Finite Element Model (a.k.a. More...

#include <SurgSim/Physics/FemRepresentation.h>

Inheritance diagram for SurgSim::Physics::FemRepresentation:

Public Member Functions
	FemRepresentation (const std::string &name)
	Constructor. More...

virtual	~FemRepresentation ()
	Destructor. More...

void	setFilename (const std::string &filename)
	Sets the name of the file to be loaded. More...

const std::string &	getFilename () const
	Gets the name of the file to be loaded. More...

bool	loadFile ()
	Loads the file. More...

void	addFemElement (const std::shared_ptr< FemElement > element)
	Adds a FemElement. More...

size_t	getNumFemElements () const
	Gets the number of FemElement. More...

std::shared_ptr< FemElement >	getFemElement (size_t femElementId)
	Retrieves a given FemElement from its id. More...

double	getTotalMass () const
	Gets the total mass of the fem. More...

double	getRayleighDampingStiffness () const
	Gets the Rayleigh stiffness parameter. More...

double	getRayleighDampingMass () const
	Gets the Rayleigh mass parameter. More...

void	setRayleighDampingStiffness (double stiffnessCoef)
	Sets the Rayleigh stiffness parameter. More...

void	setRayleighDampingMass (double massCoef)
	Sets the Rayleigh mass parameter. More...

bool	isValidCoordinate (const SurgSim::DataStructures::IndexedLocalCoordinate &coordinate) const
	Determines whether the associated coordinate is valid. More...

virtual void	beforeUpdate (double dt) override
	Preprocessing done before the update call. More...

virtual void	afterUpdate (double dt) override
	Postprocessing done after the update call. More...

virtual SurgSim::Math::Vector &	computeF (const SurgSim::Math::OdeState &state) override
	Evaluation of the RHS function f(x,v) for a given state. More...

virtual const SurgSim::Math::Matrix &	computeM (const SurgSim::Math::OdeState &state) override
	Evaluation of the LHS matrix M(x,v) for a given state. More...

virtual const SurgSim::Math::Matrix &	computeD (const SurgSim::Math::OdeState &state) override
	Evaluation of D = -df/dv (x,v) for a given state. More...

virtual const SurgSim::Math::Matrix &	computeK (const SurgSim::Math::OdeState &state) override
	Evaluation of K = -df/dx (x,v) for a given state. More...

virtual void	computeFMDK (const SurgSim::Math::OdeState &state, SurgSim::Math::Vector f, SurgSim::Math::Matrix M, SurgSim::Math::Matrix D, SurgSim::Math::Matrix K) override
	Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed, this method can perform optimization in evaluating everything together. More...

Public Member Functions inherited from SurgSim::Physics::DeformableRepresentation
	DeformableRepresentation (const std::string &name)
	Constructor. More...

virtual	~DeformableRepresentation ()
	Destructor. More...

virtual void	resetState () override
	Reset the representation to its initial/default state. More...

virtual void	setInitialState (std::shared_ptr< SurgSim::Math::OdeState > initialState)

virtual const std::shared_ptr< SurgSim::Math::OdeState >	getCurrentState () const

virtual const std::shared_ptr< SurgSim::Math::OdeState >	getPreviousState () const

virtual const std::shared_ptr< SurgSim::Math::OdeState >	getFinalState () const

size_t	getNumDofPerNode () const
	Gets the number of degrees of freedom per node. More...

void	setIntegrationScheme (SurgSim::Math::IntegrationScheme integrationScheme)
	Sets the numerical integration scheme. More...

