FemElement-inl.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_FEMELEMENT_INL_H
#define SURGSIM_PHYSICS_FEMELEMENT_INL_H

#include <vector>

#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/SparseMatrix.h"

namespace SurgSim
{

namespace Physics
{

template <typename T, int Opt, typename StorageIndex>
void FemElement::assembleMatrixBlocks(const Eigen::Ref<const Math::Matrix>& subMatrix,
    const std::vector<size_t>& blockIds, size_t blockSize, Eigen::SparseMatrix<T, Opt, StorageIndex>* matrix) const
{
    using SurgSim::Math::addSubMatrix;
    using Eigen::Index;

    const Index numBlocks = static_cast<Index>(blockIds.size());
    for (Index block0 = 0; block0 < numBlocks; block0++)
    {
        Index subRow = static_cast<Index>(blockSize * block0);
        for (Index block1 = 0; block1 < numBlocks; block1++)
        {
            Index subCol = static_cast<Index>(blockSize * block1);
            addSubMatrix(subMatrix.block(subRow, subCol, blockSize, blockSize),
                static_cast<Index>(blockIds[block0]), static_cast<Index>(blockIds[block1]), matrix);
        }
    }
}

template <typename T, int Opt, typename StorageIndex>
void FemElement::assembleMatrixBlocksNoInitialize(const Eigen::Ref<const Math::Matrix>& subMatrix,
    const std::vector<size_t>& blockIds, size_t blockSize, Eigen::SparseMatrix<T, Opt, StorageIndex>* matrix) const
{
    using SurgSim::Math::addSubMatrixNoInitialize;
    using Eigen::Index;

    const Index numBlocks = static_cast<Index>(blockIds.size());
    for (Index block0 = 0; block0 < numBlocks; block0++)
    {
        Index subRow = static_cast<Index>(blockSize * block0);
        for (Index block1 = 0; block1 < numBlocks; block1++)
        {
            Index subCol = static_cast<Index>(blockSize * block1);
            addSubMatrixNoInitialize(subMatrix.block(subRow, subCol, blockSize, blockSize),
                static_cast<Index>(blockIds[block0]), static_cast<Index>(blockIds[block1]), matrix);
        }
    }
}

} // namespace Physics

} // namespace SurgSim

#endif // SURGSIM_PHYSICS_FEMELEMENT_INL_H