From 2e443da23526ea41c46168f7d52c453ee726fc76 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 20 Dec 2023 12:10:58 +0100 Subject: [PATCH] [Constraint] Make name of constraints more explicit (#4302) * Added projective and lagrangian suffix * Reported changes to Cuda plugin * Modify rest of the code to avoid warning from compatibility layer * Add compatibility layer for deprecated header in CUDA * add alias for compatibility layer in scene construction * Report name modification to all scenes * Revert Compat modification... * [LinearAlgera, Core] Fix linking with LTO on MacOS/Clang (#4293) Fix linking with LTO on macos * [LinearSolver] Remove CSparse-based linear solvers (#4258) * [LinearSolver.Direct] Remove CSparse based solvers * Remove csparse extlib * Fetchable CSparseSolvers plugin * Remove references of SparseLUSolver * Remove references to SparseCholeskySolver * Remove csparse * Try to fix on Linux * Update the compat * [LinearSolver.Direct] Remove CSparse based solvers * Fix direct solver * [GUI.Qt] Minor single-line cleaning (#4308) Co-authored-by: erik pernod * [Sofa.GUI.Qt] Add cmake module for QGLViewer (#4290) * Add cmake module for QGLViewer * Support library name for apt packages * Fix qglviewer cmake finder module to first seach for a config cmake file. * Update cmake/Modules/FindQGLViewer.cmake Co-authored-by: Hugo --------- Co-authored-by: Frederick Roy Co-authored-by: Hugo * [MultiThreading] Avoid Static Initialization Order Fiasco (#4307) * [Core] Minor clean of DefaultAnimationLoop (#4314) * Remove unlogical use of visitor * Delete unused methods * [LinearSystem] Speedup computation of Jacobian matrices (#4317) * [LinearSystem] Speedup computation of Jacobian matrices in case both mstates are the same * minor reformat to align calls to computeJacobiansFrom * [SofaCUDA] FIX compilation SofaCUDA along with SparseGrid with Cuda12 (#4319) * FIX compilation SofaCUDA along with SparseGrid with Cuda12 * Use a multiplication instead * [Common] Add message to make the fetch mechanism less hidden (#4310) * Add message to make it more clear * slight modifications to be even more clear and add an error the dependency cannot be met * [Collections] Remove reference to non-existing SofaSimulation (#4320) remove ref to non-existent sofasimu Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> * Remove repeating preffix from projective constraints * Moved alias to original header * Changed deprecation date * add component change entry * Change name following discussion with Hugo * Change remaining scene with FixedConstraint * remove last occurences in py files * Changed the message display of sceneCheckUsingAlias when aliased component is in component change * Fix factory * Add alias creation when object in componentRenamed in factory * Remove precedently added aliases --------- Co-authored-by: Frederick Roy Co-authored-by: Alex Bilger Co-authored-by: erik pernod Co-authored-by: Olivier Roussel Co-authored-by: Hugo --- .../response/contact/FrictionContact.h | 4 +- .../response/contact/FrictionContact.inl | 2 +- .../response/contact/StickContactConstraint.h | 4 +- .../contact/StickContactConstraint.inl | 2 +- .../Lagrangian/Model/CMakeLists.txt | 23 +- .../model/BilateralInteractionConstraint.h | 171 +---- .../model/BilateralInteractionConstraint.inl | 411 +---------- ....cpp => BilateralLagrangianConstraint.cpp} | 156 ++--- .../model/BilateralLagrangianConstraint.h | 195 ++++++ .../model/BilateralLagrangianConstraint.inl | 433 ++++++++++++ .../lagrangian/model/SlidingConstraint.h | 93 +-- .../lagrangian/model/SlidingConstraint.inl | 204 +----- ...nt.cpp => SlidingLagrangianConstraint.cpp} | 10 +- .../model/SlidingLagrangianConstraint.h | 113 +++ .../model/SlidingLagrangianConstraint.inl | 226 ++++++ .../lagrangian/model/StopperConstraint.h | 106 +-- .../lagrangian/model/StopperConstraint.inl | 59 +- ...nt.cpp => StopperLagrangianConstraint.cpp} | 10 +- .../model/StopperLagrangianConstraint.h | 127 ++++ .../model/StopperLagrangianConstraint.inl | 81 +++ .../lagrangian/model/UniformConstraint.h | 57 +- .../lagrangian/model/UniformConstraint.inl | 115 +--- ...nt.cpp => UniformLagrangianConstraint.cpp} | 10 +- .../model/UniformLagrangianConstraint.h | 78 +++ .../model/UniformLagrangianConstraint.inl | 137 ++++ .../model/UnilateralConstraintResolution.h | 100 +++ .../model/UnilateralInteractionConstraint.h | 207 +----- .../model/UnilateralInteractionConstraint.inl | 399 +---------- ...cpp => UnilateralLagrangianConstraint.cpp} | 10 +- .../model/UnilateralLagrangianConstraint.h | 158 +++++ .../model/UnilateralLagrangianConstraint.inl | 421 ++++++++++++ ...lInteractionLagrangianConstraint_test.cpp} | 32 +- .../BilateralInteractionConstraint.scn | 4 +- .../Constraint/Projective/CMakeLists.txt | 82 ++- .../projective/AffineMovementConstraint.h | 145 +--- .../projective/AffineMovementConstraint.inl | 288 +------- ...=> AffineMovementProjectiveConstraint.cpp} | 14 +- .../AffineMovementProjectiveConstraint.h | 165 +++++ .../AffineMovementProjectiveConstraint.inl | 310 +++++++++ .../constraint/projective/AttachConstraint.h | 104 +-- .../projective/AttachConstraint.inl | 621 +---------------- ...int.cpp => AttachProjectiveConstraint.cpp} | 28 +- .../projective/AttachProjectiveConstraint.h | 124 ++++ .../projective/AttachProjectiveConstraint.inl | 643 ++++++++++++++++++ ....cpp => DirectionProjectiveConstraint.cpp} | 15 +- .../DirectionProjectiveConstraint.h | 133 ++++ .../DirectionProjectiveConstraint.inl | 277 ++++++++ .../constraint/projective/FixedConstraint.h | 118 +--- .../constraint/projective/FixedConstraint.inl | 404 +---------- .../projective/FixedPlaneConstraint.h | 114 +--- .../projective/FixedPlaneConstraint.inl | 295 +------- ...cpp => FixedPlaneProjectiveConstraint.cpp} | 18 +- .../FixedPlaneProjectiveConstraint.h | 135 ++++ .../FixedPlaneProjectiveConstraint.inl | 317 +++++++++ ...aint.cpp => FixedProjectiveConstraint.cpp} | 39 +- .../projective/FixedProjectiveConstraint.h | 137 ++++ .../projective/FixedProjectiveConstraint.inl | 426 ++++++++++++ .../projective/FixedRotationConstraint.h | 60 +- .../projective/FixedRotationConstraint.inl | 120 +--- ... => FixedRotationProjectiveConstraint.cpp} | 11 +- .../FixedRotationProjectiveConstraint.h | 79 +++ .../FixedRotationProjectiveConstraint.inl | 142 ++++ .../projective/FixedTranslationConstraint.h | 86 +-- .../projective/FixedTranslationConstraint.inl | 186 +---- ... FixedTranslationProjectiveConstraint.cpp} | 21 +- .../FixedTranslationProjectiveConstraint.h | 105 +++ .../FixedTranslationProjectiveConstraint.inl | 208 ++++++ .../projective/HermiteSplineConstraint.h | 114 +--- .../projective/HermiteSplineConstraint.inl | 245 +------ ... => HermiteSplineProjectiveConstraint.cpp} | 16 +- .../HermiteSplineProjectiveConstraint.h | 134 ++++ .../HermiteSplineProjectiveConstraint.inl | 267 ++++++++ ...raint.cpp => LineProjectiveConstraint.cpp} | 16 +- .../projective/LineProjectiveConstraint.h | 137 ++++ .../projective/LineProjectiveConstraint.inl | 286 ++++++++ .../projective/LinearMovementConstraint.h | 148 +--- .../projective/LinearMovementConstraint.inl | 453 +----------- ...=> LinearMovementProjectiveConstraint.cpp} | 33 +- .../LinearMovementProjectiveConstraint.h | 168 +++++ .../LinearMovementProjectiveConstraint.inl | 475 +++++++++++++ .../projective/LinearVelocityConstraint.h | 115 +--- .../projective/LinearVelocityConstraint.inl | 326 +-------- ...=> LinearVelocityProjectiveConstraint.cpp} | 27 +- .../LinearVelocityProjectiveConstraint.h | 135 ++++ .../LinearVelocityProjectiveConstraint.inl | 348 ++++++++++ .../projective/OscillatorConstraint.h | 90 +-- .../projective/OscillatorConstraint.inl | 105 +-- ...cpp => OscillatorProjectiveConstraint.cpp} | 15 +- .../OscillatorProjectiveConstraint.h | 112 +++ .../OscillatorProjectiveConstraint.inl | 127 ++++ .../projective/ParabolicConstraint.h | 105 +-- .../projective/ParabolicConstraint.inl | 241 +------ ....cpp => ParabolicProjectiveConstraint.cpp} | 15 +- .../ParabolicProjectiveConstraint.h | 126 ++++ .../ParabolicProjectiveConstraint.inl | 263 +++++++ .../projective/PartialFixedConstraint.h | 86 +-- .../projective/PartialFixedConstraint.inl | 321 +-------- ...p => PartialFixedProjectiveConstraint.cpp} | 31 +- .../PartialFixedProjectiveConstraint.h | 105 +++ .../PartialFixedProjectiveConstraint.inl | 343 ++++++++++ .../PartialLinearMovementConstraint.h | 156 +---- .../PartialLinearMovementConstraint.inl | 485 +------------ ...ialLinearMovementProjectiveConstraint.cpp} | 27 +- ...artialLinearMovementProjectiveConstraint.h | 176 +++++ ...tialLinearMovementProjectiveConstraint.inl | 507 ++++++++++++++ .../projective/PatchTestMovementConstraint.h | 143 +--- .../PatchTestMovementConstraint.inl | 427 +----------- ...PatchTestMovementProjectiveConstraint.cpp} | 15 +- .../PatchTestMovementProjectiveConstraint.h | 165 +++++ .../PatchTestMovementProjectiveConstraint.inl | 449 ++++++++++++ ...aint.cpp => PlaneProjectiveConstraint.cpp} | 16 +- .../projective/PlaneProjectiveConstraint.h | 137 ++++ .../projective/PlaneProjectiveConstraint.inl | 276 ++++++++ ...aint.cpp => PointProjectiveConstraint.cpp} | 23 +- .../projective/PointProjectiveConstraint.h | 130 ++++ .../projective/PointProjectiveConstraint.inl | 324 +++++++++ .../PositionBasedDynamicsConstraint.h | 94 +-- .../PositionBasedDynamicsConstraint.inl | 116 +--- ...tionBasedDynamicsProjectiveConstraint.cpp} | 32 +- ...ositionBasedDynamicsProjectiveConstraint.h | 114 ++++ ...itionBasedDynamicsProjectiveConstraint.inl | 138 ++++ .../projective/ProjectDirectionConstraint.h | 114 +--- .../projective/ProjectDirectionConstraint.inl | 255 +------ .../projective/ProjectToLineConstraint.h | 118 +--- .../projective/ProjectToLineConstraint.inl | 264 +------ .../projective/ProjectToPlaneConstraint.h | 117 +--- .../projective/ProjectToPlaneConstraint.inl | 254 +------ .../projective/ProjectToPointConstraint.h | 111 +-- .../projective/ProjectToPointConstraint.inl | 302 +------- .../projective/SkeletalMotionConstraint.h | 228 +------ .../projective/SkeletalMotionConstraint.inl | 400 +---------- ...=> SkeletalMotionProjectiveConstraint.cpp} | 11 +- .../SkeletalMotionProjectiveConstraint.h | 247 +++++++ .../SkeletalMotionProjectiveConstraint.inl | 422 ++++++++++++ ...fineMovementProjectiveConstraint_test.cpp} | 8 +- .../Projective/tests/CMakeLists.txt | 16 +- ...=> DirectionProjectiveConstraint_test.cpp} | 20 +- ...> FixedPlaneProjectiveConstraint_test.cpp} | 16 +- ...cpp => FixedProjectiveConstraint_test.cpp} | 20 +- ....cpp => LineProjectiveConstraint_test.cpp} | 20 +- ...PartialFixedProjectiveConstraint_test.cpp} | 16 +- ...cpp => PlaneProjectiveConstraint_test.cpp} | 20 +- ...cpp => PointProjectiveConstraint_test.cpp} | 20 +- .../TetrahedronDiffusionFEMForceField.scn | 6 +- .../tests/SquareDistanceMapping_test.cpp | 2 +- .../tests/SkeletalMotionConstraint_test.cpp | 14 +- .../odesolver/backward/StaticSolver.cpp | 4 +- .../tests/EulerImplicitSolverStatic_test.cpp | 2 +- .../Backward/tests/StaticSolver_test.cpp | 2 +- .../scenes/EulerImplicitSpringDynamicTest.xml | 4 +- .../odesolver/forward/EulerSolver.cpp | 4 +- .../component/odesolver/forward/EulerSolver.h | 2 +- .../testing/MassSpringSystemCreation.h | 2 +- .../Elastic/tests/BeamFEMForceField_test.cpp | 2 +- .../tests/TetrahedronFEMForceField_test.cpp | 2 +- .../tests/TriangleFEMForceField_test.cpp | 2 +- ...edronHyperelasticityFEMForceField_base.scn | 4 +- ...edronHyperelasticityFEMForceField_test.scn | 4 +- .../simutests/AffinePatch_test.cpp | 4 +- .../simutests/LinearElasticity_test.cpp | 24 +- .../testing/RegularGridNodeCreation.h | 6 +- .../performer/ConstraintAttachBodyPerformer.h | 6 +- .../ConstraintAttachBodyPerformer.inl | 6 +- .../performer/FixParticlePerformer.inl | 4 +- .../performer/SuturePointPerformer.h | 4 +- .../Core/src/sofa/core/ObjectFactory.cpp | 16 + .../src/sofa/helper/ComponentChange.cpp | 242 ++++--- .../Helper/src/sofa/helper/ComponentChange.h | 25 + .../SofaExporter/examples/OBJExporter.scn | 4 +- .../examples/ArticulatedSystemMapping.scn | 6 +- .../examples/BulletConvexHullDemo.scn | 4 +- .../examples/BulletLMDragon.scn | 2 +- .../examples/BulletSphere.scn | 4 +- .../examples/GlobalBulletCollision.py | 4 +- .../CollisionOBBCapsule/examples/OBBCap.scn | 4 +- .../CollisionOBBCapsule/examples/OBBCap1.scn | 4 +- .../examples/OBBCapEdgeEdge.scn | 4 +- .../examples/OBBCapEdgeVertex.scn | 4 +- .../examples/OBBCapVertexEdge.scn | 4 +- .../examples/OBBCapVertexVertex.scn | 4 +- .../CollisionOBBCapsule/examples/OBBOBB.scn | 4 +- .../CollisionOBBCapsule/examples/OBBOBB2.scn | 4 +- .../examples/OBBOBBAlea.scn | 4 +- .../examples/OBBOBBCollision.scn | 4 +- .../examples/OBBOBBEdgeEdge.scn | 4 +- .../examples/OBBOBBEdgeVertex.scn | 4 +- .../examples/OBBOBBFaceEdge.scn | 4 +- .../examples/OBBOBBVertexVertex.scn | 4 +- .../examples/OBBSphere.scn | 4 +- .../examples/OBBSphere2.scn | 4 +- .../examples/OBBSphereEdge.scn | 4 +- .../examples/OBBSphereVertex.scn | 4 +- .../CollisionOBBCapsule/examples/OBBTri.scn | 4 +- .../examples/OBBTriEdgeEdge.scn | 4 +- .../examples/OBBTriEdgeEdge2.scn | 4 +- .../examples/OBBTriEdgeVerex.scn | 4 +- .../examples/OBBTriFaceVertex.scn | 4 +- .../examples/OBBTriVertexEdge.scn | 4 +- .../examples/OBBTriVertexFace.scn | 4 +- .../examples/OBBTriVertexVertex.scn | 4 +- .../example/MultiMapping.py | 2 +- .../ExternalBehaviorModel/example/simple.scn | 6 +- .../scenes/Geomagic-DeformableCubes.scn | 6 +- .../scenes/Geomagic-DeformableSphere.scn | 4 +- .../Geomagic/scenes/Geomagic-FEMLiver.scn | 4 +- .../plugins/LeapMotion/examples/buffoon.scn | 2 +- .../examples/BeamLinearMapping_mt.scn | 4 +- .../examples/ParallelCGLinearSolver.scn | 4 +- .../ParallelHexahedronFEMForceField.scn | 4 +- .../examples/ParallelMeshSpringForceField.scn | 4 +- .../ParallelTetrahedronFEMForceField.scn | 4 +- .../TriangularForceFieldComparison.scn | 10 +- .../MultiThreading/examples/livers.scn | 10 +- .../examples/liversMeanPositions.scn | 12 +- .../plugins/Sensable/examples/Carving.scn | 4 +- .../Sensable/examples/Deformable-Method1.scn | 4 +- .../examples/Old Examples/flexibleRaptor.scn | 2 +- .../Old Examples/omni-probing-liver.scn | 2 +- .../SixenseHydra/Scenes/Hydra_buffon.scn | 2 +- .../plugins/SofaAssimp/SceneColladaLoader.cpp | 16 +- .../plugins/SofaAssimp/SceneColladaLoader.h | 4 +- .../plugins/SofaAssimp/doc/index.html | 4 +- .../SofaAssimp/examples/character_clothes.py | 2 +- applications/plugins/SofaCUDA/CMakeLists.txt | 22 +- .../SofaCUDA/examples/CudaDiagonalMass3f.scn | 4 +- .../examples/CudaMeshMatrixMass3f.scn | 4 +- .../SofaCUDA/examples/SquareTissue-cpu.scn | 4 +- .../SofaCUDA/examples/SquareTissue-cuda.scn | 4 +- .../plugins/SofaCUDA/examples/liver-CUDA.scn | 4 +- .../SofaCUDA/examples/quadSpringSphere.scn | 2 +- .../examples/quadSpringSphere2CUDA.scn | 2 +- .../plugins/SofaCUDA/examples/raptor-cpu.scn | 2 +- .../plugins/SofaCUDA/examples/raptor-cuda.scn | 4 +- .../SofaCUDA/examples/raptor-surface-cpu.scn | 4 +- .../SofaCUDA/examples/raptor-surface-cuda.scn | 4 +- .../plugins/SofaCUDA/examples/raptor.scn | 4 +- ...ahedronTLEDForceField_beam10x10x40_gpu.scn | 4 +- ...ahedronTLEDForceField_beam10x10x40_gpu.scn | 4 +- ...ahedronTLEDForceField_beam16x16x76_gpu.scn | 4 +- ...xahedronFEMForceField_beam10x10x40_cpu.scn | 4 +- ...xahedronFEMForceField_beam10x10x40_gpu.scn | 4 +- ...xahedronFEMForceField_beam16x16x76_cpu.scn | 4 +- ...xahedronFEMForceField_beam16x16x76_gpu.scn | 4 +- .../MeshSpringForceField_beam10x10x40_cpu.scn | 4 +- .../MeshSpringForceField_beam10x10x40_gpu.scn | 4 +- .../benchmarks/QuadSpringsSphere_cpu.scn | 2 +- .../benchmarks/QuadSpringsSphere_gpu.scn | 2 +- ...rahedronFEMForceField_beam10x10x40_cpu.scn | 4 +- ...rahedronFEMForceField_beam10x10x40_gpu.scn | 4 +- ...rahedronFEMForceField_beam16x16x76_cpu.scn | 4 +- ...rahedronFEMForceField_beam16x16x76_gpu.scn | 4 +- ...arFEMForceFieldOptim_tissue100x100_cpu.scn | 4 +- ...arFEMForceFieldOptim_tissue100x100_gpu.scn | 4 +- ...ronFEMForceField_beam10x10x40_implicit.scn | 8 +- ...xahedronFEMForceField_beam10x10x40_rk4.scn | 8 +- ...SpringForceField_beam10x10x40_implicit.scn | 8 +- ...aMeshSpringForceField_beam10x10x40_rk4.scn | 8 +- ...ronFEMForceField_beam10x10x40_implicit.scn | 8 +- ...rahedronFEMForceField_beam10x10x40_rk4.scn | 8 +- ...ForceFieldOptim_tissue100x100_implicit.scn | 8 +- ...EMForceFieldOptim_tissue20x20_implicit.scn | 8 +- .../cpu-gpu_validation/QuadSpringsSphere.scn | 4 +- ... => CudaBilateralLagrangianConstraint.cpp} | 20 +- .../projective/CudaFixedConstraint.cu | 223 ------ .../projective/CudaFixedConstraint.h | 89 +-- .../projective/CudaFixedConstraint.inl | 431 +----------- ....cpp => CudaFixedProjectiveConstraint.cpp} | 40 +- .../CudaFixedProjectiveConstraint.cu | 223 ++++++ .../CudaFixedProjectiveConstraint.h | 112 +++ .../CudaFixedProjectiveConstraint.inl | 453 ++++++++++++ ...aFixedTranslationProjectiveConstraint.cpp} | 36 +- .../CudaLinearMovementConstraint.cu | 208 ------ .../projective/CudaLinearMovementConstraint.h | 188 +---- .../CudaLinearMovementConstraint.inl | 574 +--------------- ...udaLinearMovementProjectiveConstraint.cpp} | 20 +- .../CudaLinearMovementProjectiveConstraint.cu | 208 ++++++ .../CudaLinearMovementProjectiveConstraint.h | 210 ++++++ ...CudaLinearMovementProjectiveConstraint.inl | 596 ++++++++++++++++ ...udaLinearVelocityProjectiveConstraint.cpp} | 20 +- .../SofaCarving/examples/CarvingTool.scn | 6 +- .../SofaCarving/examples/SimpleCarving.py | 2 +- .../SofaCarving/examples/SimpleCarving.scn | 4 +- .../SimpleCarving_withPenetration.scn | 4 +- .../FFDDistanceGridCollisionModel.scn | 4 +- .../plugins/SofaHAPI/examples/SofaHAPI1.scn | 4 +- .../examples/ComplianceMatrixExporter.scn | 8 +- .../examples/ComplianceMatrixImage.scn | 8 +- .../examples/FillReducingOrdering.scn | 6 +- .../examples/GlobalSystemMatrixExporter.scn | 10 +- .../examples/GlobalSystemMatrixImage.scn | 6 +- .../examples/MatrixContributions121.scn | 6 +- .../examples/MatrixContributions122.scn | 10 +- .../examples/MatrixContributions123.scn | 10 +- .../examples/FEMBAR-SparsePARDISOSolver.scn | 2 +- .../plugins/SofaSimpleGUI/examples/liver.scn | 4 +- .../plugins/SofaSimpleGUI/examples/oneTet.scn | 4 +- .../examples/ParticlesRepulsionForceField.scn | 2 +- .../plugins/SofaTest/Elasticity_test.h | 4 +- .../plugins/SofaTest/Elasticity_test.inl | 22 +- .../plugins/SofaTest/InitPlugin_test.h | 2 +- .../SofaTest/SofaTest_test/scenes/damping.py | 4 +- .../SceneChecking/SceneCheckUsingAlias.cpp | 8 +- .../TriangleFEMForceField_compare.scn | 8 +- .../Accuracy/cylinder_PhantomSolution.scn | 4 +- .../Bar16-fem-implicit-CudaVec3f.pscn | 2 +- .../Performance/Bar16-fem-implicit-Vec3d.pscn | 4 +- .../Performance/Bar16-fem-implicit-Vec3f.pscn | 2 +- .../Bar16-spring-rk4-CudaVec3f.pscn | 2 +- .../Performance/Bar16-spring-rk4-Vec3d.pscn | 4 +- .../Performance/Bar16-spring-rk4-Vec3f.pscn | 2 +- .../MatrixAssembly_assembledCG.scn | 4 +- .../MatrixAssembly_assembledCG_blocs.scn | 4 +- .../MatrixAssembly/MatrixAssembly_direct.scn | 4 +- .../MatrixAssembly_direct_blocs.scn | 4 +- .../MatrixAssembly_matrixfreeCG.scn | 4 +- ...neMovementConstraint__RemovingMeshTest.scn | 4 +- .../FixedConstraint_RemovingMeshTest.scn | 4 +- .../FixedPlaneConstraint_RemovingMeshTest.scn | 4 +- ...earMovementConstraint_RemovingMeshTest.scn | 4 +- ...ctDirectionConstraint_RemovingMeshTest.scn | 4 +- ...ojectToLineConstraint_RemovingMeshTest.scn | 4 +- ...jectToPlaneConstraint_RemovingMeshTest.scn | 4 +- ...jectToPointConstraint_RemovingMeshTest.scn | 4 +- .../BilateralInteractionConstraint_NNCG.scn | 12 +- .../BilateralInteractionConstraint_PGS.scn | 12 +- .../BilateralInteractionConstraint_Rigid.scn | 10 +- .../BilateralInteractionConstraint_UGS.scn | 12 +- .../Lagrangian/InextensiblePendulum.scn | 8 +- .../Lagrangian/SlidingConstraint.scn | 6 +- .../Projective/AffineMovementConstraint.scn | 4 +- .../Projective/AffineMovementConstraint3D.scn | 4 +- .../Projective/AttachConstraint.scn | 10 +- .../Projective/AttachConstraintMatrix.scn | 10 +- .../Projective/BilinearConstraint.scn | 4 +- .../Projective/BilinearConstraint3D.scn | 4 +- .../Constraint/Projective/BoxConstraint.scn | 2 +- .../Constraint/Projective/FixedConstraint.scn | 4 +- .../Projective/FixedPlaneConstraint.scn | 4 +- .../Projective/FixedRotationConstraint.scn | 8 +- .../Projective/HermiteSplineConstraint.scn | 6 +- .../Projective/LinearMovementConstraint.scn | 8 +- .../Projective/OscillatorConstraint.scn | 6 +- .../Projective/OscillatorConstraint_rigid.scn | 6 +- .../Projective/ParabolicConstraint.scn | 4 +- .../Projective/PartialFixedConstraint.scn | 4 +- .../Projective/PatchTestConstraint.scn | 4 +- .../Constraint/Projective/PlaneConstraint.scn | 2 +- .../Projective/ProjectDirectionConstraint.scn | 4 +- .../Projective/ProjectToLineConstraint.scn | 4 +- .../Projective/ProjectToPlaneConstraint.scn | 4 +- .../Projective/ProjectToPointConstraint.scn | 4 +- .../Controller/MechanicalStateController.scn | 4 +- .../TetrahedronDiffusionFEMForceField.scn | 6 +- .../Engine/Analyze/ShapeMatching.scn | 4 +- .../Engine/Generate/GenerateCylinder.scn | 8 +- .../Engine/Generate/GenerateGrid.scn | 14 +- .../Component/Engine/Generate/MergePoints.scn | 2 +- .../Engine/Generate/MeshTetraStuffing.scn | 2 +- examples/Component/Engine/Select/BoxROI.scn | 4 +- .../Component/Engine/Select/BoxROI_1d.scn | 4 +- .../Component/Engine/Select/BoxROI_2d.scn | 4 +- .../Engine/Select/MeshBoundaryROI.scn | 4 +- .../Engine/Select/MeshSplittingEngine.scn | 4 +- .../Engine/Select/NearestPointROI.scn | 16 +- examples/Component/Engine/Select/PlaneROI.scn | 4 +- .../Engine/Select/PointsFromIndices.scn | 4 +- .../Component/Engine/Select/ProximityROI.scn | 4 +- .../Component/Engine/Select/SphereROI.scn | 4 +- .../Engine/Select/SubsetTopology.scn | 4 +- .../SubsetTopology_localIndicesOption.scn | 4 +- .../Select/SubsetTopology_refiningMesh.scn | 2 +- .../Select/SubsetTopology_withtetrahedra.scn | 6 +- .../ValuesFromPositions_vectorField.scn | 4 +- .../Transform/DisplacementMatrixEngine.scn | 4 +- examples/Component/IO/Mesh/GIDMeshLoader.scn | 4 +- .../Component/IO/Mesh/GridMeshCreator.scn | 2 +- .../Component/IO/Mesh/LiverUseNewLoaders.scn | 4 +- examples/Component/IO/Mesh/MeshGmshLoader.scn | 6 +- .../LinearSolver/Direct/Eigen3-SVD.scn | 4 +- .../Direct/FEMBAR_SVDLinearSolver.scn | 2 +- .../Component/LinearSolver/FEMBAR-common.xml | 4 +- .../LinearSolver/Iterative/CGLinearSolver.scn | 4 +- .../LinearSystem/CompositeLinearSystem.scn | 8 +- .../ConstantSparsityPatternSystem.scn | 8 +- .../LinearSystem/MatrixLinearSystem.scn | 8 +- .../PendulumSpringsDistanceMapping.scn | 6 +- .../Linear/BarycentricMappingTrussBeam.scn | 4 +- .../Linear/BarycentricTetraMapping.scn | 4 +- .../Mapping/Linear/CenterOfMassMapping.scn | 4 +- .../Linear/DeformableOnRigidFrameMapping.scn | 4 +- ...formableOnRigidFrameMappingConstraints.scn | 2 +- .../Mapping/Linear/IdentityMapping.scn | 4 +- ...impleTesselatedTetraTopologicalMapping.scn | 4 +- .../Mapping/Linear/SkinningMapping.scn | 4 +- .../Mapping/Linear/SubsetMapping.scn | 4 +- .../Mapping/NonLinear/DistanceMapping.scn | 4 +- .../NonLinear/DistanceMultiMapping.scn | 6 +- .../Mapping/NonLinear/RigidMapping-basic.scn | 4 +- .../NonLinear/RigidMapping2d-basic.scn | 4 +- .../NonLinear/RigidRigidMapping-basic.scn | 4 +- .../Mapping/NonLinear/RigidRigidMapping.scn | 4 +- .../NonLinear/SquareDistanceMapping.scn | 4 +- .../Mapping/NonLinear/SquareMapping.scn | 6 +- examples/Component/Mass/DiagonalMass.scn | 4 +- examples/Component/Mass/MeshMatrixMass.scn | 4 +- examples/Component/Mass/UniformMass.scn | 4 +- .../MechanicalLoad/ConstantForceField.scn | 2 +- .../MechanicalLoad/EllipsoidForceField.scn | 4 +- .../InteractionEllipsoidForceField.scn | 8 +- .../MechanicalLoad/SphereForceField.scn | 2 +- .../SurfacePressureForceField.scn | 2 +- .../TaitSurfacePressureForceField.scn | 2 +- .../TrianglePressureForceField.scn | 6 +- .../EulerImplicitSolver-comparison.scn | 10 +- .../Backward/EulerImplicitSolver.scn | 4 +- .../Backward/NewmarkImplicitSolver.scn | 8 +- .../ODESolver/Backward/StaticSolver.scn | 8 +- .../Backward/VariationalSymplecticSolver.scn | 2 +- .../ODESolver/Forward/EulerExplicitSolver.scn | 4 +- .../Forward/EulerExplicitSolver_diagonal.scn | 4 +- .../Forward/EulerSymplecticSolver.scn | 4 +- .../EulerSymplecticSolver_diagonal.scn | 4 +- .../ODESolver/Forward/RungeKutta4Solver.scn | 4 +- examples/Component/SceneUtility/Monitor.scn | 4 +- .../SolidMechanics/FEM/BeamFEMForceField.scn | 8 +- .../FastTetrahedralCorotationalForceField.scn | 10 +- ...edronCorotationalForceField_validation.scn | 6 +- ...Heterogeneous-TetrahedronFEMForceField.scn | 2 +- .../FEM/HexahedralFEMForceField.scn | 4 +- .../FEM/HexahedralFEMForceFieldAndMass.scn | 4 +- ...exahedronCompositeFEMForceFieldAndMass.scn | 2 +- .../FEM/HexahedronCompositeFEMMapping.scn | 2 +- .../FEM/HexahedronFEMForceField.scn | 4 +- .../FEM/HexahedronFEMForceFieldAndMass.scn | 4 +- .../FEM/QuadBendingFEMForceField.scn | 4 +- .../FEM/StandardTetrahedralFEMForceField.scn | 12 +- .../TetrahedralCorotationalFEMForceField.scn | 8 +- .../FEM/TetrahedronFEMForceField.scn | 10 +- .../FEM/TetrahedronFEMForceField_assemble.scn | 6 +- ...etrahedronHyperelasticityFEMForceField.scn | 12 +- .../SolidMechanics/FEM/TopoMap_cylinder3d.scn | 6 +- .../FEM/TriangleFEMForceField.scn | 8 +- .../FEM/TriangularFEMForceField.scn | 4 +- .../FEM/TriangularFEMForceFieldOptim.scn | 6 +- .../FEM/TriangularForceFieldComparison.scn | 14 +- .../Spring/FastTriangularBendingSprings.scn | 4 +- .../Spring/GearSpringForceField.scn | 4 +- .../Spring/JointSpringForceField.scn | 4 +- .../Spring/PolynomialSpringsForceField.scn | 4 +- .../Spring/QuadBendingSprings.scn | 4 +- .../Spring/QuadularBendingSprings.scn | 4 +- .../Spring/StiffSpringForceField.scn | 4 +- .../Spring/StiffSpringForceField_simple.scn | 4 +- .../Spring/TriangleBendingSprings.scn | 8 +- .../Spring/TriangularBendingSprings.scn | 4 +- ...TriangularBiquadraticSpringsForceField.scn | 4 +- .../TriangularQuadraticSpringsForceField.scn | 4 +- .../Spring/angularSpringForceField.scn | 4 +- .../TetrahedralTensorMassForceField.scn | 4 +- .../TriangularTensorMassForceField.scn | 4 +- .../Container/Constant/CubeTopology.scn | 4 +- .../Container/Constant/MeshTopology.scn | 4 +- .../Dynamic/AddingHexa2QuadProcess.scn | 2 +- .../Dynamic/AddingQuad2TriangleProcess.scn | 4 +- .../Dynamic/AddingTetra2TriangleProcess.scn | 4 +- .../Container/Dynamic/AddingTetraProcess.scn | 4 +- .../Dynamic/AddingTriangle2EdgeProcess.scn | 4 +- .../Dynamic/AddingTrianglesProcess.scn | 4 +- .../Dynamic/IncisionTrianglesProcess.scn | 6 +- .../QuadForceFieldTopologyChangeHandling.scn | 6 +- ...RemovingBilateralInteractionConstraint.scn | 8 +- .../Dynamic/RemovingHexa2QuadProcess.scn | 4 +- .../Dynamic/RemovingHexa2TetraProcess.scn | 4 +- .../Dynamic/RemovingPointSprings.scn | 4 +- .../Dynamic/RemovingQuad2TriangleProcess.scn | 4 +- .../Dynamic/RemovingTetra2TriangleProcess.scn | 6 +- ...gTetra2TriangleProcess_performanceTest.scn | 6 +- .../RemovingTetra2Triangle_options1.scn | 4 +- .../RemovingTetra2Triangle_options2.scn | 4 +- .../Dynamic/RemovingTetraProcess.scn | 4 +- ...emovingTetraProcess_withCollisionModel.scn | 4 +- .../Dynamic/RemovingTrianglesProcess.scn | 4 +- ...hedronForceFieldTopologyChangeHandling.scn | 10 +- ...ngularForceFieldTopologyChangeHandling.scn | 14 +- .../Container/Grid/CylinderGridTopology.scn | 2 +- .../Container/Grid/RegularGridTopology.scn | 2 +- .../RegularGridTopology_TrianglesMesh.scn | 4 +- .../Grid/RegularGridTopology_dimension.scn | 8 +- .../Grid/SparseGridRamificationTopology.scn | 2 +- .../Container/Grid/SparseGridTopology.scn | 2 +- .../Container/Grid/SphereGridTopology.scn | 2 +- .../Mapping/Edge2QuadTopologicalMapping.scn | 4 +- .../Mapping/Hexa2QuadTopologicalMapping.scn | 4 +- .../Mapping/Hexa2TetraTopologicalMapping.scn | 4 +- .../Hexa2TetraTopologicalMapping_export.scn | 4 +- .../Mapping/Mesh2PointTopologicalMapping.scn | 4 +- .../Quad2TriangleTopologicalMapping.scn | 4 +- .../Mapping/SubsetTopologicalMapping.scn | 4 +- .../Mapping/SubsetTopologicalMapping2.scn | 4 +- .../Tetra2TriangleTopologicalMapping.scn | 6 +- ...ogicalMapping_NoInitialTriangle_option.scn | 6 +- ...pologicalMapping_with_TetrahedronModel.scn | 6 +- .../Mapping/TopoMap_Hexa2Quad2Triangle.scn | 4 +- .../Triangle2EdgeTopologicalMapping.scn | 4 +- examples/Component/Visual/DataDisplay.scn | 4 +- .../Visual/LinearBlendSkinningGPU.scn | 4 +- examples/Component/Visual/OglShader.scn | 4 +- .../Visual/OglShader_tessellation.scn | 2 +- examples/Component/Visual/OglViewport.scn | 4 +- .../PostProcessManager_DepthOfField.scn | 4 +- examples/Component/Visual/VisualStyle.scn | 4 +- examples/Demos/TriangleSurfaceCutting.scn | 4 +- examples/Demos/include_test.scn | 2 +- examples/Demos/include_test.xml | 2 +- examples/Demos/liver.scn | 4 +- examples/Demos/liverConfiguration.scn | 4 +- examples/Demos/rigidifiedSectionsInBeam.scn | 6 +- examples/Demos/simpleBoundaryConditions.scn | 8 +- examples/Demos/simpleSphere.scn | 4 +- examples/Demos/skybox.scn | 4 +- examples/Objects/BoxConstraint.xml | 2 +- examples/Objects/InstrumentCoil.xml | 2 +- examples/Objects/PlaneConstraint.xml | 2 +- .../Tutorials/Basic/TutorialBasicPendulum.scn | 4 +- .../TutorialForceFieldLiverFEM.scn | 4 +- .../TutorialForceFieldLiverHexaFEM.scn | 4 +- .../TutorialForceFieldLiverSprings.scn | 4 +- .../TutorialForceFieldLiverTriangleFEM.scn | 4 +- .../TutorialMappingLiverBarycentric.scn | 4 +- examples/Tutorials/OldTutorials/demo1.scn | 2 +- examples/Tutorials/OldTutorials/demo2.scn | 2 +- examples/Tutorials/OldTutorials/demo3.scn | 4 +- examples/Tutorials/OldTutorials/demo4.scn | 4 +- examples/Tutorials/OldTutorials/demo5.scn | 4 +- examples/Tutorials/OldTutorials/demo6.scn | 4 +- .../Tutorials/OldTutorials/demo6Triangle.scn | 4 +- examples/Tutorials/OldTutorials/demo7.scn | 4 +- .../Tutorials/OldTutorials/demo7Triangle.scn | 4 +- .../StepByStep/Pendulum/2_Pendulum.scn | 4 +- .../StepByStep/Pendulum/3_Pendulum.scn | 4 +- .../StepByStep/Pendulum/4_Pendulum.scn | 4 +- .../StepByStep/Pendulum/5_Pendulum.scn | 4 +- .../StepByStep/Pendulum/6_Pendulum.scn | 4 +- .../StepByStep/Pendulum/7_Pendulum.scn | 4 +- .../TopologicalMapping/2_TopoMapping.html | 2 +- .../TopologicalMapping/2_TopoMapping.scn | 6 +- .../TopologicalMapping/3_TopoMapping.scn | 6 +- .../TopologicalMapping/4_TopoMapping.scn | 6 +- .../TopologicalMapping/5_TopoMapping.scn | 4 +- .../TopologicalMapping/6_TopoMapping.scn | 4 +- .../Topologies/TopologyDynamicSurfaceMesh.scn | 6 +- .../TopologyHexa2QuadTopologicalMapping.scn | 4 +- .../TopologyHexa2TetraTopologicalMapping.scn | 4 +- .../TopologyLinearDifferentMesh.scn | 8 +- .../Topologies/TopologyLinearMesh.scn | 6 +- ...opologyQuad2TriangleTopologicalMapping.scn | 4 +- .../TopologySurfaceDifferentMesh.scn | 8 +- ...pologyTetra2TriangleTopologicalMapping.scn | 6 +- ...opologyTriangle2EdgeTopologicalMapping.scn | 4 +- .../TopologyVolumeDifferentMesh.scn | 8 +- .../sandbox/explicit_singlehexaFEM.scn | 4 +- .../sandbox/implicit_singlehexaFEM.scn | 4 +- .../sandbox/implicit_singlehexaFEM_2.scn | 4 +- .../sandbox/rungekutta_singlehexaFEM.scn | 4 +- 564 files changed, 15086 insertions(+), 13387 deletions(-) rename Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/{BilateralInteractionConstraint.cpp => BilateralLagrangianConstraint.cpp} (58%) create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl rename Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/{SlidingConstraint.cpp => SlidingLagrangianConstraint.cpp} (85%) create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl rename Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/{StopperConstraint.cpp => StopperLagrangianConstraint.cpp} (85%) create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl rename Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/{UniformConstraint.cpp => UniformLagrangianConstraint.cpp} (82%) create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.inl create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h rename Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/{UnilateralInteractionConstraint.cpp => UnilateralLagrangianConstraint.cpp} (91%) create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h create mode 100644 Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl rename Sofa/Component/Constraint/Lagrangian/Model/tests/{BilateralInteractionConstraint_test.cpp => BilateralInteractionLagrangianConstraint_test.cpp} (85%) rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{AffineMovementConstraint.cpp => AffineMovementProjectiveConstraint.cpp} (79%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{AttachConstraint.cpp => AttachProjectiveConstraint.cpp} (71%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{ProjectDirectionConstraint.cpp => DirectionProjectiveConstraint.cpp} (76%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{FixedPlaneConstraint.cpp => FixedPlaneProjectiveConstraint.cpp} (78%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{FixedConstraint.cpp => FixedProjectiveConstraint.cpp} (73%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{FixedRotationConstraint.cpp => FixedRotationProjectiveConstraint.cpp} (82%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{FixedTranslationConstraint.cpp => FixedTranslationProjectiveConstraint.cpp} (76%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{HermiteSplineConstraint.cpp => HermiteSplineProjectiveConstraint.cpp} (77%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{ProjectToPlaneConstraint.cpp => LineProjectiveConstraint.cpp} (80%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{LinearMovementConstraint.cpp => LinearMovementProjectiveConstraint.cpp} (71%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{LinearVelocityConstraint.cpp => LinearVelocityProjectiveConstraint.cpp} (74%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{OscillatorConstraint.cpp => OscillatorProjectiveConstraint.cpp} (79%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{ParabolicConstraint.cpp => ParabolicProjectiveConstraint.cpp} (77%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{PartialFixedConstraint.cpp => PartialFixedProjectiveConstraint.cpp} (72%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{PartialLinearMovementConstraint.cpp => PartialLinearMovementProjectiveConstraint.cpp} (73%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{PatchTestMovementConstraint.cpp => PatchTestMovementProjectiveConstraint.cpp} (84%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{ProjectToLineConstraint.cpp => PlaneProjectiveConstraint.cpp} (77%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{ProjectToPointConstraint.cpp => PointProjectiveConstraint.cpp} (69%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{PositionBasedDynamicsConstraint.cpp => PositionBasedDynamicsProjectiveConstraint.cpp} (80%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/{SkeletalMotionConstraint.cpp => SkeletalMotionProjectiveConstraint.cpp} (83%) create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h create mode 100644 Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl rename Sofa/Component/Constraint/Projective/tests/{AffineMovementConstraint_test.cpp => AffineMovementProjectiveConstraint_test.cpp} (95%) rename Sofa/Component/Constraint/Projective/tests/{ProjectDirectionConstraint_test.cpp => DirectionProjectiveConstraint_test.cpp} (92%) rename Sofa/Component/Constraint/Projective/tests/{FixedPlaneConstraint_test.cpp => FixedPlaneProjectiveConstraint_test.cpp} (89%) rename Sofa/Component/Constraint/Projective/tests/{FixedConstraint_test.cpp => FixedProjectiveConstraint_test.cpp} (92%) rename Sofa/Component/Constraint/Projective/tests/{ProjectToLineConstraint_test.cpp => LineProjectiveConstraint_test.cpp} (92%) rename Sofa/Component/Constraint/Projective/tests/{PartialFixedConstraint_test.cpp => PartialFixedProjectiveConstraint_test.cpp} (88%) rename Sofa/Component/Constraint/Projective/tests/{ProjectToPlaneConstraint_test.cpp => PlaneProjectiveConstraint_test.cpp} (92%) rename Sofa/Component/Constraint/Projective/tests/{ProjectToPointConstraint_test.cpp => PointProjectiveConstraint_test.cpp} (92%) rename applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/{CudaBilateralInteractionConstraint.cpp => CudaBilateralLagrangianConstraint.cpp} (72%) delete mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cu rename applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/{CudaFixedConstraint.cpp => CudaFixedProjectiveConstraint.cpp} (54%) create mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cu create mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.h create mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl rename applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/{CudaFixedTranslationConstraint.cpp => CudaFixedTranslationProjectiveConstraint.cpp} (70%) delete mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cu rename applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/{CudaLinearMovementConstraint.cpp => CudaLinearMovementProjectiveConstraint.cpp} (72%) create mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cu create mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h create mode 100644 applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl rename applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/{CudaLinearVelocityConstraint.cpp => CudaLinearVelocityProjectiveConstraint.cpp} (75%) diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h index abfe6878d00c..a50fc209383d 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h @@ -26,7 +26,7 @@ #include #include #include -#include +#include #include #include @@ -60,7 +60,7 @@ class FrictionContact : public core::collision::Contact, public ContactIdentifie mapper::ContactMapper mapper1; mapper::ContactMapper mapper2; - constraint::lagrangian::model::UnilateralInteractionConstraint::SPtr m_constraint; + constraint::lagrangian::model::UnilateralLagrangianConstraint::SPtr m_constraint; core::objectmodel::BaseContext* parent; Data mu; ///< friction coefficient (0 for frictionless contacts) diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl index d753e9ed6908..d0d093e4db1a 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl @@ -144,7 +144,7 @@ void FrictionContact::activ { mmodel2 = mapper2.createMapping(getName().c_str()); } - m_constraint = sofa::core::objectmodel::New >(mmodel1, mmodel2); + m_constraint = sofa::core::objectmodel::New >(mmodel1, mmodel2); m_constraint->setName( getName() ); setInteractionTags(mmodel1, mmodel2); m_constraint->setCustomTolerance( tol.getValue() ); diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h index f612ad49d70b..f51e5f20b53c 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h @@ -24,7 +24,7 @@ #include #include -#include +#include #include #include #include @@ -58,7 +58,7 @@ class StickContactConstraint : public core::collision::Contact, public ContactId mapper::ContactMapper mapper1; mapper::ContactMapper mapper2; - constraint::lagrangian::model::BilateralInteractionConstraint::SPtr m_constraint; + constraint::lagrangian::model::BilateralLagrangianConstraint::SPtr m_constraint; core::objectmodel::BaseContext* parent; std::vector< sofa::core::collision::DetectionOutput* > contacts; diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl index f3af1c76acac..49ad5f0e91a1 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl @@ -128,7 +128,7 @@ void StickContactConstraint::activateMappers( msg_info() << "Creating StickContactConstraint bilateral constraints"; MechanicalState1* mstate1 = mapper1.createMapping(mapper::GenerateStringID::generate().c_str()); MechanicalState2* mstate2 = mapper2.createMapping(mapper::GenerateStringID::generate().c_str()); - m_constraint = sofa::core::objectmodel::New >(mstate1, mstate2); + m_constraint = sofa::core::objectmodel::New >(mstate1, mstate2); m_constraint->setName( getName() ); } diff --git a/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt b/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt index 147e6931b3ee..0271b551fccc 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt +++ b/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt @@ -15,17 +15,30 @@ set(HEADER_FILES ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperConstraint.inl ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.h ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralConstraintResolution.h ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.h ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.inl + + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.inl ) set(SOURCE_FILES ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/init.cpp - ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralInteractionConstraint.cpp - ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingConstraint.cpp - ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperConstraint.cpp - ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.cpp - ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.cpp + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.cpp + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.cpp + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.cpp + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.cpp + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.cpp + ) sofa_find_package(Sofa.Simulation.Core REQUIRED) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h index af6f155bde2f..88739f76ee8f 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h @@ -20,176 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include +#include -#include -#include -#include -#include - -#include - -#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h") namespace sofa::component::constraint::lagrangian::model { - -/// These 'using' are in a per-file namespace so they will not leak -/// and polluate the standard namespace. -using sofa::core::behavior::BaseConstraint ; -using sofa::core::behavior::ConstraintResolution ; -using sofa::core::behavior::PairInteractionConstraint ; -using sofa::core::objectmodel::Data ; -using sofa::core::ConstraintParams ; -using sofa::core::ConstVecCoordId; - -using sofa::linearalgebra::BaseVector ; -using sofa::type::Vec3d; -using sofa::type::Quat ; - -using sofa::defaulttype::Rigid3Types ; -using sofa::defaulttype::Vec3Types ; - - template -class BilateralInteractionConstraintSpecialization {}; - - -template -class BilateralInteractionConstraint : public PairInteractionConstraint -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(BilateralInteractionConstraint,DataTypes), - SOFA_TEMPLATE(PairInteractionConstraint,DataTypes)); - - /// That any templates variation of BilateralInteractionConstraintSpecialization are friend. - template - friend class BilateralInteractionConstraintSpecialization ; - - typedef PairInteractionConstraint Inherit; - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename Coord::value_type Real; - typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; - - typedef core::behavior::MechanicalState MechanicalState; - typedef BaseConstraint::PersistentID PersistentID; - - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - - using SubsetIndices = type::vector; - using DataSubsetIndices = sofa::core::topology::TopologySubsetIndices; - -protected: - std::vector dfree; - Quat q; - - std::vector cid; - - DataSubsetIndices m1; ///< index of the constraint on the first model - DataSubsetIndices m2; ///< index of the constraint on the second model - Data restVector; ///< Relative position to maintain between attached points (optional) - VecCoord initialDifference; - - Data d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001 - Data d_activate; ///< bool to control constraint activation - Data keepOrientDiff; ///< keep the initial difference in orientation (only for rigids) - - - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology1; ///< Link to be set to the first topology container in order to support topological changes - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology2; ///< Link to be set to the second topology container in order to support topological changes - - std::vector prevForces; - - SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'activateAtIteration' has been removed, please use the Data d_activate instead and an engine or a script to change the behavior at the right step (see PR #3327).") - sofa::core::objectmodel::lifecycle::RemovedData activateAtIteration{this, "v22.12", "v23.06", "activateAtIteration", "use the boolean data 'activate' instead and an engine or a script to change the behavior at the right step (see PR #3327)."}; - - SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'merge' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).") - sofa::core::objectmodel::lifecycle::RemovedData merge{this, "v22.12", "v23.06", "merge", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}; - - SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'derivative' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).") - sofa::core::objectmodel::lifecycle::RemovedData derivative{this, "v22.12", "v23.06", "derivative", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}; - - - BilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2) ; - BilateralInteractionConstraint(MechanicalState* object) ; - BilateralInteractionConstraint(); - - virtual ~BilateralInteractionConstraint(){} -public: - void init() override; - - void bwdInit() override {} - - void reinit() override; - - void buildConstraintMatrix(const ConstraintParams* cParams, - DataMatrixDeriv &c1, DataMatrixDeriv &c2, - unsigned int &cIndex, - const DataVecCoord &x1, const DataVecCoord &x2) override; - - void getConstraintViolation(const ConstraintParams* cParams, - BaseVector *v, - const DataVecCoord &x1, const DataVecCoord &x2, - const DataVecDeriv &v1, const DataVecDeriv &v2) override; - - void getVelocityViolation(BaseVector *v, - const DataVecCoord &x1, const DataVecCoord &x2, - const DataVecDeriv &v1, const DataVecDeriv &v2); - - void getConstraintResolution(const ConstraintParams* cParams, - std::vector& resTab, - unsigned int& offset) override; - - void handleEvent(sofa::core::objectmodel::Event *event) override; - - void draw(const core::visual::VisualParams* vparams) override; - - void clear(int reserve = 0) ; - - virtual void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance, - int m1, int m2, Coord Pfree, Coord Qfree, - long id=0, PersistentID localid=0); - - void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance, - int m1, int m2, long id=0, PersistentID localid=0) ; - - void addContact(Deriv norm, Real contactDistance, int m1, int m2, - long id=0, PersistentID localid=0) ; - - /// Method to remove a contact using point @param indices and id of buffer: @sa m1 (resp. @sa 2m) if @param objectId is equal to 0 (resp. to 1) - void removeContact(int objectId, SubsetIndices indices); - - virtual type::vector getBilateralInteractionIdentifiers() {return {};} - - virtual type::vector getPairInteractionIdentifiers() override final - { - type::vector ids = getBilateralInteractionIdentifiers(); - ids.push_back("Bilateral"); - return ids; - } - -private: - void unspecializedInit() ; - - /// Method to get the index position of a @param point Id inside @sa m1 or @sa m2) depending of the value passed in @param cIndices. Return InvalidID if not found. - Index indexOfElemConstraint(const SubsetIndices& cIndices, Index Id); -}; - - -#if !defined(SOFA_COMPONENT_CONSTRAINTSET_BILATERALINTERACTIONCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint< Vec3Types >; -extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint< Rigid3Types >; -#endif - -} // namespace sofa::component::constraint::lagrangian::model +using BilateralInteractionConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "BilateralInteractionConstraint has been renamed to BilateralLagrangianConstraint") = BilateralLagrangianConstraint; +} diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.inl index 0aeec985ed2d..35da6a06b6d8 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.inl @@ -20,414 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include // for std::min +#include -namespace sofa::component::constraint::lagrangian::model -{ - -using sofa::core::objectmodel::KeypressedEvent ; -using sofa::core::objectmodel::Event ; -using sofa::helper::WriteAccessor ; -using sofa::type::Vec; - -template -BilateralInteractionConstraint::BilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2) - : Inherit(object1, object2) - , m1(initData(&m1, "first_point","index of the constraint on the first model")) - , m2(initData(&m2, "second_point","index of the constraint on the second model")) - , restVector(initData(&restVector, "rest_vector","Relative position to maintain between attached points (optional)")) - , d_numericalTolerance(initData(&d_numericalTolerance, 0.0001, "numericalTolerance", - "a real value specifying the tolerance during the constraint solving. (optional, default=0.0001)") ) - , d_activate( initData(&d_activate, true, "activate", "control constraint activation (true by default)")) - , keepOrientDiff(initData(&keepOrientDiff,false, "keepOrientationDifference", "keep the initial difference in orientation (only for rigids)")) - , l_topology1(initLink("topology1", "link to the first topology container")) - , l_topology2(initLink("topology2", "link to the second topology container")) -{ - this->f_listening.setValue(true); -} - -template -BilateralInteractionConstraint::BilateralInteractionConstraint(MechanicalState* object) - : BilateralInteractionConstraint(object, object) -{ -} - -template -BilateralInteractionConstraint::BilateralInteractionConstraint() - : BilateralInteractionConstraint(nullptr, nullptr) -{ -} - -template -void BilateralInteractionConstraint::unspecializedInit() -{ - /// Do general check of validity for inputs - Inherit1::init(); - - /// Using assert means that the previous lines have check that there is two valid mechanical state. - assert(this->mstate1); - assert(this->mstate2); - - prevForces.clear(); -} - -template -void BilateralInteractionConstraint::init() -{ - unspecializedInit(); - - if (sofa::core::topology::BaseMeshTopology* _topology1 = l_topology1.get()) - { - m1.createTopologyHandler(_topology1); - m1.addTopologyEventCallBack(core::topology::TopologyChangeType::POINTSREMOVED, - [this](const core::topology::TopologyChange* change) - { - const auto* pointsRemoved = static_cast(change); - removeContact(0, pointsRemoved->getArray()); - }); - } - - if (sofa::core::topology::BaseMeshTopology* _topology2 = l_topology2.get()) - { - m2.createTopologyHandler(_topology2); - m2.addTopologyEventCallBack(core::topology::TopologyChangeType::POINTSREMOVED, - [this](const core::topology::TopologyChange* change) - { - const auto* pointsRemoved = static_cast(change); - removeContact(1, pointsRemoved->getArray()); - }); - } -} - -template -void BilateralInteractionConstraint::reinit() -{ - prevForces.clear(); -} - - -template -void BilateralInteractionConstraint::buildConstraintMatrix(const ConstraintParams*, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &constraintId - , const DataVecCoord &/*x1*/, const DataVecCoord &/*x2*/) -{ - if (!d_activate.getValue()) - return; - - const unsigned minp = std::min(m1.getValue().size(), m2.getValue().size()); - if (minp == 0) - return; - - const SubsetIndices& m1Indices = m1.getValue(); - const SubsetIndices& m2Indices = m2.getValue(); - - MatrixDeriv &c1 = *c1_d.beginEdit(); - MatrixDeriv &c2 = *c2_d.beginEdit(); - - cid.resize(minp); - - for (unsigned pid=0; pid cx(1,0,0), cy(0,1,0), cz(0,0,1); - - cid[pid] = constraintId; - constraintId += 3; - - MatrixDerivRowIterator c1_it = c1.writeLine(cid[pid]); - c1_it.addCol(tm1, -cx); - - MatrixDerivRowIterator c2_it = c2.writeLine(cid[pid]); - c2_it.addCol(tm2, cx); - - c1_it = c1.writeLine(cid[pid] + 1); - c1_it.setCol(tm1, -cy); - - c2_it = c2.writeLine(cid[pid] + 1); - c2_it.setCol(tm2, cy); - - c1_it = c1.writeLine(cid[pid] + 2); - c1_it.setCol(tm1, -cz); - - c2_it = c2.writeLine(cid[pid] + 2); - c2_it.setCol(tm2, cz); - } - - c1_d.endEdit(); - c2_d.endEdit(); -} - - -template -void BilateralInteractionConstraint::getConstraintViolation(const ConstraintParams* cParams, - BaseVector *v, - const DataVecCoord &d_x1, const DataVecCoord &d_x2 - , const DataVecDeriv & d_v1, const DataVecDeriv & d_v2) -{ - if (!d_activate.getValue()) return; - - const SubsetIndices& m1Indices = m1.getValue(); - const SubsetIndices& m2Indices = m2.getValue(); - - unsigned minp = std::min(m1Indices.size(), m2Indices.size()); - - const VecDeriv& restVector = this->restVector.getValue(); - - if (cParams->constOrder() == sofa::core::ConstraintOrder::VEL) - { - getVelocityViolation(v, d_x1, d_x2, d_v1, d_v2); - return; - } - - const VecCoord &x1 = d_x1.getValue(); - const VecCoord &x2 = d_x2.getValue(); - - dfree.resize(minp); - - for (unsigned pid=0; pidset(cid[pid] , dfree[pid][0]); - v->set(cid[pid]+1, dfree[pid][1]); - v->set(cid[pid]+2, dfree[pid][2]); - } -} - - -template -void BilateralInteractionConstraint::getVelocityViolation(BaseVector *v, - const DataVecCoord &d_x1, - const DataVecCoord &d_x2, - const DataVecDeriv &d_v1, - const DataVecDeriv &d_v2) -{ - const SubsetIndices& m1Indices = m1.getValue(); - const SubsetIndices& m2Indices = m2.getValue(); - - SOFA_UNUSED(d_x1); - SOFA_UNUSED(d_x2); - - const VecCoord &v1 = d_v1.getValue(); - const VecCoord &v2 = d_v2.getValue(); - - const unsigned minp = std::min(m1Indices.size(), m2Indices.size()); - const VecDeriv& restVector = this->restVector.getValue(); - - auto pos1 = this->getMState1()->readPositions(); - auto pos2 = this->getMState2()->readPositions(); - - const SReal dt = this->getContext()->getDt(); - const SReal invDt = SReal(1.0) / dt; - - for (unsigned pid=0; pidset(cid[pid] , dVfree[0] + dPos[0] ); - v->set(cid[pid]+1, dVfree[1] + dPos[1] ); - v->set(cid[pid]+2, dVfree[2] + dPos[2] ); - } -} - - -template -void BilateralInteractionConstraint::getConstraintResolution(const ConstraintParams* cParams, - std::vector& resTab, - unsigned int& offset) -{ - SOFA_UNUSED(cParams); - const unsigned minp=std::min(m1.getValue().size(),m2.getValue().size()); - - prevForces.resize(minp); - for (unsigned pid=0; pid -void BilateralInteractionConstraint::addContact(Deriv /*norm*/, Coord P, Coord Q, - Real /*contactDistance*/, int m1, int m2, - Coord /*Pfree*/, Coord /*Qfree*/, - long /*id*/, PersistentID /*localid*/) -{ - WriteAccessor > wm1 = this->m1; - WriteAccessor > wm2 = this->m2; - WriteAccessor > wrest = this->restVector; - wm1.push_back(m1); - wm2.push_back(m2); - wrest.push_back(Q-P); -} - - -template -void BilateralInteractionConstraint::addContact(Deriv norm, Coord P, Coord Q, Real - contactDistance, int m1, int m2, - long id, PersistentID localid) -{ - addContact(norm, P, Q, contactDistance, m1, m2, - this->getMState2()->read(ConstVecCoordId::freePosition())->getValue()[m2], - this->getMState1()->read(ConstVecCoordId::freePosition())->getValue()[m1], - id, localid); -} - -template -void BilateralInteractionConstraint::addContact(Deriv norm, Real contactDistance, - int m1, int m2, long id, PersistentID localid) -{ - addContact(norm, - this->getMState2()->read(ConstVecCoordId::position())->getValue()[m2], - this->getMState1()->read(ConstVecCoordId::position())->getValue()[m1], - contactDistance, m1, m2, - this->getMState2()->read(ConstVecCoordId::freePosition())->getValue()[m2], - this->getMState1()->read(ConstVecCoordId::freePosition())->getValue()[m1], - id, localid); -} - - -template -void BilateralInteractionConstraint::removeContact(int objectId, SubsetIndices indices) -{ - WriteAccessor > m1Indices = this->m1; - WriteAccessor > m2Indices = this->m2; - WriteAccessor > wrest = this->restVector; - - const SubsetIndices& cIndices1 = m1.getValue(); - const SubsetIndices& cIndices2 = m2.getValue(); - - for (sofa::Size i = 0; i < indices.size(); ++i) - { - const Index elemId = indices[i]; - Index posId = sofa::InvalidID; - - if (objectId == 0) - posId = indexOfElemConstraint(cIndices1, elemId); - else if (objectId == 1) - posId = indexOfElemConstraint(cIndices2, elemId); - - if (posId != sofa::InvalidID) - { - if (wrest.size() == m1Indices.size()) - wrest.erase(wrest.begin() + posId); - - m1Indices.erase(m1Indices.begin() + posId); - m2Indices.erase(m2Indices.begin() + posId); - } - } - -} - - -template -void BilateralInteractionConstraint::clear(int reserve) -{ - WriteAccessor > wm1 = this->m1; - WriteAccessor > wm2 = this->m2; - WriteAccessor > wrest = this->restVector; - wm1.clear(); - wm2.clear(); - wrest.clear(); - if (reserve) - { - wm1.reserve(reserve); - wm2.reserve(reserve); - wrest.reserve(reserve); - } -} - - -template -Index BilateralInteractionConstraint::indexOfElemConstraint(const SubsetIndices& cIndices, Index Id) -{ - const auto it = std::find(cIndices.begin(), cIndices.end(), Id); - - if (it != cIndices.end()) - return Index(std::distance(cIndices.begin(), it)); - else - return sofa::InvalidID; -} - - -template -void BilateralInteractionConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowInteractionForceFields()) return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->disableLighting(); - - constexpr sofa::type::RGBAColor colorActive = sofa::type::RGBAColor::magenta(); - constexpr sofa::type::RGBAColor colorNotActive = sofa::type::RGBAColor::green(); - std::vector< sofa::type::Vec3 > vertices; - - const unsigned minp = std::min(m1.getValue().size(),m2.getValue().size()); - auto positionsM1 = sofa::helper::getReadAccessor(*this->mstate1->read(ConstVecCoordId::position())); - auto positionsM2 = sofa::helper::getReadAccessor(*this->mstate2->read(ConstVecCoordId::position())); - const auto indicesM1 = sofa::helper::getReadAccessor(m1); - const auto indicesM2 = sofa::helper::getReadAccessor(m2); - - for (unsigned i=0; idrawTool()->drawPoints(vertices, 10, (d_activate.getValue()) ? colorActive : colorNotActive); - - -} - -//TODO(dmarchal): implementing keyboard interaction behavior directly in a component is not a valid -//design for a component. Interaction should be defered to an independent Component implemented in the SofaInteraction -//a second possibility is to implement this behavir using script. -template -void BilateralInteractionConstraint::handleEvent(Event *event) -{ - if (KeypressedEvent::checkEventType(event)) - { - const KeypressedEvent *ev = static_cast(event); - switch(ev->getKey()) - { - - case 'A': - case 'a': - if (d_activate.getValue()) - { - msg_info() << "Unactivating constraint"; - d_activate.setValue(false); - } - else - { - msg_info() << "Activating constraint"; - d_activate.setValue(true); - } - - break; - } - } - -} - - -} //namespace sofa::component::constraint::lagrangian::model +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl") diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp similarity index 58% rename from Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.cpp rename to Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp index 64743d5addbb..fe045eab8207 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp @@ -19,9 +19,9 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_CONSTRAINTSET_BILATERALINTERACTIONCONSTRAINT_CPP +#define SOFA_COMPONENT_CONSTRAINTSET_BILATERALLAGRANGIANCONSTRAINT_CPP -#include +#include #include #include @@ -33,37 +33,37 @@ class RigidImpl {}; template<> -class BilateralInteractionConstraintSpecialization +class BilateralLagrangianConstraintSpecialization { public: template - static void bwdInit(BilateralInteractionConstraint& self) { + static void bwdInit(BilateralLagrangianConstraint& self) { if (!self.keepOrientDiff.getValue()) return; - helper::WriteAccessor::VecDeriv > > wrest = self.restVector; + helper::WriteAccessor::VecDeriv > > wrest = self.restVector; if (wrest.size() > 0) { - msg_warning("BilateralInteractionConstraintSpecialization") << "keepOrientationDifference is activated, rest_vector will be ignored! " ; + msg_warning("BilateralLagrangianConstraintSpecialization") << "keepOrientationDifference is activated, rest_vector will be ignored! " ; wrest.resize(0); } - const typename BilateralInteractionConstraint::SubsetIndices& m1Indices = self.m1.getValue(); - const typename BilateralInteractionConstraint::SubsetIndices& m2Indices = self.m2.getValue(); + const typename BilateralLagrangianConstraint::SubsetIndices& m1Indices = self.m1.getValue(); + const typename BilateralLagrangianConstraint::SubsetIndices& m2Indices = self.m2.getValue(); const unsigned minp = std::min(m1Indices.size(),m2Indices.size()); - const typename BilateralInteractionConstraint::DataVecCoord &d_x1 = *self.mstate1->read(core::ConstVecCoordId::position()); - const typename BilateralInteractionConstraint::DataVecCoord &d_x2 = *self.mstate2->read(core::ConstVecCoordId::position()); + const typename BilateralLagrangianConstraint::DataVecCoord &d_x1 = *self.mstate1->read(core::ConstVecCoordId::position()); + const typename BilateralLagrangianConstraint::DataVecCoord &d_x2 = *self.mstate2->read(core::ConstVecCoordId::position()); - const typename BilateralInteractionConstraint::VecCoord &x1 = d_x1.getValue(); - const typename BilateralInteractionConstraint::VecCoord &x2 = d_x2.getValue(); + const typename BilateralLagrangianConstraint::VecCoord &x1 = d_x1.getValue(); + const typename BilateralLagrangianConstraint::VecCoord &x2 = d_x2.getValue(); for (unsigned pid=0; pid::Coord P = x1[m1Indices[pid]]; - const typename BilateralInteractionConstraint::Coord Q = x2[m2Indices[pid]]; + const typename BilateralLagrangianConstraint::Coord P = x1[m1Indices[pid]]; + const typename BilateralLagrangianConstraint::Coord Q = x2[m2Indices[pid]]; type::Quat qP, qQ, dQP; qP = P.getOrientation(); @@ -73,7 +73,7 @@ class BilateralInteractionConstraintSpecialization dQP = qP.quatDiff(qQ, qP); dQP.normalize(); - typename BilateralInteractionConstraint::Coord df; + typename BilateralLagrangianConstraint::Coord df; df.getCenter() = Q.getCenter() - P.getCenter(); df.getOrientation() = dQP; self.initialDifference.push_back(df); @@ -83,7 +83,7 @@ class BilateralInteractionConstraintSpecialization template - static void getConstraintResolution(BilateralInteractionConstraint& self, + static void getConstraintResolution(BilateralLagrangianConstraint& self, const ConstraintParams* cParams, std::vector& resTab, unsigned int& offset, double tolerance) @@ -104,26 +104,26 @@ class BilateralInteractionConstraintSpecialization template - static void buildConstraintMatrix(BilateralInteractionConstraint& self, + static void buildConstraintMatrix(BilateralLagrangianConstraint& self, const ConstraintParams* cParams, - typename BilateralInteractionConstraint::DataMatrixDeriv &c1_d, - typename BilateralInteractionConstraint::DataMatrixDeriv &c2_d, + typename BilateralLagrangianConstraint::DataMatrixDeriv &c1_d, + typename BilateralLagrangianConstraint::DataMatrixDeriv &c2_d, unsigned int &constraintId, - const typename BilateralInteractionConstraint::DataVecCoord &/*x1*/, - const typename BilateralInteractionConstraint::DataVecCoord &/*x2*/) + const typename BilateralLagrangianConstraint::DataVecCoord &/*x1*/, + const typename BilateralLagrangianConstraint::DataVecCoord &/*x2*/) { SOFA_UNUSED(cParams) ; - const typename BilateralInteractionConstraint::SubsetIndices& m1Indices = self.m1.getValue(); - const typename BilateralInteractionConstraint::SubsetIndices& m2Indices = self.m2.getValue(); + const typename BilateralLagrangianConstraint::SubsetIndices& m1Indices = self.m1.getValue(); + const typename BilateralLagrangianConstraint::SubsetIndices& m2Indices = self.m2.getValue(); unsigned minp = std::min(m1Indices.size(),m2Indices.size()); self.cid.resize(minp); - typename BilateralInteractionConstraint::MatrixDeriv &c1 = *c1_d.beginEdit(); - typename BilateralInteractionConstraint::MatrixDeriv &c2 = *c2_d.beginEdit(); + typename BilateralLagrangianConstraint::MatrixDeriv &c1 = *c1_d.beginEdit(); + typename BilateralLagrangianConstraint::MatrixDeriv &c2 = *c2_d.beginEdit(); - const Vec<3, typename BilateralInteractionConstraint::Real> cx(1,0,0), cy(0,1,0), cz(0,0,1); - const Vec<3, typename BilateralInteractionConstraint::Real> vZero(0,0,0); + const Vec<3, typename BilateralLagrangianConstraint::Real> cx(1,0,0), cy(0,1,0), cz(0,0,1); + const Vec<3, typename BilateralLagrangianConstraint::Real> vZero(0,0,0); for (unsigned pid=0; pid constraintId += 6; //Apply constraint for position - typename BilateralInteractionConstraint::MatrixDerivRowIterator c1_it = c1.writeLine(self.cid[pid]); - c1_it.addCol(tm1, typename BilateralInteractionConstraint::Deriv(-cx, vZero)); + typename BilateralLagrangianConstraint::MatrixDerivRowIterator c1_it = c1.writeLine(self.cid[pid]); + c1_it.addCol(tm1, typename BilateralLagrangianConstraint::Deriv(-cx, vZero)); - typename BilateralInteractionConstraint::MatrixDerivRowIterator c2_it = c2.writeLine(self.cid[pid]); - c2_it.addCol(tm2, typename BilateralInteractionConstraint::Deriv(cx, vZero)); + typename BilateralLagrangianConstraint::MatrixDerivRowIterator c2_it = c2.writeLine(self.cid[pid]); + c2_it.addCol(tm2, typename BilateralLagrangianConstraint::Deriv(cx, vZero)); c1_it = c1.writeLine(self.cid[pid] + 1); - c1_it.setCol(tm1, typename BilateralInteractionConstraint::Deriv(-cy, vZero)); + c1_it.setCol(tm1, typename BilateralLagrangianConstraint::Deriv(-cy, vZero)); c2_it = c2.writeLine(self.cid[pid] + 1); - c2_it.setCol(tm2, typename BilateralInteractionConstraint::Deriv(cy, vZero)); + c2_it.setCol(tm2, typename BilateralLagrangianConstraint::Deriv(cy, vZero)); c1_it = c1.writeLine(self.cid[pid] + 2); - c1_it.setCol(tm1, typename BilateralInteractionConstraint::Deriv(-cz, vZero)); + c1_it.setCol(tm1, typename BilateralLagrangianConstraint::Deriv(-cz, vZero)); c2_it = c2.writeLine(self.cid[pid] + 2); - c2_it.setCol(tm2, typename BilateralInteractionConstraint::Deriv(cz, vZero)); + c2_it.setCol(tm2, typename BilateralLagrangianConstraint::Deriv(cz, vZero)); //Apply constraint for orientation c1_it = c1.writeLine(self.cid[pid] + 3); - c1_it.setCol(tm1, typename BilateralInteractionConstraint::Deriv(vZero, -cx)); + c1_it.setCol(tm1, typename BilateralLagrangianConstraint::Deriv(vZero, -cx)); c2_it = c2.writeLine(self.cid[pid] + 3); - c2_it.setCol(tm2, typename BilateralInteractionConstraint::Deriv(vZero, cx)); + c2_it.setCol(tm2, typename BilateralLagrangianConstraint::Deriv(vZero, cx)); c1_it = c1.writeLine(self.cid[pid] + 4); - c1_it.setCol(tm1, typename BilateralInteractionConstraint::Deriv(vZero, -cy)); + c1_it.setCol(tm1, typename BilateralLagrangianConstraint::Deriv(vZero, -cy)); c2_it = c2.writeLine(self.cid[pid] + 4); - c2_it.setCol(tm2, typename BilateralInteractionConstraint::Deriv(vZero, cy)); + c2_it.setCol(tm2, typename BilateralLagrangianConstraint::Deriv(vZero, cy)); c1_it = c1.writeLine(self.cid[pid] + 5); - c1_it.setCol(tm1, typename BilateralInteractionConstraint::Deriv(vZero, -cz)); + c1_it.setCol(tm1, typename BilateralLagrangianConstraint::Deriv(vZero, -cz)); c2_it = c2.writeLine(self.cid[pid] + 5); - c2_it.setCol(tm2, typename BilateralInteractionConstraint::Deriv(vZero, cz)); + c2_it.setCol(tm2, typename BilateralLagrangianConstraint::Deriv(vZero, cz)); } c1_d.endEdit(); @@ -178,34 +178,34 @@ class BilateralInteractionConstraintSpecialization template - static void getConstraintViolation(BilateralInteractionConstraint& self, + static void getConstraintViolation(BilateralLagrangianConstraint& self, const ConstraintParams* /*cParams*/, BaseVector *v, - const typename BilateralInteractionConstraint::DataVecCoord &d_x1, - const typename BilateralInteractionConstraint::DataVecCoord &d_x2, - const typename BilateralInteractionConstraint::DataVecDeriv &/*v1*/, - const typename BilateralInteractionConstraint::DataVecDeriv &/*v2*/) + const typename BilateralLagrangianConstraint::DataVecCoord &d_x1, + const typename BilateralLagrangianConstraint::DataVecCoord &d_x2, + const typename BilateralLagrangianConstraint::DataVecDeriv &/*v1*/, + const typename BilateralLagrangianConstraint::DataVecDeriv &/*v2*/) { - const typename BilateralInteractionConstraint::SubsetIndices& m1Indices = self.m1.getValue(); - const typename BilateralInteractionConstraint::SubsetIndices& m2Indices = self.m2.getValue(); + const typename BilateralLagrangianConstraint::SubsetIndices& m1Indices = self.m1.getValue(); + const typename BilateralLagrangianConstraint::SubsetIndices& m2Indices = self.m2.getValue(); unsigned min = std::min(m1Indices.size(), m2Indices.size()); - const typename BilateralInteractionConstraint::VecDeriv& restVector = self.restVector.getValue(); + const typename BilateralLagrangianConstraint::VecDeriv& restVector = self.restVector.getValue(); self.dfree.resize(min); - const typename BilateralInteractionConstraint::VecCoord &x1 = d_x1.getValue(); - const typename BilateralInteractionConstraint::VecCoord &x2 = d_x2.getValue(); + const typename BilateralLagrangianConstraint::VecCoord &x1 = d_x1.getValue(); + const typename BilateralLagrangianConstraint::VecCoord &x2 = d_x2.getValue(); for (unsigned pid=0; pid::Coord dof1 = x1[m1Indices[pid]]; - //typename BilateralInteractionConstraint::Coord dof2 = x2[m2Indices[pid]]; - typename BilateralInteractionConstraint::Coord dof1; + //typename BilateralLagrangianConstraint::Coord dof1 = x1[m1Indices[pid]]; + //typename BilateralLagrangianConstraint::Coord dof2 = x2[m2Indices[pid]]; + typename BilateralLagrangianConstraint::Coord dof1; if (self.keepOrientDiff.getValue()) { - const typename BilateralInteractionConstraint::Coord dof1c = x1[m1Indices[pid]]; + const typename BilateralLagrangianConstraint::Coord dof1c = x1[m1Indices[pid]]; - typename BilateralInteractionConstraint::Coord corr=self.initialDifference[pid]; + typename BilateralLagrangianConstraint::Coord corr=self.initialDifference[pid]; type::Quat df = corr.getOrientation(); type::Quat o1 = dof1c.getOrientation(); type::Quat ro1 = o1 * df; @@ -215,7 +215,7 @@ class BilateralInteractionConstraintSpecialization } else dof1 = x1[m1Indices[pid]]; - const typename BilateralInteractionConstraint::Coord dof2 = x2[m2Indices[pid]]; + const typename BilateralLagrangianConstraint::Coord dof2 = x2[m2Indices[pid]]; getVCenter(self.dfree[pid]) = dof2.getCenter() - dof1.getCenter(); getVOrientation(self.dfree[pid]) = dof1.rotate(self.q.angularDisplacement(dof2.getOrientation() , @@ -229,14 +229,14 @@ class BilateralInteractionConstraintSpecialization } - template > - static void addContact(BilateralInteractionConstraint& self, typename MyClass::Deriv /*norm*/, + template > + static void addContact(BilateralLagrangianConstraint& self, typename MyClass::Deriv /*norm*/, typename MyClass::Coord P, typename MyClass::Coord Q, typename MyClass::Real /*contactDistance*/, int m1, int m2, typename MyClass::Coord /*Pfree*/, typename MyClass::Coord /*Qfree*/, long /*id*/, typename MyClass::PersistentID /*localid*/) { - helper::WriteAccessor::SubsetIndices > > wm1 = self.m1; - helper::WriteAccessor::SubsetIndices > > wm2 = self.m2; + helper::WriteAccessor::SubsetIndices > > wm1 = self.m1; + helper::WriteAccessor::SubsetIndices > > wm2 = self.m2; helper::WriteAccessor > wrest = self.restVector; wm1.push_back(m1); wm2.push_back(m2); @@ -251,52 +251,52 @@ class BilateralInteractionConstraintSpecialization template<> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::init(){ +void BilateralLagrangianConstraint::init(){ unspecializedInit() ; } template<> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::bwdInit() { - BilateralInteractionConstraintSpecialization::bwdInit(*this); +void BilateralLagrangianConstraint::bwdInit() { + BilateralLagrangianConstraintSpecialization::bwdInit(*this); } template<> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::getConstraintResolution(const ConstraintParams* cParams, +void BilateralLagrangianConstraint::getConstraintResolution(const ConstraintParams* cParams, std::vector& resTab, unsigned int& offset) { - BilateralInteractionConstraintSpecialization::getConstraintResolution(*this, + BilateralLagrangianConstraintSpecialization::getConstraintResolution(*this, cParams, resTab, offset, d_numericalTolerance.getValue()) ; } template <> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::buildConstraintMatrix(const ConstraintParams* cParams, +void BilateralLagrangianConstraint::buildConstraintMatrix(const ConstraintParams* cParams, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &constraintId, const DataVecCoord &x1, const DataVecCoord &x2) { - BilateralInteractionConstraintSpecialization::buildConstraintMatrix(*this, + BilateralLagrangianConstraintSpecialization::buildConstraintMatrix(*this, cParams, c1_d, c2_d, constraintId, x1, x2) ; } template <> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::getConstraintViolation(const ConstraintParams* cParams, +void BilateralLagrangianConstraint::getConstraintViolation(const ConstraintParams* cParams, BaseVector *v, const DataVecCoord &d_x1, const DataVecCoord &d_x2, const DataVecDeriv &v1, const DataVecDeriv &v2) { - BilateralInteractionConstraintSpecialization::getConstraintViolation(*this, + BilateralLagrangianConstraintSpecialization::getConstraintViolation(*this, cParams, v, d_x1, d_x2, v1, v2) ; } template <> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::getVelocityViolation(BaseVector * /*v*/, +void BilateralLagrangianConstraint::getVelocityViolation(BaseVector * /*v*/, const DataVecCoord &/*x1*/, const DataVecCoord &/*x2*/, const DataVecDeriv &/*v1*/, @@ -306,25 +306,25 @@ void BilateralInteractionConstraint::getVelocityViolation(BaseVecto } template<> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API -void BilateralInteractionConstraint::addContact(Deriv norm, +void BilateralLagrangianConstraint::addContact(Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id, PersistentID localid) { - BilateralInteractionConstraintSpecialization::addContact(*this, + BilateralLagrangianConstraintSpecialization::addContact(*this, norm, P, Q, contactDistance, m1, m2, Pfree, Qfree, id, localid) ; } -int BilateralInteractionConstraintClass = core::RegisterObject("BilateralInteractionConstraint defining an holonomic equality constraint (attachment)") - .add< BilateralInteractionConstraint >() - .add< BilateralInteractionConstraint >() +int BilateralLagrangianConstraintClass = core::RegisterObject("BilateralLagrangianConstraint defining an holonomic equality constraint (attachment)") + .add< BilateralLagrangianConstraint >() + .add< BilateralLagrangianConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint; -template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint; } //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h new file mode 100644 index 000000000000..0b23e4521a14 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h @@ -0,0 +1,195 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +/// These 'using' are in a per-file namespace so they will not leak +/// and polluate the standard namespace. +using sofa::core::behavior::BaseConstraint ; +using sofa::core::behavior::ConstraintResolution ; +using sofa::core::behavior::PairInteractionConstraint ; +using sofa::core::objectmodel::Data ; +using sofa::core::ConstraintParams ; +using sofa::core::ConstVecCoordId; + +using sofa::linearalgebra::BaseVector ; +using sofa::type::Vec3d; +using sofa::type::Quat ; + +using sofa::defaulttype::Rigid3Types ; +using sofa::defaulttype::Vec3Types ; + + +template +class BilateralLagrangianConstraintSpecialization {}; + + +template +class BilateralLagrangianConstraint : public PairInteractionConstraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(BilateralLagrangianConstraint,DataTypes), + SOFA_TEMPLATE(PairInteractionConstraint,DataTypes)); + + /// That any templates variation of BilateralLagrangianConstraintSpecialization are friend. + template + friend class BilateralLagrangianConstraintSpecialization ; + + typedef PairInteractionConstraint Inherit; + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename Coord::value_type Real; + typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; + + typedef core::behavior::MechanicalState MechanicalState; + typedef BaseConstraint::PersistentID PersistentID; + + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + + using SubsetIndices = type::vector; + using DataSubsetIndices = sofa::core::topology::TopologySubsetIndices; + +protected: + std::vector dfree; + Quat q; + + std::vector cid; + + DataSubsetIndices m1; ///< index of the constraint on the first model + DataSubsetIndices m2; ///< index of the constraint on the second model + Data restVector; ///< Relative position to maintain between attached points (optional) + VecCoord initialDifference; + + Data d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001 + Data d_activate; ///< bool to control constraint activation + Data keepOrientDiff; ///< keep the initial difference in orientation (only for rigids) + + + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology1; ///< Link to be set to the first topology container in order to support topological changes + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology2; ///< Link to be set to the second topology container in order to support topological changes + + std::vector prevForces; + + SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'activateAtIteration' has been removed, please use the Data d_activate instead and an engine or a script to change the behavior at the right step (see PR #3327).") + sofa::core::objectmodel::lifecycle::RemovedData activateAtIteration{this, "v22.12", "v23.06", "activateAtIteration", "use the boolean data 'activate' instead and an engine or a script to change the behavior at the right step (see PR #3327)."}; + + SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'merge' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).") + sofa::core::objectmodel::lifecycle::RemovedData merge{this, "v22.12", "v23.06", "merge", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}; + + SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'derivative' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).") + sofa::core::objectmodel::lifecycle::RemovedData derivative{this, "v22.12", "v23.06", "derivative", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}; + + + BilateralLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) ; + BilateralLagrangianConstraint(MechanicalState* object) ; + BilateralLagrangianConstraint(); + + virtual ~BilateralLagrangianConstraint(){} +public: + void init() override; + + void bwdInit() override {} + + void reinit() override; + + void buildConstraintMatrix(const ConstraintParams* cParams, + DataMatrixDeriv &c1, DataMatrixDeriv &c2, + unsigned int &cIndex, + const DataVecCoord &x1, const DataVecCoord &x2) override; + + void getConstraintViolation(const ConstraintParams* cParams, + BaseVector *v, + const DataVecCoord &x1, const DataVecCoord &x2, + const DataVecDeriv &v1, const DataVecDeriv &v2) override; + + void getVelocityViolation(BaseVector *v, + const DataVecCoord &x1, const DataVecCoord &x2, + const DataVecDeriv &v1, const DataVecDeriv &v2); + + void getConstraintResolution(const ConstraintParams* cParams, + std::vector& resTab, + unsigned int& offset) override; + + void handleEvent(sofa::core::objectmodel::Event *event) override; + + void draw(const core::visual::VisualParams* vparams) override; + + void clear(int reserve = 0) ; + + virtual void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance, + int m1, int m2, Coord Pfree, Coord Qfree, + long id=0, PersistentID localid=0); + + void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance, + int m1, int m2, long id=0, PersistentID localid=0) ; + + void addContact(Deriv norm, Real contactDistance, int m1, int m2, + long id=0, PersistentID localid=0) ; + + /// Method to remove a contact using point @param indices and id of buffer: @sa m1 (resp. @sa 2m) if @param objectId is equal to 0 (resp. to 1) + void removeContact(int objectId, SubsetIndices indices); + + virtual type::vector getBilateralInteractionIdentifiers() {return {};} + + virtual type::vector getPairInteractionIdentifiers() override final + { + type::vector ids = getBilateralInteractionIdentifiers(); + ids.push_back("Bilateral"); + return ids; + } + +private: + void unspecializedInit() ; + + /// Method to get the index position of a @param point Id inside @sa m1 or @sa m2) depending of the value passed in @param cIndices. Return InvalidID if not found. + Index indexOfElemConstraint(const SubsetIndices& cIndices, Index Id); +}; + + +#if !defined(SOFA_COMPONENT_CONSTRAINTSET_BILATERALLAGRANGIANCONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint< Vec3Types >; +extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralLagrangianConstraint< Rigid3Types >; +#endif + +} // namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl new file mode 100644 index 000000000000..434272f872b0 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl @@ -0,0 +1,433 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include + +#include +#include +#include +#include +#include // for std::min + +namespace sofa::component::constraint::lagrangian::model +{ + +using sofa::core::objectmodel::KeypressedEvent ; +using sofa::core::objectmodel::Event ; +using sofa::helper::WriteAccessor ; +using sofa::type::Vec; + +template +BilateralLagrangianConstraint::BilateralLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) + : Inherit(object1, object2) + , m1(initData(&m1, "first_point","index of the constraint on the first model")) + , m2(initData(&m2, "second_point","index of the constraint on the second model")) + , restVector(initData(&restVector, "rest_vector","Relative position to maintain between attached points (optional)")) + , d_numericalTolerance(initData(&d_numericalTolerance, 0.0001, "numericalTolerance", + "a real value specifying the tolerance during the constraint solving. (optional, default=0.0001)") ) + , d_activate( initData(&d_activate, true, "activate", "control constraint activation (true by default)")) + , keepOrientDiff(initData(&keepOrientDiff,false, "keepOrientationDifference", "keep the initial difference in orientation (only for rigids)")) + , l_topology1(initLink("topology1", "link to the first topology container")) + , l_topology2(initLink("topology2", "link to the second topology container")) +{ + this->f_listening.setValue(true); +} + +template +BilateralLagrangianConstraint::BilateralLagrangianConstraint(MechanicalState* object) + : BilateralLagrangianConstraint(object, object) +{ +} + +template +BilateralLagrangianConstraint::BilateralLagrangianConstraint() + : BilateralLagrangianConstraint(nullptr, nullptr) +{ +} + +template +void BilateralLagrangianConstraint::unspecializedInit() +{ + /// Do general check of validity for inputs + Inherit1::init(); + + /// Using assert means that the previous lines have check that there is two valid mechanical state. + assert(this->mstate1); + assert(this->mstate2); + + prevForces.clear(); +} + +template +void BilateralLagrangianConstraint::init() +{ + unspecializedInit(); + + if (sofa::core::topology::BaseMeshTopology* _topology1 = l_topology1.get()) + { + m1.createTopologyHandler(_topology1); + m1.addTopologyEventCallBack(core::topology::TopologyChangeType::POINTSREMOVED, + [this](const core::topology::TopologyChange* change) + { + const auto* pointsRemoved = static_cast(change); + removeContact(0, pointsRemoved->getArray()); + }); + } + + if (sofa::core::topology::BaseMeshTopology* _topology2 = l_topology2.get()) + { + m2.createTopologyHandler(_topology2); + m2.addTopologyEventCallBack(core::topology::TopologyChangeType::POINTSREMOVED, + [this](const core::topology::TopologyChange* change) + { + const auto* pointsRemoved = static_cast(change); + removeContact(1, pointsRemoved->getArray()); + }); + } +} + +template +void BilateralLagrangianConstraint::reinit() +{ + prevForces.clear(); +} + + +template +void BilateralLagrangianConstraint::buildConstraintMatrix(const ConstraintParams*, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &constraintId + , const DataVecCoord &/*x1*/, const DataVecCoord &/*x2*/) +{ + if (!d_activate.getValue()) + return; + + const unsigned minp = std::min(m1.getValue().size(), m2.getValue().size()); + if (minp == 0) + return; + + const SubsetIndices& m1Indices = m1.getValue(); + const SubsetIndices& m2Indices = m2.getValue(); + + MatrixDeriv &c1 = *c1_d.beginEdit(); + MatrixDeriv &c2 = *c2_d.beginEdit(); + + cid.resize(minp); + + for (unsigned pid=0; pid cx(1,0,0), cy(0,1,0), cz(0,0,1); + + cid[pid] = constraintId; + constraintId += 3; + + MatrixDerivRowIterator c1_it = c1.writeLine(cid[pid]); + c1_it.addCol(tm1, -cx); + + MatrixDerivRowIterator c2_it = c2.writeLine(cid[pid]); + c2_it.addCol(tm2, cx); + + c1_it = c1.writeLine(cid[pid] + 1); + c1_it.setCol(tm1, -cy); + + c2_it = c2.writeLine(cid[pid] + 1); + c2_it.setCol(tm2, cy); + + c1_it = c1.writeLine(cid[pid] + 2); + c1_it.setCol(tm1, -cz); + + c2_it = c2.writeLine(cid[pid] + 2); + c2_it.setCol(tm2, cz); + } + + c1_d.endEdit(); + c2_d.endEdit(); +} + + +template +void BilateralLagrangianConstraint::getConstraintViolation(const ConstraintParams* cParams, + BaseVector *v, + const DataVecCoord &d_x1, const DataVecCoord &d_x2 + , const DataVecDeriv & d_v1, const DataVecDeriv & d_v2) +{ + if (!d_activate.getValue()) return; + + const SubsetIndices& m1Indices = m1.getValue(); + const SubsetIndices& m2Indices = m2.getValue(); + + unsigned minp = std::min(m1Indices.size(), m2Indices.size()); + + const VecDeriv& restVector = this->restVector.getValue(); + + if (cParams->constOrder() == sofa::core::ConstraintOrder::VEL) + { + getVelocityViolation(v, d_x1, d_x2, d_v1, d_v2); + return; + } + + const VecCoord &x1 = d_x1.getValue(); + const VecCoord &x2 = d_x2.getValue(); + + dfree.resize(minp); + + for (unsigned pid=0; pidset(cid[pid] , dfree[pid][0]); + v->set(cid[pid]+1, dfree[pid][1]); + v->set(cid[pid]+2, dfree[pid][2]); + } +} + + +template +void BilateralLagrangianConstraint::getVelocityViolation(BaseVector *v, + const DataVecCoord &d_x1, + const DataVecCoord &d_x2, + const DataVecDeriv &d_v1, + const DataVecDeriv &d_v2) +{ + const SubsetIndices& m1Indices = m1.getValue(); + const SubsetIndices& m2Indices = m2.getValue(); + + SOFA_UNUSED(d_x1); + SOFA_UNUSED(d_x2); + + const VecCoord &v1 = d_v1.getValue(); + const VecCoord &v2 = d_v2.getValue(); + + const unsigned minp = std::min(m1Indices.size(), m2Indices.size()); + const VecDeriv& restVector = this->restVector.getValue(); + + auto pos1 = this->getMState1()->readPositions(); + auto pos2 = this->getMState2()->readPositions(); + + const SReal dt = this->getContext()->getDt(); + const SReal invDt = SReal(1.0) / dt; + + for (unsigned pid=0; pidset(cid[pid] , dVfree[0] + dPos[0] ); + v->set(cid[pid]+1, dVfree[1] + dPos[1] ); + v->set(cid[pid]+2, dVfree[2] + dPos[2] ); + } +} + + +template +void BilateralLagrangianConstraint::getConstraintResolution(const ConstraintParams* cParams, + std::vector& resTab, + unsigned int& offset) +{ + SOFA_UNUSED(cParams); + const unsigned minp=std::min(m1.getValue().size(),m2.getValue().size()); + + prevForces.resize(minp); + for (unsigned pid=0; pid +void BilateralLagrangianConstraint::addContact(Deriv /*norm*/, Coord P, Coord Q, + Real /*contactDistance*/, int m1, int m2, + Coord /*Pfree*/, Coord /*Qfree*/, + long /*id*/, PersistentID /*localid*/) +{ + WriteAccessor > wm1 = this->m1; + WriteAccessor > wm2 = this->m2; + WriteAccessor > wrest = this->restVector; + wm1.push_back(m1); + wm2.push_back(m2); + wrest.push_back(Q-P); +} + + +template +void BilateralLagrangianConstraint::addContact(Deriv norm, Coord P, Coord Q, Real + contactDistance, int m1, int m2, + long id, PersistentID localid) +{ + addContact(norm, P, Q, contactDistance, m1, m2, + this->getMState2()->read(ConstVecCoordId::freePosition())->getValue()[m2], + this->getMState1()->read(ConstVecCoordId::freePosition())->getValue()[m1], + id, localid); +} + +template +void BilateralLagrangianConstraint::addContact(Deriv norm, Real contactDistance, + int m1, int m2, long id, PersistentID localid) +{ + addContact(norm, + this->getMState2()->read(ConstVecCoordId::position())->getValue()[m2], + this->getMState1()->read(ConstVecCoordId::position())->getValue()[m1], + contactDistance, m1, m2, + this->getMState2()->read(ConstVecCoordId::freePosition())->getValue()[m2], + this->getMState1()->read(ConstVecCoordId::freePosition())->getValue()[m1], + id, localid); +} + + +template +void BilateralLagrangianConstraint::removeContact(int objectId, SubsetIndices indices) +{ + WriteAccessor > m1Indices = this->m1; + WriteAccessor > m2Indices = this->m2; + WriteAccessor > wrest = this->restVector; + + const SubsetIndices& cIndices1 = m1.getValue(); + const SubsetIndices& cIndices2 = m2.getValue(); + + for (sofa::Size i = 0; i < indices.size(); ++i) + { + const Index elemId = indices[i]; + Index posId = sofa::InvalidID; + + if (objectId == 0) + posId = indexOfElemConstraint(cIndices1, elemId); + else if (objectId == 1) + posId = indexOfElemConstraint(cIndices2, elemId); + + if (posId != sofa::InvalidID) + { + if (wrest.size() == m1Indices.size()) + wrest.erase(wrest.begin() + posId); + + m1Indices.erase(m1Indices.begin() + posId); + m2Indices.erase(m2Indices.begin() + posId); + } + } + +} + + +template +void BilateralLagrangianConstraint::clear(int reserve) +{ + WriteAccessor > wm1 = this->m1; + WriteAccessor > wm2 = this->m2; + WriteAccessor > wrest = this->restVector; + wm1.clear(); + wm2.clear(); + wrest.clear(); + if (reserve) + { + wm1.reserve(reserve); + wm2.reserve(reserve); + wrest.reserve(reserve); + } +} + + +template +Index BilateralLagrangianConstraint::indexOfElemConstraint(const SubsetIndices& cIndices, Index Id) +{ + const auto it = std::find(cIndices.begin(), cIndices.end(), Id); + + if (it != cIndices.end()) + return Index(std::distance(cIndices.begin(), it)); + else + return sofa::InvalidID; +} + + +template +void BilateralLagrangianConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowInteractionForceFields()) return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->disableLighting(); + + constexpr sofa::type::RGBAColor colorActive = sofa::type::RGBAColor::magenta(); + constexpr sofa::type::RGBAColor colorNotActive = sofa::type::RGBAColor::green(); + std::vector< sofa::type::Vec3 > vertices; + + const unsigned minp = std::min(m1.getValue().size(),m2.getValue().size()); + auto positionsM1 = sofa::helper::getReadAccessor(*this->mstate1->read(ConstVecCoordId::position())); + auto positionsM2 = sofa::helper::getReadAccessor(*this->mstate2->read(ConstVecCoordId::position())); + const auto indicesM1 = sofa::helper::getReadAccessor(m1); + const auto indicesM2 = sofa::helper::getReadAccessor(m2); + + for (unsigned i=0; idrawTool()->drawPoints(vertices, 10, (d_activate.getValue()) ? colorActive : colorNotActive); + + +} + +//TODO(dmarchal): implementing keyboard interaction behavior directly in a component is not a valid +//design for a component. Interaction should be defered to an independent Component implemented in the SofaInteraction +//a second possibility is to implement this behavir using script. +template +void BilateralLagrangianConstraint::handleEvent(Event *event) +{ + if (KeypressedEvent::checkEventType(event)) + { + const KeypressedEvent *ev = static_cast(event); + switch(ev->getKey()) + { + + case 'A': + case 'a': + if (d_activate.getValue()) + { + msg_info() << "Unactivating constraint"; + d_activate.setValue(false); + } + else + { + msg_info() << "Activating constraint"; + d_activate.setValue(true); + } + + break; + } + } + +} + + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.h index 19e2a124a907..b78a99918431 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.h @@ -20,94 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include +#include -namespace sofa::component::constraint::lagrangian::model -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h") -using sofa::core::ConstraintParams; - -template -class SlidingConstraint : public core::behavior::PairInteractionConstraint +namespace sofa::component::constraint::lagrangian::model { -public: - SOFA_CLASS(SOFA_TEMPLATE(SlidingConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint,DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename Coord::value_type Real; - typedef typename core::behavior::MechanicalState MechanicalState; - typedef typename core::behavior::PairInteractionConstraint Inherit; - - typedef core::objectmodel::Data DataVecCoord; - typedef core::objectmodel::Data DataVecDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; - -protected: - - Data d_m1; ///< index of the spliding point on the first model - Data d_m2a; ///< index of one end of the sliding axis - Data d_m2b; ///< index of the other end of the sliding axis - Data d_force; ///< interaction force - - Real m_dist; // constraint violation - Real m_thirdConstraint; // 0 if A getSlidingIdentifiers() { return {}; } - - virtual type::vector getPairInteractionIdentifiers() override final - { - type::vector ids = getSlidingIdentifiers(); - ids.push_back("Sliding"); - return ids; - } - - -public: - void init() override; - - void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex - , const DataVecCoord &x1, const DataVecCoord &x2) override; - - void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2 - , const DataVecDeriv &v1, const DataVecDeriv &v2) override; - - void getConstraintResolution(const core::ConstraintParams*, - std::vector& resTab, - unsigned int& offset) override; - void storeLambda(const ConstraintParams* cParams, sofa::core::MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) override; - - void draw(const core::visual::VisualParams* vparams) override; - -private: - // storage of force - Deriv m_dirAxe, m_dirProj, m_dirOrtho; - - - -}; - -#if !defined(SOFA_COMPONENT_CONSTRAINTSET_SLIDINGCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingConstraint< defaulttype::Vec3Types >; - -#endif - -} //namespace sofa::component::constraint::lagrangian::model +template +using SlidingConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "SlidingConstraint has been renamed to SlidingLagrangianConstraint") = SlidingLagrangianConstraint; +} diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.inl index e656c12cc7c6..777bbaf511e5 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.inl @@ -20,207 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -namespace sofa::component::constraint::lagrangian::model -{ -template -SlidingConstraint::SlidingConstraint() - : SlidingConstraint(nullptr, nullptr) -{ -} +#include -template -SlidingConstraint::SlidingConstraint(MechanicalState* object) - : SlidingConstraint(object, object) -{ -} - -template -SlidingConstraint::SlidingConstraint(MechanicalState* object1, MechanicalState* object2) - : Inherit(object1, object2) - , d_m1(initData(&d_m1, 0, "sliding_point","index of the spliding point on the first model")) - , d_m2a(initData(&d_m2a, 0, "axis_1","index of one end of the sliding axis")) - , d_m2b(initData(&d_m2b, 0, "axis_2","index of the other end of the sliding axis")) - , d_force(initData(&d_force,"force","force (impulse) used to solve the constraint")) -{ -} - -template -void SlidingConstraint::init() -{ - assert(this->mstate1); - assert(this->mstate2); - - m_thirdConstraint = 0; -} - - -template -void SlidingConstraint::buildConstraintMatrix(const core::ConstraintParams*, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &cIndex - , const DataVecCoord &x1, const DataVecCoord &x2) -{ - int tm1 = d_m1.getValue(); - int tm2a = d_m2a.getValue(); - int tm2b = d_m2b.getValue(); - - MatrixDeriv &c1 = *c1_d.beginEdit(); - MatrixDeriv &c2 = *c2_d.beginEdit(); - - const Coord P = x1.getValue()[tm1]; - const Coord A = x2.getValue()[tm2a]; - const Coord B = x2.getValue()[tm2b]; - - // the axis - m_dirAxe = B - A; - const Real ab = m_dirAxe.norm(); - m_dirAxe.normalize(); - - // projection of the point on the axis - Real r = (P-A) * m_dirAxe; - Real r2 = r / ab; - const Deriv proj = A + m_dirAxe * r; - - // We move the constraint point onto the projection - m_dirProj = P - proj; - m_dist = m_dirProj.norm(); // constraint violation - m_dirProj.normalize(); // direction of the constraint - - m_dirOrtho = cross(m_dirProj, m_dirAxe); - m_dirOrtho.normalize(); - - m_cid = cIndex; - cIndex += 2; - - MatrixDerivRowIterator c1_it = c1.writeLine(m_cid); - c1_it.addCol(tm1, m_dirProj); - - MatrixDerivRowIterator c2_it = c2.writeLine(m_cid); - c2_it.addCol(tm2a, -m_dirProj * (1-r2)); - c2_it.addCol(tm2b, -m_dirProj * r2); - - c1_it = c1.writeLine(m_cid + 1); - c1_it.setCol(tm1, m_dirOrtho); - - c2_it = c2.writeLine(m_cid + 1); - c2_it.addCol(tm2a, -m_dirOrtho * (1-r2)); - c2_it.addCol(tm2b, -m_dirOrtho * r2); - - m_thirdConstraint = 0; - - if (r < 0) - { - m_thirdConstraint = r; - cIndex++; - - c1_it = c1.writeLine(m_cid + 2); - c1_it.setCol(tm1, m_dirAxe); - - c2_it = c2.writeLine(m_cid + 2); - c2_it.addCol(tm2a, -m_dirAxe); - } - else if (r > ab) - { - m_thirdConstraint = r - ab; - cIndex++; - - c1_it = c1.writeLine(m_cid + 2); - c1_it.setCol(tm1, -m_dirAxe); - - c2_it = c2.writeLine(m_cid + 2); - c2_it.addCol(tm2b, m_dirAxe); - } - - c1_d.endEdit(); - c2_d.endEdit(); -} - - -template -void SlidingConstraint::getConstraintViolation(const core::ConstraintParams *, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & - , const DataVecDeriv &, const DataVecDeriv &) -{ - v->set(m_cid, m_dist); - v->set(m_cid+1, 0.0); - - if(m_thirdConstraint) - { - if(m_thirdConstraint>0) - v->set(m_cid+2, -m_thirdConstraint); - else - v->set(m_cid+2, m_thirdConstraint); - } -} - - -template -void SlidingConstraint::getConstraintResolution(const ConstraintParams*, - std::vector& resTab, - unsigned int& offset) -{ - resTab[offset++] = new BilateralConstraintResolution(); - resTab[offset++] = new BilateralConstraintResolution(); - - if(m_thirdConstraint) - resTab[offset++] = new UnilateralConstraintResolution(); -} - - -template -void SlidingConstraint::storeLambda(const ConstraintParams* /*cParams*/, sofa::core::MultiVecDerivId /*res*/, const sofa::linearalgebra::BaseVector* lambda) -{ - Real lamb1,lamb2, lamb3; - - lamb1 = lambda->element(m_cid); - lamb2 = lambda->element(m_cid+1); - - if(m_thirdConstraint) - { - lamb3 = lambda->element(m_cid+2); - d_force.setValue( m_dirProj* lamb1 + m_dirOrtho * lamb2 + m_dirAxe * lamb3); - } - else - { - d_force.setValue( m_dirProj* lamb1 + m_dirOrtho * lamb2 ); - } -} - -template -void SlidingConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowInteractionForceFields()) - return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - vparams->drawTool()->disableLighting(); - - sofa::type::RGBAColor color; - - if(m_thirdConstraint<0) - color = sofa::type::RGBAColor::yellow(); - else if(m_thirdConstraint>0) - color = sofa::type::RGBAColor::green(); - else - color = sofa::type::RGBAColor::magenta(); - - std::vector vertices; - vertices.push_back(DataTypes::getCPos((this->mstate1->read(core::ConstVecCoordId::position())->getValue())[d_m1.getValue()])); - - vparams->drawTool()->drawPoints(vertices, 10, color); - vertices.clear(); - - color = sofa::type::RGBAColor::blue(); - vertices.push_back(DataTypes::getCPos((this->mstate2->read(core::ConstVecCoordId::position())->getValue())[d_m2a.getValue()])); - vertices.push_back(DataTypes::getCPos((this->mstate2->read(core::ConstVecCoordId::position())->getValue())[d_m2b.getValue()])); - vparams->drawTool()->drawLines(vertices, 1, color); - - -} - -} //namespace sofa::component::constraint::lagrangian::model +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl") diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp similarity index 85% rename from Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.cpp rename to Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp index a3e1d474ae91..86f42c1935b8 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.cpp @@ -19,9 +19,9 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_CONSTRAINTSET_SLIDINGCONSTRAINT_CPP +#define SOFA_COMPONENT_CONSTRAINTSET_SLIDINGLAGRANGIANCONSTRAINT_CPP -#include +#include #include #include @@ -32,10 +32,10 @@ namespace sofa::component::constraint::lagrangian::model using namespace sofa::defaulttype; using namespace sofa::helper; -int SlidingConstraintClass = core::RegisterObject("TODO-SlidingConstraint") - .add< SlidingConstraint >(true); +int SlidingLagrangianConstraintClass = core::RegisterObject("TODO-SlidingLagrangianConstraint") + .add< SlidingLagrangianConstraint >(true); -template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingLagrangianConstraint; } //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h new file mode 100644 index 000000000000..810150975487 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h @@ -0,0 +1,113 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +using sofa::core::ConstraintParams; + +template +class SlidingLagrangianConstraint : public core::behavior::PairInteractionConstraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(SlidingLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint,DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename Coord::value_type Real; + typedef typename core::behavior::MechanicalState MechanicalState; + typedef typename core::behavior::PairInteractionConstraint Inherit; + + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; + +protected: + + Data d_m1; ///< index of the spliding point on the first model + Data d_m2a; ///< index of one end of the sliding axis + Data d_m2b; ///< index of the other end of the sliding axis + Data d_force; ///< interaction force + + Real m_dist; // constraint violation + Real m_thirdConstraint; // 0 if A getSlidingIdentifiers() { return {}; } + + virtual type::vector getPairInteractionIdentifiers() override final + { + type::vector ids = getSlidingIdentifiers(); + ids.push_back("Sliding"); + return ids; + } + + +public: + void init() override; + + void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex + , const DataVecCoord &x1, const DataVecCoord &x2) override; + + void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2 + , const DataVecDeriv &v1, const DataVecDeriv &v2) override; + + void getConstraintResolution(const core::ConstraintParams*, + std::vector& resTab, + unsigned int& offset) override; + void storeLambda(const ConstraintParams* cParams, sofa::core::MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) override; + + void draw(const core::visual::VisualParams* vparams) override; + +private: + // storage of force + Deriv m_dirAxe, m_dirProj, m_dirOrtho; + + + +}; + +#if !defined(SOFA_COMPONENT_CONSTRAINTSET_SLIDINGLAGRANGIANCONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingLagrangianConstraint< defaulttype::Vec3Types >; + +#endif + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl new file mode 100644 index 000000000000..0a010e9a7e9a --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl @@ -0,0 +1,226 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include +#include +namespace sofa::component::constraint::lagrangian::model +{ + +template +SlidingLagrangianConstraint::SlidingLagrangianConstraint() + : SlidingLagrangianConstraint(nullptr, nullptr) +{ +} + +template +SlidingLagrangianConstraint::SlidingLagrangianConstraint(MechanicalState* object) + : SlidingLagrangianConstraint(object, object) +{ +} + +template +SlidingLagrangianConstraint::SlidingLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) + : Inherit(object1, object2) + , d_m1(initData(&d_m1, 0, "sliding_point","index of the spliding point on the first model")) + , d_m2a(initData(&d_m2a, 0, "axis_1","index of one end of the sliding axis")) + , d_m2b(initData(&d_m2b, 0, "axis_2","index of the other end of the sliding axis")) + , d_force(initData(&d_force,"force","force (impulse) used to solve the constraint")) +{ +} + +template +void SlidingLagrangianConstraint::init() +{ + assert(this->mstate1); + assert(this->mstate2); + + m_thirdConstraint = 0; +} + + +template +void SlidingLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams*, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &cIndex + , const DataVecCoord &x1, const DataVecCoord &x2) +{ + int tm1 = d_m1.getValue(); + int tm2a = d_m2a.getValue(); + int tm2b = d_m2b.getValue(); + + MatrixDeriv &c1 = *c1_d.beginEdit(); + MatrixDeriv &c2 = *c2_d.beginEdit(); + + const Coord P = x1.getValue()[tm1]; + const Coord A = x2.getValue()[tm2a]; + const Coord B = x2.getValue()[tm2b]; + + // the axis + m_dirAxe = B - A; + const Real ab = m_dirAxe.norm(); + m_dirAxe.normalize(); + + // projection of the point on the axis + Real r = (P-A) * m_dirAxe; + Real r2 = r / ab; + const Deriv proj = A + m_dirAxe * r; + + // We move the constraint point onto the projection + m_dirProj = P - proj; + m_dist = m_dirProj.norm(); // constraint violation + m_dirProj.normalize(); // direction of the constraint + + m_dirOrtho = cross(m_dirProj, m_dirAxe); + m_dirOrtho.normalize(); + + m_cid = cIndex; + cIndex += 2; + + MatrixDerivRowIterator c1_it = c1.writeLine(m_cid); + c1_it.addCol(tm1, m_dirProj); + + MatrixDerivRowIterator c2_it = c2.writeLine(m_cid); + c2_it.addCol(tm2a, -m_dirProj * (1-r2)); + c2_it.addCol(tm2b, -m_dirProj * r2); + + c1_it = c1.writeLine(m_cid + 1); + c1_it.setCol(tm1, m_dirOrtho); + + c2_it = c2.writeLine(m_cid + 1); + c2_it.addCol(tm2a, -m_dirOrtho * (1-r2)); + c2_it.addCol(tm2b, -m_dirOrtho * r2); + + m_thirdConstraint = 0; + + if (r < 0) + { + m_thirdConstraint = r; + cIndex++; + + c1_it = c1.writeLine(m_cid + 2); + c1_it.setCol(tm1, m_dirAxe); + + c2_it = c2.writeLine(m_cid + 2); + c2_it.addCol(tm2a, -m_dirAxe); + } + else if (r > ab) + { + m_thirdConstraint = r - ab; + cIndex++; + + c1_it = c1.writeLine(m_cid + 2); + c1_it.setCol(tm1, -m_dirAxe); + + c2_it = c2.writeLine(m_cid + 2); + c2_it.addCol(tm2b, m_dirAxe); + } + + c1_d.endEdit(); + c2_d.endEdit(); +} + + +template +void SlidingLagrangianConstraint::getConstraintViolation(const core::ConstraintParams *, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & + , const DataVecDeriv &, const DataVecDeriv &) +{ + v->set(m_cid, m_dist); + v->set(m_cid+1, 0.0); + + if(m_thirdConstraint) + { + if(m_thirdConstraint>0) + v->set(m_cid+2, -m_thirdConstraint); + else + v->set(m_cid+2, m_thirdConstraint); + } +} + + +template +void SlidingLagrangianConstraint::getConstraintResolution(const ConstraintParams*, + std::vector& resTab, + unsigned int& offset) +{ + resTab[offset++] = new BilateralConstraintResolution(); + resTab[offset++] = new BilateralConstraintResolution(); + + if(m_thirdConstraint) + resTab[offset++] = new UnilateralConstraintResolution(); +} + + +template +void SlidingLagrangianConstraint::storeLambda(const ConstraintParams* /*cParams*/, sofa::core::MultiVecDerivId /*res*/, const sofa::linearalgebra::BaseVector* lambda) +{ + Real lamb1,lamb2, lamb3; + + lamb1 = lambda->element(m_cid); + lamb2 = lambda->element(m_cid+1); + + if(m_thirdConstraint) + { + lamb3 = lambda->element(m_cid+2); + d_force.setValue( m_dirProj* lamb1 + m_dirOrtho * lamb2 + m_dirAxe * lamb3); + } + else + { + d_force.setValue( m_dirProj* lamb1 + m_dirOrtho * lamb2 ); + } +} + +template +void SlidingLagrangianConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowInteractionForceFields()) + return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + vparams->drawTool()->disableLighting(); + + sofa::type::RGBAColor color; + + if(m_thirdConstraint<0) + color = sofa::type::RGBAColor::yellow(); + else if(m_thirdConstraint>0) + color = sofa::type::RGBAColor::green(); + else + color = sofa::type::RGBAColor::magenta(); + + std::vector vertices; + vertices.push_back(DataTypes::getCPos((this->mstate1->read(core::ConstVecCoordId::position())->getValue())[d_m1.getValue()])); + + vparams->drawTool()->drawPoints(vertices, 10, color); + vertices.clear(); + + color = sofa::type::RGBAColor::blue(); + vertices.push_back(DataTypes::getCPos((this->mstate2->read(core::ConstVecCoordId::position())->getValue())[d_m2a.getValue()])); + vertices.push_back(DataTypes::getCPos((this->mstate2->read(core::ConstVecCoordId::position())->getValue())[d_m2b.getValue()])); + vparams->drawTool()->drawLines(vertices, 1, color); + + +} + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.h index 42cdea0cfcf6..f73e0306abef 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.h @@ -20,108 +20,14 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::lagrangian::model -{ - -class StopperConstraintResolution1Dof : public core::behavior::ConstraintResolution -{ -protected: - double _invW, _w, _min, _max ; - -public: - - StopperConstraintResolution1Dof(const double &min, const double &max) - : core::behavior::ConstraintResolution(1) - , _min(min) - , _max(max) - { - } - - void init(int line, SReal** w, SReal*force) override - { - _w = w[line][line]; - _invW = 1.0/_w; - force[line ] = 0.0; - } +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h") - void resolution(int line, SReal** /*w*/, SReal* d, SReal* force, SReal*) override - { - const double dfree = d[line] - _w * force[line]; - if (dfree > _max) - force[line] = (_max - dfree) * _invW; - else if (dfree < _min) - force[line] = (_min - dfree) * _invW; - else - force[line] = 0; - } -}; - -template< class DataTypes > -class StopperConstraint : public core::behavior::Constraint +namespace sofa::component::constraint::lagrangian::model { -public: - SOFA_CLASS(SOFA_TEMPLATE(StopperConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::Constraint,DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename Coord::value_type Real; - typedef typename core::behavior::MechanicalState MechanicalState; - typedef typename core::behavior::Constraint Inherit; - - typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef core::objectmodel::Data DataVecCoord; - typedef core::objectmodel::Data DataVecDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; - -protected: - - unsigned int cid; - - Data index; ///< index of the stop constraint - Data min; ///< minimum value accepted - Data max; ///< maximum value accepted - - - - StopperConstraint(MechanicalState* object = nullptr); - - virtual ~StopperConstraint() {} - - - virtual type::vector getConstraintIdentifiers() override final - { - type::vector ids = getStopperIdentifiers(); - ids.push_back("Stopper"); - ids.push_back("Unilateral"); - return ids; - } - - virtual type::vector getStopperIdentifiers(){ return {}; } - - - -public: - void init() override; - void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c_d, unsigned int &cIndex, const DataVecCoord &x) override; - void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) override; - - void getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) override; -}; - -#if !defined(SOFA_COMPONENT_CONSTRAINTSET_STOPPERCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API StopperConstraint; - -#endif - -} //namespace sofa::component::constraint::lagrangian::model +template +using StopperConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "StopperConstraint has been renamed to StopperLagrangianConstraint") = StopperLagrangianConstraint; +} diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.inl index 6f1e04be10f6..9c4215fb990a 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.inl @@ -20,62 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include +#include -namespace sofa::component::constraint::lagrangian::model -{ - -template -StopperConstraint::StopperConstraint(MechanicalState* object) - : Inherit(object) - , index(initData(&index, 0, "index", "index of the stop constraint")) - , min(initData(&min, -100.0_sreal, "min", "minimum value accepted")) - , max(initData(&max, 100.0_sreal, "max", "maximum value accepted")) -{ -} - -template -void StopperConstraint::init() -{ - this->mstate = dynamic_cast(this->getContext()->getMechanicalState()); - assert(this->mstate); - - helper::WriteAccessor > xData = *this->mstate->write(core::VecCoordId::position()); - VecCoord& x = xData.wref(); - if (x[index.getValue()].x() < min.getValue()) - x[index.getValue()].x() = (Real) min.getValue(); - if (x[index.getValue()].x() > max.getValue()) - x[index.getValue()].x() = (Real) max.getValue(); -} - -template -void StopperConstraint::buildConstraintMatrix(const core::ConstraintParams* /*cParams*/, DataMatrixDeriv &c_d, unsigned int &cIndex, const DataVecCoord &/*x*/) -{ - cid = cIndex; - - MatrixDeriv& c = *c_d.beginEdit(); - - MatrixDerivRowIterator c_it = c.writeLine(cid); - c_it.setCol(index.getValue(), Coord(1)); - - cIndex++; - c_d.endEdit(); -} - -template -void StopperConstraint::getConstraintViolation(const core::ConstraintParams* /*cParams*/, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &/*v*/) -{ - resV->set(cid, x.getValue()[index.getValue()][0]); -} - -template -void StopperConstraint::getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) -{ - for(int i=0; i<1; i++) - resTab[offset++] = new StopperConstraintResolution1Dof(min.getValue(), max.getValue()); -} - -} //namespace sofa::component::constraint::lagrangian::model +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl") diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp similarity index 85% rename from Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.cpp rename to Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp index a56e09d07138..431a80e84289 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_CONSTRAINTSET_STOPPERCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_CONSTRAINTSET_STOPPERLAGRANGIANCONSTRAINT_CPP +#include #include #include @@ -31,12 +31,12 @@ namespace sofa::component::constraint::lagrangian::model using namespace sofa::defaulttype; using namespace sofa::helper; -int StopperConstraintClass = core::RegisterObject("TODO-StopperConstraint") - .add< StopperConstraint >() +int StopperLagrangianConstraintClass = core::RegisterObject("TODO-StopperLagrangianConstraint") + .add< StopperLagrangianConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API StopperConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API StopperLagrangianConstraint; } //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h new file mode 100644 index 000000000000..e9f6d463985e --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h @@ -0,0 +1,127 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +class StopperLagrangianConstraintResolution1Dof : public core::behavior::ConstraintResolution +{ +protected: + double _invW, _w, _min, _max ; + +public: + + StopperLagrangianConstraintResolution1Dof(const double &min, const double &max) + : core::behavior::ConstraintResolution(1) + , _min(min) + , _max(max) + { + } + + void init(int line, SReal** w, SReal*force) override + { + _w = w[line][line]; + _invW = 1.0/_w; + force[line ] = 0.0; + } + + void resolution(int line, SReal** /*w*/, SReal* d, SReal* force, SReal*) override + { + const double dfree = d[line] - _w * force[line]; + + if (dfree > _max) + force[line] = (_max - dfree) * _invW; + else if (dfree < _min) + force[line] = (_min - dfree) * _invW; + else + force[line] = 0; + } +}; + +template< class DataTypes > +class StopperLagrangianConstraint : public core::behavior::Constraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(StopperLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::Constraint,DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename Coord::value_type Real; + typedef typename core::behavior::MechanicalState MechanicalState; + typedef typename core::behavior::Constraint Inherit; + + typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; + +protected: + + unsigned int cid; + + Data index; ///< index of the stop constraint + Data min; ///< minimum value accepted + Data max; ///< maximum value accepted + + + + StopperLagrangianConstraint(MechanicalState* object = nullptr); + + virtual ~StopperLagrangianConstraint() {} + + + virtual type::vector getConstraintIdentifiers() override final + { + type::vector ids = getStopperIdentifiers(); + ids.push_back("Stopper"); + ids.push_back("Unilateral"); + return ids; + } + + virtual type::vector getStopperIdentifiers(){ return {}; } + + + +public: + void init() override; + void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c_d, unsigned int &cIndex, const DataVecCoord &x) override; + void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) override; + + void getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) override; +}; + +#if !defined(SOFA_COMPONENT_CONSTRAINTSET_STOPPERLAGRANGIANCONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API StopperLagrangianConstraint; + +#endif + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl new file mode 100644 index 000000000000..7265ab548043 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl @@ -0,0 +1,81 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include + +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template +StopperLagrangianConstraint::StopperLagrangianConstraint(MechanicalState* object) + : Inherit(object) + , index(initData(&index, 0, "index", "index of the stop constraint")) + , min(initData(&min, -100.0_sreal, "min", "minimum value accepted")) + , max(initData(&max, 100.0_sreal, "max", "maximum value accepted")) +{ +} + +template +void StopperLagrangianConstraint::init() +{ + this->mstate = dynamic_cast(this->getContext()->getMechanicalState()); + assert(this->mstate); + + helper::WriteAccessor > xData = *this->mstate->write(core::VecCoordId::position()); + VecCoord& x = xData.wref(); + if (x[index.getValue()].x() < min.getValue()) + x[index.getValue()].x() = (Real) min.getValue(); + if (x[index.getValue()].x() > max.getValue()) + x[index.getValue()].x() = (Real) max.getValue(); +} + +template +void StopperLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams* /*cParams*/, DataMatrixDeriv &c_d, unsigned int &cIndex, const DataVecCoord &/*x*/) +{ + cid = cIndex; + + MatrixDeriv& c = *c_d.beginEdit(); + + MatrixDerivRowIterator c_it = c.writeLine(cid); + c_it.setCol(index.getValue(), Coord(1)); + + cIndex++; + c_d.endEdit(); +} + +template +void StopperLagrangianConstraint::getConstraintViolation(const core::ConstraintParams* /*cParams*/, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &/*v*/) +{ + resV->set(cid, x.getValue()[index.getValue()][0]); +} + +template +void StopperLagrangianConstraint::getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) +{ + for(int i=0; i<1; i++) + resTab[offset++] = new StopperLagrangianConstraintResolution1Dof(min.getValue(), max.getValue()); +} + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.h index e53399c5b9a9..23e3d697dec8 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.h @@ -20,58 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::component::constraint::lagrangian::model -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h") -template < class DataTypes > -class UniformConstraint : public sofa::core::behavior::Constraint< DataTypes > +namespace sofa::component::constraint::lagrangian::model { -public: - SOFA_CLASS(SOFA_TEMPLATE(UniformConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Constraint, DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - - typedef sofa::Data DataVecCoord; - typedef sofa::Data DataVecDeriv; - typedef sofa::Data DataMatrixDeriv; - - void buildConstraintMatrix(const sofa::core::ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) override; - - void getConstraintViolation(const sofa::core::ConstraintParams* cParams, sofa::linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) override; - - void getConstraintResolution(const sofa::core::ConstraintParams* cParams, std::vector& crVector, unsigned int& offset) override; - - sofa::Data d_iterative; ///< Iterate over the bilateral constraints, otherwise a block factorisation is computed. - sofa::Data d_constraintRestPos; ///< if false, constrains the pos to be zero / if true constraint the current position to stay at rest position -protected: - - unsigned int m_constraintIndex; - - UniformConstraint(); - - virtual type::vector getConstraintIdentifiers() override final - { - type::vector ids = getStopperIdentifiers(); - ids.push_back("Uniform"); - ids.push_back("Bilateral"); - return ids; - } - - virtual type::vector getStopperIdentifiers(){ return {}; } - -}; - -#if !defined(SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_UNIFORMCONSTRAINT_CPP) - extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UniformConstraint; -#endif - -} // namespace sofa::component::constraint::lagrangian::model +template +using UniformConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "UniformConstraint has been renamed to UniformLagrangianConstraint") = UniformLagrangianConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.inl index b34a9377b97a..991bb0accc80 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.inl @@ -19,119 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ - #pragma once -#include - -#include -#include -#include - -namespace sofa::component::constraint::lagrangian::model -{ - -template< class DataTypes > -UniformConstraint::UniformConstraint() - :d_iterative(initData(&d_iterative, true, "iterative", "Iterate over the bilateral constraints, otherwise a block factorisation is computed.")) - ,d_constraintRestPos(initData(&d_constraintRestPos, false, "constrainToRestPos", "if false, constrains the pos to be zero / if true constraint the current position to stay at rest position")) - ,m_constraintIndex(0) -{ - -} - -template< class DataTypes > -void UniformConstraint::buildConstraintMatrix(const sofa::core::ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) -{ - SOFA_UNUSED(cParams); - - const auto N = Deriv::size(); // MatrixDeriv is a container of Deriv types. - - auto& jacobian = sofa::helper::getWriteAccessor(c).wref(); - auto xVec = sofa::helper::getReadAccessor(x); - - m_constraintIndex = cIndex; // we should not have to remember this, it should be available through the API directly. - - for (std::size_t i = 0; i < xVec.size(); ++i) - { - for (std::size_t j = 0; j < N; ++j) - { - auto row = jacobian.writeLine(N*i + j + m_constraintIndex); - Deriv d; - d[j] = Real(1); - row.setCol(i, d); - ++cIndex; - } - } -} - -template -void computeViolation(DstV& resV, unsigned int constraintIndex, const - Free& free, size_t N, std::function f) -{ - for (std::size_t i = 0; i < free.size(); ++i) - { - for (std::size_t j = 0; j < N; ++j) - { - resV->set(constraintIndex + i*N + j, f(i, j) ); - } - } -} - -template< class DataTypes > -void UniformConstraint::getConstraintViolation(const sofa::core::ConstraintParams* cParams, sofa::linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) -{ - auto xfree = sofa::helper::getReadAccessor(x); - auto vfree = sofa::helper::getReadAccessor(v); - const SReal dt = this->getContext()->getDt(); - const SReal invDt = 1.0 / dt; - - auto pos = this->getMState()->readPositions(); - auto restPos = this->getMState()->readRestPositions(); - - if (cParams->constOrder() == sofa::core::ConstraintOrder::VEL) - { - if (d_constraintRestPos.getValue()){ - computeViolation(resV, m_constraintIndex, vfree, Deriv::size(),[&invDt,&pos,&vfree,&restPos](int i, int j) - { return vfree[i][j] + invDt *(pos[i][j]-restPos[i][j]); }); - } - else { - computeViolation(resV, m_constraintIndex, vfree, Deriv::size(),[&invDt,&pos,&vfree](int i, int j) - { return vfree[i][j] + invDt *pos[i][j]; }); - } - } - else - { - if( d_constraintRestPos.getValue() ) - computeViolation(resV, m_constraintIndex, xfree, Coord::size(), - [&xfree,&restPos](int i, int j){ return xfree[i][j] - restPos[i][j]; }); - else - computeViolation(resV, m_constraintIndex, xfree, Coord::size(),[&xfree](int i, int j){ return xfree[i][j]; }); - } -} - -template< class DataTypes > -void UniformConstraint::getConstraintResolution(const sofa::core::ConstraintParams* cParams, std::vector& crVector, unsigned int& offset) -{ - SOFA_UNUSED(cParams); - if (d_iterative.getValue()) - { - for (std::size_t i = 0; i < this->getMState()->getSize(); ++i) - { - for (std::size_t j = 0; j < Deriv::size(); ++j) - { - auto* cr = new sofa::component::constraint::lagrangian::model::BilateralConstraintResolution(); - crVector[offset++] = cr; - } - } - } - else - { - const std::size_t nbLines = this->getMState()->getSize() * Deriv::size(); - auto* cr = new sofa::component::constraint::lagrangian::model::BilateralConstraintResolutionNDof(nbLines); - crVector[offset] = cr; - offset += nbLines; - } -} +#include -} // namespace sofa::component::constraint::lagrangian::model +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.inl") diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp similarity index 82% rename from Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.cpp rename to Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp index 60f11dac072a..eb9939680428 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_UNIFORMCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_UNIFORMLAGRANGIANCONSTRAINT_CPP +#include #include #include @@ -28,11 +28,11 @@ namespace sofa::component::constraint::lagrangian::model { -int UniformConstraintClass = sofa::core::RegisterObject("A constraint equation applied on all dofs.") -.add< UniformConstraint >() +int UniformLagrangianConstraintClass = sofa::core::RegisterObject("A constraint equation applied on all dofs.") +.add< UniformLagrangianConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UniformConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UniformLagrangianConstraint; } // namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h new file mode 100644 index 000000000000..7576ad73b2ff --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h @@ -0,0 +1,78 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template < class DataTypes > +class UniformLagrangianConstraint : public sofa::core::behavior::Constraint< DataTypes > +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(UniformLagrangianConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Constraint, DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + + typedef sofa::Data DataVecCoord; + typedef sofa::Data DataVecDeriv; + typedef sofa::Data DataMatrixDeriv; + + void buildConstraintMatrix(const sofa::core::ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) override; + + void getConstraintViolation(const sofa::core::ConstraintParams* cParams, sofa::linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) override; + + void getConstraintResolution(const sofa::core::ConstraintParams* cParams, std::vector& crVector, unsigned int& offset) override; + + sofa::Data d_iterative; ///< Iterate over the bilateral constraints, otherwise a block factorisation is computed. + sofa::Data d_constraintRestPos; ///< if false, constrains the pos to be zero / if true constraint the current position to stay at rest position +protected: + + unsigned int m_constraintIndex; + + UniformLagrangianConstraint(); + + virtual type::vector getConstraintIdentifiers() override final + { + type::vector ids = getStopperIdentifiers(); + ids.push_back("Uniform"); + ids.push_back("Bilateral"); + return ids; + } + + virtual type::vector getStopperIdentifiers(){ return {}; } + +}; + +#if !defined(SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_UNIFORMLAGRANGIANCONSTRAINT_CPP) + extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UniformLagrangianConstraint; +#endif + + +} // namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.inl new file mode 100644 index 000000000000..707797df0c45 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.inl @@ -0,0 +1,137 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ + +#pragma once +#include + +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template< class DataTypes > +UniformLagrangianConstraint::UniformLagrangianConstraint() + :d_iterative(initData(&d_iterative, true, "iterative", "Iterate over the bilateral constraints, otherwise a block factorisation is computed.")) + ,d_constraintRestPos(initData(&d_constraintRestPos, false, "constrainToRestPos", "if false, constrains the pos to be zero / if true constraint the current position to stay at rest position")) + ,m_constraintIndex(0) +{ + +} + +template< class DataTypes > +void UniformLagrangianConstraint::buildConstraintMatrix(const sofa::core::ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) +{ + SOFA_UNUSED(cParams); + + const auto N = Deriv::size(); // MatrixDeriv is a container of Deriv types. + + auto& jacobian = sofa::helper::getWriteAccessor(c).wref(); + auto xVec = sofa::helper::getReadAccessor(x); + + m_constraintIndex = cIndex; // we should not have to remember this, it should be available through the API directly. + + for (std::size_t i = 0; i < xVec.size(); ++i) + { + for (std::size_t j = 0; j < N; ++j) + { + auto row = jacobian.writeLine(N*i + j + m_constraintIndex); + Deriv d; + d[j] = Real(1); + row.setCol(i, d); + ++cIndex; + } + } +} + +template +void computeViolation(DstV& resV, unsigned int constraintIndex, const + Free& free, size_t N, std::function f) +{ + for (std::size_t i = 0; i < free.size(); ++i) + { + for (std::size_t j = 0; j < N; ++j) + { + resV->set(constraintIndex + i*N + j, f(i, j) ); + } + } +} + +template< class DataTypes > +void UniformLagrangianConstraint::getConstraintViolation(const sofa::core::ConstraintParams* cParams, sofa::linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) +{ + auto xfree = sofa::helper::getReadAccessor(x); + auto vfree = sofa::helper::getReadAccessor(v); + const SReal dt = this->getContext()->getDt(); + const SReal invDt = 1.0 / dt; + + auto pos = this->getMState()->readPositions(); + auto restPos = this->getMState()->readRestPositions(); + + if (cParams->constOrder() == sofa::core::ConstraintOrder::VEL) + { + if (d_constraintRestPos.getValue()){ + computeViolation(resV, m_constraintIndex, vfree, Deriv::size(),[&invDt,&pos,&vfree,&restPos](int i, int j) + { return vfree[i][j] + invDt *(pos[i][j]-restPos[i][j]); }); + } + else { + computeViolation(resV, m_constraintIndex, vfree, Deriv::size(),[&invDt,&pos,&vfree](int i, int j) + { return vfree[i][j] + invDt *pos[i][j]; }); + } + } + else + { + if( d_constraintRestPos.getValue() ) + computeViolation(resV, m_constraintIndex, xfree, Coord::size(), + [&xfree,&restPos](int i, int j){ return xfree[i][j] - restPos[i][j]; }); + else + computeViolation(resV, m_constraintIndex, xfree, Coord::size(),[&xfree](int i, int j){ return xfree[i][j]; }); + } +} + +template< class DataTypes > +void UniformLagrangianConstraint::getConstraintResolution(const sofa::core::ConstraintParams* cParams, std::vector& crVector, unsigned int& offset) +{ + SOFA_UNUSED(cParams); + + if (d_iterative.getValue()) + { + for (std::size_t i = 0; i < this->getMState()->getSize(); ++i) + { + for (std::size_t j = 0; j < Deriv::size(); ++j) + { + auto* cr = new sofa::component::constraint::lagrangian::model::BilateralConstraintResolution(); + crVector[offset++] = cr; + } + } + } + else + { + const std::size_t nbLines = this->getMState()->getSize() * Deriv::size(); + auto* cr = new sofa::component::constraint::lagrangian::model::BilateralConstraintResolutionNDof(nbLines); + crVector[offset] = cr; + offset += nbLines; + } +} + +} // namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h new file mode 100644 index 000000000000..3cf9f7847e5c --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h @@ -0,0 +1,100 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::lagrangian::model +{ + +class UnilateralConstraintResolution : public core::behavior::ConstraintResolution +{ + public: + UnilateralConstraintResolution() : core::behavior::ConstraintResolution(1) {} + + void resolution(int line, SReal** w, SReal* d, SReal* force, SReal* dfree) override + { + SOFA_UNUSED(dfree); + force[line] -= d[line] / w[line][line]; + if (force[line] < 0) force[line] = 0.0; + } +}; + +// A little experiment on how to best save the forces for the hot start. +// TODO : save as a map (index of the contact <-> force) +class PreviousForcesContainer +{ + public: + PreviousForcesContainer() : resetFlag(true) {} + SReal popForce() + { + resetFlag = true; + if (forces.empty()) return 0; + const SReal f = forces.front(); + forces.pop_front(); + return f; + } + + void pushForce(SReal f) + { + if (resetFlag) + { + forces.clear(); + resetFlag = false; + } + + forces.push_back(f); + } + + protected: + std::deque forces; + bool resetFlag; // We delete all forces that were not read +}; + +class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralConstraintResolutionWithFriction + : public core::behavior::ConstraintResolution +{ + public: + UnilateralConstraintResolutionWithFriction(SReal mu, PreviousForcesContainer* prev = nullptr, + bool* active = nullptr) + : core::behavior::ConstraintResolution(3), _mu(mu), _prev(prev), _active(active) + { + } + + void init(int line, SReal** w, SReal* force) override; + void resolution(int line, SReal** w, SReal* d, SReal* force, SReal* dFree) override; + void store(int line, SReal* force, bool /*convergence*/) override; + + protected: + SReal _mu; + SReal _W[6]; + PreviousForcesContainer* _prev; + bool* _active; // Will set this after the resolution +}; + +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h index 254103f59fee..70f6cfd932b2 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h @@ -20,210 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include +#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h") namespace sofa::component::constraint::lagrangian::model { -class UnilateralConstraintResolution : public core::behavior::ConstraintResolution -{ -public: - - UnilateralConstraintResolution() : core::behavior::ConstraintResolution(1) - { - - } - - void resolution(int line, SReal** w, SReal* d, SReal* force, SReal *dfree) override - { - SOFA_UNUSED(dfree); - force[line] -= d[line] / w[line][line]; - if(force[line] < 0) - force[line] = 0.0; - } -}; - -// A little experiment on how to best save the forces for the hot start. -// TODO : save as a map (index of the contact <-> force) -class PreviousForcesContainer -{ -public: - PreviousForcesContainer() : resetFlag(true) {} - SReal popForce() - { - resetFlag = true; - if(forces.empty()) return 0; - const SReal f = forces.front(); - forces.pop_front(); - return f; - } - - void pushForce(SReal f) - { - if(resetFlag) - { - forces.clear(); - resetFlag = false; - } - - forces.push_back(f); - } - -protected: - std::deque forces; - bool resetFlag; // We delete all forces that were not read -}; - -class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralConstraintResolutionWithFriction : public core::behavior::ConstraintResolution -{ -public: - UnilateralConstraintResolutionWithFriction(SReal mu, PreviousForcesContainer* prev = nullptr, bool* active = nullptr) - :core::behavior::ConstraintResolution(3) - , _mu(mu) - , _prev(prev) - , _active(active) - { - } - - void init(int line, SReal** w, SReal* force) override; - void resolution(int line, SReal** w, SReal* d, SReal* force, SReal *dFree) override; - void store(int line, SReal* force, bool /*convergence*/) override; - -protected: - SReal _mu; - SReal _W[6]; - PreviousForcesContainer* _prev; - bool* _active; // Will set this after the resolution -}; - - -template -class UnilateralInteractionConstraint : public core::behavior::PairInteractionConstraint -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(UnilateralInteractionConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint,DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::MatrixDeriv::RowConstIterator MatrixDerivRowConstIterator; - typedef typename DataTypes::MatrixDeriv::ColConstIterator MatrixDerivColConstIterator; - typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename DataTypes::MatrixDeriv::ColIterator MatrixDerivColIterator; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename Coord::value_type Real; - typedef typename core::behavior::MechanicalState MechanicalState; - - typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo; - typedef core::behavior::BaseConstraint::PersistentID PersistentID; - typedef core::behavior::BaseConstraint::ConstCoord ConstCoord; - - typedef core::behavior::BaseConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; - typedef core::behavior::BaseConstraint::VecPersistentID VecPersistentID; - typedef core::behavior::BaseConstraint::VecConstCoord VecConstCoord; - typedef core::behavior::BaseConstraint::VecConstDeriv VecConstDeriv; - typedef core::behavior::BaseConstraint::VecConstArea VecConstArea; - - typedef core::objectmodel::Data DataVecCoord; - typedef core::objectmodel::Data DataVecDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; - - typedef typename core::behavior::PairInteractionConstraint Inherit; - -protected: - - struct Contact - { - int m1, m2; ///< the two extremities of the spring: masses m1 and m2 - Deriv norm; ///< contact normal, from m1 to m2 - Deriv t; ///< added for friction - Deriv s; ///< added for friction - Real contactDistance; - - unsigned int id; - long contactId; - PersistentID localId; - SReal mu; ///< angle for friction - - Coord P, Q; - - mutable Real dfree; - }; - - sofa::type::vector contacts; - Real epsilon; - bool yetIntegrated; - SReal customTolerance; - - PreviousForcesContainer prevForces; - bool* contactsStatus; - - /// Computes constraint violation in position and stores it into resolution global vector - /// - /// @param v Global resolution vector - virtual void getPositionViolation(linearalgebra::BaseVector *v); - - ///Computes constraint violation in velocity and stores it into resolution global vector - /// - /// @param v Global resolution vector - virtual void getVelocityViolation(linearalgebra::BaseVector *v); - -public: - - unsigned int constraintId; -protected: - - virtual type::vector getUnilateralInteractionIdentifiers() {return {};} - - virtual type::vector getPairInteractionIdentifiers() override final - { - type::vector ids = getUnilateralInteractionIdentifiers(); - ids.push_back("Unilateral"); - return ids; - } - - - UnilateralInteractionConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr); - virtual ~UnilateralInteractionConstraint(); - -public: - void setCustomTolerance(SReal tol) { customTolerance = tol; } - - void clear(int reserve = 0); - - virtual void addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id=0, PersistentID localid=0); - - void addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); - void addContact(SReal mu, Deriv norm, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); - - void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex - , const DataVecCoord &x1, const DataVecCoord &x2) override; - - void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2 - , const DataVecDeriv &v1, const DataVecDeriv &v2) override; - - - void getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) override; - - void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) override; - bool isActive() const override; - - void draw(const core::visual::VisualParams* vparams) override; -}; - - -#if !defined(SOFA_COMPONENT_CONSTRAINTSET_UNILATERALINTERACTIONCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralInteractionConstraint; - -#endif - -} //namespace sofa::component::constraint::lagrangian::model +template +using UnilateralInteractionConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "UnilateralInteractionConstraint has been renamed to UnilateralLagrangianConstraint") = UnilateralLagrangianConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.inl index 7cd50ba7b9b5..d747c9ea9da1 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.inl @@ -20,402 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -namespace sofa::component::constraint::lagrangian::model -{ +#include -template -UnilateralInteractionConstraint::UnilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2) - : Inherit(object1, object2) - , epsilon(Real(0.001)) - , yetIntegrated(false) - , customTolerance(0.0) - , contactsStatus(nullptr) -{ -} - -template -UnilateralInteractionConstraint::~UnilateralInteractionConstraint() -{ - if(contactsStatus) - delete[] contactsStatus; -} - -template -void UnilateralInteractionConstraint::clear(int reserve) -{ - contacts.clear(); - if (reserve) - contacts.reserve(reserve); -} - -template -void UnilateralInteractionConstraint::addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id, PersistentID localid) -{ - addContact(mu, norm, P, Q, contactDistance, m1, m2, - this->getMState2()->read(core::ConstVecCoordId::freePosition())->getValue()[m2], - this->getMState1()->read(core::ConstVecCoordId::freePosition())->getValue()[m1], - id, localid); -} - -template -void UnilateralInteractionConstraint::addContact(SReal mu, Deriv norm, Real contactDistance, int m1, int m2, long id, PersistentID localid) -{ - addContact(mu, norm, - this->getMState2()->read(core::ConstVecCoordId::position())->getValue()[m2], - this->getMState1()->read(core::ConstVecCoordId::position())->getValue()[m1], - contactDistance, m1, m2, - this->getMState2()->read(core::ConstVecCoordId::freePosition())->getValue()[m2], - this->getMState1()->read(core::ConstVecCoordId::freePosition())->getValue()[m1], - id, localid); -} - -template -void UnilateralInteractionConstraint::addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord /*Pfree*/, Coord /*Qfree*/, long id, PersistentID localid) -{ - contacts.resize(contacts.size() + 1); - Contact &c = contacts.back(); - - c.P = P; - c.Q = Q; - c.m1 = m1; - c.m2 = m2; - c.norm = norm; - c.t = Deriv(norm.z(), norm.x(), norm.y()); - c.s = cross(norm, c.t); - c.s = c.s / c.s.norm(); - c.t = cross((-norm), c.s); - c.mu = mu; - c.contactId = id; - c.localId = localid; - c.contactDistance = contactDistance; -} - - -template -void UnilateralInteractionConstraint::buildConstraintMatrix(const core::ConstraintParams *, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &contactId - , const DataVecCoord &, const DataVecCoord &) -{ - assert(this->mstate1); - assert(this->mstate2); - - if (this->mstate1 == this->mstate2) - { - MatrixDeriv& c1 = *c1_d.beginEdit(); - - for (unsigned int i = 0; i < contacts.size(); i++) - { - Contact& c = contacts[i]; - - c.id = contactId++; - - MatrixDerivRowIterator c1_it = c1.writeLine(c.id); - - c1_it.addCol(c.m1, -c.norm); - c1_it.addCol(c.m2, c.norm); - - if (c.mu > 0.0) - { - c1_it = c1.writeLine(c.id + 1); - c1_it.setCol(c.m1, -c.t); - c1_it.setCol(c.m2, c.t); - - c1_it = c1.writeLine(c.id + 2); - c1_it.setCol(c.m1, -c.s); - c1_it.setCol(c.m2, c.s); - - contactId += 2; - } - } - - c1_d.endEdit(); - } - else - { - MatrixDeriv& c1 = *c1_d.beginEdit(); - MatrixDeriv& c2 = *c2_d.beginEdit(); - - for (unsigned int i = 0; i < contacts.size(); i++) - { - Contact& c = contacts[i]; - - c.id = contactId++; - - MatrixDerivRowIterator c1_it = c1.writeLine(c.id); - c1_it.addCol(c.m1, -c.norm); - - MatrixDerivRowIterator c2_it = c2.writeLine(c.id); - c2_it.addCol(c.m2, c.norm); - - if (c.mu > 0.0) - { - c1_it = c1.writeLine(c.id + 1); - c1_it.setCol(c.m1, -c.t); - - c1_it = c1.writeLine(c.id + 2); - c1_it.setCol(c.m1, -c.s); - - c2_it = c2.writeLine(c.id + 1); - c2_it.setCol(c.m2, c.t); - - c2_it = c2.writeLine(c.id + 2); - c2_it.setCol(c.m2, c.s); - - contactId += 2; - } - } - - c1_d.endEdit(); - c2_d.endEdit(); - } -} - - -template -void UnilateralInteractionConstraint::getPositionViolation(linearalgebra::BaseVector *v) -{ - const VecCoord &PfreeVec = this->getMState2()->read(core::ConstVecCoordId::freePosition())->getValue(); - const VecCoord &QfreeVec = this->getMState1()->read(core::ConstVecCoordId::freePosition())->getValue(); - - Real dfree = (Real)0.0; - Real dfree_t = (Real)0.0; - Real dfree_s = (Real)0.0; - - const unsigned int cSize = contacts.size(); - - for (unsigned int i = 0; i < cSize; i++) - { - const Contact& c = contacts[i]; - - // Compute dfree, dfree_t and d_free_s - - const Coord &Pfree = PfreeVec[c.m2]; - const Coord &Qfree = QfreeVec[c.m1]; - - const Coord PPfree = Pfree - c.P; - const Coord QQfree = Qfree - c.Q; - - const Real ref_dist = PPfree.norm() + QQfree.norm(); - - dfree = dot(Pfree - Qfree, c.norm) - c.contactDistance; - const Real delta = dot(c.P - c.Q, c.norm) - c.contactDistance; - - if ((helper::rabs(delta) < 0.00001 * ref_dist) && (helper::rabs(dfree) < 0.00001 * ref_dist)) - { - dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); - dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); - } - else if (helper::rabs(delta - dfree) > 0.001 * delta) - { - const Real dt = delta / (delta - dfree); - - if (dt > 0.0 && dt < 1.0) - { - const Coord Pt = c.P * (1 - dt) + Pfree * dt; - const Coord Qt = c.Q * (1 - dt) + Qfree * dt; - const Coord PtPfree = Pfree - Pt; - const Coord QtQfree = Qfree - Qt; - - dfree_t = dot(PtPfree, c.t) - dot(QtQfree, c.t); - dfree_s = dot(PtPfree, c.s) - dot(QtQfree, c.s); - } - else if (dfree < 0.0) - { - dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); - dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); - } - else - { - dfree_t = 0; - dfree_s = 0; - } - } - else - { - dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); - dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); - } - - // Sets dfree in global violation vector - - v->set(c.id, dfree); - - c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still usefull. - - if (c.mu > 0.0) - { - v->set(c.id + 1, dfree_t); - v->set(c.id + 2, dfree_s); - } - } -} - - -template -void UnilateralInteractionConstraint::getVelocityViolation(linearalgebra::BaseVector *v) -{ - auto P = this->getMState2()->readPositions(); - auto Q = this->getMState1()->readPositions(); - - const SReal dt = this->getContext()->getDt(); - const SReal invDt = SReal(1.0) / dt; - - const VecDeriv &PvfreeVec = this->getMState2()->read(core::ConstVecDerivId::freeVelocity())->getValue(); - const VecDeriv &QvfreeVec = this->getMState1()->read(core::ConstVecDerivId::freeVelocity())->getValue(); - - const unsigned int cSize = contacts.size(); - - for (unsigned int i = 0; i < cSize; i++) - { - const Contact& c = contacts[i]; - - const Deriv QP_invDt = (P[c.m2] - Q[c.m1])*invDt; - const Deriv QP_vfree = PvfreeVec[c.m2] - QvfreeVec[c.m1]; - const Deriv dFreeVec = QP_vfree + QP_invDt; - - v->set(c.id, dot(dFreeVec, c.norm) - c.contactDistance*invDt ); // dvfree = 1/dt * [ dot ( P - Q, n) - contactDist ] + dot(v_P - v_Q , n ) ] - - if (c.mu > 0.0) - { - v->set(c.id + 1, dot(QP_vfree, c.t)); // dfree_t - v->set(c.id + 2, dot(QP_vfree, c.s)); // dfree_s - } - } -} - - -template -void UnilateralInteractionConstraint::getConstraintViolation(const core::ConstraintParams *cparams, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & - , const DataVecDeriv &, const DataVecDeriv &) -{ - switch (cparams->constOrder()) - { - case core::ConstraintOrder::POS_AND_VEL : - case core::ConstraintOrder::POS : - getPositionViolation(v); - break; - - case core::ConstraintOrder::ACC : - case core::ConstraintOrder::VEL : - getVelocityViolation(v); - break; - - default : - msg_error() << "UnilateralInteractionConstraint doesn't implement " << cparams->getName() << " constraint violation\n"; - break; - } -} - - -template -void UnilateralInteractionConstraint::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& /*positions*/, VecConstDeriv& directions, VecConstArea& /*areas*/) -{ - if (contacts.empty()) return; - const bool friction = (contacts[0].mu > 0.0); /// @todo: can there be both friction-less and friction contacts in the same UnilateralInteractionConstraint ??? - ConstraintBlockInfo info; - info.parent = this; - info.const0 = contacts[0].id; - info.nbLines = friction ? 