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[forcefield] updates AdaptiveBeamForceFieldAndMass with the new matrix assembly API #115

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Nov 1, 2023
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[forcefield] updates AdaptiveBeamForceFieldAndMass with the new matrix assembly API #115

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0055c35
[forcefield] updates AdaptiveBeamForceFieldAndMass with new API (buil…
EulalieCoevoet Oct 19, 2023
c76a856
Update src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAnd…
EulalieCoevoet Oct 20, 2023
14e36ed
Update src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAnd…
EulalieCoevoet Oct 20, 2023
aa8fda6
Update src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAnd…
EulalieCoevoet Oct 20, 2023
85cd049
Update src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAnd…
EulalieCoevoet Oct 20, 2023
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Update src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAnd…
EulalieCoevoet Oct 20, 2023
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4 changes: 4 additions & 0 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h
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Expand Up @@ -140,6 +140,10 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
void addMToMatrix(const MechanicalParams *mparams, const MultiMatrixAccessor* matrix) override;
void addMBKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix) override;

void buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices) override;
void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
void buildDampingMatrix(core::behavior::DampingMatrix* matrices) override;

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
void accFromF(const MechanicalParams* mparams, DataVecDeriv& , const DataVecDeriv& ) override
{
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66 changes: 66 additions & 0 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
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Expand Up @@ -32,6 +32,9 @@
//
#pragma once

#include <sofa/core/behavior/BaseLocalForceFieldMatrix.h>
#include <sofa/core/behavior/BaseLocalMassMatrix.h>

#include <BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h>
#include <sofa/core/behavior/MultiMatrixAccessor.h>
#include <sofa/core/MechanicalParams.h>
Expand Down Expand Up @@ -362,6 +365,32 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addMToMatrix(const MechanicalPara
}
}

template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
{
const unsigned int numBeams = l_interpolation->getNumBeams();


for (unsigned int b=0; b<numBeams; b++)
{
unsigned int node0Idx, node1Idx;
BeamLocalMatrices &bLM = m_localBeamMatrices[b];
l_interpolation->getNodeIndices( b, node0Idx, node1Idx );

/// matrices in global frame
const Matrix6x6 M00 = bLM.m_A0Ref.multTranspose(bLM.m_M00 * bLM.m_A0Ref);
const Matrix6x6 M01 = bLM.m_A0Ref.multTranspose(bLM.m_M01 * bLM.m_A1Ref);
const Matrix6x6 M10 = bLM.m_A1Ref.multTranspose(bLM.m_M10 * bLM.m_A0Ref);
const Matrix6x6 M11 = bLM.m_A1Ref.multTranspose(bLM.m_M11 * bLM.m_A1Ref);


matrices->add(node0Idx * 6, node0Idx * 6, M00);
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matrices->add(node0Idx * 6, node1Idx * 6, M01);
matrices->add(node1Idx * 6, node0Idx * 6, M10);
matrices->add(node1Idx * 6, node1Idx * 6, M11);
}
}


template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::addMBKToMatrix(const MechanicalParams* mparams,
Expand Down Expand Up @@ -426,6 +455,12 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addMBKToMatrix(const MechanicalPa
}
}

template <class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::buildDampingMatrix(core::behavior::DampingMatrix*)
{
// No damping in this ForceField
}


/////////////////////////////////////
/// ForceField Interface
Expand Down Expand Up @@ -685,6 +720,37 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const MechanicalPara
}
}

template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix)
{
const unsigned int numBeams = l_interpolation->getNumBeams();


auto dfdx = matrix->getForceDerivativeIn(this->mstate)
.withRespectToPositionsIn(this->mstate);

for (unsigned int b=0; b<numBeams; b++)
{
unsigned int node0Idx, node1Idx;
const BeamLocalMatrices &beamLocalMatrix = m_localBeamMatrices[b];
l_interpolation->getNodeIndices( b, node0Idx, node1Idx );

if(node0Idx==node1Idx)
continue;

// matrices in global frame
Matrix6x6 K00 = beamLocalMatrix.m_A0Ref.multTranspose(beamLocalMatrix.m_K00 * beamLocalMatrix.m_A0Ref);
Matrix6x6 K01 = beamLocalMatrix.m_A0Ref.multTranspose(beamLocalMatrix.m_K01 * beamLocalMatrix.m_A1Ref);
Matrix6x6 K10 = beamLocalMatrix.m_A1Ref.multTranspose(beamLocalMatrix.m_K10 * beamLocalMatrix.m_A0Ref);
Matrix6x6 K11 = beamLocalMatrix.m_A1Ref.multTranspose(beamLocalMatrix.m_K11 * beamLocalMatrix.m_A1Ref);


dfdx(node0Idx*6, node0Idx*6) += - K00;
dfdx(node0Idx*6, node1Idx*6) += - K01;
dfdx(node1Idx*6, node0Idx*6) += - K10;
dfdx(node1Idx*6, node1Idx*6) += - K11;
}
}


/////////////////////////////////////
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