elasticTwistingForce.h

#ifndef ELASTICTWISTINGFORCE_H
#define ELASTICTWISTINGFORCE_H

#include "eigenIncludes.h"
#include "elasticRod.h"
#include "timeStepper.h"

class elasticTwistingForce
{
public:
    elasticTwistingForce(elasticRod &m_rod, timeStepper &m_stepper);
    ~elasticTwistingForce();
    void computeFt();
    void computeJt();

    VectorXd ForceVec;

private:
    elasticRod *rod;
    timeStepper *stepper;

    int ci, ind, ind1, ind2;
    double norm_e, norm_f;
    double norm2_e, norm2_f;
    double value, chi, milen;

    Vector3d t0, t1;
    Vector3d te, tf;
    Vector3d kbLocal;
    Vector3d tilde_t;
    VectorXd theta_f;
    VectorXd theta_e;
    VectorXd deltam;
    VectorXd gradTwistLocal;
    VectorXd getUndeformedTwist;
    VectorXd f;

    Matrix3d D2mDe2, D2mDf2, D2mDeDf, D2mDfDe;
    Matrix3d teMatrix;
    Matrix<double, 11, 11> J;
    Matrix<double, 11, 11> DDtwist;
    Matrix<double, 11, 11> Jtt;
    MatrixXd gradTwist;
    double GJ, GJ2;

    void crossMat(const Vector3d &a, Matrix3d &b);
};

#endif