3 : 1; - info.hasId = true; - info.offsetId = ids.size(); - info.hasDirection = true; - info.offsetDirection = directions.size(); - info.nbGroups = contacts.size(); - - for (unsigned int i=0; i -void UnilateralInteractionConstraint::getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) -{ - if(contactsStatus) - { - delete[] contactsStatus; - contactsStatus = nullptr; - } - - if (contacts.size() > 0) - { - contactsStatus = new bool[contacts.size()]; - memset(contactsStatus, 0, sizeof(bool)*contacts.size()); - } - - for(unsigned int i=0; i 0.0) - { - UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.mu, nullptr, &contactsStatus[i]); - ucrwf->setTolerance(customTolerance); - resTab[offset] = ucrwf; - - // TODO : cette méthode de stockage des forces peu mal fonctionner avec 2 threads quand on utilise l'haptique - offset += 3; - } - else - resTab[offset++] = new UnilateralConstraintResolution(); - } -} - -template -bool UnilateralInteractionConstraint::isActive() const -{ - for(unsigned int i = 0; i < contacts.size(); i++) - if(contacts[i].dfree < 0) - return true; - - return false; -} - -template -void UnilateralInteractionConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowInteractionForceFields()) return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->disableLighting(); - - std::vector redVertices; - std::vector otherVertices; - std::vector otherColors; - - for (unsigned int i=0; idrawTool()->drawLines(otherVertices, 3, otherColors); - - - - -} - -} //namespace sofa::component::constraint::lagrangian::model +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl") diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp similarity index 91% rename from Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.cpp rename to Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp index 731d7ff23729..911955ed2e5d 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_CONSTRAINTSET_UNILATERALINTERACTIONCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_CONSTRAINTSET_UNILATERALLAGRANGIANCONSTRAINT_CPP +#include #include #include @@ -31,13 +31,13 @@ using namespace sofa::defaulttype; using namespace sofa::helper; //TODO(dmarchal) What does this TODO mean ? -int UnilateralInteractionConstraintClass = core::RegisterObject("TODO-UnilateralInteractionConstraint") - .add< UnilateralInteractionConstraint >() +int UnilateralLagrangianConstraintClass = core::RegisterObject("TODO-UnilateralLagrangianConstraint") + .add< UnilateralLagrangianConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralInteractionConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h new file mode 100644 index 000000000000..f58a0ac1b720 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h @@ -0,0 +1,158 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template +class UnilateralLagrangianConstraint : public core::behavior::PairInteractionConstraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(UnilateralLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint,DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::MatrixDeriv::RowConstIterator MatrixDerivRowConstIterator; + typedef typename DataTypes::MatrixDeriv::ColConstIterator MatrixDerivColConstIterator; + typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename DataTypes::MatrixDeriv::ColIterator MatrixDerivColIterator; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename Coord::value_type Real; + typedef typename core::behavior::MechanicalState MechanicalState; + + typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo; + typedef core::behavior::BaseConstraint::PersistentID PersistentID; + typedef core::behavior::BaseConstraint::ConstCoord ConstCoord; + + typedef core::behavior::BaseConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; + typedef core::behavior::BaseConstraint::VecPersistentID VecPersistentID; + typedef core::behavior::BaseConstraint::VecConstCoord VecConstCoord; + typedef core::behavior::BaseConstraint::VecConstDeriv VecConstDeriv; + typedef core::behavior::BaseConstraint::VecConstArea VecConstArea; + + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; + + typedef typename core::behavior::PairInteractionConstraint Inherit; + +protected: + + struct Contact + { + int m1, m2; ///< the two extremities of the spring: masses m1 and m2 + Deriv norm; ///< contact normal, from m1 to m2 + Deriv t; ///< added for friction + Deriv s; ///< added for friction + Real contactDistance; + + unsigned int id; + long contactId; + PersistentID localId; + SReal mu; ///< angle for friction + + Coord P, Q; + + mutable Real dfree; + }; + + sofa::type::vector contacts; + Real epsilon; + bool yetIntegrated; + SReal customTolerance; + + PreviousForcesContainer prevForces; + bool* contactsStatus; + + /// Computes constraint violation in position and stores it into resolution global vector + /// + /// @param v Global resolution vector + virtual void getPositionViolation(linearalgebra::BaseVector *v); + + ///Computes constraint violation in velocity and stores it into resolution global vector + /// + /// @param v Global resolution vector + virtual void getVelocityViolation(linearalgebra::BaseVector *v); + +public: + + unsigned int constraintId; +protected: + + virtual type::vector getUnilateralInteractionIdentifiers() {return {};} + + virtual type::vector getPairInteractionIdentifiers() override final + { + type::vector ids = getUnilateralInteractionIdentifiers(); + ids.push_back("Unilateral"); + return ids; + } + + + UnilateralLagrangianConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr); + virtual ~UnilateralLagrangianConstraint(); + +public: + void setCustomTolerance(SReal tol) { customTolerance = tol; } + + void clear(int reserve = 0); + + virtual void addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id=0, PersistentID localid=0); + + void addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); + void addContact(SReal mu, Deriv norm, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); + + void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex + , const DataVecCoord &x1, const DataVecCoord &x2) override; + + void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2 + , const DataVecDeriv &v1, const DataVecDeriv &v2) override; + + + void getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) override; + + void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) override; + bool isActive() const override; + + void draw(const core::visual::VisualParams* vparams) override; +}; + + +#if !defined(SOFA_COMPONENT_CONSTRAINTSET_UNILATERALLAGRANGIANCONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint; +#endif + + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl new file mode 100644 index 000000000000..ff7dbbe72c93 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl @@ -0,0 +1,421 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template +UnilateralLagrangianConstraint::UnilateralLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) + : Inherit(object1, object2) + , epsilon(Real(0.001)) + , yetIntegrated(false) + , customTolerance(0.0) + , contactsStatus(nullptr) +{ +} + +template +UnilateralLagrangianConstraint::~UnilateralLagrangianConstraint() +{ + if(contactsStatus) + delete[] contactsStatus; +} + +template +void UnilateralLagrangianConstraint::clear(int reserve) +{ + contacts.clear(); + if (reserve) + contacts.reserve(reserve); +} + +template +void UnilateralLagrangianConstraint::addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id, PersistentID localid) +{ + addContact(mu, norm, P, Q, contactDistance, m1, m2, + this->getMState2()->read(core::ConstVecCoordId::freePosition())->getValue()[m2], + this->getMState1()->read(core::ConstVecCoordId::freePosition())->getValue()[m1], + id, localid); +} + +template +void UnilateralLagrangianConstraint::addContact(SReal mu, Deriv norm, Real contactDistance, int m1, int m2, long id, PersistentID localid) +{ + addContact(mu, norm, + this->getMState2()->read(core::ConstVecCoordId::position())->getValue()[m2], + this->getMState1()->read(core::ConstVecCoordId::position())->getValue()[m1], + contactDistance, m1, m2, + this->getMState2()->read(core::ConstVecCoordId::freePosition())->getValue()[m2], + this->getMState1()->read(core::ConstVecCoordId::freePosition())->getValue()[m1], + id, localid); +} + +template +void UnilateralLagrangianConstraint::addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord /*Pfree*/, Coord /*Qfree*/, long id, PersistentID localid) +{ + contacts.resize(contacts.size() + 1); + Contact &c = contacts.back(); + + c.P = P; + c.Q = Q; + c.m1 = m1; + c.m2 = m2; + c.norm = norm; + c.t = Deriv(norm.z(), norm.x(), norm.y()); + c.s = cross(norm, c.t); + c.s = c.s / c.s.norm(); + c.t = cross((-norm), c.s); + c.mu = mu; + c.contactId = id; + c.localId = localid; + c.contactDistance = contactDistance; +} + + +template +void UnilateralLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams *, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &contactId + , const DataVecCoord &, const DataVecCoord &) +{ + assert(this->mstate1); + assert(this->mstate2); + + if (this->mstate1 == this->mstate2) + { + MatrixDeriv& c1 = *c1_d.beginEdit(); + + for (unsigned int i = 0; i < contacts.size(); i++) + { + Contact& c = contacts[i]; + + c.id = contactId++; + + MatrixDerivRowIterator c1_it = c1.writeLine(c.id); + + c1_it.addCol(c.m1, -c.norm); + c1_it.addCol(c.m2, c.norm); + + if (c.mu > 0.0) + { + c1_it = c1.writeLine(c.id + 1); + c1_it.setCol(c.m1, -c.t); + c1_it.setCol(c.m2, c.t); + + c1_it = c1.writeLine(c.id + 2); + c1_it.setCol(c.m1, -c.s); + c1_it.setCol(c.m2, c.s); + + contactId += 2; + } + } + + c1_d.endEdit(); + } + else + { + MatrixDeriv& c1 = *c1_d.beginEdit(); + MatrixDeriv& c2 = *c2_d.beginEdit(); + + for (unsigned int i = 0; i < contacts.size(); i++) + { + Contact& c = contacts[i]; + + c.id = contactId++; + + MatrixDerivRowIterator c1_it = c1.writeLine(c.id); + c1_it.addCol(c.m1, -c.norm); + + MatrixDerivRowIterator c2_it = c2.writeLine(c.id); + c2_it.addCol(c.m2, c.norm); + + if (c.mu > 0.0) + { + c1_it = c1.writeLine(c.id + 1); + c1_it.setCol(c.m1, -c.t); + + c1_it = c1.writeLine(c.id + 2); + c1_it.setCol(c.m1, -c.s); + + c2_it = c2.writeLine(c.id + 1); + c2_it.setCol(c.m2, c.t); + + c2_it = c2.writeLine(c.id + 2); + c2_it.setCol(c.m2, c.s); + + contactId += 2; + } + } + + c1_d.endEdit(); + c2_d.endEdit(); + } +} + + +template +void UnilateralLagrangianConstraint::getPositionViolation(linearalgebra::BaseVector *v) +{ + const VecCoord &PfreeVec = this->getMState2()->read(core::ConstVecCoordId::freePosition())->getValue(); + const VecCoord &QfreeVec = this->getMState1()->read(core::ConstVecCoordId::freePosition())->getValue(); + + Real dfree = (Real)0.0; + Real dfree_t = (Real)0.0; + Real dfree_s = (Real)0.0; + + const unsigned int cSize = contacts.size(); + + for (unsigned int i = 0; i < cSize; i++) + { + const Contact& c = contacts[i]; + + // Compute dfree, dfree_t and d_free_s + + const Coord &Pfree = PfreeVec[c.m2]; + const Coord &Qfree = QfreeVec[c.m1]; + + const Coord PPfree = Pfree - c.P; + const Coord QQfree = Qfree - c.Q; + + const Real ref_dist = PPfree.norm() + QQfree.norm(); + + dfree = dot(Pfree - Qfree, c.norm) - c.contactDistance; + const Real delta = dot(c.P - c.Q, c.norm) - c.contactDistance; + + if ((helper::rabs(delta) < 0.00001 * ref_dist) && (helper::rabs(dfree) < 0.00001 * ref_dist)) + { + dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); + dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); + } + else if (helper::rabs(delta - dfree) > 0.001 * delta) + { + const Real dt = delta / (delta - dfree); + + if (dt > 0.0 && dt < 1.0) + { + const Coord Pt = c.P * (1 - dt) + Pfree * dt; + const Coord Qt = c.Q * (1 - dt) + Qfree * dt; + const Coord PtPfree = Pfree - Pt; + const Coord QtQfree = Qfree - Qt; + + dfree_t = dot(PtPfree, c.t) - dot(QtQfree, c.t); + dfree_s = dot(PtPfree, c.s) - dot(QtQfree, c.s); + } + else if (dfree < 0.0) + { + dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); + dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); + } + else + { + dfree_t = 0; + dfree_s = 0; + } + } + else + { + dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); + dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); + } + + // Sets dfree in global violation vector + + v->set(c.id, dfree); + + c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still usefull. + + if (c.mu > 0.0) + { + v->set(c.id + 1, dfree_t); + v->set(c.id + 2, dfree_s); + } + } +} + + +template +void UnilateralLagrangianConstraint::getVelocityViolation(linearalgebra::BaseVector *v) +{ + auto P = this->getMState2()->readPositions(); + auto Q = this->getMState1()->readPositions(); + + const SReal dt = this->getContext()->getDt(); + const SReal invDt = SReal(1.0) / dt; + + const VecDeriv &PvfreeVec = this->getMState2()->read(core::ConstVecDerivId::freeVelocity())->getValue(); + const VecDeriv &QvfreeVec = this->getMState1()->read(core::ConstVecDerivId::freeVelocity())->getValue(); + + const unsigned int cSize = contacts.size(); + + for (unsigned int i = 0; i < cSize; i++) + { + const Contact& c = contacts[i]; + + const Deriv QP_invDt = (P[c.m2] - Q[c.m1])*invDt; + const Deriv QP_vfree = PvfreeVec[c.m2] - QvfreeVec[c.m1]; + const Deriv dFreeVec = QP_vfree + QP_invDt; + + v->set(c.id, dot(dFreeVec, c.norm) - c.contactDistance*invDt ); // dvfree = 1/dt * [ dot ( P - Q, n) - contactDist ] + dot(v_P - v_Q , n ) ] + + if (c.mu > 0.0) + { + v->set(c.id + 1, dot(QP_vfree, c.t)); // dfree_t + v->set(c.id + 2, dot(QP_vfree, c.s)); // dfree_s + } + } +} + + +template +void UnilateralLagrangianConstraint::getConstraintViolation(const core::ConstraintParams *cparams, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & + , const DataVecDeriv &, const DataVecDeriv &) +{ + switch (cparams->constOrder()) + { + case core::ConstraintOrder::POS_AND_VEL : + case core::ConstraintOrder::POS : + getPositionViolation(v); + break; + + case core::ConstraintOrder::ACC : + case core::ConstraintOrder::VEL : + getVelocityViolation(v); + break; + + default : + msg_error() << "UnilateralLagrangianConstraint doesn't implement " << cparams->getName() << " constraint violation\n"; + break; + } +} + + +template +void UnilateralLagrangianConstraint::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& /*positions*/, VecConstDeriv& directions, VecConstArea& /*areas*/) +{ + if (contacts.empty()) return; + const bool friction = (contacts[0].mu > 0.0); /// @todo: can there be both friction-less and friction contacts in the same UnilateralLagrangianConstraint ??? + ConstraintBlockInfo info; + info.parent = this; + info.const0 = contacts[0].id; + info.nbLines = friction ? 3 : 1; + info.hasId = true; + info.offsetId = ids.size(); + info.hasDirection = true; + info.offsetDirection = directions.size(); + info.nbGroups = contacts.size(); + + for (unsigned int i=0; i +void UnilateralLagrangianConstraint::getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) +{ + if(contactsStatus) + { + delete[] contactsStatus; + contactsStatus = nullptr; + } + + if (contacts.size() > 0) + { + contactsStatus = new bool[contacts.size()]; + memset(contactsStatus, 0, sizeof(bool)*contacts.size()); + } + + for(unsigned int i=0; i 0.0) + { + UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.mu, nullptr, &contactsStatus[i]); + ucrwf->setTolerance(customTolerance); + resTab[offset] = ucrwf; + + // TODO : cette méthode de stockage des forces peu mal fonctionner avec 2 threads quand on utilise l'haptique + offset += 3; + } + else + resTab[offset++] = new UnilateralConstraintResolution(); + } +} + +template +bool UnilateralLagrangianConstraint::isActive() const +{ + for(unsigned int i = 0; i < contacts.size(); i++) + if(contacts[i].dfree < 0) + return true; + + return false; +} + +template +void UnilateralLagrangianConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowInteractionForceFields()) return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->disableLighting(); + + std::vector redVertices; + std::vector otherVertices; + std::vector otherColors; + + for (unsigned int i=0; idrawTool()->drawLines(otherVertices, 3, otherColors); + + + + +} + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionConstraint_test.cpp b/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp similarity index 85% rename from Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionConstraint_test.cpp rename to Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp index 49925d5a6213..a00f9d760d1c 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionConstraint_test.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/tests/BilateralInteractionLagrangianConstraint_test.cpp @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include #include using sofa::core::execparams::defaultInstance; @@ -50,7 +50,7 @@ using namespace component; using namespace defaulttype; template -struct BilateralInteractionConstraint_test : public NumericTest<> +struct BilateralInteractionLangrangianConstraint_test : public NumericTest<> { typedef _DataTypes DataTypes; typedef typename DataTypes::VecCoord VecCoord; @@ -59,7 +59,7 @@ struct BilateralInteractionConstraint_test : public NumericTest<> typedef typename DataTypes::Deriv Deriv; typedef typename DataTypes::CPos CPos; typedef typename Coord::value_type Real; - typedef constraintset::BilateralInteractionConstraint BilateralInteractionConstraint; + typedef constraintset::BilateralInteractionLangrangianConstraint BilateralInteractionLangrangianConstraint; typedef component::topology::PointSetTopologyContainer PointSetTopologyContainer; typedef container::MechanicalObject MechanicalObject; @@ -103,7 +103,7 @@ struct BilateralInteractionConstraint_test : public NumericTest<> " \n" " \n" " \n" - " \n" + " \n" " \n" ; Node::SPtr root = SceneLoaderXML::loadFromMemory ("testscene", @@ -111,7 +111,7 @@ struct BilateralInteractionConstraint_test : public NumericTest<> scene.str().size()) ; root->init(sofa::core::execparams::defaultInstance()) ; - BilateralInteractionConstraint* constraint = root->getTreeObject() ; + BilateralInteractionLangrangianConstraint* constraint = root->getTreeObject() ; EXPECT_TRUE( constraint != nullptr ) ; EXPECT_TRUE( constraint->findData("first_point") != nullptr ) ; @@ -135,7 +135,7 @@ struct BilateralInteractionConstraint_test : public NumericTest<> std::stringstream scene; scene << " \n" " \n" - " \n" + " \n" " \n" ; Node::SPtr root = SceneLoaderXML::loadFromMemory ("testscene", @@ -150,7 +150,7 @@ struct BilateralInteractionConstraint_test : public NumericTest<> }; template<> -void BilateralInteractionConstraint_test::checkRigid3fFixForBackwardCompatibility(){ +void BilateralInteractionLangrangianConstraint_test::checkRigid3fFixForBackwardCompatibility(){ EXPECT_MSG_EMIT(Warning) ; /// I'm using '\n' so that the XML parser correctly report the line number @@ -160,7 +160,7 @@ void BilateralInteractionConstraint_test::checkRigid3fFixForBackwa " \n" " \n" " \n" - " \n" + " \n" " \n" ; Node::SPtr root = SceneLoaderXML::loadFromMemory ("testscene", @@ -172,12 +172,12 @@ void BilateralInteractionConstraint_test::checkRigid3fFixForBackwa template<> -void BilateralInteractionConstraint_test::init_Vec3Setup() +void BilateralInteractionLangrangianConstraint_test::init_Vec3Setup() { /// Load the scene //TODO(dmarchal): This general load should be updated... there is no reason to load // a scene independently of the data template to use. - std::string sceneName = "BilateralInteractionConstraint.scn"; + std::string sceneName = "BilateralInteractionLangrangianConstraint.scn"; std::string fileName = std::string(SOFATEST_SCENES_DIR) + "/" + sceneName; root = sofa::simulation::getSimulation()->load(fileName.c_str()).get(); @@ -199,7 +199,7 @@ void BilateralInteractionConstraint_test::init_Vec3Setup() } template<> -bool BilateralInteractionConstraint_test::test_Vec3ConstrainedPositions() +bool BilateralInteractionLangrangianConstraint_test::test_Vec3ConstrainedPositions() { std::vector meca; root->get(&meca,std::string("mecaConstraint"),root->SearchDown); @@ -240,27 +240,27 @@ typedef Types DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(BilateralInteractionConstraint_test, DataTypes); +TYPED_TEST_SUITE(BilateralInteractionLangrangianConstraint_test, DataTypes); //TODO(dmarchal): Needs a serious refactor !!! -TYPED_TEST( BilateralInteractionConstraint_test , checkVec3ConstrainedPositions ) +TYPED_TEST( BilateralInteractionLangrangianConstraint_test , checkVec3ConstrainedPositions ) { this->init_Vec3Setup(); ASSERT_TRUE( this->test_Vec3ConstrainedPositions() ); } -TYPED_TEST( BilateralInteractionConstraint_test , attributesTests ) +TYPED_TEST( BilateralInteractionLangrangianConstraint_test , attributesTests ) { ASSERT_NO_THROW( this->attributesTests() ); } -TYPED_TEST( BilateralInteractionConstraint_test , checkMstateRequiredAssumption ) +TYPED_TEST( BilateralInteractionLangrangianConstraint_test , checkMstateRequiredAssumption ) { ASSERT_NO_THROW( this->checkMstateRequiredAssumption() ); } -TYPED_TEST( BilateralInteractionConstraint_test , checkRigid3fFixForBackwardCompatibility) +TYPED_TEST( BilateralInteractionLangrangianConstraint_test , checkRigid3fFixForBackwardCompatibility) { ASSERT_NO_THROW( this->checkRigid3fFixForBackwardCompatibility() ); } diff --git a/Sofa/Component/Constraint/Lagrangian/Model/tests/scenes_test/BilateralInteractionConstraint.scn b/Sofa/Component/Constraint/Lagrangian/Model/tests/scenes_test/BilateralInteractionConstraint.scn index 6bcda80a4483..b447ce224190 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/tests/scenes_test/BilateralInteractionConstraint.scn +++ b/Sofa/Component/Constraint/Lagrangian/Model/tests/scenes_test/BilateralInteractionConstraint.scn @@ -1,4 +1,4 @@ - + @@ -33,5 +33,5 @@ - + diff --git a/Sofa/Component/Constraint/Projective/CMakeLists.txt b/Sofa/Component/Constraint/Projective/CMakeLists.txt index fcb8797553f6..a6f2a49cda8f 100644 --- a/Sofa/Component/Constraint/Projective/CMakeLists.txt +++ b/Sofa/Component/Constraint/Projective/CMakeLists.txt @@ -45,30 +45,72 @@ set(HEADER_FILES ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectToPointConstraint.inl ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectDirectionConstraint.h ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectDirectionConstraint.inl + + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AffineMovementProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AffineMovementProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AttachProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AttachProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedPlaneProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedPlaneProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedRotationProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedRotationProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedTranslationProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedTranslationProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/HermiteSplineProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/HermiteSplineProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearMovementProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearMovementProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearVelocityProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearVelocityProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/OscillatorProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/OscillatorProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ParabolicProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ParabolicProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialFixedProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialFixedProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialLinearMovementProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialLinearMovementProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PatchTestMovementProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PatchTestMovementProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PositionBasedDynamicsProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PositionBasedDynamicsProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/SkeletalMotionProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/SkeletalMotionProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LineProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LineProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PlaneProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PlaneProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PointProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PointProjectiveConstraint.inl + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/DirectionProjectiveConstraint.h + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/DirectionProjectiveConstraint.inl + ) set(SOURCE_FILES ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/init.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AffineMovementConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AttachConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedPlaneConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedRotationConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedTranslationConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/HermiteSplineConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearMovementConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearVelocityConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/OscillatorConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ParabolicConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialFixedConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialLinearMovementConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PatchTestMovementConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PositionBasedDynamicsConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/SkeletalMotionConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectToLineConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectToPlaneConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectToPointConstraint.cpp - ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ProjectDirectionConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AffineMovementProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/AttachProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedPlaneProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedRotationProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/FixedTranslationProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/HermiteSplineProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearMovementProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LinearVelocityProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/OscillatorProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/ParabolicProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialFixedProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PartialLinearMovementProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PatchTestMovementProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PositionBasedDynamicsProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/SkeletalMotionProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/LineProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PlaneProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/PointProjectiveConstraint.cpp + ${SOFACOMPONENTCONSTRAINTPROJECTIVE_SOURCE_DIR}/DirectionProjectiveConstraint.cpp ) sofa_find_package(Sofa.Simulation.Core REQUIRED) diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.h index 74f2cae555cc..d17e1e9364d4 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.h @@ -20,146 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -class AffineMovementConstraintInternalData -{ -}; +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/AffineMovementConstraint.h") -/** - Impose a motion to all the boundary points of a mesh. The motion of the 4 corners are given in the data m_cornerMovements and the movements of the edge points are computed by linear interpolation. -*/ -template -class AffineMovementConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(AffineMovementConstraint,TDataTypes), - SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); - - using Index = sofa::Index; - typedef TDataTypes DataTypes; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::CPos CPos; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - typedef type::Quat Quat; - typedef type::Vec3 Vec3; - - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; - - static const auto CoordSize = Coord::total_size; - typedef type::Mat<3,3,Real> RotationMatrix; - -protected: - AffineMovementConstraintInternalData *data; - friend class AffineMovementConstraintInternalData; - -public : - /// indices of the DOFs of the mesh - SetIndex m_meshIndices; - /// indices of the DOFs the constraint is applied to - SetIndex m_indices; - /// data begin time when the constraint is applied - Data m_beginConstraintTime; - /// data end time when the constraint is applied - Data m_endConstraintTime; - /// Rotation Matrix of affine transformation - Data m_rotation; - /// Quaternion of affine transformation (for rigid) - Data m_quaternion; - /// Translation Matrix of affine transformation - Data m_translation; - /// Draw constrained points - Data m_drawConstrainedPoints; - /// initial constrained DOFs position - VecCoord x0; - /// final constrained DOFs position - VecCoord xf; - /// initial mesh DOFs position - VecCoord meshPointsX0; - /// final mesh DOFs position - VecCoord meshPointsXf; - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - AffineMovementConstraint(); - - virtual ~AffineMovementConstraint(); - -public: - //Add or clear constraints - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - /// -- Constraint interface - void init() override; - - /// Cancel the possible forces - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - /// Cancel the possible velocities - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - /// Apply the computed movements to the border mesh points between beginConstraintTime and endConstraintTime - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - - void projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /* cData */) override - { - msg_error() << "projectJacobianMatrix not implemented"; - } - - /// Compute the theoretical final positions - void getFinalPositions (VecCoord& finalPos, DataVecCoord& xData); - - // Implement projectMatrix for assembled solver of compliant - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - /// Draw the constrained points (= border mesh points) - void draw(const core::visual::VisualParams* vparams) override; - -protected: - - void projectResponseImpl(VecDeriv& dx); - -private: - - /// Initialize initial positions - void initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0); - - /// Initialize final positions - void initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0 , VecCoord& xf); - - /// Apply affine transform - void transform(const SetIndexArray & indices, VecCoord& x0 , VecCoord& xf); -}; - -#if !defined(SOFABOUNDARYCONDITION_AFFINEMOVEMENTCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementConstraint; -#endif //SOFABOUNDARYCONDITION_AFFINEMOVEMENTCONSTRAINT_CPP - -} // namespace sofa::component::constraint::projective +template +using AffineMovementConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "AffineMovementConstraint has been renamed to AffineMovementProjectiveConstraint") = AffineMovementProjectiveConstraint; +} diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.inl index b6434701c866..5230ec8026b8 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.inl @@ -21,290 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include +#include -#include - -namespace sofa::component::constraint::projective -{ - -template -AffineMovementConstraint::AffineMovementConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , data(new AffineMovementConstraintInternalData) - , m_meshIndices( initData(&m_meshIndices,"meshIndices","Indices of the mesh") ) - , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) - , m_beginConstraintTime( initData(&m_beginConstraintTime,"beginConstraintTime","Begin time of the bilinear constraint") ) - , m_endConstraintTime( initData(&m_endConstraintTime,"endConstraintTime","End time of the bilinear constraint") ) - , m_rotation( initData(&m_rotation,"rotation","rotation applied to border points") ) - , m_quaternion( initData(&m_quaternion,"quaternion","quaternion applied to border points") ) - , m_translation( initData(&m_translation,"translation","translation applied to border points") ) - , m_drawConstrainedPoints( initData(&m_drawConstrainedPoints,"drawConstrainedPoints","draw constrained points") ) - , l_topology(initLink("topology", "link to the topology container")) -{ - if(!m_beginConstraintTime.isSet()) - m_beginConstraintTime = 0; - if(!m_endConstraintTime.isSet()) - m_endConstraintTime = 20; -} - - - -template -AffineMovementConstraint::~AffineMovementConstraint() -{ - -} - -template -void AffineMovementConstraint::clearConstraints() -{ - m_indices.beginEdit()->clear(); - m_indices.endEdit(); -} - -template -void AffineMovementConstraint::addConstraint(Index index) -{ - m_indices.beginEdit()->push_back(index); - m_indices.endEdit(); -} - -template -void AffineMovementConstraint::removeConstraint(Index index) -{ - removeValue(*m_indices.beginEdit(),index); - m_indices.endEdit(); -} - -// -- Constraint interface - - -template -void AffineMovementConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - m_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - const SetIndexArray & indices = m_indices.getValue(); - - auto maxIndex=this->mstate->getSize(); - for (Size i=0; i= maxIndex) - { - msg_error() << "Index " << index << " not valid!"; - removeConstraint(index); - } - } - -} - -template -void AffineMovementConstraint::projectResponseImpl(VecDeriv& dx) -{ - const SetIndexArray & indices = m_indices.getValue(); - for (size_t i = 0; i< indices.size(); ++i) - { - dx[indices[i]]=Deriv(); - } -} - -template -void AffineMovementConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseImpl(res.wref()); -} - - - -template -void AffineMovementConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = vData; - projectResponseImpl(res.wref()); -} - -template -void AffineMovementConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - const SetIndexArray & indices = m_indices.getValue(); - - // Time - SReal beginTime = m_beginConstraintTime.getValue(); - SReal endTime = m_endConstraintTime.getValue(); - SReal totalTime = endTime - beginTime; - - //initialize initial mesh Dofs positions, if it's not done - if(meshPointsX0.size()==0) - this->initializeInitialPositions(m_meshIndices.getValue(),xData,meshPointsX0); - - //initialize final mesh Dofs positions, if it's not done - if(meshPointsXf.size()==0) - this->initializeFinalPositions(m_meshIndices.getValue(),xData, meshPointsX0, meshPointsXf); - - //initialize initial constrained Dofs positions, if it's not done - if(x0.size() == 0) - this->initializeInitialPositions(indices,xData,x0); - - //initialize final constrained Dofs positions, if it's not done - if (xf.size() == 0) - this->initializeFinalPositions(indices,xData,x0,xf); - // Update the intermediate Dofs positions computed by linear interpolation - SReal time = sofa::core::objectmodel::basecontext::getTime(this->getContext()->getRootContext()); - if( time > beginTime && time <= endTime && totalTime > 0) - { - for (auto index : indices) - { - DataTypes::setCPos( x[index], - ((DataTypes::getCPos(xf[index])-DataTypes::getCPos(x0[index]))*time + - (DataTypes::getCPos(x0[index])*endTime - DataTypes::getCPos(xf[index])*beginTime))/totalTime); - } - } - else if (time > endTime) - { - for (auto index : indices) - { - x[index] = xf[index]; - } - } -} - -template -void AffineMovementConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ ) -{ - // clears the rows and columns associated with constrained particles - const unsigned blockSize = DataTypes::deriv_total_size; - - for (const auto id : m_indices.getValue()) - { - M->clearRowsCols( id * blockSize, (id+1) * blockSize ); - } -} - -template -void AffineMovementConstraint::getFinalPositions( VecCoord& finalPos,DataVecCoord& xData) -{ - // Indices of mesh points - const SetIndexArray & meshIndices = m_meshIndices.getValue(); - - // Initialize final positions - if(meshPointsXf.size()==0) - {this->initializeFinalPositions(meshIndices,xData,meshPointsX0,meshPointsXf);} - - // Set final positions - finalPos.resize(meshIndices.size()); - for (size_t i=0; i < meshIndices.size() ; ++i) - { - finalPos[meshIndices[i]] = meshPointsXf[meshIndices[i]]; - } -} - -template -void AffineMovementConstraint::initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0) -{ - helper::WriteAccessor x = xData; - - x0.resize(x.size()); - for (size_t i=0; i < indices.size() ; ++i) - { - x0[indices[i]] = x[indices[i]]; - } -} - - -template <> -void AffineMovementConstraint::transform(const SetIndexArray & indices, - defaulttype::Rigid3Types::VecCoord& x0, - defaulttype::Rigid3Types::VecCoord& xf) -{ - // Get quaternion and translation values - RotationMatrix rotationMat(0); - const Quat quat = m_quaternion.getValue(); - quat.toMatrix(rotationMat); - const Vec3 translation = m_translation.getValue(); - - // Apply transformation - for (size_t i=0; i < indices.size() ; ++i) - { - // Translation - xf[indices[i]].getCenter() = rotationMat*(x0[indices[i]].getCenter()) + translation; - // Rotation - xf[indices[i]].getOrientation() = (quat)+x0[indices[i]].getOrientation(); - } -} - -template -void AffineMovementConstraint::transform(const SetIndexArray & indices, VecCoord& x0, VecCoord& xf) -{ - Vec3 translation = m_translation.getValue(); - - for (size_t i=0; i < indices.size() ; ++i) - { - DataTypes::setCPos(xf[indices[i]], (m_rotation.getValue())*DataTypes::getCPos(x0[indices[i]]) + translation); - } -} - - -template -void AffineMovementConstraint::initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0, VecCoord& xf) -{ - helper::WriteAccessor x = xData; - - xf.resize(x.size()); - - // if the positions were not initialized - if(x0.size() == 0) - this->initializeInitialPositions(indices,xData,x0); - - transform(indices,x0,xf); -} - -template -void AffineMovementConstraint::draw(const core::visual::VisualParams* vparams) -{ - const SetIndexArray & indices = m_indices.getValue(); - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - Vec3 point; - - if(m_drawConstrainedPoints.getValue()) - { - std::vector< Vec3 > points; - for( auto& index : indices ) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - constexpr sofa::type::RGBAColor color(1,0.5,0.5,1); - vparams->drawTool()->drawPoints(points, 10, color); - } -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/AffineMovementConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp similarity index 79% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp index 433bad30dffd..a34416970dc6 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.cpp @@ -19,24 +19,24 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFABOUNDARYCONDITION_AFFINEMOVEMENTCONSTRAINT_CPP +#define SOFABOUNDARYCONDITION_AFFINEMOVEMENTPROJECTIVECONSTRAINT_CPP #include #include #include #include -#include +#include namespace sofa::component::constraint::projective { -int AffineMovementConstraintRegister = core::RegisterObject("Constraint the movement by a rigid transform.") - .add< AffineMovementConstraint >() - .add< AffineMovementConstraint >() +int AffineMovementProjectiveConstraintRegister = core::RegisterObject("Constraint the movement by a rigid transform.") + .add< AffineMovementProjectiveConstraint >() + .add< AffineMovementProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h new file mode 100644 index 000000000000..74ca2823e842 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h @@ -0,0 +1,165 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +class AffineMovementProjectiveConstraintInternalData +{ +}; + +/** + Impose a motion to all the boundary points of a mesh. The motion of the 4 corners are given in the data m_cornerMovements and the movements of the edge points are computed by linear interpolation. +*/ +template +class AffineMovementProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(AffineMovementProjectiveConstraint,TDataTypes), + SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); + + using Index = sofa::Index; + typedef TDataTypes DataTypes; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::CPos CPos; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + typedef type::Quat Quat; + typedef type::Vec3 Vec3; + + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; + + static const auto CoordSize = Coord::total_size; + typedef type::Mat<3,3,Real> RotationMatrix; + +protected: + AffineMovementProjectiveConstraintInternalData *data; + friend class AffineMovementProjectiveConstraintInternalData; + +public : + /// indices of the DOFs of the mesh + SetIndex m_meshIndices; + /// indices of the DOFs the constraint is applied to + SetIndex m_indices; + /// data begin time when the constraint is applied + Data m_beginConstraintTime; + /// data end time when the constraint is applied + Data m_endConstraintTime; + /// Rotation Matrix of affine transformation + Data m_rotation; + /// Quaternion of affine transformation (for rigid) + Data m_quaternion; + /// Translation Matrix of affine transformation + Data m_translation; + /// Draw constrained points + Data m_drawConstrainedPoints; + /// initial constrained DOFs position + VecCoord x0; + /// final constrained DOFs position + VecCoord xf; + /// initial mesh DOFs position + VecCoord meshPointsX0; + /// final mesh DOFs position + VecCoord meshPointsXf; + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + AffineMovementProjectiveConstraint(); + + virtual ~AffineMovementProjectiveConstraint(); + +public: + //Add or clear constraints + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + /// -- Constraint interface + void init() override; + + /// Cancel the possible forces + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + /// Cancel the possible velocities + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + /// Apply the computed movements to the border mesh points between beginConstraintTime and endConstraintTime + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + + void projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /* cData */) override + { + msg_error() << "projectJacobianMatrix not implemented"; + } + + /// Compute the theoretical final positions + void getFinalPositions (VecCoord& finalPos, DataVecCoord& xData); + + // Implement projectMatrix for assembled solver of compliant + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + /// Draw the constrained points (= border mesh points) + void draw(const core::visual::VisualParams* vparams) override; + +protected: + + void projectResponseImpl(VecDeriv& dx); + +private: + + /// Initialize initial positions + void initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0); + + /// Initialize final positions + void initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0 , VecCoord& xf); + + /// Apply affine transform + void transform(const SetIndexArray & indices, VecCoord& x0 , VecCoord& xf); +}; + +#if !defined(SOFABOUNDARYCONDITION_AFFINEMOVEMENTPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AffineMovementProjectiveConstraint; +#endif //SOFABOUNDARYCONDITION_AFFINEMOVEMENTPROJECTIVECONSTRAINT_CPP + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl new file mode 100644 index 000000000000..ee7a56d83aca --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.inl @@ -0,0 +1,310 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include + +namespace sofa::component::constraint::projective +{ + +template +AffineMovementProjectiveConstraint::AffineMovementProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , data(new AffineMovementProjectiveConstraintInternalData) + , m_meshIndices( initData(&m_meshIndices,"meshIndices","Indices of the mesh") ) + , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) + , m_beginConstraintTime( initData(&m_beginConstraintTime,"beginConstraintTime","Begin time of the bilinear constraint") ) + , m_endConstraintTime( initData(&m_endConstraintTime,"endConstraintTime","End time of the bilinear constraint") ) + , m_rotation( initData(&m_rotation,"rotation","rotation applied to border points") ) + , m_quaternion( initData(&m_quaternion,"quaternion","quaternion applied to border points") ) + , m_translation( initData(&m_translation,"translation","translation applied to border points") ) + , m_drawConstrainedPoints( initData(&m_drawConstrainedPoints,"drawConstrainedPoints","draw constrained points") ) + , l_topology(initLink("topology", "link to the topology container")) +{ + if(!m_beginConstraintTime.isSet()) + m_beginConstraintTime = 0; + if(!m_endConstraintTime.isSet()) + m_endConstraintTime = 20; +} + + + +template +AffineMovementProjectiveConstraint::~AffineMovementProjectiveConstraint() +{ + +} + +template +void AffineMovementProjectiveConstraint::clearConstraints() +{ + m_indices.beginEdit()->clear(); + m_indices.endEdit(); +} + +template +void AffineMovementProjectiveConstraint::addConstraint(Index index) +{ + m_indices.beginEdit()->push_back(index); + m_indices.endEdit(); +} + +template +void AffineMovementProjectiveConstraint::removeConstraint(Index index) +{ + removeValue(*m_indices.beginEdit(),index); + m_indices.endEdit(); +} + +// -- Constraint interface + + +template +void AffineMovementProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + m_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + const SetIndexArray & indices = m_indices.getValue(); + + auto maxIndex=this->mstate->getSize(); + for (Size i=0; i= maxIndex) + { + msg_error() << "Index " << index << " not valid!"; + removeConstraint(index); + } + } + +} + +template +void AffineMovementProjectiveConstraint::projectResponseImpl(VecDeriv& dx) +{ + const SetIndexArray & indices = m_indices.getValue(); + for (size_t i = 0; i< indices.size(); ++i) + { + dx[indices[i]]=Deriv(); + } +} + +template +void AffineMovementProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseImpl(res.wref()); +} + + + +template +void AffineMovementProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = vData; + projectResponseImpl(res.wref()); +} + +template +void AffineMovementProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + const SetIndexArray & indices = m_indices.getValue(); + + // Time + SReal beginTime = m_beginConstraintTime.getValue(); + SReal endTime = m_endConstraintTime.getValue(); + SReal totalTime = endTime - beginTime; + + //initialize initial mesh Dofs positions, if it's not done + if(meshPointsX0.size()==0) + this->initializeInitialPositions(m_meshIndices.getValue(),xData,meshPointsX0); + + //initialize final mesh Dofs positions, if it's not done + if(meshPointsXf.size()==0) + this->initializeFinalPositions(m_meshIndices.getValue(),xData, meshPointsX0, meshPointsXf); + + //initialize initial constrained Dofs positions, if it's not done + if(x0.size() == 0) + this->initializeInitialPositions(indices,xData,x0); + + //initialize final constrained Dofs positions, if it's not done + if (xf.size() == 0) + this->initializeFinalPositions(indices,xData,x0,xf); + // Update the intermediate Dofs positions computed by linear interpolation + SReal time = sofa::core::objectmodel::basecontext::getTime(this->getContext()->getRootContext()); + if( time > beginTime && time <= endTime && totalTime > 0) + { + for (auto index : indices) + { + DataTypes::setCPos( x[index], + ((DataTypes::getCPos(xf[index])-DataTypes::getCPos(x0[index]))*time + + (DataTypes::getCPos(x0[index])*endTime - DataTypes::getCPos(xf[index])*beginTime))/totalTime); + } + } + else if (time > endTime) + { + for (auto index : indices) + { + x[index] = xf[index]; + } + } +} + +template +void AffineMovementProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ ) +{ + // clears the rows and columns associated with constrained particles + const unsigned blockSize = DataTypes::deriv_total_size; + + for (const auto id : m_indices.getValue()) + { + M->clearRowsCols( id * blockSize, (id+1) * blockSize ); + } +} + +template +void AffineMovementProjectiveConstraint::getFinalPositions( VecCoord& finalPos,DataVecCoord& xData) +{ + // Indices of mesh points + const SetIndexArray & meshIndices = m_meshIndices.getValue(); + + // Initialize final positions + if(meshPointsXf.size()==0) + {this->initializeFinalPositions(meshIndices,xData,meshPointsX0,meshPointsXf);} + + // Set final positions + finalPos.resize(meshIndices.size()); + for (size_t i=0; i < meshIndices.size() ; ++i) + { + finalPos[meshIndices[i]] = meshPointsXf[meshIndices[i]]; + } +} + +template +void AffineMovementProjectiveConstraint::initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0) +{ + helper::WriteAccessor x = xData; + + x0.resize(x.size()); + for (size_t i=0; i < indices.size() ; ++i) + { + x0[indices[i]] = x[indices[i]]; + } +} + + +template <> +void AffineMovementProjectiveConstraint::transform(const SetIndexArray & indices, + defaulttype::Rigid3Types::VecCoord& x0, + defaulttype::Rigid3Types::VecCoord& xf) +{ + // Get quaternion and translation values + RotationMatrix rotationMat(0); + const Quat quat = m_quaternion.getValue(); + quat.toMatrix(rotationMat); + const Vec3 translation = m_translation.getValue(); + + // Apply transformation + for (size_t i=0; i < indices.size() ; ++i) + { + // Translation + xf[indices[i]].getCenter() = rotationMat*(x0[indices[i]].getCenter()) + translation; + // Rotation + xf[indices[i]].getOrientation() = (quat)+x0[indices[i]].getOrientation(); + } +} + +template +void AffineMovementProjectiveConstraint::transform(const SetIndexArray & indices, VecCoord& x0, VecCoord& xf) +{ + Vec3 translation = m_translation.getValue(); + + for (size_t i=0; i < indices.size() ; ++i) + { + DataTypes::setCPos(xf[indices[i]], (m_rotation.getValue())*DataTypes::getCPos(x0[indices[i]]) + translation); + } +} + + +template +void AffineMovementProjectiveConstraint::initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0, VecCoord& xf) +{ + helper::WriteAccessor x = xData; + + xf.resize(x.size()); + + // if the positions were not initialized + if(x0.size() == 0) + this->initializeInitialPositions(indices,xData,x0); + + transform(indices,x0,xf); +} + +template +void AffineMovementProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + const SetIndexArray & indices = m_indices.getValue(); + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + Vec3 point; + + if(m_drawConstrainedPoints.getValue()) + { + std::vector< Vec3 > points; + for( auto& index : indices ) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + constexpr sofa::type::RGBAColor color(1,0.5,0.5,1); + vparams->drawTool()->drawPoints(points, 10, color); + } +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.h index 14eff971abb8..692f1178c2d3 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.h @@ -20,105 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/AttachProjectiveConstraint.h") -/** Attach given pair of particles, projecting the positions of the second particles to the first ones. -*/ -template -class AttachConstraint : public core::behavior::PairInteractionProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(AttachConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::PairInteractionProjectiveConstraintSet,DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - - typedef core::objectmodel::Data DataVecCoord; - typedef core::objectmodel::Data DataVecDeriv; - - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - -public: - SetIndex f_indices1; ///< Indices of the source points on the first model - SetIndex f_indices2; ///< Indices of the fixed points on the second model - Data f_twoWay; ///< true if forces should be projected back from model2 to model1 - Data f_freeRotations; ///< true to keep rotations free (only used for Rigid DOFs) - Data f_lastFreeRotation; ///< true to keep rotation of the last attached point free (only used for Rigid DOFs) - Data f_restRotations; ///< true to use rest rotations local offsets (only used for Rigid DOFs) - Data f_lastPos; ///< position at which the attach constraint should become inactive - Data f_lastDir; ///< direction from lastPos at which the attach coustraint should become inactive - Data f_clamp; ///< true to clamp particles at lastPos instead of freeing them. - Data f_minDistance; ///< the constraint become inactive if the distance between the points attached is bigger than minDistance. - Data< Real > d_positionFactor; ///< IN: Factor applied to projection of position - Data< Real > d_velocityFactor; ///< IN: Factor applied to projection of velocity - Data< Real > d_responseFactor; ///< IN: Factor applied to projection of force/acceleration - Data< type::vector > d_constraintFactor; ///< Constraint factor per pair of points constrained. 0 -> the constraint is released. 1 -> the constraint is fully constrained - - type::vector activeFlags; - type::vector constraintReleased; - type::vector lastDist; - type::vector> restRotations; - -protected: - AttachConstraint(); - AttachConstraint(core::behavior::MechanicalState *mm1, core::behavior::MechanicalState *mm2); - ~AttachConstraint() override; - -public: - - /// Inherited from Base - void init() override; - void reinit() override; - void draw(const core::visual::VisualParams* vparams) override; - - /// Inherited from Constraint - void projectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId) override; - void projectResponse(const core::MechanicalParams *mparams, DataVecDeriv& dx1, DataVecDeriv& dx2) override; - void projectVelocity(const core::MechanicalParams *mparams, DataVecDeriv& v1, DataVecDeriv& v2) override; - void projectPosition(const core::MechanicalParams *mparams, DataVecCoord& x1, DataVecCoord& x2) override; - - /// Project the global Mechanical Matrix to constrained space using offset parameter - void applyConstraint(const core::MechanicalParams *mparams, - const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - /// Project the global Mechanical Vector to constrained space using offset parameter - void applyConstraint(const core::MechanicalParams *mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - virtual void reinitIfChanged(); - - template - static std::string templateName(const T* ptr= nullptr) { - return core::behavior::PairInteractionProjectiveConstraintSet::templateName(ptr); - } - -protected : - const Real getConstraintFactor(const int index); - void doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor); - void doProjectVelocity(Deriv& x1, Deriv& x2, bool freeRotations, unsigned index, Real velocityFactor); - void doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor); - - void calcRestRotations(); - static unsigned int DerivConstrainedSize(bool freeRotations); - -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ATTACHCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -#endif - -} // namespace sofa::component::constraint::projective +template +using AttachConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "AttachConstraint has been renamed to AttachProjectiveConstraint") = AttachProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.inl index a77b223d41d8..ed5521f875da 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.inl @@ -20,624 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -namespace sofa::component::constraint::projective -{ +#include -using sofa::simulation::Node ; - -template<> -inline void AttachConstraint::doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor) -{ - SOFA_UNUSED(positionFactor); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (f_minDistance.getValue() != -1.0 && - (x2.getCenter() - x1.getCenter()).norm() > f_minDistance.getValue()) - { - constraintReleased[index] = true; - return; - } - constraintReleased[index] = false; - - x2.getCenter() = x1.getCenter(); - if (!freeRotations) - { - if (!restRotations.empty()) - { - if (index+1 >= lastDist.size() || activeFlags[index+1]) - x2.getOrientation() = x1.getOrientation()*restRotations[index]; - else - { - // gradually set the velocity along the direction axis - const Real fact = -lastDist[index] / (lastDist[index+1]-lastDist[index]); - const sofa::type::Vec3 axis(restRotations[index][0], restRotations[index][1], restRotations[index][2]); - const Real angle = acos(restRotations[index][3])*2; - x2.getOrientation() = x1.getOrientation()*sofa::type::Quat(axis,angle*fact); - } - } - else - x2.getOrientation() = x1.getOrientation(); - } -} - - -template<> -inline void AttachConstraint::doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor) -{ - SOFA_UNUSED(positionFactor); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (f_minDistance.getValue() != -1 && - (x2.getCenter() - x1.getCenter()).norm() > f_minDistance.getValue()) - { - constraintReleased[index] = true; - return; - } - constraintReleased[index] = false; - - x2.getCenter() = x1.getCenter(); - if (!freeRotations) - x2.getOrientation() = x1.getOrientation(); -} - - -template<> -inline void AttachConstraint::doProjectVelocity(Deriv& x1, Deriv& x2, bool freeRotations, unsigned index, Real velocityFactor) -{ - SOFA_UNUSED(velocityFactor); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (constraintReleased[index]) - return; - - getVCenter( x2) = getVCenter(x1); - if (!freeRotations) - getVOrientation(x2) = getVOrientation(x1); -} - - -template<> -inline void AttachConstraint::doProjectVelocity(Deriv& x1, Deriv& x2, bool freeRotations, unsigned index, Real velocityFactor) -{ - SOFA_UNUSED(velocityFactor); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (constraintReleased[index]) return; - - getVCenter(x2) = getVCenter(x1); - if (!freeRotations) - getVOrientation(x2) = getVOrientation(x1); -} - -template<> -inline void AttachConstraint::doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor) -{ - SOFA_UNUSED(responseFactor); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (constraintReleased[index]) return; - - if (!twoway) - { - if (!freeRotations) - dx2 = Deriv(); - else - getVCenter(dx2).clear(); - } - else - { - if (!freeRotations) - { - dx1 += dx2; - dx2 = dx1; - } - else - { - getVCenter(dx1) += getVCenter(dx2); - getVCenter(dx2) = getVCenter(dx1); - } - } -} - - -template<> -inline void AttachConstraint::doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor) -{ - SOFA_UNUSED(responseFactor); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (constraintReleased[index]) return; - - if (!twoway) - { - if (!freeRotations) - dx2 = Deriv(); - else - getVCenter(dx2).clear(); - } - else - { - if (!freeRotations) - { - dx1 += dx2; - dx2 = dx1; - } - else - { - getVCenter(dx1) += getVCenter(dx2); - getVCenter(dx2) = getVCenter(dx1); - } - } -} - -template -inline unsigned int AttachConstraint::DerivConstrainedSize(bool freeRotations) -{ - if (std::is_same::value || std::is_same::value) { - if (freeRotations) - return Deriv::spatial_dimensions; - else - return Deriv::total_size; - } - else { - SOFA_UNUSED(freeRotations); - return Deriv::size(); - } -} - -// Could be simplified with default values for mm1 and mm2, but that way we are assured that either both or neither of mm1/mm2 are set. -template -AttachConstraint::AttachConstraint() - : AttachConstraint::AttachConstraint(nullptr, nullptr) -{ -} - -template -AttachConstraint::AttachConstraint(core::behavior::MechanicalState *mm1, core::behavior::MechanicalState *mm2) - : core::behavior::PairInteractionProjectiveConstraintSet(mm1,mm2) - , f_indices1( initData(&f_indices1,"indices1","Indices of the source points on the first model") ) - , f_indices2( initData(&f_indices2,"indices2","Indices of the fixed points on the second model") ) - , f_twoWay( initData(&f_twoWay,false,"twoWay", "true if forces should be projected back from model2 to model1") ) - , f_freeRotations( initData(&f_freeRotations,false,"freeRotations", "true to keep rotations free (only used for Rigid DOFs)") ) - , f_lastFreeRotation( initData(&f_lastFreeRotation,false,"lastFreeRotation", "true to keep rotation of the last attached point free (only used for Rigid DOFs)") ) - , f_restRotations( initData(&f_restRotations,false,"restRotations", "true to use rest rotations local offsets (only used for Rigid DOFs)") ) - , f_lastPos( initData(&f_lastPos,"lastPos", "position at which the attach constraint should become inactive") ) - , f_lastDir( initData(&f_lastDir,"lastDir", "direction from lastPos at which the attach coustraint should become inactive") ) - , f_clamp( initData(&f_clamp, false,"clamp", "true to clamp particles at lastPos instead of freeing them.") ) - , f_minDistance( initData(&f_minDistance, static_cast(-1),"minDistance", "the constraint become inactive if the distance between the points attached is bigger than minDistance.") ) - , d_positionFactor(initData(&d_positionFactor, static_cast(1.0), "positionFactor", "IN: Factor applied to projection of position")) - , d_velocityFactor(initData(&d_velocityFactor, static_cast(1.0), "velocityFactor", "IN: Factor applied to projection of velocity")) - , d_responseFactor(initData(&d_responseFactor, static_cast(1.0), "responseFactor", "IN: Factor applied to projection of force/acceleration")) - , d_constraintFactor( initData(&d_constraintFactor,"constraintFactor","Constraint factor per pair of points constrained. 0 -> the constraint is released. 1 -> the constraint is fully constrained") ) -{ - -} - -template -AttachConstraint::~AttachConstraint() -{ -} - -template -void AttachConstraint::init() -{ - this->core::behavior::PairInteractionProjectiveConstraintSet::init(); - reinit(); -} - -template -void AttachConstraint::reinit() -{ - // Check coherency of size between indices vectors 1 and 2 - if(f_indices1.getValue().size() != f_indices2.getValue().size()) - { - msg_warning() << "Size mismatch between indices1 and indices2 (" - << f_indices1.getValue().size() << " != " << f_indices2.getValue().size() << ")."; - } - - // Set to the correct length if dynamic, else check coherency. - if(d_constraintFactor.getValue().size()) - { - helper::ReadAccessor>> constraintFactor = d_constraintFactor; - if(constraintFactor.size() != f_indices2.getValue().size()) - { - msg_warning() << "Size of vector constraintFactor, do not fit number of indices attached (" << constraintFactor.size() << " != " << f_indices2.getValue().size() << ")."; - } - else - { - for (unsigned int j=0; j 1.0) || (constraintFactor[j] < 0.0)) - { - msg_warning() << "Value of vector constraintFactor at indice "< 1.0e-10) { - lastDist.resize(f_indices2.getValue().size()); - } - - if (f_restRotations.getValue()) - calcRestRotations(); - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); -} - -template -void AttachConstraint::reinitIfChanged() { - if((f_indices1.getParent() || f_indices2.getParent()) && constraintReleased.size() != f_indices2.getValue().size()) - { - reinit(); - } -} - -template -void AttachConstraint::calcRestRotations() -{ -} - -template <> -void AttachConstraint::calcRestRotations(); - -template -void AttachConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId) -{ - SOFA_UNUSED(mparams); - SOFA_UNUSED(cId); -} - -template -void AttachConstraint::projectPosition(const core::MechanicalParams * mparams, DataVecCoord& res1_d, DataVecCoord& res2_d) -{ - SOFA_UNUSED(mparams); - const SetIndexArray & indices1 = f_indices1.getValue(); - const SetIndexArray & indices2 = f_indices2.getValue(); - const bool freeRotations = f_freeRotations.getValue(); - const bool lastFreeRotation = f_lastFreeRotation.getValue(); - const bool last = (f_lastDir.isSet() && f_lastDir.getValue().norm() > 1.0e-10); - const bool clamp = f_clamp.getValue(); - - VecCoord &res1 = *res1_d.beginEdit(); - VecCoord &res2 = *res2_d.beginEdit(); - - // update active flags - reinitIfChanged(); - - for (unsigned int i=0; i p3d; - DataTypes::get(p3d[0],p3d[1],p3d[2],p); - lastDist[i] = (Real)( (p3d-f_lastPos.getValue())*f_lastDir.getValue()); - if (lastDist[i] > 0.0) - { - if (clamp) - { - msg_info_when(activeFlags[i]) << "AttachConstraint: point " - <> positionFactor = d_positionFactor; - for (unsigned int i=0; i=activeFlags.size() || !activeFlags[i+1])), i, positionFactor); - } - else if (clamp) - { - DataTypes::set(p,f_lastPos.getValue()[0],f_lastPos.getValue()[1],f_lastPos.getValue()[2]); - - msg_info() << "AttachConstraint: x2["< -void AttachConstraint::projectVelocity(const core::MechanicalParams * mparams, DataVecDeriv& res1_d, DataVecDeriv& res2_d) -{ - SOFA_UNUSED(mparams); - VecDeriv &res1 = *res1_d.beginEdit(); - VecDeriv &res2 = *res2_d.beginEdit(); - - const SetIndexArray & indices1 = f_indices1.getValue(); - const SetIndexArray & indices2 = f_indices2.getValue(); - const bool freeRotations = f_freeRotations.getValue(); - const bool lastFreeRotation = f_lastFreeRotation.getValue(); - const bool clamp = f_clamp.getValue(); - - reinitIfChanged(); - helper::ReadAccessor> velocityFactor = d_velocityFactor; - for (unsigned int i=0; i=activeFlags.size() || !activeFlags[i+1])), i, velocityFactor); - } - else if (clamp) - { - msg_info() << "AttachConstraint: v2["< -void AttachConstraint::projectResponse(const core::MechanicalParams * mparams, DataVecDeriv& res1_d, DataVecDeriv& res2_d) -{ - SOFA_UNUSED(mparams); - VecDeriv &res1 = *res1_d.beginEdit(); - VecDeriv &res2 = *res2_d.beginEdit(); - - const SetIndexArray & indices1 = f_indices1.getValue(); - const SetIndexArray & indices2 = f_indices2.getValue(); - const bool twoway = f_twoWay.getValue(); - const bool freeRotations = f_freeRotations.getValue(); - const bool lastFreeRotation = f_lastFreeRotation.getValue(); - const bool clamp = f_clamp.getValue(); - - reinitIfChanged(); - helper::ReadAccessor> responseFactor = d_responseFactor; - for (unsigned int i=0; i=activeFlags.size() || !activeFlags[i+1])), twoway, i, responseFactor); - - msg_info() << " final r2["< -void AttachConstraint::applyConstraint(const core::MechanicalParams * mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if (f_twoWay.getValue()) - return; - - const sofa::core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate2); - if (!r) - return; - - sofa::linearalgebra::BaseMatrix *mat = r.matrix; - const unsigned int offset = r.offset; - - const SetIndexArray & indices = f_indices2.getValue(); - const unsigned int N = Deriv::size(); - const unsigned int NC = DerivConstrainedSize(f_freeRotations.getValue()); - const unsigned int NCLast = DerivConstrainedSize(f_lastFreeRotation.getValue()); - unsigned int i=0; - const bool clamp = f_clamp.getValue(); - - reinitIfChanged(); - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it, ++i) - { - if (!clamp && i < activeFlags.size() && !activeFlags[i]) - continue; - - msg_info() << "AttachConstraint: apply in matrix column/row "<<(*it); - - if (NCLast != NC && (i>=activeFlags.size() || !activeFlags[i+1])) - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(offset + N * (*it) + c); - // Set Fixed Vertex - for (unsigned int c=0; cset(offset + N * (*it) + c, offset + N * (*it) + c, 1.0); - } - else - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(offset + N * (*it) + c); - // Set Fixed Vertex - for (unsigned int c=0; cset(offset + N * (*it) + c, offset + N * (*it) + c, 1.0); - } - } -} - - -template -void AttachConstraint::applyConstraint(const core::MechanicalParams * mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if (f_twoWay.getValue()) - return; - - const int o = matrix->getGlobalOffset(this->mstate2); - if (o < 0) - return; - - unsigned int offset = (unsigned int)o; - - msg_info() << "applyConstraint in Vector with offset = " << offset ; - - const SetIndexArray & indices = f_indices2.getValue(); - const unsigned int N = Deriv::size(); - const unsigned int NC = DerivConstrainedSize(f_freeRotations.getValue()); - const unsigned int NCLast = DerivConstrainedSize(f_lastFreeRotation.getValue()); - unsigned int i = 0; - const bool clamp = f_clamp.getValue(); - - reinitIfChanged(); - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it, ++i) - { - if (!clamp && i < activeFlags.size() && !activeFlags[i]) - continue; - - if (NCLast != NC && (i>=activeFlags.size() || !activeFlags[i+1])) - { - for (unsigned int c=0; cclear(offset + N * (*it) + c); - } - else - { - for (unsigned int c=0; cclear(offset + N * (*it) + c); - } - } -} - -template -const typename DataTypes::Real AttachConstraint::getConstraintFactor(const int index) { - return d_constraintFactor.getValue().size() ? d_constraintFactor.getValue()[index] : 1; -} - -template -void AttachConstraint::doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor) -{ - SOFA_UNUSED(freeRotations); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (f_minDistance.getValue() != -1 && - (x2 - x1).norm() > f_minDistance.getValue()) - { - constraintReleased[index] = true; - return; - } - constraintReleased[index] = false; - - Deriv corr = (x2-x1)*(0.5*positionFactor*getConstraintFactor(index)); - - x1 += corr; - x2 -= corr; -} - -template -void AttachConstraint::doProjectVelocity(Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor) -{ - SOFA_UNUSED(freeRotations); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (constraintReleased[index]) return; - - Deriv corr = (x2-x1)*(0.5*velocityFactor*getConstraintFactor(index)); - - x1 += corr; - x2 -= corr; -} - -template -void AttachConstraint::doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor) -{ - SOFA_UNUSED(freeRotations); - // do nothing if distance between x2 & x1 is bigger than f_minDistance - if (constraintReleased[index]) return; - - if (!twoway) - { - dx2 = Deriv(); - } - else - { - Deriv corr = (dx2-dx1)*0.5*responseFactor*getConstraintFactor(index); - dx1 += corr; - dx2 -= corr; - } -} - - -template -void AttachConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) - return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->disableLighting(); - - const SetIndexArray & indices1 = f_indices1.getValue(); - const SetIndexArray & indices2 = f_indices2.getValue(); - const VecCoord& x1 = this->mstate1->read(core::ConstVecCoordId::position())->getValue(); - const VecCoord& x2 = this->mstate2->read(core::ConstVecCoordId::position())->getValue(); - - constexpr sofa::type::RGBAColor color1(1,0.5,0.5,1); - std::vector vertices; - - for (unsigned int i=0; i i && !activeFlags[i]) - continue; - vertices.push_back(sofa::type::Vec3(x2[indices2[i]][0],x2[indices2[i]][1],x2[indices2[i]][2])); - } - vparams->drawTool()->drawPoints(vertices,10,color1); - vertices.clear(); - - constexpr sofa::type::RGBAColor color2(1,0.5,0.5,1); - for (unsigned int i=0; i i && !activeFlags[i]) - continue; - vertices.push_back(sofa::type::Vec3(x1[indices1[i]][0],x1[indices1[i]][1],x1[indices1[i]][2])); - vertices.push_back(sofa::type::Vec3(x2[indices2[i]][0],x2[indices2[i]][1],x2[indices2[i]][2])); - } - vparams->drawTool()->drawLines(vertices,1,color2); - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/AttachProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp similarity index 71% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp index 8642434e285c..2c2683c9d1c7 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ATTACHCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ATTACHPROJECTIVECONSTRAINT_CPP +#include #include namespace sofa::component::constraint::projective @@ -30,16 +30,16 @@ using namespace sofa::type; using namespace sofa::defaulttype; using namespace sofa::helper; -int AttachConstraintClass = core::RegisterObject("Attach given pair of particles, projecting the positions of the second particles to the first ones") - .add< AttachConstraint >() - .add< AttachConstraint >() - .add< AttachConstraint >() - .add< AttachConstraint >() - .add< AttachConstraint >() +int AttachProjectiveConstraintClass = core::RegisterObject("Attach given pair of particles, projecting the positions of the second particles to the first ones") + .add< AttachProjectiveConstraint >() + .add< AttachProjectiveConstraint >() + .add< AttachProjectiveConstraint >() + .add< AttachProjectiveConstraint >() + .add< AttachProjectiveConstraint >() ; template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API -void AttachConstraint::calcRestRotations() +void AttachProjectiveConstraint::calcRestRotations() { const SetIndexArray & indices2 = f_indices2.getValue(); const VecCoord& x0 = this->mstate2->read(core::ConstVecCoordId::restPosition())->getValue(); @@ -61,11 +61,11 @@ void AttachConstraint::calcRestRotations() } } -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h new file mode 100644 index 000000000000..37ed886dc4bd --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.h @@ -0,0 +1,124 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include + +namespace sofa::component::constraint::projective +{ + +/** Attach given pair of particles, projecting the positions of the second particles to the first ones. +*/ +template +class AttachProjectiveConstraint : public core::behavior::PairInteractionProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(AttachProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::PairInteractionProjectiveConstraintSet,DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + +public: + SetIndex f_indices1; ///< Indices of the source points on the first model + SetIndex f_indices2; ///< Indices of the fixed points on the second model + Data f_twoWay; ///< true if forces should be projected back from model2 to model1 + Data f_freeRotations; ///< true to keep rotations free (only used for Rigid DOFs) + Data f_lastFreeRotation; ///< true to keep rotation of the last attached point free (only used for Rigid DOFs) + Data f_restRotations; ///< true to use rest rotations local offsets (only used for Rigid DOFs) + Data f_lastPos; ///< position at which the attach constraint should become inactive + Data f_lastDir; ///< direction from lastPos at which the attach coustraint should become inactive + Data f_clamp; ///< true to clamp particles at lastPos instead of freeing them. + Data f_minDistance; ///< the constraint become inactive if the distance between the points attached is bigger than minDistance. + Data< Real > d_positionFactor; ///< IN: Factor applied to projection of position + Data< Real > d_velocityFactor; ///< IN: Factor applied to projection of velocity + Data< Real > d_responseFactor; ///< IN: Factor applied to projection of force/acceleration + Data< type::vector > d_constraintFactor; ///< Constraint factor per pair of points constrained. 0 -> the constraint is released. 1 -> the constraint is fully constrained + + type::vector activeFlags; + type::vector constraintReleased; + type::vector lastDist; + type::vector> restRotations; + +protected: + AttachProjectiveConstraint(); + AttachProjectiveConstraint(core::behavior::MechanicalState *mm1, core::behavior::MechanicalState *mm2); + ~AttachProjectiveConstraint() override; + +public: + + /// Inherited from Base + void init() override; + void reinit() override; + void draw(const core::visual::VisualParams* vparams) override; + + /// Inherited from Constraint + void projectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId) override; + void projectResponse(const core::MechanicalParams *mparams, DataVecDeriv& dx1, DataVecDeriv& dx2) override; + void projectVelocity(const core::MechanicalParams *mparams, DataVecDeriv& v1, DataVecDeriv& v2) override; + void projectPosition(const core::MechanicalParams *mparams, DataVecCoord& x1, DataVecCoord& x2) override; + + /// Project the global Mechanical Matrix to constrained space using offset parameter + void applyConstraint(const core::MechanicalParams *mparams, + const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + /// Project the global Mechanical Vector to constrained space using offset parameter + void applyConstraint(const core::MechanicalParams *mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + virtual void reinitIfChanged(); + + template + static std::string templateName(const T* ptr= nullptr) { + return core::behavior::PairInteractionProjectiveConstraintSet::templateName(ptr); + } + +protected : + const Real getConstraintFactor(const int index); + void doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor); + void doProjectVelocity(Deriv& x1, Deriv& x2, bool freeRotations, unsigned index, Real velocityFactor); + void doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor); + + void calcRestRotations(); + static unsigned int DerivConstrainedSize(bool freeRotations); + +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ATTACHPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API AttachProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl new file mode 100644 index 000000000000..e7bd429434fb --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AttachProjectiveConstraint.inl @@ -0,0 +1,643 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +using sofa::simulation::Node ; + +template<> +inline void AttachProjectiveConstraint::doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor) +{ + SOFA_UNUSED(positionFactor); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (f_minDistance.getValue() != -1.0 && + (x2.getCenter() - x1.getCenter()).norm() > f_minDistance.getValue()) + { + constraintReleased[index] = true; + return; + } + constraintReleased[index] = false; + + x2.getCenter() = x1.getCenter(); + if (!freeRotations) + { + if (!restRotations.empty()) + { + if (index+1 >= lastDist.size() || activeFlags[index+1]) + x2.getOrientation() = x1.getOrientation()*restRotations[index]; + else + { + // gradually set the velocity along the direction axis + const Real fact = -lastDist[index] / (lastDist[index+1]-lastDist[index]); + const sofa::type::Vec3 axis(restRotations[index][0], restRotations[index][1], restRotations[index][2]); + const Real angle = acos(restRotations[index][3])*2; + x2.getOrientation() = x1.getOrientation()*sofa::type::Quat(axis,angle*fact); + } + } + else + x2.getOrientation() = x1.getOrientation(); + } +} + + +template<> +inline void AttachProjectiveConstraint::doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor) +{ + SOFA_UNUSED(positionFactor); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (f_minDistance.getValue() != -1 && + (x2.getCenter() - x1.getCenter()).norm() > f_minDistance.getValue()) + { + constraintReleased[index] = true; + return; + } + constraintReleased[index] = false; + + x2.getCenter() = x1.getCenter(); + if (!freeRotations) + x2.getOrientation() = x1.getOrientation(); +} + + +template<> +inline void AttachProjectiveConstraint::doProjectVelocity(Deriv& x1, Deriv& x2, bool freeRotations, unsigned index, Real velocityFactor) +{ + SOFA_UNUSED(velocityFactor); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (constraintReleased[index]) + return; + + getVCenter( x2) = getVCenter(x1); + if (!freeRotations) + getVOrientation(x2) = getVOrientation(x1); +} + + +template<> +inline void AttachProjectiveConstraint::doProjectVelocity(Deriv& x1, Deriv& x2, bool freeRotations, unsigned index, Real velocityFactor) +{ + SOFA_UNUSED(velocityFactor); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (constraintReleased[index]) return; + + getVCenter(x2) = getVCenter(x1); + if (!freeRotations) + getVOrientation(x2) = getVOrientation(x1); +} + +template<> +inline void AttachProjectiveConstraint::doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor) +{ + SOFA_UNUSED(responseFactor); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (constraintReleased[index]) return; + + if (!twoway) + { + if (!freeRotations) + dx2 = Deriv(); + else + getVCenter(dx2).clear(); + } + else + { + if (!freeRotations) + { + dx1 += dx2; + dx2 = dx1; + } + else + { + getVCenter(dx1) += getVCenter(dx2); + getVCenter(dx2) = getVCenter(dx1); + } + } +} + + +template<> +inline void AttachProjectiveConstraint::doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor) +{ + SOFA_UNUSED(responseFactor); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (constraintReleased[index]) return; + + if (!twoway) + { + if (!freeRotations) + dx2 = Deriv(); + else + getVCenter(dx2).clear(); + } + else + { + if (!freeRotations) + { + dx1 += dx2; + dx2 = dx1; + } + else + { + getVCenter(dx1) += getVCenter(dx2); + getVCenter(dx2) = getVCenter(dx1); + } + } +} + +template +inline unsigned int AttachProjectiveConstraint::DerivConstrainedSize(bool freeRotations) +{ + if (std::is_same::value || std::is_same::value) { + if (freeRotations) + return Deriv::spatial_dimensions; + else + return Deriv::total_size; + } + else { + SOFA_UNUSED(freeRotations); + return Deriv::size(); + } +} + +// Could be simplified with default values for mm1 and mm2, but that way we are assured that either both or neither of mm1/mm2 are set. +template +AttachProjectiveConstraint::AttachProjectiveConstraint() + : AttachProjectiveConstraint::AttachProjectiveConstraint(nullptr, nullptr) +{ +} + +template +AttachProjectiveConstraint::AttachProjectiveConstraint(core::behavior::MechanicalState *mm1, core::behavior::MechanicalState *mm2) + : core::behavior::PairInteractionProjectiveConstraintSet(mm1,mm2) + , f_indices1( initData(&f_indices1,"indices1","Indices of the source points on the first model") ) + , f_indices2( initData(&f_indices2,"indices2","Indices of the fixed points on the second model") ) + , f_twoWay( initData(&f_twoWay,false,"twoWay", "true if forces should be projected back from model2 to model1") ) + , f_freeRotations( initData(&f_freeRotations,false,"freeRotations", "true to keep rotations free (only used for Rigid DOFs)") ) + , f_lastFreeRotation( initData(&f_lastFreeRotation,false,"lastFreeRotation", "true to keep rotation of the last attached point free (only used for Rigid DOFs)") ) + , f_restRotations( initData(&f_restRotations,false,"restRotations", "true to use rest rotations local offsets (only used for Rigid DOFs)") ) + , f_lastPos( initData(&f_lastPos,"lastPos", "position at which the attach constraint should become inactive") ) + , f_lastDir( initData(&f_lastDir,"lastDir", "direction from lastPos at which the attach coustraint should become inactive") ) + , f_clamp( initData(&f_clamp, false,"clamp", "true to clamp particles at lastPos instead of freeing them.") ) + , f_minDistance( initData(&f_minDistance, static_cast(-1),"minDistance", "the constraint become inactive if the distance between the points attached is bigger than minDistance.") ) + , d_positionFactor(initData(&d_positionFactor, static_cast(1.0), "positionFactor", "IN: Factor applied to projection of position")) + , d_velocityFactor(initData(&d_velocityFactor, static_cast(1.0), "velocityFactor", "IN: Factor applied to projection of velocity")) + , d_responseFactor(initData(&d_responseFactor, static_cast(1.0), "responseFactor", "IN: Factor applied to projection of force/acceleration")) + , d_constraintFactor( initData(&d_constraintFactor,"constraintFactor","Constraint factor per pair of points constrained. 