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btDeformableLinearElasticityForce Class Reference

#include <btDeformableLinearElasticityForce.h>

Inherits btDeformableLagrangianForce.

Public Types

typedef btAlignedObjectArray< btVector3 > TVStack
Public Types inherited from btDeformableLagrangianForce
typedef btAlignedObjectArray< btVector3 > TVStack

Public Member Functions

 btDeformableLinearElasticityForce ()
 btDeformableLinearElasticityForce (btScalar mu, btScalar lambda, btScalar damping_alpha=0.01, btScalar damping_beta=0.01)
void updateYoungsModulusAndPoissonRatio ()
void updateLameParameters ()
void setYoungsModulus (btScalar E)
void setPoissonRatio (btScalar nu)
void setDamping (btScalar damping_alpha, btScalar damping_beta)
void setLameParameters (btScalar mu, btScalar lambda)
virtual void addScaledForces (btScalar scale, TVStack &force)
virtual void addScaledExplicitForce (btScalar scale, TVStack &force)
virtual void addScaledDampingForce (btScalar scale, TVStack &force)
virtual double totalElasticEnergy (btScalar dt)
virtual double totalDampingEnergy (btScalar dt)
double elasticEnergyDensity (const btSoftBody::TetraScratch &s)
virtual void addScaledElasticForce (btScalar scale, TVStack &force)
virtual void buildDampingForceDifferentialDiagonal (btScalar scale, TVStack &diagA)
virtual void addScaledDampingForceDifferential (btScalar scale, const TVStack &dv, TVStack &df)
virtual void addScaledElasticForceDifferential (btScalar scale, const TVStack &dx, TVStack &df)
void firstPiola (const btSoftBody::TetraScratch &s, btMatrix3x3 &P)
void firstPiolaDifferential (const btSoftBody::TetraScratch &s, const btMatrix3x3 &dF, btMatrix3x3 &dP)
void firstPiolaDampingDifferential (const btSoftBody::TetraScratch &s, const btMatrix3x3 &dF, btMatrix3x3 &dP)
virtual void addScaledHessian (btScalar scale)
virtual btDeformableLagrangianForceType getForceType ()
Public Member Functions inherited from btDeformableLagrangianForce
 btDeformableLagrangianForce ()
virtual ~btDeformableLagrangianForce ()
virtual void reinitialize (bool nodeUpdated)
virtual int getNumNodes ()
virtual void addSoftBody (btSoftBody *psb)
virtual void removeSoftBody (btSoftBody *psb)
virtual void setIndices (const btAlignedObjectArray< btSoftBody::Node * > *nodes)
virtual btMatrix3x3 Ds (int id0, int id1, int id2, int id3, const TVStack &dx)
virtual btMatrix3x3 DsFromVelocity (const btSoftBody::Node *n0, const btSoftBody::Node *n1, const btSoftBody::Node *n2, const btSoftBody::Node *n3)
virtual void testDerivative ()
virtual void testHessian ()
virtual double totalEnergy (btScalar dt)

Public Attributes

btScalar m_mu
btScalar m_lambda
btScalar m_E
btScalar m_nu
btScalar m_damping_alpha
btScalar m_damping_beta
Public Attributes inherited from btDeformableLagrangianForce
btAlignedObjectArray< btSoftBody * > m_softBodies
const btAlignedObjectArray< btSoftBody::Node * > * m_nodes

Detailed Description

Definition at line 23 of file btDeformableLinearElasticityForce.h.

Member Typedef Documentation

◆ TVStack

typedef btAlignedObjectArray<btVector3> btDeformableLinearElasticityForce::TVStack

Definition at line 26 of file btDeformableLinearElasticityForce.h.

Constructor & Destructor Documentation

◆ btDeformableLinearElasticityForce() [1/2]

btDeformableLinearElasticityForce::btDeformableLinearElasticityForce ( )
inline

Definition at line 30 of file btDeformableLinearElasticityForce.h.

References m_damping_alpha, m_damping_beta, m_lambda, m_mu, and updateYoungsModulusAndPoissonRatio().

