File elasticTwistingForce.h

class elasticTwistingForce : public baseForce

Public Functions

elasticTwistingForce(const shared_ptr<softRobots> &m_soft_robots)

~elasticTwistingForce() override

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

Private Functions

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

Private Members

int ci

int ind

int ind1

int ind2

double norm_e

double norm_f

double norm2_e

double norm2_f

double value

double chi

double milen

Vector3d t0

Vector3d t1

Vector3d te

Vector3d tf

Vector3d kbLocal

Vector3d tilde_t

shared_ptr<VectorXd> theta_f

shared_ptr<VectorXd> theta_e

shared_ptr<VectorXd> deltam

VectorXd gradTwistLocal

VectorXd getUndeformedTwist

VectorXd f

vector<shared_ptr<MatrixXd>> gradTwists

vector<shared_ptr<VectorXd>> deltams

vector<shared_ptr<VectorXd>> theta_fs

vector<shared_ptr<VectorXd>> theta_es

Matrix3d D2mDe2

Matrix3d D2mDf2

Matrix3d D2mDeDf

Matrix3d D2mDfDe

Matrix3d teMatrix

Matrix<double, 11, 11> J

Matrix<double, 11, 11> DDtwist

Matrix<double, 11, 11> Jtt

shared_ptr<MatrixXd> gradTwist

double GJ