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[FEM] Add support of pyramids elements #6132

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4 changes: 4 additions & 0 deletions Sofa/Component/Mass/src/sofa/component/mass/ElementFEMMass.cpp
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Expand Up @@ -38,6 +38,7 @@ template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Typ
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>;
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Pyramid>;

void registerFEMMass(sofa::core::ObjectFactory* factory)
{
Expand All @@ -62,6 +63,9 @@ void registerFEMMass(sofa::core::ObjectFactory* factory)

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

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

}
1 change: 1 addition & 0 deletions Sofa/Component/Mass/src/sofa/component/mass/ElementFEMMass.h
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Expand Up @@ -278,6 +278,7 @@ template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Typ
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>;
template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Pyramid>;
#endif

} // namespace sofa::component::mass
4 changes: 4 additions & 0 deletions ...lastic/src/sofa/component/solidmechanics/fem/elastic/ElementCorotationalFEMForceField.cpp
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Expand Up @@ -52,6 +52,9 @@ void registerElementCorotationalFEMForceField(sofa::core::ObjectFactory* factory

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

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

// template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
Expand All @@ -64,5 +67,6 @@ template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotational
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Pyramid>;

}
1 change: 1 addition & 0 deletions .../Elastic/src/sofa/component/solidmechanics/fem/elastic/ElementCorotationalFEMForceField.h
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Expand Up @@ -200,6 +200,7 @@ extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorot
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementCorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Pyramid>;
#endif

} // namespace sofa::component::solidmechanics::fem::elastic
5 changes: 4 additions & 1 deletion ...c/src/sofa/component/solidmechanics/fem/elastic/ElementLinearSmallStrainFEMForceField.cpp
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Expand Up @@ -52,6 +52,9 @@ void registerElementLinearSmallStrainFEMForceField(sofa::core::ObjectFactory* fa

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

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

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
Expand All @@ -64,5 +67,5 @@ template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallS
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>;

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Pyramid>;
}
1 change: 1 addition & 0 deletions ...tic/src/sofa/component/solidmechanics/fem/elastic/ElementLinearSmallStrainFEMForceField.h
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Expand Up @@ -107,6 +107,7 @@ extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinea
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API ElementLinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Pyramid>;
#endif

} // namespace sofa::component::solidmechanics::fem::elastic
86 changes: 84 additions & 2 deletions Sofa/framework/Core/src/sofa/core/visual/DrawMesh.h
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Expand Up @@ -442,6 +442,85 @@ struct SOFA_CORE_API DrawElementMesh<sofa::geometry::Prism>
}
};

template<>
struct SOFA_CORE_API DrawElementMesh<sofa::geometry::Pyramid>
: public BaseDrawMesh<DrawElementMesh<sofa::geometry::Pyramid>, 5>
{
using ElementType = sofa::geometry::Pyramid;
friend BaseDrawMesh;

static constexpr ColorContainer defaultColors {
sofa::type::RGBAColor::green(),
sofa::type::RGBAColor::teal(),
sofa::type::RGBAColor::navy(),
sofa::type::RGBAColor::gold(),
sofa::type::RGBAColor::purple()
};

private:
template<class PositionContainer, class IndicesContainer>
void doDraw(
sofa::helper::visual::DrawTool* drawTool,
const PositionContainer& position,
sofa::core::topology::BaseMeshTopology* topology,
const IndicesContainer& elementIndices,
const ColorContainer& colors)
{
if (!topology)
return;

const auto& elements = topology->getPyramids();

// Allocate space for rendering points
// 1 Quad + 4 Triangles
renderedPoints[0].resize(elementIndices.size() * sofa::geometry::Quad::NumberOfNodes);
renderedPoints[1].resize(elementIndices.size() * sofa::geometry::Triangle::NumberOfNodes);
renderedPoints[2].resize(elementIndices.size() * sofa::geometry::Triangle::NumberOfNodes);
renderedPoints[3].resize(elementIndices.size() * sofa::geometry::Triangle::NumberOfNodes);
renderedPoints[4].resize(elementIndices.size() * sofa::geometry::Triangle::NumberOfNodes);

std::array<std::size_t, NumberColors> renderedPointId {};

for (auto i : elementIndices)
{
const auto& pyramid = elements[i];
const auto center = this->elementCenter(position, pyramid);

const auto drawQuad = [&](sofa::Index bufferId, sofa::Index v0, sofa::Index v1, sofa::Index v2, sofa::Index v3)
{
const std::array vertexIndices { pyramid[v0], pyramid[v1], pyramid[v2], pyramid[v3] };
for (std::size_t k = 0; k < sofa::geometry::Quad::NumberOfNodes; ++k)
{
const auto p = this->applyElementSpace(position[vertexIndices[k]], center);
renderedPoints[bufferId][renderedPointId[bufferId]++] = sofa::type::toVec3(p);
}
};

