16 #ifndef SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H 17 #define SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H 27 SURGSIM_STATIC_REGISTRATION(Fem3DElementCorotationalTetrahedron);
96 #endif // SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H Definition: CompoundShapeToGraphics.cpp:29
void doUpdateFMDK(const Math::OdeState &state, int options) override
Update the FemElement based on the given state.
Definition: Fem3DElementCorotationalTetrahedron.cpp:78
void initialize(const SurgSim::Math::OdeState &state) override
Initialize the FemElement once everything has been set.
Definition: Fem3DElementCorotationalTetrahedron.cpp:49
SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DElementCorotationalTetrahedron)
Class for Fem Element 3D based on a tetrahedron volume discretization.
Definition: Fem3DElementTetrahedron.h:41
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
void computeRotationMassAndStiffness(const SurgSim::Math::OdeState &state, SurgSim::Math::Matrix33d *R, Math::Matrix *Me, Math::Matrix *Ke) const
Compute the rotation, mass and stiffness matrices of the element from the given state.
Definition: Fem3DElementCorotationalTetrahedron.cpp:117
The state of an ode of 2nd order of the form with boundary conditions.
Definition: OdeState.h:38
Eigen::Matrix< double, 12, 12 > m_KLinear
Definition: Fem3DElementCorotationalTetrahedron.h:86
Eigen::Matrix< double, 4, 4, Eigen::RowMajor > Matrix44d
A 4x4 matrix of doubles.
Definition: Matrix.h:55
SurgSim::Math::Matrix33d m_R
Definition: Fem3DElementCorotationalTetrahedron.h:89
SurgSim::Math::Matrix44d m_Vinverse
The constant inverse matrix of the undeformed tetrahedron homogeneous 4 points coordinates.
Definition: Fem3DElementCorotationalTetrahedron.h:80
Fem Element 3D co-rotational based on a tetrahedron volume discretization.
Definition: Fem3DElementCorotationalTetrahedron.h:40
Fem3DElementCorotationalTetrahedron()
Constructor.
Eigen::Matrix< double, 3, 3, Eigen::RowMajor > Matrix33d
A 3x3 matrix of doubles.
Definition: Matrix.h:51
Eigen::Matrix< double, 12, 12 > m_MLinear
Definition: Fem3DElementCorotationalTetrahedron.h:83