STYLE: Move force models impl. to ccp files

Move force models implementation to ccp files

Base/ForceModel/imstkCorotationalFEMForceModel.cpp

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+   =========================================================================*/
+
+#include "imstkCorotationalFEMForceModel.h"
+
+namespace imstk
+{
+
+CorotationalFEMForceModel::CorotationalFEMForceModel(std::shared_ptr<vega::VolumetricMesh> mesh, const int warp) : InternalForceModel(), m_warp(warp)
+{
+    auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);
+    m_corotationalLinearFEM = std::make_shared<vega::CorotationalLinearFEM>(tetMesh.get());
+}
+
+void
+CorotationalFEMForceModel::getInternalForce(const Vectord& u, Vectord& internalForce)
+{
+    double *data = const_cast<double*>(u.data());
+    m_corotationalLinearFEM->ComputeForceAndStiffnessMatrix(data, 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);
+    InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
+}
+
+void
+CorotationalFEMForceModel::getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix)
+{
+    m_corotationalLinearFEM->GetStiffnessMatrixTopology(tangentStiffnessMatrix);
+}
+
+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);
+    InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
+}
+
+void
+CorotationalFEMForceModel::SetWarp(const int warp)
+{
+    this->m_warp = warp;
+}
+
+void
+CorotationalFEMForceModel::setTangentStiffness(std::shared_ptr<vega::SparseMatrix> K)
+{
+    m_vegaTangentStiffnessMatrix = K;
+}
+
+}
\ No newline at end of file

Base/ForceModel/imstkCorotationalFEMForceModel.h

@@ -26,6 +26,7 @@
 
 #include "g3log/g3log.hpp"
 
+//imstk
 #include "imstkInternalForceModel.h"
 
 //vega
@@ -37,51 +38,46 @@ namespace imstk
 class CorotationalFEMForceModel : public InternalForceModel
 {
 public:
-    CorotationalFEMForceModel(std::shared_ptr<vega::VolumetricMesh> mesh, int warp = 1) : InternalForceModel()
-    {
-        auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);
-
-        m_corotationalLinearFEM = std::make_shared<vega::CorotationalLinearFEM>(tetMesh.get());
-        m_warp = warp;
-    }
+    ///
+    /// \brief
+    ///
+    CorotationalFEMForceModel(std::shared_ptr<vega::VolumetricMesh> mesh, const int warp = 1);
     CorotationalFEMForceModel() = delete;
 
-    virtual ~CorotationalFEMForceModel(){};
-
-    void getInternalForce(const Vectord& u, Vectord& internalForce)
-    {
-        double *data = const_cast<double*>(u.data());
-        m_corotationalLinearFEM->ComputeForceAndStiffnessMatrix(data, internalForce.data(), nullptr, m_warp);
-    }
-
-    void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix)
-    {
-        double *data = const_cast<double*>(u.data());
-        m_corotationalLinearFEM->ComputeForceAndStiffnessMatrix(data, nullptr, m_vegaTangentStiffnessMatrix.get(), m_warp);
-        InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
-    }
-
-    virtual void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix)
-    {
-        m_corotationalLinearFEM->GetStiffnessMatrixTopology(tangentStiffnessMatrix);
-    }
-
-    void 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);
-        InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
-    }
-
-    void SetWarp(const int warp)
-    {
-        this->m_warp = warp;
-    }
-
-    virtual void setTangentStiffness(std::shared_ptr<vega::SparseMatrix> K) override
-    {
-        m_vegaTangentStiffnessMatrix = K;
-    }
+    ///
+    /// \brief
+    ///
+    virtual ~CorotationalFEMForceModel() = default;
+
+    ///
+    /// \brief
+    ///
+    void getInternalForce(const Vectord& u, Vectord& internalForce);
+
+    ///
+    /// \brief
+    ///
+    void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix);
+
+    ///
+    /// \brief
+    ///
+    virtual void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix);
+
+    ///
+    /// \brief
+    ///
+    void GetForceAndMatrix(const Vectord& u, Vectord& internalForce, SparseMatrixd& tangentStiffnessMatrix);
+
+    ///
+    /// \brief
+    ///
+    void SetWarp(const int warp);
+
+    ///
+    /// \brief
+    ///
+    virtual void setTangentStiffness(std::shared_ptr<vega::SparseMatrix> K) override;
 
 protected:
     std::shared_ptr<vega::CorotationalLinearFEM> m_corotationalLinearFEM;

Base/ForceModel/imstkFEElasticityForceModel.h

@@ -24,6 +24,7 @@
 
 #include "g3log/g3log.hpp"
 
+//imstk
 #include "imstkInternalForceModel.h"
 #include "imstkMath.h"
 

Base/ForceModel/imstkForceModelConfig.h

@@ -135,7 +135,7 @@ public:
     ///
     /// \brief Destructor
     ///
-    ~ForceModelConfig(){};
+    ~ForceModelConfig() = default;
 