const auto drawTriangle = [&](sofa::Index bufferId, sofa::Index v0, sofa::Index v1, sofa::Index v2)
{
const std::array vertexIndices { pyramid[v0], pyramid[v1], pyramid[v2] };
for (std::size_t k = 0; k < sofa::geometry::Triangle::NumberOfNodes; ++k)
{
const auto p = this->applyElementSpace(position[vertexIndices[k]], center);
renderedPoints[bufferId][renderedPointId[bufferId]++] = sofa::type::toVec3(p);
}
};

drawQuad(0, 0, 3, 2, 1);
drawTriangle(1, 0, 1, 4);
drawTriangle(2, 1, 2, 4);
drawTriangle(3, 3, 4, 2);
drawTriangle(4, 0, 4, 3);
}

drawTool->drawQuads(renderedPoints[0], colors[0]);
drawTool->drawTriangles(renderedPoints[1], colors[1]);
drawTool->drawTriangles(renderedPoints[2], colors[2]);
drawTool->drawTriangles(renderedPoints[3], colors[3]);
drawTool->drawTriangles(renderedPoints[4], colors[4]);
}
};

template<>
struct SOFA_CORE_API DrawElementMesh<sofa::geometry::Hexahedron>
: public BaseDrawMesh<DrawElementMesh<sofa::geometry::Hexahedron>, 6>
Expand Down Expand Up @@ -542,6 +621,7 @@ class SOFA_CORE_API DrawMesh
drawElements<sofa::geometry::Tetrahedron>(drawTool, position, topology);
drawElements<sofa::geometry::Hexahedron>(drawTool, position, topology);
drawElements<sofa::geometry::Prism>(drawTool, position, topology);
drawElements<sofa::geometry::Pyramid>(drawTool, position, topology);
}

template<class PositionContainer>
Expand All @@ -560,8 +640,9 @@ class SOFA_CORE_API DrawMesh
const auto hasTetra = !topology->getTetrahedra().empty();
const auto hasHexa = !topology->getHexahedra().empty();
const auto hasPrism = !topology->getPrisms().empty();
const auto hasPyramid = !topology->getPyramids().empty();

const bool hasVolumeElements = hasTetra || hasHexa || hasPrism;
const bool hasVolumeElements = hasTetra || hasHexa || hasPrism || hasPyramid;

if (!hasSurfaceElements && !hasVolumeElements)
{
Expand All @@ -587,7 +668,8 @@ class SOFA_CORE_API DrawMesh
DrawElementMesh<sofa::geometry::Quad>,
DrawElementMesh<sofa::geometry::Tetrahedron>,
DrawElementMesh<sofa::geometry::Hexahedron>,
DrawElementMesh<sofa::geometry::Prism>
DrawElementMesh<sofa::geometry::Prism>,
DrawElementMesh<sofa::geometry::Pyramid>
> m_meshes;
};

Expand Down
2 changes: 2 additions & 0 deletions Sofa/framework/FEM/CMakeLists.txt
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Expand Up @@ -12,6 +12,7 @@ set(HEADER_FILES
${SOFAFEMSRC_ROOT}/FiniteElement[Edge].h
${SOFAFEMSRC_ROOT}/FiniteElement[Hexahedron].h
${SOFAFEMSRC_ROOT}/FiniteElement[Prism].h
${SOFAFEMSRC_ROOT}/FiniteElement[Pyramid].h
${SOFAFEMSRC_ROOT}/FiniteElement[Quad].h
${SOFAFEMSRC_ROOT}/FiniteElement[Tetrahedron].h
${SOFAFEMSRC_ROOT}/FiniteElement[Triangle].h
Expand All @@ -23,6 +24,7 @@ set(SOURCE_FILES
${SOFAFEMSRC_ROOT}/FiniteElement[Edge].cpp
${SOFAFEMSRC_ROOT}/FiniteElement[Hexahedron].cpp
${SOFAFEMSRC_ROOT}/FiniteElement[Prism].cpp
${SOFAFEMSRC_ROOT}/FiniteElement[Pyramid].cpp
${SOFAFEMSRC_ROOT}/FiniteElement[Quad].cpp
${SOFAFEMSRC_ROOT}/FiniteElement[Tetrahedron].cpp
${SOFAFEMSRC_ROOT}/FiniteElement[Triangle].cpp
Expand Down
31 changes: 31 additions & 0 deletions Sofa/framework/FEM/src/sofa/fem/FiniteElement[Pyramid].cpp
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@@ -0,0 +1,31 @@
/******************************************************************************
* 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 SOFA_FEM_FINITE_ELEMENT_PYRAMID_CPP
#include <sofa/fem/FiniteElement[Pyramid].h>
#include <sofa/defaulttype/VecTypes.h>

namespace sofa::fem
{

template struct SOFA_FEM_API FiniteElement<sofa::geometry::Pyramid, sofa::defaulttype::Vec3Types>;

}
97 changes: 97 additions & 0 deletions Sofa/framework/FEM/src/sofa/fem/FiniteElement[Pyramid].h
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@@ -0,0 +1,97 @@
/******************************************************************************
* 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/fem/FiniteElement.h>
#include <sofa/geometry/Pyramid.h>

