template<class DataTypes>
class sofa::component::solidmechanics::fem::elastic::HexahedralFEMForceField< DataTypes >
Compute Finite Element forces based on hexahedral elements.
Corotational hexahedron from @Article{NMPCPF05, author = "Nesme, Matthieu and Marchal, Maud and Promayon, Emmanuel and Chabanas, Matthieu and Payan, Yohan and Faure, Fran\c{c}ois", title = "Physically Realistic Interactive Simulation for Biological Soft Tissues", journal = "Recent Research Developments in Biomechanics", volume = "2", year = "2005", keywords = "surgical simulation physical animation truth cube", url = "http://www-evasion.imag.fr/Publications/2005/NMPCPF05" }
indices ordering (same as in HexahedronSetTopology):
Y 7---------6
^ / /|
|/ Z / |
3----^----2 |
| / | |
| 4------|--5
| / | /
|/ |/
0---------1-->X
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| SOFA_CLASS (SOFA_TEMPLATE(HexahedralFEMForceField, DataTypes), SOFA_TEMPLATE(BaseLinearElasticityFEMForceField, DataTypes)) |
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void | setMethod (int val) |
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void | init () override |
| Initialization method called at graph creation and modification, during top-down traversal. More...
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void | reinit () override |
| Update method called when variables used in precomputation are modified. More...
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void | addForce (const core::MechanicalParams *mparams, DataVecDeriv &f, const DataVecCoord &x, const DataVecDeriv &v) override |
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void | addDForce (const core::MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &dx) override |
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SReal | getPotentialEnergy (const core::MechanicalParams *, const DataVecCoord &) const override |
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void | addKToMatrix (const core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override |
| Compute the system matrix corresponding to . More...
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void | buildStiffnessMatrix (core::behavior::StiffnessMatrix *matrix) override |
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void | buildDampingMatrix (core::behavior::DampingMatrix *) final |
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void | draw (const core::visual::VisualParams *vparams) override |
| Render internal data of this object, for debugging purposes. More...
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| SOFA_ATTRIBUTE_DISABLED ("", "v24.12", "Use d_youngModulus instead") DeprecatedAndRemoved f_youngModulus |
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void | createHexahedronInformation (Index, HexahedronInformation &t, const core::topology::BaseMeshTopology::Hexahedron &, const sofa::type::vector< Index > &, const sofa::type::vector< SReal > &) |
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| SOFA_CLASS (SOFA_TEMPLATE(BaseLinearElasticityFEMForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)) |
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| BaseLinearElasticityFEMForceField () |
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void | setPoissonRatio (Real val) |
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void | setYoungModulus (Real val) |
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Real | getYoungModulusInElement (sofa::Size elementId) const |
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Real | getPoissonRatioInElement (sofa::Size elementId) const |
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| SOFA_CLASS2 (SOFA_TEMPLATE(ForceField, DataTypes), BaseForceField, SOFA_TEMPLATE(SingleStateAccessor, DataTypes)) |
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void | addForce (const MechanicalParams *mparams, MultiVecDerivId fId) override |
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void | addDForce (const MechanicalParams *mparams, MultiVecDerivId dfId) override |
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virtual void | addClambda (const MechanicalParams *mparams, DataVecDeriv &df, const DataVecDeriv &lambda, SReal cFactor) |
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virtual void | addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal) |
| Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...
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SReal | getPotentialEnergy (const MechanicalParams *mparams) const override |
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void | addKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override |
| Compute the system matrix corresponding to . More...
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virtual void | addKToMatrix (sofa::linearalgebra::BaseMatrix *matrix, SReal kFact, unsigned int &offset) |
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void | addBToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) override |
| Compute the system matrix corresponding to . More...
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virtual void | addBToMatrix (sofa::linearalgebra::BaseMatrix *matrix, SReal bFact, unsigned int &offset) |
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void | addToMatrix (sofa::linearalgebra::BaseMatrix *bm, unsigned offset, const IndexArray &nodeIndex, const ElementMat &em, SReal scale) |
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| SOFA_ABSTRACT_CLASS (BaseForceField, StateAccessor) |
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bool | insertInNode (objectmodel::BaseNode *node) override |
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bool | removeInNode (objectmodel::BaseNode *node) override |
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virtual void | addMBKdx (const MechanicalParams *mparams, MultiVecDerivId dfId) |
| Accumulate the contribution of M, B, and/or K matrices multiplied by the dx vector with the given coefficients. More...
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virtual void | addMBKToMatrix (const MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor *matrix) |
| Compute the system matrix corresponding to . More...
