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16 #ifndef SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
17 #define SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
21 #include <unordered_map>
32 namespace DataStructures
34 struct IndexedLocalCoordinate;
51 SURGSIM_STATIC_REGISTRATION(Fem3DRepresentation);
71 void setFem(std::shared_ptr<SurgSim::Framework::Asset> mesh);
74 std::shared_ptr<Fem3D>
getFem()
const;
86 void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
97 std::shared_ptr<const SurgSim::Math::MeshShape> mesh);
126 #endif // SURGSIM_PHYSICS_FEM3DREPRESENTATION_H
std::unordered_map< size_t, size_t > createTriangleIdToElementIdMap(std::shared_ptr< const SurgSim::Math::MeshShape > mesh)
Produces a mapping from the provided mesh's triangle ids to this object's fem element ids.
Definition: Fem3DRepresentation.cpp:203
std::unordered_map< size_t, size_t > m_triangleIdToElementIdMap
Mapping from collision triangle's id to fem element id.
Definition: Fem3DRepresentation.h:117
void setFem(std::shared_ptr< SurgSim::Framework::Asset > mesh)
Sets the fem mesh asset.
Definition: Fem3DRepresentation.cpp:79
bool doInitialize() override
Interface to be implemented by derived classes.
Definition: Fem3DRepresentation.cpp:277
void addExternalGeneralizedForce(std::shared_ptr< Localization > localization, const SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override
Add an external generalized force applied on a specific localization.
Definition: Fem3DRepresentation.cpp:135
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
std::shared_ptr< Localization > createNodeLocalization(size_t nodeId)
Helper method: create a localization for a node.
Definition: Fem3DRepresentation.cpp:289
std::shared_ptr< Localization > createTriangleLocalization(const SurgSim::DataStructures::IndexedLocalCoordinate &location)
Helper method: create a localization for an triangle-based IndexedLocalCoordinate.
Definition: Fem3DRepresentation.cpp:318
Finite Element Model (a.k.a FEM) is a deformable model (a set of nodes connected by FemElement).
Definition: FemRepresentation.h:46
std::shared_ptr< Fem3D > getFem() const
Definition: Fem3DRepresentation.cpp:130
Definition: CompoundShapeToGraphics.cpp:29
std::shared_ptr< Localization > createLocalization(const SurgSim::DataStructures::Location &location) override
Computes a localized coordinate w.r.t this representation, given a Location object.
Definition: Fem3DRepresentation.cpp:382
std::shared_ptr< Fem3D > m_fem
The Fem3DRepresentation's asset as a Fem3D.
Definition: Fem3DRepresentation.h:120
A generic (size_t index, Vector coordinate) pair.
Definition: IndexedLocalCoordinate.h:29
SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DRepresentation)
virtual ~Fem3DRepresentation()
Destructor.
Definition: Fem3DRepresentation.cpp:68
std::shared_ptr< Localization > createElementLocalization(const SurgSim::DataStructures::IndexedLocalCoordinate &location)
Helper method: create a localization for an element-based IndexedLocalCoordinate (tetrahedron or cube...
Definition: Fem3DRepresentation.cpp:375
Fem3DRepresentation(const std::string &name)
Constructor.
Definition: Fem3DRepresentation.cpp:56
A Location defines a local position w.r.t.
Definition: Location.h:39
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:68
void transformState(std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform) override
Transform a state using a given transformation.
Definition: Fem3DRepresentation.cpp:402
Finite Element Model 3D is a fem built with 3D FemElement.
Definition: Fem3DRepresentation.h:54
void loadFem(const std::string &fileName) override
Loads the FEM file into an Fem class data structure.
Definition: Fem3DRepresentation.cpp:72
string(TOUPPER ${DEVICE} DEVICE_UPPER_CASE) option(BUILD_DEVICE_$
Definition: CMakeLists.txt:38
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
bool doWakeUp() override
Interface to be implemented by derived classes.
Definition: Fem3DRepresentation.cpp:260