     ///
     /// \brief Parse the deformable object config file

Base/ForceModel/imstkInternalForceModel.h

@@ -50,7 +50,7 @@ public:
     ///
     /// \brief Destructor
     ///
-    ~InternalForceModel(){};
+    virtual ~InternalForceModel() = default;
 
     ///
     /// \brief Get the internal force given the present state

Base/ForceModel/imstkIsotropicHyperelasticFEMForceModel.h

@@ -24,6 +24,7 @@
 
 #include <g3log/g3log.hpp>
 
+//imstk
 #include "imstkInternalForceModel.h"
 #include "imstkForceModelConfig.h"
 
@@ -35,20 +36,21 @@
 
 namespace imstk
 {
+
 class IsotropicHyperelasticFEForceModel : public InternalForceModel
 {
 
 public:
-    IsotropicHyperelasticFEForceModel(HyperElasticMaterialType materialType,
+    IsotropicHyperelasticFEForceModel(const HyperElasticMaterialType materialType,
         std::shared_ptr<vega::VolumetricMesh> mesh,
-        double inversionThreshold,
-        bool withGravity = true,
-        double gravity = 10.0) : InternalForceModel()
+        const double inversionThreshold,
+        const bool withGravity = true,
+        const double gravity = 10.0) : InternalForceModel()
     {
         auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);
 
-        int enableCompressionResistance = 1;
-        double compressionResistance = 500;
+        const int enableCompressionResistance = 1;
+        const double compressionResistance = 500;
         switch (materialType)
         {
             case HyperElasticMaterialType::StVK:
@@ -86,7 +88,7 @@ public:
 
     IsotropicHyperelasticFEForceModel() = delete;
 
-    virtual ~IsotropicHyperelasticFEForceModel(){};
+    virtual ~IsotropicHyperelasticFEForceModel() = default;
 
     void getInternalForce(const Vectord& u, Vectord& internalForce)
     {

Base/ForceModel/imstkLinearFEMForceModel.h

@@ -26,6 +26,7 @@
 
 #include "g3log/g3log.hpp"
 
+//imstk
 #include "imstkInternalForceModel.h"
 
 //vega
@@ -38,7 +39,9 @@ namespace imstk
 class LinearFEMForceModel : public InternalForceModel
 {
 public:
-    LinearFEMForceModel(std::shared_ptr<vega::VolumetricMesh> mesh, bool withGravity = true, double gravity = -9.81) : InternalForceModel()
+    LinearFEMForceModel(std::shared_ptr<vega::VolumetricMesh> mesh,
+        const bool withGravity = true,
+        const double gravity = -9.81) : InternalForceModel()
     {
         auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);
 
@@ -53,7 +56,7 @@ public:
         //delete(stVKStiffnessMatrix);
     };
 
-    virtual ~LinearFEMForceModel(){};
+    virtual ~LinearFEMForceModel() = default;
 
     void getInternalForce(const Vectord& u, Vectord& internalForce)
     {

Base/ForceModel/imstkMassSpringForceModel.cpp

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+   =========================================================================*/
+
+
+#include "imstkMassSpringForceModel.h"
+
+namespace imstk
+{
+
+MassSpringForceModel::MassSpringForceModel(std::shared_ptr<vega::MassSpringSystem> massSpringSystem) : InternalForceModel()
+{
+    m_massSpringSystem = massSpringSystem;
+}
+
+void
+MassSpringForceModel::getInternalForce(const Vectord& u, Vectord& internalForce)
+{
+    double *data = const_cast<double*>(u.data());
+    m_massSpringSystem->ComputeForce(data, internalForce.data());
+}
+
+virtual void
+MassSpringForceModel::getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix)
+{
+    m_massSpringSystem->GetStiffnessMatrixTopology(tangentStiffnessMatrix);
+}
+
+void
+MassSpringForceModel::getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix)
+{
+    double *data = const_cast<double*>(u.data());
+    m_massSpringSystem->ComputeStiffnessMatrix(data, m_vegaTangentStiffnessMatrix.get());
+    InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
+}
+
+} // imstk
+
+#endif // imstkMassSpringForceModel_h