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virtual const sofa::linearalgebra::BaseMatrix * | getComplianceMatrix (const MechanicalParams *) |
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virtual void | addClambda (const MechanicalParams *, MultiVecDerivId, MultiVecDerivId, SReal) |
| Accumulate the contribution of the C compliant matrix multiplied by the given Lagrange multipliers lambda vector with the given cFactor coefficient. More...
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| SOFA_ABSTRACT_CLASS (StateAccessor, objectmodel::BaseObject) |
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virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container & | getMechanicalStates () const |
| Return a list of mechanical states to which this component is associated. More...
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void | computeBBox (const core::ExecParams *params, bool onlyVisible=false) override |
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| SOFA_CLASS (BaseObject, Base) |
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void | setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr) |
| Sets a source Object and parses it to collect dependent Data. More...
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void | setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr) |
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Base * | findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override |
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virtual std::string | getPathName () const override |
| Return the full path name of this object. More...
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SReal | getTime () const |
| Current time. More...
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const BaseContext * | getContext () const |
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BaseContext * | getContext () |
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const BaseObject * | getMaster () const |
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BaseObject * | getMaster () |
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const VecSlaves & | getSlaves () const |
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BaseObject * | getSlave (const std::string &name) const |
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virtual void | addSlave (BaseObject::SPtr s) |
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virtual void | removeSlave (BaseObject::SPtr s) |
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virtual void | handleEvent (Event *) |
| Handle an event. More...
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virtual void | handleTopologyChange () |
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virtual void | handleTopologyChange (core::topology::Topology *t) |
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void | parse (BaseObjectDescription *arg) override |
| Parse the given description to assign values to this object's fields and potentially other parameters. More...
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virtual void | bwdInit () |
| Initialization method called at graph creation and modification, during bottom-up traversal. More...
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void | updateInternal () |
| Update method called when variables (used to compute other internal variables) are modified. More...
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virtual void | storeResetState () |
| Save the initial state for later uses in reset() More...
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virtual void | reset () |
| Reset to initial state. More...
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virtual void | cleanup () |
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virtual const BaseClass * | getClass () const |
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void | addDeprecatedAttribute (lifecycle::DeprecatedData *attribute) |
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void | addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs) |
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void | addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs) |
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const std::string & | getName () const |
| Accessor to the object name. More...
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void | setName (const std::string &n) |
| Set the name of this object. More...
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void | setName (const std::string &n, int counter) |
| Set the name of this object, adding an integer counter. More...
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std::string | getTypeName () const |
| Get the type name of this object (i.e. class and template types) More...
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virtual std::string | getClassName () const |
| Get the class name of this object. More...
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virtual std::string | getTemplateName () const final |
| Get the template type names (if any) used to instantiate this object. More...
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std::string | getNameSpaceName () const |
| Get the template type names (if any) used to instantiate this object. More...
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void | setDefinitionSourceFileName (const std::string &sourceFileName) |
| Set the source filename (where the component is implemented) More...
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const std::string & | getDefinitionSourceFileName () const |
| Get the source filename (where the component is implemented) More...
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void | setDefinitionSourceFilePos (const int) |
| Set the source location (where the component is implemented) More...
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int | getDefinitionSourceFilePos () const |
| Get the source location (where the component is implemented) More...
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void | setInstanciationSourceFileName (const std::string &sourceFileName) |
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const std::string & | getInstanciationSourceFileName () const |
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void | setInstanciationSourceFilePos (const int) |
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int | getInstanciationSourceFilePos () const |
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void | addMessage (const sofa::helper::logging::Message &m) const |
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size_t | countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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const std::deque< sofa::helper::logging::Message > & | getLoggedMessages () const |
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const std::string | getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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void | clearLoggedMessages () const |
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bool | notMuted () const |
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const sofa::core::objectmodel::TagSet & | getTags () const |
| Represents the subsets the object belongs to. More...
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bool | hasTag (Tag t) const |
| Return true if the object belong to the given subset. More...
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void | addTag (Tag t) |
| Add a subset qualification to the object. More...
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void | removeTag (Tag t) |
| Remove a subset qualification to the object. More...
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ComponentState | getComponentState () const |
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bool | isComponentStateValid () const |
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virtual bool | parseField (const std::string &attribute, const std::string &value) |
| Assign one field value (Data or Link) More...
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virtual bool | hasField (const std::string &attribute) const |
| Check if a given Data field or Link exists. More...
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void | parseFields (const std::list< std::string > &str) |
| Assign the field values stored in the given list of name + value pairs of strings. More...
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virtual void | parseFields (const std::map< std::string, std::string * > &str) |
| Assign the field values stored in the given map of name -> value pairs. More...
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void | writeDatas (std::map< std::string, std::string * > &str) |
| Write the current field values to the given map of name -> value pairs. More...
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void | writeDatas (std::ostream &out, const std::string &separator=" ") |
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BaseData * | findData (const std::string &name) const |
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std::vector< BaseData * > | findGlobalField (const std::string &name) const |
| Find data fields given a name: several can be found as we look into the alias map. More...
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BaseLink * | findLink (const std::string &name) const |
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std::vector< BaseLink * > | findLinks (const std::string &name) const |
| Find link fields given a name: several can be found as we look into the alias map. More...
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virtual void | updateLinks (bool logErrors=true) |
| Update pointers in case the pointed-to objects have appeared. More...
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template<class T > |
BaseData::BaseInitData | initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags) |
| Helper method used to initialize a data field containing a value of type T. More...
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template<class T > |
BaseData::BaseInitData | initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used to initialize a data field containing a value of type T. More...
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template<class T > |
Data< T >::InitData | initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used to initialize a data field containing a value of type T. More...
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void | addData (BaseData *f, const std::string &name) |
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void | addData (BaseData *f) |
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void | removeData (BaseData *f) |
| Remove a data field. More...
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void | addAlias (BaseData *field, const char *alias) |
| Add an alias to a Data. More...
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void | addLink (BaseLink *l) |
| Add a link. More...
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void | addAlias (BaseLink *link, const char *alias) |
| Add an alias to a Link. More...
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const VecData & | getDataFields () const |
| Accessor to the vector containing all the fields of this object. More...
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const MapData & | getDataAliases () const |
| Accessor to the map containing all the aliases of this object. More...
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const VecLink & | getLinks () const |
| Accessor to the vector containing all the fields of this object. More...
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const MapLink & | getLinkAliases () const |
| Accessor to the map containing all the aliases of this object. More...
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virtual bool | findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link) |
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template<class T > |
bool | findLinkDest (T *&ptr, const std::string &path, const BaseLink *link) |
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| SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, DataTypes), StateAccessor) |
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void | init () override |
| Initialization method called at graph creation and modification, during top-down traversal. More...
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MechanicalState< DataTypes > * | getMState () |
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const MechanicalState< DataTypes > * | getMState () const |
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| HexahedralFEMForceField () |
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virtual | ~HexahedralFEMForceField () |
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virtual void | computeElementStiffness (ElementStiffness &K, const MaterialStiffness &M, const type::Vec< 8, Coord > &nodes) |
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Mat33 | integrateStiffness (int signx0, int signy0, int signz0, int signx1, int signy1, int signz1, const Real u, const Real v, const Real w, const Mat33 &J_1) |
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void | computeMaterialStiffness (MaterialStiffness &m, double youngModulus, double poissonRatio) |
| compute the hookean material matrix More...
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void | computeForce (Displacement &F, const Displacement &Depl, const ElementStiffness &K) |
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void | initLarge (const int i) |
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void | computeRotationLarge (Transformation &r, Coord &edgex, Coord &edgey) |
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virtual void | accumulateForceLarge (WDataRefVecDeriv &f, RDataRefVecCoord &p, const int i) |
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void | initPolar (const int i) |
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void | computeRotationPolar (Transformation &r, type::Vec< 8, Coord > &nodes) |
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virtual void | accumulateForcePolar (WDataRefVecDeriv &f, RDataRefVecCoord &p, const int i) |
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void | checkPoissonRatio () |
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void | checkYoungModulus () |
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Real | getVecRealInElement (sofa::Size elementId, const Data< VecReal > &data, Real defaultValue) const |
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| ForceField (MechanicalState< DataTypes > *mm=nullptr) |
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| ~ForceField () override |
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| BaseForceField () |
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| ~BaseForceField () override=default |
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| StateAccessor () |
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| ~StateAccessor () override=default |
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| BaseObject () |
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| ~BaseObject () override |
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virtual void | doUpdateInternal () |
| Implementation of the internal update. More...
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void | changeContextLink (BaseContext *before, BaseContext *&after) |
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void | changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add) |
| This method insures that slaves objects have master and context links set correctly. More...
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void | trackInternalData (const BaseData &data) |
| Method called to add the Data to the DataTracker (listing the Data to track) More...
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void | cleanTracker () |
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bool | hasDataChanged (const BaseData &data) |
| Method called to know if a tracked Data has changed. More...
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| Base () |
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virtual | ~Base () |
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void | initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used by initData() More...
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void | initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags) |
| Helper method used by initData() More...
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template<class T > |
void | initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used by initData() More...
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| SingleStateAccessor (MechanicalState< DataTypes > *mm=nullptr) |
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| ~SingleStateAccessor () override=default |
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