HyperelasticMaterial.h

#pragma once
 
#include <Caribou/config.h>
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/core/behavior/MechanicalState.h>
#include <Eigen/Eigen>
 
namespace SofaCaribou::material {
 
template<class DataTypes>
class HyperelasticMaterial : public sofa::core::objectmodel::BaseObject {
    static constexpr auto Dimension = DataTypes::spatial_dimensions;
    using Coord = typename DataTypes::Coord;
    using Real  = typename Coord::value_type;
public:
 
    SOFA_CLASS(SOFA_TEMPLATE(HyperelasticMaterial, DataTypes), sofa::core::objectmodel::BaseObject);
 
    virtual void
    before_update() {}
 
    virtual Real
    strain_energy_density(const Real & J, const Eigen::Matrix<Real, Dimension, Dimension>  & C) const = 0;
 
    virtual Eigen::Matrix<Real, Dimension, Dimension>
    PK2_stress(const Real & J, const Eigen::Matrix<Real, Dimension, Dimension>  & C) const = 0;
 
    virtual Eigen::Matrix<Real, 6, 6>
    PK2_stress_jacobian(const Real & J, const Eigen::Matrix<Real, Dimension, Dimension>  & C) const = 0;
 
 
    // Sofa's scene methods
 
    static std::string templateName(const HyperelasticMaterial<DataTypes>* = nullptr) {
        return DataTypes::Name();
    }
 
    static bool canCreate(HyperelasticMaterial<DataTypes>* o, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg) {
        std::string requested_data_type = arg->getAttribute( "template", "");
        std::string this_data_type = templateName(o);
 
        if (requested_data_type == this_data_type) {
            return true;
        }
 
        if (not requested_data_type.empty()) {
            arg->logError("Requested data type ('" +requested_data_type + "') is not '"+this_data_type+"'.");
            return false;
        }
 
        if (dynamic_cast<sofa::core::behavior::MechanicalState<DataTypes>*>(context->getMechanicalState()) != nullptr) {
            return true;
        }
 
        arg->logError("Cannot deduce the data type from the current context. Set the argument 'template=\""+this_data_type+"\"' to correct this.");
        return false;
    }
 
};
 
} // namespace SofaCaribou::material