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[FEM] Implement getPotentialEnergy for Linear & Corotational FEMForceField - #6228

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[FEM] Implement getPotentialEnergy for Linear & Corotational FEMForceField#6228
th-skam wants to merge 4 commits into
sofa-framework:masterfrom
th-skam:potentialEnergy

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@th-skam

@th-skam th-skam commented Aug 19, 2026

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Implements getPotentialEnergy() for CorotationalFEMForceField and LinearSmallStrainFEMForceField components. Both now compute elastic strain energy using the form:

$$E = \sum_e \frac{1}{2}\mathbf{u_e}^T\mathbf{K_e}\mathbf{u_e}$$
  • $\mathbf{u_e}$: element displacement of DOFs
  • $\mathbf{K_e}$: element stiffness matrix

The corotational form uses the local displacements and so gives the energy due to local deformations.

@th-skam th-skam added pr: status to review To notify reviewers to review this pull-request pr: new feature Implement a new feature labels Aug 19, 2026
alxbilger
alxbilger approved these changes Aug 25, 2026
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@alxbilger alxbilger left a comment

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Good job!

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@alxbilger alxbilger alxbilger approved these changes

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