Finite Element Methods (FEM)

Suzanne Vogel
COMP 259
Spring, 2002
The finite element method is the formulation
of a global model to simulate static or dynamic
response to applied forces.
Models: energy, force, volume,

This differs from a mass spring system, which
is a local model.
Definition of FEM
1. Set up a global model in terms of the world
coordinates of mass points of the object.
These equations will be continuous.
2. Discretize the object into a nodal mesh.
3. Discretize the equations using finite
differences and summations (rather than
derivatives and integrals).
4. Use (2) and (3) to write the global equations
as a stiffness matrix times a vector of
(unknown) nodal values.
Top-Down: Steps in FEM
Top-Down: Steps in FEM
6. Solve for the nodal values.
Static nodal values at equilibrium
Dynamic nodal values at next time step
7. Interpolate values between nodal coordinates.
5
2
3
1
4
6
7 8
u
discretize interpolate
+
global model
object
nodal mesh
interpolate values between nodes
+
local model
Bottom-Up: Steps in FEM
Nodes are point masses connected with springs.
A continuum equation is solved for the nodes,
and intermediate points are interpolated.

A collection of nodes forms an element.

A collection of elements forms the object.
5
2
3
1
4
6
7 8
u
Elements and I nterpolations
Interpolating equations for an element are
determined by the number and distribution of
nodes within the element.

More nodes mean higher degree, for smoother
simulation.
Example: Hermite as 1D Cubic
I nterpolation Equation
1. Assume
u
r
d cu bu au u r + + + =
2 3
) (
4 4 3 3 2 2 1 1
) ( ) ( ) ( ) ( ) ( r u N r u N r u N r u N u r + + + =
cubic equation
equation using shape (blending) functions
and
Example: Hermite as 1D Cubic
I nterpolation Equation
2. Normalize the element to [0,1] and rewrite
d cu bu au u r + + + =
2 3
) ( as a matrix equation
(
(
(
(

(
(
(
(
(
(

=
(
(
(
(

(
(
(
(
(

=
(
(
(
(

d
c
b
a
d
c
b
a
u u u
u u u
u u u
u u u
r
r
r
r
1 1 1 1
1
27
2
27
4
27
8
1
3
1
9
1
27
1
1 0 0 0
1
1
1
1
4
2
4
3
4
3
2
3
3
3
2
2
2
3
2
1
2
1
3
1
4
3
2
1
or
Q U R =
0 0
Example: Hermite as 1D Cubic
I nterpolation Equation
3. Solve for the coefficients Q
0 0
1
0 0 0
R M R U Q Q U R
H
= =

4. Plug the coefficients into the cubic equation
d cu bu au u r + + + =
2 3
) (
5. Rewrite the cubic equation in the form
4 4 3 3 2 2 1 1
) ( ) ( ) ( ) ( ) ( r u N r u N r u N r u N u r + + + =
Example: Hermite as 1D Cubic
I nterpolation Equation
4 + 5. are equivalent to the steps
| |
(
(
(
(

=
= = =
4
3
2
1
4 3 2 1
0 0 0
) ( ) ( ) ( ) ( ) (
) ( ) ( ) (
r
r
r
r
u N u N u N u N u r
R M U R M U Q U u r
H H
values at the 4 nodes of the element
shape (blending) functions
Example: Hermite as 1D Cubic
I nterpolation Equation
1
0

=U
shape (blending) functions within one element
Let
u
r
t u H N
i i
= = ,
1D Elements
(x) (x)
(x)
Example: bungee
2D Elements
(x,y)
(x,y)
(x,y)
Example: cloth
3D Elements
(x,y,z)
(x,y,z)
Example: skin
Static analysis is good for engineering, to find
just the end result.
Dynamic analysis is good for simulation, to
find all intermediate steps.
Static vs. Dynamic FEM
Types of Global Models
[6]

Variational - Find the position function, w(t)
that minimizes the some variational integral.
This method is valid only if the position
computed satisfies the governing differential
equations.

