SphRepresentation is a Representation dedicated to Smoothed-Particles Hydrodynamics (SPH). More...

#include <SurgSim/Particles/SphRepresentation.h>

Inheritance diagram for SurgSim::Particles::SphRepresentation:

Public Member Functions
	SURGSIM_CLASSNAME (SurgSim::Particles::SphRepresentation)

	SphRepresentation (const std::string &name)
	Constructor. More...

virtual	~SphRepresentation ()
	Destructor. More...

void	setMassPerParticle (double particleMass)
	Set the mass for each particle. More...

double	getMassPerParticle () const
	Get the mass for each particle. More...

void	setDensity (double density)
	Set the density of the fluid. More...

double	getDensity () const
	Get the density of the fluid. More...

void	setGasStiffness (double stiffness)
	Set the gas stiffness coefficient. More...

double	getGasStiffness () const
	Get the gas stiffness coefficient. More...

void	setSurfaceTension (double surfaceTension)
	Set the surface tension. More...

double	getSurfaceTension () const
	Get the surface tension. More...

void	setGravity (const SurgSim::Math::Vector3d &gravity)
	Set the gravity vector. More...

SurgSim::Math::Vector3d	getGravity () const
	Get the gravity vector (default is (0 -9.81 0)) More...

void	setViscosity (double viscosity)
	Set the viscosity coefficient. More...

double	getViscosity () const
	Get the viscosity coefficient (default is 0.0) More...

void	setKernelSupport (double support)
	Set the kernel function support. More...

double	getKernelSupport () const
	Get the kernel function support. More...

void	setStiffness (double stiffness)
	Set the particles stiffness when colliding. More...

double	getStiffness () const
	Get the particles stiffness when colliding. More...

void	setDamping (double damping)
	Set the particles damping when colliding. More...

double	getDamping () const
	Get the particles damping when colliding. More...

void	setFriction (double friction)
	Set the sliding coefficient of friction for the particles during collisions. More...

double	getFriction () const
	Get the sliding coefficient of friction for the particles during collisions. More...

Public Member Functions inherited from SurgSim::Particles::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual	~Representation ()
	Destructor. More...

void	setMaxParticles (size_t maxParticles)
	Set the maximum number of particles of this system. More...

size_t	getMaxParticles () const

bool	addParticle (const Particle &particle)
	Add a particle. More...

bool	addParticle (const Math::Vector3d &position, const Math::Vector3d &velocity, double lifetime)
	Add a particle. More...

void	removeParticle (size_t index)
	Remove a particle. More...

SurgSim::DataStructures::BufferedValue< Particles > &	getParticles ()
	Get the particles. More...

void	update (double dt)
	Update the particle system. More...

void	handleCollisions (double dt)
	Handle collisions with particle system. More...

void	setCollisionRepresentation (std::shared_ptr< SurgSim::Collision::Representation > representation)
	Set the collision representation for this Particle Representation. More...

std::shared_ptr< SurgSim::Collision::Representation >	getCollisionRepresentation () const
	Get the collision representation for this Particle Representation. More...

Public Member Functions inherited from SurgSim::Framework::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual void	setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
	Set the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getLocalPose () const
	Get the pose of the representation with respect to the Scene Element. More...

virtual SurgSim::Math::RigidTransform3d	getPose () const
	Get the pose of the representation in world coordinates. More...

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor. More...

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component. More...

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing. More...

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor. More...

	~Accessible ()
	Destructor. More...

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

template<>
boost::any	getValue (const std::string &name) const

Protected Member Functions
bool	doInitialize () override
	Interface to be implemented by derived classes. More...

bool	doUpdate (double dt) override
	Implementation of the specific behavior of the particle system. More...

bool	doHandleCollisions (double dt, const SurgSim::Collision::ContactMapType &collisions) override
	Implementation of the specific collision handling of the particle system. More...

void	computeVelocityAndPosition (double dt)
	Compute the particles' velocity and position given a time step dt. More...

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Protected Attributes
Eigen::Matrix< double, Eigen::Dynamic, 3, Eigen::RowMajor >	m_normal
	Particles' normal. More...

Eigen::Matrix< double, Eigen::Dynamic, 3, Eigen::RowMajor >	m_acceleration
	Particles' acceleration. More...

Math::Vector	m_density
	Particles' density. More...

Math::Vector	m_pressure
	Particles' pressure. More...

double	m_mass
	Mass per particle (determine the density of particle per m3) More...

double	m_densityReference
	Density of the reference gas. More...

double	m_gasStiffness
	Stiffness of the gas considered. More...

double	m_surfaceTension
	Surface tension. More...

double	m_stiffness
	Collision stiffness. More...

double	m_damping
	Collision damping. More...

double	m_friction
	Collision sliding friction coefficient. More...

