Examples with Matrix3d maspack.matrix.Matrix3d used on opensource projects

Example 61 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class BeamBody method computeStiffnessFromIntegration.

public void computeStiffnessFromIntegration() {
    int numc = numElasticCoords();
    Matrix6d D = new Matrix6d();
    Matrix3d DS = new Matrix3d();
    Matrix6x1 Bi = new Matrix6x1();
    Matrix6x1 Bj = new Matrix6x1();
    Matrix6x1 Bx = new Matrix6x1();
    myStiffnessMatrix.setZero();
    for (int k = 0; k < myIntegrationPoints.length; k++) {
        SolidDeformation def = new SolidDeformation();
        IntegrationPoint3d pt = myIntegrationPoints[k];
        IntegrationData3d dt = new IntegrationData3d();
        pt.setF(Matrix3d.IDENTITY);
        def.setF(Matrix3d.IDENTITY);
        // get the tangent at the rest position
        Matrix3d Q = Matrix3d.IDENTITY;
        // myMaterial.computeTangent (D, pt.getStress(), pt, dt, null);
        myMaterial.computeTangent(D, SymmetricMatrix3d.ZERO, def, Q, null);
        double dl = (myLen / 2) * pt.getWeight();
        for (int i = 0; i < numc; i++) {
            getDShape(DS, i, pt.getCoords());
            computeBFromDShape(Bi, DS);
            for (int j = 0; j < numc; j++) {
                getDShape(DS, j, pt.getCoords());
                computeBFromDShape(Bj, DS);
                Bx.mul(D, Bj);
                myStiffnessMatrix.add(i, j, dl * Bi.dot(Bx));
            }
        }
    }
}

Example 62 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class LinearMaterialBase method computeTangent.

@Override
public void computeTangent(Matrix6d D, SymmetricMatrix3d stress, SolidDeformation def, Matrix3d Q, FemMaterial baseMat) {
    // get spatial stiffness tensor
    getC(D);
    // rotate if corotated
    if (isCorotated()) {
        // need to rotate this tensor from linear frame into material one
        RotationMatrix3d R = def.getR();
        if (R == null) {
            Matrix3d F = def.getF();
            R = computeRotation(F, null);
        }
        // R rotates from material frame to the spatial one. Transpose
        // of R rotates from spatial frame to material one.
        TensorUtils.unrotateTangent(D, D, R);
    }
}

Example 63 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class LinearMaterialBase method computeStress.

public void computeStress(SymmetricMatrix3d sigma, SolidDeformation def, Matrix3d Q, FemMaterial baseMat) {
    RotationMatrix3d R = def.getR();
    Matrix3d F = def.getF();
    // cauchy strain, rotated if necessary
    if (myCorotated) {
        if (R == null) {
            R = computeRotation(F, sigma);
        } else {
            // remove rotation from F
            sigma.mulTransposeLeftSymmetric(R, F);
        }
    } else {
        sigma.setSymmetric(F);
    }
    sigma.m00 -= 1;
    sigma.m11 -= 1;
    sigma.m22 -= 1;
    multiplyC(sigma, sigma);
    // rotate stress back to original frame
    if (isCorotated()) {
        sigma.mulLeftAndTransposeRight(R);
    }
}

Example 64 with Matrix3d

use of maspack.matrix.Matrix3d in project artisynth_core by artisynth.

the class SimpleForceMuscle method clone.

public SimpleForceMuscle clone() {
    SimpleForceMuscle mat = (SimpleForceMuscle) super.clone();
    mat.myTmp = new Vector3d();
    mat.myMat = new Matrix3d();
    return mat;
}