Rayleigh-Ritz - Use the variational method
assuming some specific form of w(t) and
boundary conditions. Find the coefficients and
exponents of this assumed form of w(t).
Example of Variational Method
[6]

0 ) ( =
c
c
+ +
- - -
t f
w
w w
c

}
O
- - -
O
|
|
.
|

\
|
+ = d fw w w c w c w J 2
2
1
) (
1
2
2
c w b w a
w
+ =
c
c
- - -
c
0 ) (
) (
) (
3
2
1
= + =
+ =
+ =
f c c
b c
a c

Minimizing the variation w.r.t. w of the

variational function
under the conditions
satisfies the governing
equation, Lagranges
Equation
Galerkin (weighted residual) - Minimize the
residual of the governing differential equation,
F(w,w,w,,t) = 0. The residual is the form of
F that results by plugging a specific form of the
position function w(t) into F. Find the
coefficients and exponents of this assumed form
of w(t).
Types of Global Models
[6]

We can approximate w(t) using Hookes Law
0 ) ( =
c
c
+ +
- - -
t f
w
w w
c

Example of Galerkin Method
[6]

If we use that equation to compute the 1st and
2nd time derivatives of w, then we can compute
the residual as
(

~
(

(
(
(
(

) (
) (
) (
) (
1 1
1 1
1
2
1
2
1
1
0 0
0 0
t w
t w
E t f
E t f
L L
L L
E
Example of Static, Elastic FEM
Problem: If you apply the pressure shown, what
is the resulting change in length?
Object


First step. Set up a continuum model:

F = force
P = pressure
A = area
L = initial length
E = Youngs modulus
|
.
|

\
|
A
= =
L
L
E
A
P
F
AE
PL
L = A
du
u h wE
PL
du
u wh E
PL
du
AE
PL
L
un
u
un
u
un
u
} } }
= = = A
0 0 0
) (
1
) (
1
Entire length:
Infinitessimal length:
Example of Static, Elastic FEM
Since the shape is regular, we can integrate to
find the solution analytically. But suppose we
want to find the solution numerically.

Next step. Discretize the object.
Example of Static, Elastic FEM
Example of Static, Elastic FEM
Discretization of object into
linear elements bounded by nodes
1
2 3
4
n
1
n
2
n
3
n
4
n
5
Example of Static, Elastic FEM
Next step. Set up a local model.

Stress-Strain Relationship (like Hookes Law)
0 , , 0 , ,
0
,
) ( ) ( L k r r k L r r k L k L
L
E
j i j i j i j i j i j i
j i
i
= = A A = o
0 , ,
) ( L k r r k
j i j i j i i j
+ + = = o o
Youngs modulus distance between adjacent nodes
stress (elastic force)
Example of Static, Elastic FEM
0 , ,
) ( L k r r k
j i j i j i i
= o
0 , ,
) ( L k r r k
j i j i j i j
+ + = o
(

=
(

+
(

=
(

j
i
j i j i
j i j i
j i j
j i i
j i
j i
j
i
j i j i
j i j i
j
i
r
r
k k
k k
L k
L k
L k
L k
r
r
k k
k k
, ,
, ,
0 ,
0 ,
0 ,
0 ,
, ,
, ,
o
o
o
o
(

=
(

+
+ + +
+ +
+ +
+
1 1 , 1 ,
1 , 1 ,
0 1 , 1
0 1 ,
j
j
j j j j
j j j j
j j j
j j j
r
r
k k
k k
L k
L k
o
o
Next step. Set up a local (element) stiffness matrix.
Rewrite the
above as a
matrix equation.
Same for the
adjacent element.
element stiffness matrix
nodal stresses
nodal coordinates
(

=
(

+
2
1
2 , 1 2 , 1
2 , 1 2 , 1
0 2 , 1 2
0 2 , 1 1
r
r
k k
k k
L k
L k
o
o
Example of Static, Elastic FEM
Now, all of the element stiffness matrices are as
follows.
(

=
(

+
3
2
3 , 2 3 , 2
3 , 2 3 , 2
0 3 , 2 3
0 3 , 2 2
r
r
k k
k k
L k
L k
o
o
(

=
(

+
4
3
4 , 3 4 , 3
4 , 3 4 , 3
0 4 , 3 4
0 4 , 3 3
r
r
k k
k k
L k
L k
o
o
(

=
(

+
5
4
5 , 4 5 , 4
5 , 4 5 , 4
0 5 , 4 5
0 5 , 4 4
r
r
k k
k k
L k
L k
o
o
1 2 3
4
n
1
n
2
n
3
n
4
n
5
r
i
is the x-coordinate of node u
i
Example of Static, Elastic FEM
Next step. Set up a global stiffness matrix.

