Merge branch 'upgrade_to_vega4.0' into 'master'

REFAC: upgrade to vega-4.0

See merge request iMSTK/iMSTK!452

CMake/External/External_VegaFEM.cmake

@@ -8,8 +8,8 @@ endif(WIN32)
 
 include(imstkAddExternalProject)
 imstk_add_external_project( VegaFEM
-  URL https://gitlab.kitware.com/iMSTK/VegaFEM-CMake/-/archive/iMSTK/VegaFEM-CMake-iMSTK.zip
-  URL_MD5 11d1f47599b6d70f9b6dc6391bed7a20
+  GIT_REPOSITORY https://gitlab.kitware.com/iMSTK/vegafemv4.0
+  GIT_TAG f9c96c4128437a559e5fb9a93830ef3c9a627d5e
   CMAKE_CACHE_ARGS
     -DVegaFEM_ENABLE_PTHREADS_SUPPORT:BOOL=ON
     -DVegaFEM_ENABLE_OpenGL_SUPPORT:BOOL=OFF

Source/DynamicalModels/InternalForceModel/imstkCorotationalFEMForceModel.cpp

@@ -39,14 +39,14 @@ void
 CorotationalFEMForceModel::getInternalForce(const Vectord& u, Vectord& internalForce)
 {
     double* data = const_cast<double*>(u.data());
-    m_corotationalLinearFEM->ComputeForceAndStiffnessMatrix(data, internalForce.data(), nullptr, m_warp);
+    m_corotationalLinearFEM->ComputeEnergyAndForceAndStiffnessMatrix(data, nullptr, internalForce.data(), nullptr, m_warp);
 }
 
 void
 CorotationalFEMForceModel::getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix)
 {
     double* data = const_cast<double*>(u.data());
-    m_corotationalLinearFEM->ComputeForceAndStiffnessMatrix(data, nullptr, m_vegaTangentStiffnessMatrix.get(), m_warp);
+    m_corotationalLinearFEM->ComputeEnergyAndForceAndStiffnessMatrix(data, nullptr, nullptr, m_vegaTangentStiffnessMatrix.get(), m_warp);
     InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
 }
 
@@ -60,7 +60,7 @@ void
 CorotationalFEMForceModel::getForceAndMatrix(const Vectord& u, Vectord& internalForce, SparseMatrixd& tangentStiffnessMatrix)
 {
     double* data = const_cast<double*>(u.data());
-    m_corotationalLinearFEM->ComputeForceAndStiffnessMatrix(data, internalForce.data(), m_vegaTangentStiffnessMatrix.get(), m_warp);
+    m_corotationalLinearFEM->ComputeEnergyAndForceAndStiffnessMatrix(data, nullptr, internalForce.data(), m_vegaTangentStiffnessMatrix.get(), m_warp);
     InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
 }
 
@@ -75,4 +75,4 @@ CorotationalFEMForceModel::setTangentStiffness(std::shared_ptr<vega::SparseMatri
 {
     m_vegaTangentStiffnessMatrix = K;
 }
-}
\ No newline at end of file
+}

Source/Geometry/Reader/imstkVegaMeshIO.cpp

@@ -131,7 +131,7 @@ VegaMeshIO::copyVertices(std::shared_ptr<vega::VolumetricMesh> vegaMesh,
 {
     for (int i = 0; i < vegaMesh->getNumVertices(); ++i)
     {
-        auto pos = *vegaMesh->getVertex(i);
+        auto pos = vegaMesh->getVertex(i);
         vertices.emplace_back(pos[0], pos[1], pos[2]);
     }
 }