SurgSim::Math::IntegrationScheme	getIntegrationScheme () const
	Gets the numerical integration scheme. More...

virtual void	addExternalGeneralizedForce (std::shared_ptr< Localization > localization, SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix())=0
	Add an external generalized force applied on a specific localization. More...

const SurgSim::Math::Vector &	getExternalGeneralizedForce () const

const SurgSim::Math::Matrix &	getExternalGeneralizedStiffness () const

const SurgSim::Math::Matrix &	getExternalGeneralizedDamping () const

const SurgSim::Math::Matrix &	getComplianceMatrix () const
	Gets the compliance matrix associated with motion. More...

virtual void	update (double dt) override
	Update the representation state to the current time step. More...

virtual void	applyCorrection (double dt, const Eigen::VectorBlock< SurgSim::Math::Vector > &deltaVelocity) override
	Update the Representation's current position and velocity using a time interval, dt, and change in velocity, deltaVelocity. More...

void	deactivateAndReset (void)
	Deactivate and call resetState. More...

virtual void	setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation) override
	Set the collision representation for this physics representation, when the collision object is involved in a collision, the collision should be resolved inside the dynamics calculation. More...

Public Member Functions inherited from SurgSim::Physics::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual	~Representation ()
	Destructor. More...

virtual RepresentationType	getType () const =0
	Query the representation type. More...

virtual void	resetParameters ()
	Reset the representation parameters to their initial/default values. More...

size_t	getNumDof () const
	Query the object number of degrees of freedom. More...

void	setIsGravityEnabled (bool isGravityEnabled)
	Set the gravity enable flag. More...

bool	isGravityEnabled () const
	Get the gravity enable flag. More...

void	setIsDrivingSceneElementPose (bool isDrivingSceneElementPose)
	Set whether this Representation is controlling the pose of the SceneElement that it is part of. More...

bool	isDrivingSceneElementPose ()
	Query if this Representation is controlling the pose of the SceneElement that it is part of. More...

virtual std::shared_ptr< Localization >	createLocalization (const SurgSim::DataStructures::Location &location)
	Computes a localized coordinate w.r.t this representation, given a Location object. More...

std::shared_ptr< SurgSim::Collision::Representation >	getCollisionRepresentation () const

Public Member Functions inherited from SurgSim::Framework::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor. More...

std::string	getName () const
	Gets component name. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component. More...

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor. More...

	~Accessible ()
	Destructor. More...

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

template<>
boost::any	getValue (const std::string &name) const

Public Member Functions inherited from SurgSim::Math::OdeEquation
virtual	~OdeEquation ()
	Virtual destructor. More...

const std::shared_ptr< OdeState >	getInitialState () const
	Retrieves the ode initial conditions (x0, v0) (i.e. More...

Protected Member Functions
void	addRayleighDampingForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, bool useGlobalMassMatrix=false, bool useGlobalStiffnessMatrix=false, double scale=1.0)
	Adds the Rayleigh damping forces. More...

void	addFemElementsForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
	Adds the FemElements forces to f (given a state) More...

void	addGravityForce (SurgSim::Math::Vector *f, const SurgSim::Math::OdeState &state, double scale=1.0)
	Adds the gravity force to f (given a state) More...

virtual bool	doInitialize () override
	Interface to be implemented by derived classes. More...

Protected Member Functions inherited from SurgSim::Physics::DeformableRepresentation
virtual bool	doWakeUp () override
	Interface to be implemented by derived classes. More...

virtual void	transformState (std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform)=0
	Transform a state using a given transformation. More...

Protected Member Functions inherited from SurgSim::Physics::Representation
void	setNumDof (size_t numDof)
	Set the number of degrees of freedom. More...

const SurgSim::Math::Vector3d &	getGravity () const
	Get the gravity used by this Representation. More...

void	driveSceneElementPose (const SurgSim::Math::RigidTransform3d &pose)
	This conditionally updates that pose for the scenelement to the given pose The update gets exectuded if the representation actually has sceneelement and isDrivingScenElement() is true. More...

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Protected Attributes
std::vector< double >	m_massPerNode
	Useful information per node. More...

std::string	m_filename
	Filename for loading the fem representation. More...

Protected Attributes inherited from SurgSim::Physics::DeformableRepresentation
std::shared_ptr< SurgSim::Math::OdeState >	m_previousState
	The previous state inside the calculation loop, this has no meaning outside of the loop. More...

std::shared_ptr< SurgSim::Math::OdeState >	m_currentState
	The currently calculated state inside the physics loop, after the whole calculation is done this will become m_finalState. More...

std::shared_ptr< SurgSim::Math::OdeState >	m_newState
	New state is a temporary variable to store the newly computed state. More...

std::shared_ptr< SurgSim::Math::OdeState >	m_finalState
	Last valid state (a.k.a final state) More...

