Fem1DElementBeam.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PHYSICS_FEM1DELEMENTBEAM_H
#define SURGSIM_PHYSICS_FEM1DELEMENTBEAM_H

#include <array>

#include "SurgSim/Physics/FemElement.h"

namespace SurgSim
{

namespace Physics
{

SURGSIM_STATIC_REGISTRATION(Fem1DElementBeam);

class Fem1DElementBeam : public FemElement
{
public:
    Fem1DElementBeam();

    explicit Fem1DElementBeam(std::array<size_t, 2> nodeIds);

    explicit Fem1DElementBeam(std::shared_ptr<FemElementStructs::FemElementParameter> elementData);

    SURGSIM_CLASSNAME(SurgSim::Physics::Fem1DElementBeam)

    
    void setRadius(double radius);

    double getRadius() const;

    void initialize(const SurgSim::Math::OdeState& state) override;

    double getVolume(const SurgSim::Math::OdeState& state) const override;

    bool getShearingEnabled() const;

    void setShearingEnabled(bool enabled);

    SurgSim::Math::Vector computeCartesianCoordinate(
            const SurgSim::Math::OdeState& state,
            const SurgSim::Math::Vector& naturalCoordinate) const override;

    SurgSim::Math::Vector computeNaturalCoordinate(
            const SurgSim::Math::OdeState& state,
            const SurgSim::Math::Vector& cartesianCoordinate) const override;

    const SurgSim::Math::Matrix33d& getInitialRotation() const;

protected:
    void initializeMembers();

    void computeInitialRotation(const SurgSim::Math::OdeState& state);

    void computeStiffness(const SurgSim::Math::OdeState& state);

    void computeMass(const SurgSim::Math::OdeState& state);

    void doUpdateFMDK(const Math::OdeState& state, int options) override;

    Eigen::Matrix<double, 12, 1> m_x0;

    SurgSim::Math::Matrix33d m_R0;

    Eigen::Matrix<double, 12, 12> m_MLocal;
    Eigen::Matrix<double, 12, 12> m_KLocal;

    double m_restLength;
    double m_radius;
    double m_A;
    bool m_haveShear;
    double m_shearFactor;
    double m_J;
};

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_FEM1DELEMENTBEAM_H