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[FEM.HyperElastic] Integration of hyperelasticity from Elasticity plugin to SOFA #6206

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[FEM.HyperElastic] Integration of hyperelasticity from Elasticity plugin to SOFA #6206

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2628069
introduce hyperelaticity from Elasticity plugin
alxbilger Jul 25, 2026
adc04c7
add pk2 material
alxbilger Jul 25, 2026
28c2d30
add all materials from Elasticity
alxbilger Jul 25, 2026
a2fea1a
add license header
alxbilger Jul 25, 2026
2f2fbca
call registration in the factory
alxbilger Jul 25, 2026
f80d39d
add validation scenes
alxbilger Jul 25, 2026
89927b2
missing typename keyword
alxbilger Jul 26, 2026
0cd9f4f
missing typename keyword 2
alxbilger Jul 26, 2026
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36 changes: 34 additions & 2 deletions Sofa/Component/SolidMechanics/FEM/HyperElastic/CMakeLists.txt
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Expand Up @@ -6,6 +6,12 @@ set(SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR "src/sofa/component/so
set(HEADER_FILES
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/config.h.in
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/init.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticityFEMForceField.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticityFEMForceField.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticMaterial.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/PK2HyperelasticMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/PK2HyperelasticMaterial.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/StandardTetrahedralFEMForceField.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/StandardTetrahedralFEMForceField.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/TetrahedronHyperelasticityFEMDrawing.h
Expand All @@ -22,19 +28,45 @@ set(HEADER_FILES
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/StableNeoHookean.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/STVenantKirchhoff.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/VerondaWestman.h

${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/impl/MajorSymmetric4Tensor.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/impl/Strain.h

${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/IncompressibleMooneyRivlinMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/IncompressibleMooneyRivlinMaterial.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/LinearMechanicalParametersComponent.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/LinearMechanicalParametersComponent.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/MooneyRivlinMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/MooneyRivlinMaterial.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/NeoHookeanMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/NeoHookeanMaterial.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/OgdenMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/OgdenMaterial.inl
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/StVenantKirchhoffMaterial.h
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/StVenantKirchhoffMaterial.inl
)

set(SOURCE_FILES
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/init.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/PK2HyperelasticMaterial.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticityFEMForceField.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/HyperelasticMaterial.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/StandardTetrahedralFEMForceField.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/TetrahedronHyperelasticityFEMForceField.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/material/PlasticMaterial.cpp

${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/IncompressibleMooneyRivlinMaterial.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/LinearMechanicalParametersComponent.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/MooneyRivlinMaterial.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/NeoHookeanMaterial.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/OgdenMaterial.cpp
${SOFACOMPONENTSOLIDMECHANICSFEMHYPERELASTIC_SOURCE_DIR}/hyperelasticmaterials/StVenantKirchhoffMaterial.cpp
)

sofa_find_package(Sofa.Simulation.Core REQUIRED)
sofa_find_package(Sofa.Simulation.Core Sofa.Component.SolidMechanics.FEM.Elastic REQUIRED)

add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core)
target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core Sofa.Component.SolidMechanics.FEM.Elastic)

sofa_create_package_with_targets(
PACKAGE_NAME ${PROJECT_NAME}
Expand Down
1 change: 1 addition & 0 deletions ...dMechanics/FEM/HyperElastic/Sofa.Component.SolidMechanics.FEM.HyperElasticConfig.cmake.in
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Expand Up @@ -5,6 +5,7 @@

find_package(Sofa.Config QUIET REQUIRED)
sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
sofa_find_package(Sofa.Component.SolidMechanics.FEM.Elastic QUITE REQUIRED)
sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED)

if(NOT TARGET @PROJECT_NAME@)
Expand Down
34 changes: 34 additions & 0 deletions .../HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.cpp
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@@ -0,0 +1,34 @@
/******************************************************************************
* 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 ELASTICITY_COMPONENT_HYPERELASTIC_MATERIAL_CPP