SurgSim::Math::Vector3d	m_gravity
	3D Gravity vector More...

double	m_viscosity
	Viscosity coefficient. More...

double	m_h
	Kernels parameter (support length and its powers) More...

double	m_hSquared

double	m_kernelPoly6

double	m_kernelPoly6Gradient

double	m_kernelSpikyGradient

double	m_kernelViscosityLaplacian

double	m_kernelPoly6Laplacian

std::shared_ptr< SurgSim::DataStructures::Grid< size_t, 3 > >	m_grid
	Grid acceleration to evaluate the kernels locally (storing the particles' index) More...

Protected Attributes inherited from SurgSim::Particles::Representation
size_t	m_maxParticles
	Maximum amount of particles allowed in this particle system. More...

SurgSim::DataStructures::BufferedValue< Particles >	m_particles
	BufferedValue of particles. More...

std::shared_ptr< SurgSim::Framework::Logger >	m_logger
	Logger used by the particle system. More...

std::shared_ptr< SurgSim::Collision::Representation >	m_collisionRepresentation
	This entity's collision representation. More...

Private Member Functions
void	computeNeighbors ()
	Compute the neighbors. More...

void	computeDensityAndPressureField ()
	Compute the density and pressure field. More...

void	computeNormalField ()
	Compute the normal field. More...

void	computeAccelerations ()
	Compute the Sph accelerations. More...

Additional Inherited Members
Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Detailed Description

SphRepresentation is a Representation dedicated to Smoothed-Particles Hydrodynamics (SPH).

This class is mostly based on these papers: "Particle-Based Fluid Simulation for Interactive Applications", M. Muller, D. Charypar, M. Gross. In Proceedings of ACM SIGGRAPH Symposium on Computer Animation (SCA) 2003, pp 154-159. "Interactive Blood Simulation for Virtual Surgery Based on Smoothed Particle Hydrodynamics", M. Muller, S. Schirm, M. Teschner. Journal of Technology and Health Care, ISSN 0928-7329, IOS Press, Amsterdam.

Constructor & Destructor Documentation

◆ SphRepresentation()

SurgSim::Particles::SphRepresentation::SphRepresentation ( const std::string & name )

explicit

Constructor.

Parameters

name	The representation's name

◆ ~SphRepresentation()

SurgSim::Particles::SphRepresentation::~SphRepresentation ( )

virtual

Destructor.

Member Function Documentation

◆ computeAccelerations()

void SurgSim::Particles::SphRepresentation::computeAccelerations ( )

private

Compute the Sph accelerations.

◆ computeDensityAndPressureField()

void SurgSim::Particles::SphRepresentation::computeDensityAndPressureField ( )

private

Compute the density and pressure field.

◆ computeNeighbors()

void SurgSim::Particles::SphRepresentation::computeNeighbors ( )

private

Compute the neighbors.

◆ computeNormalField()

void SurgSim::Particles::SphRepresentation::computeNormalField ( )

private

Compute the normal field.

◆ computeVelocityAndPosition()

void SurgSim::Particles::SphRepresentation::computeVelocityAndPosition ( double dt )

protected

Compute the particles' velocity and position given a time step dt.

Parameters

dt	The time step to advance the simulation too

Note: This method integrates the ODE equation of the SPH, computing velocities and positions from the; accelerations and storing them in the state. Therefore computeAcceleration(dt) should be called before.

◆ doHandleCollisions()

bool SurgSim::Particles::SphRepresentation::doHandleCollisions	(	double	dt,
		const SurgSim::Collision::ContactMapType &	collisions
	)

overrideprotectedvirtual

Implementation of the specific collision handling of the particle system.

Returns: True if succeeded, False otherwise.

Implements SurgSim::Particles::Representation.

◆ doInitialize()

bool SurgSim::Particles::SphRepresentation::doInitialize ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is initialized successfully; otherwise, false.

Reimplemented from SurgSim::Particles::Representation.

◆ doUpdate()

bool SurgSim::Particles::SphRepresentation::doUpdate ( double dt )

overrideprotectedvirtual

Implementation of the specific behavior of the particle system.

Returns: True if update succeeded, False otherwise.

Implements SurgSim::Particles::Representation.

◆ getDamping()

double SurgSim::Particles::SphRepresentation::getDamping ( ) const

Get the particles damping when colliding.

Returns: The damping [Ns/m]

◆ getDensity()

double SurgSim::Particles::SphRepresentation::getDensity ( ) const

Get the density of the fluid.

