TractionForce.h

#pragma once
 
#include <Eigen/Core>
#include <sofa/core/behavior/ForceField.h>
#include <SofaBaseTopology/TriangleSetTopologyContainer.h>
#include <SofaBaseTopology/QuadSetTopologyContainer.h>
#include <sofa/core/behavior/MechanicalState.h>
 
namespace SofaCaribou::forcefield {
 
using namespace sofa::core::objectmodel;
using namespace sofa::core::behavior;
using namespace sofa::component::topology;
 
class TractionForce : public sofa::core::behavior::ForceField<sofa::defaulttype::Vec3Types>
{
public:
    SOFA_CLASS(TractionForce, SOFA_TEMPLATE(sofa::core::behavior::ForceField, sofa::defaulttype::Vec3Types));
 
    typedef sofa::defaulttype::Vec3Types DataTypes;
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord    Coord   ;
    typedef typename DataTypes::Deriv    Deriv   ;
    typedef typename Coord::value_type   Real    ;
    typedef sofa::defaulttype::Mat<3,3,Real> Mat33;
 
    template<int nRows, int Options=0>
    using Vector = Eigen::Matrix<Real, nRows, 1, Options>;
 
    template<int nRows>
    using MapVector = Eigen::Map<const Vector<nRows, Eigen::ColMajor>>;
 
    using Triange = TriangleSetTopologyContainer::Triangle;
    using Quad = QuadSetTopologyContainer::Quad;
 
    using MechanicalStateLink =
        SingleLink<TractionForce, MechanicalState<DataTypes>, BaseLink::FLAG_STRONGLINK>;
 
 
    TractionForce();
 
    void init() override;
    void reset() override;
    void addForce(const sofa::core::MechanicalParams* mparams, Data<VecDeriv>& d_f, const Data<VecCoord>& d_x, const Data<VecDeriv>& d_v) override;
    void addDForce(const sofa::core::MechanicalParams* /*mparams*/, Data<VecDeriv>& /*d_df*/, const Data<VecDeriv>& /*d_dx*/) override {}
    void addKToMatrix(sofa::defaulttype::BaseMatrix * /*matrix*/, SReal /*kFact*/, unsigned int & /*offset*/) override {}
    void draw(const sofa::core::visual::VisualParams* vparams) override;
    void handleEvent(sofa::core::objectmodel::Event* event) override;
    SReal getPotentialEnergy(const sofa::core::MechanicalParams* /*mparams*/, const Data<VecDeriv>&  /* x */) const override
    {
        msg_error() << "Get potentialEnergy not implemented";
        return 0.0;
    }
 
    void increment_load(Deriv traction_increment_per_unit_area) ;
 
    // Inputs
    Data<Deriv> d_traction; 
    Data<sofa::helper::vector<Triange> > d_triangles; 
    Data<sofa::helper::vector<Quad> > d_quads; 
    Data<Real> d_slope; 
    MechanicalStateLink d_mechanicalState; 
    Data<unsigned int> d_number_of_steps_before_increment; 
    Data<bool> d_draw_faces; 
 
    // Outputs
    Data<VecDeriv> d_nodal_forces; 
    Data<Real> d_total_load;  
 
private:
 
    bool m_traction_is_constant = false;
    Deriv m_current_traction;
    unsigned int m_number_of_steps_since_last_increment = 0;
};
 
} // namespace SofaCaribou::forcefield