◆ btDeformableLinearElasticityForce() [2/2]

btDeformableLinearElasticityForce::btDeformableLinearElasticityForce ( btScalar mu,
btScalar lambda,
btScalar damping_alpha = 0.01,
btScalar damping_beta = 0.01 )
inline

Definition at line 35 of file btDeformableLinearElasticityForce.h.

References m_damping_alpha, m_damping_beta, m_lambda, m_mu, and updateYoungsModulusAndPoissonRatio().

Member Function Documentation

◆ addScaledDampingForce()

virtual void btDeformableLinearElasticityForce::addScaledDampingForce ( btScalar scale,
TVStack & force )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 93 of file btDeformableLinearElasticityForce.h.

References btAssert, btMatrix3x3, btVector3, btDeformableLagrangianForce::DsFromVelocity(), btDeformableLagrangianForce::getNumNodes(), I, i, btSoftBody::Node::index, m_damping_alpha, m_damping_beta, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, btSoftBody::Node::m_im, m_lambda, m_mu, btSoftBody::Tetra::m_n, btSoftBody::m_nodes, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, btSoftBody::m_tetraScratches, btSoftBody::Node::m_v, btAlignedObjectArray< T >::size(), and TETRA_FLAT_THRESHOLD.

Referenced by addScaledForces(), and totalDampingEnergy().

◆ addScaledDampingForceDifferential()

virtual void btDeformableLinearElasticityForce::addScaledDampingForceDifferential ( btScalar scale,
const TVStack & dv,
TVStack & df )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 288 of file btDeformableLinearElasticityForce.h.

References btAssert, btMatrix3x3, btVector3, btDeformableLagrangianForce::Ds(), btDeformableLagrangianForce::getNumNodes(), I, i, btSoftBody::Node::index, m_damping_alpha, m_damping_beta, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, btSoftBody::Node::m_im, m_lambda, m_mu, btSoftBody::Tetra::m_n, btSoftBody::m_nodes, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, btSoftBody::m_tetraScratches, btAlignedObjectArray< T >::size(), and TETRA_FLAT_THRESHOLD.

◆ addScaledElasticForce()

virtual void btDeformableLinearElasticityForce::addScaledElasticForce ( btScalar scale,
TVStack & force )
inlinevirtual

Definition at line 218 of file btDeformableLinearElasticityForce.h.

References btAssert, btMatrix3x3, btMax(), btMin(), btVector3, firstPiola(), btDeformableLagrangianForce::getNumNodes(), i, btSoftBody::Node::index, length2(), btSoftBody::m_cfg, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, btSoftBody::Config::m_maxStress, btSoftBody::Tetra::m_n, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, btSoftBody::m_tetraScratches, P, singularValueDecomposition(), btAlignedObjectArray< T >::size(), U, and V.

Referenced by addScaledExplicitForce(), and addScaledForces().

◆ addScaledElasticForceDifferential()

virtual void btDeformableLinearElasticityForce::addScaledElasticForceDifferential ( btScalar scale,
const TVStack & dx,
TVStack & df )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 350 of file btDeformableLinearElasticityForce.h.

References btAssert, btMatrix3x3, btVector3, btDeformableLagrangianForce::Ds(), firstPiolaDifferential(), btDeformableLagrangianForce::getNumNodes(), i, btSoftBody::Node::index, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, btSoftBody::Tetra::m_n, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, btSoftBody::m_tetraScratches, and btAlignedObjectArray< T >::size().

◆ addScaledExplicitForce()

virtual void btDeformableLinearElasticityForce::addScaledExplicitForce ( btScalar scale,
TVStack & force )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 87 of file btDeformableLinearElasticityForce.h.

References addScaledElasticForce().

◆ addScaledForces()

virtual void btDeformableLinearElasticityForce::addScaledForces ( btScalar scale,
TVStack & force )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 81 of file btDeformableLinearElasticityForce.h.

References addScaledDampingForce(), and addScaledElasticForce().

◆ addScaledHessian()

virtual void btDeformableLinearElasticityForce::addScaledHessian ( btScalar scale)
inlinevirtual

Reimplemented from btDeformableLagrangianForce.

Definition at line 417 of file btDeformableLinearElasticityForce.h.

References btMatrix3x3, btVector3, firstPiola(), I, i, m_damping_alpha, m_damping_beta, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Node::m_effectiveMass, btSoftBody::Tetra::m_element_measure, btSoftBody::Node::m_im, btSoftBody::Tetra::m_n, btSoftBody::m_nodes, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, btSoftBody::m_tetraScratches, OuterProduct(), P, and btAlignedObjectArray< T >::size().

◆ buildDampingForceDifferentialDiagonal()

virtual void btDeformableLinearElasticityForce::buildDampingForceDifferentialDiagonal ( btScalar scale,
TVStack & diagA )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 285 of file btDeformableLinearElasticityForce.h.

◆ elasticEnergyDensity()

double btDeformableLinearElasticityForce::elasticEnergyDensity ( const btSoftBody::TetraScratch & s)
inline

Definition at line 208 of file btDeformableLinearElasticityForce.h.

References btMatrix3x3, length2(), btSoftBody::TetraScratch::m_F, m_lambda, and m_mu.

Referenced by totalElasticEnergy().

◆ firstPiola()

void btDeformableLinearElasticityForce::firstPiola ( const btSoftBody::TetraScratch & s,
btMatrix3x3 & P )
inline

Definition at line 390 of file btDeformableLinearElasticityForce.h.

References btMatrix3x3, btSoftBody::TetraScratch::m_corotation, btSoftBody::TetraScratch::m_F, m_lambda, m_mu, and P.

Referenced by addScaledElasticForce(), and addScaledHessian().

◆ firstPiolaDampingDifferential()

void btDeformableLinearElasticityForce::firstPiolaDampingDifferential ( const btSoftBody::TetraScratch & s,
const btMatrix3x3 & dF,
btMatrix3x3 & dP )
inline

Definition at line 409 of file btDeformableLinearElasticityForce.h.

References btMatrix3x3, m_damping_beta, m_lambda, and m_mu.

◆ firstPiolaDifferential()

void btDeformableLinearElasticityForce::firstPiolaDifferential ( const btSoftBody::TetraScratch & s,
const btMatrix3x3 & dF,
btMatrix3x3 & dP )
inline

Definition at line 401 of file btDeformableLinearElasticityForce.h.

References btMatrix3x3, m_lambda, and m_mu.

Referenced by addScaledElasticForceDifferential().

◆ getForceType()

virtual btDeformableLagrangianForceType btDeformableLinearElasticityForce::getForceType ( )
inlinevirtual

Implements btDeformableLagrangianForce.

Definition at line 457 of file btDeformableLinearElasticityForce.h.

References BT_LINEAR_ELASTICITY_FORCE.

◆ setDamping()

void btDeformableLinearElasticityForce::setDamping ( btScalar damping_alpha,
btScalar damping_beta )
inline

Definition at line 68 of file btDeformableLinearElasticityForce.h.

References m_damping_alpha, and m_damping_beta.

◆ setLameParameters()

void btDeformableLinearElasticityForce::setLameParameters ( btScalar mu,
btScalar lambda )
inline

Definition at line 74 of file btDeformableLinearElasticityForce.h.

References m_lambda, m_mu, and updateYoungsModulusAndPoissonRatio().

◆ setPoissonRatio()

void btDeformableLinearElasticityForce::setPoissonRatio ( btScalar nu)
inline

Definition at line 62 of file btDeformableLinearElasticityForce.h.

References m_nu, and updateLameParameters().

◆ setYoungsModulus()

void btDeformableLinearElasticityForce::setYoungsModulus ( btScalar E)
inline

Definition at line 56 of file btDeformableLinearElasticityForce.h.

References m_E, and updateLameParameters().

◆ totalDampingEnergy()

virtual double btDeformableLinearElasticityForce::totalDampingEnergy ( btScalar dt)
inlinevirtual

Reimplemented from btDeformableLagrangianForce.

Definition at line 175 of file btDeformableLinearElasticityForce.h.

References addScaledDampingForce(), btMax(), i, btSoftBody::Node::index, btSoftBody::m_nodes, btDeformableLagrangianForce::m_softBodies, btSoftBody::Node::m_v, btAlignedObjectArray< T >::resize(), setZero(), and btAlignedObjectArray< T >::size().

◆ totalElasticEnergy()

virtual double btDeformableLinearElasticityForce::totalElasticEnergy ( btScalar dt)
inlinevirtual

Reimplemented from btDeformableLagrangianForce.

Definition at line 154 of file btDeformableLinearElasticityForce.h.

References elasticEnergyDensity(), i, btSoftBody::Tetra::m_element_measure, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, and btSoftBody::m_tetraScratches.

◆ updateLameParameters()

void btDeformableLinearElasticityForce::updateLameParameters ( )
inline

Definition at line 48 of file btDeformableLinearElasticityForce.h.

References m_E, m_lambda, m_mu, and m_nu.

Referenced by setPoissonRatio(), and setYoungsModulus().

◆ updateYoungsModulusAndPoissonRatio()

void btDeformableLinearElasticityForce::updateYoungsModulusAndPoissonRatio ( )
inline

Definition at line 40 of file btDeformableLinearElasticityForce.h.

References m_E, m_lambda, m_mu, and m_nu.

Referenced by btDeformableLinearElasticityForce(), btDeformableLinearElasticityForce(), and setLameParameters().

Member Data Documentation

◆ m_damping_alpha

btScalar btDeformableLinearElasticityForce::m_damping_alpha

Definition at line 29 of file btDeformableLinearElasticityForce.h.

Referenced by addScaledDampingForce(), addScaledDampingForceDifferential(), addScaledHessian(), btDeformableLinearElasticityForce(), btDeformableLinearElasticityForce(), and setDamping().

◆ m_damping_beta

btScalar btDeformableLinearElasticityForce::m_damping_beta

Definition at line 29 of file btDeformableLinearElasticityForce.h.

Referenced by addScaledDampingForce(), addScaledDampingForceDifferential(), addScaledHessian(), btDeformableLinearElasticityForce(), btDeformableLinearElasticityForce(), firstPiolaDampingDifferential(), and setDamping().

◆ m_E

btScalar btDeformableLinearElasticityForce::m_E

Definition at line 28 of file btDeformableLinearElasticityForce.h.

Referenced by setYoungsModulus(), updateLameParameters(), and updateYoungsModulusAndPoissonRatio().

◆ m_lambda

btScalar btDeformableLinearElasticityForce::m_lambda

Definition at line 27 of file btDeformableLinearElasticityForce.h.

Referenced by addScaledDampingForce(), addScaledDampingForceDifferential(), btDeformableLinearElasticityForce(), btDeformableLinearElasticityForce(), elasticEnergyDensity(), firstPiola(), firstPiolaDampingDifferential(), firstPiolaDifferential(), setLameParameters(), updateLameParameters(), and updateYoungsModulusAndPoissonRatio().

◆ m_mu

btScalar btDeformableLinearElasticityForce::m_mu

Definition at line 27 of file btDeformableLinearElasticityForce.h.

Referenced by addScaledDampingForce(), addScaledDampingForceDifferential(), btDeformableLinearElasticityForce(), btDeformableLinearElasticityForce(), elasticEnergyDensity(), firstPiola(), firstPiolaDampingDifferential(), firstPiolaDifferential(), setLameParameters(), updateLameParameters(), and updateYoungsModulusAndPoissonRatio().

◆ m_nu

btScalar btDeformableLinearElasticityForce::m_nu

Definition at line 28 of file btDeformableLinearElasticityForce.h.

Referenced by setPoissonRatio(), updateLameParameters(), and updateYoungsModulusAndPoissonRatio().

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