fix : name of key variables, math formulae in comments
@@ -264,16 +264,16 @@ class _CosseratRodBase(RodBase):
# in internal_stresses
self._compute_dilatation_rate()
- voronoi_dilatation_cube_cached = 1.0 / self.voronoi_dilatation ** 3
+ voronoi_dilatation_inv_cube_cached = 1.0 / self.voronoi_dilatation ** 3
# Delta(\tau_L / \Epsilon^3)
bend_twist_couple_2D = difference_kernel(
- self.internal_couple * voronoi_dilatation_cube_cached
+ self.internal_couple * voronoi_dilatation_inv_cube_cached
)
- # \mathcal{A}[ (\kappa x \tau_L ) * \hat{D} / \Epislon^3 ]
+ # \mathcal{A}[ (\kappa x \tau_L ) * \hat{D} / \Epsilon^3 ]
bend_twist_couple_3D = quadrature_kernel(
_batch_cross(self.kappa, self.internal_couple)
* self.rest_voronoi_lengths
- * voronoi_dilatation_cube_cached
+ * voronoi_dilatation_inv_cube_cached
)
# (Qt x n_L) * \hat{l}
shear_stretch_couple = (
@@ -339,6 +339,7 @@ class _CosseratRodBase(RodBase):
self.external_forces *= 0.0
self.external_torques *= 0.0
+
# TODO Fix this classmethod weirdness to a more scalable and maintainable solution
# TODO Fix the SymplecticStepperMixin interface class as it does not belong here
class CosseratRod(
