File elasticBendingForce.h

class elasticBendingForce : public baseForce

Public Functions

elasticBendingForce(const shared_ptr<softRobots> &m_soft_robots)

~elasticBendingForce() override

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

Private Functions

void JacobianComputation()

void crossMat(const Vector3d &a, Matrix3d &b)

Private Members

int ci

double chi

double len

double kappa1

double kappa2

double norm_e

double norm_f

double norm2_e

double norm2_f

double D2kappa1Dthetae2

double D2kappa1Dthetaf2

double D2kappa2Dthetae2

double D2kappa2Dthetaf2

Vector3d t0

Vector3d t1

Vector3d te

Vector3d tf

Vector3d d1e

Vector3d d1f

Vector3d d2e

Vector3d d2f

Vector3d tilde_t

Vector3d tilde_d1

Vector3d tilde_d2

Vector3d Dkappa1De

Vector3d Dkappa1Df

Vector3d Dkappa2De

Vector3d Dkappa2Df

Vector3d kbLocal

Vector2d kappaL

Vector3d tmp

Vector3d D2kappa1DeDthetae

Vector3d D2kappa1DeDthetaf

Vector3d D2kappa1DfDthetae

Vector3d D2kappa1DfDthetaf

Vector3d D2kappa2DeDthetae

Vector3d D2kappa2DeDthetaf

Vector3d D2kappa2DfDthetae

Vector3d D2kappa2DfDthetaf

Vector2d temp

Vector3d m1e

Vector3d m2e

Vector3d m1f

Vector3d m2f

VectorXd kappa11

VectorXd kappa22

VectorXd f

vector<shared_ptr<MatrixXd>> gradKappa1s

vector<shared_ptr<MatrixXd>> gradKappa2s

shared_ptr<MatrixXd> gradKappa1

shared_ptr<MatrixXd> gradKappa2

MatrixXd relevantPart

MatrixXd kappa

MatrixXd DDkappa1

MatrixXd DDkappa2

MatrixXd Jbb

vector<Matrix2d> EIMatrices

Matrix3d Id3

Matrix3d tt_o_tt

Matrix3d tilde_d1_3d

Matrix3d tilde_d2_3d

Matrix3d tf_c_d2t_o_tt

Matrix3d tt_o_tf_c_d2t

Matrix3d kb_o_d2e

Matrix3d d2e_o_kb

Matrix3d D2kappa1De2

Matrix3d te_c_d2t_o_tt

Matrix3d tt_o_te_c_d2t

Matrix3d kb_o_d2f

Matrix3d d2f_o_kb

Matrix3d D2kappa1Df2

Matrix3d D2kappa1DeDf

Matrix3d D2kappa1DfDe

Matrix3d tf_c_d1t_o_tt

Matrix3d tt_o_tf_c_d1t

Matrix3d kb_o_d1e

Matrix3d d1e_o_kb

Matrix3d D2kappa2De2

Matrix3d te_c_d1t_o_tt

Matrix3d tt_o_te_c_d1t

Matrix3d kb_o_d1f

Matrix3d d1f_o_kb

Matrix3d D2kappa2Df2

Matrix3d D2kappa2DeDf

Matrix3d D2kappa2DfDe