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[FEM] Refactor templates in latest FEM classes #6124

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[FEM] Refactor templates in latest FEM classes #6124

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e855ace
[FEM] Refactor templates in latest FEM classes
alxbilger May 23, 2026
b5016d0
Refactor also the mass
alxbilger May 28, 2026
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25 changes: 8 additions & 17 deletions Sofa/Component/Mass/src/sofa/component/mass/ElementFEMMass.cpp
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Expand Up @@ -41,27 +41,18 @@ template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Typ

void registerFEMMass(sofa::core::ObjectFactory* factory)
{
factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on edges")
factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force)")
.add< ElementFEMMass<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
.add< ElementFEMMass<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on triangles")
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
.add< ElementFEMMass<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on quads")
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
.add< ElementFEMMass<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on tetrahedra")
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on hexahedra")
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on prisms")
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >(true));
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
.add< ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >()
);
}

}
18 changes: 0 additions & 18 deletions Sofa/Component/Mass/src/sofa/component/mass/ElementFEMMass.h
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Expand Up @@ -80,24 +80,6 @@ class ElementFEMMass :

public:

/**
* @brief Gets the class name according to the provided template parameters.
*
* For example, `ElementFEMMass<Vec3Types, sofa::geometry::Edge>` will return "EdgeFEMMass".
*
* @return A string representing the class name.
*/
static const std::string GetCustomClassName()
{
return std::string(sofa::geometry::elementTypeToString(ElementType::Element_type)) + "FEMMass";
}

/**
* @brief Gets the template name based on the data types.
* @return A string representing the template name (e.g., "Vec3d").
*/
static const std::string GetCustomTemplateName() { return DataTypes::Name(); }

/**
* @brief Link to the nodal mass density component.
*
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25 changes: 8 additions & 17 deletions ...lastic/src/sofa/component/solidmechanics/fem/elastic/ElementCorotationalFEMForceField.cpp
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Expand Up @@ -31,27 +31,18 @@ namespace sofa::component::solidmechanics::fem::elastic

void registerElementCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
{
factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear beams using the corotational approach")
factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law using the corotational approach")
// .add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear triangles using the corotational approach")
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear quads using the corotational approach")
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear tetrahedra using the corotational approach")
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear hexahedra using the corotational approach")
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear prisms using the corotational approach")
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >(true));
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
.add< ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >()
);
}

// template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
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15 changes: 0 additions & 15 deletions .../Elastic/src/sofa/component/solidmechanics/fem/elastic/ElementCorotationalFEMForceField.h
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Expand Up @@ -121,21 +121,6 @@ class ElementCorotationalFEMForceField :
SOFA_TEMPLATE2(BaseElementLinearFEMForceField, DataTypes, ElementType),
SOFA_TEMPLATE2(FEMForceField, DataTypes, ElementType));

/**
* The purpose of this function is to register the name of this class according to the provided
* pattern.
*
* Example: ElementCorotationalFEMForceField<Vec3Types, sofa::geometry::Edge> will produce
* the class name "EdgeCorotationalFEMForceField".
*/
static const std::string GetCustomClassName()
{
return std::string(sofa::geometry::elementTypeToString(ElementType::Element_type)) +
"CorotationalFEMForceField";
}

static const std::string GetCustomTemplateName() { return DataTypes::Name(); }

private:
using trait = sofa::component::solidmechanics::fem::elastic::trait<DataTypes, ElementType>;
using ElementForce = typename trait::ElementForce;
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25 changes: 8 additions & 17 deletions ...c/src/sofa/component/solidmechanics/fem/elastic/ElementLinearSmallStrainFEMForceField.cpp
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Expand Up @@ -31,27 +31,18 @@ namespace sofa::component::solidmechanics::fem::elastic

void registerElementLinearSmallStrainFEMForceField(sofa::core::ObjectFactory* factory)
{
factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear beams assuming small strain")
factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law assuming small strain")
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear triangles assuming small strain")
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear quads assuming small strain")
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear tetrahedra assuming small strain")
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear hexahedra assuming small strain")
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >(true));

factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law on linear prisms assuming small strain")
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >(true));
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
.add< ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >()
);
}

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
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17 changes: 1 addition & 16 deletions ...tic/src/sofa/component/solidmechanics/fem/elastic/ElementLinearSmallStrainFEMForceField.h
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Expand Up @@ -45,23 +45,8 @@ class ElementLinearSmallStrainFEMForceField :
SOFA_TEMPLATE2(BaseElementLinearFEMForceField, DataTypes, ElementType),
SOFA_TEMPLATE2(FEMForceField, DataTypes, ElementType));

/**
* The purpose of this function is to register the name of this class according to the provided
* pattern.
*
* Example: ElementLinearSmallStrainFEMForceField<Vec3Types, sofa::geometry::Edge> will produce
* the class name "EdgeLinearSmallStrainFEMForceField".
*/
static const std::string GetCustomClassName()
{
return std::string(sofa::geometry::elementTypeToString(ElementType::Element_type)) +
"LinearSmallStrainFEMForceField";
}

static const std::string GetCustomTemplateName() { return DataTypes::Name(); }

private:
using trait = sofa::component::solidmechanics::fem::elastic::trait<DataTypes, ElementType>;
using trait = typename FEMForceField<DataTypes, ElementType>::trait;
using ElementStiffness = typename trait::ElementStiffness;
using ElementDisplacement = typename trait::ElementDisplacement;
using StrainDisplacement = typename trait::StrainDisplacement;
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4 changes: 3 additions & 1 deletion .../SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FEMForceField.h
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Expand Up @@ -48,7 +48,7 @@ class FEMForceField :
sofa::core::behavior::TopologyAccessor,
sofa::simulation::TaskSchedulerUser);

private:
protected:
using trait = sofa::component::solidmechanics::fem::elastic::trait<DataTypes, ElementType>;
using ElementForce = typename trait::ElementForce;

