[Mass] Introduce element-agnostic FEM mass#6061
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alxbilger wants to merge 18 commits intosofa-framework:masterfrom
Open
[Mass] Introduce element-agnostic FEM mass#6061alxbilger wants to merge 18 commits intosofa-framework:masterfrom
alxbilger wants to merge 18 commits intosofa-framework:masterfrom
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alxbilger
added
pr: enhancement
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[ci-build][with-all-tests] |
hugtalbot
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Apr 8, 2026
| <MechanicalObject template="Vec3" name="state" showObject="true"/> | ||
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| <MeshMatrixMass massDensity="1100" topology="@grid"/> | ||
| <NodalMassDensity property="1100"/> |
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I find the name Nodal* ambiguous since I wanted to rename some time ago the ConstantForceField and UniformMass respectively as NodalForceField and NodalMass
To me Nodal is inducing the absence of space integration
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| template <class TDataTypes, class TElementType> | ||
| void ElementFEMMass<TDataTypes, TElementType>::validateNodalMassDensity() |
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This could have integrated a check on non-negative values
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| template<class T> | ||
| class BaseNodalProperty : public virtual sofa::core::objectmodel::BaseComponent |
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I would need some clarification on this BaseNodalProperty, would you like to extend it in the future for additional information?
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| const auto NT_N = sofa::type::dyad(N, N); | ||
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| elementMassMatrix += (weight * density * detJ) * NT_N; |
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This PR adds a new finite-element mass implementation that builds a sparse global mass matrix from per-element quadrature, using nodal density values instead of a single uniform density.
It also introduces support for computing both kinetic and gravitational potential energy from that mass matrix, along with the corresponding force and matrix-assembly paths.
A new generic nodal-property abstraction was added so density can be stored per node and validated against the mechanical state’s scalar type.
The finite-element helpers were extended with shape-function evaluation and interpolation utilities needed for the mass integration.
The validation example was updated to use the new nodal-density-driven FEM mass setup.
[with-all-tests]
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