SurgSim::Math::Vector	m_f
	Force applied on the deformable representation. More...

SurgSim::Math::Matrix	m_M
	Mass matrix. More...

SurgSim::Math::Matrix	m_D
	Damping matrix. More...

SurgSim::Math::Matrix	m_K
	Stiffness matrix. More...

size_t	m_numDofPerNode
	Number of degrees of freedom per node (varies per deformable model) More...

SurgSim::Math::IntegrationScheme	m_integrationScheme
	Numerical Integration scheme (dynamic explicit/implicit solver) More...

bool	m_needToReloadOdeSolver
	Specify if the Ode Solver needs to be (re)loaded (do not exist yet, or integration scheme has changed) More...

std::shared_ptr< SurgSim::Math::OdeSolver >	m_odeSolver
	Ode solver (its type depends on the numerical integration scheme) More...

SurgSim::Math::Vector	m_externalGeneralizedForce
	External generalized force, stiffness and damping applied on the deformable representation. More...

SurgSim::Math::Matrix	m_externalGeneralizedStiffness
	External generalized force, stiffness and damping applied on the deformable representation. More...

SurgSim::Math::Matrix	m_externalGeneralizedDamping
	External generalized force, stiffness and damping applied on the deformable representation. More...

Protected Attributes inherited from SurgSim::Physics::Representation
std::shared_ptr< SurgSim::Collision::Representation >	m_collisionRepresentation
	This entity's collision representation, these are usually very specific to the physics representation. More...

Protected Attributes inherited from SurgSim::Math::OdeEquation
std::shared_ptr< OdeState >	m_initialState
	The initial state (which defines the ODE initial conditions (x0, v0)) More...

Private Member Functions
virtual std::shared_ptr< FemPlyReaderDelegate >	getDelegate ()=0
	To be implemented by derived classes. More...

Private Attributes
std::vector< std::shared_ptr< FemElement > >	m_femElements
	FemElements. More...

struct {
double massCoefficient

double stiffnessCoefficient

}	m_rayleighDamping
	Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness. More...

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Component
typedef SurgSim::Framework::ObjectFactory1< SurgSim::Framework::Component, std::string >	FactoryType

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryType &	getFactory ()

Detailed Description

Finite Element Model (a.k.a.

fem) is a deformable model (a set of nodes connected by FemElement).

Note: A fem is a DeformableRepresentation (Physics::Representation and Math::OdeEquation); Therefore, it defines a dynamic system M.a=F(x,v); The model handles damping through the Rayleigh damping (where damping is a combination of mass and stiffness)

Constructor & Destructor Documentation

SurgSim::Physics::FemRepresentation::FemRepresentation ( const std::string & name )

explicit

Constructor.

Parameters

name	The name of the FemRepresentation

SurgSim::Physics::FemRepresentation::~FemRepresentation ( )

virtual

Destructor.

Member Function Documentation

void SurgSim::Physics::FemRepresentation::addFemElement ( const std::shared_ptr< FemElement > element )

Adds a FemElement.

Parameters

element The FemElement to add to the representation

void SurgSim::Physics::FemRepresentation::addFemElementsForce	(	SurgSim::Math::Vector *	f,
		const SurgSim::Math::OdeState &	state,
		double	scale = `1.0`
	)

protected

Adds the FemElements forces to f (given a state)

Parameters

[in,out]	f	The force vector to cumulate the FemElements forces into
	state	The state vector containing positions and velocities
	scale	A scaling factor to scale the FemElements forces with

void SurgSim::Physics::FemRepresentation::addGravityForce	(	SurgSim::Math::Vector *	f,
		const SurgSim::Math::OdeState &	state,
		double	scale = `1.0`
	)

protected

Adds the gravity force to f (given a state)

Parameters

[in,out]	f	The force vector to cumulate the gravity force into
	state	The state vector containing positions and velocities
	scale	A scaling factor to scale the gravity force with

Note: This method does not do anything if gravity is disabled

void SurgSim::Physics::FemRepresentation::addRayleighDampingForce	(	SurgSim::Math::Vector *	f,
		const SurgSim::Math::OdeState &	state,
		bool	useGlobalMassMatrix = `false`,
		bool	useGlobalStiffnessMatrix = `false`,
		double	scale = `1.0`
	)

protected

Adds the Rayleigh damping forces.