Expand Down Expand Up @@ -106,6 +106,8 @@ class FEMForceField :
sofa::type::vector<ElementForce>& df,
const sofa::VecDeriv_t<DataTypes>& dx);

virtual void beforeElementForceDeriv(const sofa::core::MechanicalParams* mparams) {}
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virtual void computeElementsForcesDeriv(
const sofa::simulation::Range<std::size_t>& range,
const sofa::core::MechanicalParams* mparams,
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1 change: 1 addition & 0 deletions ...olidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FEMForceField.inl
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Expand Up @@ -163,6 +163,7 @@ void FEMForceField<DataTypes, ElementType>::computeElementsForcesDeriv(
const sofa::VecDeriv_t<DataTypes>& dx)
{
SCOPED_TIMER("ElementForcesDeriv");
beforeElementForceDeriv(mparams);

const auto& elements = trait::FiniteElement::getElementSequence(*this->l_topology);

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2 changes: 1 addition & 1 deletion examples/Component/Topology/Mapping/Hexa2PrismTopologicalMapping.scn
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Expand Up @@ -37,7 +37,7 @@
rotationMethod="polar" computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>

<NodalMassDensity property="1100"/>
<PrismFEMMass/>
<ElementFEMMass template="Vec3,Prism"/>

<VisualMesh position="@../state.position" topology="@prism_topology" enable="true"/>
</Node>
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5 changes: 3 additions & 2 deletions ...r_beam/hexahedron/corotational/parallel/assembled/HexahedronCorotationalFEMForceField.scn
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Expand Up @@ -6,7 +6,8 @@
<NaturalOrderingMethod/>
<SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

<HexahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>

</Node>
5 changes: 3 additions & 2 deletions ..._beam/hexahedron/corotational/parallel/matrixfree/HexahedronCorotationalFEMForceField.scn
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Expand Up @@ -4,7 +4,8 @@

<CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

<HexahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>

</Node>
5 changes: 3 additions & 2 deletions ...beam/hexahedron/corotational/sequential/assembled/HexahedronCorotationalFEMForceField.scn
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Expand Up @@ -6,7 +6,8 @@
<NaturalOrderingMethod/>
<SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

<HexahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>

</Node>
5 changes: 3 additions & 2 deletions ...eam/hexahedron/corotational/sequential/matrixfree/HexahedronCorotationalFEMForceField.scn
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Expand Up @@ -4,7 +4,8 @@

<CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

<HexahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>

</Node>
5 changes: 3 additions & 2 deletions ...er_beam/hexahedron/linear/parallel/assembled/HexahedronLinearSmallStrainFEMForceField.scn
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Expand Up @@ -6,7 +6,8 @@
<NaturalOrderingMethod/>
<SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

<HexahedronLinearSmallStrainFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<ElementLinearSmallStrainFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>

</Node>
5 changes: 3 additions & 2 deletions ...r_beam/hexahedron/linear/parallel/matrixfree/HexahedronLinearSmallStrainFEMForceField.scn
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Expand Up @@ -4,7 +4,8 @@

<CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

<HexahedronLinearSmallStrainFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<ElementLinearSmallStrainFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>

</Node>
5 changes: 3 additions & 2 deletions ..._beam/hexahedron/linear/sequential/assembled/HexahedronLinearSmallStrainFEMForceField.scn
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Expand Up @@ -6,7 +6,8 @@
<NaturalOrderingMethod/>
<SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

<HexahedronLinearSmallStrainFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<ElementLinearSmallStrainFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>

</Node>
5 changes: 3 additions & 2 deletions ...beam/hexahedron/linear/sequential/matrixfree/HexahedronLinearSmallStrainFEMForceField.scn
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Expand Up @@ -4,7 +4,8 @@

<CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

<HexahedronLinearSmallStrainFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<ElementLinearSmallStrainFEMForceField name="FEM" template="Vec3,Hexahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>

</Node>
3 changes: 2 additions & 1 deletion ...beam/tetrahedron/corotational/parallel/assembled/TetrahedronCorotationalFEMForceField.scn
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Expand Up @@ -12,7 +12,8 @@
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" drawTetrahedra="false"/>
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" swapping="true"/>

<TetrahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@Tetra_topo"
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Tetrahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@Tetra_topo"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
</Node>

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5 changes: 3 additions & 2 deletions ...eam/tetrahedron/corotational/parallel/matrixfree/TetrahedronCorotationalFEMForceField.scn
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Expand Up @@ -10,8 +10,9 @@
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" drawTetrahedra="false"/>
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" swapping="true"/>

<TetrahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@Tetra_topo"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Tetrahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@Tetra_topo"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
</Node>

</Node>
5 changes: 3 additions & 2 deletions ...am/tetrahedron/corotational/sequential/assembled/TetrahedronCorotationalFEMForceField.scn
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Expand Up @@ -12,8 +12,9 @@
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" drawTetrahedra="false"/>
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" swapping="true"/>

<TetrahedronCorotationalFEMForceField name="FEM" youngModulus="2e6" poissonRatio="0.45" topology="@Tetra_topo"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<ElementCorotationalFEMForceField name="FEM" template="Vec3,Tetrahedron"
youngModulus="2e6" poissonRatio="0.45" topology="@Tetra_topo"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
</Node>


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