#include <sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.inl>
#include <sofa/defaulttype/VecTypes.h>

namespace sofa::component::solidmechanics::fem::hyperelastic
{

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec1Types>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec2Types>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec3Types>;

}
82 changes: 82 additions & 0 deletions ...EM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.h
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@@ -0,0 +1,82 @@
/******************************************************************************
* 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 *
******************************************************************************/
#pragma once

#include <sofa/component/solidmechanics/fem/hyperelastic/config.h>
#include <sofa/type/FullySymmetric4Tensor.h>
#include <sofa/component/solidmechanics/fem/hyperelastic/impl/MajorSymmetric4Tensor.h>
#include <sofa/component/solidmechanics/fem/hyperelastic/impl/Strain.h>
#include <sofa/core/objectmodel/BaseObject.h>

#if !defined(ELASTICITY_COMPONENT_HYPERELASTIC_MATERIAL_CPP)
#include <sofa/defaulttype/VecTypes.h>
#endif

namespace sofa::component::solidmechanics::fem::hyperelastic
{

template<class TDataTypes>
class HyperelasticMaterial : public virtual sofa::core::objectmodel::BaseObject
{
public:
SOFA_ABSTRACT_CLASS(HyperelasticMaterial<TDataTypes>, sofa::core::objectmodel::BaseObject);
using DataTypes = TDataTypes;

protected:
using Real = sofa::Real_t<DataTypes>;

static constexpr sofa::Size spatial_dimensions = DataTypes::spatial_dimensions;

using DeformationGradient = sofa::type::Mat<spatial_dimensions, spatial_dimensions, Real>;
using RightCauchyGreenTensor = sofa::type::Mat<spatial_dimensions, spatial_dimensions, Real>;
using StressTensor = sofa::type::Mat<spatial_dimensions, spatial_dimensions, Real>;
using ElasticityTensor = sofa::type::FullySymmetric4Tensor<spatial_dimensions, Real>;
using TangentModulus = MajorSymmetric4Tensor<DataTypes>;

public:
void init() override;

/**
* Computes the First Piola-Kirchhoff stress tensor for a given deformation gradient.
*
* It corresponds to the derivative of the strain energy density function w.r.t. deformation
* gradient.
*/
virtual StressTensor firstPiolaKirchhoffStress(Strain<DataTypes>& strain) = 0;

/**
* Compute the jacobian of the first Piola-Kirchhoff stress tensor with respect to the
* deformation gradient.
*
* It is called the material tangent modulus.
*/
virtual TangentModulus materialTangentModulus(Strain<DataTypes>& strain) = 0;

};

#if !defined(ELASTICITY_COMPONENT_HYPERELASTIC_MATERIAL_CPP)
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec1Types>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec2Types>;
extern template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticMaterial<sofa::defaulttype::Vec3Types>;
#endif

}
39 changes: 39 additions & 0 deletions .../HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.inl
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/******************************************************************************
* 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 *
******************************************************************************/
#pragma once
#include <sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.h>

namespace sofa::component::solidmechanics::fem::hyperelastic
{

template <class DataTypes>
void HyperelasticMaterial<DataTypes>::init()
{
sofa::core::objectmodel::BaseObject::init();

if (!this->isComponentStateInvalid())
{
this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
}
}

} // namespace elasticity
57 changes: 57 additions & 0 deletions ...astic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticityFEMForceField.cpp
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/******************************************************************************
* 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 ELASTICITY_COMPONENT_HYPERLASTICITY_FEM_FORCE_FIELD_CPP

#include <sofa/component/solidmechanics/fem/hyperelastic/HyperelasticityFEMForceField.inl>

#include <sofa/fem/FiniteElement[all].h>
#include <sofa/core/ObjectFactory.h>

namespace sofa::component::solidmechanics::fem::hyperelastic
{

void registerHyperelasticityFEMForceField(sofa::core::ObjectFactory* factory)
{
factory->registerObjects(sofa::core::ObjectRegistrationData("Hyperelasticity")
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
.add< HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
);
}

template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>;
template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_API HyperelasticityFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>;

}
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