How to use the built-in classes or methods of matrix operations in Sofa?

[Wong]

In my project, I have to write some code of matrix operations to implement some functions. I think there are some classes or methods already in Sofa. So how to use them to do the matrix operations? (e.g. compute the inverse of a matrix)

[Hugo]

Hi Wong,

This is available in the default type defaulttype::Mat.
You can find examples in a lot of SOFA classes.
Ex: TriangularAnisotropicFEMForceField line 160 and 236

#include <sofa/defaulttype/Mat.h>
...

defaulttype::Mat<3,3,Real> T, Tinv;
...
T.transpose();
Tinv.invert(T);

Cheers,

Hugo

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