[Mass] Introduce element-agnostic FEM mass

Sofa/Component/Mass/CMakeLists.txt

@@ -9,9 +9,12 @@ set(HEADER_FILES
     ${SOFACOMPONENTMASS_SOURCE_DIR}/AddMToMatrixFunctor.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/DiagonalMass.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/DiagonalMass.inl
+    ${SOFACOMPONENTMASS_SOURCE_DIR}/ElementFEMMass.h
+    ${SOFACOMPONENTMASS_SOURCE_DIR}/ElementFEMMass.inl
     ${SOFACOMPONENTMASS_SOURCE_DIR}/MassType.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/MeshMatrixMass.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/MeshMatrixMass.inl
+    ${SOFACOMPONENTMASS_SOURCE_DIR}/NodalMassDensity.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/RigidMassType.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/UniformMass.h
     ${SOFACOMPONENTMASS_SOURCE_DIR}/UniformMass.inl
@@ -21,14 +24,18 @@ set(HEADER_FILES
 set(SOURCE_FILES
     ${SOFACOMPONENTMASS_SOURCE_DIR}/init.cpp
     ${SOFACOMPONENTMASS_SOURCE_DIR}/DiagonalMass.cpp
+    ${SOFACOMPONENTMASS_SOURCE_DIR}/ElementFEMMass.cpp
     ${SOFACOMPONENTMASS_SOURCE_DIR}/MeshMatrixMass.cpp
+    ${SOFACOMPONENTMASS_SOURCE_DIR}/NodalMassDensity.cpp
     ${SOFACOMPONENTMASS_SOURCE_DIR}/UniformMass.cpp
 )
 
+sofa_find_package(Sofa.FEM REQUIRED)
 sofa_find_package(Sofa.Simulation.Core REQUIRED)
 sofa_find_package(Sofa.Component.Topology.Container.Dynamic REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.FEM)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core)
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Topology.Container.Dynamic)
 

Sofa/Component/Mass/Sofa.Component.MassConfig.cmake.in

@@ -4,6 +4,7 @@
 @PACKAGE_INIT@
 
 find_package(Sofa.Config QUIET REQUIRED)
+sofa_find_package(Sofa.FEM QUIET REQUIRED)
 sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
 sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED)
 

Sofa/Component/Mass/Testing/src/sofa/component/mass/testing/MassTestCreation.h

@@ -183,7 +183,7 @@ struct Mass_test : public sofa::testing::BaseSimulationTest, public sofa::testin
 
         // v * Mv should be the 2 * kinetic energy
         EXPECT_LT(std::abs(vMv - 2 * ke), (SReal)(m_errorMax * this->epsilon()))
-            << "Kinetic energy inconsistent with addMDx";
+            << "Kinetic energy inconsistent with addMDx (vMv = " << vMv << ", kinetic energy = " << (Real)ke << ")";
     }
     /**
      * @brief Given positions and velocities, checks mass methods.

Sofa/Component/Mass/src/sofa/component/mass/ElementFEMMass.cpp

@@ -0,0 +1,64 @@
+/******************************************************************************
+*                 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_COMPONENT_MASS_ELEMENTFEMMASS_CPP
+#include <sofa/component/mass/ElementFEMMass.inl>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/fem/FiniteElement[all].h>
+
+namespace sofa::component::mass
+{
+
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>;
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>;
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle>;
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle>;
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec2Types, sofa::geometry::Quad>;
+template class SOFA_COMPONENT_MASS_API ElementFEMMass<sofa::defaulttype::Vec3Types, sofa::geometry::Quad>;
+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>;
+
+void registerFEMMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Finite-element mass (inertia and body force) defined on edges")
+        .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::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::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));
+
+}
+
+}