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Merged
epernod merged 4 commits into from
May 19, 2025
Merged

Cleaning of AdaptiveBeamForceFieldAndMass #187

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8273c0c
use link instead of raw pointers
fredroy May 7, 2025
3504364
use SingleStateAccessor (+ some minor cleanings)
fredroy May 7, 2025
34c65bb
clean code
fredroy May 9, 2025
5a5ecea
Merge branch 'master' into clean_ffandmass
fredroy May 19, 2025
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54 changes: 26 additions & 28 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,21 +32,19 @@
//
#pragma once

//////////////////////// Inclusion of headers...from wider to narrower/closer //////////////////////
#include <BeamAdapter/config.h>

#include <sofa/type/Transform.h>
#include <sofa/type/SpatialVector.h>
#include <sofa/core/behavior/ForceField.h>
#include <sofa/core/behavior/Mass.h>
#include <BeamAdapter/config.h>
#include <BeamAdapter/component/BaseBeamInterpolation.h>
#include <BeamAdapter/component/engine/WireRestShape.h>


namespace beamadapter
{

using sofa::core::behavior::MultiMatrixAccessor;
using sofa::core::visual::VisualParams;
using sofa::core::MechanicalParams;

/*!
* \class AdaptiveBeamForceFieldAndMass
* @brief AdaptiveBeamForceFieldAndMass Class
Expand Down Expand Up @@ -77,8 +75,8 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
using Vec6NoInit = sofa::type::VecNoInit<6, Real>;
using Matrix6x6 = sofa::type::Mat<6, 6, Real>;
using Matrix6x6NoInit = sofa::type::MatNoInit<6, 6, Real>;
using Transform = typename sofa::defaulttype::SolidTypes<Real>::Transform;
using SpatialVector = typename sofa::defaulttype::SolidTypes<Real>::SpatialVector;
using Transform = sofa::type::Transform<Real>;
using SpatialVector = sofa::type::SpatialVector<Real>;

using BInterpolation = BaseBeamInterpolation<DataTypes>;
using core::behavior::Mass<DataTypes>::mstate;
Expand All @@ -89,8 +87,8 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
* \class BeamLocalMatrices
* @brief BeamLocalMatrices Class
*/
class BeamLocalMatrices{

class BeamLocalMatrices
{
public:
BeamLocalMatrices() = default;

Expand All @@ -114,37 +112,37 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
/////////////////////////////////////
void init() override ;
void reinit() override ;
void draw(const VisualParams* vparams) override ;
void draw(const sofa::core::visual::VisualParams* vparams) override ;


/////////////////////////////////////
/// Mass Interface
/////////////////////////////////////
void addMDx(const MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
void addMToMatrix(const MechanicalParams *mparams, const MultiMatrixAccessor* matrix) override;
void addMBKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix) override;
void addMDx(const sofa::core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
void addMToMatrix(const sofa::core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
void addMBKToMatrix(const sofa::core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;

void buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices) override;
void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
void buildDampingMatrix(core::behavior::DampingMatrix* matrices) override;

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
void accFromF(const MechanicalParams* mparams, DataVecDeriv& , const DataVecDeriv& ) override
void accFromF(const sofa::core::MechanicalParams* mparams, DataVecDeriv& , const DataVecDeriv& ) override
{
SOFA_UNUSED(mparams);
msg_error()<<"accFromF can not be implemented easily: It necessitates a solver because M^-1 is not available";
}

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
SReal getKineticEnergy(const MechanicalParams* mparams, const DataVecDeriv& ) const override ///< vMv/2 using dof->getV()
SReal getKineticEnergy(const sofa::core::MechanicalParams* mparams, const DataVecDeriv& ) const override ///< vMv/2 using dof->getV()
{
SOFA_UNUSED(mparams);
msg_error() << "getKineticEnergy not yet implemented";
return 0;
}

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
void addGravityToV(const MechanicalParams* mparams, DataVecDeriv& ) override
void addGravityToV(const sofa::core::MechanicalParams* mparams, DataVecDeriv& ) override
{
SOFA_UNUSED(mparams);
msg_error() << "addGravityToV not implemented yet";
Expand All @@ -155,24 +153,24 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
/////////////////////////////////////
/// ForceField Interface
/////////////////////////////////////
void addForce(const MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;
void addForce(const sofa::core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;

void addDForce(const MechanicalParams* mparams, DataVecDeriv& datadF , const DataVecDeriv& datadX ) override;
void addDForce(const sofa::core::MechanicalParams* mparams, DataVecDeriv& datadF , const DataVecDeriv& datadX ) override;

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
SReal getPotentialEnergy(const MechanicalParams* mparams, const DataVecCoord& )const override
SReal getPotentialEnergy(const sofa::core::MechanicalParams* mparams, const DataVecCoord& )const override
{
SOFA_UNUSED(mparams);
msg_error()<<"getPotentialEnergy not yet implemented";
return 0_sreal;
}

using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;
void addKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix) override;
void addKToMatrix(const sofa::core::MechanicalParams* mparams,
const sofa::core::behavior::MultiMatrixAccessor* matrix) override;

void computeStiffness(int beam, BeamLocalMatrices& beamLocalMatrices);
void computeMass(int beam, BeamLocalMatrices& beamMatrices);
void computeStiffness(const sofa::Index beamID, BeamLocalMatrices& beamLocalMatrices);
void computeMass(const sofa::Index beamID, BeamLocalMatrices& beamMatrices);

Data<bool> d_computeMass; ///< if false, only compute the stiff elastic model
Real m_defaultMassDensity;
Expand All @@ -183,16 +181,16 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
protected :
SingleLink<AdaptiveBeamForceFieldAndMass<DataTypes>, BInterpolation, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_interpolation;

void applyMassLarge( VecDeriv& df, int bIndex, Index nd0Id, Index nd1Id, SReal factor);
void applyStiffnessLarge( VecDeriv& df, const VecDeriv& dx, int beam, Index nd0Id, Index nd1Id, SReal factor );
void applyMassLarge( VecDeriv& df, const sofa::Index beamID, const sofa::Index nd0Id, const sofa::Index nd1Id, const SReal factor);
void applyStiffnessLarge( VecDeriv& df, const VecDeriv& dx, const sofa::Index beamID, const sofa::Index nd0Id, const sofa::Index nd1Id, const SReal factor );
void computeGravityVector();

private:
type::vector<BeamLocalMatrices> m_localBeamMatrices;
Vec6 m_gravity;

void drawElement(const VisualParams* vparams, int beam,
Transform &global_H0_local, Transform &global_H1_local) ;
void drawElement(const sofa::core::visual::VisualParams* vparams, const sofa::Index beamID,
const Transform &global_H0_local, const Transform &global_H1_local) ;
};

/// Instantiate the templates so that they are not instiated in each translation unit (see )
Expand Down
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