File elasticStretchingForce.h

class elasticStretchingForce : public baseForce

Public Functions

elasticStretchingForce(const shared_ptr<softRobots> &m_soft_robots)

~elasticStretchingForce() override

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

Private Members

double len

double refLength

double epsX

Vector3d u

Vector3d dxx

Vector3d f

Matrix3d Id3

Matrix3d M0

Matrix<double, 1, 3> v

Matrix<double, 7, 7> Jss

double EA

int ind

int ind1

int ind2