Parameters

[in,out]	f	The force vector to cumulate the Rayleigh damping force into
	state	The state vector containing positions and velocities
	useGlobalMassMatrix,useGlobalStiffnessMatrix	True indicates that the global mass and stiffness matrices should be used (F = -c.M.v - d.K.v)
	scale	A scaling factor to apply on the damping force

Note: Damping matrix D = c.M + d.K (Rayleigh damping definition); F = - D.v = -c.M.v - d.K.v; If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is True, {M | K} will be used; If {useGlobalMassMatrix | useGlobalStiffnessMatrix} is False; the {mass|stiffness} component will be computed FemElement by FemElement

void SurgSim::Physics::FemRepresentation::afterUpdate ( double dt )

overridevirtual

Postprocessing done after the update call.

Parameters

dt	The time step (in seconds)

Note: This method will update all FemElement with the final state; and potentially deactivate/reset the representation if necessary.

Reimplemented from SurgSim::Physics::DeformableRepresentation.

void SurgSim::Physics::FemRepresentation::beforeUpdate ( double dt )

overridevirtual

Preprocessing done before the update call.

Parameters

dt	The time step (in seconds)

Reimplemented from SurgSim::Physics::Representation.

const SurgSim::Math::Matrix & SurgSim::Physics::FemRepresentation::computeD ( const SurgSim::Math::OdeState & state )

overridevirtual

Evaluation of D = -df/dv (x,v) for a given state.

Parameters

state (x, v) the current position and velocity to evaluate the Jacobian matrix with

Returns: The matrix D = -df/dv(x,v)

Note: Returns a reference, its values will remain unchanged until the next call to computeD() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

SurgSim::Math::Vector & SurgSim::Physics::FemRepresentation::computeF ( const SurgSim::Math::OdeState & state )

overridevirtual

Evaluation of the RHS function f(x,v) for a given state.

Parameters

state (x, v) the current position and velocity to evaluate the function f(x,v) with

Returns: The vector containing f(x,v)

Note: Returns a reference, its values will remain unchanged until the next call to computeF() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

void SurgSim::Physics::FemRepresentation::computeFMDK	(	const SurgSim::Math::OdeState &	state,
		SurgSim::Math::Vector **	f,
		SurgSim::Math::Matrix **	M,
		SurgSim::Math::Matrix **	D,
		SurgSim::Math::Matrix **	K
	)

overridevirtual

Evaluation of f(x,v), M(x,v), D = -df/dv(x,v), K = -df/dx(x,v) When all the terms are needed, this method can perform optimization in evaluating everything together.

Parameters

	state	(x, v) the current position and velocity to evaluate the various terms with
[out]	f	The RHS f(x,v)
[out]	M	The matrix M(x,v)
[out]	D	The matrix D = -df/dv(x,v)
[out]	K	The matrix K = -df/dx(x,v)

Note: Returns pointers, the internal data will remain unchanged until the next call to computeFMDK() or; computeF(), computeM(), computeD(), computeK()

Implements SurgSim::Math::OdeEquation.

const SurgSim::Math::Matrix & SurgSim::Physics::FemRepresentation::computeK ( const SurgSim::Math::OdeState & state )

overridevirtual

Evaluation of K = -df/dx (x,v) for a given state.

Parameters

state (x, v) the current position and velocity to evaluate the Jacobian matrix with

Returns: The matrix K = -df/dx(x,v)

Note: Returns a reference, its values will remain unchanged until the next call to computeK() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

const SurgSim::Math::Matrix & SurgSim::Physics::FemRepresentation::computeM ( const SurgSim::Math::OdeState & state )

overridevirtual

Evaluation of the LHS matrix M(x,v) for a given state.