Returns: The density of the fluid [Kg.m-3]

◆ getFriction()

double SurgSim::Particles::SphRepresentation::getFriction ( ) const

Get the sliding coefficient of friction for the particles during collisions.

Returns: The sliding coefficient of friction

◆ getGasStiffness()

double SurgSim::Particles::SphRepresentation::getGasStiffness ( ) const

Get the gas stiffness coefficient.

Returns: The stiffness coefficient of the gas [N.m.Kg-1]

◆ getGravity()

SurgSim::Math::Vector3d SurgSim::Particles::SphRepresentation::getGravity ( ) const

Get the gravity vector (default is (0 -9.81 0))

Returns: The 3d gravity vector [m]

◆ getKernelSupport()

double SurgSim::Particles::SphRepresentation::getKernelSupport ( ) const

Get the kernel function support.

Returns: The length of the kernel support [m]

◆ getMassPerParticle()

double SurgSim::Particles::SphRepresentation::getMassPerParticle ( ) const

Get the mass for each particle.

Returns: The mass that is used for all particle [Kg]

◆ getStiffness()

double SurgSim::Particles::SphRepresentation::getStiffness ( ) const

Get the particles stiffness when colliding.

Returns: The stiffness [N/m]

◆ getSurfaceTension()

double SurgSim::Particles::SphRepresentation::getSurfaceTension ( ) const

Get the surface tension.

Returns: The surface tension [N.m-1]

◆ getViscosity()

double SurgSim::Particles::SphRepresentation::getViscosity ( ) const

Get the viscosity coefficient (default is 0.0)

Returns: The viscosity coefficient [N.s.m-2]

◆ setDamping()

void SurgSim::Particles::SphRepresentation::setDamping ( double damping )

Set the particles damping when colliding.

Parameters

damping The damping [Ns/m]

◆ setDensity()

void SurgSim::Particles::SphRepresentation::setDensity ( double density )

Set the density of the fluid.

Parameters

density of the fluid [Kg.m-3]

Exceptions

An	exception SurgSim::Framework::AssertionFailure if the value is negative or null

◆ setFriction()

void SurgSim::Particles::SphRepresentation::setFriction ( double friction )

Set the sliding coefficient of friction for the particles during collisions.

Parameters

friction The sliding coefficient of friction

◆ setGasStiffness()

void SurgSim::Particles::SphRepresentation::setGasStiffness ( double stiffness )

Set the gas stiffness coefficient.

Parameters

stiffness coefficient of the gas [N.m.Kg-1]

Exceptions

An	exception SurgSim::Framework::AssertionFailure if the value is negative or null

◆ setGravity()

void SurgSim::Particles::SphRepresentation::setGravity ( const SurgSim::Math::Vector3d & gravity )

Set the gravity vector.

Parameters

gravity The 3d gravity vector [m]

◆ setKernelSupport()

void SurgSim::Particles::SphRepresentation::setKernelSupport ( double support )

Set the kernel function support.

Parameters

support The length of the kernel support [m]

Exceptions

An	exception SurgSim::Framework::AssertionFailure if the value is negative or null

◆ setMassPerParticle()

void SurgSim::Particles::SphRepresentation::setMassPerParticle ( double particleMass )

Set the mass for each particle.

Parameters

particleMass The mass that will be used for all particles [Kg]

Exceptions

An	exception SurgSim::Framework::AssertionFailure if the value is negative or null

Note: In the SPH model, a particle has a constant mass, but its volume and density vary; (mass = volume * density).; Example: If we want to simulate 1 liter of water (0.001 m3 at 1000kg.m-3); with 50 particles, we need each particle to have a mass of 1.0/50 = 0.02kg

◆ setStiffness()

void SurgSim::Particles::SphRepresentation::setStiffness ( double stiffness )

Set the particles stiffness when colliding.

Parameters

stiffness The stiffness [N/m]

◆ setSurfaceTension()

void SurgSim::Particles::SphRepresentation::setSurfaceTension ( double surfaceTension )

Set the surface tension.

Parameters

surfaceTension The surface tension [N.m-1]

Exceptions

An	exception SurgSim::Framework::AssertionFailure if the value is negative

◆ setViscosity()

void SurgSim::Particles::SphRepresentation::setViscosity ( double viscosity )

Set the viscosity coefficient.

Parameters

viscosity coefficient [N.s.m-2]

Exceptions

An	exception SurgSim::Framework::AssertionFailure if the value is negative

◆ SURGSIM_CLASSNAME()

SurgSim::Particles::SphRepresentation::SURGSIM_CLASSNAME ( SurgSim::Particles::SphRepresentation )

Member Data Documentation

◆ m_acceleration

Eigen::Matrix<double, Eigen::Dynamic, 3, Eigen::RowMajor> SurgSim::Particles::SphRepresentation::m_acceleration

protected

Particles' acceleration.

◆ m_damping

double SurgSim::Particles::SphRepresentation::m_damping

protected

Collision damping.

◆ m_density

Math::Vector SurgSim::Particles::SphRepresentation::m_density

protected

Particles' density.

◆ m_densityReference

double SurgSim::Particles::SphRepresentation::m_densityReference

protected

Density of the reference gas.

◆ m_friction

double SurgSim::Particles::SphRepresentation::m_friction

protected

Collision sliding friction coefficient.

◆ m_gasStiffness

double SurgSim::Particles::SphRepresentation::m_gasStiffness

protected

Stiffness of the gas considered.

◆ m_gravity

SurgSim::Math::Vector3d SurgSim::Particles::SphRepresentation::m_gravity

protected

3D Gravity vector

◆ m_grid

std::shared_ptr<SurgSim::DataStructures::Grid<size_t, 3> > SurgSim::Particles::SphRepresentation::m_grid

protected

Grid acceleration to evaluate the kernels locally (storing the particles' index)

◆ m_h

double SurgSim::Particles::SphRepresentation::m_h

protected

Kernels parameter (support length and its powers)

◆ m_hSquared

double SurgSim::Particles::SphRepresentation::m_hSquared

protected

◆ m_kernelPoly6

double SurgSim::Particles::SphRepresentation::m_kernelPoly6

protected

◆ m_kernelPoly6Gradient

double SurgSim::Particles::SphRepresentation::m_kernelPoly6Gradient

protected

◆ m_kernelPoly6Laplacian

double SurgSim::Particles::SphRepresentation::m_kernelPoly6Laplacian

protected

◆ m_kernelSpikyGradient

double SurgSim::Particles::SphRepresentation::m_kernelSpikyGradient

protected

◆ m_kernelViscosityLaplacian

double SurgSim::Particles::SphRepresentation::m_kernelViscosityLaplacian

protected

◆ m_mass

double SurgSim::Particles::SphRepresentation::m_mass

protected

Mass per particle (determine the density of particle per m3)

◆ m_normal

Eigen::Matrix<double, Eigen::Dynamic, 3, Eigen::RowMajor> SurgSim::Particles::SphRepresentation::m_normal

protected

Particles' normal.

◆ m_pressure

Math::Vector SurgSim::Particles::SphRepresentation::m_pressure

protected

Particles' pressure.

◆ m_stiffness

double SurgSim::Particles::SphRepresentation::m_stiffness

protected

Collision stiffness.

◆ m_surfaceTension

double SurgSim::Particles::SphRepresentation::m_surfaceTension

protected

Surface tension.

◆ m_viscosity

double SurgSim::Particles::SphRepresentation::m_viscosity

protected

Viscosity coefficient.

The documentation for this class was generated from the following files:

SurgSim/Particles/SphRepresentation.h
SurgSim/Particles/SphRepresentation.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SphRepresentation()

◆ ~SphRepresentation()

Member Function Documentation

◆ computeAccelerations()

◆ computeDensityAndPressureField()

◆ computeNeighbors()

◆ computeNormalField()

◆ computeVelocityAndPosition()

◆ doHandleCollisions()

◆ doInitialize()

◆ doUpdate()

◆ getDamping()

◆ getDensity()

◆ getFriction()

◆ getGasStiffness()

◆ getGravity()

◆ getKernelSupport()

◆ getMassPerParticle()

◆ getStiffness()

◆ getSurfaceTension()

◆ getViscosity()

◆ setDamping()

◆ setDensity()

◆ setFriction()

◆ setGasStiffness()

◆ setGravity()

◆ setKernelSupport()

◆ setMassPerParticle()

◆ setStiffness()

◆ setSurfaceTension()

◆ setViscosity()

◆ SURGSIM_CLASSNAME()

Member Data Documentation

◆ m_acceleration

◆ m_damping

◆ m_density

◆ m_densityReference

◆ m_friction

◆ m_gasStiffness

◆ m_gravity

◆ m_grid

◆ m_h

◆ m_hSquared

◆ m_kernelPoly6

◆ m_kernelPoly6Gradient

◆ m_kernelPoly6Laplacian

◆ m_kernelSpikyGradient

◆ m_kernelViscosityLaplacian

◆ m_mass

◆ m_normal

◆ m_pressure

◆ m_stiffness

◆ m_surfaceTension

◆ m_viscosity