0 -> the constraint is released. 1 -> the constraint is fully constrained") ) +{ + +} + +template +AttachProjectiveConstraint::~AttachProjectiveConstraint() +{ +} + +template +void AttachProjectiveConstraint::init() +{ + this->core::behavior::PairInteractionProjectiveConstraintSet::init(); + reinit(); +} + +template +void AttachProjectiveConstraint::reinit() +{ + // Check coherency of size between indices vectors 1 and 2 + if(f_indices1.getValue().size() != f_indices2.getValue().size()) + { + msg_warning() << "Size mismatch between indices1 and indices2 (" + << f_indices1.getValue().size() << " != " << f_indices2.getValue().size() << ")."; + } + + // Set to the correct length if dynamic, else check coherency. + if(d_constraintFactor.getValue().size()) + { + helper::ReadAccessor>> constraintFactor = d_constraintFactor; + if(constraintFactor.size() != f_indices2.getValue().size()) + { + msg_warning() << "Size of vector constraintFactor, do not fit number of indices attached (" << constraintFactor.size() << " != " << f_indices2.getValue().size() << ")."; + } + else + { + for (unsigned int j=0; j 1.0) || (constraintFactor[j] < 0.0)) + { + msg_warning() << "Value of vector constraintFactor at indice "< 1.0e-10) { + lastDist.resize(f_indices2.getValue().size()); + } + + if (f_restRotations.getValue()) + calcRestRotations(); + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); +} + +template +void AttachProjectiveConstraint::reinitIfChanged() { + if((f_indices1.getParent() || f_indices2.getParent()) && constraintReleased.size() != f_indices2.getValue().size()) + { + reinit(); + } +} + +template +void AttachProjectiveConstraint::calcRestRotations() +{ +} + +template <> +void AttachProjectiveConstraint::calcRestRotations(); + +template +void AttachProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, core::MultiMatrixDerivId cId) +{ + SOFA_UNUSED(mparams); + SOFA_UNUSED(cId); +} + +template +void AttachProjectiveConstraint::projectPosition(const core::MechanicalParams * mparams, DataVecCoord& res1_d, DataVecCoord& res2_d) +{ + SOFA_UNUSED(mparams); + const SetIndexArray & indices1 = f_indices1.getValue(); + const SetIndexArray & indices2 = f_indices2.getValue(); + const bool freeRotations = f_freeRotations.getValue(); + const bool lastFreeRotation = f_lastFreeRotation.getValue(); + const bool last = (f_lastDir.isSet() && f_lastDir.getValue().norm() > 1.0e-10); + const bool clamp = f_clamp.getValue(); + + VecCoord &res1 = *res1_d.beginEdit(); + VecCoord &res2 = *res2_d.beginEdit(); + + // update active flags + reinitIfChanged(); + + for (unsigned int i=0; i p3d; + DataTypes::get(p3d[0],p3d[1],p3d[2],p); + lastDist[i] = (Real)( (p3d-f_lastPos.getValue())*f_lastDir.getValue()); + if (lastDist[i] > 0.0) + { + if (clamp) + { + msg_info_when(activeFlags[i]) << "AttachProjectiveConstraint: point " + <> positionFactor = d_positionFactor; + for (unsigned int i=0; i=activeFlags.size() || !activeFlags[i+1])), i, positionFactor); + } + else if (clamp) + { + DataTypes::set(p,f_lastPos.getValue()[0],f_lastPos.getValue()[1],f_lastPos.getValue()[2]); + + msg_info() << "AttachProjectiveConstraint: x2["< +void AttachProjectiveConstraint::projectVelocity(const core::MechanicalParams * mparams, DataVecDeriv& res1_d, DataVecDeriv& res2_d) +{ + SOFA_UNUSED(mparams); + VecDeriv &res1 = *res1_d.beginEdit(); + VecDeriv &res2 = *res2_d.beginEdit(); + + const SetIndexArray & indices1 = f_indices1.getValue(); + const SetIndexArray & indices2 = f_indices2.getValue(); + const bool freeRotations = f_freeRotations.getValue(); + const bool lastFreeRotation = f_lastFreeRotation.getValue(); + const bool clamp = f_clamp.getValue(); + + reinitIfChanged(); + helper::ReadAccessor> velocityFactor = d_velocityFactor; + for (unsigned int i=0; i=activeFlags.size() || !activeFlags[i+1])), i, velocityFactor); + } + else if (clamp) + { + msg_info() << "AttachProjectiveConstraint: v2["< +void AttachProjectiveConstraint::projectResponse(const core::MechanicalParams * mparams, DataVecDeriv& res1_d, DataVecDeriv& res2_d) +{ + SOFA_UNUSED(mparams); + VecDeriv &res1 = *res1_d.beginEdit(); + VecDeriv &res2 = *res2_d.beginEdit(); + + const SetIndexArray & indices1 = f_indices1.getValue(); + const SetIndexArray & indices2 = f_indices2.getValue(); + const bool twoway = f_twoWay.getValue(); + const bool freeRotations = f_freeRotations.getValue(); + const bool lastFreeRotation = f_lastFreeRotation.getValue(); + const bool clamp = f_clamp.getValue(); + + reinitIfChanged(); + helper::ReadAccessor> responseFactor = d_responseFactor; + for (unsigned int i=0; i=activeFlags.size() || !activeFlags[i+1])), twoway, i, responseFactor); + + msg_info() << " final r2["< +void AttachProjectiveConstraint::applyConstraint(const core::MechanicalParams * mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if (f_twoWay.getValue()) + return; + + const sofa::core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate2); + if (!r) + return; + + sofa::linearalgebra::BaseMatrix *mat = r.matrix; + const unsigned int offset = r.offset; + + const SetIndexArray & indices = f_indices2.getValue(); + const unsigned int N = Deriv::size(); + const unsigned int NC = DerivConstrainedSize(f_freeRotations.getValue()); + const unsigned int NCLast = DerivConstrainedSize(f_lastFreeRotation.getValue()); + unsigned int i=0; + const bool clamp = f_clamp.getValue(); + + reinitIfChanged(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it, ++i) + { + if (!clamp && i < activeFlags.size() && !activeFlags[i]) + continue; + + msg_info() << "AttachProjectiveConstraint: apply in matrix column/row "<<(*it); + + if (NCLast != NC && (i>=activeFlags.size() || !activeFlags[i+1])) + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(offset + N * (*it) + c); + // Set Fixed Vertex + for (unsigned int c=0; cset(offset + N * (*it) + c, offset + N * (*it) + c, 1.0); + } + else + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(offset + N * (*it) + c); + // Set Fixed Vertex + for (unsigned int c=0; cset(offset + N * (*it) + c, offset + N * (*it) + c, 1.0); + } + } +} + + +template +void AttachProjectiveConstraint::applyConstraint(const core::MechanicalParams * mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if (f_twoWay.getValue()) + return; + + const int o = matrix->getGlobalOffset(this->mstate2); + if (o < 0) + return; + + unsigned int offset = (unsigned int)o; + + msg_info() << "applyConstraint in Vector with offset = " << offset ; + + const SetIndexArray & indices = f_indices2.getValue(); + const unsigned int N = Deriv::size(); + const unsigned int NC = DerivConstrainedSize(f_freeRotations.getValue()); + const unsigned int NCLast = DerivConstrainedSize(f_lastFreeRotation.getValue()); + unsigned int i = 0; + const bool clamp = f_clamp.getValue(); + + reinitIfChanged(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it, ++i) + { + if (!clamp && i < activeFlags.size() && !activeFlags[i]) + continue; + + if (NCLast != NC && (i>=activeFlags.size() || !activeFlags[i+1])) + { + for (unsigned int c=0; cclear(offset + N * (*it) + c); + } + else + { + for (unsigned int c=0; cclear(offset + N * (*it) + c); + } + } +} + +template +const typename DataTypes::Real AttachProjectiveConstraint::getConstraintFactor(const int index) { + return d_constraintFactor.getValue().size() ? d_constraintFactor.getValue()[index] : 1; +} + +template +void AttachProjectiveConstraint::doProjectPosition(Coord& x1, Coord& x2, bool freeRotations, unsigned index, Real positionFactor) +{ + SOFA_UNUSED(freeRotations); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (f_minDistance.getValue() != -1 && + (x2 - x1).norm() > f_minDistance.getValue()) + { + constraintReleased[index] = true; + return; + } + constraintReleased[index] = false; + + Deriv corr = (x2-x1)*(0.5*positionFactor*getConstraintFactor(index)); + + x1 += corr; + x2 -= corr; +} + +template +void AttachProjectiveConstraint::doProjectVelocity(Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor) +{ + SOFA_UNUSED(freeRotations); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (constraintReleased[index]) return; + + Deriv corr = (x2-x1)*(0.5*velocityFactor*getConstraintFactor(index)); + + x1 += corr; + x2 -= corr; +} + +template +void AttachProjectiveConstraint::doProjectResponse(Deriv& dx1, Deriv& dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor) +{ + SOFA_UNUSED(freeRotations); + // do nothing if distance between x2 & x1 is bigger than f_minDistance + if (constraintReleased[index]) return; + + if (!twoway) + { + dx2 = Deriv(); + } + else + { + Deriv corr = (dx2-dx1)*0.5*responseFactor*getConstraintFactor(index); + dx1 += corr; + dx2 -= corr; + } +} + + +template +void AttachProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) + return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->disableLighting(); + + const SetIndexArray & indices1 = f_indices1.getValue(); + const SetIndexArray & indices2 = f_indices2.getValue(); + const VecCoord& x1 = this->mstate1->read(core::ConstVecCoordId::position())->getValue(); + const VecCoord& x2 = this->mstate2->read(core::ConstVecCoordId::position())->getValue(); + + constexpr sofa::type::RGBAColor color1(1,0.5,0.5,1); + std::vector vertices; + + for (unsigned int i=0; i i && !activeFlags[i]) + continue; + vertices.push_back(sofa::type::Vec3(x2[indices2[i]][0],x2[indices2[i]][1],x2[indices2[i]][2])); + } + vparams->drawTool()->drawPoints(vertices,10,color1); + vertices.clear(); + + constexpr sofa::type::RGBAColor color2(1,0.5,0.5,1); + for (unsigned int i=0; i i && !activeFlags[i]) + continue; + vertices.push_back(sofa::type::Vec3(x1[indices1[i]][0],x1[indices1[i]][1],x1[indices1[i]][2])); + vertices.push_back(sofa::type::Vec3(x2[indices2[i]][0],x2[indices2[i]][1],x2[indices2[i]][2])); + } + vparams->drawTool()->drawLines(vertices,1,color2); + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp similarity index 76% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp index 9d956a1949df..2d0a68442dd2 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectDirectionConstraint_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_DirectionProjectiveConstraint_CPP +#include #include #include @@ -32,14 +32,13 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int ProjectDirectionConstraintClass = core::RegisterObject("Attach given particles to their initial positions") - .add< ProjectDirectionConstraint >() - .add< ProjectDirectionConstraint >() - +int DirectionProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions") + .add< DirectionProjectiveConstraint >() + .add< DirectionProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectDirectionConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectDirectionConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h new file mode 100644 index 000000000000..29c85fc63e00 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h @@ -0,0 +1,133 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +//#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class DirectionProjectiveConstraintInternalData +{ + +}; + +/** Project particles to an affine straight line going through the particle original position. +*/ +template +class DirectionProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(DirectionProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::CPos CPos; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector Indices; + SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); + typedef sofa::core::topology::TopologySubsetIndices IndexSubsetData; + typedef linearalgebra::EigenBaseSparseMatrix BaseSparseMatrix; + typedef linearalgebra::EigenSparseMatrix SparseMatrix; + typedef typename SparseMatrix::Block Block; ///< projection matrix of a particle displacement to the plane + enum {bsize=SparseMatrix::Nin}; ///< size of a block + + +protected: + DirectionProjectiveConstraint(); + + virtual ~DirectionProjectiveConstraint(); + +public: + IndexSubsetData f_indices; ///< the particles to project + Data f_drawSize; ///< The size of the square used to display the constrained particles + Data f_direction; ///< The direction of the line. Will be normalized by init() + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + DirectionProjectiveConstraintInternalData* data; + friend class DirectionProjectiveConstraintInternalData; + + type::vector m_origin; + + +public: + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + // -- Constraint interface + void init() override; + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet). + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + + void draw(const core::visual::VisualParams* vparams) override; + +protected : + + SparseMatrix jacobian; ///< projection matrix in local state + SparseMatrix J; ///< auxiliary variable +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_DirectionProjectiveConstraint_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API DirectionProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl new file mode 100644 index 000000000000..77d50d831467 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl @@ -0,0 +1,277 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +template +DirectionProjectiveConstraint::DirectionProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) + , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) + , f_direction( initData(&f_direction,CPos(),"direction","Direction of the line")) + , l_topology(initLink("topology", "link to the topology container")) + , data(new DirectionProjectiveConstraintInternalData()) +{ + f_indices.beginEdit()->push_back(0); + f_indices.endEdit(); +} + + +template +DirectionProjectiveConstraint::~DirectionProjectiveConstraint() +{ + delete data; +} + +template +void DirectionProjectiveConstraint::clearConstraints() +{ + f_indices.beginEdit()->clear(); + f_indices.endEdit(); +} + +template +void DirectionProjectiveConstraint::addConstraint(Index index) +{ + f_indices.beginEdit()->push_back(index); + f_indices.endEdit(); +} + +template +void DirectionProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*f_indices.beginEdit(),index); + f_indices.endEdit(); +} + +// -- Constraint interface + + +template +void DirectionProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + f_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + const Indices & indices = f_indices.getValue(); + + const Index maxIndex=this->mstate->getSize(); + for (unsigned int i=0; i= maxIndex) + { + msg_error() << "Index " << index << " not valid!"; + removeConstraint(index); + } + } + + reinit(); +} + +template +void DirectionProjectiveConstraint::reinit() +{ + // normalize the normal vector + CPos n = f_direction.getValue(); + if( n.norm()==0 ) + n[1]=0; + else n *= 1/n.norm(); + f_direction.setValue(n); + + // create the matrix blocks corresponding to the projection to the line: nn^t or to the identity + Block bProjection; + for(unsigned i=0; imstate->getSize(); + const unsigned blockSize = DataTypes::deriv_total_size; + jacobian.resize( numBlocks*blockSize,numBlocks*blockSize ); + + // fill the jacobian in ascending order + Indices::const_iterator it = tmp.begin(); + unsigned i = 0; + while( i < numBlocks ) + { + if( it != tmp.end() && i==*it ) // constrained particle: set diagonal to projection block, and the cursor to the next constraint + { + jacobian.insertBackBlock(i,i,bProjection); + ++it; + } + else // unconstrained particle: set diagonal to identity block + { + jacobian.insertBackBlock(i,i,Block::Identity()); + } + i++; + } + jacobian.compress(); + + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + const Indices &indices = f_indices.getValue(); + for (const auto id : indices) + { + m_origin.push_back(DataTypes::getCPos(x[id])); + } + +} + +template +void DirectionProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state + BaseSparseMatrix* E = dynamic_cast(M); + assert(E); + E->compressedMatrix = J.compressedMatrix * E->compressedMatrix * J.compressedMatrix; +} + + + +template +void DirectionProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res ( resData ); + jacobian.mult(res.wref(),res.ref()); +} + +template +void DirectionProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/ , DataMatrixDeriv& /*cData*/) +{ + msg_error() << "projectJacobianMatrix(const core::MechanicalParams*, DataMatrixDeriv& ) is not implemented"; +} + +template +void DirectionProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + projectResponse(mparams,vData); +} + +template +void DirectionProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/ , DataVecCoord& xData) +{ + VecCoord& x = *xData.beginEdit(); + + const CPos& n = f_direction.getValue(); + + const Indices& indices = f_indices.getValue(); + for(unsigned i=0; i +void DirectionProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + msg_error() << "applyConstraint is not implemented"; +} + +template +void DirectionProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + dmsg_error() << "DirectionProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented"; +} + + + + +template +void DirectionProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) return; + if (!this->isActive()) return; + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + const Indices & indices = f_indices.getValue(); + + if( f_drawSize.getValue() == 0) // old classical drawing by points + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + for (unsigned int index : indices) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); + } + else // new drawing by spheres + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + for (unsigned int index : indices) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + vparams->drawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); + } + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.h index 7c83fb40cb89..1ddf32be8940 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.h @@ -20,119 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class FixedConstraintInternalData -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedProjectiveConstraint.h") -}; - - -/** Maintain a constant velocity. - * If the particle is initially fixed then it is attached to its initial position. - * Otherwise it keeps on drifting. - * For maintaining particles fixed in any case, @sa ProjectToPointConstraint -*/ -template -class FixedConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(FixedConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - typedef sofa::core::topology::Point Point; - - SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vec3, sofa::type::Vec3); -protected: - FixedConstraint(); - - virtual ~FixedConstraint(); - -public: - SetIndex d_indices; - Data d_fixAll; ///< filter all the DOF to implement a fixed object - Data d_showObject; ///< draw or not the fixed constraints - Data d_drawSize; ///< 0 -> point based rendering, >0 -> radius of spheres - Data d_projectVelocity; ///< activate project velocity to set velocity to zero - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; -protected: - FixedConstraintInternalData* data; - friend class FixedConstraintInternalData; - - -public: - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - // -- Constraint interface - void init() override; - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - /** Project the given matrix (Experimental API). - See doc in base parent class - */ - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; - - void draw(const core::visual::VisualParams* vparams) override; - - bool fixAllDOFs() const { return d_fixAll.getValue(); } - -protected : - /// Function check values of given indices - void checkIndices(); - -}; - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using FixedConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "FixedConstraint has been renamed to FixedProjectiveConstraint") = FixedProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.inl index 23fcc61269d3..4244fcd3b943 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.inl @@ -21,406 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include +#include -using sofa::core::objectmodel::ComponentState; - - -namespace sofa::component::constraint::projective -{ - -template -FixedConstraint::FixedConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , d_indices( initData(&d_indices,"indices","Indices of the fixed points") ) - , d_fixAll( initData(&d_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") ) - , d_showObject(initData(&d_showObject,true,"showObject","draw or not the fixed constraints")) - , d_drawSize( initData(&d_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) - , d_projectVelocity( initData(&d_projectVelocity,false,"activate_projectVelocity","activate project velocity to set velocity") ) - , l_topology(initLink("topology", "link to the topology container")) - , data(new FixedConstraintInternalData()) -{ - // default to indice 0 - d_indices.beginEdit()->push_back(0); - d_indices.endEdit(); - - this->addUpdateCallback("updateIndices", { &d_indices}, [this](const core::DataTracker& t) - { - SOFA_UNUSED(t); - checkIndices(); - return sofa::core::objectmodel::ComponentState::Valid; - }, {}); -} - - -template -FixedConstraint::~FixedConstraint() -{ - delete data; -} - -template -void FixedConstraint::clearConstraints() -{ - d_indices.beginEdit()->clear(); - d_indices.endEdit(); -} - -template -void FixedConstraint::addConstraint(Index index) -{ - d_indices.beginEdit()->push_back(index); - d_indices.endEdit(); -} - -template -void FixedConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*d_indices.beginEdit(),index); - d_indices.endEdit(); -} - -// -- Constraint interface - - -template -void FixedConstraint::init() -{ - this->d_componentState.setValue(ComponentState::Invalid); - this->core::behavior::ProjectiveConstraintSet::init(); - - if (!this->mstate.get()) - { - msg_warning() << "Missing mstate, cannot initialize the component."; - return; - } - - 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_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "Can not find the topology, won't be able to handle topological changes"; - } - - this->checkIndices(); - this->d_componentState.setValue(ComponentState::Valid); -} - -template -void FixedConstraint::reinit() -{ - this->checkIndices(); -} - -template -void FixedConstraint::checkIndices() -{ - // Check value of given indices - Index maxIndex=this->mstate->getSize(); - - const SetIndexArray & indices = d_indices.getValue(); - SetIndexArray invalidIndices; - for (unsigned int i=0; i= maxIndex) - { - msg_warning() << "Index " << index << " not valid, should be [0,"<< maxIndex <<"]. Constraint will be removed."; - invalidIndices.push_back(index); - } - } - - // if invalid indices, sort them and remove in decreasing order as removeConstraint perform a swap and pop_back. - if (!invalidIndices.empty()) - { - std::sort( invalidIndices.begin(), invalidIndices.end(), std::greater() ); - const int max = invalidIndices.size()-1; - for (int i=max; i>= 0; i--) - { - removeConstraint(invalidIndices[i]); - } - } -} - -template -void FixedConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - static const unsigned blockSize = DataTypes::deriv_total_size; - - if( d_fixAll.getValue() ) - { - const unsigned size = this->mstate->getSize(); - for( unsigned i=0; iclearRowsCols( offset + i * blockSize, offset + (i+1) * (blockSize) ); - } - } - else - { - // clears the rows and columns associated with fixed particles - for (const auto id : d_indices.getValue()) - { - M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); - } - } -} - - -template -void FixedConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res (resData ); - const SetIndexArray & indices = d_indices.getValue(); - - if( d_fixAll.getValue() ) - { - // fix everything - typename VecDeriv::iterator it; - for( it = res.begin(); it != res.end(); ++it ) - { - *it = Deriv(); - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - res[*it] = Deriv(); - } - } -} - -template -void FixedConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor c (cData ); - - if( d_fixAll.getValue() ) - { - // fix everything - c->clear(); - } - else - { - const SetIndexArray& indices = d_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - c->clearColBlock(*it); - } - } -} - -// projectVelocity applies the same changes on velocity vector as projectResponse on position vector : -// Each fixed point received a null velocity vector. -// When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull. -// But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null or -// to set the projectVelocity option to True. If not, the fixed point is going to drift. -template -void FixedConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - SOFA_UNUSED(mparams); - - if(!d_projectVelocity.getValue()) return; - - helper::WriteAccessor res (vData ); - - if ( d_fixAll.getValue() ) // fix everyting - { - for(Size i=0; id_indices.getValue(); - for(Index ind : indices) - { - res[ind] = Deriv(); - } - } -} - - -template -void FixedConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& /*xData*/) -{ - -} - -// Matrix Integration interface -template -void FixedConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) - { - const unsigned int N = Deriv::size(); - - if( d_fixAll.getValue() ) - { - const unsigned size = this->mstate->getSize(); - for(unsigned int i=0; iclearRowCol(r.offset + N * i + c); - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * i + c, r.offset + N * i + c, 1.0); - } - } - else - { - const SetIndexArray & indices = d_indices.getValue(); - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); - } - } - } -} - -template -void FixedConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const int o = matrix->getGlobalOffset(this->mstate.get()); - if (o >= 0) - { - const unsigned int offset = (unsigned int)o; - const unsigned int N = Deriv::size(); - - if( d_fixAll.getValue() ) - { - for(sofa::Size i=0; i < (sofa::Size) vect->size(); i++ ) - { - for (unsigned int c=0; cclear(offset + N * i + c); - } - } - else - { - const SetIndexArray & indices = d_indices.getValue(); - for (const auto & index : indices) - { - for (unsigned int c=0; cclear(offset + N * index + c); - } - } - } -} - -template -void FixedConstraint::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) -{ - static constexpr unsigned int N = Deriv::size(); - - if( d_fixAll.getValue() ) - { - const sofa::Size size = this->mstate->getMatrixSize(); - for(sofa::Index i = 0; i < size; ++i) - { - matrix->discardRowCol(i, i); - } - } - else - { - const SetIndexArray & indices = d_indices.getValue(); - - for (const auto index : indices) - { - for (unsigned int c = 0; c < N; ++c) - { - matrix->discardRowCol(N * index + c, N * index + c); - } - } - } -} - -template -void FixedConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (this->d_componentState.getValue() != ComponentState::Valid) return; - if (!vparams->displayFlags().getShowBehaviorModels()) return; - if (!d_showObject.getValue()) return; - if (!this->isActive()) return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - const SetIndexArray & indices = d_indices.getValue(); - - if( d_drawSize.getValue() == 0) // old classical drawing by points - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - - if (d_fixAll.getValue()) - { - for (unsigned i = 0; i < x.size(); i++) - { - point = DataTypes::getCPos(x[i]); - points.push_back(point); - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - point = DataTypes::getCPos(x[*it]); - points.push_back(point); - } - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); - } - else // new drawing by spheres - { - vparams->drawTool()->setLightingEnabled(true); - - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - if( d_fixAll.getValue()==true ) - for (unsigned i=0; idrawTool()->drawSpheres(points, (float)d_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); - } - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.h index d6b7e177dd06..8848ba55069e 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.h @@ -20,117 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include +#include -#include -#include -#include -#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h") namespace sofa::component::constraint::projective { - -using sofa::linearalgebra::BaseVector; -using sofa::core::MechanicalParams; -using sofa::core::visual::VisualParams; -using sofa::core::topology::BaseMeshTopology; -using sofa::core::behavior::MultiMatrixAccessor; -using sofa::core::behavior::ProjectiveConstraintSet; - -/// This class can be overriden if needed for additionnal storage within template specilizations. -template -class FixedPlaneConstraintInternalData -{ -}; - -template -class FixedPlaneConstraint : public ProjectiveConstraintSet -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(FixedPlaneConstraint,DataTypes), - SOFA_TEMPLATE(ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename Coord::value_type Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef core::topology::TopologySubsetIndices SetIndex; -public: - Data d_direction; ///< direction on which the constraint applied - Data d_dmin; ///< coordinates min of the plane for the vertex selection - Data d_dmax; ///< coordinates max of the plane for the vertex selection - SetIndex d_indices; ///< the set of vertex indices - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - - - /// inherited from the BaseObject interface - void init() override; - void draw(const VisualParams* vparams) override; - - /// -- Constraint interface - void projectResponse(const MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const MechanicalParams* mparams, DataVecCoord& xData) override; - - /// Implement projectMatrix for assembled solver of compliant - void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset) override; - void projectJacobianMatrix(const MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - /// Implement applyConstraint for direct solvers - void applyConstraint(const MechanicalParams* mparams, - const MultiMatrixAccessor* matrix) override; - - void applyConstraint(const MechanicalParams* mparams, BaseVector* vect, - const MultiMatrixAccessor* matrix) override; - - void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; - - void setDirection (Coord dir); - void selectVerticesAlongPlane(); - void setDminAndDmax(const Real _dmin,const Real _dmax); - - void addConstraint(Index index); - void removeConstraint(Index index); - -protected: - FixedPlaneConstraint(); - ~FixedPlaneConstraint(); - - FixedPlaneConstraintInternalData data; - friend class FixedPlaneConstraintInternalData; - - /// whether vertices should be selected from 2 parallel planes - bool m_selectVerticesFromPlanes {false}; - - ////////////////////////// Inherited attributes //////////////////////////// - /// https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html - /// Bring inherited attributes and function in the current lookup context. - /// otherwise any access to the base::attribute would require - /// the "this->" approach. - using ProjectiveConstraintSet::mstate; - using ProjectiveConstraintSet::getContext; - - bool isPointInPlane(const Coord& p) const ; -}; - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPLANECONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using FixedPlaneConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "FixedPlaneConstraint has been renamed to FixedPlaneProjectiveConstraint") = FixedPlaneProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.inl index 9c8dad30165d..34acfcbe0229 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.inl @@ -21,297 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -using sofa::helper::WriteAccessor; -using sofa::type::Vec; - -/////////////////////////// DEFINITION OF FixedPlaneConstraint ///////////////////////////////////// -template -FixedPlaneConstraint::FixedPlaneConstraint() - : d_direction( initData(&d_direction,"direction","normal direction of the plane")) - , d_dmin( initData(&d_dmin,(Real)0,"dmin","Minimum plane distance from the origin")) - , d_dmax( initData(&d_dmax,(Real)0,"dmax","Maximum plane distance from the origin") ) - , d_indices( initData(&d_indices,"indices","Indices of the fixed points")) - , l_topology(initLink("topology", "link to the topology container")) -{ - m_selectVerticesFromPlanes=false; -} - -template -FixedPlaneConstraint::~FixedPlaneConstraint() -{ - -} - -/// Matrix Integration interface -template -void FixedPlaneConstraint::applyConstraint(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if(const MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(mstate.get())) - { - /// Implement plane constraint only when the direction is along the coordinates directions - // TODO : generalize projection to any direction - - const unsigned int N = Deriv::size(); - Coord dir=d_direction.getValue(); - for (auto& index : d_indices.getValue()) - { - /// Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(r.offset + N * index + c); - /// Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * index + c, r.offset + N * index + c, 1.0); - } - } -} - -template -void FixedPlaneConstraint::applyConstraint(const MechanicalParams* mparams, - BaseVector* vect, - const MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const int o = matrix->getGlobalOffset(mstate.get()); - if (o >= 0) - { - const unsigned int offset = (unsigned int)o; - /// Implement plane constraint only when the direction is along the coordinates directions - // TODO : generalize projection to any direction - Coord dir=d_direction.getValue(); - - const unsigned int N = Deriv::size(); - - for (auto& index : d_indices.getValue()) - { - for (unsigned int c=0; cclear(offset + N * index + c); - } - } -} - -template -void FixedPlaneConstraint::applyConstraint( - sofa::core::behavior::ZeroDirichletCondition* matrix) -{ - static constexpr unsigned int N = Deriv::size(); - const Coord dir = d_direction.getValue(); - for (auto& index : d_indices.getValue()) - { - for (unsigned int c=0; cdiscardRowCol(N * index + c, N * index + c); - } - } - } -} - -template -void FixedPlaneConstraint::addConstraint(Index index) -{ - d_indices.beginEdit()->push_back(index); - d_indices.endEdit(); -} - -template -void FixedPlaneConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*d_indices.beginEdit(),(unsigned int)index); - d_indices.endEdit(); -} - - -/// This function are there to provide kind of type translation to the vector one so we can -/// implement the algorithm as is the different objects where of similar type. -/// this solution is not really satisfactory but for the moment it does the job. -/// A better solution would that all the used types are following the same interface which -/// requires to touch core sofa classes. -sofa::type::Vec3d& getVec(sofa::defaulttype::Rigid3dTypes::Deriv& i) { return i.getVCenter(); } -sofa::type::Vec3d& getVec(sofa::defaulttype::Rigid3dTypes::Coord& i) { return i.getCenter(); } -const sofa::type::Vec3d& getVec(const sofa::defaulttype::Rigid3dTypes::Deriv& i) { return i.getVCenter(); } -const sofa::type::Vec3d& getVec(const sofa::defaulttype::Rigid3dTypes::Coord& i) { return i.getCenter(); } -sofa::type::Vec3d& getVec(sofa::defaulttype::Vec3dTypes::Deriv& i) { return i; } -const sofa::type::Vec3d& getVec(const sofa::defaulttype::Vec3dTypes::Deriv& i) { return i; } -sofa::type::Vec6d& getVec(sofa::defaulttype::Vec6dTypes::Deriv& i) { return i; } -const sofa::type::Vec6d& getVec(const sofa::defaulttype::Vec6dTypes::Deriv& i) { return i; } - -sofa::type::Vec3f& getVec(sofa::defaulttype::Rigid3fTypes::Deriv& i) { return i.getVCenter(); } -sofa::type::Vec3f& getVec(sofa::defaulttype::Rigid3fTypes::Coord& i) { return i.getCenter(); } -const sofa::type::Vec3f& getVec(const sofa::defaulttype::Rigid3fTypes::Deriv& i) { return i.getVCenter(); } -const sofa::type::Vec3f& getVec(const sofa::defaulttype::Rigid3fTypes::Coord& i) { return i.getCenter(); } -sofa::type::Vec3f& getVec(sofa::defaulttype::Vec3fTypes::Deriv& i) { return i; } -const sofa::type::Vec3f& getVec(const sofa::defaulttype::Vec3fTypes::Deriv& i) { return i; } -sofa::type::Vec6f& getVec(sofa::defaulttype::Vec6fTypes::Deriv& i) { return i; } -const sofa::type::Vec6f& getVec(const sofa::defaulttype::Vec6fTypes::Deriv& i) { return i; } - -template -void FixedPlaneConstraint::projectResponse(const MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - WriteAccessor res = resData; - - const auto& indices = d_indices.getValue(); - const auto& dir = getVec(d_direction.getValue()); - auto& dx = res.wref(); - for (const auto& i : indices) - { - /// only constraint one projection of the displacement to be zero - auto val = getVec(dx[i]); - val = val - (dir * dot(val, dir)); - DataTypes::setDPos(dx[i], val); - } -} - -/// project dx to constrained space (dx models a velocity) -template -void FixedPlaneConstraint::projectVelocity(const MechanicalParams* /*mparams*/, DataVecDeriv& /*vData*/) -{ - -} - -/// project x to constrained space (x models a position) -template -void FixedPlaneConstraint::projectPosition(const MechanicalParams* /*mparams*/, DataVecCoord& /*xData*/) -{ - -} - -template -void FixedPlaneConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ ) -{ - /// clears the rows and columns associated with constrained particles - const unsigned blockSize = DataTypes::deriv_total_size; - - for(auto& index : d_indices.getValue()) - { - M->clearRowsCols((index) * blockSize,(index+1) * (blockSize) ); - } -} - -template -void FixedPlaneConstraint::projectJacobianMatrix(const MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - WriteAccessor c = cData; - - const auto& indices = d_indices.getValue(); - const auto& dir = getVec(d_direction.getValue()); - auto& dx = c.wref(); - - auto itRow = dx.begin(); - auto itRowEnd = dx.end(); - while (itRow != itRowEnd) - { - for (auto colIt = itRow.begin(); colIt != itRow.end(); colIt++) - { - if (std::find(indices.begin(), indices.end(), colIt.index()) != indices.end()) - { - auto val = getVec(colIt.val()); - Deriv r(type::NOINIT); - DataTypes::setDPos(r, -(dir * dot(val, dir))); - dx.writeLine(itRow.index()).addCol(colIt.index(), r); - } - } - } -} - -template -void FixedPlaneConstraint::setDirection(Coord dir) -{ - if (dir.norm2()>0) - { - d_direction.setValue(dir); - } -} - -template -void FixedPlaneConstraint::selectVerticesAlongPlane() -{ - const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue(); - for(unsigned int i=0; i -void FixedPlaneConstraint::init() -{ - ProjectiveConstraintSet::init(); - - 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_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - /// test that dmin or dmax are different from zero - if (d_dmin.getValue()!=d_dmax.getValue()) - m_selectVerticesFromPlanes=true; - - if (m_selectVerticesFromPlanes) - selectVerticesAlongPlane(); -} - -template -void FixedPlaneConstraint::setDminAndDmax(const Real _dmin,const Real _dmax) -{ - d_dmin=_dmin; - d_dmax=_dmax; - m_selectVerticesFromPlanes=true; -} - -template -void FixedPlaneConstraint::draw(const VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) return; - const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue(); - vparams->drawTool()->disableLighting(); - - type::vector points; - for(auto& index : d_indices.getValue()) - { - points.push_back({x[index][0], x[index][1], x[index][2]}); - } - - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor{1,1.0,0.5,1}); -} - -template -bool FixedPlaneConstraint::isPointInPlane(const Coord& p) const -{ - const Real d = getVec(p) * getVec(d_direction.getValue()); - return d > d_dmin.getValue() && d < d_dmax.getValue(); -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp similarity index 78% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp index 725d791f612f..ab9c9e49cc6b 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPLANECONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPLANEPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -32,15 +32,15 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int FixedPlaneConstraintClass = core::RegisterObject("Project particles on a given plane") - .add< FixedPlaneConstraint >() - .add< FixedPlaneConstraint >() - .add< FixedPlaneConstraint >() +int FixedPlaneProjectiveConstraintClass = core::RegisterObject("Project particles on a given plane") + .add< FixedPlaneProjectiveConstraint >() + .add< FixedPlaneProjectiveConstraint >() + .add< FixedPlaneProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h new file mode 100644 index 000000000000..6885db83f9ea --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.h @@ -0,0 +1,135 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include + +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +using sofa::linearalgebra::BaseVector; +using sofa::core::MechanicalParams; +using sofa::core::visual::VisualParams; +using sofa::core::topology::BaseMeshTopology; +using sofa::core::behavior::MultiMatrixAccessor; +using sofa::core::behavior::ProjectiveConstraintSet; + +/// This class can be overriden if needed for additionnal storage within template specilizations. +template +class FixedPlaneProjectiveConstraintInternalData +{ +}; + +template +class FixedPlaneProjectiveConstraint : public ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(FixedPlaneProjectiveConstraint,DataTypes), + SOFA_TEMPLATE(ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename Coord::value_type Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef core::topology::TopologySubsetIndices SetIndex; +public: + Data d_direction; ///< direction on which the constraint applied + Data d_dmin; ///< coordinates min of the plane for the vertex selection + Data d_dmax; ///< coordinates max of the plane for the vertex selection + SetIndex d_indices; ///< the set of vertex indices + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + + + /// inherited from the BaseObject interface + void init() override; + void draw(const VisualParams* vparams) override; + + /// -- Constraint interface + void projectResponse(const MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const MechanicalParams* mparams, DataVecCoord& xData) override; + + /// Implement projectMatrix for assembled solver of compliant + void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset) override; + void projectJacobianMatrix(const MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + /// Implement applyConstraint for direct solvers + void applyConstraint(const MechanicalParams* mparams, + const MultiMatrixAccessor* matrix) override; + + void applyConstraint(const MechanicalParams* mparams, BaseVector* vect, + const MultiMatrixAccessor* matrix) override; + + void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; + + void setDirection (Coord dir); + void selectVerticesAlongPlane(); + void setDminAndDmax(const Real _dmin,const Real _dmax); + + void addConstraint(Index index); + void removeConstraint(Index index); + +protected: + FixedPlaneProjectiveConstraint(); + ~FixedPlaneProjectiveConstraint(); + + FixedPlaneProjectiveConstraintInternalData data; + friend class FixedPlaneProjectiveConstraintInternalData; + + /// whether vertices should be selected from 2 parallel planes + bool m_selectVerticesFromPlanes {false}; + + ////////////////////////// Inherited attributes //////////////////////////// + /// https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html + /// Bring inherited attributes and function in the current lookup context. + /// otherwise any access to the base::attribute would require + /// the "this->" approach. + using ProjectiveConstraintSet::mstate; + using ProjectiveConstraintSet::getContext; + + bool isPointInPlane(const Coord& p) const ; +}; + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPLANEPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedPlaneProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl new file mode 100644 index 000000000000..49b29b035831 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedPlaneProjectiveConstraint.inl @@ -0,0 +1,317 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +using sofa::helper::WriteAccessor; +using sofa::type::Vec; + +/////////////////////////// DEFINITION OF FixedPlaneProjectiveConstraint ///////////////////////////////////// +template +FixedPlaneProjectiveConstraint::FixedPlaneProjectiveConstraint() + : d_direction( initData(&d_direction,"direction","normal direction of the plane")) + , d_dmin( initData(&d_dmin,(Real)0,"dmin","Minimum plane distance from the origin")) + , d_dmax( initData(&d_dmax,(Real)0,"dmax","Maximum plane distance from the origin") ) + , d_indices( initData(&d_indices,"indices","Indices of the fixed points")) + , l_topology(initLink("topology", "link to the topology container")) +{ + m_selectVerticesFromPlanes=false; +} + +template +FixedPlaneProjectiveConstraint::~FixedPlaneProjectiveConstraint() +{ + +} + +/// Matrix Integration interface +template +void FixedPlaneProjectiveConstraint::applyConstraint(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if(const MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(mstate.get())) + { + /// Implement plane constraint only when the direction is along the coordinates directions + // TODO : generalize projection to any direction + + const unsigned int N = Deriv::size(); + Coord dir=d_direction.getValue(); + for (auto& index : d_indices.getValue()) + { + /// Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(r.offset + N * index + c); + /// Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * index + c, r.offset + N * index + c, 1.0); + } + } +} + +template +void FixedPlaneProjectiveConstraint::applyConstraint(const MechanicalParams* mparams, + BaseVector* vect, + const MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const int o = matrix->getGlobalOffset(mstate.get()); + if (o >= 0) + { + const unsigned int offset = (unsigned int)o; + /// Implement plane constraint only when the direction is along the coordinates directions + // TODO : generalize projection to any direction + Coord dir=d_direction.getValue(); + + const unsigned int N = Deriv::size(); + + for (auto& index : d_indices.getValue()) + { + for (unsigned int c=0; cclear(offset + N * index + c); + } + } +} + +template +void FixedPlaneProjectiveConstraint::applyConstraint( + sofa::core::behavior::ZeroDirichletCondition* matrix) +{ + static constexpr unsigned int N = Deriv::size(); + const Coord dir = d_direction.getValue(); + for (auto& index : d_indices.getValue()) + { + for (unsigned int c=0; cdiscardRowCol(N * index + c, N * index + c); + } + } + } +} + +template +void FixedPlaneProjectiveConstraint::addConstraint(Index index) +{ + d_indices.beginEdit()->push_back(index); + d_indices.endEdit(); +} + +template +void FixedPlaneProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*d_indices.beginEdit(),(unsigned int)index); + d_indices.endEdit(); +} + + +/// This function are there to provide kind of type translation to the vector one so we can +/// implement the algorithm as is the different objects where of similar type. +/// this solution is not really satisfactory but for the moment it does the job. +/// A better solution would that all the used types are following the same interface which +/// requires to touch core sofa classes. +sofa::type::Vec3d& getVec(sofa::defaulttype::Rigid3dTypes::Deriv& i) { return i.getVCenter(); } +sofa::type::Vec3d& getVec(sofa::defaulttype::Rigid3dTypes::Coord& i) { return i.getCenter(); } +const sofa::type::Vec3d& getVec(const sofa::defaulttype::Rigid3dTypes::Deriv& i) { return i.getVCenter(); } +const sofa::type::Vec3d& getVec(const sofa::defaulttype::Rigid3dTypes::Coord& i) { return i.getCenter(); } +sofa::type::Vec3d& getVec(sofa::defaulttype::Vec3dTypes::Deriv& i) { return i; } +const sofa::type::Vec3d& getVec(const sofa::defaulttype::Vec3dTypes::Deriv& i) { return i; } +sofa::type::Vec6d& getVec(sofa::defaulttype::Vec6dTypes::Deriv& i) { return i; } +const sofa::type::Vec6d& getVec(const sofa::defaulttype::Vec6dTypes::Deriv& i) { return i; } + +sofa::type::Vec3f& getVec(sofa::defaulttype::Rigid3fTypes::Deriv& i) { return i.getVCenter(); } +sofa::type::Vec3f& getVec(sofa::defaulttype::Rigid3fTypes::Coord& i) { return i.getCenter(); } +const sofa::type::Vec3f& getVec(const sofa::defaulttype::Rigid3fTypes::Deriv& i) { return i.getVCenter(); } +const sofa::type::Vec3f& getVec(const sofa::defaulttype::Rigid3fTypes::Coord& i) { return i.getCenter(); } +sofa::type::Vec3f& getVec(sofa::defaulttype::Vec3fTypes::Deriv& i) { return i; } +const sofa::type::Vec3f& getVec(const sofa::defaulttype::Vec3fTypes::Deriv& i) { return i; } +sofa::type::Vec6f& getVec(sofa::defaulttype::Vec6fTypes::Deriv& i) { return i; } +const sofa::type::Vec6f& getVec(const sofa::defaulttype::Vec6fTypes::Deriv& i) { return i; } + +template +void FixedPlaneProjectiveConstraint::projectResponse(const MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + WriteAccessor res = resData; + + const auto& indices = d_indices.getValue(); + const auto& dir = getVec(d_direction.getValue()); + auto& dx = res.wref(); + for (const auto& i : indices) + { + /// only constraint one projection of the displacement to be zero + auto val = getVec(dx[i]); + val = val - (dir * dot(val, dir)); + DataTypes::setDPos(dx[i], val); + } +} + +/// project dx to constrained space (dx models a velocity) +template +void FixedPlaneProjectiveConstraint::projectVelocity(const MechanicalParams* /*mparams*/, DataVecDeriv& /*vData*/) +{ + +} + +/// project x to constrained space (x models a position) +template +void FixedPlaneProjectiveConstraint::projectPosition(const MechanicalParams* /*mparams*/, DataVecCoord& /*xData*/) +{ + +} + +template +void FixedPlaneProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned /*offset*/ ) +{ + /// clears the rows and columns associated with constrained particles + const unsigned blockSize = DataTypes::deriv_total_size; + + for(auto& index : d_indices.getValue()) + { + M->clearRowsCols((index) * blockSize,(index+1) * (blockSize) ); + } +} + +template +void FixedPlaneProjectiveConstraint::projectJacobianMatrix(const MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + WriteAccessor c = cData; + + const auto& indices = d_indices.getValue(); + const auto& dir = getVec(d_direction.getValue()); + auto& dx = c.wref(); + + auto itRow = dx.begin(); + auto itRowEnd = dx.end(); + while (itRow != itRowEnd) + { + for (auto colIt = itRow.begin(); colIt != itRow.end(); colIt++) + { + if (std::find(indices.begin(), indices.end(), colIt.index()) != indices.end()) + { + auto val = getVec(colIt.val()); + Deriv r(type::NOINIT); + DataTypes::setDPos(r, -(dir * dot(val, dir))); + dx.writeLine(itRow.index()).addCol(colIt.index(), r); + } + } + } +} + +template +void FixedPlaneProjectiveConstraint::setDirection(Coord dir) +{ + if (dir.norm2()>0) + { + d_direction.setValue(dir); + } +} + +template +void FixedPlaneProjectiveConstraint::selectVerticesAlongPlane() +{ + const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue(); + for(unsigned int i=0; i +void FixedPlaneProjectiveConstraint::init() +{ + ProjectiveConstraintSet::init(); + + 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_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + /// test that dmin or dmax are different from zero + if (d_dmin.getValue()!=d_dmax.getValue()) + m_selectVerticesFromPlanes=true; + + if (m_selectVerticesFromPlanes) + selectVerticesAlongPlane(); +} + +template +void FixedPlaneProjectiveConstraint::setDminAndDmax(const Real _dmin,const Real _dmax) +{ + d_dmin=_dmin; + d_dmax=_dmax; + m_selectVerticesFromPlanes=true; +} + +template +void FixedPlaneProjectiveConstraint::draw(const VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) return; + const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue(); + vparams->drawTool()->disableLighting(); + + type::vector points; + for(auto& index : d_indices.getValue()) + { + points.push_back({x[index][0], x[index][1], x[index][2]}); + } + + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor{1,1.0,0.5,1}); +} + +template +bool FixedPlaneProjectiveConstraint::isPointInPlane(const Coord& p) const +{ + const Real d = getVec(p) * getVec(d_direction.getValue()); + return d > d_dmin.getValue() && d < d_dmax.getValue(); +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp similarity index 73% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp index 42021e2cdbce..c622b3d4724a 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPROJECTIVECONSTRAINT_CPP +#include #include #include @@ -32,37 +32,36 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int FixedConstraintClass = core::RegisterObject("Attach given particles to their initial positions") - .add< FixedConstraint >() - .add< FixedConstraint >() - .add< FixedConstraint >() - .add< FixedConstraint >() - .add< FixedConstraint >() - .add< FixedConstraint >() - +int FixedProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions") + .add< FixedProjectiveConstraint >() + .add< FixedProjectiveConstraint >() + .add< FixedProjectiveConstraint >() + .add< FixedProjectiveConstraint >() + .add< FixedProjectiveConstraint >() + .add< FixedProjectiveConstraint >() ; // methods specilizations declaration template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API -void FixedConstraint::draw(const core::visual::VisualParams* vparams); +void FixedProjectiveConstraint::draw(const core::visual::VisualParams* vparams); template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API -void FixedConstraint::draw(const core::visual::VisualParams* vparams); +void FixedProjectiveConstraint::draw(const core::visual::VisualParams* vparams); -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; // methods specilizations definition template <> -void FixedConstraint::draw(const core::visual::VisualParams* vparams) +void FixedProjectiveConstraint::draw(const core::visual::VisualParams* vparams) { if (this->d_componentState.getValue() != ComponentState::Valid) return; if (!d_showObject.getValue()) return; @@ -104,7 +103,7 @@ void FixedConstraint::draw(const core::visual::VisualParams* vparam } template <> -void FixedConstraint::draw(const core::visual::VisualParams* vparams) +void FixedProjectiveConstraint::draw(const core::visual::VisualParams* vparams) { if (this->d_componentState.getValue() != ComponentState::Valid) return; if (!d_showObject.getValue()) return; diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h new file mode 100644 index 000000000000..d2fad673643c --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h @@ -0,0 +1,137 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class FixedProjectiveConstraintInternalData +{ + +}; + + +/** Maintain a constant velocity. + * If the particle is initially fixed then it is attached to its initial position. + * Otherwise it keeps on drifting. + * For maintaining particles fixed in any case, @sa PointProjectiveConstraint +*/ +template +class FixedProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(FixedProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + typedef sofa::core::topology::Point Point; + + SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vec3, sofa::type::Vec3); +protected: + FixedProjectiveConstraint(); + + virtual ~FixedProjectiveConstraint(); + +public: + SetIndex d_indices; + Data d_fixAll; ///< filter all the DOF to implement a fixed object + Data d_showObject; ///< draw or not the fixed constraints + Data d_drawSize; ///< 0 -> point based rendering, >0 -> radius of spheres + Data d_projectVelocity; ///< activate project velocity to set velocity to zero + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; +protected: + FixedProjectiveConstraintInternalData* data; + friend class FixedProjectiveConstraintInternalData; + + +public: + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + // -- Constraint interface + void init() override; + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + /** Project the given matrix (Experimental API). + See doc in base parent class + */ + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; + + void draw(const core::visual::VisualParams* vparams) override; + + bool fixAllDOFs() const { return d_fixAll.getValue(); } + +protected : + /// Function check values of given indices + void checkIndices(); + +}; + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl new file mode 100644 index 000000000000..78bd3636d2e1 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl @@ -0,0 +1,426 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include + +using sofa::core::objectmodel::ComponentState; + + +namespace sofa::component::constraint::projective +{ + +template +FixedProjectiveConstraint::FixedProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , d_indices( initData(&d_indices,"indices","Indices of the fixed points") ) + , d_fixAll( initData(&d_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") ) + , d_showObject(initData(&d_showObject,true,"showObject","draw or not the fixed constraints")) + , d_drawSize( initData(&d_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) + , d_projectVelocity( initData(&d_projectVelocity,false,"activate_projectVelocity","activate project velocity to set velocity") ) + , l_topology(initLink("topology", "link to the topology container")) + , data(new FixedProjectiveConstraintInternalData()) +{ + // default to indice 0 + d_indices.beginEdit()->push_back(0); + d_indices.endEdit(); + + this->addUpdateCallback("updateIndices", { &d_indices}, [this](const core::DataTracker& t) + { + SOFA_UNUSED(t); + checkIndices(); + return sofa::core::objectmodel::ComponentState::Valid; + }, {}); +} + + +template +FixedProjectiveConstraint::~FixedProjectiveConstraint() +{ + delete data; +} + +template +void FixedProjectiveConstraint::clearConstraints() +{ + d_indices.beginEdit()->clear(); + d_indices.endEdit(); +} + +template +void FixedProjectiveConstraint::addConstraint(Index index) +{ + d_indices.beginEdit()->push_back(index); + d_indices.endEdit(); +} + +template +void FixedProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*d_indices.beginEdit(),index); + d_indices.endEdit(); +} + +// -- Constraint interface + + +template +void FixedProjectiveConstraint::init() +{ + this->d_componentState.setValue(ComponentState::Invalid); + this->core::behavior::ProjectiveConstraintSet::init(); + + if (!this->mstate.get()) + { + msg_warning() << "Missing mstate, cannot initialize the component."; + return; + } + + 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_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "Can not find the topology, won't be able to handle topological changes"; + } + + this->checkIndices(); + this->d_componentState.setValue(ComponentState::Valid); +} + +template +void FixedProjectiveConstraint::reinit() +{ + this->checkIndices(); +} + +template +void FixedProjectiveConstraint::checkIndices() +{ + // Check value of given indices + Index maxIndex=this->mstate->getSize(); + + const SetIndexArray & indices = d_indices.getValue(); + SetIndexArray invalidIndices; + for (unsigned int i=0; i= maxIndex) + { + msg_warning() << "Index " << index << " not valid, should be [0,"<< maxIndex <<"]. Constraint will be removed."; + invalidIndices.push_back(index); + } + } + + // if invalid indices, sort them and remove in decreasing order as removeConstraint perform a swap and pop_back. + if (!invalidIndices.empty()) + { + std::sort( invalidIndices.begin(), invalidIndices.end(), std::greater() ); + const int max = invalidIndices.size()-1; + for (int i=max; i>= 0; i--) + { + removeConstraint(invalidIndices[i]); + } + } +} + +template +void FixedProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + static const unsigned blockSize = DataTypes::deriv_total_size; + + if( d_fixAll.getValue() ) + { + const unsigned size = this->mstate->getSize(); + for( unsigned i=0; iclearRowsCols( offset + i * blockSize, offset + (i+1) * (blockSize) ); + } + } + else + { + // clears the rows and columns associated with fixed particles + for (const auto id : d_indices.getValue()) + { + M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); + } + } +} + + +template +void FixedProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res (resData ); + const SetIndexArray & indices = d_indices.getValue(); + + if( d_fixAll.getValue() ) + { + // fix everything + typename VecDeriv::iterator it; + for( it = res.begin(); it != res.end(); ++it ) + { + *it = Deriv(); + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + res[*it] = Deriv(); + } + } +} + +template +void FixedProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor c (cData ); + + if( d_fixAll.getValue() ) + { + // fix everything + c->clear(); + } + else + { + const SetIndexArray& indices = d_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + c->clearColBlock(*it); + } + } +} + +// projectVelocity applies the same changes on velocity vector as projectResponse on position vector : +// Each fixed point received a null velocity vector. +// When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull. +// But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null or +// to set the projectVelocity option to True. If not, the fixed point is going to drift. +template +void FixedProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + SOFA_UNUSED(mparams); + + if(!d_projectVelocity.getValue()) return; + + helper::WriteAccessor res (vData ); + + if ( d_fixAll.getValue() ) // fix everyting + { + for(Size i=0; id_indices.getValue(); + for(Index ind : indices) + { + res[ind] = Deriv(); + } + } +} + + +template +void FixedProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& /*xData*/) +{ + +} + +// Matrix Integration interface +template +void FixedProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) + { + const unsigned int N = Deriv::size(); + + if( d_fixAll.getValue() ) + { + const unsigned size = this->mstate->getSize(); + for(unsigned int i=0; iclearRowCol(r.offset + N * i + c); + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * i + c, r.offset + N * i + c, 1.0); + } + } + else + { + const SetIndexArray & indices = d_indices.getValue(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); + } + } + } +} + +template +void FixedProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vect, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const int o = matrix->getGlobalOffset(this->mstate.get()); + if (o >= 0) + { + const unsigned int offset = (unsigned int)o; + const unsigned int N = Deriv::size(); + + if( d_fixAll.getValue() ) + { + for(sofa::Size i=0; i < (sofa::Size) vect->size(); i++ ) + { + for (unsigned int c=0; cclear(offset + N * i + c); + } + } + else + { + const SetIndexArray & indices = d_indices.getValue(); + for (const auto & index : indices) + { + for (unsigned int c=0; cclear(offset + N * index + c); + } + } + } +} + +template +void FixedProjectiveConstraint::applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) +{ + static constexpr unsigned int N = Deriv::size(); + + if( d_fixAll.getValue() ) + { + const sofa::Size size = this->mstate->getMatrixSize(); + for(sofa::Index i = 0; i < size; ++i) + { + matrix->discardRowCol(i, i); + } + } + else + { + const SetIndexArray & indices = d_indices.getValue(); + + for (const auto index : indices) + { + for (unsigned int c = 0; c < N; ++c) + { + matrix->discardRowCol(N * index + c, N * index + c); + } + } + } +} + +template +void FixedProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (this->d_componentState.getValue() != ComponentState::Valid) return; + if (!vparams->displayFlags().getShowBehaviorModels()) return; + if (!d_showObject.getValue()) return; + if (!this->isActive()) return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + const SetIndexArray & indices = d_indices.getValue(); + + if( d_drawSize.getValue() == 0) // old classical drawing by points + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + + if (d_fixAll.getValue()) + { + for (unsigned i = 0; i < x.size(); i++) + { + point = DataTypes::getCPos(x[i]); + points.push_back(point); + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + point = DataTypes::getCPos(x[*it]); + points.push_back(point); + } + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); + } + else // new drawing by spheres + { + vparams->drawTool()->setLightingEnabled(true); + + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + if( d_fixAll.getValue()==true ) + for (unsigned i=0; idrawTool()->drawSpheres(points, (float)d_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); + } + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.h index cd66b14734a6..511c63a88d45 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.h @@ -20,61 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h") -/** - * Prevents rotation around X or Y or Z axis - */ -template -class FixedRotationConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(FixedRotationConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::Vec<3,Real> Vec3; - - -protected: - FixedRotationConstraint(); - ~FixedRotationConstraint() override; -public: - void init() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& c) override; - - void draw(const core::visual::VisualParams* vparams) override; - - -protected : - Data< bool > FixedXRotation; ///< Prevent Rotation around X axis - Data< bool > FixedYRotation; ///< Prevent Rotation around Y axis - Data< bool > FixedZRotation; ///< Prevent Rotation around Z axis - type::vector> previousOrientation; -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDROTATIONCONSTRAINT_CPP) -extern template class FixedRotationConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using FixedRotationConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "FixedRotationConstraint has been renamed to FixedRotationProjectiveConstraint") = FixedRotationProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.inl index 0f1a6731a8dc..0ecc0e7851c6 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.inl @@ -21,122 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include +#include - -namespace sofa::component::constraint::projective -{ - - -template -FixedRotationConstraint::FixedRotationConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr), - FixedXRotation( initData( &FixedXRotation, false, "FixedXRotation", "Prevent Rotation around X axis")), - FixedYRotation( initData( &FixedYRotation, false, "FixedYRotation", "Prevent Rotation around Y axis")), - FixedZRotation( initData( &FixedZRotation, false, "FixedZRotation", "Prevent Rotation around Z axis")) -{ -} - - -template -FixedRotationConstraint::~FixedRotationConstraint() -{ -} - - -template -void FixedRotationConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - // Retrieves mechanical state - VecCoord x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - // Stores initial orientation for each vertex - previousOrientation.resize(x.size()); - for (unsigned int i=0; i -void FixedRotationConstraint::projectResponse(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*res*/) -{ - -} - -template -void FixedRotationConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /*res*/) -{ - -} - -template -void FixedRotationConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*dx*/) -{ - -} - -template -void FixedRotationConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - for (unsigned int i = 0; i < x.size(); ++i) - { - // Current orientations - const sofa::type::Quat& Q = x[i].getOrientation(); - // Previous orientations - const sofa::type::Quat& Q_prev = previousOrientation[i]; - - auto project = [](const Vec3 a, const Vec3 b) -> Vec3 { - return (a * b) * b; - }; - auto decompose_ts = [&](const sofa::type::Quat q, const Vec3 twistAxis) { - Vec3 vec3_part(q[0], q[1], q[2]); - Vec3 projected = project(vec3_part, twistAxis); - sofa::type::Quat twist(projected[0], projected[1], projected[2], q[3]); - // Singularity : A perpendicular angle would give you quaternion (0, 0, 0, 0) - if (std::none_of(twist.ptr(), twist.ptr() + 4, [](SReal x) {return x != 0.; })) { - twist = sofa::type::Quat::identity(); - } - twist.normalize(); - sofa::type::Quat swing = q * twist.inverse(); - swing.normalize(); - return std::make_pair(twist, swing); - }; - const Vec3 vx(1, 0, 0), vy(0, 1, 0), vz(0, 0, 1); - - sofa::type::Quat Q_remaining = Q; - sofa::type::Quat Qp_remaining = Q_prev; - sofa::type::Quat to_keep = sofa::type::Quat::identity(); - - auto remove_rotation = [&](const Vec3 axis) { - Q_remaining = decompose_ts(Q_remaining, axis).second; - sofa::type::Quat twist; - std::tie(twist, Qp_remaining) = decompose_ts(Qp_remaining, axis); - to_keep = twist * to_keep; - }; - - if (FixedXRotation.getValue() == true){ - remove_rotation(vx); - } - if (FixedYRotation.getValue() == true){ - remove_rotation(vy); - } - if (FixedZRotation.getValue() == true){ - remove_rotation(vz); - } - x[i].getOrientation() = Q_remaining * to_keep; - } -} - - -template -void FixedRotationConstraint::draw(const core::visual::VisualParams* ) -{ -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedRotationProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp similarity index 82% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp index 3a47b6bbd696..d812af0e473b 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDROTATIONCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDROTATIONPROJECTIVECONSTRAINT_CPP +#include #include #include @@ -31,10 +31,11 @@ namespace sofa::component::constraint::projective using namespace sofa::defaulttype; -int FixedRotationConstraintClass = core::RegisterObject("Prevents rotation around x or/and y or/and z axis") - .add< FixedRotationConstraint >() +int FixedRotationProjectiveConstraintClass = core::RegisterObject("Prevents rotation around x or/and y or/and z axis") + .add< FixedRotationProjectiveConstraint >() + ; -template class FixedRotationConstraint; +template class FixedRotationProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h new file mode 100644 index 000000000000..fa9800c22fe5 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h @@ -0,0 +1,79 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include + +namespace sofa::component::constraint::projective +{ + +/** + * Prevents rotation around X or Y or Z axis + */ +template +class FixedRotationProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(FixedRotationProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::Vec<3,Real> Vec3; + + +protected: + FixedRotationProjectiveConstraint(); + ~FixedRotationProjectiveConstraint() override; +public: + void init() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& c) override; + + void draw(const core::visual::VisualParams* vparams) override; + + +protected : + Data< bool > FixedXRotation; ///< Prevent Rotation around X axis + Data< bool > FixedYRotation; ///< Prevent Rotation around Y axis + Data< bool > FixedZRotation; ///< Prevent Rotation around Z axis + type::vector> previousOrientation; +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDROTATIONPROJECTIVECONSTRAINT_CPP) +extern template class FixedRotationProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.inl new file mode 100644 index 000000000000..d900e468c9cc --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.inl @@ -0,0 +1,142 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + + +template +FixedRotationProjectiveConstraint::FixedRotationProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr), + FixedXRotation( initData( &FixedXRotation, false, "FixedXRotation", "Prevent Rotation around X axis")), + FixedYRotation( initData( &FixedYRotation, false, "FixedYRotation", "Prevent Rotation around Y axis")), + FixedZRotation( initData( &FixedZRotation, false, "FixedZRotation", "Prevent Rotation around Z axis")) +{ +} + + +template +FixedRotationProjectiveConstraint::~FixedRotationProjectiveConstraint() +{ +} + + +template +void FixedRotationProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + // Retrieves mechanical state + VecCoord x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + // Stores initial orientation for each vertex + previousOrientation.resize(x.size()); + for (unsigned int i=0; i +void FixedRotationProjectiveConstraint::projectResponse(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*res*/) +{ + +} + +template +void FixedRotationProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /*res*/) +{ + +} + +template +void FixedRotationProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*dx*/) +{ + +} + +template +void FixedRotationProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + for (unsigned int i = 0; i < x.size(); ++i) + { + // Current orientations + const sofa::type::Quat& Q = x[i].getOrientation(); + // Previous orientations + const sofa::type::Quat& Q_prev = previousOrientation[i]; + + auto project = [](const Vec3 a, const Vec3 b) -> Vec3 { + return (a * b) * b; + }; + auto decompose_ts = [&](const sofa::type::Quat q, const Vec3 twistAxis) { + Vec3 vec3_part(q[0], q[1], q[2]); + Vec3 projected = project(vec3_part, twistAxis); + sofa::type::Quat twist(projected[0], projected[1], projected[2], q[3]); + // Singularity : A perpendicular angle would give you quaternion (0, 0, 0, 0) + if (std::none_of(twist.ptr(), twist.ptr() + 4, [](SReal x) {return x != 0.; })) { + twist = sofa::type::Quat::identity(); + } + twist.normalize(); + sofa::type::Quat swing = q * twist.inverse(); + swing.normalize(); + return std::make_pair(twist, swing); + }; + const Vec3 vx(1, 0, 0), vy(0, 1, 0), vz(0, 0, 1); + + sofa::type::Quat Q_remaining = Q; + sofa::type::Quat Qp_remaining = Q_prev; + sofa::type::Quat to_keep = sofa::type::Quat::identity(); + + auto remove_rotation = [&](const Vec3 axis) { + Q_remaining = decompose_ts(Q_remaining, axis).second; + sofa::type::Quat twist; + std::tie(twist, Qp_remaining) = decompose_ts(Qp_remaining, axis); + to_keep = twist * to_keep; + }; + + if (FixedXRotation.getValue() == true){ + remove_rotation(vx); + } + if (FixedYRotation.getValue() == true){ + remove_rotation(vy); + } + if (FixedZRotation.getValue() == true){ + remove_rotation(vz); + } + x[i].getOrientation() = Q_remaining * to_keep; + } +} + + +template +void FixedRotationProjectiveConstraint::draw(const core::visual::VisualParams* ) +{ +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.h index 29360c586290..47203f733ee4 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.h @@ -20,87 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h") -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class FixedTranslationConstraintInternalData -{ -}; - -/** Attach given particles to their initial positions. -*/ -template -class FixedTranslationConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(FixedTranslationConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; -protected: - FixedTranslationConstraintInternalData data; - friend class FixedTranslationConstraintInternalData; - -public: - SetIndex f_indices; ///< Indices of the fixed points - Data f_fixAll; ///< filter all the DOF to implement a fixed object - Data _drawSize; ///< 0 -> point based rendering, >0 -> radius of spheres - SetIndex f_coordinates; ///< Coordinates of the fixed points - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; -protected: - FixedTranslationConstraint(); - - virtual ~FixedTranslationConstraint(); -public: - // methods to add/remove some indices - void clearIndices(); - void addIndex(Index index); - void removeIndex(Index index); - - // -- Constraint interface - void init() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - - void draw(const core::visual::VisualParams* vparams) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); - -}; - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDTRANSLATIONCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using FixedTranslationConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "FixedTranslationConstraint has been renamed to FixedTranslationProjectiveConstraint") = FixedTranslationProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.inl index 9c734a4b1c42..7b1b96bad549 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.inl @@ -21,188 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template< class DataTypes> -FixedTranslationConstraint::FixedTranslationConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) - , f_fixAll( initData(&f_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") ) - , _drawSize( initData(&_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) - , f_coordinates( initData(&f_coordinates,"coordinates","Coordinates of the fixed points") ) - , l_topology(initLink("topology", "link to the topology container")) -{ - // default to indice 0 - f_indices.beginEdit()->push_back(0); - f_indices.endEdit(); -} - - -template -FixedTranslationConstraint::~FixedTranslationConstraint() -{ - -} - -template -void FixedTranslationConstraint::clearIndices() -{ - f_indices.beginEdit()->clear(); - f_indices.endEdit(); -} - -template -void FixedTranslationConstraint::addIndex(Index index) -{ - f_indices.beginEdit()->push_back(index); - f_indices.endEdit(); -} - -template -void FixedTranslationConstraint::removeIndex(Index index) -{ - sofa::type::removeValue(*f_indices.beginEdit(),index); - f_indices.endEdit(); -} - -// -- Constraint interface -template -void FixedTranslationConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - f_indices.createTopologyHandler(_topology); - f_coordinates.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } -} - - -template -static inline void clearPos(defaulttype::RigidDeriv& v) -{ - getVCenter(v).clear(); -} - -template -static inline void clearPos(type::Vec<6,T>& v) -{ - for (unsigned int i=0; i<3; ++i) - v[i] = 0; -} - -template template -void FixedTranslationConstraint::projectResponseT(DataDeriv& dx, - const std::function& clear) -{ - if (f_fixAll.getValue()) - { - for (std::size_t i = 0; i < dx.size(); i++) - { - clear(dx, i); - } - } - else - { - const SetIndexArray & indices = f_indices.getValue(); - for (const auto index : indices) - { - clear(dx, index); - } - } -} - -template -void FixedTranslationConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(), [](auto& dx, const unsigned int index) {dx[index].clear(); }); -} - -template -void FixedTranslationConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*vData*/) -{ - -} - -template -void FixedTranslationConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& /*xData*/) -{ - -} - -template -void FixedTranslationConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); -} - - -template -void FixedTranslationConstraint::draw(const core::visual::VisualParams* vparams) -{ - const SetIndexArray & indices = f_indices.getValue(); - if (!vparams->displayFlags().getShowBehaviorModels()) - return; - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->disableLighting(); - - std::vector vertices; - constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); - - if (f_fixAll.getValue() == true) - { - for (unsigned i = 0; i < x.size(); i++) - { - sofa::type::Vec3 v; - const typename DataTypes::CPos& cpos = DataTypes::getCPos(x[i]); - for(Size j=0 ; jdrawTool()->drawPoints(vertices, 10, color); - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp similarity index 76% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp index c4acd3e16f11..e65ea931ed2c 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDTRANSLATIONCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDTRANSLATIONPROJECTIVECONSTRAINT_CPP +#include #include #include @@ -31,16 +31,15 @@ namespace sofa::component::constraint::projective using namespace sofa::defaulttype; using namespace sofa::helper; -int FixedTranslationConstraintClass = core::RegisterObject("Attach given rigids to their initial positions but they still can have rotations") - .add< FixedTranslationConstraint >() - .add< FixedTranslationConstraint >() - .add< FixedTranslationConstraint >() +int FixedTranslationProjectiveConstraintClass = core::RegisterObject("Attach given rigids to their initial positions but they still can have rotations") + .add< FixedTranslationProjectiveConstraint >() + .add< FixedTranslationProjectiveConstraint >() + .add< FixedTranslationProjectiveConstraint >() + ; - ; - -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h new file mode 100644 index 000000000000..4290a2c6d137 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h @@ -0,0 +1,105 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class FixedTranslationProjectiveConstraintInternalData +{ +}; + +/** Attach given particles to their initial positions. +*/ +template +class FixedTranslationProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(FixedTranslationProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; +protected: + FixedTranslationProjectiveConstraintInternalData data; + friend class FixedTranslationProjectiveConstraintInternalData; + +public: + SetIndex f_indices; ///< Indices of the fixed points + Data f_fixAll; ///< filter all the DOF to implement a fixed object + Data _drawSize; ///< 0 -> point based rendering, >0 -> radius of spheres + SetIndex f_coordinates; ///< Coordinates of the fixed points + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; +protected: + FixedTranslationProjectiveConstraint(); + + virtual ~FixedTranslationProjectiveConstraint(); +public: + // methods to add/remove some indices + void clearIndices(); + void addIndex(Index index); + void removeIndex(Index index); + + // -- Constraint interface + void init() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + + void draw(const core::visual::VisualParams* vparams) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); + +}; + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDTRANSLATIONPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedTranslationProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.inl new file mode 100644 index 000000000000..d1f7408b8c83 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.inl @@ -0,0 +1,208 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template< class DataTypes> +FixedTranslationProjectiveConstraint::FixedTranslationProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) + , f_fixAll( initData(&f_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") ) + , _drawSize( initData(&_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) + , f_coordinates( initData(&f_coordinates,"coordinates","Coordinates of the fixed points") ) + , l_topology(initLink("topology", "link to the topology container")) +{ + // default to indice 0 + f_indices.beginEdit()->push_back(0); + f_indices.endEdit(); +} + + +template +FixedTranslationProjectiveConstraint::~FixedTranslationProjectiveConstraint() +{ + +} + +template +void FixedTranslationProjectiveConstraint::clearIndices() +{ + f_indices.beginEdit()->clear(); + f_indices.endEdit(); +} + +template +void FixedTranslationProjectiveConstraint::addIndex(Index index) +{ + f_indices.beginEdit()->push_back(index); + f_indices.endEdit(); +} + +template +void FixedTranslationProjectiveConstraint::removeIndex(Index index) +{ + sofa::type::removeValue(*f_indices.beginEdit(),index); + f_indices.endEdit(); +} + +// -- Constraint interface +template +void FixedTranslationProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + f_indices.createTopologyHandler(_topology); + f_coordinates.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } +} + + +template +static inline void clearPos(defaulttype::RigidDeriv& v) +{ + getVCenter(v).clear(); +} + +template +static inline void clearPos(type::Vec<6,T>& v) +{ + for (unsigned int i=0; i<3; ++i) + v[i] = 0; +} + +template template +void FixedTranslationProjectiveConstraint::projectResponseT(DataDeriv& dx, + const std::function& clear) +{ + if (f_fixAll.getValue()) + { + for (std::size_t i = 0; i < dx.size(); i++) + { + clear(dx, i); + } + } + else + { + const SetIndexArray & indices = f_indices.getValue(); + for (const auto index : indices) + { + clear(dx, index); + } + } +} + +template +void FixedTranslationProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(), [](auto& dx, const unsigned int index) {dx[index].clear(); }); +} + +template +void FixedTranslationProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*vData*/) +{ + +} + +template +void FixedTranslationProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& /*xData*/) +{ + +} + +template +void FixedTranslationProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); +} + + +template +void FixedTranslationProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + const SetIndexArray & indices = f_indices.getValue(); + if (!vparams->displayFlags().getShowBehaviorModels()) + return; + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->disableLighting(); + + std::vector vertices; + constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); + + if (f_fixAll.getValue() == true) + { + for (unsigned i = 0; i < x.size(); i++) + { + sofa::type::Vec3 v; + const typename DataTypes::CPos& cpos = DataTypes::getCPos(x[i]); + for(Size j=0 ; jdrawTool()->drawPoints(vertices, 10, color); + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.h index 858a5ab5a6ca..9d2f358ef526 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.h @@ -20,115 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h") -/** - Impose a trajectory to given Dofs following a Hermite cubic spline constraint. - Control parameters are : - - begin and end points - - derivates at this points - - acceleration curve on the trajectory - */ -template -class HermiteSplineConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(HermiteSplineConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename Coord::value_type Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - typedef typename type::Vec<3, Real> Vec3R; - typedef typename type::Vec<2, Real> Vec2R; - typedef typename type::Quat QuatR; - -public: - ///indices of the DOFs constraints - SetIndex m_indices; - - /// the time steps defining the duration of the constraint - Data m_tBegin; - Data m_tEnd; ///< End Time of the motion - - /// control parameters : - /// first control point - Data m_x0; - /// first derivated control point - Data m_dx0; - /// second control point - Data m_x1; - /// second derivated control point - Data m_dx1; - /// acceleration parameters : the accaleration curve is itself a hermite spline, with first point at (0,0) and second at (1,1) - /// and derivated on this points are : - Data m_sx0; - Data m_sx1; ///< second interpolation vector - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - explicit HermiteSplineConstraint(core::behavior::MechanicalState* mstate = nullptr); - - ~HermiteSplineConstraint(); -public: - void clearConstraints(); - void addConstraint(unsigned index ); - - void setBeginTime(const Real &t) {m_tBegin.setValue(t);} - void setEndTime(const Real &t) {m_tEnd.setValue(t);} - - Real getBeginTime() {return m_tBegin.getValue();} - Real getEndTime() {return m_tEnd.getValue();} - - void computeHermiteCoefs( const Real u, Real &H00, Real &H10, Real &H01, Real &H11); - void computeDerivateHermiteCoefs( const Real u, Real &dH00, Real &dH10, Real &dH01, Real &dH11); - - /// -- Constraint interface - void init() override; - void reinit() override; - - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void draw(const core::visual::VisualParams* vparams) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); - -}; - -template <> -void SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineConstraint::init(); - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_HERMITESPLINECONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using HermiteSplineConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "HermiteSplineConstraint has been renamed to HermiteSplineProjectiveConstraint") = HermiteSplineProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.inl index 6fc823bf0c11..6064b9363351 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.inl @@ -21,247 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -HermiteSplineConstraint::HermiteSplineConstraint(core::behavior::MechanicalState* mstate) - : core::behavior::ProjectiveConstraintSet(mstate) - , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) - , m_tBegin(initData(&m_tBegin,"BeginTime","Begin Time of the motion") ) - , m_tEnd(initData(&m_tEnd,"EndTime","End Time of the motion") ) - , m_x0(initData(&m_x0,"X0","first control point") ) - , m_dx0(initData(&m_dx0,"dX0","first control tangente") ) - , m_x1(initData(&m_x1,"X1","second control point") ) - , m_dx1(initData(&m_dx1,"dX1","sceond control tangente") ) - , m_sx0(initData(&m_sx0,"SX0","first interpolation vector") ) - , m_sx1(initData(&m_sx1,"SX1","second interpolation vector") ) - , l_topology(initLink("topology", "link to the topology container")) -{ -} - -template -HermiteSplineConstraint::~HermiteSplineConstraint() -{ -} - -template -void HermiteSplineConstraint::clearConstraints() -{ - m_indices.beginEdit()->clear(); - m_indices.endEdit(); -} - -template -void HermiteSplineConstraint::addConstraint(unsigned index) -{ - m_indices.beginEdit()->push_back(index); - m_indices.endEdit(); -} - - -template -void HermiteSplineConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 functions and parameters for topology data and handler - m_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } -} - -template -void HermiteSplineConstraint::reinit() -{ - init(); -} - - -template -void HermiteSplineConstraint::computeHermiteCoefs( const Real u, Real &H00, Real &H10, Real &H01, Real &H11) -{ - //-- time interpolation --> acceleration is itself computed from hemite - Real u2 = u*u; - Real u3 = u*u*u; - //Real uH00 = 2*u3 -3*u2 +1 ; //hermite coefs - Real uH10 = u3 -2*u2 +u; - Real uH01 = -2*u3 + 3*u2; - Real uH11 = u3 -u2; - Vec2R pu = m_sx0.getValue()*uH10 + Vec2R(1,1)*uH01 + m_sx1.getValue()*uH11; - Real su = pu.y(); - - Real su2 = su*su; - Real su3 = su*su*su; - H00 = 2*su3 -3*su2 +1 ; - H10 = su3 -2*su2 +su; - H01 = -2*su3 + 3*su2; - H11 = su3 -su2; -} - -template -void HermiteSplineConstraint::computeDerivateHermiteCoefs( const Real u, Real &dH00, Real &dH10, Real &dH01, Real &dH11) -{ - //-- time interpolation --> acceleration is itself computed from hemite - Real u2 = u*u; - Real u3 = u*u*u; - Real uH10 = u3 -2*u2 +u; - Real uH01 = -2*u3 + 3*u2; - Real uH11 = u3 -u2; - Vec2R pu = m_sx0.getValue()*uH10 + Vec2R(1,1)*uH01 + m_sx1.getValue()*uH11; - Real su = pu.y(); - - Real su2 = su*su; - dH00 = 6*su2 -6*su ; - dH10 = 3*su2 -4*su +1; - dH01 = -6*su2 + 6*su; - dH11 = 3*su2 -2*su; -} - - -template template -void HermiteSplineConstraint::projectResponseT(DataDeriv& dx, - const std::function& clear) -{ - Real t = (Real) this->getContext()->getTime(); - if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue()) - { - const SetIndexArray & indices = m_indices.getValue(); - for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - clear(dx, *it); - } -} - -template -void HermiteSplineConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(), [](auto& dx, const unsigned int index) {dx[index].clear();}); -} - -template -void HermiteSplineConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - helper::WriteAccessor dx = vData; - Real t = (Real) this->getContext()->getTime(); - - if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) - { - Real DT = m_tEnd.getValue() - m_tBegin.getValue(); - const SetIndexArray & indices = m_indices.getValue(); - - t -= m_tBegin.getValue(); - Real u = t/DT; - - Real dH00, dH10, dH01, dH11; - computeDerivateHermiteCoefs( u, dH00, dH10, dH01, dH11); - - for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - dx[*it] = m_x0.getValue()*dH00 + m_dx0.getValue()*dH10 + m_x1.getValue()*dH01 + m_dx1.getValue()*dH11; - } - } -} - -template -void HermiteSplineConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - Real t = (Real) this->getContext()->getTime(); - - if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) - { - Real DT = m_tEnd.getValue() - m_tBegin.getValue(); - const SetIndexArray & indices = m_indices.getValue(); - - t -= m_tBegin.getValue(); - Real u = t/DT; - - Real H00, H10, H01, H11; - computeHermiteCoefs( u, H00, H10, H01, H11); - - for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it] = m_x0.getValue()*H00 + m_dx0.getValue()*H10 + m_x1.getValue()*H01 + m_dx1.getValue()*H11; - } - } -} - -template -void HermiteSplineConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - - projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); -} - -template -void HermiteSplineConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) return; - - Real dt = (Real) this->getContext()->getDt(); - Real DT = m_tEnd.getValue() - m_tBegin.getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->disableLighting(); - - std::vector vertices; - constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); - - const Vec3R& mx0 = m_x0.getValue(); - const Vec3R& mx1 = m_x0.getValue(); - const Vec3R& mdx0 = m_dx0.getValue(); - const Vec3R& mdx1 = m_dx1.getValue(); - - for (Real t=0.0 ; t< DT ; t+= dt) - { - Real u = t/DT; - - Real H00, H10, H01, H11; - computeHermiteCoefs( u, H00, H10, H01, H11); - - Vec3R p = mx0*H00 + mdx0*H10 + mx1*H01 + mdx1*H11; - - sofa::type::Vec3 v(p[0], p[1],p[2]); - vertices.push_back(v); - } - vparams->drawTool()->drawLineStrip(vertices, 2, color); - - vertices.clear(); - vertices.push_back(sofa::type::Vec3(mx0[0], mx0[1], mx0[2])); - vertices.push_back(sofa::type::Vec3(mx1[0], mx1[1], mx1[2])); - - vparams->drawTool()->drawPoints(vertices, 5.0, sofa::type::RGBAColor::red()); - - //display control tangents - vertices.clear(); - vertices.push_back(mx0); - vertices.push_back(mx0 + mdx0*0.1); - vertices.push_back(mx1); - vertices.push_back(mx1 + mdx1*0.1); - - vparams->drawTool()->drawLines(vertices, 1.0, sofa::type::RGBAColor::red()); - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp similarity index 77% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp index 1d6ec21d8bbf..aa10b586bf7e 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_HERMITESPLINECONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_HERMITESPLINEPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -28,18 +28,18 @@ namespace sofa::component::constraint::projective { -int HermiteSplineConstraintClass = core::RegisterObject("Apply a hermite cubic spline trajectory to given points") - .add< HermiteSplineConstraint >() - .add< HermiteSplineConstraint >() +int HermiteSplineProjectiveConstraintClass = core::RegisterObject("Apply a hermite cubic spline trajectory to given points") + .add< HermiteSplineProjectiveConstraint >() + .add< HermiteSplineProjectiveConstraint >() ; template <> -void HermiteSplineConstraint::init() +void HermiteSplineProjectiveConstraint::init() { this->core::behavior::ProjectiveConstraintSet::init(); } -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h new file mode 100644 index 000000000000..1777e0bda2f4 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h @@ -0,0 +1,134 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/** + Impose a trajectory to given Dofs following a Hermite cubic spline constraint. + Control parameters are : + - begin and end points + - derivates at this points + - acceleration curve on the trajectory + */ +template +class HermiteSplineProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(HermiteSplineProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename Coord::value_type Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + typedef typename type::Vec<3, Real> Vec3R; + typedef typename type::Vec<2, Real> Vec2R; + typedef typename type::Quat QuatR; + +public: + ///indices of the DOFs constraints + SetIndex m_indices; + + /// the time steps defining the duration of the constraint + Data m_tBegin; + Data m_tEnd; ///< End Time of the motion + + /// control parameters : + /// first control point + Data m_x0; + /// first derivated control point + Data m_dx0; + /// second control point + Data m_x1; + /// second derivated control point + Data m_dx1; + /// acceleration parameters : the accaleration curve is itself a hermite spline, with first point at (0,0) and second at (1,1) + /// and derivated on this points are : + Data m_sx0; + Data m_sx1; ///< second interpolation vector + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + explicit HermiteSplineProjectiveConstraint(core::behavior::MechanicalState* mstate = nullptr); + + ~HermiteSplineProjectiveConstraint(); +public: + void clearConstraints(); + void addConstraint(unsigned index ); + + void setBeginTime(const Real &t) {m_tBegin.setValue(t);} + void setEndTime(const Real &t) {m_tEnd.setValue(t);} + + Real getBeginTime() {return m_tBegin.getValue();} + Real getEndTime() {return m_tEnd.getValue();} + + void computeHermiteCoefs( const Real u, Real &H00, Real &H10, Real &H01, Real &H11); + void computeDerivateHermiteCoefs( const Real u, Real &dH00, Real &dH10, Real &dH01, Real &dH11); + + /// -- Constraint interface + void init() override; + void reinit() override; + + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void draw(const core::visual::VisualParams* vparams) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); + +}; + +template <> +void SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineProjectiveConstraint::init(); + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_HERMITESPLINEPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API HermiteSplineProjectiveConstraint; + +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl new file mode 100644 index 000000000000..eeef78151972 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.inl @@ -0,0 +1,267 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +HermiteSplineProjectiveConstraint::HermiteSplineProjectiveConstraint(core::behavior::MechanicalState* mstate) + : core::behavior::ProjectiveConstraintSet(mstate) + , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) + , m_tBegin(initData(&m_tBegin,"BeginTime","Begin Time of the motion") ) + , m_tEnd(initData(&m_tEnd,"EndTime","End Time of the motion") ) + , m_x0(initData(&m_x0,"X0","first control point") ) + , m_dx0(initData(&m_dx0,"dX0","first control tangente") ) + , m_x1(initData(&m_x1,"X1","second control point") ) + , m_dx1(initData(&m_dx1,"dX1","sceond control tangente") ) + , m_sx0(initData(&m_sx0,"SX0","first interpolation vector") ) + , m_sx1(initData(&m_sx1,"SX1","second interpolation vector") ) + , l_topology(initLink("topology", "link to the topology container")) +{ +} + +template +HermiteSplineProjectiveConstraint::~HermiteSplineProjectiveConstraint() +{ +} + +template +void HermiteSplineProjectiveConstraint::clearConstraints() +{ + m_indices.beginEdit()->clear(); + m_indices.endEdit(); +} + +template +void HermiteSplineProjectiveConstraint::addConstraint(unsigned index) +{ + m_indices.beginEdit()->push_back(index); + m_indices.endEdit(); +} + + +template +void HermiteSplineProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 functions and parameters for topology data and handler + m_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } +} + +template +void HermiteSplineProjectiveConstraint::reinit() +{ + init(); +} + + +template +void HermiteSplineProjectiveConstraint::computeHermiteCoefs( const Real u, Real &H00, Real &H10, Real &H01, Real &H11) +{ + //-- time interpolation --> acceleration is itself computed from hemite + Real u2 = u*u; + Real u3 = u*u*u; + //Real uH00 = 2*u3 -3*u2 +1 ; //hermite coefs + Real uH10 = u3 -2*u2 +u; + Real uH01 = -2*u3 + 3*u2; + Real uH11 = u3 -u2; + Vec2R pu = m_sx0.getValue()*uH10 + Vec2R(1,1)*uH01 + m_sx1.getValue()*uH11; + Real su = pu.y(); + + Real su2 = su*su; + Real su3 = su*su*su; + H00 = 2*su3 -3*su2 +1 ; + H10 = su3 -2*su2 +su; + H01 = -2*su3 + 3*su2; + H11 = su3 -su2; +} + +template +void HermiteSplineProjectiveConstraint::computeDerivateHermiteCoefs( const Real u, Real &dH00, Real &dH10, Real &dH01, Real &dH11) +{ + //-- time interpolation --> acceleration is itself computed from hemite + Real u2 = u*u; + Real u3 = u*u*u; + Real uH10 = u3 -2*u2 +u; + Real uH01 = -2*u3 + 3*u2; + Real uH11 = u3 -u2; + Vec2R pu = m_sx0.getValue()*uH10 + Vec2R(1,1)*uH01 + m_sx1.getValue()*uH11; + Real su = pu.y(); + + Real su2 = su*su; + dH00 = 6*su2 -6*su ; + dH10 = 3*su2 -4*su +1; + dH01 = -6*su2 + 6*su; + dH11 = 3*su2 -2*su; +} + + +template template +void HermiteSplineProjectiveConstraint::projectResponseT(DataDeriv& dx, + const std::function& clear) +{ + Real t = (Real) this->getContext()->getTime(); + if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue()) + { + const SetIndexArray & indices = m_indices.getValue(); + for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + clear(dx, *it); + } +} + +template +void HermiteSplineProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(), [](auto& dx, const unsigned int index) {dx[index].clear();}); +} + +template +void HermiteSplineProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + helper::WriteAccessor dx = vData; + Real t = (Real) this->getContext()->getTime(); + + if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) + { + Real DT = m_tEnd.getValue() - m_tBegin.getValue(); + const SetIndexArray & indices = m_indices.getValue(); + + t -= m_tBegin.getValue(); + Real u = t/DT; + + Real dH00, dH10, dH01, dH11; + computeDerivateHermiteCoefs( u, dH00, dH10, dH01, dH11); + + for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + dx[*it] = m_x0.getValue()*dH00 + m_dx0.getValue()*dH10 + m_x1.getValue()*dH01 + m_dx1.getValue()*dH11; + } + } +} + +template +void HermiteSplineProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + Real t = (Real) this->getContext()->getTime(); + + if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) + { + Real DT = m_tEnd.getValue() - m_tBegin.getValue(); + const SetIndexArray & indices = m_indices.getValue(); + + t -= m_tBegin.getValue(); + Real u = t/DT; + + Real H00, H10, H01, H11; + computeHermiteCoefs( u, H00, H10, H01, H11); + + for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it] = m_x0.getValue()*H00 + m_dx0.getValue()*H10 + m_x1.getValue()*H01 + m_dx1.getValue()*H11; + } + } +} + +template +void HermiteSplineProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + + projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); +} + +template +void HermiteSplineProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) return; + + Real dt = (Real) this->getContext()->getDt(); + Real DT = m_tEnd.getValue() - m_tBegin.getValue(); + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->disableLighting(); + + std::vector vertices; + constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); + + const Vec3R& mx0 = m_x0.getValue(); + const Vec3R& mx1 = m_x0.getValue(); + const Vec3R& mdx0 = m_dx0.getValue(); + const Vec3R& mdx1 = m_dx1.getValue(); + + for (Real t=0.0 ; t< DT ; t+= dt) + { + Real u = t/DT; + + Real H00, H10, H01, H11; + computeHermiteCoefs( u, H00, H10, H01, H11); + + Vec3R p = mx0*H00 + mdx0*H10 + mx1*H01 + mdx1*H11; + + sofa::type::Vec3 v(p[0], p[1],p[2]); + vertices.push_back(v); + } + vparams->drawTool()->drawLineStrip(vertices, 2, color); + + vertices.clear(); + vertices.push_back(sofa::type::Vec3(mx0[0], mx0[1], mx0[2])); + vertices.push_back(sofa::type::Vec3(mx1[0], mx1[1], mx1[2])); + + vparams->drawTool()->drawPoints(vertices, 5.0, sofa::type::RGBAColor::red()); + + //display control tangents + vertices.clear(); + vertices.push_back(mx0); + vertices.push_back(mx0 + mdx0*0.1); + vertices.push_back(mx1); + vertices.push_back(mx1 + mdx1*0.1); + + vparams->drawTool()->drawLines(vertices, 1.0, sofa::type::RGBAColor::red()); + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp similarity index 80% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp index 8d584ac88e00..e22a8f51b56e 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectToPlaneConstraint_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LineProjectiveConstraint_CPP +#include #include namespace sofa::component::constraint::projective @@ -30,14 +30,12 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int ProjectToPlaneConstraintClass = core::RegisterObject("Attach given particles to their initial positions") - .add< ProjectToPlaneConstraint >() - .add< ProjectToPlaneConstraint >() - +int LineProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions") + .add< LineProjectiveConstraint >() + .add< LineProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPlaneConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPlaneConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint; } // namespace sofa::component::constraint::projective - diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h new file mode 100644 index 000000000000..5a907598823d --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h @@ -0,0 +1,137 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class LineProjectiveConstraintInternalData +{ + +}; + +/** Project particles to an affine straight line. + @author Francois Faure, 2012 + @todo Optimized versions for lines parallel to the main directions +*/ +template +class LineProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(LineProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::CPos CPos; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); + typedef type::vector Indices; + typedef sofa::core::topology::TopologySubsetIndices IndexSubsetData; + typedef linearalgebra::EigenBaseSparseMatrix BaseSparseMatrix; + typedef linearalgebra::EigenSparseMatrix SparseMatrix; + typedef typename SparseMatrix::Block Block; ///< projection matrix of a particle displacement to the plane + enum {bsize=SparseMatrix::Nin}; ///< size of a block + + +protected: + LineProjectiveConstraint(); + + virtual ~LineProjectiveConstraint(); + +public: + IndexSubsetData f_indices; ///< the particles to project + Data f_drawSize; ///< The size of the square used to display the constrained particles + Data f_origin; ///< A point on the line + Data f_direction; ///< The direction of the line. Will be normalized by init() + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + LineProjectiveConstraintInternalData* data; + friend class LineProjectiveConstraintInternalData; + + +public: + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + // -- Constraint interface + void init() override; + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet). + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + + void draw(const core::visual::VisualParams* vparams) override; + +protected : + + SparseMatrix jacobian; ///< projection matrix in local state + SparseMatrix J; ///< auxiliary variable + + /// Resize/update Jacobian matrix according to the linked mechanical state and the direction + void updateJacobian(); + +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LineProjectiveConstraint_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LineProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl new file mode 100644 index 000000000000..2111e6be0f1a --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.inl @@ -0,0 +1,286 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +LineProjectiveConstraint::LineProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) + , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) + , f_origin( initData(&f_origin,CPos(),"origin","A point in the line")) + , f_direction( initData(&f_direction,CPos(),"direction","Direction of the line")) + , l_topology(initLink("topology", "link to the topology container")) + , data(new LineProjectiveConstraintInternalData()) +{ + f_indices.beginEdit()->push_back(0); + f_indices.endEdit(); +} + + +template +LineProjectiveConstraint::~LineProjectiveConstraint() +{ + delete data; +} + +template +void LineProjectiveConstraint::clearConstraints() +{ + f_indices.beginEdit()->clear(); + f_indices.endEdit(); +} + +template +void LineProjectiveConstraint::addConstraint(Index index) +{ + f_indices.beginEdit()->push_back(index); + f_indices.endEdit(); +} + +template +void LineProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*f_indices.beginEdit(),index); + f_indices.endEdit(); +} + +// -- Constraint interface + + +template +void LineProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + f_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + const Indices & indices = f_indices.getValue(); + + const Index maxIndex=this->mstate->getSize(); + for (unsigned int i=0; i= maxIndex) + { + msg_error() << "Index " << index << " not valid!"; + removeConstraint(index); + } + } + + updateJacobian(); +} + +template +void LineProjectiveConstraint::reinit() +{ + updateJacobian(); +} + +template +void LineProjectiveConstraint::updateJacobian() +{ + // normalize the normal vector + CPos n = f_direction.getValue(); + if( n.norm()==0 ) + n[0]=1; // arbritary normal vector + else n *= 1/n.norm(); + f_direction.setValue(n); + + // create the matrix blocks corresponding to the projection to the line: nn^t or to the identity + Block bProjection; + for(unsigned i=0; imstate->getSize(); + const unsigned blockSize = DataTypes::deriv_total_size; + jacobian.resize( numBlocks*blockSize,numBlocks*blockSize ); + + // fill the jacobian in ascending order + Indices::const_iterator it = tmp.begin(); + unsigned i = 0; + while( i < numBlocks ) // (FF) do not stop after the last constrained particle, for the remainder of the diagonal would be null, while it must be identity. + { + if( it!=tmp.end() && i==*it ) // constrained particle: set diagonal to projection block, and the cursor to the next constraint + { + jacobian.insertBackBlock(i,i,bProjection); + ++it; + } + else // unconstrained particle: set diagonal to identity block + { + jacobian.insertBackBlock(i,i,Block::Identity()); + } + i++; + } + jacobian.compress(); +} + +template +void LineProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state + BaseSparseMatrix* E = dynamic_cast(M); + assert(E); + E->compressedMatrix = J.compressedMatrix * E->compressedMatrix * J.compressedMatrix; +} + + + +template +void LineProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res(resData); + + using Size = decltype(jacobian.colSize()); + if( (jacobian.colSize() / Size(DataTypes::deriv_total_size)) != Size(res.size())) + { + updateJacobian(); + } + + jacobian.mult(res.wref(),res.ref()); +} + +template +void LineProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/ , DataMatrixDeriv& /*cData*/) +{ + msg_error() << "projectJacobianMatrix(const core::MechanicalParams*, DataMatrixDeriv& ) is not implemented"; +} + +template +void LineProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + projectResponse(mparams,vData); +} + +template +void LineProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/ , DataVecCoord& xData) +{ + VecCoord& x = *xData.beginEdit(); + + const CPos& n = f_direction.getValue(); + const CPos& o = f_origin.getValue(); + + const Indices& indices = f_indices.getValue(); + for(unsigned i=0; i +void LineProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + msg_error() << "applyConstraint is not implemented "; +} + +template +void LineProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + msg_error() << "LineProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented "; +} + + + + +template +void LineProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) return; + if (!this->isActive()) return; + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + const Indices & indices = f_indices.getValue(); + + if( f_drawSize.getValue() == 0) // old classical drawing by points + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + + for (Indices::const_iterator it = indices.begin(); + it != indices.end(); + ++it) + { + point = DataTypes::getCPos(x[*it]); + points.push_back(point); + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); + } + else // new drawing by spheres + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + for (unsigned int index : indices) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + vparams->drawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); + } + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.h index 4df6f686718b..f06082811dfc 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.h @@ -20,149 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -class LinearMovementConstraintInternalData -{ -}; +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h") -/** impose a motion to given DOFs (translation and rotation) - The motion between 2 key times is linearly interpolated - Rigid version doesn't handle Topology change. -*/ -template -class LinearMovementConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(LinearMovementConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); - - using Index = sofa::Index; - typedef TDataTypes DataTypes; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - -protected: - LinearMovementConstraintInternalData *data; - friend class LinearMovementConstraintInternalData; - -public : - /// indices of the DOFs the constraint is applied to - SetIndex m_indices; - /// the key frames when the motion is defined by the user - Data > m_keyTimes; - /// the motions corresponding to the key frames - Data m_keyMovements; - - /// indicates whether movements are relative to the dof or absolute - Data< bool > d_relativeMovements; - - /// attributes to precise display - /// if showMovement is true we display the expected movement - /// otherwise we show which are the fixed dofs - Data< bool > showMovement; - - - /// the key times surrounding the current simulation time (for interpolation) - Real prevT, nextT; - ///the motions corresponding to the surrouding key times - Deriv prevM, nextM; - ///initial constrained DOFs position - VecCoord x0; - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - LinearMovementConstraint(); - ~LinearMovementConstraint() override; - -public: - ///methods to add/remove some indices, keyTimes, keyMovement - void clearIndices(); - void addIndex(Index index); - void removeIndex(Index index); - void clearKeyMovements(); - - ///@brief Add a new key movement - /// @param time : the simulation time you want to set a movement (in sec) - /// @param movement : the corresponding motion - /// for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s - /// - void addKeyMovement(Real time, Deriv movement); - - /// -- Constraint interface - void init() override; - void reset() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; - - void draw(const core::visual::VisualParams* vparams) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); - - template - void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); - template - void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); - -private: - /// to keep the time corresponding to the key times - Real currentTime; - - /// to know if we found the key times - bool finished; - - /// find previous and next time keys - void findKeyTimes(); -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARMOVEMENTCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -#endif - -} // namespace sofa::component::constraint::projective +template +using LinearMovementConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "LinearMovementConstraint has been renamed to LinearMovementProjectiveConstraint") = LinearMovementProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.inl index d1700e27943c..1a8538c38a0d 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.inl @@ -21,455 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -LinearMovementConstraint::LinearMovementConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , data(new LinearMovementConstraintInternalData) - , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) - , m_keyTimes( initData(&m_keyTimes,"keyTimes","key times for the movements") ) - , m_keyMovements( initData(&m_keyMovements,"movements","movements corresponding to the key times") ) - , d_relativeMovements( initData(&d_relativeMovements, bool(true), "relativeMovements", "If true, movements are relative to first position, absolute otherwise") ) - , showMovement( initData(&showMovement, bool(false), "showMovement", "Visualization of the movement to be applied to constrained dofs.")) - , l_topology(initLink("topology", "link to the topology container")) - , finished(false) -{ - // default to indice 0 - m_indices.beginEdit()->push_back(0); - m_indices.endEdit(); - - //default valueEvent to 0 - m_keyTimes.beginEdit()->push_back( 0.0 ); - m_keyTimes.endEdit(); - m_keyMovements.beginEdit()->push_back( Deriv() ); - m_keyMovements.endEdit(); -} - - - -template -LinearMovementConstraint::~LinearMovementConstraint() -{ - -} - -template -void LinearMovementConstraint::clearIndices() -{ - m_indices.beginEdit()->clear(); - m_indices.endEdit(); -} - -template -void LinearMovementConstraint::addIndex(Index index) -{ - m_indices.beginEdit()->push_back(index); - m_indices.endEdit(); -} - -template -void LinearMovementConstraint::removeIndex(Index index) -{ - sofa::type::removeValue(*m_indices.beginEdit(),index); - m_indices.endEdit(); -} - -template -void LinearMovementConstraint::clearKeyMovements() -{ - m_keyTimes.beginEdit()->clear(); - m_keyTimes.endEdit(); - m_keyMovements.beginEdit()->clear(); - m_keyMovements.endEdit(); -} - -template -void LinearMovementConstraint::addKeyMovement(Real time, Deriv movement) -{ - m_keyTimes.beginEdit()->push_back( time ); - m_keyTimes.endEdit(); - m_keyMovements.beginEdit()->push_back( movement ); - m_keyMovements.endEdit(); -} - -// -- Constraint interface -template -void LinearMovementConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - m_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - x0.resize(0); - nextM = prevM = Deriv(); - - currentTime = -1.0; - finished = false; -} - - -template -void LinearMovementConstraint::reset() -{ - nextT = prevT = 0.0; - nextM = prevM = Deriv(); - - currentTime = -1.0; - finished = false; -} - - -template -template -void LinearMovementConstraint::projectResponseT(DataDeriv& dx, - const std::function& clear) -{ - Real cT = static_cast(this->getContext()->getTime()); - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - if (finished && nextT != prevT) - { - const SetIndexArray & indices = m_indices.getValue(); - - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - clear(dx, *it); - } - } -} - -template -void LinearMovementConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(), [](auto& dx, const unsigned int index) {dx[index].clear(); }); -} - -template -void LinearMovementConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - helper::WriteAccessor dx = vData; - Real cT = static_cast(this->getContext()->getTime()); - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - if (finished && nextT != prevT) - { - const SetIndexArray & indices = m_indices.getValue(); - - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - dx[*it] = (nextM - prevM)*(1.0 / (nextT - prevT)); - } - } -} - - -template -void LinearMovementConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - Real cT = static_cast(this->getContext()->getTime()); - - //initialize initial Dofs positions, if it's not done - if (x0.size() == 0) - { - const SetIndexArray & indices = m_indices.getValue(); - x0.resize(x.size()); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x0[*it] = x[*it]; - } - } - - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) - if(finished && nextT != prevT) - { - interpolatePosition(cT, x.wref()); - } -} - -template -template -void LinearMovementConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) -{ - const SetIndexArray & indices = m_indices.getValue(); - - Real dt = (cT - prevT) / (nextT - prevT); - Deriv m = prevM + (nextM-prevM)*dt; - - //set the motion to the Dofs - if (d_relativeMovements.getValue()) - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it] = x0[*it] + m ; - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it] = m ; - } - } -} - -template -template -void LinearMovementConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) -{ - const SetIndexArray & indices = m_indices.getValue(); - - Real dt = (cT - prevT) / (nextT - prevT); - Deriv m = prevM + (nextM-prevM)*dt; - type::Quat prevOrientation = type::Quat::createQuaterFromEuler(getVOrientation(prevM)); - type::Quat nextOrientation = type::Quat::createQuaterFromEuler(getVOrientation(nextM)); - - //set the motion to the Dofs - if (d_relativeMovements.getValue()) - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it].getCenter() = x0[*it].getCenter() + getVCenter(m) ; - x[*it].getOrientation() = x0[*it].getOrientation() * prevOrientation.slerp2(nextOrientation, dt); - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it].getCenter() = getVCenter(m) ; - x[*it].getOrientation() = prevOrientation.slerp2(nextOrientation, dt); - } - } -} - -template -void LinearMovementConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - - projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); -} - -template -void LinearMovementConstraint::findKeyTimes() -{ - Real cT = static_cast(this->getContext()->getTime()); - finished = false; - - if(m_keyTimes.getValue().size() != 0 && cT >= *m_keyTimes.getValue().begin() && cT <= *m_keyTimes.getValue().rbegin()) - { - nextT = *m_keyTimes.getValue().begin(); - prevT = nextT; - - typename type::vector::const_iterator it_t = m_keyTimes.getValue().begin(); - typename VecDeriv::const_iterator it_m = m_keyMovements.getValue().begin(); - - //WARNING : we consider that the key-events are in chronological order - //here we search between which keyTimes we are, to know which are the motion to interpolate - while( it_t != m_keyTimes.getValue().end() && !finished) - { - if( *it_t <= cT) - { - prevT = *it_t; - prevM = *it_m; - } - else - { - nextT = *it_t; - nextM = *it_m; - finished = true; - } - ++it_t; - ++it_m; - } - } -} - - -template -void LinearMovementConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - static const unsigned blockSize = DataTypes::deriv_total_size; - - // clears the rows and columns associated with fixed particles - for (const auto id : m_indices.getValue()) - { - M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); - } - -} - - -// Matrix Integration interface -template -void LinearMovementConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) - { - const unsigned int N = Deriv::size(); - const SetIndexArray & indices = m_indices.getValue(); - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); - } - } -} - -template -void LinearMovementConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const int o = matrix->getGlobalOffset(this->mstate.get()); - if (o >= 0) - { - const unsigned int offset = (unsigned int)o; - const unsigned int N = Deriv::size(); - - const SetIndexArray & indices = m_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for (unsigned int c=0; cclear(offset + N * (*it) + c); - } - } -} - -template -void LinearMovementConstraint::applyConstraint( - sofa::core::behavior::ZeroDirichletCondition* matrix) -{ - constexpr unsigned int N = Deriv::size(); - - for (const auto index : m_indices.getValue()) - { - for (unsigned int c = 0; c < N; ++c) - { - matrix->discardRowCol(N * index + c, N * index + c); - } - } -} - -//display the path the constrained dofs will go through -template -void LinearMovementConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels() || m_keyTimes.getValue().size() == 0) - return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); - - if (showMovement.getValue()) - { - vparams->drawTool()->disableLighting(); - - std::vector vertices; - - constexpr auto minDimensions = std::min(DataTypes::spatial_dimensions, 3u); - - const SetIndexArray & indices = m_indices.getValue(); - const VecDeriv& keyMovements = m_keyMovements.getValue(); - if (d_relativeMovements.getValue()) - { - for (unsigned int i = 0; i < m_keyMovements.getValue().size() - 1; i++) - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - const auto& tmp0 = DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i]); - const auto& tmp1 = DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i + 1]); - sofa::type::Vec3 v0, v1; - std::copy_n(tmp0.begin(), minDimensions, v0.begin()); - std::copy_n(tmp1.begin(), minDimensions, v1.begin()); - vertices.push_back(v0); - vertices.push_back(v1); - } - } - } - else - { - for (unsigned int i = 0; i < keyMovements.size() - 1; i++) - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - const auto& tmp0 = DataTypes::getDPos(keyMovements[i]); - const auto& tmp1 = DataTypes::getDPos(keyMovements[i + 1]); - sofa::type::Vec3 v0, v1; - std::copy_n(tmp0.begin(), minDimensions, v0.begin()); - std::copy_n(tmp1.begin(), minDimensions, v1.begin()); - vertices.push_back(v0); - vertices.push_back(v1); - } - } - } - vparams->drawTool()->drawLines(vertices, 10, color); - } - else - { - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - sofa::type::vector points; - type::Vec3 point; - const SetIndexArray & indices = m_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - point = DataTypes::getCPos(x[*it]); - points.push_back(point); - } - vparams->drawTool()->drawPoints(points, 10, color); - } - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp similarity index 71% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp index 3c47dc2dbcee..e3f985265729 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARMOVEMENTCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARMOVEMENTPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -29,7 +29,7 @@ namespace sofa::component::constraint::projective { template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API -void LinearMovementConstraint::init() +void LinearMovementProjectiveConstraint::init() { this->core::behavior::ProjectiveConstraintSet::init(); @@ -42,18 +42,19 @@ void LinearMovementConstraint::init() //declaration of the class, for the factory -int LinearMovementConstraintClass = core::RegisterObject("translate given particles") - .add< LinearMovementConstraint >() - .add< LinearMovementConstraint >() - .add< LinearMovementConstraint >() - .add< LinearMovementConstraint >() - .add< LinearMovementConstraint >(); - - -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementConstraint; +int LinearMovementProjectiveConstraintClass = core::RegisterObject("translate given particles") + .add< LinearMovementProjectiveConstraint >() + .add< LinearMovementProjectiveConstraint >() + .add< LinearMovementProjectiveConstraint >() + .add< LinearMovementProjectiveConstraint >() + .add< LinearMovementProjectiveConstraint >() + ; + + +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h new file mode 100644 index 000000000000..b5013c890a0d --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h @@ -0,0 +1,168 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +class LinearMovementProjectiveConstraintInternalData +{ +}; + +/** impose a motion to given DOFs (translation and rotation) + The motion between 2 key times is linearly interpolated + Rigid version doesn't handle Topology change. +*/ +template +class LinearMovementProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(LinearMovementProjectiveConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); + + using Index = sofa::Index; + typedef TDataTypes DataTypes; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + +protected: + LinearMovementProjectiveConstraintInternalData *data; + friend class LinearMovementProjectiveConstraintInternalData; + +public : + /// indices of the DOFs the constraint is applied to + SetIndex m_indices; + /// the key frames when the motion is defined by the user + Data > m_keyTimes; + /// the motions corresponding to the key frames + Data m_keyMovements; + + /// indicates whether movements are relative to the dof or absolute + Data< bool > d_relativeMovements; + + /// attributes to precise display + /// if showMovement is true we display the expected movement + /// otherwise we show which are the fixed dofs + Data< bool > showMovement; + + + /// the key times surrounding the current simulation time (for interpolation) + Real prevT, nextT; + ///the motions corresponding to the surrouding key times + Deriv prevM, nextM; + ///initial constrained DOFs position + VecCoord x0; + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + LinearMovementProjectiveConstraint(); + ~LinearMovementProjectiveConstraint() override; + +public: + ///methods to add/remove some indices, keyTimes, keyMovement + void clearIndices(); + void addIndex(Index index); + void removeIndex(Index index); + void clearKeyMovements(); + + ///@brief Add a new key movement + /// @param time : the simulation time you want to set a movement (in sec) + /// @param movement : the corresponding motion + /// for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s + /// + void addKeyMovement(Real time, Deriv movement); + + /// -- Constraint interface + void init() override; + void reset() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; + + void draw(const core::visual::VisualParams* vparams) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); + + template + void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); + template + void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); + +private: + /// to keep the time corresponding to the key times + Real currentTime; + + /// to know if we found the key times + bool finished; + + /// find previous and next time keys + void findKeyTimes(); +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARMOVEMENTPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearMovementProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl new file mode 100644 index 000000000000..a5b6f81616b6 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.inl @@ -0,0 +1,475 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +LinearMovementProjectiveConstraint::LinearMovementProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , data(new LinearMovementProjectiveConstraintInternalData) + , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) + , m_keyTimes( initData(&m_keyTimes,"keyTimes","key times for the movements") ) + , m_keyMovements( initData(&m_keyMovements,"movements","movements corresponding to the key times") ) + , d_relativeMovements( initData(&d_relativeMovements, bool(true), "relativeMovements", "If true, movements are relative to first position, absolute otherwise") ) + , showMovement( initData(&showMovement, bool(false), "showMovement", "Visualization of the movement to be applied to constrained dofs.")) + , l_topology(initLink("topology", "link to the topology container")) + , finished(false) +{ + // default to indice 0 + m_indices.beginEdit()->push_back(0); + m_indices.endEdit(); + + //default valueEvent to 0 + m_keyTimes.beginEdit()->push_back( 0.0 ); + m_keyTimes.endEdit(); + m_keyMovements.beginEdit()->push_back( Deriv() ); + m_keyMovements.endEdit(); +} + + + +template +LinearMovementProjectiveConstraint::~LinearMovementProjectiveConstraint() +{ + +} + +template +void LinearMovementProjectiveConstraint::clearIndices() +{ + m_indices.beginEdit()->clear(); + m_indices.endEdit(); +} + +template +void LinearMovementProjectiveConstraint::addIndex(Index index) +{ + m_indices.beginEdit()->push_back(index); + m_indices.endEdit(); +} + +template +void LinearMovementProjectiveConstraint::removeIndex(Index index) +{ + sofa::type::removeValue(*m_indices.beginEdit(),index); + m_indices.endEdit(); +} + +template +void LinearMovementProjectiveConstraint::clearKeyMovements() +{ + m_keyTimes.beginEdit()->clear(); + m_keyTimes.endEdit(); + m_keyMovements.beginEdit()->clear(); + m_keyMovements.endEdit(); +} + +template +void LinearMovementProjectiveConstraint::addKeyMovement(Real time, Deriv movement) +{ + m_keyTimes.beginEdit()->push_back( time ); + m_keyTimes.endEdit(); + m_keyMovements.beginEdit()->push_back( movement ); + m_keyMovements.endEdit(); +} + +// -- Constraint interface +template +void LinearMovementProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + m_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + x0.resize(0); + nextM = prevM = Deriv(); + + currentTime = -1.0; + finished = false; +} + + +template +void LinearMovementProjectiveConstraint::reset() +{ + nextT = prevT = 0.0; + nextM = prevM = Deriv(); + + currentTime = -1.0; + finished = false; +} + + +template +template +void LinearMovementProjectiveConstraint::projectResponseT(DataDeriv& dx, + const std::function& clear) +{ + Real cT = static_cast(this->getContext()->getTime()); + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + if (finished && nextT != prevT) + { + const SetIndexArray & indices = m_indices.getValue(); + + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + clear(dx, *it); + } + } +} + +template +void LinearMovementProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(), [](auto& dx, const unsigned int index) {dx[index].clear(); }); +} + +template +void LinearMovementProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + helper::WriteAccessor dx = vData; + Real cT = static_cast(this->getContext()->getTime()); + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + if (finished && nextT != prevT) + { + const SetIndexArray & indices = m_indices.getValue(); + + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + dx[*it] = (nextM - prevM)*(1.0 / (nextT - prevT)); + } + } +} + + +template +void LinearMovementProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + Real cT = static_cast(this->getContext()->getTime()); + + //initialize initial Dofs positions, if it's not done + if (x0.size() == 0) + { + const SetIndexArray & indices = m_indices.getValue(); + x0.resize(x.size()); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x0[*it] = x[*it]; + } + } + + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) + if(finished && nextT != prevT) + { + interpolatePosition(cT, x.wref()); + } +} + +template +template +void LinearMovementProjectiveConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) +{ + const SetIndexArray & indices = m_indices.getValue(); + + Real dt = (cT - prevT) / (nextT - prevT); + Deriv m = prevM + (nextM-prevM)*dt; + + //set the motion to the Dofs + if (d_relativeMovements.getValue()) + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it] = x0[*it] + m ; + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it] = m ; + } + } +} + +template +template +void LinearMovementProjectiveConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) +{ + const SetIndexArray & indices = m_indices.getValue(); + + Real dt = (cT - prevT) / (nextT - prevT); + Deriv m = prevM + (nextM-prevM)*dt; + type::Quat prevOrientation = type::Quat::createQuaterFromEuler(getVOrientation(prevM)); + type::Quat nextOrientation = type::Quat::createQuaterFromEuler(getVOrientation(nextM)); + + //set the motion to the Dofs + if (d_relativeMovements.getValue()) + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it].getCenter() = x0[*it].getCenter() + getVCenter(m) ; + x[*it].getOrientation() = x0[*it].getOrientation() * prevOrientation.slerp2(nextOrientation, dt); + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it].getCenter() = getVCenter(m) ; + x[*it].getOrientation() = prevOrientation.slerp2(nextOrientation, dt); + } + } +} + +template +void LinearMovementProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + + projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); +} + +template +void LinearMovementProjectiveConstraint::findKeyTimes() +{ + Real cT = static_cast(this->getContext()->getTime()); + finished = false; + + if(m_keyTimes.getValue().size() != 0 && cT >= *m_keyTimes.getValue().begin() && cT <= *m_keyTimes.getValue().rbegin()) + { + nextT = *m_keyTimes.getValue().begin(); + prevT = nextT; + + typename type::vector::const_iterator it_t = m_keyTimes.getValue().begin(); + typename VecDeriv::const_iterator it_m = m_keyMovements.getValue().begin(); + + //WARNING : we consider that the key-events are in chronological order + //here we search between which keyTimes we are, to know which are the motion to interpolate + while( it_t != m_keyTimes.getValue().end() && !finished) + { + if( *it_t <= cT) + { + prevT = *it_t; + prevM = *it_m; + } + else + { + nextT = *it_t; + nextM = *it_m; + finished = true; + } + ++it_t; + ++it_m; + } + } +} + + +template +void LinearMovementProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + static const unsigned blockSize = DataTypes::deriv_total_size; + + // clears the rows and columns associated with fixed particles + for (const auto id : m_indices.getValue()) + { + M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); + } + +} + + +// Matrix Integration interface +template +void LinearMovementProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) + { + const unsigned int N = Deriv::size(); + const SetIndexArray & indices = m_indices.getValue(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); + } + } +} + +template +void LinearMovementProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const int o = matrix->getGlobalOffset(this->mstate.get()); + if (o >= 0) + { + const unsigned int offset = (unsigned int)o; + const unsigned int N = Deriv::size(); + + const SetIndexArray & indices = m_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for (unsigned int c=0; cclear(offset + N * (*it) + c); + } + } +} + +template +void LinearMovementProjectiveConstraint::applyConstraint( + sofa::core::behavior::ZeroDirichletCondition* matrix) +{ + constexpr unsigned int N = Deriv::size(); + + for (const auto index : m_indices.getValue()) + { + for (unsigned int c = 0; c < N; ++c) + { + matrix->discardRowCol(N * index + c, N * index + c); + } + } +} + +//display the path the constrained dofs will go through +template +void LinearMovementProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels() || m_keyTimes.getValue().size() == 0) + return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); + + if (showMovement.getValue()) + { + vparams->drawTool()->disableLighting(); + + std::vector vertices; + + constexpr auto minDimensions = std::min(DataTypes::spatial_dimensions, 3u); + + const SetIndexArray & indices = m_indices.getValue(); + const VecDeriv& keyMovements = m_keyMovements.getValue(); + if (d_relativeMovements.getValue()) + { + for (unsigned int i = 0; i < m_keyMovements.getValue().size() - 1; i++) + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + const auto& tmp0 = DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i]); + const auto& tmp1 = DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i + 1]); + sofa::type::Vec3 v0, v1; + std::copy_n(tmp0.begin(), minDimensions, v0.begin()); + std::copy_n(tmp1.begin(), minDimensions, v1.begin()); + vertices.push_back(v0); + vertices.push_back(v1); + } + } + } + else + { + for (unsigned int i = 0; i < keyMovements.size() - 1; i++) + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + const auto& tmp0 = DataTypes::getDPos(keyMovements[i]); + const auto& tmp1 = DataTypes::getDPos(keyMovements[i + 1]); + sofa::type::Vec3 v0, v1; + std::copy_n(tmp0.begin(), minDimensions, v0.begin()); + std::copy_n(tmp1.begin(), minDimensions, v1.begin()); + vertices.push_back(v0); + vertices.push_back(v1); + } + } + } + vparams->drawTool()->drawLines(vertices, 10, color); + } + else + { + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + sofa::type::vector points; + type::Vec3 point; + const SetIndexArray & indices = m_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + point = DataTypes::getCPos(x[*it]); + points.push_back(point); + } + vparams->drawTool()->drawPoints(points, 10, color); + } + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.h index e347423b33b9..297a56d6f2c0 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.h @@ -20,116 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace sofa::component::constraint::projective -{ +#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h") -/** impose a motion to given DOFs (translation and rotation) - The motion between 2 key times is linearly interpolated -*/ -template -class LinearVelocityConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(LinearVelocityConstraint,TDataTypes),SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet,TDataTypes)); - - using Index = sofa::Index; - typedef TDataTypes DataTypes; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - -public : - /// indices of the DOFs the constraint is applied to - SetIndex d_indices; - /// the key frames when the motion is defined by the user - Data > d_keyTimes; - /// the motions corresponding to the key frames - Data d_keyVelocities; - /// the coordinates on which to applay velocities - SetIndex d_coordinates; - - /// the key times surrounding the current simulation time (for interpolation) - Real prevT, nextT; - ///the velocities corresponding to the surrouding key times - Deriv prevV, nextV; - ///position at the initial step for constrained DOFs position - VecCoord x0; - ///position at the previous step for constrained DOFs position - VecCoord xP; - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - LinearVelocityConstraint(); - - virtual ~LinearVelocityConstraint(); -public: - ///methods to add/remove some indices, keyTimes, keyVelocity - void clearIndices(); - void addIndex(Index index); - void removeIndex(Index index); - void clearKeyVelocities(); - /**add a new key movement - @param time : the simulation time you want to set a movement (in sec) - @param movement : the corresponding motion - for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s - **/ - void addKeyVelocity(Real time, Deriv movement); - - - /// -- Constraint interface - void init() override; - void reset() override; - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void draw(const core::visual::VisualParams* vparams) override; - -private: - - /// to keep the time corresponding to the key times - Real currentTime; - - /// to know if we found the key times - bool finished; - - /// find previous and next time keys - void findKeyTimes(); -}; - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARVELOCITYCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using LinearVelocityConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "LinearVelocityConstraint has been renamed to LinearVelocityProjectiveConstraint") = LinearVelocityProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.inl index 9457ccfcb948..4e9baec9e9fe 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.inl @@ -21,328 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include +#include - -namespace sofa::component::constraint::projective -{ - -template -LinearVelocityConstraint::LinearVelocityConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , d_indices( initData(&d_indices,"indices","Indices of the constrained points") ) - , d_keyTimes( initData(&d_keyTimes,"keyTimes","key times for the movements") ) - , d_keyVelocities( initData(&d_keyVelocities,"velocities","velocities corresponding to the key times") ) - , d_coordinates( initData(&d_coordinates, "coordinates", "coordinates on which to apply velocities") ) - , l_topology(initLink("topology", "link to the topology container")) - , finished(false) -{ - d_indices.beginEdit()->push_back(0); - d_indices.endEdit(); - - d_keyTimes.beginEdit()->push_back( 0.0 ); - d_keyTimes.endEdit(); - d_keyVelocities.beginEdit()->push_back( Deriv() ); - d_keyVelocities.endEdit(); -} - - -template -LinearVelocityConstraint::~LinearVelocityConstraint() -{ - -} - -template -void LinearVelocityConstraint::clearIndices() -{ - d_indices.beginEdit()->clear(); - d_indices.endEdit(); -} - -template -void LinearVelocityConstraint::addIndex(Index index) -{ - d_indices.beginEdit()->push_back(index); - d_indices.endEdit(); -} - -template -void LinearVelocityConstraint::removeIndex(Index index) -{ - sofa::type::removeValue(*d_indices.beginEdit(),index); - d_indices.endEdit(); -} - -template -void LinearVelocityConstraint::clearKeyVelocities() -{ - d_keyTimes.beginEdit()->clear(); - d_keyTimes.endEdit(); - d_keyVelocities.beginEdit()->clear(); - d_keyVelocities.endEdit(); -} - -template -void LinearVelocityConstraint::addKeyVelocity(Real time, Deriv movement) -{ - d_keyTimes.beginEdit()->push_back( time ); - d_keyTimes.endEdit(); - d_keyVelocities.beginEdit()->push_back( movement ); - d_keyVelocities.endEdit(); -} - -// -- Constraint interface - - -template -void LinearVelocityConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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_indices.createTopologyHandler(_topology); - d_coordinates.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - x0.resize(0); - xP.resize(0); - nextV = prevV = Deriv(); - - currentTime = -1.0; - finished = false; -} - -template -void LinearVelocityConstraint::reset() -{ - nextT = prevT = 0.0; - nextV = prevV = Deriv(); - - currentTime = -1.0; - finished = false; -} - - -template -void LinearVelocityConstraint::projectResponse(const core::MechanicalParams* /*mparams*/, DataVecDeriv& resData) -{ - helper::WriteAccessor res = resData; - VecDeriv& dx = res.wref(); - - Real cT = (Real) this->getContext()->getTime(); - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - if (finished && nextT != prevT) - { - const SetIndexArray & indices = d_indices.getValue(); - - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - dx[*it] = Deriv(); - } - } - -} - -template -void LinearVelocityConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - helper::WriteAccessor dx = vData; - Real cT = (Real) this->getContext()->getTime(); - - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - if (finished && nextT != prevT) - { - //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) - Deriv v = ((nextV - prevV)*((cT - prevT)/(nextT - prevT))) + prevV; - - const SetIndexArray & indices = d_indices.getValue(); - const SetIndexArray & coordinates = d_coordinates.getValue(); - - if (coordinates.size() == 0) - { - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - dx[*it] = v; - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for(SetIndexArray::const_iterator itInd = coordinates.begin(); itInd != coordinates.end(); ++itInd) - { - dx[*it][*itInd] = v[*itInd]; - } - } - } - } -} - - -template -void LinearVelocityConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - - //initialize initial Dofs positions, if it's not done - if (x0.size() == 0) - { - const SetIndexArray & indices = d_indices.getValue(); - x0.resize( x.size() ); - xP.resize( x.size() ); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x0[*it] = x[*it]; - xP[*it] = x0[*it]; - } - } - - Real cT = (Real) this->getContext()->getTime(); - - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - - Real dTsimu = (Real) this->getContext()->getDt(); - - - if(finished) - { - Real dt = (cT - prevT) / (nextT - prevT); - Deriv m = (nextV-prevV)*dt + prevV; - - const SetIndexArray & indices = d_indices.getValue(); - const SetIndexArray & coordinates = d_coordinates.getValue(); - - if (coordinates.size() == 0) - { - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it] = xP[*it] + m*dTsimu; - xP[*it] = x[*it]; - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for(SetIndexArray::const_iterator itInd = coordinates.begin(); itInd != coordinates.end(); ++itInd) - { - x[*it][*itInd] = xP[*it][*itInd] + m[*itInd]*dTsimu; - xP[*it] = x[*it]; - } - } - } - } -} - -template -void LinearVelocityConstraint::findKeyTimes() -{ - Real cT = (Real) this->getContext()->getTime(); - finished = false; - - if(d_keyTimes.getValue().size() != 0 && cT >= *d_keyTimes.getValue().begin() && cT <= *d_keyTimes.getValue().rbegin()) - { - nextT = *d_keyTimes.getValue().begin(); - prevT = nextT; - - typename type::vector::const_iterator it_t = d_keyTimes.getValue().begin(); - typename VecDeriv::const_iterator it_v = d_keyVelocities.getValue().begin(); - - //WARNING : we consider that the key-events are in chronological order - //here we search between which keyTimes we are, to know which are the motion to interpolate - while( it_t != d_keyTimes.getValue().end() && !finished) - { - if( *it_t <= cT) - { - prevT = *it_t; - prevV = *it_v; - } - else - { - nextT = *it_t; - nextV = *it_v; - finished = true; - } - ++it_t; - ++it_v; - } - } -}// LinearVelocityConstraint::findKeyTimes - -template -void LinearVelocityConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /*cData*/) -{ - -} - -//display the path the constrained dofs will go through -template -void LinearVelocityConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels() || d_keyTimes.getValue().size() == 0 ) return; - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - vparams->drawTool()->disableLighting(); - - std::vector vertices; - constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); - const VecDeriv& keyVelocities = d_keyVelocities.getValue(); - const SetIndexArray & indices = d_indices.getValue(); - for (unsigned int i=0 ; idrawTool()->drawLines(vertices, 1.0, color); - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp similarity index 74% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp index 163a066f18c2..5c8c0ef4a299 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARVELOCITYCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARVELOCITYPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -32,19 +32,18 @@ using namespace sofa::defaulttype; using namespace sofa::helper; //declaration of the class, for the factory -int LinearVelocityConstraintClass = core::RegisterObject("apply velocity to given particles") - .add< LinearVelocityConstraint >() - .add< LinearVelocityConstraint >() - .add< LinearVelocityConstraint >() - .add< LinearVelocityConstraint >() - .add< LinearVelocityConstraint >() - +int LinearVelocityProjectiveConstraintClass = core::RegisterObject("apply velocity to given particles") + .add< LinearVelocityProjectiveConstraint >() + .add< LinearVelocityProjectiveConstraint >() + .add< LinearVelocityProjectiveConstraint >() + .add< LinearVelocityProjectiveConstraint >() + .add< LinearVelocityProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h new file mode 100644 index 000000000000..74c67b839973 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h @@ -0,0 +1,135 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + + +/** impose a motion to given DOFs (translation and rotation) + The motion between 2 key times is linearly interpolated +*/ +template +class LinearVelocityProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(LinearVelocityProjectiveConstraint,TDataTypes),SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet,TDataTypes)); + + using Index = sofa::Index; + typedef TDataTypes DataTypes; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + +public : + /// indices of the DOFs the constraint is applied to + SetIndex d_indices; + /// the key frames when the motion is defined by the user + Data > d_keyTimes; + /// the motions corresponding to the key frames + Data d_keyVelocities; + /// the coordinates on which to applay velocities + SetIndex d_coordinates; + + /// the key times surrounding the current simulation time (for interpolation) + Real prevT, nextT; + ///the velocities corresponding to the surrouding key times + Deriv prevV, nextV; + ///position at the initial step for constrained DOFs position + VecCoord x0; + ///position at the previous step for constrained DOFs position + VecCoord xP; + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + LinearVelocityProjectiveConstraint(); + + virtual ~LinearVelocityProjectiveConstraint(); +public: + ///methods to add/remove some indices, keyTimes, keyVelocity + void clearIndices(); + void addIndex(Index index); + void removeIndex(Index index); + void clearKeyVelocities(); + /**add a new key movement + @param time : the simulation time you want to set a movement (in sec) + @param movement : the corresponding motion + for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s + **/ + void addKeyVelocity(Real time, Deriv movement); + + + /// -- Constraint interface + void init() override; + void reset() override; + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void draw(const core::visual::VisualParams* vparams) override; + +private: + + /// to keep the time corresponding to the key times + Real currentTime; + + /// to know if we found the key times + bool finished; + + /// find previous and next time keys + void findKeyTimes(); +}; + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARVELOCITYPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API LinearVelocityProjectiveConstraint; + +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl new file mode 100644 index 000000000000..80ff4e519374 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl @@ -0,0 +1,348 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +template +LinearVelocityProjectiveConstraint::LinearVelocityProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , d_indices( initData(&d_indices,"indices","Indices of the constrained points") ) + , d_keyTimes( initData(&d_keyTimes,"keyTimes","key times for the movements") ) + , d_keyVelocities( initData(&d_keyVelocities,"velocities","velocities corresponding to the key times") ) + , d_coordinates( initData(&d_coordinates, "coordinates", "coordinates on which to apply velocities") ) + , l_topology(initLink("topology", "link to the topology container")) + , finished(false) +{ + d_indices.beginEdit()->push_back(0); + d_indices.endEdit(); + + d_keyTimes.beginEdit()->push_back( 0.0 ); + d_keyTimes.endEdit(); + d_keyVelocities.beginEdit()->push_back( Deriv() ); + d_keyVelocities.endEdit(); +} + + +template +LinearVelocityProjectiveConstraint::~LinearVelocityProjectiveConstraint() +{ + +} + +template +void LinearVelocityProjectiveConstraint::clearIndices() +{ + d_indices.beginEdit()->clear(); + d_indices.endEdit(); +} + +template +void LinearVelocityProjectiveConstraint::addIndex(Index index) +{ + d_indices.beginEdit()->push_back(index); + d_indices.endEdit(); +} + +template +void LinearVelocityProjectiveConstraint::removeIndex(Index index) +{ + sofa::type::removeValue(*d_indices.beginEdit(),index); + d_indices.endEdit(); +} + +template +void LinearVelocityProjectiveConstraint::clearKeyVelocities() +{ + d_keyTimes.beginEdit()->clear(); + d_keyTimes.endEdit(); + d_keyVelocities.beginEdit()->clear(); + d_keyVelocities.endEdit(); +} + +template +void LinearVelocityProjectiveConstraint::addKeyVelocity(Real time, Deriv movement) +{ + d_keyTimes.beginEdit()->push_back( time ); + d_keyTimes.endEdit(); + d_keyVelocities.beginEdit()->push_back( movement ); + d_keyVelocities.endEdit(); +} + +// -- Constraint interface + + +template +void LinearVelocityProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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_indices.createTopologyHandler(_topology); + d_coordinates.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + x0.resize(0); + xP.resize(0); + nextV = prevV = Deriv(); + + currentTime = -1.0; + finished = false; +} + +template +void LinearVelocityProjectiveConstraint::reset() +{ + nextT = prevT = 0.0; + nextV = prevV = Deriv(); + + currentTime = -1.0; + finished = false; +} + + +template +void LinearVelocityProjectiveConstraint::projectResponse(const core::MechanicalParams* /*mparams*/, DataVecDeriv& resData) +{ + helper::WriteAccessor res = resData; + VecDeriv& dx = res.wref(); + + Real cT = (Real) this->getContext()->getTime(); + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + if (finished && nextT != prevT) + { + const SetIndexArray & indices = d_indices.getValue(); + + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + dx[*it] = Deriv(); + } + } + +} + +template +void LinearVelocityProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + helper::WriteAccessor dx = vData; + Real cT = (Real) this->getContext()->getTime(); + + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + if (finished && nextT != prevT) + { + //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) + Deriv v = ((nextV - prevV)*((cT - prevT)/(nextT - prevT))) + prevV; + + const SetIndexArray & indices = d_indices.getValue(); + const SetIndexArray & coordinates = d_coordinates.getValue(); + + if (coordinates.size() == 0) + { + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + dx[*it] = v; + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for(SetIndexArray::const_iterator itInd = coordinates.begin(); itInd != coordinates.end(); ++itInd) + { + dx[*it][*itInd] = v[*itInd]; + } + } + } + } +} + + +template +void LinearVelocityProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + + //initialize initial Dofs positions, if it's not done + if (x0.size() == 0) + { + const SetIndexArray & indices = d_indices.getValue(); + x0.resize( x.size() ); + xP.resize( x.size() ); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x0[*it] = x[*it]; + xP[*it] = x0[*it]; + } + } + + Real cT = (Real) this->getContext()->getTime(); + + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + + Real dTsimu = (Real) this->getContext()->getDt(); + + + if(finished) + { + Real dt = (cT - prevT) / (nextT - prevT); + Deriv m = (nextV-prevV)*dt + prevV; + + const SetIndexArray & indices = d_indices.getValue(); + const SetIndexArray & coordinates = d_coordinates.getValue(); + + if (coordinates.size() == 0) + { + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it] = xP[*it] + m*dTsimu; + xP[*it] = x[*it]; + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for(SetIndexArray::const_iterator itInd = coordinates.begin(); itInd != coordinates.end(); ++itInd) + { + x[*it][*itInd] = xP[*it][*itInd] + m[*itInd]*dTsimu; + xP[*it] = x[*it]; + } + } + } + } +} + +template +void LinearVelocityProjectiveConstraint::findKeyTimes() +{ + Real cT = (Real) this->getContext()->getTime(); + finished = false; + + if(d_keyTimes.getValue().size() != 0 && cT >= *d_keyTimes.getValue().begin() && cT <= *d_keyTimes.getValue().rbegin()) + { + nextT = *d_keyTimes.getValue().begin(); + prevT = nextT; + + typename type::vector::const_iterator it_t = d_keyTimes.getValue().begin(); + typename VecDeriv::const_iterator it_v = d_keyVelocities.getValue().begin(); + + //WARNING : we consider that the key-events are in chronological order + //here we search between which keyTimes we are, to know which are the motion to interpolate + while( it_t != d_keyTimes.getValue().end() && !finished) + { + if( *it_t <= cT) + { + prevT = *it_t; + prevV = *it_v; + } + else + { + nextT = *it_t; + nextV = *it_v; + finished = true; + } + ++it_t; + ++it_v; + } + } +}// LinearVelocityProjectiveConstraint::findKeyTimes + +template +void LinearVelocityProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /*cData*/) +{ + +} + +//display the path the constrained dofs will go through +template +void LinearVelocityProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels() || d_keyTimes.getValue().size() == 0 ) return; + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + vparams->drawTool()->disableLighting(); + + std::vector vertices; + constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); + const VecDeriv& keyVelocities = d_keyVelocities.getValue(); + const SetIndexArray & indices = d_indices.getValue(); + for (unsigned int i=0 ; idrawTool()->drawLines(vertices, 1.0, color); + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.h index ab2389a61daa..9bbd88c7ce1f 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.h @@ -20,93 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include +#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/OscillatorProjectiveConstraint.h") namespace sofa::component::constraint::projective { - -/** - * Apply sinusoidal trajectories to particles. - * Defined as \f$ x = x_m A \sin ( \omega t + \phi )\f$ - * where \f$ x_m, A , \omega t , \phi \f$ are the mean value, the amplitude, the pulsation and the phase, respectively. - */ -template -class OscillatorConstraint : public core::behavior::ProjectiveConstraintSet -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(OscillatorConstraint,TDataTypes),SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet,TDataTypes)); - - typedef TDataTypes DataTypes; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - -protected: - struct Oscillator - { - unsigned int index; - Coord mean; - Deriv amplitude; - Real pulsation; - Real phase; - - Oscillator(); - Oscillator(unsigned int i, const Coord& m, const Deriv& a, - const Real& w, const Real& p); - - inline friend std::istream& operator >>(std::istream& in, Oscillator& o) - { - in >> o.index >> o.mean >> o.amplitude >> o.pulsation >> o.phase; - return in; - } - - inline friend std::ostream& operator <<(std::ostream& out, const Oscillator& o) - { - out << o.index << " " << o.mean << " " << o.amplitude << " " - << o.pulsation << " " << o.phase << "\n"; - return out; - } - }; - - Data< type::vector< Oscillator > > constraints; ///< constrained particles - - -public: - explicit OscillatorConstraint(core::behavior::MechanicalState* mstate=nullptr); - ~OscillatorConstraint() override ; - - OscillatorConstraint* addConstraint(unsigned index, - const Coord& mean, const Deriv& amplitude, - Real pulsation, Real phase); - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_OSCILLATORCONSTRAINT_CPP) -extern template class OscillatorConstraint; -extern template class OscillatorConstraint; -#endif - -} // namespace sofa::component::constraint::projective +template +using OscillatorConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "OscillatorConstraint has been renamed to OscillatorProjectiveConstraint") = OscillatorProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.inl index 831e3468cfbd..72eca9675a69 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.inl @@ -21,107 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -OscillatorConstraint::OscillatorConstraint(core::behavior::MechanicalState* mstate) - : core::behavior::ProjectiveConstraintSet(mstate) - , constraints(initData(&constraints,"oscillators","Define a sequence of oscillating particules: \n[index, Mean(x,y,z), amplitude(x,y,z), pulsation, phase]")) -{ -} - -template -OscillatorConstraint::~OscillatorConstraint() -{ -} - -template -OscillatorConstraint* OscillatorConstraint::addConstraint(unsigned index, const Coord& mean, const Deriv& amplitude, Real pulsation, Real phase) -{ - this->constraints.beginEdit()->push_back( Oscillator(index,mean,amplitude,pulsation,phase) ); - return this; -} - - -template template -void OscillatorConstraint::projectResponseT(DataDeriv& res, - const std::function& clear) -{ - const auto& oscillators = constraints.getValue(); - - for (unsigned i = 0; i < oscillators.size(); ++i) - { - const unsigned& index = oscillators[i].index; - clear(res, index); - } -} - -template -void OscillatorConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(),[](VecDeriv& res, const unsigned int index) { res[index].clear(); }); -} - -template -void OscillatorConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - helper::WriteAccessor v = vData; - const type::vector& oscillators = constraints.getValue(); - Real t = (Real) this->getContext()->getTime(); - for (unsigned i = 0; i < oscillators.size(); ++i) - { - const unsigned& index = oscillators[i].index; - const Deriv& a = oscillators[i].amplitude; - const Real& w = oscillators[i].pulsation; - const Real& p = oscillators[i].phase; - - v[index] = a * w * cos(w * t + p); - } -} - -template -void OscillatorConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - const type::vector &oscillators = constraints.getValue(); - Real t = (Real) this->getContext()->getTime(); - for (unsigned i = 0; i < oscillators.size(); ++i) - { - const unsigned& index = oscillators[i].index; - const Coord& m = oscillators[i].mean; - const Deriv& a = oscillators[i].amplitude; - const Real& w = oscillators[i].pulsation; - const Real& p = oscillators[i].phase; - - x[index] = m + a * sin(w * t + p); - } -} - -template -void OscillatorConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); -} - -template -OscillatorConstraint::Oscillator::Oscillator(): index(0) -{ -} - -template -OscillatorConstraint::Oscillator::Oscillator(unsigned int i, const Coord& m, const Deriv& a, - const Real& w, const Real& p) : - index(i), mean(m), amplitude(a), pulsation(w), phase(p) -{ -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/OscillatorProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp similarity index 79% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp index 8edb65b5447c..967fb6e369d4 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_OSCILLATORCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_OSCILLATORPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -31,11 +31,12 @@ namespace sofa::component::constraint::projective using namespace sofa::defaulttype; using namespace sofa::helper; -int OscillatorConstraintClass = core::RegisterObject("Apply a sinusoidal trajectory to given points") - .add< OscillatorConstraint >() - .add< OscillatorConstraint >(); +int OscillatorProjectiveConstraintClass = core::RegisterObject("Apply a sinusoidal trajectory to given points") + .add< OscillatorProjectiveConstraint >() + .add< OscillatorProjectiveConstraint >() + ; -template class OscillatorConstraint; -template class OscillatorConstraint; +template class OscillatorProjectiveConstraint; +template class OscillatorProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h new file mode 100644 index 000000000000..dd97f5d8b45e --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h @@ -0,0 +1,112 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +/** + * Apply sinusoidal trajectories to particles. + * Defined as \f$ x = x_m A \sin ( \omega t + \phi )\f$ + * where \f$ x_m, A , \omega t , \phi \f$ are the mean value, the amplitude, the pulsation and the phase, respectively. + */ +template +class OscillatorProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(OscillatorProjectiveConstraint,TDataTypes),SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet,TDataTypes)); + + typedef TDataTypes DataTypes; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + +protected: + struct Oscillator + { + unsigned int index; + Coord mean; + Deriv amplitude; + Real pulsation; + Real phase; + + Oscillator(); + Oscillator(unsigned int i, const Coord& m, const Deriv& a, + const Real& w, const Real& p); + + inline friend std::istream& operator >>(std::istream& in, Oscillator& o) + { + in >> o.index >> o.mean >> o.amplitude >> o.pulsation >> o.phase; + return in; + } + + inline friend std::ostream& operator <<(std::ostream& out, const Oscillator& o) + { + out << o.index << " " << o.mean << " " << o.amplitude << " " + << o.pulsation << " " << o.phase << "\n"; + return out; + } + }; + + Data< type::vector< Oscillator > > constraints; ///< constrained particles + + +public: + explicit OscillatorProjectiveConstraint(core::behavior::MechanicalState* mstate=nullptr); + ~OscillatorProjectiveConstraint() override ; + + OscillatorProjectiveConstraint* addConstraint(unsigned index, + const Coord& mean, const Deriv& amplitude, + Real pulsation, Real phase); + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_OSCILLATORPROJECTIVECONSTRAINT_CPP) +extern template class OscillatorProjectiveConstraint; +extern template class OscillatorProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.inl new file mode 100644 index 000000000000..0f089b2eea1b --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.inl @@ -0,0 +1,127 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +OscillatorProjectiveConstraint::OscillatorProjectiveConstraint(core::behavior::MechanicalState* mstate) + : core::behavior::ProjectiveConstraintSet(mstate) + , constraints(initData(&constraints,"oscillators","Define a sequence of oscillating particules: \n[index, Mean(x,y,z), amplitude(x,y,z), pulsation, phase]")) +{ +} + +template +OscillatorProjectiveConstraint::~OscillatorProjectiveConstraint() +{ +} + +template +OscillatorProjectiveConstraint* OscillatorProjectiveConstraint::addConstraint(unsigned index, const Coord& mean, const Deriv& amplitude, Real pulsation, Real phase) +{ + this->constraints.beginEdit()->push_back( Oscillator(index,mean,amplitude,pulsation,phase) ); + return this; +} + + +template template +void OscillatorProjectiveConstraint::projectResponseT(DataDeriv& res, + const std::function& clear) +{ + const auto& oscillators = constraints.getValue(); + + for (unsigned i = 0; i < oscillators.size(); ++i) + { + const unsigned& index = oscillators[i].index; + clear(res, index); + } +} + +template +void OscillatorProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(),[](VecDeriv& res, const unsigned int index) { res[index].clear(); }); +} + +template +void OscillatorProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + helper::WriteAccessor v = vData; + const type::vector& oscillators = constraints.getValue(); + Real t = (Real) this->getContext()->getTime(); + for (unsigned i = 0; i < oscillators.size(); ++i) + { + const unsigned& index = oscillators[i].index; + const Deriv& a = oscillators[i].amplitude; + const Real& w = oscillators[i].pulsation; + const Real& p = oscillators[i].phase; + + v[index] = a * w * cos(w * t + p); + } +} + +template +void OscillatorProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + const type::vector &oscillators = constraints.getValue(); + Real t = (Real) this->getContext()->getTime(); + for (unsigned i = 0; i < oscillators.size(); ++i) + { + const unsigned& index = oscillators[i].index; + const Coord& m = oscillators[i].mean; + const Deriv& a = oscillators[i].amplitude; + const Real& w = oscillators[i].pulsation; + const Real& p = oscillators[i].phase; + + x[index] = m + a * sin(w * t + p); + } +} + +template +void OscillatorProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); +} + +template +OscillatorProjectiveConstraint::Oscillator::Oscillator(): index(0) +{ +} + +template +OscillatorProjectiveConstraint::Oscillator::Oscillator(unsigned int i, const Coord& m, const Deriv& a, + const Real& w, const Real& p) : + index(i), mean(m), amplitude(a), pulsation(w), phase(p) +{ +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.h index 4b6b1bc7c75b..9dcfe5423536 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.h @@ -20,108 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include +#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/ParabolicProjectiveConstraint.h") namespace sofa::component::constraint::projective { - -/** Apply a parabolic trajectory to particles going through 3 points specified by the user. - The DOFs set in the "indices" list follow the computed parabol from "tBegin" to "tEnd". - */ -template -class ParabolicConstraint : public core::behavior::ProjectiveConstraintSet -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(ParabolicConstraint,DataTypes),SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet,DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - typedef type::Vec<3, Real> Vec3R; - typedef type::Quat QuatR; - -protected: - ///indices of the DOFs constraints - SetIndex m_indices; - - /// the three points defining the parabol - Data m_P1; - Data m_P2; ///< second point of the parabol - Data m_P3; ///< third point of the parabol - - /// the time steps defining the velocity of the movement - Data m_tBegin; - Data m_tEnd; ///< End Time of the motion - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - - /// the 3 points projected in the parabol plan - Vec3R m_locP1; - Vec3R m_locP2; - Vec3R m_locP3; - - /// the quaternion doing the projection - QuatR m_projection; - - explicit ParabolicConstraint(core::behavior::MechanicalState* mstate = nullptr); - - ~ParabolicConstraint(); -public: - void addConstraint(unsigned index ); - - void setP1(const Vec3R &p) {m_P1.setValue(p);} - void setP2(const Vec3R &p) {m_P2.setValue(p);} - void setP3(const Vec3R &p) {m_P3.setValue(p);} - - void setBeginTime(const Real &t) {m_tBegin.setValue(t);} - void setEndTime(const Real &t) {m_tEnd.setValue(t);} - - Vec3R getP1() {return m_P1.getValue();} - Vec3R getP2() {return m_P2.getValue();} - Vec3R getP3() {return m_P3.getValue();} - - Real getBeginTime() {return m_tBegin.getValue();} - Real getEndTime() {return m_tEnd.getValue();} - - /// -- Constraint interface - void init() override; - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void draw(const core::visual::VisualParams* vparams) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARABOLICCONSTRAINT_CPP) -extern template class ParabolicConstraint; -extern template class ParabolicConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using ParabolicConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "ParabolicConstraint has been renamed to ParabolicProjectiveConstraint") = ParabolicProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.inl index e8b6489cc9cc..7c6fa4b59a23 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.inl @@ -21,243 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -ParabolicConstraint::ParabolicConstraint(core::behavior::MechanicalState* mstate) - : core::behavior::ProjectiveConstraintSet(mstate) - , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) - , m_P1(initData(&m_P1,"P1","first point of the parabol") ) - , m_P2(initData(&m_P2,"P2","second point of the parabol") ) - , m_P3(initData(&m_P3,"P3","third point of the parabol") ) - , m_tBegin(initData(&m_tBegin,"BeginTime","Begin Time of the motion") ) - , m_tEnd(initData(&m_tEnd,"EndTime","End Time of the motion") ) - , l_topology(initLink("topology", "link to the topology container")) -{ -} - -template -ParabolicConstraint::~ParabolicConstraint() -{ -} - -template -void ParabolicConstraint::addConstraint(unsigned index) -{ - m_indices.beginEdit()->push_back(index); - m_indices.endEdit(); -} - - -template -void ParabolicConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 functions and parameters for topology data and handler - m_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - Vec3R P1 = m_P1.getValue(); - Vec3R P2 = m_P2.getValue(); - Vec3R P3 = m_P3.getValue(); - - //compute the projection to go in the parabol plan, - //such as P1 is the origin, P1P3 vector is the x axis, and P1P2 is in the xy plan - //by the way the computation of the parabol equation is much easier - if(P1 != P2 && P1 != P3 && P2 != P3) - { - - Vec3R P1P2 = P2 - P1; - Vec3R P1P3 = P3 - P1; - - Vec3R ax = P1P3; - Vec3R az = cross(P1P3, P1P2); - Vec3R ay = cross(az, ax); - ax.normalize(); - ay.normalize(); - az.normalize(); - - - type::Mat<3,3,Real> Mrot(ax, ay, az); - type::Mat<3,3,Real> Mrot2; - Mrot2.transpose(Mrot); - m_projection.fromMatrix(Mrot2); - m_projection.normalize(); - - m_locP1 = Vec3R(); - m_locP2 = m_projection.inverseRotate(P1P2); - m_locP3 = m_projection.inverseRotate(P1P3); - } -} - -template -void ParabolicConstraint::reinit() -{ - init(); -} - - -template -template -void ParabolicConstraint::projectResponseT(DataDeriv& dx, - const std::function& clear) -{ - Real t = (Real) this->getContext()->getTime(); - if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue()) - { - const SetIndexArray & indices = m_indices.getValue(); - for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - clear(dx, *it); - } -} - -template -void ParabolicConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(),[](VecDeriv& dx, const unsigned int index) { dx[index].clear(); }); -} - -template -void ParabolicConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - helper::WriteAccessor dx = vData; - Real t = (Real) this->getContext()->getTime(); - Real dt = (Real) this->getContext()->getDt(); - - if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) - { - Real relativeTime = (t - m_tBegin.getValue() ) / (m_tEnd.getValue() - m_tBegin.getValue()); - const SetIndexArray & indices = m_indices.getValue(); - - for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - //compute velocity by doing v = dx/dt - Real pxP = m_locP3.x()*relativeTime; - Real pyP = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (pxP *pxP) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * pxP; - relativeTime = (t+dt - m_tBegin.getValue() ) / (m_tEnd.getValue() - m_tBegin.getValue()); - Real pxN = m_locP3.x()*relativeTime; - Real pyN = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (pxN *pxN) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * pxN; - - Vec3R locVel = Vec3R( (pxN-pxP)/dt, (pyN-pyP)/dt, 0.0); - - Vec3R worldVel = m_projection.rotate(locVel); - - dx[*it] = worldVel; - } - } -} - -template -void ParabolicConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - Real t = (Real) this->getContext()->getTime(); - - if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) - { - Real relativeTime = (t - m_tBegin.getValue() ) / (m_tEnd.getValue() - m_tBegin.getValue()); - const SetIndexArray & indices = m_indices.getValue(); - - for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - //compute position from the equation of the parabol : Y = -y2/(x3*x2-x2�) * X� + (x3*y2)/(x3*x2-x2�) * X - //with P1:(0,0,0), P2:(x2,y2,z2), P3:(x3,y3,z3) , projected in parabol plan - Real px = m_locP3.x()*relativeTime; - Real py = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (px *px) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * px; - Vec3R locPos( px , py, 0.0); - - //projection to world coordinates - Vec3R worldPos = m_P1.getValue() + m_projection.rotate(locPos); - - x[*it] = worldPos; - } - } -} - -template -void ParabolicConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - - projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); -} - - -template -void ParabolicConstraint::draw(const core::visual::VisualParams* vparams) -{ - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - if (!vparams->displayFlags().getShowBehaviorModels()) return; - - Real dt = (Real) this->getContext()->getDt(); - Real t = m_tEnd.getValue() - m_tBegin.getValue(); - Real nbStep = t/dt; - - vparams->drawTool()->disableLighting(); - constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); - std::vector vertices; - - for (unsigned int i=0 ; i< nbStep ; i++) - { - //draw lines between each step of the parabolic trajectory - //so, the smaller is dt, the finer is the parabol - Real relativeTime = i/nbStep; - Real px = m_locP3.x()*relativeTime; - Real py = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (px *px) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * px; - Vec3R locPos( px , py, 0.0); - Vec3R worldPos = m_P1.getValue() + m_projection.rotate(locPos); - - vertices.push_back(sofa::type::Vec3(worldPos[0],worldPos[1],worldPos[2])); - - relativeTime = (i+1)/nbStep; - px = m_locP3.x()*relativeTime; - py = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (px *px) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * px; - locPos = Vec3R( px , py, 0.0); - worldPos = m_P1.getValue() + m_projection.rotate(locPos); - - - vertices.push_back(sofa::type::Vec3(worldPos[0],worldPos[1],worldPos[2])); - - } - vparams->drawTool()->drawLines(vertices, 1.0, color); - vertices.clear(); - - //draw points for the 3 control points - const Vec3R& mp1 = m_P1.getValue(); - const Vec3R& mp2 = m_P2.getValue(); - const Vec3R& mp3 = m_P3.getValue(); - vertices.push_back(sofa::type::Vec3(mp1[0],mp1[1],mp1[2])); - vertices.push_back(sofa::type::Vec3(mp2[0],mp2[1],mp2[2])); - vertices.push_back(sofa::type::Vec3(mp3[0],mp3[1],mp3[2])); - - vparams->drawTool()->drawPoints(vertices, 5.0, color); - - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/ParabolicProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp similarity index 77% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp index 15239ed4f360..47503a2d77f2 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARABOLICCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARABOLICPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -28,11 +28,12 @@ namespace sofa::component::constraint::projective { -int ParabolicConstraintClass = core::RegisterObject("Apply a parabolic trajectory to given points") - .add< ParabolicConstraint >() - .add< ParabolicConstraint >(); +int ParabolicProjectiveConstraintClass = core::RegisterObject("Apply a parabolic trajectory to given points") + .add< ParabolicProjectiveConstraint >() + .add< ParabolicProjectiveConstraint >() + ; -template class ParabolicConstraint; -template class ParabolicConstraint; +template class ParabolicProjectiveConstraint; +template class ParabolicProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h new file mode 100644 index 000000000000..422c9cb020bc --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h @@ -0,0 +1,126 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +/** Apply a parabolic trajectory to particles going through 3 points specified by the user. + The DOFs set in the "indices" list follow the computed parabol from "tBegin" to "tEnd". + */ +template +class ParabolicProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(ParabolicProjectiveConstraint,DataTypes),SOFA_TEMPLATE(core::behavior::ProjectiveConstraintSet,DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + typedef type::Vec<3, Real> Vec3R; + typedef type::Quat QuatR; + +protected: + ///indices of the DOFs constraints + SetIndex m_indices; + + /// the three points defining the parabol + Data m_P1; + Data m_P2; ///< second point of the parabol + Data m_P3; ///< third point of the parabol + + /// the time steps defining the velocity of the movement + Data m_tBegin; + Data m_tEnd; ///< End Time of the motion + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + + /// the 3 points projected in the parabol plan + Vec3R m_locP1; + Vec3R m_locP2; + Vec3R m_locP3; + + /// the quaternion doing the projection + QuatR m_projection; + + explicit ParabolicProjectiveConstraint(core::behavior::MechanicalState* mstate = nullptr); + + ~ParabolicProjectiveConstraint(); +public: + void addConstraint(unsigned index ); + + void setP1(const Vec3R &p) {m_P1.setValue(p);} + void setP2(const Vec3R &p) {m_P2.setValue(p);} + void setP3(const Vec3R &p) {m_P3.setValue(p);} + + void setBeginTime(const Real &t) {m_tBegin.setValue(t);} + void setEndTime(const Real &t) {m_tEnd.setValue(t);} + + Vec3R getP1() {return m_P1.getValue();} + Vec3R getP2() {return m_P2.getValue();} + Vec3R getP3() {return m_P3.getValue();} + + Real getBeginTime() {return m_tBegin.getValue();} + Real getEndTime() {return m_tEnd.getValue();} + + /// -- Constraint interface + void init() override; + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void draw(const core::visual::VisualParams* vparams) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARABOLICPROJECTIVECONSTRAINT_CPP) +extern template class ParabolicProjectiveConstraint; +extern template class ParabolicProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.inl new file mode 100644 index 000000000000..09a34cc7b9b3 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.inl @@ -0,0 +1,263 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +ParabolicProjectiveConstraint::ParabolicProjectiveConstraint(core::behavior::MechanicalState* mstate) + : core::behavior::ProjectiveConstraintSet(mstate) + , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) + , m_P1(initData(&m_P1,"P1","first point of the parabol") ) + , m_P2(initData(&m_P2,"P2","second point of the parabol") ) + , m_P3(initData(&m_P3,"P3","third point of the parabol") ) + , m_tBegin(initData(&m_tBegin,"BeginTime","Begin Time of the motion") ) + , m_tEnd(initData(&m_tEnd,"EndTime","End Time of the motion") ) + , l_topology(initLink("topology", "link to the topology container")) +{ +} + +template +ParabolicProjectiveConstraint::~ParabolicProjectiveConstraint() +{ +} + +template +void ParabolicProjectiveConstraint::addConstraint(unsigned index) +{ + m_indices.beginEdit()->push_back(index); + m_indices.endEdit(); +} + + +template +void ParabolicProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 functions and parameters for topology data and handler + m_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + Vec3R P1 = m_P1.getValue(); + Vec3R P2 = m_P2.getValue(); + Vec3R P3 = m_P3.getValue(); + + //compute the projection to go in the parabol plan, + //such as P1 is the origin, P1P3 vector is the x axis, and P1P2 is in the xy plan + //by the way the computation of the parabol equation is much easier + if(P1 != P2 && P1 != P3 && P2 != P3) + { + + Vec3R P1P2 = P2 - P1; + Vec3R P1P3 = P3 - P1; + + Vec3R ax = P1P3; + Vec3R az = cross(P1P3, P1P2); + Vec3R ay = cross(az, ax); + ax.normalize(); + ay.normalize(); + az.normalize(); + + + type::Mat<3,3,Real> Mrot(ax, ay, az); + type::Mat<3,3,Real> Mrot2; + Mrot2.transpose(Mrot); + m_projection.fromMatrix(Mrot2); + m_projection.normalize(); + + m_locP1 = Vec3R(); + m_locP2 = m_projection.inverseRotate(P1P2); + m_locP3 = m_projection.inverseRotate(P1P3); + } +} + +template +void ParabolicProjectiveConstraint::reinit() +{ + init(); +} + + +template +template +void ParabolicProjectiveConstraint::projectResponseT(DataDeriv& dx, + const std::function& clear) +{ + Real t = (Real) this->getContext()->getTime(); + if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue()) + { + const SetIndexArray & indices = m_indices.getValue(); + for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + clear(dx, *it); + } +} + +template +void ParabolicProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(),[](VecDeriv& dx, const unsigned int index) { dx[index].clear(); }); +} + +template +void ParabolicProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + helper::WriteAccessor dx = vData; + Real t = (Real) this->getContext()->getTime(); + Real dt = (Real) this->getContext()->getDt(); + + if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) + { + Real relativeTime = (t - m_tBegin.getValue() ) / (m_tEnd.getValue() - m_tBegin.getValue()); + const SetIndexArray & indices = m_indices.getValue(); + + for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + //compute velocity by doing v = dx/dt + Real pxP = m_locP3.x()*relativeTime; + Real pyP = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (pxP *pxP) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * pxP; + relativeTime = (t+dt - m_tBegin.getValue() ) / (m_tEnd.getValue() - m_tBegin.getValue()); + Real pxN = m_locP3.x()*relativeTime; + Real pyN = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (pxN *pxN) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * pxN; + + Vec3R locVel = Vec3R( (pxN-pxP)/dt, (pyN-pyP)/dt, 0.0); + + Vec3R worldVel = m_projection.rotate(locVel); + + dx[*it] = worldVel; + } + } +} + +template +void ParabolicProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + Real t = (Real) this->getContext()->getTime(); + + if ( t >= m_tBegin.getValue() && t <= m_tEnd.getValue() ) + { + Real relativeTime = (t - m_tBegin.getValue() ) / (m_tEnd.getValue() - m_tBegin.getValue()); + const SetIndexArray & indices = m_indices.getValue(); + + for(SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + //compute position from the equation of the parabol : Y = -y2/(x3*x2-x2�) * X� + (x3*y2)/(x3*x2-x2�) * X + //with P1:(0,0,0), P2:(x2,y2,z2), P3:(x3,y3,z3) , projected in parabol plan + Real px = m_locP3.x()*relativeTime; + Real py = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (px *px) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * px; + Vec3R locPos( px , py, 0.0); + + //projection to world coordinates + Vec3R worldPos = m_P1.getValue() + m_projection.rotate(locPos); + + x[*it] = worldPos; + } + } +} + +template +void ParabolicProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + + projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); +} + + +template +void ParabolicProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + if (!vparams->displayFlags().getShowBehaviorModels()) return; + + Real dt = (Real) this->getContext()->getDt(); + Real t = m_tEnd.getValue() - m_tBegin.getValue(); + Real nbStep = t/dt; + + vparams->drawTool()->disableLighting(); + constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); + std::vector vertices; + + for (unsigned int i=0 ; i< nbStep ; i++) + { + //draw lines between each step of the parabolic trajectory + //so, the smaller is dt, the finer is the parabol + Real relativeTime = i/nbStep; + Real px = m_locP3.x()*relativeTime; + Real py = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (px *px) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * px; + Vec3R locPos( px , py, 0.0); + Vec3R worldPos = m_P1.getValue() + m_projection.rotate(locPos); + + vertices.push_back(sofa::type::Vec3(worldPos[0],worldPos[1],worldPos[2])); + + relativeTime = (i+1)/nbStep; + px = m_locP3.x()*relativeTime; + py = (- m_locP2.y() / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * (px *px) + ( (m_locP3.x()*m_locP2.y()) / (m_locP3.x()*m_locP2.x() - m_locP2.x()*m_locP2.x())) * px; + locPos = Vec3R( px , py, 0.0); + worldPos = m_P1.getValue() + m_projection.rotate(locPos); + + + vertices.push_back(sofa::type::Vec3(worldPos[0],worldPos[1],worldPos[2])); + + } + vparams->drawTool()->drawLines(vertices, 1.0, color); + vertices.clear(); + + //draw points for the 3 control points + const Vec3R& mp1 = m_P1.getValue(); + const Vec3R& mp2 = m_P2.getValue(); + const Vec3R& mp3 = m_P3.getValue(); + vertices.push_back(sofa::type::Vec3(mp1[0],mp1[1],mp1[2])); + vertices.push_back(sofa::type::Vec3(mp2[0],mp2[1],mp2[2])); + vertices.push_back(sofa::type::Vec3(mp3[0],mp3[1],mp3[2])); + + vparams->drawTool()->drawPoints(vertices, 5.0, color); + + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.h index b54bdc2b6119..b5d76e4379ff 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.h @@ -20,87 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h") -/** - * Attach given particles to their initial positions, in some directions only. - * The fixed and free directioons are the same for all the particles, defined in the fixedDirections attribute. - **/ -template -class PartialFixedConstraint : public FixedConstraint +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(PartialFixedConstraint,DataTypes),SOFA_TEMPLATE(FixedConstraint, DataTypes)); - - typedef FixedConstraint Inherited; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - -public: - enum { NumDimensions = Deriv::total_size }; - typedef sofa::type::fixed_array VecBool; - Data d_fixedDirections; ///< Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free. - Data d_projectVelocity; ///< activate project velocity to set velocity to zero - -protected: - PartialFixedConstraint(); - virtual ~PartialFixedConstraint(); - -public: - - // -- Constraint interface - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); -}; - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALFIXEDCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using PartialFixedConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "PartialFixedConstraint has been renamed to PartialFixedProjectiveConstraint") = PartialFixedProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.inl index 1e0a8bb8b9f3..1fd9f96ae7be 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.inl @@ -21,323 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include +#include - -namespace sofa::component::constraint::projective -{ - -template -PartialFixedConstraint::PartialFixedConstraint() - : d_fixedDirections( initData(&d_fixedDirections,"fixedDirections","for each direction, 1 if fixed, 0 if free") ) - , d_projectVelocity(initData(&d_projectVelocity, false, "projectVelocity", "project velocity to ensure no drift of the fixed point")) -{ - VecBool blockedDirection; - for( unsigned i=0; i -PartialFixedConstraint::~PartialFixedConstraint() -{ - //Parent class FixedConstraint already destruct : pointHandler and data -} - -template -void PartialFixedConstraint::reinit() -{ - this->Inherited::reinit(); -} - - -template -template -void PartialFixedConstraint::projectResponseT(DataDeriv& res, - const std::function& clear) -{ - const VecBool& blockedDirection = d_fixedDirections.getValue(); - - if (this->d_fixAll.getValue() == true) - { - // fix everything - for( std::size_t i=0; id_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - clear(res, *it, blockedDirection); - } - } -} - -template -void PartialFixedConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(), - [](VecDeriv& dx, const unsigned int index, const VecBool& b) - { - for (std::size_t j = 0; j < b.size(); j++) if (b[j]) dx[index][j] = 0.0; - } - ); -} - -// projectVelocity applies the same changes on velocity vector as projectResponse on position vector : -// Each fixed point received a null velocity vector. -// When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull. -// But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null or -// to set the projectVelocity option to True. If not, the fixed point is going to drift. -template -void PartialFixedConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - SOFA_UNUSED(mparams); - - if(!d_projectVelocity.getValue()) return; - - const VecBool& blockedDirection = d_fixedDirections.getValue(); - helper::WriteAccessor res = vData; - - if ( this->d_fixAll.getValue() ) - { - // fix everyting - for (Size i = 0; i < res.size(); i++) - { - for (unsigned int c = 0; c < NumDimensions; ++c) - { - if (blockedDirection[c]) res[i][c] = 0; - } - } - } - else - { - const SetIndexArray & indices = this->d_indices.getValue(); - for(Index ind : indices) - { - for (unsigned int c = 0; c < NumDimensions; ++c) - { - if (blockedDirection[c]) - res[ind][c] = 0; - } - } - } -} - - -template -void PartialFixedConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - - projectResponseT(c.wref(), - [](MatrixDeriv& res, const unsigned int index, const VecBool& btype) - { - auto itRow = res.begin(); - auto itRowEnd = res.end(); - - while (itRow != itRowEnd) - { - for (auto colIt = itRow.begin(); colIt != itRow.end(); colIt++) - { - if (index == (unsigned int)colIt.index()) - { - Deriv b = colIt.val(); - for (unsigned int j = 0; j < btype.size(); j++) - if (btype[j]) b[j] = 0.0; - res.writeLine(itRow.index()).setCol(colIt.index(), b); - } - } - ++itRow; - } - }); -} - -template -void PartialFixedConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const int o = matrix->getGlobalOffset(this->mstate.get()); - if (o >= 0) - { - const unsigned int offset = (unsigned int)o; - const unsigned int N = Deriv::size(); - - const VecBool& blockedDirection = d_fixedDirections.getValue(); - - if( this->d_fixAll.getValue() ) - { - for(sofa::Index i=0; i<(sofa::Size) vector->size(); i++ ) - { - for (unsigned int c = 0; c < N; ++c) - { - if (blockedDirection[c]) - { - vector->clear(offset + N * i + c); - } - } - } - } - else - { - const SetIndexArray & indices = this->d_indices.getValue(); - for (const unsigned int index : indices) - { - for (unsigned int c = 0; c < N; ++c) - { - if (blockedDirection[c]) - { - vector->clear(offset + N * index + c); - } - } - } - } - } -} - -template -void PartialFixedConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) - { - const unsigned int N = Deriv::size(); - const VecBool& blockedDirection = d_fixedDirections.getValue(); - const SetIndexArray & indices = this->d_indices.getValue(); - - if( this->d_fixAll.getValue() ) - { - const unsigned size = this->mstate->getSize(); - for(unsigned int i=0; iclearRowCol(r.offset + N * i + c); - } - } - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * i + c, r.offset + N * i + c, 1.0); - } - } - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); - } - } - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); - } - } - } - } - } -} - -template -void PartialFixedConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - static const unsigned blockSize = DataTypes::deriv_total_size; - - const VecBool& blockedDirection = d_fixedDirections.getValue(); - - if( this->d_fixAll.getValue() ) - { - const unsigned size = this->mstate->getSize(); - for( unsigned i=0; iclearRowCol( offset + i * blockSize + c ); - } - } - } - } - else - { - const SetIndexArray & indices = this->d_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for (unsigned int c = 0; c < blockSize; ++c) - { - if (blockedDirection[c]) - { - M->clearRowCol( offset + (*it) * blockSize + c); - } - } - } - } -} - -template -void PartialFixedConstraint::applyConstraint( - sofa::core::behavior::ZeroDirichletCondition* matrix) -{ - static constexpr unsigned int N = Deriv::size(); - const VecBool& blockedDirection = d_fixedDirections.getValue(); - - if( this->d_fixAll.getValue() ) - { - const sofa::Size size = this->mstate->getSize(); - - for(sofa::Index i = 0; i < size; ++i) - { - for (unsigned int c=0; cdiscardRowCol(N * i + c, N * i + c); - } - } - } - } - else - { - const SetIndexArray & indices = this->d_indices.getValue(); - - for (const auto index : indices) - { - for (unsigned int c = 0; c < N; ++c) - { - if (blockedDirection[c]) - { - matrix->discardRowCol(N * index + c, N * index + c); - } - } - } - } -} -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp similarity index 72% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp index d28aae72e244..a28195e0254b 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALFIXEDCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALFIXEDPROJECTIVECONSTRAINT_CPP +#include #include #include @@ -31,21 +31,20 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int PartialFixedConstraintClass = core::RegisterObject("Attach given particles to their initial positions") - .add< PartialFixedConstraint >() - .add< PartialFixedConstraint >() - .add< PartialFixedConstraint >() - .add< PartialFixedConstraint >() - .add< PartialFixedConstraint >() - .add< PartialFixedConstraint >() - +int PartialFixedProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions") + .add< PartialFixedProjectiveConstraint >() + .add< PartialFixedProjectiveConstraint >() + .add< PartialFixedProjectiveConstraint >() + .add< PartialFixedProjectiveConstraint >() + .add< PartialFixedProjectiveConstraint >() + .add< PartialFixedProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h new file mode 100644 index 000000000000..28e99260259b --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.h @@ -0,0 +1,105 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/** + * Attach given particles to their initial positions, in some directions only. + * The fixed and free directioons are the same for all the particles, defined in the fixedDirections attribute. + **/ +template +class PartialFixedProjectiveConstraint : public FixedProjectiveConstraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(PartialFixedProjectiveConstraint,DataTypes),SOFA_TEMPLATE(FixedProjectiveConstraint, DataTypes)); + + typedef FixedProjectiveConstraint Inherited; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + +public: + enum { NumDimensions = Deriv::total_size }; + typedef sofa::type::fixed_array VecBool; + Data d_fixedDirections; ///< Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free. + Data d_projectVelocity; ///< activate project velocity to set velocity to zero + +protected: + PartialFixedProjectiveConstraint(); + virtual ~PartialFixedProjectiveConstraint(); + +public: + + // -- Constraint interface + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); +}; + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALFIXEDPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialFixedProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl new file mode 100644 index 000000000000..3c9b090d7716 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialFixedProjectiveConstraint.inl @@ -0,0 +1,343 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +template +PartialFixedProjectiveConstraint::PartialFixedProjectiveConstraint() + : d_fixedDirections( initData(&d_fixedDirections,"fixedDirections","for each direction, 1 if fixed, 0 if free") ) + , d_projectVelocity(initData(&d_projectVelocity, false, "projectVelocity", "project velocity to ensure no drift of the fixed point")) +{ + VecBool blockedDirection; + for( unsigned i=0; i +PartialFixedProjectiveConstraint::~PartialFixedProjectiveConstraint() +{ + //Parent class FixedConstraint already destruct : pointHandler and data +} + +template +void PartialFixedProjectiveConstraint::reinit() +{ + this->Inherited::reinit(); +} + + +template +template +void PartialFixedProjectiveConstraint::projectResponseT(DataDeriv& res, + const std::function& clear) +{ + const VecBool& blockedDirection = d_fixedDirections.getValue(); + + if (this->d_fixAll.getValue() == true) + { + // fix everything + for( std::size_t i=0; id_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + clear(res, *it, blockedDirection); + } + } +} + +template +void PartialFixedProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(), + [](VecDeriv& dx, const unsigned int index, const VecBool& b) + { + for (std::size_t j = 0; j < b.size(); j++) if (b[j]) dx[index][j] = 0.0; + } + ); +} + +// projectVelocity applies the same changes on velocity vector as projectResponse on position vector : +// Each fixed point received a null velocity vector. +// When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull. +// But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null or +// to set the projectVelocity option to True. If not, the fixed point is going to drift. +template +void PartialFixedProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + SOFA_UNUSED(mparams); + + if(!d_projectVelocity.getValue()) return; + + const VecBool& blockedDirection = d_fixedDirections.getValue(); + helper::WriteAccessor res = vData; + + if ( this->d_fixAll.getValue() ) + { + // fix everyting + for (Size i = 0; i < res.size(); i++) + { + for (unsigned int c = 0; c < NumDimensions; ++c) + { + if (blockedDirection[c]) res[i][c] = 0; + } + } + } + else + { + const SetIndexArray & indices = this->d_indices.getValue(); + for(Index ind : indices) + { + for (unsigned int c = 0; c < NumDimensions; ++c) + { + if (blockedDirection[c]) + res[ind][c] = 0; + } + } + } +} + + +template +void PartialFixedProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + + projectResponseT(c.wref(), + [](MatrixDeriv& res, const unsigned int index, const VecBool& btype) + { + auto itRow = res.begin(); + auto itRowEnd = res.end(); + + while (itRow != itRowEnd) + { + for (auto colIt = itRow.begin(); colIt != itRow.end(); colIt++) + { + if (index == (unsigned int)colIt.index()) + { + Deriv b = colIt.val(); + for (unsigned int j = 0; j < btype.size(); j++) + if (btype[j]) b[j] = 0.0; + res.writeLine(itRow.index()).setCol(colIt.index(), b); + } + } + ++itRow; + } + }); +} + +template +void PartialFixedProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const int o = matrix->getGlobalOffset(this->mstate.get()); + if (o >= 0) + { + const unsigned int offset = (unsigned int)o; + const unsigned int N = Deriv::size(); + + const VecBool& blockedDirection = d_fixedDirections.getValue(); + + if( this->d_fixAll.getValue() ) + { + for(sofa::Index i=0; i<(sofa::Size) vector->size(); i++ ) + { + for (unsigned int c = 0; c < N; ++c) + { + if (blockedDirection[c]) + { + vector->clear(offset + N * i + c); + } + } + } + } + else + { + const SetIndexArray & indices = this->d_indices.getValue(); + for (const unsigned int index : indices) + { + for (unsigned int c = 0; c < N; ++c) + { + if (blockedDirection[c]) + { + vector->clear(offset + N * index + c); + } + } + } + } + } +} + +template +void PartialFixedProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) + { + const unsigned int N = Deriv::size(); + const VecBool& blockedDirection = d_fixedDirections.getValue(); + const SetIndexArray & indices = this->d_indices.getValue(); + + if( this->d_fixAll.getValue() ) + { + const unsigned size = this->mstate->getSize(); + for(unsigned int i=0; iclearRowCol(r.offset + N * i + c); + } + } + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * i + c, r.offset + N * i + c, 1.0); + } + } + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); + } + } + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); + } + } + } + } + } +} + +template +void PartialFixedProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + static const unsigned blockSize = DataTypes::deriv_total_size; + + const VecBool& blockedDirection = d_fixedDirections.getValue(); + + if( this->d_fixAll.getValue() ) + { + const unsigned size = this->mstate->getSize(); + for( unsigned i=0; iclearRowCol( offset + i * blockSize + c ); + } + } + } + } + else + { + const SetIndexArray & indices = this->d_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for (unsigned int c = 0; c < blockSize; ++c) + { + if (blockedDirection[c]) + { + M->clearRowCol( offset + (*it) * blockSize + c); + } + } + } + } +} + +template +void PartialFixedProjectiveConstraint::applyConstraint( + sofa::core::behavior::ZeroDirichletCondition* matrix) +{ + static constexpr unsigned int N = Deriv::size(); + const VecBool& blockedDirection = d_fixedDirections.getValue(); + + if( this->d_fixAll.getValue() ) + { + const sofa::Size size = this->mstate->getSize(); + + for(sofa::Index i = 0; i < size; ++i) + { + for (unsigned int c=0; cdiscardRowCol(N * i + c, N * i + c); + } + } + } + } + else + { + const SetIndexArray & indices = this->d_indices.getValue(); + + for (const auto index : indices) + { + for (unsigned int c = 0; c < N; ++c) + { + if (blockedDirection[c]) + { + matrix->discardRowCol(N * index + c, N * index + c); + } + } + } + } +} +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.h index 072548a50301..f3eb83d88685 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.h @@ -20,157 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -class PartialLinearMovementConstraintInternalData -{ -}; +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h") -/** impose a motion to given DOFs (translation and rotation) in some directions only. - The moved and free directioons are the same for all the particles, defined in the movedDirections attribute. - The motion between 2 key times is linearly interpolated -*/ -template -class PartialLinearMovementConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(PartialLinearMovementConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); - - using Index = sofa::Index; - typedef TDataTypes DataTypes; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - -protected: - PartialLinearMovementConstraintInternalData *data; - friend class PartialLinearMovementConstraintInternalData; - -public : - /// indices of the DOFs the constraint is applied to - SetIndex m_indices; - /// the key frames when the motion is defined by the user - core::objectmodel::Data > m_keyTimes; - /// the motions corresponding to the key frames - core::objectmodel::Data m_keyMovements; - - /// attributes to precise display - /// if showMovement is true we display the expected movement - /// otherwise we show which are the fixed dofs - core::objectmodel::Data< bool > showMovement; - - /// the key times surrounding the current simulation time (for interpolation) - Real prevT, nextT; - ///the motions corresponding to the surrouding key times - Deriv prevM, nextM; - ///initial constrained DOFs position - VecCoord x0; - - core::objectmodel::Data linearMovementBetweenNodesInIndices; ///< Take into account the linear movement between the constrained points - core::objectmodel::Data mainIndice; ///< The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes - core::objectmodel::Data minDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the minimum displacment - core::objectmodel::Data maxDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the maximum displacment - core::objectmodel::Data > m_imposedDisplacmentOnMacroNodes; ///< imposed displacement at u1 u2 u3 u4 for 2d case - ///< and u1 u2 u3 u4 u5 u6 u7 u8 for 3d case - Data X0; ///< Size of specimen in X-direction - Data Y0; ///< Size of specimen in Y-direction - Data Z0; ///< Size of specimen in Z-direction - - enum { NumDimensions = Deriv::total_size }; - typedef sofa::type::fixed_array VecBool; - core::objectmodel::Data movedDirections; ///< Defines the directions in which the particles are moved: true (or 1) for fixed, false (or 0) for free. - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - PartialLinearMovementConstraint(); - ~PartialLinearMovementConstraint() override; - -public: - ///methods to add/remove some indices, keyTimes, keyMovement - void clearIndices(); - void addIndex(Index index); - void removeIndex(Index index); - void clearKeyMovements(); - - ///@brief Add a new key movement - ///@param time : the simulation time you want to set a movement (in sec) - ///@param movement : the corresponding motion - ///for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s - void addKeyMovement(Real time, Deriv movement); - - - /// -- Constraint interface - void init() override; - void reset() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - void draw(const core::visual::VisualParams*) override; - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); - - template - void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); - template - void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); - -private: - - /// to keep the time corresponding to the key times - Real currentTime; - - /// to know if we found the key times - bool finished; - - /// find previous and next time keys - void findKeyTimes(); -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALLINEARMOVEMENTCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -#endif - -} // namespace sofa::component::constraint::projective +template +using PartialLinearMovementConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "PartialLinearMovementConstraint has been renamed to PartialLinearMovementProjectiveConstraint") = PartialLinearMovementProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.inl index 08bd3e7df9d4..4d212e34cae6 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.inl @@ -21,487 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include - -namespace sofa::component::constraint::projective -{ - -template -PartialLinearMovementConstraint::PartialLinearMovementConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , data(new PartialLinearMovementConstraintInternalData) - , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) - , m_keyTimes( initData(&m_keyTimes,"keyTimes","key times for the movements") ) - , m_keyMovements( initData(&m_keyMovements,"movements","movements corresponding to the key times") ) - , showMovement( initData(&showMovement, (bool)false, "showMovement", "Visualization of the movement to be applied to constrained dofs.")) - , linearMovementBetweenNodesInIndices( initData(&linearMovementBetweenNodesInIndices, (bool)false, "linearMovementBetweenNodesInIndices", "Take into account the linear movement between the constrained points")) - , mainIndice( initData(&mainIndice, "mainIndice", "The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes ")) - , minDepIndice( initData(&minDepIndice, "minDepIndice", "The indice node in the list of constrained nodes, which is imposed the minimum displacment ")) - , maxDepIndice( initData(&maxDepIndice, "maxDepIndice", "The indice node in the list of constrained nodes, which is imposed the maximum displacment ")) - , m_imposedDisplacmentOnMacroNodes( initData(&m_imposedDisplacmentOnMacroNodes,"imposedDisplacmentOnMacroNodes","The imposed displacment on macro nodes") ) - , X0 ( initData ( &X0, Real(0.0),"X0","Size of specimen in X-direction" ) ) - , Y0 ( initData ( &Y0, Real(0.0),"Y0","Size of specimen in Y-direction" ) ) - , Z0 ( initData ( &Z0, Real(0.0),"Z0","Size of specimen in Z-direction" ) ) - , movedDirections( initData(&movedDirections,"movedDirections","for each direction, 1 if moved, 0 if free") ) - , l_topology(initLink("topology", "link to the topology container")) - , finished(false) -{ - // default to indice 0 - m_indices.beginEdit()->push_back(0); - m_indices.endEdit(); - - //default valueEvent to 0 - m_keyTimes.beginEdit()->push_back( 0.0 ); - m_keyTimes.endEdit(); - m_keyMovements.beginEdit()->push_back( Deriv() ); - m_keyMovements.endEdit(); - VecBool movedDirection; - for( unsigned i=0; i -PartialLinearMovementConstraint::~PartialLinearMovementConstraint() -{ - -} - -template -void PartialLinearMovementConstraint::clearIndices() -{ - m_indices.beginEdit()->clear(); - m_indices.endEdit(); -} - -template -void PartialLinearMovementConstraint::addIndex(Index index) -{ - m_indices.beginEdit()->push_back(index); - m_indices.endEdit(); -} - -template -void PartialLinearMovementConstraint::removeIndex(Index index) -{ - sofa::type::removeValue(*m_indices.beginEdit(),index); - m_indices.endEdit(); -} - -template -void PartialLinearMovementConstraint::clearKeyMovements() -{ - m_keyTimes.beginEdit()->clear(); - m_keyTimes.endEdit(); - m_keyMovements.beginEdit()->clear(); - m_keyMovements.endEdit(); -} - -template -void PartialLinearMovementConstraint::addKeyMovement(Real time, Deriv movement) -{ - m_keyTimes.beginEdit()->push_back( time ); - m_keyTimes.endEdit(); - m_keyMovements.beginEdit()->push_back( movement ); - m_keyMovements.endEdit(); -} - -// -- Constraint interface - - -template -void PartialLinearMovementConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - m_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - x0.resize(0); - nextM = prevM = Deriv(); - - currentTime = -1.0; - finished = false; -} - - -template -void PartialLinearMovementConstraint::reset() -{ - nextT = prevT = 0.0; - nextM = prevM = Deriv(); - - currentTime = -1.0; - finished = false; -} - - -template -template -void PartialLinearMovementConstraint::projectResponseT(DataDeriv& dx, - const std::function& clear) -{ - Real cT = (Real) this->getContext()->getTime(); - VecBool movedDirection = movedDirections.getValue(); - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - if (finished && nextT != prevT) - { - const SetIndexArray & indices = m_indices.getValue(); - - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - clear(dx, *it, movedDirection); - } - } -} - -template -void PartialLinearMovementConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseT(res.wref(), [](VecDeriv& dx, const unsigned int index, const VecBool& b) - { for (unsigned j = 0; j < b.size(); j++) if (b[j]) dx[index][j] = 0.0; }); -} - -template -void PartialLinearMovementConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - helper::WriteAccessor dx = vData; - Real cT = (Real) this->getContext()->getTime(); - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - if (finished && nextT != prevT) - { - const SetIndexArray & indices = m_indices.getValue(); - - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - dx[*it] = (nextM - prevM)*(1.0 / (nextT - prevT)); - } - } -} - - -template -void PartialLinearMovementConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - helper::WriteAccessor x = xData; - Real cT = (Real) this->getContext()->getTime(); - - //initialize initial Dofs positions, if it's not done - if (x0.size() == 0) - { - const SetIndexArray & indices = m_indices.getValue(); - x0.resize(x.size()); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x0[*it] = x[*it]; - } - } - - if ((cT != currentTime) || !finished) - { - findKeyTimes(); - } - - //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) - if(finished && nextT != prevT) - { - interpolatePosition(cT, x.wref()); - } -} - -template -template -void PartialLinearMovementConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) -{ - const SetIndexArray & indices = m_indices.getValue(); - Real dt = (cT - prevT) / (nextT - prevT); - Deriv m = prevM + (nextM-prevM)*dt; - VecBool movedDirection = movedDirections.getValue(); - //set the motion to the Dofs - if(linearMovementBetweenNodesInIndices.getValue()) - { - - const type::vector &imposedDisplacmentOnMacroNodes = this->m_imposedDisplacmentOnMacroNodes.getValue(); - Real a = X0.getValue(); - Real b = Y0.getValue(); - Real c = Z0.getValue(); - bool case2d=false; - if((a==0.0)||(b==0.0)||(c==0.0)) case2d=true; - if(a==0.0) {a=b; b=c;} - if(b==0.0) {b=c;} - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for( unsigned j=0; j< NumDimensions; j++) - { - if(movedDirection[j]) - { - if(case2d) - { - x[*it][j] = x0[*it][j] + ((Real)1.0/(a*b))*((a-x0[*it][0])*(b-x0[*it][1])*imposedDisplacmentOnMacroNodes[0]+ ///< N1 - x0[*it][0]*(b-x0[*it][1])*imposedDisplacmentOnMacroNodes[1]+ ///< N2 - x0[*it][0]*x0[*it][1]*imposedDisplacmentOnMacroNodes[2]+ ///< N3 - (a-x0[*it][0])*x0[*it][1]*imposedDisplacmentOnMacroNodes[3])*m[j]; ///< N4 - // 4|----------------|3 - // | | - // | | - // | | - // 1|----------------|2 - } - else ///< case3d - { - // |Y - // 5---------8 - // /| /| - // / | / | - // 6--|------7 | - // | |/ | | - // | 1------|--4--->X - // | / | / - // |/ |/ - // 2---------3 - // Z/ - // - - x[*it][j] = x0[*it][j] + ((Real)1.0/(a*b*c))*( - (a-x0[*it][0])*(b-x0[*it][1])*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[0]+ ///< N1 - (a-x0[*it][0])*(b-x0[*it][1])*x0[*it][2]*imposedDisplacmentOnMacroNodes[1]+ ///< N2 - x0[*it][0]*(b-x0[*it][1])*x0[*it][2]*imposedDisplacmentOnMacroNodes[2]+ ///< N3 - x0[*it][0]*(b-x0[*it][1])*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[3]+ ///< N4 - (a-x0[*it][0])*x0[*it][1]*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[4]+ ///< N5 - (a-x0[*it][0])*x0[*it][1]*x0[*it][2]*imposedDisplacmentOnMacroNodes[5]+ ///< N6 - x0[*it][0]*x0[*it][1]*x0[*it][2]*imposedDisplacmentOnMacroNodes[6]+ ///< N7 - x0[*it][0]*x0[*it][1]*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[7] ///< N8 - - )*m[j]; - - } - } - } - } - - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for( unsigned j=0; j< NumDimensions; j++) - if(movedDirection[j]) x[*it][j] = x0[*it][j] + m[j] ; - } - } - -} - -template -template -void PartialLinearMovementConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) -{ - const SetIndexArray & indices = m_indices.getValue(); - - Real dt = (cT - prevT) / (nextT - prevT); - Deriv m = prevM + (nextM-prevM)*dt; - type::Quat prevOrientation = type::Quat::createQuaterFromEuler(getVOrientation(prevM)); - type::Quat nextOrientation = type::Quat::createQuaterFromEuler(getVOrientation(nextM)); - - //set the motion to the Dofs - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - x[*it].getCenter() = x0[*it].getCenter() + getVCenter(m) ; - x[*it].getOrientation() = x0[*it].getOrientation() * prevOrientation.slerp2(nextOrientation, dt); - } -} - -template -void PartialLinearMovementConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c = cData; - projectResponseT(c.wref(), - [](MatrixDeriv& res, const unsigned int index, const VecBool& btype) - { - auto itRow = res.begin(); - auto itRowEnd = res.end(); - - while (itRow != itRowEnd) - { - for (auto colIt = itRow.begin(); colIt != itRow.end(); colIt++) - { - if (index == (unsigned int)colIt.index()) - { - Deriv b = colIt.val(); - for (unsigned int j = 0; j < btype.size(); j++) if (btype[j]) b[j] = 0.0; - res.writeLine(itRow.index()).setCol(colIt.index(), b); - } - } - } - }); -} - -template -void PartialLinearMovementConstraint::findKeyTimes() -{ - Real cT = (Real) this->getContext()->getTime(); - finished = false; - - if(m_keyTimes.getValue().size() != 0 && cT >= *m_keyTimes.getValue().begin() && cT <= *m_keyTimes.getValue().rbegin()) - { - nextT = *m_keyTimes.getValue().begin(); - prevT = nextT; - - typename type::vector::const_iterator it_t = m_keyTimes.getValue().begin(); - typename VecDeriv::const_iterator it_m = m_keyMovements.getValue().begin(); - - //WARNING : we consider that the key-events are in chronological order - //here we search between which keyTimes we are, to know which are the motion to interpolate - while( it_t != m_keyTimes.getValue().end() && !finished) - { - if( *it_t <= cT) - { - prevT = *it_t; - prevM = *it_m; - } - else - { - nextT = *it_t; - nextM = *it_m; - finished = true; - } - ++it_t; - ++it_m; - } - } -} - -// Matrix Integration interface -template -void PartialLinearMovementConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const SetIndexArray & indices = m_indices.getValue(); - - if (core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) - { - VecBool movedDirection = movedDirections.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(r.offset + NumDimensions * (*it) + c); - } - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + NumDimensions * (*it) + c, r.offset + NumDimensions * (*it) + c, 1.0); - } - } - } -} - -template -void PartialLinearMovementConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const int o = matrix->getGlobalOffset(this->mstate.get()); - if (o >= 0) { - unsigned int offset = (unsigned int)o; - VecBool movedDirection = movedDirections.getValue(); - const SetIndexArray & indices = m_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for (unsigned int c = 0; c < NumDimensions; ++c) - { - if (movedDirection[c]) - { - vector->clear(offset + NumDimensions * (*it) + c); - } - } - } - } -} - -//display the path the constrained dofs will go through -template -void PartialLinearMovementConstraint::draw(const core::visual::VisualParams* vparams) -{ - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - if (!vparams->displayFlags().getShowBehaviorModels() || m_keyTimes.getValue().size() == 0) - return; - - sofa::type::vector vertices; - constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); - - if (showMovement.getValue()) - { - vparams->drawTool()->disableLighting(); - - const SetIndexArray & indices = m_indices.getValue(); - const VecDeriv& keyMovements = m_keyMovements.getValue(); - for (unsigned int i = 0; i < keyMovements.size() - 1; i++) - { - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - const type::Vec3 v0 { DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i]) }; - const type::Vec3 v1 { DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i + 1]) }; - - vertices.push_back(v0); - vertices.push_back(v1); - } - } - vparams->drawTool()->drawLines(vertices, 1, color); - } - else - { - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - type::Vec3 point; - const SetIndexArray & indices = m_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - point = DataTypes::getCPos(x[*it]); - vertices.push_back(point); - } - vparams->drawTool()->drawPoints(vertices, 10, color); - } - - -} -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp similarity index 73% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp index 694c399bc9c4..fed36af54b7d 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALLINEARMOVEMENTCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALLINEARMOVEMENTPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -29,19 +29,18 @@ namespace sofa::component::constraint::projective { //declaration of the class, for the factory -int PartialLinearMovementConstraintClass = core::RegisterObject("translate given particles") - .add< PartialLinearMovementConstraint >() - .add< PartialLinearMovementConstraint >() - .add< PartialLinearMovementConstraint >() - .add< PartialLinearMovementConstraint >() - .add< PartialLinearMovementConstraint >() - +int PartialLinearMovementProjectiveConstraintClass = core::RegisterObject("translate given particles") + .add< PartialLinearMovementProjectiveConstraint >() + .add< PartialLinearMovementProjectiveConstraint >() + .add< PartialLinearMovementProjectiveConstraint >() + .add< PartialLinearMovementProjectiveConstraint >() + .add< PartialLinearMovementProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h new file mode 100644 index 000000000000..336f0bf2ce6e --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h @@ -0,0 +1,176 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +class PartialLinearMovementProjectiveConstraintInternalData +{ +}; + +/** impose a motion to given DOFs (translation and rotation) in some directions only. + The moved and free directioons are the same for all the particles, defined in the movedDirections attribute. + The motion between 2 key times is linearly interpolated +*/ +template +class PartialLinearMovementProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(PartialLinearMovementProjectiveConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); + + using Index = sofa::Index; + typedef TDataTypes DataTypes; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + +protected: + PartialLinearMovementProjectiveConstraintInternalData *data; + friend class PartialLinearMovementProjectiveConstraintInternalData; + +public : + /// indices of the DOFs the constraint is applied to + SetIndex m_indices; + /// the key frames when the motion is defined by the user + core::objectmodel::Data > m_keyTimes; + /// the motions corresponding to the key frames + core::objectmodel::Data m_keyMovements; + + /// attributes to precise display + /// if showMovement is true we display the expected movement + /// otherwise we show which are the fixed dofs + core::objectmodel::Data< bool > showMovement; + + /// the key times surrounding the current simulation time (for interpolation) + Real prevT, nextT; + ///the motions corresponding to the surrouding key times + Deriv prevM, nextM; + ///initial constrained DOFs position + VecCoord x0; + + core::objectmodel::Data linearMovementBetweenNodesInIndices; ///< Take into account the linear movement between the constrained points + core::objectmodel::Data mainIndice; ///< The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes + core::objectmodel::Data minDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the minimum displacment + core::objectmodel::Data maxDepIndice; ///< The indice node in the list of constrained nodes, which is imposed the maximum displacment + core::objectmodel::Data > m_imposedDisplacmentOnMacroNodes; ///< imposed displacement at u1 u2 u3 u4 for 2d case + ///< and u1 u2 u3 u4 u5 u6 u7 u8 for 3d case + Data X0; ///< Size of specimen in X-direction + Data Y0; ///< Size of specimen in Y-direction + Data Z0; ///< Size of specimen in Z-direction + + enum { NumDimensions = Deriv::total_size }; + typedef sofa::type::fixed_array VecBool; + core::objectmodel::Data movedDirections; ///< Defines the directions in which the particles are moved: true (or 1) for fixed, false (or 0) for free. + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + PartialLinearMovementProjectiveConstraint(); + ~PartialLinearMovementProjectiveConstraint() override; + +public: + ///methods to add/remove some indices, keyTimes, keyMovement + void clearIndices(); + void addIndex(Index index); + void removeIndex(Index index); + void clearKeyMovements(); + + ///@brief Add a new key movement + ///@param time : the simulation time you want to set a movement (in sec) + ///@param movement : the corresponding motion + ///for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s + void addKeyMovement(Real time, Deriv movement); + + + /// -- Constraint interface + void init() override; + void reset() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + void draw(const core::visual::VisualParams*) override; + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); + + template + void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); + template + void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); + +private: + + /// to keep the time corresponding to the key times + Real currentTime; + + /// to know if we found the key times + bool finished; + + /// find previous and next time keys + void findKeyTimes(); +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PARTIALLINEARMOVEMENTPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PartialLinearMovementProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl new file mode 100644 index 000000000000..af02bb262d21 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.inl @@ -0,0 +1,507 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +template +PartialLinearMovementProjectiveConstraint::PartialLinearMovementProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , data(new PartialLinearMovementProjectiveConstraintInternalData) + , m_indices( initData(&m_indices,"indices","Indices of the constrained points") ) + , m_keyTimes( initData(&m_keyTimes,"keyTimes","key times for the movements") ) + , m_keyMovements( initData(&m_keyMovements,"movements","movements corresponding to the key times") ) + , showMovement( initData(&showMovement, (bool)false, "showMovement", "Visualization of the movement to be applied to constrained dofs.")) + , linearMovementBetweenNodesInIndices( initData(&linearMovementBetweenNodesInIndices, (bool)false, "linearMovementBetweenNodesInIndices", "Take into account the linear movement between the constrained points")) + , mainIndice( initData(&mainIndice, "mainIndice", "The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes ")) + , minDepIndice( initData(&minDepIndice, "minDepIndice", "The indice node in the list of constrained nodes, which is imposed the minimum displacment ")) + , maxDepIndice( initData(&maxDepIndice, "maxDepIndice", "The indice node in the list of constrained nodes, which is imposed the maximum displacment ")) + , m_imposedDisplacmentOnMacroNodes( initData(&m_imposedDisplacmentOnMacroNodes,"imposedDisplacmentOnMacroNodes","The imposed displacment on macro nodes") ) + , X0 ( initData ( &X0, Real(0.0),"X0","Size of specimen in X-direction" ) ) + , Y0 ( initData ( &Y0, Real(0.0),"Y0","Size of specimen in Y-direction" ) ) + , Z0 ( initData ( &Z0, Real(0.0),"Z0","Size of specimen in Z-direction" ) ) + , movedDirections( initData(&movedDirections,"movedDirections","for each direction, 1 if moved, 0 if free") ) + , l_topology(initLink("topology", "link to the topology container")) + , finished(false) +{ + // default to indice 0 + m_indices.beginEdit()->push_back(0); + m_indices.endEdit(); + + //default valueEvent to 0 + m_keyTimes.beginEdit()->push_back( 0.0 ); + m_keyTimes.endEdit(); + m_keyMovements.beginEdit()->push_back( Deriv() ); + m_keyMovements.endEdit(); + VecBool movedDirection; + for( unsigned i=0; i +PartialLinearMovementProjectiveConstraint::~PartialLinearMovementProjectiveConstraint() +{ + +} + +template +void PartialLinearMovementProjectiveConstraint::clearIndices() +{ + m_indices.beginEdit()->clear(); + m_indices.endEdit(); +} + +template +void PartialLinearMovementProjectiveConstraint::addIndex(Index index) +{ + m_indices.beginEdit()->push_back(index); + m_indices.endEdit(); +} + +template +void PartialLinearMovementProjectiveConstraint::removeIndex(Index index) +{ + sofa::type::removeValue(*m_indices.beginEdit(),index); + m_indices.endEdit(); +} + +template +void PartialLinearMovementProjectiveConstraint::clearKeyMovements() +{ + m_keyTimes.beginEdit()->clear(); + m_keyTimes.endEdit(); + m_keyMovements.beginEdit()->clear(); + m_keyMovements.endEdit(); +} + +template +void PartialLinearMovementProjectiveConstraint::addKeyMovement(Real time, Deriv movement) +{ + m_keyTimes.beginEdit()->push_back( time ); + m_keyTimes.endEdit(); + m_keyMovements.beginEdit()->push_back( movement ); + m_keyMovements.endEdit(); +} + +// -- Constraint interface + + +template +void PartialLinearMovementProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + m_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + x0.resize(0); + nextM = prevM = Deriv(); + + currentTime = -1.0; + finished = false; +} + + +template +void PartialLinearMovementProjectiveConstraint::reset() +{ + nextT = prevT = 0.0; + nextM = prevM = Deriv(); + + currentTime = -1.0; + finished = false; +} + + +template +template +void PartialLinearMovementProjectiveConstraint::projectResponseT(DataDeriv& dx, + const std::function& clear) +{ + Real cT = (Real) this->getContext()->getTime(); + VecBool movedDirection = movedDirections.getValue(); + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + if (finished && nextT != prevT) + { + const SetIndexArray & indices = m_indices.getValue(); + + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + clear(dx, *it, movedDirection); + } + } +} + +template +void PartialLinearMovementProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseT(res.wref(), [](VecDeriv& dx, const unsigned int index, const VecBool& b) + { for (unsigned j = 0; j < b.size(); j++) if (b[j]) dx[index][j] = 0.0; }); +} + +template +void PartialLinearMovementProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + helper::WriteAccessor dx = vData; + Real cT = (Real) this->getContext()->getTime(); + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + if (finished && nextT != prevT) + { + const SetIndexArray & indices = m_indices.getValue(); + + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + dx[*it] = (nextM - prevM)*(1.0 / (nextT - prevT)); + } + } +} + + +template +void PartialLinearMovementProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + helper::WriteAccessor x = xData; + Real cT = (Real) this->getContext()->getTime(); + + //initialize initial Dofs positions, if it's not done + if (x0.size() == 0) + { + const SetIndexArray & indices = m_indices.getValue(); + x0.resize(x.size()); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x0[*it] = x[*it]; + } + } + + if ((cT != currentTime) || !finished) + { + findKeyTimes(); + } + + //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) + if(finished && nextT != prevT) + { + interpolatePosition(cT, x.wref()); + } +} + +template +template +void PartialLinearMovementProjectiveConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) +{ + const SetIndexArray & indices = m_indices.getValue(); + Real dt = (cT - prevT) / (nextT - prevT); + Deriv m = prevM + (nextM-prevM)*dt; + VecBool movedDirection = movedDirections.getValue(); + //set the motion to the Dofs + if(linearMovementBetweenNodesInIndices.getValue()) + { + + const type::vector &imposedDisplacmentOnMacroNodes = this->m_imposedDisplacmentOnMacroNodes.getValue(); + Real a = X0.getValue(); + Real b = Y0.getValue(); + Real c = Z0.getValue(); + bool case2d=false; + if((a==0.0)||(b==0.0)||(c==0.0)) case2d=true; + if(a==0.0) {a=b; b=c;} + if(b==0.0) {b=c;} + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for( unsigned j=0; j< NumDimensions; j++) + { + if(movedDirection[j]) + { + if(case2d) + { + x[*it][j] = x0[*it][j] + ((Real)1.0/(a*b))*((a-x0[*it][0])*(b-x0[*it][1])*imposedDisplacmentOnMacroNodes[0]+ ///< N1 + x0[*it][0]*(b-x0[*it][1])*imposedDisplacmentOnMacroNodes[1]+ ///< N2 + x0[*it][0]*x0[*it][1]*imposedDisplacmentOnMacroNodes[2]+ ///< N3 + (a-x0[*it][0])*x0[*it][1]*imposedDisplacmentOnMacroNodes[3])*m[j]; ///< N4 + // 4|----------------|3 + // | | + // | | + // | | + // 1|----------------|2 + } + else ///< case3d + { + // |Y + // 5---------8 + // /| /| + // / | / | + // 6--|------7 | + // | |/ | | + // | 1------|--4--->X + // | / | / + // |/ |/ + // 2---------3 + // Z/ + // + + x[*it][j] = x0[*it][j] + ((Real)1.0/(a*b*c))*( + (a-x0[*it][0])*(b-x0[*it][1])*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[0]+ ///< N1 + (a-x0[*it][0])*(b-x0[*it][1])*x0[*it][2]*imposedDisplacmentOnMacroNodes[1]+ ///< N2 + x0[*it][0]*(b-x0[*it][1])*x0[*it][2]*imposedDisplacmentOnMacroNodes[2]+ ///< N3 + x0[*it][0]*(b-x0[*it][1])*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[3]+ ///< N4 + (a-x0[*it][0])*x0[*it][1]*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[4]+ ///< N5 + (a-x0[*it][0])*x0[*it][1]*x0[*it][2]*imposedDisplacmentOnMacroNodes[5]+ ///< N6 + x0[*it][0]*x0[*it][1]*x0[*it][2]*imposedDisplacmentOnMacroNodes[6]+ ///< N7 + x0[*it][0]*x0[*it][1]*(c-x0[*it][2])*imposedDisplacmentOnMacroNodes[7] ///< N8 + + )*m[j]; + + } + } + } + } + + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for( unsigned j=0; j< NumDimensions; j++) + if(movedDirection[j]) x[*it][j] = x0[*it][j] + m[j] ; + } + } + +} + +template +template +void PartialLinearMovementProjectiveConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) +{ + const SetIndexArray & indices = m_indices.getValue(); + + Real dt = (cT - prevT) / (nextT - prevT); + Deriv m = prevM + (nextM-prevM)*dt; + type::Quat prevOrientation = type::Quat::createQuaterFromEuler(getVOrientation(prevM)); + type::Quat nextOrientation = type::Quat::createQuaterFromEuler(getVOrientation(nextM)); + + //set the motion to the Dofs + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + x[*it].getCenter() = x0[*it].getCenter() + getVCenter(m) ; + x[*it].getOrientation() = x0[*it].getOrientation() * prevOrientation.slerp2(nextOrientation, dt); + } +} + +template +void PartialLinearMovementProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c = cData; + projectResponseT(c.wref(), + [](MatrixDeriv& res, const unsigned int index, const VecBool& btype) + { + auto itRow = res.begin(); + auto itRowEnd = res.end(); + + while (itRow != itRowEnd) + { + for (auto colIt = itRow.begin(); colIt != itRow.end(); colIt++) + { + if (index == (unsigned int)colIt.index()) + { + Deriv b = colIt.val(); + for (unsigned int j = 0; j < btype.size(); j++) if (btype[j]) b[j] = 0.0; + res.writeLine(itRow.index()).setCol(colIt.index(), b); + } + } + } + }); +} + +template +void PartialLinearMovementProjectiveConstraint::findKeyTimes() +{ + Real cT = (Real) this->getContext()->getTime(); + finished = false; + + if(m_keyTimes.getValue().size() != 0 && cT >= *m_keyTimes.getValue().begin() && cT <= *m_keyTimes.getValue().rbegin()) + { + nextT = *m_keyTimes.getValue().begin(); + prevT = nextT; + + typename type::vector::const_iterator it_t = m_keyTimes.getValue().begin(); + typename VecDeriv::const_iterator it_m = m_keyMovements.getValue().begin(); + + //WARNING : we consider that the key-events are in chronological order + //here we search between which keyTimes we are, to know which are the motion to interpolate + while( it_t != m_keyTimes.getValue().end() && !finished) + { + if( *it_t <= cT) + { + prevT = *it_t; + prevM = *it_m; + } + else + { + nextT = *it_t; + nextM = *it_m; + finished = true; + } + ++it_t; + ++it_m; + } + } +} + +// Matrix Integration interface +template +void PartialLinearMovementProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const SetIndexArray & indices = m_indices.getValue(); + + if (core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) + { + VecBool movedDirection = movedDirections.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(r.offset + NumDimensions * (*it) + c); + } + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + NumDimensions * (*it) + c, r.offset + NumDimensions * (*it) + c, 1.0); + } + } + } +} + +template +void PartialLinearMovementProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const int o = matrix->getGlobalOffset(this->mstate.get()); + if (o >= 0) { + unsigned int offset = (unsigned int)o; + VecBool movedDirection = movedDirections.getValue(); + const SetIndexArray & indices = m_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for (unsigned int c = 0; c < NumDimensions; ++c) + { + if (movedDirection[c]) + { + vector->clear(offset + NumDimensions * (*it) + c); + } + } + } + } +} + +//display the path the constrained dofs will go through +template +void PartialLinearMovementProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + if (!vparams->displayFlags().getShowBehaviorModels() || m_keyTimes.getValue().size() == 0) + return; + + sofa::type::vector vertices; + constexpr sofa::type::RGBAColor color(1, 0.5, 0.5, 1); + + if (showMovement.getValue()) + { + vparams->drawTool()->disableLighting(); + + const SetIndexArray & indices = m_indices.getValue(); + const VecDeriv& keyMovements = m_keyMovements.getValue(); + for (unsigned int i = 0; i < keyMovements.size() - 1; i++) + { + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + const type::Vec3 v0 { DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i]) }; + const type::Vec3 v1 { DataTypes::getCPos(x0[*it]) + DataTypes::getDPos(keyMovements[i + 1]) }; + + vertices.push_back(v0); + vertices.push_back(v1); + } + } + vparams->drawTool()->drawLines(vertices, 1, color); + } + else + { + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + type::Vec3 point; + const SetIndexArray & indices = m_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + point = DataTypes::getCPos(x[*it]); + vertices.push_back(point); + } + vparams->drawTool()->drawPoints(vertices, 10, color); + } + + +} +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.h index 2a53250282d4..3857c8c889ce 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.h @@ -20,146 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -#include -#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h") namespace sofa::component::constraint::projective { - -template -class PatchTestMovementConstraintInternalData -{ -}; - -/** - Impose a motion to all the boundary points of a mesh. The motion of the 4 corners are given in the data d_cornerMovements and the movements of the edge points are computed by linear interpolation. -*/ -template -class PatchTestMovementConstraint : public core::behavior::ProjectiveConstraintSet -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(PatchTestMovementConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); - - using Index = sofa::Index; - typedef TDataTypes DataTypes; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - - static constexpr unsigned int CoordSize = Coord::total_size; - - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; - -protected: - PatchTestMovementConstraintInternalData *data; - friend class PatchTestMovementConstraintInternalData; - -public : - /// indices of the DOFs of the mesh - SetIndex d_meshIndices; - /// indices of the DOFs the constraint is applied to - SetIndex d_indices; - /// data begin time when the constraint is applied - Data d_beginConstraintTime; - /// data end time when the constraint is applied - Data d_endConstraintTime; - /// coordinates of the DOFs the constraint is applied to - Data d_constrainedPoints; - /// the movements of the corner points (this is the difference between initial and final positions of the 4 corners) - Data d_cornerMovements; - /// the coordinates of the corner points - Data d_cornerPoints; - /// Draw constrained points - Data d_drawConstrainedPoints; - /// initial constrained DOFs position - VecCoord x0; - /// final constrained DOFs position - VecCoord xf; - /// initial mesh DOFs position - VecCoord meshPointsX0; - /// final mesh DOFs position - VecCoord meshPointsXf; - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - PatchTestMovementConstraint(); - - virtual ~PatchTestMovementConstraint(); - -public: - //Add or clear constraints - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - /// -- Constraint interface - void init() override; - - /// Cancel the possible forces - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - /// Cancel the possible velocities - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - /// Apply the computed movements to the border mesh points between beginConstraintTime and endConstraintTime - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - // Implement projectMatrix for assembled solver of compliant - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - void projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /* cData */) override - { - msg_error() <<"projectJacobianMatrix not implemented"; - } - - /// Compute the theoretical final positions - void getFinalPositions (VecCoord& finalPos, DataVecCoord& xData); - - /// Draw the constrained points (= border mesh points) - void draw(const core::visual::VisualParams* vparams) override; - -protected: - - void projectResponseImpl(VecDeriv& dx); - -private: - - /// Find the corners of the grid mesh - void findCornerPoints(); - - /// Compute the displacement of each mesh point by linear interpolation with the displacement of corner points - void computeInterpolatedDisplacement (int pointIndice,const DataVecCoord& xData, Deriv& displacement); - - /// Initialize initial positions - void initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0); - - /// Initialize final positions - void initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0 , VecCoord& xf); -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PATCHTESTMOVEMENTCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using PatchTestMovementConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "PatchTestMovementConstraint has been renamed to PatchTestMovementProjectiveConstraint") = PatchTestMovementProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.inl index be21d19e1876..7a3a2a49a06a 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.inl @@ -21,429 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -PatchTestMovementConstraint::PatchTestMovementConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , data(new PatchTestMovementConstraintInternalData) - , d_meshIndices( initData(&d_meshIndices,"meshIndices","Indices of the mesh") ) - , d_indices( initData(&d_indices,"indices","Indices of the constrained points") ) - , d_beginConstraintTime( initData(&d_beginConstraintTime,"beginConstraintTime","Begin time of the bilinear constraint") ) - , d_endConstraintTime( initData(&d_endConstraintTime,"endConstraintTime","End time of the bilinear constraint") ) - , d_constrainedPoints( initData(&d_constrainedPoints,"constrainedPoints","Coordinates of the constrained points") ) - , d_cornerMovements( initData(&d_cornerMovements,"cornerMovements","movements of the corners of the grid") ) - , d_cornerPoints( initData(&d_cornerPoints,"cornerPoints","corner points for computing constraint") ) - , d_drawConstrainedPoints( initData(&d_drawConstrainedPoints,"drawConstrainedPoints","draw constrained points") ) - , l_topology(initLink("topology", "link to the topology container")) -{ - if(!d_beginConstraintTime.isSet()) - d_beginConstraintTime = 0; - if(!d_endConstraintTime.isSet()) - d_endConstraintTime = 20; -} - - - -template -PatchTestMovementConstraint::~PatchTestMovementConstraint() -{ - -} - -template -void PatchTestMovementConstraint::clearConstraints() -{ - d_indices.beginEdit()->clear(); - d_indices.endEdit(); -} - -template -void PatchTestMovementConstraint::addConstraint(Index index) -{ - d_indices.beginEdit()->push_back(index); - d_indices.endEdit(); -} - -template -void PatchTestMovementConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*d_indices.beginEdit(),index); - d_indices.endEdit(); -} - -// -- Constraint interface - - -template -void PatchTestMovementConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - const SetIndexArray & indices = d_indices.getValue(); - - const Index maxIndex=this->mstate->getSize(); - for (unsigned int i=0; i= maxIndex) - { - msg_error() <<"Index " << index << " not valid!"; - removeConstraint(index); - } - } - - // Find the 4 corners of the grid topology - this->findCornerPoints(); -} - -template -void PatchTestMovementConstraint::findCornerPoints() -{ - Coord corner0, corner1, corner2, corner3,corner4,corner5,corner6,corner7; - // Write accessor - helper::WriteAccessor< Data > cornerPositions = d_cornerPoints; - helper::WriteAccessor< Data > constrainedPoints = d_constrainedPoints; - bool isMeshin3D = false; - - if (!constrainedPoints.empty()) - { - const Coord& point = constrainedPoints[0]; - - // Search if the constrained points are in the same plane - for(Size i = 0; i < constrainedPoints.size() ; i++) - { - if(CoordSize > 2 && constrainedPoints[i][2]!=point[2]) - { - isMeshin3D = true; - } - } - } - - if(constrainedPoints.size() > 0) - { - corner0 = constrainedPoints[0]; - corner1 = constrainedPoints[0]; - corner2 = constrainedPoints[0]; - corner3 = constrainedPoints[0]; - corner4 = constrainedPoints[0]; - corner5 = constrainedPoints[0]; - corner6 = constrainedPoints[0]; - corner7 = constrainedPoints[0]; - - for (size_t i = 0; i < constrainedPoints.size() ; i++) - { - if(constrainedPoints[i][0] < corner0[0] || constrainedPoints[i][1] < corner0[1] || ( CoordSize>2 && constrainedPoints[i][2] < corner0[2] ) ) - { - corner0 = constrainedPoints[i]; - } - - if(constrainedPoints[i][0] > corner2[0] || constrainedPoints[i][1] > corner2[1] || ( CoordSize>2 && constrainedPoints[i][2] < corner2[2] ) ) - { - corner2 = constrainedPoints[i]; - } - - if(constrainedPoints[i][1] < corner1[1] || constrainedPoints[i][0] > corner1[0] || ( CoordSize>2 && constrainedPoints[i][2] < corner1[2] )) - { - corner1 = constrainedPoints[i]; - } - - if(constrainedPoints[i][0] < corner3[0] || constrainedPoints[i][1] > corner3[1] || ( CoordSize>2 && constrainedPoints[i][2] < corner3[2] )) - { - corner3 = constrainedPoints[i]; - } - - if(isMeshin3D && (constrainedPoints[i][0] < corner4[0] || constrainedPoints[i][1] < corner4[1] || (CoordSize>2 && constrainedPoints[i][2] > corner0[2] )) ) - { - corner4 = constrainedPoints[i]; - } - - if(isMeshin3D && (constrainedPoints[i][0] > corner6[0] || constrainedPoints[i][1] > corner6[1] || (CoordSize>2 && constrainedPoints[i][2] > corner2[2] )) ) - { - corner6 = constrainedPoints[i]; - } - - if(isMeshin3D && (constrainedPoints[i][1] < corner5[1] || constrainedPoints[i][0] > corner5[0] || (CoordSize>2 && constrainedPoints[i][2] > corner5[2] )) ) - { - corner5 = constrainedPoints[i]; - } - - else if(isMeshin3D && (constrainedPoints[i][0] < corner7[0] || constrainedPoints[i][1] > corner7[1] || (CoordSize>2 && constrainedPoints[i][2] > corner7[2] )) ) - { - corner7 = constrainedPoints[i]; - } - } - - cornerPositions.push_back(corner0); - cornerPositions.push_back(corner1); - cornerPositions.push_back(corner2); - cornerPositions.push_back(corner3); - - // 3D - if(isMeshin3D) - { - cornerPositions.push_back(corner4); - cornerPositions.push_back(corner5); - cornerPositions.push_back(corner6); - cornerPositions.push_back(corner7); - } - } -} - -template -void PatchTestMovementConstraint::projectResponseImpl(VecDeriv& dx) -{ - const SetIndexArray & indices = d_indices.getValue(); - for (size_t i = 0; i< indices.size(); ++i) - { - dx[indices[i]]=Deriv(); - } -} - -template -void PatchTestMovementConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = resData; - projectResponseImpl(res.wref()); -} - -template -void PatchTestMovementConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor res = vData; - projectResponseImpl(res.wref()); -} - -template -void PatchTestMovementConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - const sofa::simulation::Node::SPtr root = down_cast( this->getContext()->getRootContext() ); - helper::WriteAccessor x = xData; - const SetIndexArray & indices = d_indices.getValue(); - - // Time - double beginTime = d_beginConstraintTime.getValue(); - double endTime = d_endConstraintTime.getValue(); - double totalTime = endTime - beginTime; - - //initialize initial mesh Dofs positions, if it's not done - if(meshPointsX0.size()==0) - this->initializeInitialPositions(d_meshIndices.getValue(),xData,meshPointsX0); - - //initialize final mesh Dofs positions, if it's not done - if(meshPointsXf.size()==0) - this->initializeFinalPositions(d_meshIndices.getValue(),xData, meshPointsX0, meshPointsXf); - - //initialize initial constrained Dofs positions, if it's not done - if(x0.size() == 0) - this->initializeInitialPositions(indices,xData,x0); - - //initialize final constrained Dofs positions, if it's not done - if (xf.size() == 0) - this->initializeFinalPositions(indices,xData,x0,xf); - - // Update the intermediate Dofs positions computed by linear interpolation - double time = root->getTime(); - if( time > beginTime && time <= endTime && totalTime > 0) - { - for (size_t i = 0; i< indices.size(); ++i) - { - x[indices[i]] = ((xf[indices[i]]-x0[indices[i]])*time + (x0[indices[i]]*endTime - xf[indices[i]]*beginTime))/totalTime; - } - } - else if (time > endTime) - { - for (size_t i = 0; i< indices.size(); ++i) - { - x[indices[i]] = xf[indices[i]]; - } - } -} - -template -void PatchTestMovementConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - // clears the rows and columns associated with constrained particles - const unsigned blockSize = DataTypes::deriv_total_size; - - for (const auto id : d_indices.getValue()) - { - M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); - } - -} - -template -void PatchTestMovementConstraint::getFinalPositions( VecCoord& finalPos,DataVecCoord& xData) -{ - // Indices of mesh points - const SetIndexArray & meshIndices = d_meshIndices.getValue(); - - // Initialize final positions - if(meshPointsXf.size()==0) - {this->initializeFinalPositions(meshIndices,xData,meshPointsX0,meshPointsXf);} - - // Set final positions - finalPos.resize(meshIndices.size()); - for (size_t i=0; i < meshIndices.size() ; ++i) - { - finalPos[meshIndices[i]] = meshPointsXf[meshIndices[i]]; - } -} - -template -void PatchTestMovementConstraint::initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0) -{ - helper::WriteAccessor x = xData; - - x0.resize(x.size()); - for (size_t i=0; i < indices.size() ; ++i) - { - x0[indices[i]] = x[indices[i]]; - } - -} - -template -void PatchTestMovementConstraint::initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0, VecCoord& xf) -{ - Deriv displacement; - helper::WriteAccessor x = xData; - - xf.resize(x.size()); - - // if the positions were not initialized - if(x0.size() == 0) - this->initializeInitialPositions(indices,xData,x0); - - for (size_t i=0; i < indices.size() ; ++i) - { - this->computeInterpolatedDisplacement(indices[i],xData,displacement); - xf[indices[i]] = x0[indices[i]] + displacement ; - } - -} - -template -void PatchTestMovementConstraint::computeInterpolatedDisplacement(int pointIndice,const DataVecCoord& xData, Deriv& displacement) -{ - // For each mesh point compute the associated displacement - - // The 3 barycentric coefficients along x, y and z axis - Real alpha, beta, gamma; - - // Corner points - const VecCoord& cornerPoints = d_cornerPoints.getValue(); - if(cornerPoints.size()==0) - this->findCornerPoints(); - - if(cornerPoints.size() == 4) - { - Coord corner0 = cornerPoints[0]; - Coord corner1 = cornerPoints[1]; - Coord corner3 = cornerPoints[3]; - - // Coord of the point - helper::ReadAccessor x = xData; - Coord point = x[pointIndice]; - - // Compute alpha = barycentric coefficient along the x axis - alpha = fabs(point[0]-corner0[0])/fabs(corner1[0]-corner0[0]); - - // Compute beta = barycentric coefficient along the y axis - beta = fabs(point[1]-corner0[1])/fabs(corner3[1]-corner0[1]); - - // cornerMovements - const VecDeriv& cornerMovements = d_cornerMovements.getValue(); - - // Compute displacement by linear interpolation - displacement = cornerMovements[0]*(1-alpha)*(1-beta) + cornerMovements[1]*alpha*(1-beta)+ cornerMovements[2]*alpha*beta+cornerMovements[3]*(1-alpha)*beta; - } - - else if(cornerPoints.size() == 8) - { - Coord corner0 = cornerPoints[0]; - Coord corner1 = cornerPoints[1]; - Coord corner3 = cornerPoints[3]; - Coord corner4 = cornerPoints[4]; - - // Coord of the point - helper::ReadAccessor x = xData; - Coord point = x[pointIndice]; - - // Compute alpha = barycentric coefficient along the x axis - alpha = fabs(point[0]-corner0[0])/fabs(corner1[0]-corner0[0]); - - // Compute beta = barycentric coefficient along the y axis - beta = fabs(point[1]-corner0[1])/fabs(corner3[1]-corner0[1]); - - // Compute gamma = barycentric coefficient along the z axis - if( CoordSize>2 ) - gamma = fabs(point[2]-corner0[2])/fabs(corner4[2]-corner0[2]); // 3D - else - gamma = 0; // 2D - - // cornerMovements - const VecDeriv& cornerMovements = d_cornerMovements.getValue(); - - // Compute displacement by linear interpolation - displacement = (cornerMovements[0]*(1-alpha)*(1-beta) + cornerMovements[1]*alpha*(1-beta)+ cornerMovements[2]*alpha*beta+cornerMovements[3]*(1-alpha)*beta) * (1-gamma) - + (cornerMovements[4]*(1-alpha)*(1-beta) + cornerMovements[5]*alpha*(1-beta)+ cornerMovements[6]*alpha*beta+cornerMovements[7]*(1-alpha)*beta) * gamma; - } - else - { - msg_info() << "error don't find the corner points" ; - } - -} - -template -void PatchTestMovementConstraint::draw(const core::visual::VisualParams* vparams) -{ - const SetIndexArray & indices = d_indices.getValue(); - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - type::Vec3 point; - - if(d_drawConstrainedPoints.getValue()) - { - std::vector< type::Vec3 > points; - for (unsigned int index : indices) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); - } -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp similarity index 84% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp index beb420617e02..3b17d682ecd5 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PATCHTESTMOVEMENTCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PATCHTESTMOVEMENTPROJECTIVECONSTRAINT_CPP +#include #include #include #include @@ -29,14 +29,13 @@ namespace sofa::component::constraint::projective { //declaration of the class, for the factory -int PatchTestMovementConstraintClass = core::RegisterObject("bilinear constraint") - .add< PatchTestMovementConstraint >() - .add< PatchTestMovementConstraint >() - +int PatchTestMovementProjectiveConstraintClass = core::RegisterObject("bilinear constraint") + .add< PatchTestMovementProjectiveConstraint >() + .add< PatchTestMovementProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h new file mode 100644 index 000000000000..5cabd8d460f1 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.h @@ -0,0 +1,165 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +class PatchTestMovementProjectiveConstraintInternalData +{ +}; + +/** + Impose a motion to all the boundary points of a mesh. The motion of the 4 corners are given in the data d_cornerMovements and the movements of the edge points are computed by linear interpolation. +*/ +template +class PatchTestMovementProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(PatchTestMovementProjectiveConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); + + using Index = sofa::Index; + typedef TDataTypes DataTypes; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + + static constexpr unsigned int CoordSize = Coord::total_size; + + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; + +protected: + PatchTestMovementProjectiveConstraintInternalData *data; + friend class PatchTestMovementProjectiveConstraintInternalData; + +public : + /// indices of the DOFs of the mesh + SetIndex d_meshIndices; + /// indices of the DOFs the constraint is applied to + SetIndex d_indices; + /// data begin time when the constraint is applied + Data d_beginConstraintTime; + /// data end time when the constraint is applied + Data d_endConstraintTime; + /// coordinates of the DOFs the constraint is applied to + Data d_constrainedPoints; + /// the movements of the corner points (this is the difference between initial and final positions of the 4 corners) + Data d_cornerMovements; + /// the coordinates of the corner points + Data d_cornerPoints; + /// Draw constrained points + Data d_drawConstrainedPoints; + /// initial constrained DOFs position + VecCoord x0; + /// final constrained DOFs position + VecCoord xf; + /// initial mesh DOFs position + VecCoord meshPointsX0; + /// final mesh DOFs position + VecCoord meshPointsXf; + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + PatchTestMovementProjectiveConstraint(); + + virtual ~PatchTestMovementProjectiveConstraint(); + +public: + //Add or clear constraints + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + /// -- Constraint interface + void init() override; + + /// Cancel the possible forces + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + /// Cancel the possible velocities + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + /// Apply the computed movements to the border mesh points between beginConstraintTime and endConstraintTime + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + // Implement projectMatrix for assembled solver of compliant + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + void projectJacobianMatrix(const core::MechanicalParams* /*mparams*/, DataMatrixDeriv& /* cData */) override + { + msg_error() <<"projectJacobianMatrix not implemented"; + } + + /// Compute the theoretical final positions + void getFinalPositions (VecCoord& finalPos, DataVecCoord& xData); + + /// Draw the constrained points (= border mesh points) + void draw(const core::visual::VisualParams* vparams) override; + +protected: + + void projectResponseImpl(VecDeriv& dx); + +private: + + /// Find the corners of the grid mesh + void findCornerPoints(); + + /// Compute the displacement of each mesh point by linear interpolation with the displacement of corner points + void computeInterpolatedDisplacement (int pointIndice,const DataVecCoord& xData, Deriv& displacement); + + /// Initialize initial positions + void initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0); + + /// Initialize final positions + void initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0 , VecCoord& xf); +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PATCHTESTMOVEMENTPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PatchTestMovementProjectiveConstraint; +#endif + + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl new file mode 100644 index 000000000000..b93be91ea5c5 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PatchTestMovementProjectiveConstraint.inl @@ -0,0 +1,449 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +PatchTestMovementProjectiveConstraint::PatchTestMovementProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , data(new PatchTestMovementProjectiveConstraintInternalData) + , d_meshIndices( initData(&d_meshIndices,"meshIndices","Indices of the mesh") ) + , d_indices( initData(&d_indices,"indices","Indices of the constrained points") ) + , d_beginConstraintTime( initData(&d_beginConstraintTime,"beginConstraintTime","Begin time of the bilinear constraint") ) + , d_endConstraintTime( initData(&d_endConstraintTime,"endConstraintTime","End time of the bilinear constraint") ) + , d_constrainedPoints( initData(&d_constrainedPoints,"constrainedPoints","Coordinates of the constrained points") ) + , d_cornerMovements( initData(&d_cornerMovements,"cornerMovements","movements of the corners of the grid") ) + , d_cornerPoints( initData(&d_cornerPoints,"cornerPoints","corner points for computing constraint") ) + , d_drawConstrainedPoints( initData(&d_drawConstrainedPoints,"drawConstrainedPoints","draw constrained points") ) + , l_topology(initLink("topology", "link to the topology container")) +{ + if(!d_beginConstraintTime.isSet()) + d_beginConstraintTime = 0; + if(!d_endConstraintTime.isSet()) + d_endConstraintTime = 20; +} + + + +template +PatchTestMovementProjectiveConstraint::~PatchTestMovementProjectiveConstraint() +{ + +} + +template +void PatchTestMovementProjectiveConstraint::clearConstraints() +{ + d_indices.beginEdit()->clear(); + d_indices.endEdit(); +} + +template +void PatchTestMovementProjectiveConstraint::addConstraint(Index index) +{ + d_indices.beginEdit()->push_back(index); + d_indices.endEdit(); +} + +template +void PatchTestMovementProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*d_indices.beginEdit(),index); + d_indices.endEdit(); +} + +// -- Constraint interface + + +template +void PatchTestMovementProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + const SetIndexArray & indices = d_indices.getValue(); + + const Index maxIndex=this->mstate->getSize(); + for (unsigned int i=0; i= maxIndex) + { + msg_error() <<"Index " << index << " not valid!"; + removeConstraint(index); + } + } + + // Find the 4 corners of the grid topology + this->findCornerPoints(); +} + +template +void PatchTestMovementProjectiveConstraint::findCornerPoints() +{ + Coord corner0, corner1, corner2, corner3,corner4,corner5,corner6,corner7; + // Write accessor + helper::WriteAccessor< Data > cornerPositions = d_cornerPoints; + helper::WriteAccessor< Data > constrainedPoints = d_constrainedPoints; + bool isMeshin3D = false; + + if (!constrainedPoints.empty()) + { + const Coord& point = constrainedPoints[0]; + + // Search if the constrained points are in the same plane + for(Size i = 0; i < constrainedPoints.size() ; i++) + { + if(CoordSize > 2 && constrainedPoints[i][2]!=point[2]) + { + isMeshin3D = true; + } + } + } + + if(constrainedPoints.size() > 0) + { + corner0 = constrainedPoints[0]; + corner1 = constrainedPoints[0]; + corner2 = constrainedPoints[0]; + corner3 = constrainedPoints[0]; + corner4 = constrainedPoints[0]; + corner5 = constrainedPoints[0]; + corner6 = constrainedPoints[0]; + corner7 = constrainedPoints[0]; + + for (size_t i = 0; i < constrainedPoints.size() ; i++) + { + if(constrainedPoints[i][0] < corner0[0] || constrainedPoints[i][1] < corner0[1] || ( CoordSize>2 && constrainedPoints[i][2] < corner0[2] ) ) + { + corner0 = constrainedPoints[i]; + } + + if(constrainedPoints[i][0] > corner2[0] || constrainedPoints[i][1] > corner2[1] || ( CoordSize>2 && constrainedPoints[i][2] < corner2[2] ) ) + { + corner2 = constrainedPoints[i]; + } + + if(constrainedPoints[i][1] < corner1[1] || constrainedPoints[i][0] > corner1[0] || ( CoordSize>2 && constrainedPoints[i][2] < corner1[2] )) + { + corner1 = constrainedPoints[i]; + } + + if(constrainedPoints[i][0] < corner3[0] || constrainedPoints[i][1] > corner3[1] || ( CoordSize>2 && constrainedPoints[i][2] < corner3[2] )) + { + corner3 = constrainedPoints[i]; + } + + if(isMeshin3D && (constrainedPoints[i][0] < corner4[0] || constrainedPoints[i][1] < corner4[1] || (CoordSize>2 && constrainedPoints[i][2] > corner0[2] )) ) + { + corner4 = constrainedPoints[i]; + } + + if(isMeshin3D && (constrainedPoints[i][0] > corner6[0] || constrainedPoints[i][1] > corner6[1] || (CoordSize>2 && constrainedPoints[i][2] > corner2[2] )) ) + { + corner6 = constrainedPoints[i]; + } + + if(isMeshin3D && (constrainedPoints[i][1] < corner5[1] || constrainedPoints[i][0] > corner5[0] || (CoordSize>2 && constrainedPoints[i][2] > corner5[2] )) ) + { + corner5 = constrainedPoints[i]; + } + + else if(isMeshin3D && (constrainedPoints[i][0] < corner7[0] || constrainedPoints[i][1] > corner7[1] || (CoordSize>2 && constrainedPoints[i][2] > corner7[2] )) ) + { + corner7 = constrainedPoints[i]; + } + } + + cornerPositions.push_back(corner0); + cornerPositions.push_back(corner1); + cornerPositions.push_back(corner2); + cornerPositions.push_back(corner3); + + // 3D + if(isMeshin3D) + { + cornerPositions.push_back(corner4); + cornerPositions.push_back(corner5); + cornerPositions.push_back(corner6); + cornerPositions.push_back(corner7); + } + } +} + +template +void PatchTestMovementProjectiveConstraint::projectResponseImpl(VecDeriv& dx) +{ + const SetIndexArray & indices = d_indices.getValue(); + for (size_t i = 0; i< indices.size(); ++i) + { + dx[indices[i]]=Deriv(); + } +} + +template +void PatchTestMovementProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = resData; + projectResponseImpl(res.wref()); +} + +template +void PatchTestMovementProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor res = vData; + projectResponseImpl(res.wref()); +} + +template +void PatchTestMovementProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + const sofa::simulation::Node::SPtr root = down_cast( this->getContext()->getRootContext() ); + helper::WriteAccessor x = xData; + const SetIndexArray & indices = d_indices.getValue(); + + // Time + double beginTime = d_beginConstraintTime.getValue(); + double endTime = d_endConstraintTime.getValue(); + double totalTime = endTime - beginTime; + + //initialize initial mesh Dofs positions, if it's not done + if(meshPointsX0.size()==0) + this->initializeInitialPositions(d_meshIndices.getValue(),xData,meshPointsX0); + + //initialize final mesh Dofs positions, if it's not done + if(meshPointsXf.size()==0) + this->initializeFinalPositions(d_meshIndices.getValue(),xData, meshPointsX0, meshPointsXf); + + //initialize initial constrained Dofs positions, if it's not done + if(x0.size() == 0) + this->initializeInitialPositions(indices,xData,x0); + + //initialize final constrained Dofs positions, if it's not done + if (xf.size() == 0) + this->initializeFinalPositions(indices,xData,x0,xf); + + // Update the intermediate Dofs positions computed by linear interpolation + double time = root->getTime(); + if( time > beginTime && time <= endTime && totalTime > 0) + { + for (size_t i = 0; i< indices.size(); ++i) + { + x[indices[i]] = ((xf[indices[i]]-x0[indices[i]])*time + (x0[indices[i]]*endTime - xf[indices[i]]*beginTime))/totalTime; + } + } + else if (time > endTime) + { + for (size_t i = 0; i< indices.size(); ++i) + { + x[indices[i]] = xf[indices[i]]; + } + } +} + +template +void PatchTestMovementProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + // clears the rows and columns associated with constrained particles + const unsigned blockSize = DataTypes::deriv_total_size; + + for (const auto id : d_indices.getValue()) + { + M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); + } + +} + +template +void PatchTestMovementProjectiveConstraint::getFinalPositions( VecCoord& finalPos,DataVecCoord& xData) +{ + // Indices of mesh points + const SetIndexArray & meshIndices = d_meshIndices.getValue(); + + // Initialize final positions + if(meshPointsXf.size()==0) + {this->initializeFinalPositions(meshIndices,xData,meshPointsX0,meshPointsXf);} + + // Set final positions + finalPos.resize(meshIndices.size()); + for (size_t i=0; i < meshIndices.size() ; ++i) + { + finalPos[meshIndices[i]] = meshPointsXf[meshIndices[i]]; + } +} + +template +void PatchTestMovementProjectiveConstraint::initializeInitialPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0) +{ + helper::WriteAccessor x = xData; + + x0.resize(x.size()); + for (size_t i=0; i < indices.size() ; ++i) + { + x0[indices[i]] = x[indices[i]]; + } + +} + +template +void PatchTestMovementProjectiveConstraint::initializeFinalPositions (const SetIndexArray & indices, DataVecCoord& xData, VecCoord& x0, VecCoord& xf) +{ + Deriv displacement; + helper::WriteAccessor x = xData; + + xf.resize(x.size()); + + // if the positions were not initialized + if(x0.size() == 0) + this->initializeInitialPositions(indices,xData,x0); + + for (size_t i=0; i < indices.size() ; ++i) + { + this->computeInterpolatedDisplacement(indices[i],xData,displacement); + xf[indices[i]] = x0[indices[i]] + displacement ; + } + +} + +template +void PatchTestMovementProjectiveConstraint::computeInterpolatedDisplacement(int pointIndice,const DataVecCoord& xData, Deriv& displacement) +{ + // For each mesh point compute the associated displacement + + // The 3 barycentric coefficients along x, y and z axis + Real alpha, beta, gamma; + + // Corner points + const VecCoord& cornerPoints = d_cornerPoints.getValue(); + if(cornerPoints.size()==0) + this->findCornerPoints(); + + if(cornerPoints.size() == 4) + { + Coord corner0 = cornerPoints[0]; + Coord corner1 = cornerPoints[1]; + Coord corner3 = cornerPoints[3]; + + // Coord of the point + helper::ReadAccessor x = xData; + Coord point = x[pointIndice]; + + // Compute alpha = barycentric coefficient along the x axis + alpha = fabs(point[0]-corner0[0])/fabs(corner1[0]-corner0[0]); + + // Compute beta = barycentric coefficient along the y axis + beta = fabs(point[1]-corner0[1])/fabs(corner3[1]-corner0[1]); + + // cornerMovements + const VecDeriv& cornerMovements = d_cornerMovements.getValue(); + + // Compute displacement by linear interpolation + displacement = cornerMovements[0]*(1-alpha)*(1-beta) + cornerMovements[1]*alpha*(1-beta)+ cornerMovements[2]*alpha*beta+cornerMovements[3]*(1-alpha)*beta; + } + + else if(cornerPoints.size() == 8) + { + Coord corner0 = cornerPoints[0]; + Coord corner1 = cornerPoints[1]; + Coord corner3 = cornerPoints[3]; + Coord corner4 = cornerPoints[4]; + + // Coord of the point + helper::ReadAccessor x = xData; + Coord point = x[pointIndice]; + + // Compute alpha = barycentric coefficient along the x axis + alpha = fabs(point[0]-corner0[0])/fabs(corner1[0]-corner0[0]); + + // Compute beta = barycentric coefficient along the y axis + beta = fabs(point[1]-corner0[1])/fabs(corner3[1]-corner0[1]); + + // Compute gamma = barycentric coefficient along the z axis + if( CoordSize>2 ) + gamma = fabs(point[2]-corner0[2])/fabs(corner4[2]-corner0[2]); // 3D + else + gamma = 0; // 2D + + // cornerMovements + const VecDeriv& cornerMovements = d_cornerMovements.getValue(); + + // Compute displacement by linear interpolation + displacement = (cornerMovements[0]*(1-alpha)*(1-beta) + cornerMovements[1]*alpha*(1-beta)+ cornerMovements[2]*alpha*beta+cornerMovements[3]*(1-alpha)*beta) * (1-gamma) + + (cornerMovements[4]*(1-alpha)*(1-beta) + cornerMovements[5]*alpha*(1-beta)+ cornerMovements[6]*alpha*beta+cornerMovements[7]*(1-alpha)*beta) * gamma; + } + else + { + msg_info() << "error don't find the corner points" ; + } + +} + +template +void PatchTestMovementProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + const SetIndexArray & indices = d_indices.getValue(); + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + type::Vec3 point; + + if(d_drawConstrainedPoints.getValue()) + { + std::vector< type::Vec3 > points; + for (unsigned int index : indices) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); + } +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp similarity index 77% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp index 5c701444225e..dc33393e99f5 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectToLineConstraint_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PlaneProjectiveConstraint_CPP +#include #include namespace sofa::component::constraint::projective @@ -30,13 +30,13 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int ProjectToLineConstraintClass = core::RegisterObject("Attach given particles to their initial positions") - .add< ProjectToLineConstraint >() - .add< ProjectToLineConstraint >() - +int PlaneProjectiveConstraintClass = core::RegisterObject("Attach given particles to their initial positions") + .add< PlaneProjectiveConstraint >() + .add< PlaneProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToLineConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToLineConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint; } // namespace sofa::component::constraint::projective + diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h new file mode 100644 index 000000000000..13a325f7d8ce --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h @@ -0,0 +1,137 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class PlaneProjectiveConstraintInternalData +{ + +}; + +/** Project particles to an affine plane. + @author Francois Faure, 2012 + @todo Optimized versions for planes parallel to the main directions +*/ +template +class PlaneProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(PlaneProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::CPos CPos; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector Indices; + typedef sofa::core::topology::TopologySubsetIndices IndexSubsetData; + typedef linearalgebra::EigenBaseSparseMatrix BaseSparseMatrix; + typedef linearalgebra::EigenSparseMatrix SparseMatrix; + typedef typename SparseMatrix::Block Block; ///< projection matrix of a particle displacement to the plane + enum {bsize=SparseMatrix::Nin}; ///< size of a block + + SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); + +protected: + PlaneProjectiveConstraint(); + + virtual ~PlaneProjectiveConstraint(); + +public: + IndexSubsetData f_indices; ///< the particles to project + Data f_origin; ///< A point in the plane + Data f_normal; ///< The normal to the plane. Will be normalized by init(). + Data f_drawSize; ///< The size of the display of the constrained particles + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + PlaneProjectiveConstraintInternalData* data; + friend class PlaneProjectiveConstraintInternalData; + + +public: + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + // -- Constraint interface + void init() override; + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + /** Project the given matrix (Experimental API). + Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix. + */ + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + + void draw(const core::visual::VisualParams* vparams) override; + +protected : + + SparseMatrix jacobian; ///< projection matrix in local state + SparseMatrix J; ///< auxiliary variable +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PlaneProjectiveConstraint_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PlaneProjectiveConstraint; + +#endif + +} // namespace sofa::component::constraint::projective + diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl new file mode 100644 index 000000000000..9ba0cae1e0d5 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl @@ -0,0 +1,276 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +PlaneProjectiveConstraint::PlaneProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) + , f_origin( initData(&f_origin,CPos(),"origin","A point in the plane")) + , f_normal( initData(&f_normal,CPos(),"normal","Normal vector to the plane")) + , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) + , l_topology(initLink("topology", "link to the topology container")) + , data(new PlaneProjectiveConstraintInternalData()) +{ + f_indices.beginEdit()->push_back(0); + f_indices.endEdit(); +} + + +template +PlaneProjectiveConstraint::~PlaneProjectiveConstraint() +{ + delete data; +} + +template +void PlaneProjectiveConstraint::clearConstraints() +{ + f_indices.beginEdit()->clear(); + f_indices.endEdit(); +} + +template +void PlaneProjectiveConstraint::addConstraint(Index index) +{ + f_indices.beginEdit()->push_back(index); + f_indices.endEdit(); +} + +template +void PlaneProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*f_indices.beginEdit(),index); + f_indices.endEdit(); +} + +// -- Constraint interface + + +template +void PlaneProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + f_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + const Indices & indices = f_indices.getValue(); + + const Index maxIndex=this->mstate->getSize(); + for (unsigned int i=0; i= maxIndex) + { + msg_error() << "Index " << index << " not valid!"; + removeConstraint(index); + } + } + + reinit(); + +} + +template +void PlaneProjectiveConstraint::reinit() +{ + + // normalize the normal vector + CPos n = f_normal.getValue(); + if( n.norm()==0 ) + n[1]=0; + else n *= 1/n.norm(); + f_normal.setValue(n); + + // create the matrix blocks corresponding to the projection to the plane: I-nn^t or to the identity + Block bProjection; + for(unsigned i=0; imstate->getSize(); + const unsigned blockSize = DataTypes::deriv_total_size; + jacobian.resize( numBlocks*blockSize,numBlocks*blockSize ); + + // fill the jacobian in ascending order + unsigned i=0; + Indices::const_iterator it = tmp.begin(); + while( i +void PlaneProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state + BaseSparseMatrix* E = dynamic_cast(M); + assert(E); + E->compressedMatrix = J.compressedMatrix * E->compressedMatrix * J.compressedMatrix; +} + + + +template +void PlaneProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res ( resData ); + jacobian.mult(res.wref(),res.ref()); +} + +template +void PlaneProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/ , DataMatrixDeriv& /*cData*/) +{ + msg_error() << "projectJacobianMatrix(const core::MechanicalParams*, DataMatrixDeriv& ) is not implemented"; +} + +template +void PlaneProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + projectResponse(mparams,vData); +} + +template +void PlaneProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/ , DataVecCoord& xData) +{ + VecCoord& x = *xData.beginEdit(); + + const CPos& n = f_normal.getValue(); + const CPos& o = f_origin.getValue(); + + const Indices& indices = f_indices.getValue(); + for(unsigned i=0; i +void PlaneProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + msg_error() << "applyConstraint is not implemented "; +} + +template +void PlaneProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + msg_error() << "PlaneProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented "; +} + +template +void PlaneProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) return; + if (!this->isActive()) return; + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + const Indices & indices = f_indices.getValue(); + + if( f_drawSize.getValue() == 0) // old classical drawing by points + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + for (unsigned int index : indices) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); + } + else // new drawing by spheres + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + + for (unsigned int index : indices) + { + point = DataTypes::getCPos(x[index]); + points.push_back(point); + } + vparams->drawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); + } + + +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp similarity index 69% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp index e76a0ffe931d..cac90a541604 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectToPointConstraint_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PointProjectiveConstraint_CPP +#include #include #include @@ -32,17 +32,16 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int ProjectToPointConstraintClass = core::RegisterObject("Project particles to a point") - .add< ProjectToPointConstraint >() - .add< ProjectToPointConstraint >() - .add< ProjectToPointConstraint >() - .add< ProjectToPointConstraint >() - +int PointProjectiveConstraintClass = core::RegisterObject("Project particles to a point") + .add< PointProjectiveConstraint >() + .add< PointProjectiveConstraint >() + .add< PointProjectiveConstraint >() + .add< PointProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h new file mode 100644 index 000000000000..2055e7fe2366 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h @@ -0,0 +1,130 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class PointProjectiveConstraintInternalData +{ + +}; + +/** Attach given particles to their initial positions. + * Contrary to FixedConstraint, this one stops the particles even if they have a non-null initial velocity. + * @sa FixedConstraint +*/ +template +class PointProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(PointProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + using Index = sofa::Index; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + + SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); + +protected: + PointProjectiveConstraint(); + + virtual ~PointProjectiveConstraint(); + +public: + SetIndex f_indices; ///< the indices of the points to project to the target + Data f_point; ///< the target of the projection + Data f_fixAll; ///< to project all the points, rather than those listed in f_indices + Data f_drawSize; ///< 0 -> point based rendering, >0 -> radius of spheres + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + PointProjectiveConstraintInternalData* data; + friend class PointProjectiveConstraintInternalData; + + +public: + void clearConstraints(); + void addConstraint(Index index); + void removeConstraint(Index index); + + // -- Constraint interface + void init() override; + void reinit() override; + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + /** Project the given matrix (Experimental API). + Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix. + */ + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + + void draw(const core::visual::VisualParams* vparams) override; + + bool fixAllDOFs() const { return f_fixAll.getValue(); } + +protected : + +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_PointProjectiveConstraint_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PointProjectiveConstraint; +#endif + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl new file mode 100644 index 000000000000..b50b5aedd380 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.inl @@ -0,0 +1,324 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::projective +{ + +template +PointProjectiveConstraint::PointProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , f_indices( initData(&f_indices,"indices","Indices of the points to project") ) + , f_point( initData(&f_point,"point","Target of the projection") ) + , f_fixAll( initData(&f_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") ) + , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) + , l_topology(initLink("topology", "link to the topology container")) + , data(new PointProjectiveConstraintInternalData()) +{ + f_indices.beginEdit()->push_back(0); + f_indices.endEdit(); +} + + +template +PointProjectiveConstraint::~PointProjectiveConstraint() +{ + delete data; +} + +template +void PointProjectiveConstraint::clearConstraints() +{ + f_indices.beginEdit()->clear(); + f_indices.endEdit(); +} + +template +void PointProjectiveConstraint::addConstraint(Index index) +{ + f_indices.beginEdit()->push_back(index); + f_indices.endEdit(); +} + +template +void PointProjectiveConstraint::removeConstraint(Index index) +{ + sofa::type::removeValue(*f_indices.beginEdit(),index); + f_indices.endEdit(); +} + +// -- Constraint interface + + +template +void PointProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + + 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 + f_indices.createTopologyHandler(_topology); + } + else + { + msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; + } + + const SetIndexArray & indices = f_indices.getValue(); + + std::stringstream sstream; + const Index maxIndex=this->mstate->getSize(); + for (unsigned int i=0; i= maxIndex) + { + sstream << "Index " << index << " not valid!\n"; + removeConstraint(index); + } + } + msg_error_when(!sstream.str().empty()) << sstream.str(); + + reinit(); +} + +template +void PointProjectiveConstraint::reinit() +{ + + // get the indices sorted + SetIndexArray tmp = f_indices.getValue(); + std::sort(tmp.begin(),tmp.end()); +} + +template +void PointProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + const unsigned blockSize = DataTypes::deriv_total_size; + + // clears the rows and columns associated with fixed particles + for (const auto id : f_indices.getValue()) + { + M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); + } +} + +template +void PointProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res ( resData ); + const SetIndexArray & indices = f_indices.getValue(); + if( f_fixAll.getValue() ) + { + // fix everything + typename VecDeriv::iterator it; + for( it = res.begin(); it != res.end(); ++it ) + { + *it = Deriv(); + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); + it != indices.end(); + ++it) + { + res[*it] = Deriv(); + } + } +} + +template +void PointProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor c ( cData ); + + if( f_fixAll.getValue() ) + { + // fix everything + c->clear(); + } + else + { + const SetIndexArray& indices = f_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); + it != indices.end(); + ++it) + { + c->clearColBlock(*it); + } + } +} + +template +void PointProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams , DataVecDeriv& vData) +{ + projectResponse(mparams, vData); +} + +template +void PointProjectiveConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res ( xData ); + const SetIndexArray & indices = f_indices.getValue(); + if( f_fixAll.getValue() ) + { + // fix everything + typename VecCoord::iterator it; + for( it = res.begin(); it != res.end(); ++it ) + { + *it = f_point.getValue(); + } + } + else + { + for (SetIndexArray::const_iterator it = indices.begin(); + it != indices.end(); + ++it) + { + res[*it] = f_point.getValue(); + } + } +} + +template +void PointProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) + { + const unsigned int N = Deriv::size(); + const SetIndexArray & indices = f_indices.getValue(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); + // Set Fixed Vertex + for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); + } + } +} + +template +void PointProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + const int o = matrix->getGlobalOffset(this->mstate.get()); + if (o >= 0) + { + const unsigned int offset = (unsigned int)o; + const unsigned int N = Deriv::size(); + + const SetIndexArray & indices = f_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for (unsigned int c=0; cclear(offset + N * (*it) + c); + } + } +} + + + + +template +void PointProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowBehaviorModels()) return; + if (!this->isActive()) return; + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + const SetIndexArray & indices = f_indices.getValue(); + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + + if( f_drawSize.getValue() == 0) // old classical drawing by points + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + if( f_fixAll.getValue() ) + for (unsigned i=0; idrawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); + } + else // new drawing by spheres + { + std::vector< sofa::type::Vec3 > points; + sofa::type::Vec3 point; + if(f_fixAll.getValue()) + for (unsigned i=0; idrawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); + } + + +} + +} // namespace sofa::component::constraint::projective + + + diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.h index d861e5a7a727..f27bc01bb64f 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.h @@ -20,95 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class PositionBasedDynamicsConstraintInternalData -{ -}; - -/** Position-based dynamics as described in [Muller06]: -input: target positions X -output : x(t) <- x(t) + stiffness.( X - x(t) ) - v(t) <- [ x(t) - x(t-1) ] / dt = v(t) + stiffness.( X - x(t) ) /dt - -*/ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h") -template -class PositionBasedDynamicsConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(PositionBasedDynamicsConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - -protected: - PositionBasedDynamicsConstraintInternalData data; - friend class PositionBasedDynamicsConstraintInternalData; - -public: - Data< Real > stiffness; ///< Blending between current pos and target pos. - Data< VecCoord > position; ///< Target positions. - - Data < VecDeriv > velocity; ///< Velocities. - Data < VecCoord > old_position; ///< Old positions. - - PositionBasedDynamicsConstraint(); - - virtual ~PositionBasedDynamicsConstraint(); - - // -- Constraint interface - void init() override; - void reset() override; - - void projectResponse(const core::MechanicalParams* , DataVecDeriv& ) override {} - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - // Handle topological changes - void handleTopologyChange() override; - -protected : - - - -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_POSITIONBASEDDYNAMICSCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -//extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using PositionBasedDynamicsConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "PositionBasedDynamicsConstraint has been renamed to PositionBasedDynamicsProjectiveConstraint") = PositionBasedDynamicsProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.inl index 80117815e5db..35018c27864c 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.inl @@ -21,118 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - - -template -PositionBasedDynamicsConstraint::PositionBasedDynamicsConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , stiffness(initData(&stiffness,(Real)1.0,"stiffness","Blending between current pos and target pos.")) - , position(initData(&position,"position","Target positions.")) - , velocity(initData(&velocity,"velocity","Velocities.")) - , old_position(initData(&old_position,"old_position","Old positions.")) -{ -} - - -// Handle topological changes -template void PositionBasedDynamicsConstraint::handleTopologyChange() -{ - this->reinit(); -} - -template -PositionBasedDynamicsConstraint::~PositionBasedDynamicsConstraint() -{ -} - - -// -- Constraint interface - - -template -void PositionBasedDynamicsConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - if ((int)position.getValue().size() != (int)this->mstate->getSize()) msg_error() << "Invalid target position vector size." ; -} - - -template -void PositionBasedDynamicsConstraint::reset() -{ - this->core::behavior::ProjectiveConstraintSet::reset(); - - helper::WriteAccessor vel ( velocity ); - std::fill(vel.begin(),vel.end(),Deriv()); - - helper::WriteAccessor old_pos ( old_position ); - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - old_pos.resize(x.size()); - std::copy(x.begin(),x.end(),old_pos.begin()); -} - - - -template -void PositionBasedDynamicsConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - helper::WriteAccessor c ( cData ); -} - - - -template -void PositionBasedDynamicsConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res (vData ); - helper::ReadAccessor vel ( velocity ); - - if (vel.size() != res.size()) { msg_error() << "Invalid target position vector size." ; return; } - std::copy(vel.begin(),vel.end(),res.begin()); -} - -template -void PositionBasedDynamicsConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res ( xData ); - helper::WriteAccessor vel ( velocity ); - helper::WriteAccessor old_pos ( old_position ); - helper::ReadAccessor tpos = position ; - if (tpos.size() != res.size()) { msg_error() << "Invalid target position vector size." ; return; } - - Real dt = (Real)this->getContext()->getDt(); - if(!dt) return; - Real invdt=(Real)(1./dt); - - vel.resize(res.size()); - - if(old_pos.size() != res.size()) { - old_pos.resize(res.size()); - std::copy(res.begin(),res.end(),old_pos.begin()); - } - - for( size_t i=0; i -void PositionBasedDynamicsConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData); - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp similarity index 80% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp index 8861bb04b357..43655dd1df7a 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_POSITIONBASEDDYNAMICSCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_POSITIONBASEDDYNAMICSPROJECTIVECONSTRAINT_CPP +#include #include #include @@ -35,30 +35,28 @@ using namespace sofa::defaulttype; using namespace sofa::helper; -int PositionBasedDynamicsConstraintClass = core::RegisterObject("Position-based dynamics") - - .add< PositionBasedDynamicsConstraint >(true) - .add< PositionBasedDynamicsConstraint >() - .add< PositionBasedDynamicsConstraint >() - .add< PositionBasedDynamicsConstraint >() - .add< PositionBasedDynamicsConstraint >() -//.add< PositionBasedDynamicsConstraint >() +int PositionBasedDynamicsProjectiveConstraintClass = core::RegisterObject("Position-based dynamics") + .add< PositionBasedDynamicsProjectiveConstraint >(true) + .add< PositionBasedDynamicsProjectiveConstraint >() + .add< PositionBasedDynamicsProjectiveConstraint >() + .add< PositionBasedDynamicsProjectiveConstraint >() + .add< PositionBasedDynamicsProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; -//template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +//template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; // specialization for rigids template <> -void PositionBasedDynamicsConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) +void PositionBasedDynamicsProjectiveConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) { SOFA_UNUSED(mparams); diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h new file mode 100644 index 000000000000..ad225656f556 --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h @@ -0,0 +1,114 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +/// This class can be overridden if needed for additionnal storage within template specializations. +template +class PositionBasedDynamicsProjectiveConstraintInternalData +{ +}; + +/** Position-based dynamics as described in [Muller06]: +input: target positions X +output : x(t) <- x(t) + stiffness.( X - x(t) ) + v(t) <- [ x(t) - x(t-1) ] / dt = v(t) + stiffness.( X - x(t) ) /dt + +*/ + +template +class PositionBasedDynamicsProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(PositionBasedDynamicsProjectiveConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + +protected: + PositionBasedDynamicsProjectiveConstraintInternalData data; + friend class PositionBasedDynamicsProjectiveConstraintInternalData; + +public: + Data< Real > stiffness; ///< Blending between current pos and target pos. + Data< VecCoord > position; ///< Target positions. + + Data < VecDeriv > velocity; ///< Velocities. + Data < VecCoord > old_position; ///< Old positions. + + PositionBasedDynamicsProjectiveConstraint(); + + virtual ~PositionBasedDynamicsProjectiveConstraint(); + + // -- Constraint interface + void init() override; + void reset() override; + + void projectResponse(const core::MechanicalParams* , DataVecDeriv& ) override {} + void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + // Handle topological changes + void handleTopologyChange() override; + +protected : + + + +}; + + +#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_POSITIONBASEDDYNAMICSPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +//extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API PositionBasedDynamicsProjectiveConstraint; +#endif + + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.inl new file mode 100644 index 000000000000..473b6ceafa1e --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.inl @@ -0,0 +1,138 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + + +template +PositionBasedDynamicsProjectiveConstraint::PositionBasedDynamicsProjectiveConstraint() + : core::behavior::ProjectiveConstraintSet(nullptr) + , stiffness(initData(&stiffness,(Real)1.0,"stiffness","Blending between current pos and target pos.")) + , position(initData(&position,"position","Target positions.")) + , velocity(initData(&velocity,"velocity","Velocities.")) + , old_position(initData(&old_position,"old_position","Old positions.")) +{ +} + + +// Handle topological changes +template void PositionBasedDynamicsProjectiveConstraint::handleTopologyChange() +{ + this->reinit(); +} + +template +PositionBasedDynamicsProjectiveConstraint::~PositionBasedDynamicsProjectiveConstraint() +{ +} + + +// -- Constraint interface + + +template +void PositionBasedDynamicsProjectiveConstraint::init() +{ + this->core::behavior::ProjectiveConstraintSet::init(); + if ((int)position.getValue().size() != (int)this->mstate->getSize()) msg_error() << "Invalid target position vector size." ; +} + + +template +void PositionBasedDynamicsProjectiveConstraint::reset() +{ + this->core::behavior::ProjectiveConstraintSet::reset(); + + helper::WriteAccessor vel ( velocity ); + std::fill(vel.begin(),vel.end(),Deriv()); + + helper::WriteAccessor old_pos ( old_position ); + const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + old_pos.resize(x.size()); + std::copy(x.begin(),x.end(),old_pos.begin()); +} + + + +template +void PositionBasedDynamicsProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + helper::WriteAccessor c ( cData ); +} + + + +template +void PositionBasedDynamicsProjectiveConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res (vData ); + helper::ReadAccessor vel ( velocity ); + + if (vel.size() != res.size()) { msg_error() << "Invalid target position vector size." ; return; } + std::copy(vel.begin(),vel.end(),res.begin()); +} + +template +void PositionBasedDynamicsProjectiveConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) +{ + SOFA_UNUSED(mparams); + + helper::WriteAccessor res ( xData ); + helper::WriteAccessor vel ( velocity ); + helper::WriteAccessor old_pos ( old_position ); + helper::ReadAccessor tpos = position ; + if (tpos.size() != res.size()) { msg_error() << "Invalid target position vector size." ; return; } + + Real dt = (Real)this->getContext()->getDt(); + if(!dt) return; + Real invdt=(Real)(1./dt); + + vel.resize(res.size()); + + if(old_pos.size() != res.size()) { + old_pos.resize(res.size()); + std::copy(res.begin(),res.end(),old_pos.begin()); + } + + for( size_t i=0; i +void PositionBasedDynamicsProjectiveConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData); + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.h index 73b8f78525cd..53470fae7fd8 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.h @@ -20,115 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -//#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class ProjectDirectionConstraintInternalData -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/DirectionProjectiveConstraint.h") -}; - -/** Project particles to an affine straight line going through the particle original position. -*/ -template -class ProjectDirectionConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(ProjectDirectionConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::CPos CPos; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector Indices; - SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); - typedef sofa::core::topology::TopologySubsetIndices IndexSubsetData; - typedef linearalgebra::EigenBaseSparseMatrix BaseSparseMatrix; - typedef linearalgebra::EigenSparseMatrix SparseMatrix; - typedef typename SparseMatrix::Block Block; ///< projection matrix of a particle displacement to the plane - enum {bsize=SparseMatrix::Nin}; ///< size of a block - - -protected: - ProjectDirectionConstraint(); - - virtual ~ProjectDirectionConstraint(); - -public: - IndexSubsetData f_indices; ///< the particles to project - Data f_drawSize; ///< The size of the square used to display the constrained particles - Data f_direction; ///< The direction of the line. Will be normalized by init() - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - ProjectDirectionConstraintInternalData* data; - friend class ProjectDirectionConstraintInternalData; - - type::vector m_origin; - - -public: - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - // -- Constraint interface - void init() override; - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet). - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - - void draw(const core::visual::VisualParams* vparams) override; - -protected : - - SparseMatrix jacobian; ///< projection matrix in local state - SparseMatrix J; ///< auxiliary variable -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectDirectionConstraint_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectDirectionConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectDirectionConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using ProjectDirectionConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "ProjectDirectionConstraint has been renamed to DirectionProjectiveConstraint") = DirectionProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.inl index 1d63aa290029..8f9d63e57514 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectDirectionConstraint.inl @@ -21,257 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include +#include - -namespace sofa::component::constraint::projective -{ - -template -ProjectDirectionConstraint::ProjectDirectionConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) - , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) - , f_direction( initData(&f_direction,CPos(),"direction","Direction of the line")) - , l_topology(initLink("topology", "link to the topology container")) - , data(new ProjectDirectionConstraintInternalData()) -{ - f_indices.beginEdit()->push_back(0); - f_indices.endEdit(); -} - - -template -ProjectDirectionConstraint::~ProjectDirectionConstraint() -{ - delete data; -} - -template -void ProjectDirectionConstraint::clearConstraints() -{ - f_indices.beginEdit()->clear(); - f_indices.endEdit(); -} - -template -void ProjectDirectionConstraint::addConstraint(Index index) -{ - f_indices.beginEdit()->push_back(index); - f_indices.endEdit(); -} - -template -void ProjectDirectionConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*f_indices.beginEdit(),index); - f_indices.endEdit(); -} - -// -- Constraint interface - - -template -void ProjectDirectionConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - f_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - const Indices & indices = f_indices.getValue(); - - const Index maxIndex=this->mstate->getSize(); - for (unsigned int i=0; i= maxIndex) - { - msg_error() << "Index " << index << " not valid!"; - removeConstraint(index); - } - } - - reinit(); -} - -template -void ProjectDirectionConstraint::reinit() -{ - // normalize the normal vector - CPos n = f_direction.getValue(); - if( n.norm()==0 ) - n[1]=0; - else n *= 1/n.norm(); - f_direction.setValue(n); - - // create the matrix blocks corresponding to the projection to the line: nn^t or to the identity - Block bProjection; - for(unsigned i=0; imstate->getSize(); - const unsigned blockSize = DataTypes::deriv_total_size; - jacobian.resize( numBlocks*blockSize,numBlocks*blockSize ); - - // fill the jacobian in ascending order - Indices::const_iterator it = tmp.begin(); - unsigned i = 0; - while( i < numBlocks ) - { - if( it != tmp.end() && i==*it ) // constrained particle: set diagonal to projection block, and the cursor to the next constraint - { - jacobian.insertBackBlock(i,i,bProjection); - ++it; - } - else // unconstrained particle: set diagonal to identity block - { - jacobian.insertBackBlock(i,i,Block::Identity()); - } - i++; - } - jacobian.compress(); - - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - const Indices &indices = f_indices.getValue(); - for (const auto id : indices) - { - m_origin.push_back(DataTypes::getCPos(x[id])); - } - -} - -template -void ProjectDirectionConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state - BaseSparseMatrix* E = dynamic_cast(M); - assert(E); - E->compressedMatrix = J.compressedMatrix * E->compressedMatrix * J.compressedMatrix; -} - - - -template -void ProjectDirectionConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res ( resData ); - jacobian.mult(res.wref(),res.ref()); -} - -template -void ProjectDirectionConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/ , DataMatrixDeriv& /*cData*/) -{ - msg_error() << "projectJacobianMatrix(const core::MechanicalParams*, DataMatrixDeriv& ) is not implemented"; -} - -template -void ProjectDirectionConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - projectResponse(mparams,vData); -} - -template -void ProjectDirectionConstraint::projectPosition(const core::MechanicalParams* /*mparams*/ , DataVecCoord& xData) -{ - VecCoord& x = *xData.beginEdit(); - - const CPos& n = f_direction.getValue(); - - const Indices& indices = f_indices.getValue(); - for(unsigned i=0; i -void ProjectDirectionConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - msg_error() << "applyConstraint is not implemented"; -} - -template -void ProjectDirectionConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - dmsg_error() << "ProjectDirectionConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented"; -} - - - - -template -void ProjectDirectionConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) return; - if (!this->isActive()) return; - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - const Indices & indices = f_indices.getValue(); - - if( f_drawSize.getValue() == 0) // old classical drawing by points - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - for (unsigned int index : indices) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); - } - else // new drawing by spheres - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - for (unsigned int index : indices) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - vparams->drawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); - } - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/DirectionProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.h index 9e30c5687d7d..1824578181a6 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.h @@ -20,119 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class ProjectToLineConstraintInternalData -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/LineProjectiveConstraint.h") -}; - -/** Project particles to an affine straight line. - @author Francois Faure, 2012 - @todo Optimized versions for lines parallel to the main directions -*/ -template -class ProjectToLineConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(ProjectToLineConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::CPos CPos; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); - typedef type::vector Indices; - typedef sofa::core::topology::TopologySubsetIndices IndexSubsetData; - typedef linearalgebra::EigenBaseSparseMatrix BaseSparseMatrix; - typedef linearalgebra::EigenSparseMatrix SparseMatrix; - typedef typename SparseMatrix::Block Block; ///< projection matrix of a particle displacement to the plane - enum {bsize=SparseMatrix::Nin}; ///< size of a block - - -protected: - ProjectToLineConstraint(); - - virtual ~ProjectToLineConstraint(); - -public: - IndexSubsetData f_indices; ///< the particles to project - Data f_drawSize; ///< The size of the square used to display the constrained particles - Data f_origin; ///< A point on the line - Data f_direction; ///< The direction of the line. Will be normalized by init() - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - ProjectToLineConstraintInternalData* data; - friend class ProjectToLineConstraintInternalData; - - -public: - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - // -- Constraint interface - void init() override; - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - /// Project the given matrix (Experimental API, see the spec in sofa::core::behavior::BaseProjectiveConstraintSet). - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - - void draw(const core::visual::VisualParams* vparams) override; - -protected : - - SparseMatrix jacobian; ///< projection matrix in local state - SparseMatrix J; ///< auxiliary variable - - /// Resize/update Jacobian matrix according to the linked mechanical state and the direction - void updateJacobian(); - -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectToLineConstraint_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToLineConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToLineConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using ProjectToLineConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "ProjectToLineConstraint has been renamed to LineProjectiveConstraint") = LineProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.inl index 7abe1ce1c5e1..3b15b549d196 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToLineConstraint.inl @@ -21,266 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -ProjectToLineConstraint::ProjectToLineConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) - , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) - , f_origin( initData(&f_origin,CPos(),"origin","A point in the line")) - , f_direction( initData(&f_direction,CPos(),"direction","Direction of the line")) - , l_topology(initLink("topology", "link to the topology container")) - , data(new ProjectToLineConstraintInternalData()) -{ - f_indices.beginEdit()->push_back(0); - f_indices.endEdit(); -} - - -template -ProjectToLineConstraint::~ProjectToLineConstraint() -{ - delete data; -} - -template -void ProjectToLineConstraint::clearConstraints() -{ - f_indices.beginEdit()->clear(); - f_indices.endEdit(); -} - -template -void ProjectToLineConstraint::addConstraint(Index index) -{ - f_indices.beginEdit()->push_back(index); - f_indices.endEdit(); -} - -template -void ProjectToLineConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*f_indices.beginEdit(),index); - f_indices.endEdit(); -} - -// -- Constraint interface - - -template -void ProjectToLineConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - f_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - const Indices & indices = f_indices.getValue(); - - const Index maxIndex=this->mstate->getSize(); - for (unsigned int i=0; i= maxIndex) - { - msg_error() << "Index " << index << " not valid!"; - removeConstraint(index); - } - } - - updateJacobian(); -} - -template -void ProjectToLineConstraint::reinit() -{ - updateJacobian(); -} - -template -void ProjectToLineConstraint::updateJacobian() -{ - // normalize the normal vector - CPos n = f_direction.getValue(); - if( n.norm()==0 ) - n[0]=1; // arbritary normal vector - else n *= 1/n.norm(); - f_direction.setValue(n); - - // create the matrix blocks corresponding to the projection to the line: nn^t or to the identity - Block bProjection; - for(unsigned i=0; imstate->getSize(); - const unsigned blockSize = DataTypes::deriv_total_size; - jacobian.resize( numBlocks*blockSize,numBlocks*blockSize ); - - // fill the jacobian in ascending order - Indices::const_iterator it = tmp.begin(); - unsigned i = 0; - while( i < numBlocks ) // (FF) do not stop after the last constrained particle, for the remainder of the diagonal would be null, while it must be identity. - { - if( it!