Parameters

state (x, v) the current position and velocity to evaluate the matrix M(x,v) with

Returns: The matrix M(x,v)

Note: Returns a reference, its values will remain unchanged until the next call to computeM() or computeFMDK()

Implements SurgSim::Math::OdeEquation.

bool SurgSim::Physics::FemRepresentation::doInitialize ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Framework::Representation.

virtual std::shared_ptr<FemPlyReaderDelegate> SurgSim::Physics::FemRepresentation::getDelegate ( )

privatepure virtual

To be implemented by derived classes.

Returns: The delegate to load the corresponding derived class.

Implemented in SurgSim::Physics::Fem3DRepresentation, SurgSim::Physics::Fem1DRepresentation, and SurgSim::Physics::Fem2DRepresentation.

std::shared_ptr< FemElement > SurgSim::Physics::FemRepresentation::getFemElement ( size_t femElementId )

Retrieves a given FemElement from its id.

Parameters

femElementId The FemElement id for which the FemElement is requested

Returns: The FemElement for the given femElementId

Note: The FemElement is returned with read/write access; Out of range femElementId will raise an exception

const std::string & SurgSim::Physics::FemRepresentation::getFilename ( ) const

Gets the name of the file to be loaded.

Returns: filename The name of the file to be loaded

size_t SurgSim::Physics::FemRepresentation::getNumFemElements ( ) const

Gets the number of FemElement.

Returns: the number of FemElement

double SurgSim::Physics::FemRepresentation::getRayleighDampingMass ( ) const

Gets the Rayleigh mass parameter.

Returns: The Rayleigh mass parameter

double SurgSim::Physics::FemRepresentation::getRayleighDampingStiffness ( ) const

Gets the Rayleigh stiffness parameter.

Returns: The Rayleigh stiffness parameter

double SurgSim::Physics::FemRepresentation::getTotalMass ( ) const

Gets the total mass of the fem.

Returns: The total mass of the fem (in Kg)

bool SurgSim::Physics::FemRepresentation::isValidCoordinate ( const SurgSim::DataStructures::IndexedLocalCoordinate & coordinate ) const

Determines whether the associated coordinate is valid.

Parameters

coordinate Coordinate to check

Returns: True if coordinate is valid

bool SurgSim::Physics::FemRepresentation::loadFile ( )

Loads the file.

Returns: true if successful

void SurgSim::Physics::FemRepresentation::setFilename ( const std::string & filename )

Sets the name of the file to be loaded.

Parameters

filename The name of the file to be loaded

void SurgSim::Physics::FemRepresentation::setRayleighDampingMass ( double massCoef )

Sets the Rayleigh mass parameter.

Parameters

massCoef The Rayleigh mass parameter

void SurgSim::Physics::FemRepresentation::setRayleighDampingStiffness ( double stiffnessCoef )

Sets the Rayleigh stiffness parameter.

Parameters

stiffnessCoef The Rayleigh stiffness parameter

Member Data Documentation

std::vector<std::shared_ptr<FemElement> > SurgSim::Physics::FemRepresentation::m_femElements

private

FemElements.

std::string SurgSim::Physics::FemRepresentation::m_filename

protected

Filename for loading the fem representation.

std::vector<double> SurgSim::Physics::FemRepresentation::m_massPerNode

protected

Useful information per node.

struct { ... } SurgSim::Physics::FemRepresentation::m_rayleighDamping

Rayleigh damping parameters (massCoefficient and stiffnessCoefficient) D = massCoefficient.M + stiffnessCoefficient.K Matrices: D = damping, M = mass, K = stiffness.

double SurgSim::Physics::FemRepresentation::massCoefficient

double SurgSim::Physics::FemRepresentation::stiffnessCoefficient

The documentation for this class was generated from the following files:

SurgSim/Physics/FemRepresentation.h
SurgSim/Physics/FemRepresentation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation