Examples with IntegrationPoint3d artisynth.core.femmodels.IntegrationPoint3d used on opensource projects

Example 1 with IntegrationPoint3d

use of artisynth.core.femmodels.IntegrationPoint3d in project artisynth_core by artisynth.

the class MFreeElement3d method getNodalExtrapolationMatrix.

// /**
// * Returns the number of pressure variables associated with this element.
// * All of the linear elements have one pressure variable, whereas some of
// * the quadratic elements have more.
// *
// * @return number of pressure variables
// *
// */
// public int numPressureVals() {
// // higher order elements should override this if necessary
// return 1;
// }
// 
// /**
// * Returns the pressure weight matrix for this element. The pressure
// * weight matrix is given by the inverse of the integral of
// * H^T H, where H is the row vector formed from the pressure
// * shape functions.
// *
// * <p>By default, this method returns a pressure weight matrix for the case
// * where there is only one pressure value. Such matrices always have a
// * single value of 1. Elements with a larger number of pressure values
// * should override this method to return a pressure weight matrix
// * appropriate for that element.
// */
// public Matrix getPressureWeightMatrix () {
// if (myPressureWeightMatrix == null) {
// myPressureWeightMatrix = new Matrix1x1();
// myPressureWeightMatrix.m00 = 1;
// }
// return myPressureWeightMatrix;
// }
// 
public double[] getNodalExtrapolationMatrix() {
    if (myNodalExtrapolationMatrix == null) {
        // build
        IntegrationData3d[] idata = getIntegrationData();
        IntegrationPoint3d[] ipnts = getIntegrationPoints();
        myNodalExtrapolationMatrix = new double[idata.length * myNodes.length];
        for (int k = 0; k < idata.length; ++k) {
            VectorNd N = ipnts[k].getShapeWeights();
            for (int j = 0; j < myNodes.length; ++j) {
                myNodalExtrapolationMatrix[j * ipnts.length + k] = N.get(j);
            }
        }
    }
    return myNodalExtrapolationMatrix;
}

Example 2 with IntegrationPoint3d

use of artisynth.core.femmodels.IntegrationPoint3d in project artisynth_core by artisynth.

the class MFreeFactory method cloneFem.

