Examples with RotationMatrix3d maspack.matrix.RotationMatrix3d used on opensource projects

Example 66 with RotationMatrix3d

use of maspack.matrix.RotationMatrix3d 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);
    }
}