TopologySubsetIndices for RestShapeSpringsForceField (sofa-framework#…

…3037)

* Changed d_points from Indices to a TopologySubsetIndices so that the indices get updated on topology changes.

* Renamed SetIndexArray to VecIndex. Renamed SetIndex to DataSubsetIndex to indicate, that it is an actual Data and a subset.

* Initialize link to topology

Co-authored-by: Alex Bilger <[email protected]>

Authors.txt

@@ -18,6 +18,7 @@
         Pierre-Jean Bensoussan
         Alexandre Bilger
         Jean-Nicolas Brunet
+        Paul Maria Scheikl
         Guillaume Bousquet
         Olivier Carre
         Bruno Carrez
@@ -99,4 +100,4 @@
 
     + Geomagic Interface
         Hadrien Courtecuisse
-        Raffaela Trivisonne
+        Raffaela Trivisonne

Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h

@@ -26,6 +26,7 @@
 
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/objectmodel/Data.h>
+#include <sofa/core/topology/TopologySubsetIndices.h>
 #include <sofa/type/vector.h>
 #include <sofa/linearalgebra/EigenSparseMatrix.h>
 
@@ -60,16 +61,17 @@ class RestShapeSpringsForceField : public core::behavior::ForceField<DataTypes>
     typedef typename DataTypes::Deriv Deriv;
     typedef typename DataTypes::Real Real;
     typedef type::vector< sofa::Index > VecIndex;
+    typedef sofa::core::topology::TopologySubsetIndices DataSubsetIndex;
     typedef type::vector< Real >	 VecReal;
 
     typedef core::objectmodel::Data<VecCoord> DataVecCoord;
     typedef core::objectmodel::Data<VecDeriv> DataVecDeriv;
 
-    Data< type::vector< sofa::Index > > d_points; ///< points controlled by the rest shape springs
+    DataSubsetIndex d_points; ///< points controlled by the rest shape springs
     Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position
     Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points
     Data< type::vector< CPos > > d_pivotPoints; ///< global pivot points used when translations instead of the rigid mass centers
-    Data< type::vector< sofa::Index > > d_external_points; ///< points from the external Mechancial State that define the rest shape springs
+    Data< VecIndex > d_external_points; ///< points from the external Mechancial State that define the rest shape springs
     Data< bool > d_recompute_indices; ///< Recompute indices (should be false for BBOX)
     Data< bool > d_drawSpring; ///< draw Spring
     Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0])
@@ -88,6 +90,8 @@ class RestShapeSpringsForceField : public core::behavior::ForceField<DataTypes>
 
     /// Add the forces.
     void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;
+    /// Link to be set to the topology container in the component graph.
+    SingleLink<RestShapeSpringsForceField<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
 
     void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) override;
 

Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl

@@ -55,6 +55,7 @@ RestShapeSpringsForceField<DataTypes>::RestShapeSpringsForceField()
     , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring"))
     , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])"))
     , l_restMState(initLink("external_rest_shape", "rest_shape can be defined by the position of an external Mechanical State"))
+    , l_topology(initLink("topology", "Link to be set to the topology container in the component graph"))
 {
 }
 
@@ -106,6 +107,24 @@ void RestShapeSpringsForceField<DataTypes>::bwdInit()
         useRestMState = true;
     }
 
+    if (l_topology.empty())
+    {
+        msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
+        l_topology.set(this->getContext()->getMeshTopologyLink());
+    }
+
+    if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get())
+    {
+        msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
+
+        // Initialize topological changes support
+        d_points.createTopologyHandler(_topology);
+    }
+    else
+    {
+        msg_info() << "Cannot find the topology: topological changes will not be supported";
+    }
+
     recomputeIndices();
 
     BaseMechanicalState* state = this->getContext()->getMechanicalState();
@@ -183,14 +202,14 @@ void RestShapeSpringsForceField<DataTypes>::recomputeIndices()
     m_indices.clear();
     m_ext_indices.clear();
 
-    for (sofa::Index i = 0; i < d_points.getValue().size(); i++)
+    for (const sofa::Index i : d_points.getValue())
     {
-        m_indices.push_back(d_points.getValue()[i]);
+        m_indices.push_back(i);
     }
 
-    for (sofa::Index i = 0; i < d_external_points.getValue().size(); i++)
+    for (const sofa::Index i : d_external_points.getValue())
     {
-        m_ext_indices.push_back(d_external_points.getValue()[i]);
+        m_ext_indices.push_back(i);
     }
 
     if (m_indices.empty())
@@ -214,9 +233,9 @@ void RestShapeSpringsForceField<DataTypes>::recomputeIndices()
         }
         else
         {
-            for (sofa::Index i = 0; i < m_indices.size(); i++)
+            for (const sofa::Index i : m_indices)
             {
-                m_ext_indices.push_back(m_indices[i]);
+                m_ext_indices.push_back(i);
             }
         }
     }