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[Hyperelastic] Support von mises stress in HyperelasticMaterial #6307

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[Hyperelastic] Support von mises stress in HyperelasticMaterial #6307

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d6580b2
support von mises stress in HyperelasticMaterial
alxbilger Sep 11, 2026
69c8d01
Fix tetrahedron scenes
alxbilger Sep 15, 2026
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9 changes: 6 additions & 3 deletions ...EM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.h
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Expand Up @@ -22,10 +22,10 @@
#pragma once

#include <sofa/component/solidmechanics/fem/hyperelastic/config.h>
#include <sofa/component/solidmechanics/fem/elastic/CauchyStressEvaluator.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(SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_HYPERELASTIC_MATERIAL_CPP)
#include <sofa/defaulttype/VecTypes.h>
Expand All @@ -35,10 +35,10 @@ namespace sofa::component::solidmechanics::fem::hyperelastic
{

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

protected:
Expand All @@ -49,6 +49,7 @@ class HyperelasticMaterial : public virtual sofa::core::objectmodel::BaseObject
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 StressVoigtVector = typename elastic::CauchyStressEvaluator<DataTypes>::StressVoigtVector;
using ElasticityTensor = sofa::type::FullySymmetric4Tensor<spatial_dimensions, Real>;
using TangentModulus = MajorSymmetric4Tensor<DataTypes>;

Expand All @@ -71,6 +72,8 @@ class HyperelasticMaterial : public virtual sofa::core::objectmodel::BaseObject
*/
virtual TangentModulus materialTangentModulus(Strain<DataTypes>& strain) = 0;

StressVoigtVector computeStress(const DeformationGradient& F, sofa::Size elementId) override;

};

#if !defined(SOFA_COMPONENT_SOLIDMECHANICS_FEM_HYPERELASTIC_HYPERELASTIC_MATERIAL_CPP)
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21 changes: 21 additions & 0 deletions .../HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/HyperelasticMaterial.inl
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Expand Up @@ -36,4 +36,25 @@ void HyperelasticMaterial<DataTypes>::init()
}
}

template <class TDataTypes>
auto HyperelasticMaterial<TDataTypes>::computeStress(const DeformationGradient& F, sofa::Size elementId) -> StressVoigtVector
{
SOFA_UNUSED(elementId);

Strain<DataTypes> strain(deformationGradient, F);
const auto P = this->firstPiolaKirchhoffStress(strain);
const auto J = strain.getDeterminantDeformationGradient();
assert(std::abs(J) > std::numeric_limits<Real>::epsilon());
const auto sigma = (static_cast<Real>(1)/J) * P * F.transposed();

StressVoigtVector stressVoigt;
for (sofa::Size i = 0; i < type::NumberOfIndependentElements<spatial_dimensions>; ++i)
{
const auto [p, q] = type::toTensorIndices<spatial_dimensions>(i);
stressVoigt[i] = (p == q) ? sigma(p, q) : static_cast<Real>(0.5) * (sigma(p, q) + sigma(q, p));
}

return stressVoigt;
}

} // namespace elasticity
2 changes: 2 additions & 0 deletions ...dation/cantilever_beam/hexahedron/svk/parallel/assembled/HyperelasticityFEMForceField.scn
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Expand Up @@ -9,4 +9,6 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Hexahedron" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<VonMisesStress template="Vec3,Hexahedron" name="stress" topology="@grid" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>
</Node>
2 changes: 2 additions & 0 deletions ...ation/cantilever_beam/hexahedron/svk/parallel/matrixfree/HyperelasticityFEMForceField.scn
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Expand Up @@ -7,5 +7,7 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Hexahedron" topology="@grid"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<VonMisesStress template="Vec3,Hexahedron" name="stress" topology="@grid" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>

</Node>
2 changes: 2 additions & 0 deletions ...tion/cantilever_beam/hexahedron/svk/sequential/assembled/HyperelasticityFEMForceField.scn
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Expand Up @@ -9,5 +9,7 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Hexahedron" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<VonMisesStress template="Vec3,Hexahedron" name="stress" topology="@grid" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>

</Node>
2 changes: 2 additions & 0 deletions ...ion/cantilever_beam/hexahedron/svk/sequential/matrixfree/HyperelasticityFEMForceField.scn
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Expand Up @@ -7,5 +7,7 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Hexahedron" topology="@grid"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<VonMisesStress template="Vec3,Hexahedron" name="stress" topology="@grid" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>

</Node>
2 changes: 2 additions & 0 deletions ...ation/cantilever_beam/tetrahedron/svk/parallel/assembled/HyperelasticityFEMForceField.scn
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Expand Up @@ -15,6 +15,8 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Tetrahedron" topology="@Tetra_topo"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<VonMisesStress template="Vec3,Tetrahedron" name="stress" topology="@Tetra_topo" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>
</Node>

</Node>
2 changes: 2 additions & 0 deletions ...tion/cantilever_beam/tetrahedron/svk/parallel/matrixfree/HyperelasticityFEMForceField.scn
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Expand Up @@ -13,6 +13,8 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Tetrahedron" topology="@Tetra_topo"
computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
<VonMisesStress template="Vec3,Tetrahedron" name="stress" topology="@Tetra_topo" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>
</Node>

</Node>
2 changes: 2 additions & 0 deletions ...ion/cantilever_beam/tetrahedron/svk/sequential/assembled/HyperelasticityFEMForceField.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,8 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Tetrahedron" topology="@Tetra_topo"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<VonMisesStress template="Vec3,Tetrahedron" name="stress" topology="@Tetra_topo" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>
</Node>


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2 changes: 2 additions & 0 deletions ...on/cantilever_beam/tetrahedron/svk/sequential/matrixfree/HyperelasticityFEMForceField.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@
<StVenantKirchhoffMaterial name="material" youngModulus="2e6" poissonRatio="0.45"/>
<HyperelasticityFEMForceField name="FEM" template="Vec3,Tetrahedron" topology="@Tetra_topo"
computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
<VonMisesStress template="Vec3,Tetrahedron" name="stress" topology="@Tetra_topo" stressEvaluator="@material"
colorMap="green yellow orange red purple #221C35"/>
</Node>

</Node>
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