public static MFreeModel3d cloneFem(MFreeModel3d model, FemModel3d fem) {
    if (model == null) {
        model = new MFreeModel3d();
    }
    HashMap<FemNode3d, MFreeNode3d> nodeMap = new HashMap<FemNode3d, MFreeNode3d>();
    HashMap<MFreeNode3d, FemNode3d> nodeMapInv = new HashMap<MFreeNode3d, FemNode3d>();
    ArrayList<MFreeNode3d> nodeList = new ArrayList<MFreeNode3d>();
    // duplicate nodes
    for (FemNode3d node : fem.getNodes()) {
        MFreeNode3d mnode = new MFreeNode3d(node.getRestPosition());
        // explicit node masses
        mnode.setMassExplicit(true);
        mnode.setMass(node.getMass());
        MFreeNode3d[] deps = new MFreeNode3d[1];
        deps[0] = mnode;
        VectorNd coords = new VectorNd(new double[] { 1 });
        mnode.setDependentNodes(deps, coords);
        nodeMap.put(node, mnode);
        nodeMapInv.put(mnode, node);
        nodeList.add(mnode);
    }
    // convert surface mesh
    FemMeshComp surfaceFem = fem.getSurfaceMeshComp();
    PolygonalMesh mesh = (PolygonalMesh) surfaceFem.getMesh();
    // build mesh
    PolygonalMesh mesh2 = mesh.copy();
    // index vertices
    int idx = 0;
    for (Vertex3d vtx : mesh.getVertices()) {
        vtx.setIndex(idx++);
    }
    idx = 0;
    for (Vertex3d vtx : mesh2.getVertices()) {
        vtx.setIndex(idx++);
    }
    MFreeMeshComp surfaceMFree = new MFreeMeshComp(model, "surface");
    surfaceMFree.setMesh(mesh2);
    // manually build surface attachments
    for (Vertex3d vtx : mesh.getVertices()) {
        PointAttachment pa = surfaceFem.getAttachment(vtx.getIndex());
        if (pa instanceof PointFem3dAttachment) {
            PointFem3dAttachment pfa = (PointFem3dAttachment) pa;
            FemNode[] masters = pfa.getNodes();
            MFreeNode3d[] deps = new MFreeNode3d[masters.length];
            VectorNd coords = new VectorNd(masters.length);
            for (int j = 0; j < masters.length; j++) {
                // mlist.add (new ContactMaster (masters[j], pfa.getCoordinate(j)));
                deps[j] = nodeMap.get(masters[j]);
                coords.set(j, pfa.getCoordinate(j));
            }
            surfaceMFree.setVertexAttachment(vtx.getIndex(), coords.getBuffer(), deps);
        } else {
            PointParticleAttachment ppa = (PointParticleAttachment) pa;
            DynamicComponent[] masters = ppa.getMasters();
            MFreeNode3d[] deps = new MFreeNode3d[1];
            deps[0] = nodeMap.get(masters[0]);
            VectorNd coords = new VectorNd(new double[] { 1 });
            surfaceMFree.setVertexAttachment(vtx.getIndex(), coords.getBuffer(), deps);
        }
    }
    // integration regions by copying elements
    ArrayList<MFreeElement3d> elemList = new ArrayList<MFreeElement3d>(fem.numElements());
    HashMap<FemElement3d, MFreeElement3d> elemMap = new HashMap<FemElement3d, MFreeElement3d>(fem.numElements());
    for (FemElement3d elem : fem.getElements()) {
        MFreeNode3d[] elemNodes = new MFreeNode3d[elem.numNodes()];
        FemNode3d[] fnodes = elem.getNodes();
        for (int i = 0; i < elem.numNodes(); i++) {
            elemNodes[i] = nodeMap.get(fnodes[i]);
        }
        MFreeElement3d region = new MFreeElement3d(null, elemNodes);
        // region.setAllTermsActive(true);
        MFreeIntegrationPoint3d[] mpnts = new MFreeIntegrationPoint3d[elem.numIntegrationPoints()];
        IntegrationData3d[] mdata = new IntegrationData3d[elem.numIntegrationPoints()];
        IntegrationPoint3d[] ipnts = elem.getIntegrationPoints();
        IntegrationData3d[] idata = elem.getIntegrationData();
        for (int i = 0; i < ipnts.length; i++) {
            Point3d pos = new Point3d();
            ipnts[i].computePosition(pos, elem.getNodes());
            Vector3d[] gradU = ipnts[i].getGNs();
            ArrayList<Vector3d> grads = new ArrayList<Vector3d>();
            for (Vector3d g : gradU) {
                grads.add(g);
            }
            MFreeIntegrationPoint3d mpnt = MFreeIntegrationPoint3d.create(elemNodes, ipnts[i].getShapeWeights(), grads, ipnts[i].getWeight());
            IntegrationData3d mdat = new IntegrationData3d();
            mdat.setRestInverseJacobian(idata[i].getInvJ0(), idata[i].getDetJ0());
            mpnts[i] = mpnt;
            mdata[i] = mdat;
        }
        // set warping point
        if (region.getWarpingPoint() == null) {
            IntegrationPoint3d wpnt = elem.getWarpingPoint();
            IntegrationData3d wdat = elem.getWarpingData();
            Point3d pos = new Point3d();
            wpnt.computePosition(pos, elem.getNodes());
            // Vector3d [] gradU = wpnt.updateShapeGradient(wdat.getInvJ0());
            Vector3d[] gradU = wpnt.getGNs();
            ArrayList<Vector3d> grads = new ArrayList<Vector3d>();
            for (Vector3d g : gradU) {
                grads.add(g);
            }
            // MFreeIntegrationPoint3d mpnt =
            // MFreeIntegrationPoint3d.create(pos, deps,
            // wpnt.getShapeWeights(), grads, wpnt.getWeight()*wdat.getDetJ0());
            MFreeIntegrationPoint3d mpnt = MFreeIntegrationPoint3d.create(elemNodes, wpnt.getShapeWeights(), grads, wpnt.getWeight());
            region.setWarpingPoint(mpnt);
            IntegrationData3d wdata = new IntegrationData3d();
            wdata.setRestInverseJacobian(wdat.getInvJ0(), wdat.getDetJ0());
            region.setWarpingPoint(mpnt, wdata);
        }
        region.setIntegrationPoints(mpnts, mdata);
        elemList.add(region);
        elemMap.put(elem, region);
    }
    // add everything to model
    model.addNodes(nodeList);
    model.addElements(elemList);
    model.setSurfaceMeshComp(surfaceMFree);
    // copy properties
    model.setDensity(fem.getDensity());
    model.setParticleDamping(fem.getParticleDamping());
    model.setStiffnessDamping(fem.getStiffnessDamping());
    // copy over all masses
    for (FemNode3d node : fem.getNodes()) {
        nodeMap.get(node).setMass(node.getMass());
    }
    for (FemElement3d elem : fem.getElements()) {
        elemMap.get(elem).setMass(elem.getMass());
    }
    model.setMaterial(fem.getMaterial());
    return model;
}