Pad the element stiffness matrices with zeros
and sum them up. Example:
(
(
(
(
(
(

(
(
(
(
(
(

=
(
(
(
(
(
(

+
+
5
4
3
2
1
3 , 2 3 , 2
3 , 2 3 , 2
0 3 , 2 3
0 3 , 2 2
0 0 0 0 0
0 0 0 0 0
0 0 0
0 0 0
0 0 0 0 0
0
0
0
r
r
r
r
r
k k
k k
L k
L k
o
o
(
(
(
(
(
(

(
(
(
(
(
(

+
+
+

=
(
(
(
(
(
(

+
+ +
+ +
+ +
+
5
4
3
2
1
5 , 4 5 , 4
5 , 4 4 , 3 5 , 4 4 , 3
4 , 3 4 , 3 3 , 2 3 , 2
3 , 2 3 , 2 2 , 1 2 , 1
2 , 1 2 , 1
0 5 , 4 5
0 5 , 4 4 , 3 4
0 4 , 3 3 , 2 3
0 3 , 2 2 , 1 2
0 2 , 1 1
0 0 0
0 0
0 0
0 0
0 0 0
) (
) (
) (
r
r
r
r
r
k k
k k k k
k k k k
k k k k
k k
L k
L k k
L k k
L k k
L k
o
o
o
o
o
Example of Static, Elastic FEM
Final step. Solve the matrix equation for the
nodal coordinates.
Global stiffness matrix.
Captures material properties.
Nodal coordinates.
Solve for these!
Applied forces
Elastic FEM
A material is elastic if its behavior depends only
on its state during the previous time step.
Think: Finite state machine

The conditions under which an elastic
material behaves elastically are:
Force is small.
Force is applied slowly and steadily.
I nelastic FEM
A material is inelastic if its behavior depends on
all of its previous states.

A material may behave inelastically if:
Force is large - fracture, plasticity.
Force is applied suddenly and released, i.e., is
transient - viscoelasticity.

Conditions for elastic vs. inelastic depend on
the material.
Examples of Elasticity
Elasticity
Springs, rubber, elastic, with small, slowly-
applied forces


Examples of I nelasticity
Inelasticity
Viscoelasticity
Silly putty bounces under transient force (but
flows like fluid under steady force)

Plasticity
Taffy pulls apart much more easily under
more force (material prop.)

Fracture
Lever fractures under heavy load
Linear and Nonlinear FEM
Similarly to elasticity vs. inelasticity, there are
conditions for linear vs. nonlinear deformation.
Often these coincide, as in elastoplastic.
0
:
L
L
e Ee
A
= = o
= e
o
Hookes Law

Describes spring without damping
Linear range of preceding stress vs. strain graph


e a f
0
=
Elastic Deformation
Elastic vs. I nelastic FEM
e
e
t
loading unloading
0
:
L
L
e Ee
A
= = o
or
stress strain
Youngs modulus
o
o
Elastic vs. I nelastic FEM
Damped Elastic Deformation
e
e
t
loading unloading
e a e a f
0 1
+ =
-
viscous linear stress
Rate of deformation is constant.
o
o
a
1
e
.
a
1
e
.
Viscoelastic Deformation
Elastic vs. I nelastic FEM
e
e
t
loading unloading
.
e a e a e a f b f b f b
0 1 2 0 1 2
+ + = + +
- - - - - -
viscous new term!
This graph is actually viscous,
but viscoelastic is probably similar
Rate of deformation is greatest
immediately after starting
loading or unloading.
depends on time t
linear stress
o o o
o
Elastoplastic Deformation
Elastic vs. I nelastic FEM
e
This graph is actually plastic,
but viscoelastic is probably similar
f
e
x
x
compare
loading
unloading
loading
x
depends on force f
o
o
o
e
e a f
0
= o
Elastic vs. I nelastic FEM
Fracture
Force response is locally discontinuous
Fracture will propogate if energy release rate
is greater than a threshold
e
x
x
loading
unloading
depends on force f
o


