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 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 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, btSoftBody::Node::index, m_damping_alpha, m_damping_beta, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, 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.

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, btSoftBody::Node::index, m_damping_alpha, m_damping_beta, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Tetra::m_element_measure, 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(), btSoftBody::Node::index, 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(), 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, m_damping_alpha, m_damping_beta, btSoftBody::Tetra::m_Dm_inverse, btSoftBody::Node::m_effectiveMass, btSoftBody::Tetra::m_element_measure, 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, 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, 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 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 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(), btSoftBody::m_nodes, btDeformableLagrangianForce::m_softBodies, 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(), btSoftBody::Tetra::m_element_measure, btDeformableLagrangianForce::m_softBodies, btSoftBody::m_tetras, btSoftBody::m_tetraScratches, and btAlignedObjectArray< T >::size().

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(), and setDamping().

m_damping_beta

btScalar btDeformableLinearElasticityForce::m_damping_beta

Definition at line 29 of file btDeformableLinearElasticityForce.h.

Referenced by addScaledDampingForce(), addScaledDampingForceDifferential(), addScaledHessian(), 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(), 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(), 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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The documentation for this class was generated from the following file:

• btDeformableLinearElasticityForce.h