Base/ForceModel/imstkMassSpringForceModel.h

@@ -32,33 +32,39 @@
 namespace imstk
 {
 
+///
+/// \class MassSpringForceModel
+///
+/// \brief Mathematical model for the MassSpring
+///
 class MassSpringForceModel : public InternalForceModel
 {
 public:
-    MassSpringForceModel(std::shared_ptr<vega::MassSpringSystem> massSpringSystem) : InternalForceModel()
-    {
-        m_massSpringSystem = massSpringSystem;
-    }
+    ///
+    /// \brief
+    ///
+    MassSpringForceModel(std::shared_ptr<vega::MassSpringSystem> massSpringSystem);
     MassSpringForceModel() = delete;
-    virtual ~MassSpringForceModel(){};
-
-    void getInternalForce(const Vectord& u, Vectord& internalForce)
-    {
-        double *data = const_cast<double*>(u.data());
-        m_massSpringSystem->ComputeForce(data, internalForce.data());
-    }
-
-    virtual void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix)
-    {
-        m_massSpringSystem->GetStiffnessMatrixTopology(tangentStiffnessMatrix);
-    }
-
-    void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix)
-    {
-        double *data = const_cast<double*>(u.data());
-        m_massSpringSystem->ComputeStiffnessMatrix(data, m_vegaTangentStiffnessMatrix.get());
-        InternalForceModel::updateValuesFromMatrix(m_vegaTangentStiffnessMatrix, tangentStiffnessMatrix.valuePtr());
-    }
+
+    ///
+    /// \brief
+    ///
+    virtual ~MassSpringForceModel() = default;
+
+    ///
+    /// \brief
+    ///
+    void getInternalForce(const Vectord& u, Vectord& internalForce);
+
+    ///
+    /// \brief
+    ///
+    virtual void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix);
+
+    ///
+    /// \brief
+    ///
+    void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix);
 
 protected:
     std::shared_ptr<vega::MassSpringSystem> m_massSpringSystem;// Need to be initialized

Base/ForceModel/imstkStVKForceModel.h

@@ -25,6 +25,7 @@
 #include <memory>
 #include "g3log/g3log.hpp"
 
+//imstk
 #include "imstkInternalForceModel.h"
 
 //vega
@@ -38,16 +39,16 @@ namespace imstk
 class StVKForceModel : public InternalForceModel
 {
 public:
-    StVKForceModel(std::shared_ptr<vega::VolumetricMesh> mesh, bool withGravity = true, double gravity = 10.0) : InternalForceModel()
+    StVKForceModel(std::shared_ptr<vega::VolumetricMesh> mesh,
+        const bool withGravity = true,
+        const double gravity = 10.0) : InternalForceModel()
     {
         auto tetMesh = std::dynamic_pointer_cast<vega::TetMesh>(mesh);
-
         m_stVKInternalForces = std::make_shared<vega::StVKInternalForces>(tetMesh.get(), nullptr, withGravity, gravity);
-
         m_vegaStVKStiffnessMatrix = std::make_shared<vega::StVKStiffnessMatrix>(m_stVKInternalForces.get());
     }
 
-    virtual ~StVKForceModel(){};
+    virtual ~StVKForceModel() = default;
 
     void getInternalForce(const Vectord& u, Vectord& internalForce)
     {

Base/Scene/imstkCollisionGraph.cpp

@@ -23,7 +23,8 @@
 
 #include <g3log/g3log.hpp>
 
-namespace imstk {
+namespace imstk
+{
 
 std::shared_ptr<InteractionPair>
 CollisionGraph::addInteractionPair(CollidingObjectPtr A,
@@ -136,4 +137,5 @@ CollisionGraph::getInteractionPairMap() const
 {
     return m_interactionPairMap;
 }
+
 }

Base/SceneElements/Objects/imstkDeformableBodyModel.cpp

@@ -435,7 +435,7 @@ DeformableBodyModel::updatePhysicsGeometry()
 {
     auto volMesh = std::static_pointer_cast<VolumetricMesh>(m_forceModelGeometry);
     auto u = m_currentState->getQ();
-    u.setConstant(1.0);//?
+    //u.setConstant(1.0);//?
     volMesh->setVerticesDisplacements(u);
 }
 

Base/SceneElements/Objects/imstkDeformableBodyModel.h

@@ -197,6 +197,9 @@ public:
     ///
     Vectord& getContactForce();
 
+    ///
+    /// \brief
+    ///
     Vectord& getUnknownVec()
     {
         return m_qSol;

Base/SimulationManager/imstkSceneManager.cpp

@@ -69,7 +69,7 @@ SceneManager::runModule()
     // Update the nonlinear solvers
     for (auto nlSolvers : m_scene->getNonlinearSolvers())
     {
-        //nlSolvers->solveSimple();
+        nlSolvers->solveSimple();
     }
 
     // Apply the geometry maps

Base/Solvers/imstkNewtonMethod.cpp

@@ -97,13 +97,13 @@ NewtonMethod::solveSimple()
 
     // Compute norms, set tolerances and other temporaries
     //double fnorm = this->m_nonLinearSystem->evaluateF(x).norm();
-    double stopTolerance = 1.0e-6;
+    const double stopTolerance = 1.0e-6;
 
     this->linearSolver->setTolerance(stopTolerance);
 
     //Vectord dx = x;
 
-    for (size_t i = 0; i < this->maxIterations; ++i)
+    for (size_t i = 0; i < 5; ++i) //this->maxIterations
     {
         /*if (fnorm < stopTolerance)
         {