1. World
coordinates w
in inertial frame
(a frame with
constant velocity)
2. Object
(material)
coordinates r
in non-inertial
frame
|
u
r(w,t) = r
ref
(w,t) + e(w,t)
Elastic vs. I nelastic
FEM
4,5
world, or
inertial frame
u
ref
r
object, or
non-inertial
frame
origin of
= center of mass in
|
u
|
Transform
reference
component r
ref

elastic component e
object frame
w.r.t. world frame


|
u
r(w,t) = r
ref
(w,t) + e(w,t)
Elastic vs. I nelastic
FEM
4,5
u
ref
r
|
Elastic vs. I nelastic FEM
All these equations are specific for:
Elasticity
Viscosity
Viscoelasticity
Plasticity
Elastoplasticity
Fracture
(not mentioned) Elastoviscoplasticity

Ideally: We want a general equation that will
fit all these cases.
Elastic vs. I nelastic
FEM
4,5
A More General Approach
To simulate dynamics we can use Lagranges
equation of strain force. At each timestep, the
force is calculated and used to update the
objects state (including deformation).
stress component
of force
w
w w t w f
c
c
+ + =
- - -
c
) , (
mass density damping density
elastic potential energy
Lagranges Equation
|
.
|

\
|
c
c
=
c
c
=
c
c
w
e
L
E
w
L
w
0
0
) / (o c
w
w w t w f
c
c
+ + =
- - -
c
) , (
Elastic vs. I nelastic
FEM
4,5
Given:
Mass density and damping density are known.
Elastic potential energy derivative w.r.t. r can be
approximated using one of various equations.

The current position w
t
of all nodes of the object
are known.
Unknown:
The new position w
t+dt
of nodes is solved for at
each timestep.
v
e
c
t
o
r

v
e
c
t
o
r

m
a
t
r
i
c
e
s

next slide
Lagranges
Equation
w
w w t w f
c
c
+ + =
- - -
c
) , (
dr
r
e
r
e
r
e
r
}
O
|
|
.
|

\
|
c
c
c
c
c
c
= ,... , , ,
3
3
2
2
c
Elastic vs. I nelastic
FEM
4,5
For both elastic and inelastic deformation,
express elastic potential energy as an integral
in terms of elastic potential energy density.
elastic potential energy density
elastic potential energy
Elastic vs. I nelastic
FEM
4,5
Elastic potential energy density can be
approximated using one of various equations
which incorporate material properties.

Elastic deformation: Use tensors called metric
(1D, 2D, 3D stretch), curvature (1D, 2D
bend), and twist (1D twist).

Inelastic deformation: Use controlled-
continuity splines.

Elastic FEM
4
For elastic potential energy density in 2D, use
metric tensors G (for stretch)
curvature tensors B (for bend)
2 0 2 0
|| || || || ) (
| o
B B G G r + =
|| M || = weighted norm of matrix M
Elastic FEM
4
Overview of derivation of metric tensor

Since the metric tensor G represents stretch, it
incorporates distances between adjacent points.
( )
( )
T
j i
j i
j i
j i
j i
j i
dr
dr
dr
dr
G G
G G
dr dr
dr dr
dr dr
dr dr
G G G G dr dr G
dr dr
r
w
r
w
dw dw dL
(

=
(
(
(
(

=
|
|
.
|

\
|
c
c

|
|
.
|

\
|
c
c
= =

=
=
2
1
2
1
2 , 2 1 , 2
2 , 1 1 , 1
2 2
1 2
2 1
1 1
2 , 2 1 , 2 2 , 1 1 , 1
2 , 1 ,
,
2 , 1 ,
2
1 1
world coordinates object coordinates
Elastic FEM
4
Overview of metric and curvature tensors.
From the previous slides, we found:
Similarly:
represents stretch
represents bend
Theorem. G and B together determine shape.
|
|
.
|

