[FEM.HyperElastic] Integration of hyperelasticity from Elasticity plugin to SOFA

Sofa/Component/SolidMechanics/FEM/HyperElastic/CMakeLists.txt

@@ -6,6 +6,12 @@ set(SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR "src/sofa/component/so
 set(HEADER_FILES
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/config.h.in
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/init.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticityFEMForceField.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticityFEMForceField.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticMaterial.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/PK2HyperelasticMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/PK2HyperelasticMaterial.inl
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/StandardTetrahedralFEMForceField.h
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/StandardTetrahedralFEMForceField.inl
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/TetrahedronHyperelasticityFEMDrawing.h
@@ -22,19 +28,45 @@ set(HEADER_FILES
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/StableNeoHookean.h
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/STVenantKirchhoff.h
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/VerondaWestman.h
+
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/impl/MajorSymmetric4Tensor.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/impl/Strain.h
+
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/IncompressibleMooneyRivlinMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/IncompressibleMooneyRivlinMaterial.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/LinearMechanicalParametersComponent.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/LinearMechanicalParametersComponent.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/MooneyRivlinMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/MooneyRivlinMaterial.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/NeoHookeanMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/NeoHookeanMaterial.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/OgdenMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/OgdenMaterial.inl
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/StVenantKirchhoffMaterial.h
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/StVenantKirchhoffMaterial.inl
 )
 
 set(SOURCE_FILES
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/init.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/PK2HyperelasticMaterial.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticityFEMForceField.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticMaterial.cpp
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/StandardTetrahedralFEMForceField.cpp
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/TetrahedronHyperelasticityFEMForceField.cpp
     ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/PlasticMaterial.cpp
+
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/IncompressibleMooneyRivlinMaterial.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/LinearMechanicalParametersComponent.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/MooneyRivlinMaterial.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/NeoHookeanMaterial.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/OgdenMaterial.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/StVenantKirchhoffMaterial.cpp
 )
 
-sofa_find_package(Sofa.Simulation.Core REQUIRED)
+sofa_find_package(Sofa.Simulation.Core Sofa.Component.SolidMechanics.FEM.Elastic REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core Sofa.Component.SolidMechanics.FEM.Elastic)
 
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}

Sofa/Component/SolidMechanics/FEM/HyperElastic/Sofa.Component.SolidMechanics.FEM.HyperElasticConfig.cmake.in

@@ -5,6 +5,7 @@
 
 find_package(Sofa.Config QUIET REQUIRED)
 sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
+sofa_find_package(Sofa.Component.SolidMechanics.FEM.Elastic QUITE REQUIRED)
 sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)

Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.cpp

@@ -0,0 +1,34 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#define ELASTICITY_COMPONENT_HYPERELASTIC_MATERIAL_CPP
+
+#include <sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.inl>
+#include <sofa/defaulttype/VecTypes.h>
+
+namespace sofa::component::solidmechanics::fem::hyperelastic
+{
+
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec1Types>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec2Types>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec3Types>;
+
+}

Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.h

@@ -0,0 +1,82 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/component/solidmechanics/fem/hyperelastic/config.h>
+#include <sofa/type/FullySymmetric4Tensor.h>
+#include <sofa/component/solidmechanics/fem/hyperelastic/impl/MajorSymmetric4Tensor.h>
+#include <sofa/component/solidmechanics/fem/hyperelastic/impl/Strain.h>
+#include <sofa/core/objectmodel/BaseObject.h>
+
+#if !defined(ELASTICITY_COMPONENT_HYPERELASTIC_MATERIAL_CPP)
+#include <sofa/defaulttype/VecTypes.h>
+#endif
+
+namespace sofa::component::solidmechanics::fem::hyperelastic
+{
+
+template<class TDataTypes>
+class HyperelasticMaterial : public virtual sofa::core::objectmodel::BaseObject
+{
+public:
+    SOFA_ABSTRACT_CLASS(HyperelasticMaterial<TDataTypes>, sofa::core::objectmodel::BaseObject);
+    using DataTypes = TDataTypes;
+
+protected:
+    using Real = sofa::Real_t<DataTypes>;
+
+    static constexpr sofa::Size spatial_dimensions = DataTypes::spatial_dimensions;
+
+    using DeformationGradient = sofa::type::Mat<spatial_dimensions, spatial_dimensions, Real>;
+    using RightCauchyGreenTensor = sofa::type::Mat<spatial_dimensions, spatial_dimensions, Real>;
+    using StressTensor = sofa::type::Mat<spatial_dimensions, spatial_dimensions, Real>;
+    using ElasticityTensor = sofa::type::FullySymmetric4Tensor<spatial_dimensions, Real>;
+    using TangentModulus = MajorSymmetric4Tensor<DataTypes>;
+
+public:
+    void init() override;
+
+    /**
+     * Computes the First Piola-Kirchhoff stress tensor for a given deformation gradient.
+     *
+     * It corresponds to the derivative of the strain energy density function w.r.t. deformation
+     * gradient.
+     */
+    virtual StressTensor firstPiolaKirchhoffStress(Strain<DataTypes>& strain) = 0;
+
+    /**
+     * Compute the jacobian of the first Piola-Kirchhoff stress tensor with respect to the
+     * deformation gradient.
+     *
+     * It is called the material tangent modulus.
+     */
+    virtual TangentModulus materialTangentModulus(Strain<DataTypes>& strain) = 0;
+
+};
+
+#if !defined(ELASTICITY_COMPONENT_HYPERELASTIC_MATERIAL_CPP)
+extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec1Types>;
+extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec2Types>;
+extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec3Types>;
+#endif
+
+}

Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.inl

@@ -0,0 +1,39 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.h>
+
+namespace sofa::component::solidmechanics::fem::hyperelastic
+{
+
+template <class DataTypes>
+void HyperelasticMaterial<DataTypes>::init()
+{
+    sofa::core::objectmodel::BaseObject::init();
+
+    if (!this->isComponentStateInvalid())
+    {
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+    }
+}
+
+}  // namespace elasticity

Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticityFEMForceField.cpp

@@ -0,0 +1,57 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#define ELASTICITY_COMPONENT_HYPERLASTICITY_FEM_FORCE_FIELD_CPP
+
+#include <sofa/component/solidmechanics/fem/hyperelastic/HyperelasticityFEMForceField.inl>
+
+#include <sofa/fem/FiniteElement[all].h>
+#include <sofa/core/ObjectFactory.h>
+
+namespace sofa::component::solidmechanics::fem::hyperelastic
+{
+
+void registerHyperelasticityFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Hyperelasticity")
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
+        .add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
+    );
+}
+
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
+
+}