Vector2d s_func(
double &xi, double &eta, const Vector4d &x, const Vector4d &y) {
double xip = 1 + xi;
double xim = 1 - xi;
double etap = 1 + eta;
double etam = 1 - eta;
Vector4d shp;
shp(0) = xim * etam / 4.0;
shp(1) = xip * etam / 4.0;
shp(2) = xim * etap / 4.0;
shp(3) = xip * etap / 4.0;
Vector2d map;
map.setZero();
for (size_t i=0; i<4; i++) {
map(0) += shp(i) * x(i);
map(1) += shp(i) * y(i);
}
return map;
}
MatrixXd Triangle<ConcreteShape>::computeGradient(const Ref<const VectorXd>& field) {
Vector2d phyGrad;
Vector2d refGrad;
for(int i=0;i<mNumIntPnt;i++) {
refGrad.setZero(2);
for(int j=0;j<mNumIntPnt;j++) {
refGrad(0) += mGradientPhi_dr(j,i) * field(j);
refGrad(1) += mGradientPhi_ds(j,i) * field(j);
}
phyGrad = (mInvJac) * refGrad;
mGradWork(i,0) = phyGrad(0);
mGradWork(i,1) = phyGrad(1);
}
return mGradWork;
}
void reset_collision () {
impulse.setZero();
collided = false;
contacted = false;
}