\
|
c
c

|
|
.
|

\
|
c
c
=
j i
j i
r
w
r
w
r w G )) ( (
,
|
|
.
|

\
|
c c
c
=
j i
j i
r r
w
r w B
2
,
)) ( (
Elastic FEM
4
For elastic FEM, elastic potential energy
density in 2D incorporates changes in the
metric tensor G and the curvature tensor B.
2 0 2 0
|| || || || ) (
| o
B B G G r + =
|| M || = weighted norm of matrix M
weights = material properties
I nelastic FEM
5
For inelastic FEM, elastic potential energy
density is represented as a controlled-
continuity spline.

= =
|
|
.
|

\
|
c c c
c
=
p
m m j
jd j j
m
j
j
d
e
r r r
w
j j j
m
0
2
| |
2 1
2 1
... ! !... !
!
2
1

For some degree p, dimensionality d, compute

the sum of sums of all combinations of
weighted 1
st
, 2
nd
,, mth derivatives of strain e
w.r.t. node location r, where m <= p.
weighting function = material property

= =
|
|
.
|

\
|
|
|
.
|

\
|
c c c
c
c c c
c
=
p
m m j
jd j j
m
j
j
d
jd j j
m
j
m
e
r r r
w
j j j
m
r r r e
0 | |
2 1
2 1
2 1
... ! !... !
!
...
1
o
o
I nelastic FEM
5
Then the elastic potential energy density
derivative w.r.t. strain e is:
weighting function = material property
|
|
.
|

\
|
|
|
.
|

\
|
c
c
c
c
+
|
|
.
|

\
|
|
|
.
|

\
|
c
c
c
c
+
|
|
.
|

\
|
|
|
.
|

\
|
c c
c
c c
c
+
|
|
.
|

\
|
|
|
.
|

\
|
c
c
c
c

|
|
.
|

\
|
|
|
.
|

\
|
c
c
c
c
=
e
r
w
r
e
r
w
r
e
r r
w
r r
e
r
w
r
e
r
w
r
e w
e
2
2
2
02
2
2
2
2
1
2
20
2
1
2
2 1
2
11
2 1
2
2
01
2 1
10
1
00
! 2 ! 0
! 2
! 0 ! 2
! 2
! 1 ! 1
! 2
! 1 ! 0
! 1
! 0 ! 1
! 1
! 0 ! 0
! 0
o
o
Example: p = 2, d = 3
w
w w t w f
c
c
+ + =
- - -
c
) , (

= =
|
|
.
|

\
|
|
|
.
|

\
|
c c c
c
c c c
c
=
p
m m j
jd j j
m
j
j
d
jd j j
m
j
m
e
r r r
w
j j j
m
r r r e
0 | |
2 1
2 1
2 1
... ! !... !
!
...
1
o
o

= =
|
|
.
|

\
|
c c c
c
=
p
m m j
jd j j
m
j
j
d
e
r r r
w
j j j
m
0
2
| |
2 1
2 1
... ! !... !
!
2
1

} |
|
.
|

\
|
c
c
c
c
c
c
=
u
dr
r
e
r
e
r
e
r ,... , , ,
2
2
2
2
c
Elastic vs. I nelastic
FEM
4,5
2 0 2 0
|| || || || ) (
| o
B B G G r + =
Inelastic
Elastic
Recap
Lagranges Eqn
total force
(includes stress)
elastic
potential energy
elastic potential
energy density
4
5
5
material properties
How it has been
expanded and is continuing
to be expanded...
o
w
w w t w f
c
c
+ + =
- - -
c
) , (
( ) ( ) ( )
}

O
=
+ ~ dr B B G G r
j i
j i j i
2 , 1 ,
2
0
,
2
0
,
) ( q c
Elastic FEM
4
Continuing
2 0 2 0
|| || || || ) (
| o
B B G G r + =
( )
0
, , , ,
) ( ) , (
j i j i j i j i
G G w w r =q o ( )
0
, , , ,
) ( ) , (
j i j i j i j i
G G w w r =, |
} |
|
.
|

\
|
c
c
c
c
c
c
=
u
dr
r
e
r
e
r
e
r ,... , , ,
2
2
2
2
c
elastic
potential
energy
>0: surface wants to shrink
<0: surface wants to expand
>0: surface wants to flatten
<0: surface wants to bend
w
w w t w f
c
c
+ + =
- - -
c
) , (
I nelastic FEM
5
Continuing
} |
|
.
|

\
|
c
c
c
c
c
c
=
u
dr
r
e
r
e
r
e
r ,... , , ,
2
2
2
2
c

= =
|
|
.
|

\
|
|
|
.
|

\
|
c c c
c
c c c
c
=
p
m m j
jd j j
m
j
j
d
jd j j
m
j
m
e
r r r
w
j j j
m
r r r e
0 | |
2 1
2 1
2 1
... ! !... !
!
...
1
o
o
Deformation has been modeled by
approximating elastic potential energy.
elastic potential energy
elastic potential
energy density
strain
I nelastic FEM
5
Continuing
Now rigid-body motion and other aspects of
deformation must be computed using physics
equations of motion.

In this way, both (in)elastic deformation and
rigid-body motion can be modeled, providing a
very general framework.
r(w,t) = r
ref
(w,t) + e(w,t)
) , ( ) ( ) ( ) ( ) , ( t r e t c t t c t r w
- - - -
+ + = u
I nelastic FEM
5
Motion of object (non-inertial) frame w.r.t.
world (inertial) frame
}
O
= dr t r w r t c ). , ( ) ( ) (
dr t r w dr t r e
dt
d
c m
dt
d
f
v
. ) , ( . ) , ( ) (
} }
O
-
O
- -
+ + =
} }
O
-
O
- -
+ + = dr w r dr e r
dt
d
I
dt
d
f . . ) ( u
e
e
w r e r c e
dt
d
t f
e
o
oc
u u u u o + + + + + + =
- - - - - - - - - -
2 ) ( ) ( ) (
w
w w t w f
c
c
+ + =
- - -
c
) , (
Combines
dynamics of
deformable
and rigid
bodies
elastic
rot
trans
) , ( ) ( ) ( ) ( ) , ( t r e t c t t c t r w
- - - -
+ + = u
I nelastic FEM
5
Velocity of node of object (non-inertial) frame
w.r.t. world (inertial) frame
(radians / sec) x (radius)
Identically, in another
coordinate system,
r(w,t) =r
ref
(w,t) +e(w,t)
w.r.t. object
velocity of reference
component
velocity of elastic
component
w.r.t. world
w
w w t w f
c
c
+ + =
- - -
c
) , (
) , ( t r w
u
|
) (t u
) (t c
) (t e
} }
O
-
O
- -
+ + = dr w r dr e r
dt
d
I
dt
d
f . . ) ( u
e
I nelastic FEM
5 w
w w t w f
c
c
+ + =
- - -
c
) , (
rot
}
O
|
|
|
.
|

\
|
+
+
+
= ) (
) (
) (
) ) (
) (
2
3
2
2 2 3 1 3
3 2
2
3
2
1 1 2
3 1 2 1
2
3
2
2
t dw
w w w w w w
w w w w w w
w w w w w w
t I



angular momentum
inertia tensor
Angular momentum is conserved in the absense
of force. So a time-varying angular momentum
indicates the presence of foce.
} }
O
-
O
- -
+ + = dr w r dr e r
dt
d
I
dt
d
f . . ) ( u
e
I nelastic FEM
5 w
w w t w f
c
c
+ + =
- - -
c
) , (
rot
indicates changing angle between position and direction of stretch
) (t r
) (t e
-
I nelastic FEM
5 w
w w t w f
c
c
+ + =
- - -
c
) , (
e
w r e r c e
dt
d
t f
e
o
oc
u u u u o + + + + + + =
- - - - - - - - - -
2 ) ( ) ( ) (
elastic
inertial centripetal Coriolis transverse damping
elastic potential energy strain
restoring
If the reference component has no translation or
rotation, then
e
e
dt
d
t f
e
o
oc
o + =
-
) ( ) (
e
t f
e
o
oc
o = ) (
Furthermore, if the elastic component has no
acceleration, then
I nelastic FEM
5 w
w w t w f
c
c
+ + =
- - -
c
) , (
Recall that non-elastic behavior is characterized
by acceleration of the elastic component
(strain)...
e
e
dt
d
t f
e
o
oc
o + =
-
) ( ) (
e
t f
e
o
oc
o = ) (
And elastic behavior is characterized by
constant velocity of strain.
loading
x
o
e
e a f
0
= o
Now Lagranges equation has been expanded.


Final Steps
Discretize using finite differences (rather than
derivatives).
Write as a matrix times a vector of nodal
coordinates (rather than a single mass point).
Solve for the objects new set of positions of
all nodes.
Elastic vs. I nelastic
FEM
4,5
w
w w t w f
c
c
+ + =
- - -
c
) , (
Discretization of FEM
4,5
w
w w t w f
c
c
+ + =
- - -
c
) , (
w
w C w M t f
c
c
+ + =
- - -
c
) (
Discretize Lagranges equation over all nodes
Procedure described in [4] but not [5]
t t t t t t t t
t t t t t t t
t t t
t t t
t t
t t t t t t t
t t t
t t t t t t t t t
t t t t t t t t
t t t t t t
v C M
t
w C
t
M
t
w w g w K
t
M
t
A
where w w g w A
v C M
t
w C
t
M
t
f
t
w w
C M
t
w C
t
M
t
f
w C
t
M
t
w M
t
f w w K
t
M
t
w w K
t
w w
C
t
w w w
M
w w K w CD w D MD
f w w K
t
w
C
t
w
M
|
.
|

\
|
+
A

|
.
|

\
|
A
+
A

|
.
|

\
|
+
A
+
A

=
|
.
|

\
|
+
A

|
.
|

\
|
A
+
A
+ ~
A

|
.
|

\
|
+
A

|
.
|

\
|
A
+
A
+ =
|
.
|

\
|
A
+
A

|
.
|

\
|
A
+ =
|
.
|

\
|
+
A
+
A

+
A

+
A
+
=
+ + ~
= +
c
c
+
c
c
A
A A +
A
A A +
A +
A A + A A +
A +
+ +
A + A + A +
2
1 1
2
1 3
) , ( , ) (
2
1 1
_ ) , (
2
1 1
2
1 3
2
1 1
2
1 3
2
1 1 2
) (
2
1 1
) (
2
2
) ( ) ( )) ( (
) (
2 2
2
2
2 2 2
2
2
2
Discretization of Elastic FEM
4
Results of Elastic FEM
4
Results of Elastic FEM
4
Results of Elastic FEM
4
3D plasticine bust of Victor Hugo.
180 x 127 mesh; 68,580 equations.
Results of I nelastic FEM
5
Results of I nelastic FEM
5
Sphere pushing through 2D mesh.
23 x 23 mesh; 1,587 equations.
Yield limit is uniform, causing linear tears.
Results of I nelastic FEM
5
2D paper tearing by opposing forces.
30 x 30 mesh; 2,700 equations.
Yield limit is perturbed stochastically,
causing randomly-propogating tears.
References

0. David Baraff. Rigid Body Simulation.
Physically Based Modeling, SIGGRAPH
Course Notes, August 2001.

1. George Buchanan. Schaums Outlines:
Finite Element Analysis. McGraw-Hill, 1995.

2. Peter Hunter and Andrew Pullan. FEM/BEM
Notes. The University of Auckland, New
Zealand, February 21 2001.
References

3. Tom Lassanske. [Slides from class lecture]

4. Demetri Terzopoulost, John Platt, Alan Barr,
and Kurt Fleischert. Elastically Deformable
Models. Computer Graphics, Volume 21,
Number 4, July 1987.

5. Demetri Terzopoulos and Kurrt Fleiseher.
Modeling Inelastic Deformation:
Viscoelasticity, Plasticity, Fracture. Computer
Graphics, Volume 22, Number 4, August 1988
Notation

density energy potential elastic
energy potential elastic
ulus s Young E
f orce stress
stretch strain e
s coordinate world w
s coordinate object r
_ _ _
_ _
mod _ '
) _(
) _(
_
_

c
o