#if !defined(SOFA_FEM_FINITE_ELEMENT_PYRAMID_CPP)
#include <sofa/defaulttype/VecTypes.h>
#endif

namespace sofa::fem
{

template <class DataTypes>
struct FiniteElement<sofa::geometry::Pyramid, DataTypes>
{
FINITEELEMENT_HEADER(sofa::geometry::Pyramid, DataTypes, 3);
static_assert(spatial_dimensions == 3, "Pyramids are only defined in 3D");

constexpr static std::array<ReferenceCoord, NumberOfNodesInElement> referenceElementNodes {{
{-1, -1, -1},
{ 1, -1, -1},
{ 1, 1, -1},
{-1, 1, -1},
{ 0, 0, 1},
}};

static const sofa::type::vector<TopologyElement>& getElementSequence(sofa::core::topology::BaseMeshTopology& topology)
{
return topology.getPyramids();
}

static constexpr sofa::type::Vec<NumberOfNodesInElement, Real> shapeFunctions(const sofa::type::Vec<TopologicalDimension, Real>& q)
{
return {
static_cast<Real>(0.125) * (1 - q[0]) * (1 - q[1]) * (1 - q[2]),
static_cast<Real>(0.125) * (1 + q[0]) * (1 - q[1]) * (1 - q[2]),
static_cast<Real>(0.125) * (1 + q[0]) * (1 + q[1]) * (1 - q[2]),
static_cast<Real>(0.125) * (1 - q[0]) * (1 + q[1]) * (1 - q[2]),
static_cast<Real>(0.5) * (1 + q[2])
};
}

static constexpr sofa::type::Mat<NumberOfNodesInElement, TopologicalDimension, Real> gradientShapeFunctions(const sofa::type::Vec<TopologicalDimension, Real>& q)
{
return {
{-static_cast<Real>(0.125) * (1 - q[1]) * (1 - q[2]), -static_cast<Real>(0.125) * (1 - q[0]) * (1 - q[2]), -static_cast<Real>(0.125) * (1 - q[0]) * (1 - q[1])},
{ static_cast<Real>(0.125) * (1 - q[1]) * (1 - q[2]), -static_cast<Real>(0.125) * (1 + q[0]) * (1 - q[2]), -static_cast<Real>(0.125) * (1 + q[0]) * (1 - q[1])},
{ static_cast<Real>(0.125) * (1 + q[1]) * (1 - q[2]), static_cast<Real>(0.125) * (1 + q[0]) * (1 - q[2]), -static_cast<Real>(0.125) * (1 + q[0]) * (1 + q[1])},
{-static_cast<Real>(0.125) * (1 + q[1]) * (1 - q[2]), static_cast<Real>(0.125) * (1 - q[0]) * (1 - q[2]), -static_cast<Real>(0.125) * (1 - q[0]) * (1 + q[1])},
{ 0, 0, static_cast<Real>(0.5)}
};
}

static constexpr auto quadraturePoints()
{
constexpr Real sqrt3_1 = static_cast<Real>(1) / static_cast<Real>(1.73205080757);
constexpr Real one = static_cast<Real>(1);

// We use the 8 Gauss points of the hexahedron, which exactly integrate the (1-z)^2 Jacobian of the pyramid.
return std::array {
std::pair{ReferenceCoord{-sqrt3_1, -sqrt3_1, -sqrt3_1}, one},
std::pair{ReferenceCoord{ sqrt3_1, -sqrt3_1, -sqrt3_1}, one},
std::pair{ReferenceCoord{ sqrt3_1, sqrt3_1, -sqrt3_1}, one},
std::pair{ReferenceCoord{-sqrt3_1, sqrt3_1, -sqrt3_1}, one},
std::pair{ReferenceCoord{-sqrt3_1, -sqrt3_1, sqrt3_1}, one},
std::pair{ReferenceCoord{ sqrt3_1, -sqrt3_1, sqrt3_1}, one},
std::pair{ReferenceCoord{ sqrt3_1, sqrt3_1, sqrt3_1}, one},
std::pair{ReferenceCoord{-sqrt3_1, sqrt3_1, sqrt3_1}, one},
};
}
};

#if !defined(SOFA_FEM_FINITE_ELEMENT_PYRAMID_CPP)
extern template struct SOFA_FEM_API FiniteElement<sofa::geometry::Pyramid, sofa::defaulttype::Vec3Types>;
#endif

}
1 change: 1 addition & 0 deletions Sofa/framework/FEM/src/sofa/fem/FiniteElement[all].h
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Expand Up @@ -24,6 +24,7 @@
#include <sofa/fem/FiniteElement[Edge].h>
#include <sofa/fem/FiniteElement[Hexahedron].h>
#include <sofa/fem/FiniteElement[Prism].h>
#include <sofa/fem/FiniteElement[Pyramid].h>
#include <sofa/fem/FiniteElement[Quad].h>
#include <sofa/fem/FiniteElement[Tetrahedron].h>
#include <sofa/fem/FiniteElement[Triangle].h>
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