Fem3DElementCorotationalTetrahedron.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_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H
#define SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H

#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Physics/Fem3DElementTetrahedron.h"

namespace SurgSim
{

namespace Physics
{
SURGSIM_STATIC_REGISTRATION(Fem3DElementCorotationalTetrahedron);

class Fem3DElementCorotationalTetrahedron : public Fem3DElementTetrahedron
{
public:
    Fem3DElementCorotationalTetrahedron();

    explicit Fem3DElementCorotationalTetrahedron(std::array<size_t, 4> nodeIds);

    explicit Fem3DElementCorotationalTetrahedron(std::shared_ptr<FemElementStructs::FemElementParameter> elementData);

    SURGSIM_CLASSNAME(SurgSim::Physics::Fem3DElementCorotationalTetrahedron);

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

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

protected:
    void computeRotationMassAndStiffness(const SurgSim::Math::OdeState& state, SurgSim::Math::Matrix33d* R,
                                         Math::Matrix* Me, Math::Matrix* Ke) const;

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

    SurgSim::Math::Matrix44d m_Vinverse;

    // The mass matrix of the linear tetrahedron
    Eigen::Matrix<double, 12, 12> m_MLinear;

    // The stiffness matrix of the linear tetrahedron
    Eigen::Matrix<double, 12, 12> m_KLinear;

    // The rotation matrix
    SurgSim::Math::Matrix33d m_R;
};

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_FEM3DELEMENTCOROTATIONALTETRAHEDRON_H