Example 3 with IntegrationPoint3d

use of artisynth.core.femmodels.IntegrationPoint3d in project artisynth_core by artisynth.

the class MFreeModel3d method updateSlavePos.

public void updateSlavePos() {
    super.updateSlavePos();
    // nodes
    for (FemNode3d node : myNodes) {
        ((MFreeNode3d) node).updateSlavePos();
    }
    // integration points
    for (FemElement3d elem : myElements) {
        for (IntegrationPoint3d mfip : elem.getIntegrationPoints()) {
            ((MFreeIntegrationPoint3d) mfip).updateSlavePos();
        }
        MFreePoint3d warp = (MFreePoint3d) elem.getWarpingPoint();
        if (warp != null) {
            warp.updateSlavePos();
        }
    }
    // meshes
    myMeshList.updateSlavePos();
    myBVTreeValid = false;
    if (myFrameConstraint != null && !myFrameRelativeP) {
        myFrameConstraint.updateFramePose(/*frameRelative=*/
        false);
    }
}

Example 4 with IntegrationPoint3d

use of artisynth.core.femmodels.IntegrationPoint3d in project artisynth_core by artisynth.

the class MFreeModel3d method integrate.

public double integrate(Function3x1 fun) {
    double out = 0;
    if (!myStiffnessesValidP) {
        updateJacobians();
    }
    for (FemElement3d elem : myElements) {
        IntegrationPoint3d[] ipnts = elem.getIntegrationPoints();
        IntegrationData3d[] idata = elem.getIntegrationData();
        for (int i = 0; i < elem.numIntegrationPoints(); i++) {
            IntegrationPoint3d ipnt = ipnts[i];
            IntegrationData3d idat = idata[i];
            VectorNd shapeFunc = ipnt.getShapeWeights();
            for (int j = 0; j < elem.numNodes(); j++) {
                // if (elem.isTermActive(j, j)) {
                double f = fun.eval(((MFreePoint3d) ipnt).getPosition()) * ipnt.getWeight() * shapeFunc.get(j);
                f = f * ipnt.getDetF() * idat.getDetJ0();
                out += f;
            // }
            }
        }
    }
    return out;
}

Example 5 with IntegrationPoint3d

use of artisynth.core.femmodels.IntegrationPoint3d in project artisynth_core by artisynth.

the class MFreeModel3d method computeJacobianAndGradient.

private void computeJacobianAndGradient(FemElement3d region) {
    IntegrationPoint3d[] ipnts = region.getIntegrationPoints();
    IntegrationData3d[] idata = region.getIntegrationData();
    region.setInverted(false);
    for (int i = 0; i < ipnts.length; i++) {
        IntegrationPoint3d ipnt = ipnts[i];
        IntegrationData3d idat = idata[i];
        ipnt.computeJacobianAndGradient(region.getNodes(), idat.getInvJ0());
        double detJ = ipnt.computeInverseJacobian();
        if (detJ < myMinDetJ) {
            myMinDetJ = detJ;
            myMinDetJElement = region;
        }
        if (detJ <= 0) {
            region.setInverted(true);
            myNumInverted++;
        }
    }
}