state_system",
        "//common/test_utilities:expect_throws_message",
        "//multibody/plant",
    ],
)

drake_cc_googletest(
    name = "fem_state_system_test",
    deps = [
        ":fem_state_system",
    ],
)

drake_cc_googletest(
    name = "isoparametric_element_test",
    deps = [
        ":isoparametric_element",
        ":linear_simplex_element",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "linear_constitutive_model_test",
    deps = [
        ":constitutive_model_test_utilities",
        ":linear_constitutive_model",
    ],
)

drake_cc_googletest(
    name = "linear_constitutive_model_data_test",
    deps = [
        ":linear_constitutive_model_data",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "linear_corotated_model_test",
    deps = [
        ":constitutive_model_test_utilities",
        ":linear_corotated_model",
    ],
)

drake_cc_googletest(
    name = "linear_corotated_model_data_test",
    deps = [
        ":linear_corotated_model",
        "//common/test_utilities:eigen_matrix_compare",
        "//math:geometric_transform",
    ],
)

drake_cc_googletest(
    name = "linear_simplex_element_test",
    deps = [
        ":linear_simplex_element",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "matrix_utilities_test",
    deps = [
        ":matrix_utilities",
        "//common:essential",
        "//common/test_utilities:eigen_matrix_compare",
        "//math:geometric_transform",
        "//math:gradient",
    ],
)

drake_cc_googletest(
    name = "schur_complement_test",
    deps = [
        ":schur_complement",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "simplex_gaussian_quadrature_test",
    deps = [
        ":simplex_gaussian_quadrature",
    ],
)

drake_cc_googletest(
    name = "volumetric_element_test",
    deps = [
        ":corotated_model",
        ":linear_simplex_element",
        ":simplex_gaussian_quadrature",
        ":volumetric_element",
        "//common/test_utilities:eigen_matrix_compare",
        "//math:geometric_transform",
        "//math:gradient",
        "//multibody/plant",
    ],
)

drake_cc_googletest(
    name = "velocity_newmark_scheme_test",
    deps = [
        ":acceleration_newmark_scheme",
        ":velocity_newmark_scheme",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

drake_cc_googletest(
    name = "volumetric_model_test",
    deps = [
        ":acceleration_newmark_scheme",
        ":linear_constitutive_model",
        ":volumetric_model",
        "//common/test_utilities:eigen_matrix_compare",
        "//geometry/proximity:make_box_mesh",
        "//math:gradient",
        "//multibody/fem:linear_simplex_element",
        "//multibody/fem:simplex_gaussian_quadrature",
    ],
)

add_lint_tests()