=tmp.end() && i==*it ) // constrained particle: set diagonal to projection block, and the cursor to the next constraint - { - jacobian.insertBackBlock(i,i,bProjection); - ++it; - } - else // unconstrained particle: set diagonal to identity block - { - jacobian.insertBackBlock(i,i,Block::Identity()); - } - i++; - } - jacobian.compress(); -} - -template -void ProjectToLineConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state - BaseSparseMatrix* E = dynamic_cast(M); - assert(E); - E->compressedMatrix = J.compressedMatrix * E->compressedMatrix * J.compressedMatrix; -} - - - -template -void ProjectToLineConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res(resData); - - using Size = decltype(jacobian.colSize()); - if( (jacobian.colSize() / Size(DataTypes::deriv_total_size)) != Size(res.size())) - { - updateJacobian(); - } - - jacobian.mult(res.wref(),res.ref()); -} - -template -void ProjectToLineConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/ , DataMatrixDeriv& /*cData*/) -{ - msg_error() << "projectJacobianMatrix(const core::MechanicalParams*, DataMatrixDeriv& ) is not implemented"; -} - -template -void ProjectToLineConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - projectResponse(mparams,vData); -} - -template -void ProjectToLineConstraint::projectPosition(const core::MechanicalParams* /*mparams*/ , DataVecCoord& xData) -{ - VecCoord& x = *xData.beginEdit(); - - const CPos& n = f_direction.getValue(); - const CPos& o = f_origin.getValue(); - - const Indices& indices = f_indices.getValue(); - for(unsigned i=0; i -void ProjectToLineConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - msg_error() << "applyConstraint is not implemented "; -} - -template -void ProjectToLineConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - msg_error() << "ProjectToLineConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented "; -} - - - - -template -void ProjectToLineConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) return; - if (!this->isActive()) return; - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - const Indices & indices = f_indices.getValue(); - - if( f_drawSize.getValue() == 0) // old classical drawing by points - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - - for (Indices::const_iterator it = indices.begin(); - it != indices.end(); - ++it) - { - point = DataTypes::getCPos(x[*it]); - points.push_back(point); - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); - } - else // new drawing by spheres - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - for (unsigned int index : indices) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - vparams->drawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); - } - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/LineProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.h index 925bf007d652..d7fb513705e0 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.h @@ -20,118 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class ProjectToPlaneConstraintInternalData -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PlaneProjectiveConstraint.h") -}; - -/** Project particles to an affine plane. - @author Francois Faure, 2012 - @todo Optimized versions for planes parallel to the main directions -*/ -template -class ProjectToPlaneConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(ProjectToPlaneConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::CPos CPos; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector Indices; - typedef sofa::core::topology::TopologySubsetIndices IndexSubsetData; - typedef linearalgebra::EigenBaseSparseMatrix BaseSparseMatrix; - typedef linearalgebra::EigenSparseMatrix SparseMatrix; - typedef typename SparseMatrix::Block Block; ///< projection matrix of a particle displacement to the plane - enum {bsize=SparseMatrix::Nin}; ///< size of a block - - SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); - -protected: - ProjectToPlaneConstraint(); - - virtual ~ProjectToPlaneConstraint(); - -public: - IndexSubsetData f_indices; ///< the particles to project - Data f_origin; ///< A point in the plane - Data f_normal; ///< The normal to the plane. Will be normalized by init(). - Data f_drawSize; ///< The size of the display of the constrained particles - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - ProjectToPlaneConstraintInternalData* data; - friend class ProjectToPlaneConstraintInternalData; - - -public: - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - // -- Constraint interface - void init() override; - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - /** Project the given matrix (Experimental API). - Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix. - */ - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - - void draw(const core::visual::VisualParams* vparams) override; - -protected : - - SparseMatrix jacobian; ///< projection matrix in local state - SparseMatrix J; ///< auxiliary variable -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectToPlaneConstraint_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPlaneConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPlaneConstraint; - -#endif - -} // namespace sofa::component::constraint::projective - +template +using ProjectToPlaneConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "ProjectToPlaneConstraint has been renamed to PlaneProjectiveConstraint") = PlaneProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.inl index 6e7fd9be4f23..b003eab4b418 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPlaneConstraint.inl @@ -21,256 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -ProjectToPlaneConstraint::ProjectToPlaneConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , f_indices( initData(&f_indices,"indices","Indices of the fixed points") ) - , f_origin( initData(&f_origin,CPos(),"origin","A point in the plane")) - , f_normal( initData(&f_normal,CPos(),"normal","Normal vector to the plane")) - , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) - , l_topology(initLink("topology", "link to the topology container")) - , data(new ProjectToPlaneConstraintInternalData()) -{ - f_indices.beginEdit()->push_back(0); - f_indices.endEdit(); -} - - -template -ProjectToPlaneConstraint::~ProjectToPlaneConstraint() -{ - delete data; -} - -template -void ProjectToPlaneConstraint::clearConstraints() -{ - f_indices.beginEdit()->clear(); - f_indices.endEdit(); -} - -template -void ProjectToPlaneConstraint::addConstraint(Index index) -{ - f_indices.beginEdit()->push_back(index); - f_indices.endEdit(); -} - -template -void ProjectToPlaneConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*f_indices.beginEdit(),index); - f_indices.endEdit(); -} - -// -- Constraint interface - - -template -void ProjectToPlaneConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - f_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - const Indices & indices = f_indices.getValue(); - - const Index maxIndex=this->mstate->getSize(); - for (unsigned int i=0; i= maxIndex) - { - msg_error() << "Index " << index << " not valid!"; - removeConstraint(index); - } - } - - reinit(); - -} - -template -void ProjectToPlaneConstraint::reinit() -{ - - // normalize the normal vector - CPos n = f_normal.getValue(); - if( n.norm()==0 ) - n[1]=0; - else n *= 1/n.norm(); - f_normal.setValue(n); - - // create the matrix blocks corresponding to the projection to the plane: I-nn^t or to the identity - Block bProjection; - for(unsigned i=0; imstate->getSize(); - const unsigned blockSize = DataTypes::deriv_total_size; - jacobian.resize( numBlocks*blockSize,numBlocks*blockSize ); - - // fill the jacobian in ascending order - unsigned i=0; - Indices::const_iterator it = tmp.begin(); - while( i -void ProjectToPlaneConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - J.copy(jacobian, M->colSize(), offset); // projection matrix for an assembled state - BaseSparseMatrix* E = dynamic_cast(M); - assert(E); - E->compressedMatrix = J.compressedMatrix * E->compressedMatrix * J.compressedMatrix; -} - - - -template -void ProjectToPlaneConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res ( resData ); - jacobian.mult(res.wref(),res.ref()); -} - -template -void ProjectToPlaneConstraint::projectJacobianMatrix(const core::MechanicalParams* /*mparams*/ , DataMatrixDeriv& /*cData*/) -{ - msg_error() << "projectJacobianMatrix(const core::MechanicalParams*, DataMatrixDeriv& ) is not implemented"; -} - -template -void ProjectToPlaneConstraint::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) -{ - projectResponse(mparams,vData); -} - -template -void ProjectToPlaneConstraint::projectPosition(const core::MechanicalParams* /*mparams*/ , DataVecCoord& xData) -{ - VecCoord& x = *xData.beginEdit(); - - const CPos& n = f_normal.getValue(); - const CPos& o = f_origin.getValue(); - - const Indices& indices = f_indices.getValue(); - for(unsigned i=0; i -void ProjectToPlaneConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - msg_error() << "applyConstraint is not implemented "; -} - -template -void ProjectToPlaneConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - msg_error() << "ProjectToPlaneConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) is not implemented "; -} - -template -void ProjectToPlaneConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) return; - if (!this->isActive()) return; - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - const Indices & indices = f_indices.getValue(); - - if( f_drawSize.getValue() == 0) // old classical drawing by points - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - for (unsigned int index : indices) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); - } - else // new drawing by spheres - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - - for (unsigned int index : indices) - { - point = DataTypes::getCPos(x[index]); - points.push_back(point); - } - vparams->drawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); - } - - -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PlaneProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.h index 91a50f2b7c09..c5902f378230 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.h @@ -20,112 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -/// This class can be overridden if needed for additionnal storage within template specializations. -template -class ProjectToPointConstraintInternalData -{ +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PointProjectiveConstraint.h") -}; - -/** Attach given particles to their initial positions. - * Contrary to FixedConstraint, this one stops the particles even if they have a non-null initial velocity. - * @sa FixedConstraint -*/ -template -class ProjectToPointConstraint : public core::behavior::ProjectiveConstraintSet +namespace sofa::component::constraint::projective { -public: - SOFA_CLASS(SOFA_TEMPLATE(ProjectToPointConstraint,DataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, DataTypes)); - - using Index = sofa::Index; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - - SOFA_ATTRIBUTE_REPLACED__TYPEMEMBER(Vector3, sofa::type::Vec3); - -protected: - ProjectToPointConstraint(); - - virtual ~ProjectToPointConstraint(); - -public: - SetIndex f_indices; ///< the indices of the points to project to the target - Data f_point; ///< the target of the projection - Data f_fixAll; ///< to project all the points, rather than those listed in f_indices - Data f_drawSize; ///< 0 -> point based rendering, >0 -> radius of spheres - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - -protected: - ProjectToPointConstraintInternalData* data; - friend class ProjectToPointConstraintInternalData; - - -public: - void clearConstraints(); - void addConstraint(Index index); - void removeConstraint(Index index); - - // -- Constraint interface - void init() override; - void reinit() override; - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - /** Project the given matrix (Experimental API). - Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method, shifted by the given offset, i.e. P is the identity matrix with a block on the diagonal replaced by the projection matrix. - */ - void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; - - - void draw(const core::visual::VisualParams* vparams) override; - - bool fixAllDOFs() const { return f_fixAll.getValue(); } - -protected : - -}; - - -#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_ProjectToPointConstraint_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API ProjectToPointConstraint; - -#endif - -} // namespace sofa::component::constraint::projective +template +using ProjectToPointConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "ProjectToPointConstraint has been renamed to PointProjectiveConstraint") = PointProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.inl index 8bfd98db63a0..70213c8c05f5 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ProjectToPointConstraint.inl @@ -21,304 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include - - -namespace sofa::component::constraint::projective -{ - -template -ProjectToPointConstraint::ProjectToPointConstraint() - : core::behavior::ProjectiveConstraintSet(nullptr) - , f_indices( initData(&f_indices,"indices","Indices of the points to project") ) - , f_point( initData(&f_point,"point","Target of the projection") ) - , f_fixAll( initData(&f_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") ) - , f_drawSize( initData(&f_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") ) - , l_topology(initLink("topology", "link to the topology container")) - , data(new ProjectToPointConstraintInternalData()) -{ - f_indices.beginEdit()->push_back(0); - f_indices.endEdit(); -} - - -template -ProjectToPointConstraint::~ProjectToPointConstraint() -{ - delete data; -} - -template -void ProjectToPointConstraint::clearConstraints() -{ - f_indices.beginEdit()->clear(); - f_indices.endEdit(); -} - -template -void ProjectToPointConstraint::addConstraint(Index index) -{ - f_indices.beginEdit()->push_back(index); - f_indices.endEdit(); -} - -template -void ProjectToPointConstraint::removeConstraint(Index index) -{ - sofa::type::removeValue(*f_indices.beginEdit(),index); - f_indices.endEdit(); -} - -// -- Constraint interface - - -template -void ProjectToPointConstraint::init() -{ - this->core::behavior::ProjectiveConstraintSet::init(); - - 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 - f_indices.createTopologyHandler(_topology); - } - else - { - msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; - } - - const SetIndexArray & indices = f_indices.getValue(); - - std::stringstream sstream; - const Index maxIndex=this->mstate->getSize(); - for (unsigned int i=0; i= maxIndex) - { - sstream << "Index " << index << " not valid!\n"; - removeConstraint(index); - } - } - msg_error_when(!sstream.str().empty()) << sstream.str(); - - reinit(); -} - -template -void ProjectToPointConstraint::reinit() -{ - - // get the indices sorted - SetIndexArray tmp = f_indices.getValue(); - std::sort(tmp.begin(),tmp.end()); -} - -template -void ProjectToPointConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - const unsigned blockSize = DataTypes::deriv_total_size; - - // clears the rows and columns associated with fixed particles - for (const auto id : f_indices.getValue()) - { - M->clearRowsCols( offset + id * blockSize, offset + (id+1) * blockSize ); - } -} - -template -void ProjectToPointConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res ( resData ); - const SetIndexArray & indices = f_indices.getValue(); - if( f_fixAll.getValue() ) - { - // fix everything - typename VecDeriv::iterator it; - for( it = res.begin(); it != res.end(); ++it ) - { - *it = Deriv(); - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); - it != indices.end(); - ++it) - { - res[*it] = Deriv(); - } - } -} - -template -void ProjectToPointConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor c ( cData ); - - if( f_fixAll.getValue() ) - { - // fix everything - c->clear(); - } - else - { - const SetIndexArray& indices = f_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); - it != indices.end(); - ++it) - { - c->clearColBlock(*it); - } - } -} - -template -void ProjectToPointConstraint::projectVelocity(const core::MechanicalParams* mparams , DataVecDeriv& vData) -{ - projectResponse(mparams, vData); -} - -template -void ProjectToPointConstraint::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) -{ - SOFA_UNUSED(mparams); - - helper::WriteAccessor res ( xData ); - const SetIndexArray & indices = f_indices.getValue(); - if( f_fixAll.getValue() ) - { - // fix everything - typename VecCoord::iterator it; - for( it = res.begin(); it != res.end(); ++it ) - { - *it = f_point.getValue(); - } - } - else - { - for (SetIndexArray::const_iterator it = indices.begin(); - it != indices.end(); - ++it) - { - res[*it] = f_point.getValue(); - } - } -} - -template -void ProjectToPointConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - if(const core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate.get())) - { - const unsigned int N = Deriv::size(); - const SetIndexArray & indices = f_indices.getValue(); - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - // Reset Fixed Row and Col - for (unsigned int c=0; cclearRowCol(r.offset + N * (*it) + c); - // Set Fixed Vertex - for (unsigned int c=0; cset(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); - } - } -} - -template -void ProjectToPointConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) -{ - SOFA_UNUSED(mparams); - const int o = matrix->getGlobalOffset(this->mstate.get()); - if (o >= 0) - { - const unsigned int offset = (unsigned int)o; - const unsigned int N = Deriv::size(); - - const SetIndexArray & indices = f_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for (unsigned int c=0; cclear(offset + N * (*it) + c); - } - } -} - - - - -template -void ProjectToPointConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowBehaviorModels()) return; - if (!this->isActive()) return; - const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - const SetIndexArray & indices = f_indices.getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - if( f_drawSize.getValue() == 0) // old classical drawing by points - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - if( f_fixAll.getValue() ) - for (unsigned i=0; idrawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1)); - } - else // new drawing by spheres - { - std::vector< sofa::type::Vec3 > points; - sofa::type::Vec3 point; - if(f_fixAll.getValue()) - for (unsigned i=0; idrawTool()->drawSpheres(points, (float)f_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f)); - } - - -} - -} // namespace sofa::component::constraint::projective - - +#include +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/PointProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.h index e383eee8dad7..9a5b8fc1fca6 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.h @@ -20,229 +20,13 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -// a joint of the skeletal hierarchy, it participates in the skeletal animation chain and may be animated -template -struct SkeletonJoint; - -// joints index to export in the MechanicalObject (in order to use them for skinning for instance) -typedef int SkeletonBone; - -// impose a specific motion (translation and rotation) for each DOFs of a MechanicalObject -template -class SkeletalMotionConstraint : public core::behavior::ProjectiveConstraintSet -{ -public: - SOFA_CLASS(SOFA_TEMPLATE(SkeletalMotionConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); - typedef TDataTypes DataTypes; - typedef sofa::core::behavior::ProjectiveConstraintSet TProjectiveConstraintSet; - typedef sofa::core::behavior::MechanicalState MechanicalState; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename MatrixDeriv::RowType MatrixDerivRowType; - typedef Data DataVecCoord; - typedef Data DataVecDeriv; - typedef Data DataMatrixDeriv; - -protected: - SkeletalMotionConstraint(); - - virtual ~SkeletalMotionConstraint(); - -public: - - void init() override; - void reset() override; - - float getAnimationSpeed() const {return animationSpeed.getValue();} - void setAnimationSpeed(float speed) {animationSpeed.setValue(speed);} - - void findKeyTimes(Real ct); - - void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; - void projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) override; - void projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) override; - void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; - - using core::behavior::ProjectiveConstraintSet::applyConstraint; - void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; - - void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) override; +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h") - void draw(const core::visual::VisualParams* vparams) override; - - template - void localToGlobal(typename std::enable_if >::value, VecCoord>::type& x); - - void setSkeletalMotion(const type::vector >& skeletonJoints, const type::vector& skeletonBones); - - void addChannel(unsigned int jointIndex , Coord channel, double time); - -protected: - template - void projectResponseT(DataDeriv& dx, - const std::function& clear); - - template - void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); - -protected: - // every nodes needed in the animation chain - Data > > skeletonJoints; ///< skeleton joints - // mesh skeleton bones which need to be updated according to the animated nodes, we use them to fill the mechanical object - Data > skeletonBones; ///< skeleton bones - - // control how fast the animation is played since animation time is not simulation time - Data animationSpeed; ///< animation speed - - /// is the projective constraint activated? - Data active; - -private: - /// the key times surrounding the current simulation time (for interpolation) - Real prevT, nextT; - - /// the global position of the bones at time t+dt used for the velocities computation - VecCoord nextPositions; - - /// to know if we found the key times - bool finished; - -}; - -template -struct SkeletonJoint +namespace sofa::component::constraint::projective { - friend class SkeletalMotionConstraint; - - typedef typename DataTypes::Coord Coord; - - SkeletonJoint() - : mParentIndex(-1) - , mChannels() - , mTimes() - , mPreviousMotionTime(0) - , mNextMotionTime(0) - {} - - virtual ~SkeletonJoint(){} - - void addChannel(Coord channel, double time) - { - mChannels.push_back(channel); - mTimes.push_back(time); - } - - inline friend std::ostream& operator << (std::ostream& out, const SkeletonJoint& skeletonJoint) - { - out << "Parent" << " " << skeletonJoint.mParentIndex << " "; - out << "Channels" << " " << skeletonJoint.mChannels.size() << " " << skeletonJoint.mChannels << " "; - out << "Times" << " " << skeletonJoint.mTimes.size() << " " << skeletonJoint.mTimes << " "; - out << "PreviousMotion" << " " << skeletonJoint.mPreviousMotion << " "; - out << "PreviousMotionTime" << " " << skeletonJoint.mPreviousMotionTime << " "; - out << "NextMotion" << " " << skeletonJoint.mNextMotion << " "; - out << "NextMotionTime" << " " << skeletonJoint.mNextMotionTime << " "; - out << "LocalRigid" << " " << skeletonJoint.mLocalRigid; - - return out; - } - - inline friend std::istream& operator >> (std::istream& in, SkeletonJoint& skeletonJoint) - { - std::string tmp; - - in >> tmp >> skeletonJoint.mParentIndex; - - size_t numChannel; - in >> tmp >> numChannel; - skeletonJoint.mChannels.resize(numChannel); - Coord channel; - for(Size i = 0; i < numChannel; ++i) - { - in >> channel; - skeletonJoint.mChannels[i] = channel; - } - - size_t numTime; - in >> tmp >> numTime; - skeletonJoint.mTimes.resize(numTime); - double time; - for(Size i = 0; i < numTime; ++i) - { - in >> time; - skeletonJoint.mTimes[i] = time; - } - - in >> tmp >> skeletonJoint.mPreviousMotion; - in >> tmp >> skeletonJoint.mNextMotion; - in >> tmp >> skeletonJoint.mLocalRigid; - - return in; - } - - // parent joint, set to -1 if root, you must set this value - int mParentIndex; - - // set the joint rest position, you must set this value - void setRestPosition(const Coord& restPosition) - { - mPreviousMotion = restPosition; - mNextMotion = restPosition; - mLocalRigid = restPosition; - } - - // following data are useful for animation only, you must fill those vectors if this joint is animated - - // each channel represents a local transformation at a given time in the animation - type::vector mChannels; - - // times corresponding to each animation channel, the channel mChannels[i] must be played at the time contained in mTimes[i] - type::vector mTimes; - -private: - - // following data are used internally to compute the final joint transformation at a specific time using interpolation - - // previous joint motion - Coord mPreviousMotion; - - // next joint motion - Coord mNextMotion; - - // time position for previous joint motion - double mPreviousMotionTime; - - // time position for next joint motion - double mNextMotionTime; - - // this rigid represent the animated node at a specific time relatively to its parent, it may be an interpolation between two channels - // we need to store the current rigid in order to compute the final world position of its rigid children - Coord mLocalRigid; - - // mCurrentRigid in the world coordinate - Coord mWorldRigid; -}; - -#if defined(WIN32) && !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_SKELETALMOTIONCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API SkeletalMotionConstraint; - -#endif - - -} // namespace sofa::component::constraint::projective - +template +using SkeletalMotionConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "SkeletalMotionConstraint has been renamed to SkeletalMotionProjectiveConstraint") = SkeletalMotionProjectiveConstraint; +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.inl index 47194a6e86f7..2682541f635a 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.inl @@ -21,402 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include -#include -#include -#include -#include -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -SkeletalMotionConstraint::SkeletalMotionConstraint() : - sofa::core::behavior::ProjectiveConstraintSet() - , skeletonJoints(initData(&skeletonJoints, "joints", "skeleton joints")) - , skeletonBones(initData(&skeletonBones, "bones", "skeleton bones")) - , animationSpeed(initData(&animationSpeed, 1.0f, "animationSpeed", "animation speed")) - , active(initData(&active, true, "active", "is the constraint active?")) - , finished(false) -{ -} - -template -SkeletalMotionConstraint::~SkeletalMotionConstraint() -{ -} - -template -void SkeletalMotionConstraint::init() -{ - nextPositions.resize(skeletonBones.getValue().size()); - sofa::core::behavior::ProjectiveConstraintSet::init(); -} - -template -void SkeletalMotionConstraint::reset() -{ - sofa::core::behavior::ProjectiveConstraintSet::reset(); -} - -template -void SkeletalMotionConstraint::findKeyTimes(Real ct) -{ - //Note: works only if the times are sorted - - finished = false; - - for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) - { - SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; - - - if(skeletonJoint.mChannels.empty() || skeletonJoint.mChannels.size() != skeletonJoint.mTimes.size()) - continue; - - for(unsigned int j = 0; j < skeletonJoint.mTimes.size(); ++j) - { - Real keyTime = (Real) skeletonJoint.mTimes[j]; - if(keyTime <= ct) - { - { - skeletonJoint.mPreviousMotionTime = keyTime; - const defaulttype::RigidCoord<3, Real>& motion = skeletonJoint.mChannels[j]; - skeletonJoint.mPreviousMotion = motion; - } - if(prevT < keyTime) - prevT = keyTime; - } - else - { - { - skeletonJoint.mNextMotionTime = keyTime; - const defaulttype::RigidCoord<3, Real>& motion = skeletonJoint.mChannels[j]; - skeletonJoint.mNextMotion = motion; - } - if(nextT > keyTime) - nextT = keyTime; - - finished = true; - break; - } - } - skeletonJoints.endEdit(); - } -} - -template template -void SkeletalMotionConstraint::projectResponseT(DataDeriv& res, - const std::function& clear) -{ - if( !active.getValue() ) return; - - for (unsigned int i = 0; i < res.size(); ++i) - clear(res, i); -} - -template -void SkeletalMotionConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) -{ - SOFA_UNUSED(mparams); - if( !active.getValue() ) return; - - helper::WriteAccessor res = resData; - projectResponseT(res.wref(), [](VecDeriv& res, const unsigned int index) { res[index].clear(); }); -} - -template -void SkeletalMotionConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) -{ - if( !active.getValue() ) return; - - helper::WriteAccessor dx = vData; - helper::ReadAccessor x = ((MechanicalState*)this->getContext()->getMechanicalState())->readPositions(); - Real cT = (Real) this->getContext()->getTime() * animationSpeed.getValue(); - Real dt = (Real) this->getContext()->getDt(); - - if(0.0 != cT) - { - findKeyTimes(cT+dt); - if(finished) - { - // compute the position of the bones at cT + dt - this->interpolatePosition(cT+dt, nextPositions); - // compute the velocity using finite difference - for (unsigned i=0; i -void SkeletalMotionConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) -{ - if( !active.getValue() ) return; - - helper::WriteAccessor x = xData; - Real cT = (Real) this->getContext()->getTime() * animationSpeed.getValue(); - - if(0.0 != cT) - { - findKeyTimes(cT); - - // if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) - interpolatePosition(cT, x.wref()); - } -} - -template -template -void SkeletalMotionConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) -{ - // set the motion to the SkeletonJoint corresponding rigid - - if(finished) - for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) - { - - SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; - if( skeletonJoint.mPreviousMotionTime != skeletonJoint.mNextMotionTime) - { - Real dt = (Real)((cT - skeletonJoint.mPreviousMotionTime) / (skeletonJoint.mNextMotionTime - skeletonJoint.mPreviousMotionTime)); - - const type::vector >& channels = skeletonJoint.mChannels; - - if(channels.empty()) - continue; - - skeletonJoint.mLocalRigid.getCenter() = skeletonJoint.mPreviousMotion.getCenter() + (skeletonJoint.mNextMotion.getCenter() - skeletonJoint.mPreviousMotion.getCenter()) * dt; - skeletonJoint.mLocalRigid.getOrientation().slerp(skeletonJoint.mPreviousMotion.getOrientation(), skeletonJoint.mNextMotion.getOrientation(), (float) dt, true); - - skeletonJoints.endEdit(); - } - else - { - const type::vector >& channels = skeletonJoint.mChannels; - - if(channels.empty()) - continue; - - skeletonJoint.mLocalRigid.getCenter() = skeletonJoint.mNextMotion.getCenter(); - skeletonJoint.mLocalRigid.getOrientation() = skeletonJoint.mNextMotion.getOrientation(); - - skeletonJoints.endEdit(); - } - } - else - { - for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) - { - SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; - - const type::vector >& channels = skeletonJoint.mChannels; - - if(channels.empty()) - continue; - - skeletonJoint.mLocalRigid.getCenter() = skeletonJoint.mNextMotion.getCenter(); - skeletonJoint.mLocalRigid.getOrientation() = skeletonJoint.mNextMotion.getOrientation(); - - skeletonJoints.endEdit(); - } - } - - // apply the final transformation from skeletonBones to dofs here - localToGlobal(x); -} - -template -void SkeletalMotionConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) -{ - SOFA_UNUSED(mparams); - if( !active.getValue() ) return; - - helper::WriteAccessor c = cData; - - projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); -} - -template -template -void SkeletalMotionConstraint::localToGlobal(typename std::enable_if >::value, VecCoord>::type& x) -{ - for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) - { - SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; - - defaulttype::RigidCoord< 3, Real> worldRigid = skeletonJoint.mLocalRigid; - - // break if the parent joint is the root - for(int parentIndex = skeletonJoint.mParentIndex; -1 != parentIndex; parentIndex = skeletonJoints.getValue()[parentIndex].mParentIndex) - { - defaulttype::RigidCoord< 3, Real> parentLocalRigid = skeletonJoints.getValue()[parentIndex].mLocalRigid; - worldRigid = parentLocalRigid.mult(worldRigid); - } - - skeletonJoint.mWorldRigid = worldRigid; - - skeletonJoints.endEdit(); - } - - for(unsigned int i = 0; i < skeletonBones.getValue().size(); ++i) - x[i] = skeletonJoints.getValue()[skeletonBones.getValue()[i]].mWorldRigid; -} - -template -void SkeletalMotionConstraint::setSkeletalMotion(const type::vector >& skeletonJoints, const type::vector& skeletonBones) -{ - this->skeletonJoints.setValue(skeletonJoints); - this->skeletonBones.setValue(skeletonBones); - this->init(); -} - -template -void SkeletalMotionConstraint::addChannel(unsigned int jointIndex , Coord channel, double time) -{ - (*skeletonJoints.beginEdit())[jointIndex].addChannel(channel, time); - skeletonJoints.endEdit(); -} - -// Matrix Integration interface -template -void SkeletalMotionConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - if( !active.getValue() ) return; - - /*const unsigned int N = Deriv::size(); - const SetIndexArray & indices = m_indices.getValue(); - - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - // Reset Fixed Row and Col - for (unsigned int c=0;cclearRowCol(offset + N * (*it) + c); - // Set Fixed Vertex - for (unsigned int c=0;cset(offset + N * (*it) + c, offset + N * (*it) + c, 1.0); - }*/ -} - -template -void SkeletalMotionConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) -{ - if( !active.getValue() ) return; - - /*const unsigned int N = Deriv::size(); - - const SetIndexArray & indices = m_indices.getValue(); - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - for (unsigned int c=0;cclear(offset + N * (*it) + c); - }*/ -} - -template -void SkeletalMotionConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) -{ - const unsigned blockSize = DataTypes::deriv_total_size; - const unsigned size = this->mstate->getSize(); - for( unsigned i=0; iclearRowsCols( offset + i * blockSize, offset + (i+1) * (blockSize) ); - } -} - -// display the paths the constrained dofs will go through -template -void SkeletalMotionConstraint::draw(const core::visual::VisualParams* vparams) -{ - if( !active.getValue() ) return; - - if (!vparams->displayFlags().getShowBehaviorModels()) - return; - - sofa::type::vector points; - sofa::type::vector linesX; - sofa::type::vector linesY; - sofa::type::vector linesZ; - sofa::type::vector colorFalloff; - - type::Vec3 point; - type::Vec3 line; - - // draw joints (not bones we draw them differently later) - { - for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) - { - defaulttype::RigidCoord< 3, Real> jointWorldRigid = skeletonJoints.getValue()[i].mWorldRigid; - - unsigned int j; - for(j = 0; j < skeletonBones.getValue().size(); ++j) - if((int)i == skeletonBones.getValue()[j]) - break; - - if(skeletonBones.getValue().size() != j) - continue; - - point = DataTypes::getCPos(jointWorldRigid); - points.push_back(point); - - linesX.push_back(point); - line = point + DataTypes::getCRot(jointWorldRigid).rotate(type::Vec3f(0.1f, 0.0f, 0.0f)); - linesX.push_back(line); - - linesY.push_back(point); - line = point + DataTypes::getCRot(jointWorldRigid).rotate(type::Vec3f(0.0f, 0.1f, 0.0f)); - linesY.push_back(line); - - linesZ.push_back(point); - line = point + DataTypes::getCRot(jointWorldRigid).rotate(type::Vec3f(0.0f, 0.0f, 0.1f)); - linesZ.push_back(line); - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor (1.0f , 0.5f , 0.5f , 1.0f)); - vparams->drawTool()->drawLines (linesX, 2, sofa::type::RGBAColor (0.75f, 0.0f , 0.0f , 1.0f)); - vparams->drawTool()->drawLines (linesY, 2, sofa::type::RGBAColor (0.0f , 0.75f, 0.0f , 1.0f)); - vparams->drawTool()->drawLines (linesZ, 2, sofa::type::RGBAColor (0.0f , 0.0f , 0.75f, 1.0f)); - } - - points.clear(); - linesX.clear(); - linesY.clear(); - linesZ.clear(); - - // draw bones now - { - for(unsigned int i = 0; i < skeletonBones.getValue().size(); ++i) - { - defaulttype::RigidCoord< 3, Real> boneWorldRigid = skeletonJoints.getValue()[skeletonBones.getValue()[i]].mWorldRigid; - - point = DataTypes::getCPos(boneWorldRigid); - points.push_back(point); - - linesX.push_back(point); - line = point + DataTypes::getCRot(boneWorldRigid).rotate(type::Vec3f(0.1f, 0.0f, 0.0f)); - linesX.push_back(line); - - linesY.push_back(point); - line = point + DataTypes::getCRot(boneWorldRigid).rotate(type::Vec3f(0.0f, 0.1f, 0.0f)); - linesY.push_back(line); - - linesZ.push_back(point); - line = point + DataTypes::getCRot(boneWorldRigid).rotate(type::Vec3f(0.0f, 0.0f, 0.1f)); - linesZ.push_back(line); - } - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor (1.0f, 0.5f, 0.5f, 1.0f)); - vparams->drawTool()->drawLines (linesX, 2 , sofa::type::RGBAColor (1.0f, 0.0f, 0.0f, 1.0f)); - vparams->drawTool()->drawLines (linesY, 2 , sofa::type::RGBAColor (0.0f, 1.0f, 0.0f, 1.0f)); - vparams->drawTool()->drawLines (linesZ, 2 , sofa::type::RGBAColor (0.0f, 0.0f, 1.0f, 1.0f)); - } -} - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.cpp b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp similarity index 83% rename from Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.cpp rename to Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp index e8010c918f6e..7116610d74d0 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionConstraint.cpp +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.cpp @@ -19,8 +19,8 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_SKELETALMOTIONCONSTRAINT_CPP -#include +#define SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_SKELETALMOTIONPROJECTIVECONSTRAINT_CPP +#include #include #include @@ -28,11 +28,10 @@ namespace sofa::component::constraint::projective { //declaration of the class, for the factory -int SkeletalMotionConstraintClass = core::RegisterObject("animate a skeleton") - .add< SkeletalMotionConstraint >() - +int SkeletalMotionProjectiveConstraintClass = core::RegisterObject("animate a skeleton") + .add< SkeletalMotionProjectiveConstraint >() ; -template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API SkeletalMotionConstraint; +template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API SkeletalMotionProjectiveConstraint; } // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h new file mode 100644 index 000000000000..b47595e588ea --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h @@ -0,0 +1,247 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +// a joint of the skeletal hierarchy, it participates in the skeletal animation chain and may be animated +template +struct SkeletonJoint; + +// joints index to export in the MechanicalObject (in order to use them for skinning for instance) +typedef int SkeletonBone; + +// impose a specific motion (translation and rotation) for each DOFs of a MechanicalObject +template +class SkeletalMotionProjectiveConstraint : public core::behavior::ProjectiveConstraintSet +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(SkeletalMotionProjectiveConstraint,TDataTypes),SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)); + typedef TDataTypes DataTypes; + typedef sofa::core::behavior::ProjectiveConstraintSet TProjectiveConstraintSet; + typedef sofa::core::behavior::MechanicalState MechanicalState; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename MatrixDeriv::RowType MatrixDerivRowType; + typedef Data DataVecCoord; + typedef Data DataVecDeriv; + typedef Data DataMatrixDeriv; + +protected: + SkeletalMotionProjectiveConstraint(); + + virtual ~SkeletalMotionProjectiveConstraint(); + +public: + + void init() override; + void reset() override; + + float getAnimationSpeed() const {return animationSpeed.getValue();} + void setAnimationSpeed(float speed) {animationSpeed.setValue(speed);} + + void findKeyTimes(Real ct); + + void projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) override; + void projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) override; + void projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) override; + void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + + using core::behavior::ProjectiveConstraintSet::applyConstraint; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + void projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) override; + + void draw(const core::visual::VisualParams* vparams) override; + + template + void localToGlobal(typename std::enable_if >::value, VecCoord>::type& x); + + void setSkeletalMotion(const type::vector >& skeletonJoints, const type::vector& skeletonBones); + + void addChannel(unsigned int jointIndex , Coord channel, double time); + +protected: + template + void projectResponseT(DataDeriv& dx, + const std::function& clear); + + template + void interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x); + +protected: + // every nodes needed in the animation chain + Data > > skeletonJoints; ///< skeleton joints + // mesh skeleton bones which need to be updated according to the animated nodes, we use them to fill the mechanical object + Data > skeletonBones; ///< skeleton bones + + // control how fast the animation is played since animation time is not simulation time + Data animationSpeed; ///< animation speed + + /// is the projective constraint activated? + Data active; + +private: + /// the key times surrounding the current simulation time (for interpolation) + Real prevT, nextT; + + /// the global position of the bones at time t+dt used for the velocities computation + VecCoord nextPositions; + + /// to know if we found the key times + bool finished; + +}; + +template +struct SkeletonJoint +{ + friend class SkeletalMotionProjectiveConstraint; + + typedef typename DataTypes::Coord Coord; + + SkeletonJoint() + : mParentIndex(-1) + , mChannels() + , mTimes() + , mPreviousMotionTime(0) + , mNextMotionTime(0) + {} + + virtual ~SkeletonJoint(){} + + void addChannel(Coord channel, double time) + { + mChannels.push_back(channel); + mTimes.push_back(time); + } + + inline friend std::ostream& operator << (std::ostream& out, const SkeletonJoint& skeletonJoint) + { + out << "Parent" << " " << skeletonJoint.mParentIndex << " "; + out << "Channels" << " " << skeletonJoint.mChannels.size() << " " << skeletonJoint.mChannels << " "; + out << "Times" << " " << skeletonJoint.mTimes.size() << " " << skeletonJoint.mTimes << " "; + out << "PreviousMotion" << " " << skeletonJoint.mPreviousMotion << " "; + out << "PreviousMotionTime" << " " << skeletonJoint.mPreviousMotionTime << " "; + out << "NextMotion" << " " << skeletonJoint.mNextMotion << " "; + out << "NextMotionTime" << " " << skeletonJoint.mNextMotionTime << " "; + out << "LocalRigid" << " " << skeletonJoint.mLocalRigid; + + return out; + } + + inline friend std::istream& operator >> (std::istream& in, SkeletonJoint& skeletonJoint) + { + std::string tmp; + + in >> tmp >> skeletonJoint.mParentIndex; + + size_t numChannel; + in >> tmp >> numChannel; + skeletonJoint.mChannels.resize(numChannel); + Coord channel; + for(Size i = 0; i < numChannel; ++i) + { + in >> channel; + skeletonJoint.mChannels[i] = channel; + } + + size_t numTime; + in >> tmp >> numTime; + skeletonJoint.mTimes.resize(numTime); + double time; + for(Size i = 0; i < numTime; ++i) + { + in >> time; + skeletonJoint.mTimes[i] = time; + } + + in >> tmp >> skeletonJoint.mPreviousMotion; + in >> tmp >> skeletonJoint.mNextMotion; + in >> tmp >> skeletonJoint.mLocalRigid; + + return in; + } + + // parent joint, set to -1 if root, you must set this value + int mParentIndex; + + // set the joint rest position, you must set this value + void setRestPosition(const Coord& restPosition) + { + mPreviousMotion = restPosition; + mNextMotion = restPosition; + mLocalRigid = restPosition; + } + + // following data are useful for animation only, you must fill those vectors if this joint is animated + + // each channel represents a local transformation at a given time in the animation + type::vector mChannels; + + // times corresponding to each animation channel, the channel mChannels[i] must be played at the time contained in mTimes[i] + type::vector mTimes; + +private: + + // following data are used internally to compute the final joint transformation at a specific time using interpolation + + // previous joint motion + Coord mPreviousMotion; + + // next joint motion + Coord mNextMotion; + + // time position for previous joint motion + double mPreviousMotionTime; + + // time position for next joint motion + double mNextMotionTime; + + // this rigid represent the animated node at a specific time relatively to its parent, it may be an interpolation between two channels + // we need to store the current rigid in order to compute the final world position of its rigid children + Coord mLocalRigid; + + // mCurrentRigid in the world coordinate + Coord mWorldRigid; +}; + +#if defined(WIN32) && !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_SKELETALMOTIONPROJECTIVECONSTRAINT_CPP) +extern template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API SkeletalMotionProjectiveConstraint; + +#endif + +} // namespace sofa::component::constraint::projective + diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl new file mode 100644 index 000000000000..7c06a73fd18d --- /dev/null +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.inl @@ -0,0 +1,422 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +SkeletalMotionProjectiveConstraint::SkeletalMotionProjectiveConstraint() : + sofa::core::behavior::ProjectiveConstraintSet() + , skeletonJoints(initData(&skeletonJoints, "joints", "skeleton joints")) + , skeletonBones(initData(&skeletonBones, "bones", "skeleton bones")) + , animationSpeed(initData(&animationSpeed, 1.0f, "animationSpeed", "animation speed")) + , active(initData(&active, true, "active", "is the constraint active?")) + , finished(false) +{ +} + +template +SkeletalMotionProjectiveConstraint::~SkeletalMotionProjectiveConstraint() +{ +} + +template +void SkeletalMotionProjectiveConstraint::init() +{ + nextPositions.resize(skeletonBones.getValue().size()); + sofa::core::behavior::ProjectiveConstraintSet::init(); +} + +template +void SkeletalMotionProjectiveConstraint::reset() +{ + sofa::core::behavior::ProjectiveConstraintSet::reset(); +} + +template +void SkeletalMotionProjectiveConstraint::findKeyTimes(Real ct) +{ + //Note: works only if the times are sorted + + finished = false; + + for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) + { + SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; + + + if(skeletonJoint.mChannels.empty() || skeletonJoint.mChannels.size() != skeletonJoint.mTimes.size()) + continue; + + for(unsigned int j = 0; j < skeletonJoint.mTimes.size(); ++j) + { + Real keyTime = (Real) skeletonJoint.mTimes[j]; + if(keyTime <= ct) + { + { + skeletonJoint.mPreviousMotionTime = keyTime; + const defaulttype::RigidCoord<3, Real>& motion = skeletonJoint.mChannels[j]; + skeletonJoint.mPreviousMotion = motion; + } + if(prevT < keyTime) + prevT = keyTime; + } + else + { + { + skeletonJoint.mNextMotionTime = keyTime; + const defaulttype::RigidCoord<3, Real>& motion = skeletonJoint.mChannels[j]; + skeletonJoint.mNextMotion = motion; + } + if(nextT > keyTime) + nextT = keyTime; + + finished = true; + break; + } + } + skeletonJoints.endEdit(); + } +} + +template template +void SkeletalMotionProjectiveConstraint::projectResponseT(DataDeriv& res, + const std::function& clear) +{ + if( !active.getValue() ) return; + + for (unsigned int i = 0; i < res.size(); ++i) + clear(res, i); +} + +template +void SkeletalMotionProjectiveConstraint::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData) +{ + SOFA_UNUSED(mparams); + if( !active.getValue() ) return; + + helper::WriteAccessor res = resData; + projectResponseT(res.wref(), [](VecDeriv& res, const unsigned int index) { res[index].clear(); }); +} + +template +void SkeletalMotionProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) +{ + if( !active.getValue() ) return; + + helper::WriteAccessor dx = vData; + helper::ReadAccessor x = ((MechanicalState*)this->getContext()->getMechanicalState())->readPositions(); + Real cT = (Real) this->getContext()->getTime() * animationSpeed.getValue(); + Real dt = (Real) this->getContext()->getDt(); + + if(0.0 != cT) + { + findKeyTimes(cT+dt); + if(finished) + { + // compute the position of the bones at cT + dt + this->interpolatePosition(cT+dt, nextPositions); + // compute the velocity using finite difference + for (unsigned i=0; i +void SkeletalMotionProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) +{ + if( !active.getValue() ) return; + + helper::WriteAccessor x = xData; + Real cT = (Real) this->getContext()->getTime() * animationSpeed.getValue(); + + if(0.0 != cT) + { + findKeyTimes(cT); + + // if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) + interpolatePosition(cT, x.wref()); + } +} + +template +template +void SkeletalMotionProjectiveConstraint::interpolatePosition(Real cT, typename std::enable_if >::value, VecCoord>::type& x) +{ + // set the motion to the SkeletonJoint corresponding rigid + + if(finished) + for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) + { + + SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; + if( skeletonJoint.mPreviousMotionTime != skeletonJoint.mNextMotionTime) + { + Real dt = (Real)((cT - skeletonJoint.mPreviousMotionTime) / (skeletonJoint.mNextMotionTime - skeletonJoint.mPreviousMotionTime)); + + const type::vector >& channels = skeletonJoint.mChannels; + + if(channels.empty()) + continue; + + skeletonJoint.mLocalRigid.getCenter() = skeletonJoint.mPreviousMotion.getCenter() + (skeletonJoint.mNextMotion.getCenter() - skeletonJoint.mPreviousMotion.getCenter()) * dt; + skeletonJoint.mLocalRigid.getOrientation().slerp(skeletonJoint.mPreviousMotion.getOrientation(), skeletonJoint.mNextMotion.getOrientation(), (float) dt, true); + + skeletonJoints.endEdit(); + } + else + { + const type::vector >& channels = skeletonJoint.mChannels; + + if(channels.empty()) + continue; + + skeletonJoint.mLocalRigid.getCenter() = skeletonJoint.mNextMotion.getCenter(); + skeletonJoint.mLocalRigid.getOrientation() = skeletonJoint.mNextMotion.getOrientation(); + + skeletonJoints.endEdit(); + } + } + else + { + for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) + { + SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; + + const type::vector >& channels = skeletonJoint.mChannels; + + if(channels.empty()) + continue; + + skeletonJoint.mLocalRigid.getCenter() = skeletonJoint.mNextMotion.getCenter(); + skeletonJoint.mLocalRigid.getOrientation() = skeletonJoint.mNextMotion.getOrientation(); + + skeletonJoints.endEdit(); + } + } + + // apply the final transformation from skeletonBones to dofs here + localToGlobal(x); +} + +template +void SkeletalMotionProjectiveConstraint::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) +{ + SOFA_UNUSED(mparams); + if( !active.getValue() ) return; + + helper::WriteAccessor c = cData; + + projectResponseT(c.wref(), [](MatrixDeriv& res, const unsigned int index) { res.clearColBlock(index); }); +} + +template +template +void SkeletalMotionProjectiveConstraint::localToGlobal(typename std::enable_if >::value, VecCoord>::type& x) +{ + for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) + { + SkeletonJoint& skeletonJoint = (*skeletonJoints.beginEdit())[i]; + + defaulttype::RigidCoord< 3, Real> worldRigid = skeletonJoint.mLocalRigid; + + // break if the parent joint is the root + for(int parentIndex = skeletonJoint.mParentIndex; -1 != parentIndex; parentIndex = skeletonJoints.getValue()[parentIndex].mParentIndex) + { + defaulttype::RigidCoord< 3, Real> parentLocalRigid = skeletonJoints.getValue()[parentIndex].mLocalRigid; + worldRigid = parentLocalRigid.mult(worldRigid); + } + + skeletonJoint.mWorldRigid = worldRigid; + + skeletonJoints.endEdit(); + } + + for(unsigned int i = 0; i < skeletonBones.getValue().size(); ++i) + x[i] = skeletonJoints.getValue()[skeletonBones.getValue()[i]].mWorldRigid; +} + +template +void SkeletalMotionProjectiveConstraint::setSkeletalMotion(const type::vector >& skeletonJoints, const type::vector& skeletonBones) +{ + this->skeletonJoints.setValue(skeletonJoints); + this->skeletonBones.setValue(skeletonBones); + this->init(); +} + +template +void SkeletalMotionProjectiveConstraint::addChannel(unsigned int jointIndex , Coord channel, double time) +{ + (*skeletonJoints.beginEdit())[jointIndex].addChannel(channel, time); + skeletonJoints.endEdit(); +} + +// Matrix Integration interface +template +void SkeletalMotionProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + if( !active.getValue() ) return; + + /*const unsigned int N = Deriv::size(); + const SetIndexArray & indices = m_indices.getValue(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c=0;cclearRowCol(offset + N * (*it) + c); + // Set Fixed Vertex + for (unsigned int c=0;cset(offset + N * (*it) + c, offset + N * (*it) + c, 1.0); + }*/ +} + +template +void SkeletalMotionProjectiveConstraint::applyConstraint(const core::MechanicalParams* /*mparams*/, linearalgebra::BaseVector* /*vector*/, const sofa::core::behavior::MultiMatrixAccessor* /*matrix*/) +{ + if( !active.getValue() ) return; + + /*const unsigned int N = Deriv::size(); + + const SetIndexArray & indices = m_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for (unsigned int c=0;cclear(offset + N * (*it) + c); + }*/ +} + +template +void SkeletalMotionProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + const unsigned blockSize = DataTypes::deriv_total_size; + const unsigned size = this->mstate->getSize(); + for( unsigned i=0; iclearRowsCols( offset + i * blockSize, offset + (i+1) * (blockSize) ); + } +} + +// display the paths the constrained dofs will go through +template +void SkeletalMotionProjectiveConstraint::draw(const core::visual::VisualParams* vparams) +{ + if( !active.getValue() ) return; + + if (!vparams->displayFlags().getShowBehaviorModels()) + return; + + sofa::type::vector points; + sofa::type::vector linesX; + sofa::type::vector linesY; + sofa::type::vector linesZ; + sofa::type::vector colorFalloff; + + type::Vec3 point; + type::Vec3 line; + + // draw joints (not bones we draw them differently later) + { + for(unsigned int i = 0; i < skeletonJoints.getValue().size(); ++i) + { + defaulttype::RigidCoord< 3, Real> jointWorldRigid = skeletonJoints.getValue()[i].mWorldRigid; + + unsigned int j; + for(j = 0; j < skeletonBones.getValue().size(); ++j) + if((int)i == skeletonBones.getValue()[j]) + break; + + if(skeletonBones.getValue().size() != j) + continue; + + point = DataTypes::getCPos(jointWorldRigid); + points.push_back(point); + + linesX.push_back(point); + line = point + DataTypes::getCRot(jointWorldRigid).rotate(type::Vec3f(0.1f, 0.0f, 0.0f)); + linesX.push_back(line); + + linesY.push_back(point); + line = point + DataTypes::getCRot(jointWorldRigid).rotate(type::Vec3f(0.0f, 0.1f, 0.0f)); + linesY.push_back(line); + + linesZ.push_back(point); + line = point + DataTypes::getCRot(jointWorldRigid).rotate(type::Vec3f(0.0f, 0.0f, 0.1f)); + linesZ.push_back(line); + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor (1.0f , 0.5f , 0.5f , 1.0f)); + vparams->drawTool()->drawLines (linesX, 2, sofa::type::RGBAColor (0.75f, 0.0f , 0.0f , 1.0f)); + vparams->drawTool()->drawLines (linesY, 2, sofa::type::RGBAColor (0.0f , 0.75f, 0.0f , 1.0f)); + vparams->drawTool()->drawLines (linesZ, 2, sofa::type::RGBAColor (0.0f , 0.0f , 0.75f, 1.0f)); + } + + points.clear(); + linesX.clear(); + linesY.clear(); + linesZ.clear(); + + // draw bones now + { + for(unsigned int i = 0; i < skeletonBones.getValue().size(); ++i) + { + defaulttype::RigidCoord< 3, Real> boneWorldRigid = skeletonJoints.getValue()[skeletonBones.getValue()[i]].mWorldRigid; + + point = DataTypes::getCPos(boneWorldRigid); + points.push_back(point); + + linesX.push_back(point); + line = point + DataTypes::getCRot(boneWorldRigid).rotate(type::Vec3f(0.1f, 0.0f, 0.0f)); + linesX.push_back(line); + + linesY.push_back(point); + line = point + DataTypes::getCRot(boneWorldRigid).rotate(type::Vec3f(0.0f, 0.1f, 0.0f)); + linesY.push_back(line); + + linesZ.push_back(point); + line = point + DataTypes::getCRot(boneWorldRigid).rotate(type::Vec3f(0.0f, 0.0f, 0.1f)); + linesZ.push_back(line); + } + vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor (1.0f, 0.5f, 0.5f, 1.0f)); + vparams->drawTool()->drawLines (linesX, 2 , sofa::type::RGBAColor (1.0f, 0.0f, 0.0f, 1.0f)); + vparams->drawTool()->drawLines (linesY, 2 , sofa::type::RGBAColor (0.0f, 1.0f, 0.0f, 1.0f)); + vparams->drawTool()->drawLines (linesZ, 2 , sofa::type::RGBAColor (0.0f, 0.0f, 1.0f, 1.0f)); + } +} + +} // namespace sofa::component::constraint::projective diff --git a/Sofa/Component/Constraint/Projective/tests/AffineMovementConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp similarity index 95% rename from Sofa/Component/Constraint/Projective/tests/AffineMovementConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp index 82379cb5145e..a1d845afc322 100644 --- a/Sofa/Component/Constraint/Projective/tests/AffineMovementConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp @@ -27,7 +27,7 @@ using sofa::testing::NumericTest; #include #include #include -#include +#include #include #include #include @@ -42,7 +42,7 @@ namespace sofa { namespace { template -struct AffineMovementConstraint_test : public BaseSimulationTest, NumericTest +struct AffineMovementProjectiveConstraint_test : public BaseSimulationTest, NumericTest { typedef _DataTypes DataTypes; typedef typename DataTypes::Coord Coord; @@ -197,9 +197,9 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(AffineMovementConstraint_test, DataTypes); +TYPED_TEST_SUITE(AffineMovementProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( AffineMovementConstraint_test , testValue ) +TYPED_TEST( AffineMovementProjectiveConstraint_test , testValue ) { EXPECT_MSG_NOEMIT(Error) ; ASSERT_TRUE( this->projectPosition(5e-6,5e-5)); diff --git a/Sofa/Component/Constraint/Projective/tests/CMakeLists.txt b/Sofa/Component/Constraint/Projective/tests/CMakeLists.txt index 042f7537a21a..7e271d937b64 100644 --- a/Sofa/Component/Constraint/Projective/tests/CMakeLists.txt +++ b/Sofa/Component/Constraint/Projective/tests/CMakeLists.txt @@ -3,14 +3,14 @@ cmake_minimum_required(VERSION 3.12) project(Sofa.Component.Constraint.Projective_test) set(SOURCE_FILES - AffineMovementConstraint_test.cpp - FixedConstraint_test.cpp - FixedPlaneConstraint_test.cpp - PartialFixedConstraint_test.cpp - ProjectDirectionConstraint_test.cpp - ProjectToLineConstraint_test.cpp - ProjectToPlaneConstraint_test.cpp - ProjectToPointConstraint_test.cpp + AffineMovementProjectiveConstraint_test.cpp + FixedProjectiveConstraint_test.cpp + FixedPlaneProjectiveConstraint_test.cpp + PartialFixedProjectiveConstraint_test.cpp + DirectionProjectiveConstraint_test.cpp + LineProjectiveConstraint_test.cpp + PlaneProjectiveConstraint_test.cpp + PointProjectiveConstraint_test.cpp ) add_executable(${PROJECT_NAME} ${SOURCE_FILES}) diff --git a/Sofa/Component/Constraint/Projective/tests/ProjectDirectionConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp similarity index 92% rename from Sofa/Component/Constraint/Projective/tests/ProjectDirectionConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp index 3a60bde18075..697184f6f307 100644 --- a/Sofa/Component/Constraint/Projective/tests/ProjectDirectionConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp @@ -27,7 +27,7 @@ using sofa::testing::NumericTest; #include #include #include -#include +#include #include #include #include @@ -41,11 +41,11 @@ using namespace component; using namespace defaulttype; using namespace core::objectmodel; -/** Test suite for ProjectDirectionConstraint. +/** Test suite for DirectionProjectiveConstraint. The test cases are defined in the #Test_Cases member group. */ template -struct ProjectDirectionConstraint_test : public BaseSimulationTest, NumericTest +struct DirectionProjectiveConstraint_test : public BaseSimulationTest, NumericTest { typedef _DataTypes DataTypes; typedef typename DataTypes::VecCoord VecCoord; @@ -54,8 +54,8 @@ struct ProjectDirectionConstraint_test : public BaseSimulationTest, NumericTest< typedef typename DataTypes::Deriv Deriv; typedef typename DataTypes::CPos CPos; typedef typename Coord::value_type Real; - typedef constraint::projective::ProjectDirectionConstraint ProjectDirectionConstraint; - typedef typename ProjectDirectionConstraint::Indices Indices; + typedef constraint::projective::DirectionProjectiveConstraint DirectionProjectiveConstraint; + typedef typename DirectionProjectiveConstraint::Indices Indices; typedef component::topology::container::dynamic::PointSetTopologyContainer PointSetTopologyContainer; typedef statecontainer::MechanicalObject MechanicalObject; @@ -65,7 +65,7 @@ struct ProjectDirectionConstraint_test : public BaseSimulationTest, NumericTest< unsigned numNodes; ///< number of particles used for the test Indices indices; ///< indices of the nodes to project CPos direction; ///< direction to project to - typename ProjectDirectionConstraint::SPtr projection; + typename DirectionProjectiveConstraint::SPtr projection; typename MechanicalObject::SPtr dofs; /// Create the context for the tests. @@ -85,7 +85,7 @@ struct ProjectDirectionConstraint_test : public BaseSimulationTest, NumericTest< root->addObject(dofs); // Project direction constraint - projection = New(); + projection = New(); root->addObject(projection); /// Set the values @@ -236,10 +236,10 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(ProjectDirectionConstraint_test, DataTypes); +TYPED_TEST_SUITE(DirectionProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( ProjectDirectionConstraint_test , oneConstrainedParticle ) +TYPED_TEST( DirectionProjectiveConstraint_test , oneConstrainedParticle ) { EXPECT_MSG_NOEMIT(Error) ; this->init_oneConstrainedParticle(); @@ -247,7 +247,7 @@ TYPED_TEST( ProjectDirectionConstraint_test , oneConstrainedParticle ) ASSERT_TRUE( this->test_projectVelocity() ); } // second test case -TYPED_TEST( ProjectDirectionConstraint_test , allParticlesConstrained ) +TYPED_TEST( DirectionProjectiveConstraint_test , allParticlesConstrained ) { EXPECT_MSG_NOEMIT(Error) ; this->init_allParticlesConstrained(); diff --git a/Sofa/Component/Constraint/Projective/tests/FixedPlaneConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp similarity index 89% rename from Sofa/Component/Constraint/Projective/tests/FixedPlaneConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp index b040bfced844..ab5212985057 100644 --- a/Sofa/Component/Constraint/Projective/tests/FixedPlaneConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp @@ -23,7 +23,7 @@ #include using sofa::testing::BaseSimulationTest; -#include +#include #include #include #include @@ -46,12 +46,12 @@ void createUniformMass(simulation::Node::SPtr node, component::statecontainer::M } template -struct FixedPlaneConstraint_test : public BaseSimulationTest +struct FixedPlaneProjectiveConstraint_test : public BaseSimulationTest { typedef _DataTypes DataTypes; typedef typename DataTypes::Real Real; - typedef component::constraint::projective::FixedPlaneConstraint FixedPlaneConstraint; + typedef component::constraint::projective::FixedPlaneProjectiveConstraint FixedPlaneProjectiveConstraint; typedef component::mechanicalload::ConstantForceField ForceField; typedef component::statecontainer::MechanicalObject MechanicalObject; @@ -89,7 +89,7 @@ struct FixedPlaneConstraint_test : public BaseSimulationTest typename ForceField::SPtr forceField = addNew(node); forceField->setForce( 0, force ); - typename FixedPlaneConstraint::SPtr constraint = addNew(node); + typename FixedPlaneProjectiveConstraint::SPtr constraint = addNew(node); constraint->d_indices.setValue({0}); if(constraint->d_indices.getValue().empty()) { @@ -134,22 +134,22 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(FixedPlaneConstraint_test, DataTypes); +TYPED_TEST_SUITE(FixedPlaneProjectiveConstraint_test, DataTypes); // test cases -TYPED_TEST( FixedPlaneConstraint_test , testContraintExplicit ) +TYPED_TEST( FixedPlaneProjectiveConstraint_test , testContraintExplicit ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Explicit")) ); } -TYPED_TEST( FixedPlaneConstraint_test , testConstraintImplicitWithCG ) +TYPED_TEST( FixedPlaneProjectiveConstraint_test , testConstraintImplicitWithCG ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Implicit")) ); } -TYPED_TEST( FixedPlaneConstraint_test , testConstraintImplicitWithSparseLDL ) +TYPED_TEST( FixedPlaneProjectiveConstraint_test , testConstraintImplicitWithSparseLDL ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Implicit_SparseLDL")) ); diff --git a/Sofa/Component/Constraint/Projective/tests/FixedConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp similarity index 92% rename from Sofa/Component/Constraint/Projective/tests/FixedConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp index e755e35fdd6e..e717e5d6b82b 100644 --- a/Sofa/Component/Constraint/Projective/tests/FixedConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#include #include #include #include @@ -49,10 +49,10 @@ void createUniformMass(simulation::Node::SPtr node, component::statecontainer::M } template -struct FixedConstraint_test : public BaseTest +struct FixedProjectiveConstraint_test : public BaseTest { typedef _DataTypes DataTypes; - typedef component::constraint::projective::FixedConstraint FixedConstraint; + typedef component::constraint::projective::FixedProjectiveConstraint FixedProjectiveConstraint; typedef component::mechanicalload::ConstantForceField ForceField; typedef component::statecontainer::MechanicalObject MechanicalObject; @@ -106,7 +106,7 @@ struct FixedConstraint_test : public BaseTest forceField->setForce( 1, force ); /// Let's fix the particle's movement for particle number 1 (the second one). - typename FixedConstraint::SPtr cst = sofa::core::objectmodel::New(); + typename FixedProjectiveConstraint::SPtr cst = sofa::core::objectmodel::New(); cst->findData("indices")->read("1"); node->addObject(cst); @@ -197,7 +197,7 @@ struct FixedConstraint_test : public BaseTest } /// Add fixconstraint - typename FixedConstraint::SPtr cst = sofa::core::objectmodel::New(); + typename FixedProjectiveConstraint::SPtr cst = sofa::core::objectmodel::New(); type::vector indices = { 0, 1, 2 }; cst->d_indices.setValue(indices); node->addObject(cst); @@ -247,27 +247,27 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(FixedConstraint_test, DataTypes); +TYPED_TEST_SUITE(FixedProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( FixedConstraint_test , testValueImplicitWithCG ) +TYPED_TEST( FixedProjectiveConstraint_test , testValueImplicitWithCG ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8,std::string("Implicit")) ); } -TYPED_TEST( FixedConstraint_test , testValueExplicit ) +TYPED_TEST( FixedProjectiveConstraint_test , testValueExplicit ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Explicit")) ); } -TYPED_TEST( FixedConstraint_test , testValueImplicitWithSparseLDL ) +TYPED_TEST( FixedProjectiveConstraint_test , testValueImplicitWithSparseLDL ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Implicit_SparseLDL")) ); } -TYPED_TEST(FixedConstraint_test, testTopologicalChanges) +TYPED_TEST(FixedProjectiveConstraint_test, testTopologicalChanges) { EXPECT_MSG_NOEMIT(Error); EXPECT_TRUE(this->testTopologicalChanges()); diff --git a/Sofa/Component/Constraint/Projective/tests/ProjectToLineConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp similarity index 92% rename from Sofa/Component/Constraint/Projective/tests/ProjectToLineConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp index 8308103367a1..bda02f7bf437 100644 --- a/Sofa/Component/Constraint/Projective/tests/ProjectToLineConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp @@ -27,7 +27,7 @@ using sofa::testing::NumericTest; #include #include #include -#include +#include #include #include #include @@ -39,11 +39,11 @@ using namespace defaulttype; -/** Test suite for ProjectToLineConstraint. +/** Test suite for LineProjectiveConstraint. The test cases are defined in the #Test_Cases member group. */ template -struct ProjectToLineConstraint_test : public BaseSimulationTest, NumericTest +struct LineProjectiveConstraint_test : public BaseSimulationTest, NumericTest { typedef _DataTypes DataTypes; typedef typename DataTypes::VecCoord VecCoord; @@ -52,8 +52,8 @@ struct ProjectToLineConstraint_test : public BaseSimulationTest, NumericTest ProjectToLineConstraint; - typedef typename ProjectToLineConstraint::Indices Indices; + typedef constraint::projective::LineProjectiveConstraint LineProjectiveConstraint; + typedef typename LineProjectiveConstraint::Indices Indices; typedef component::topology::container::dynamic::PointSetTopologyContainer PointSetTopologyContainer; typedef statecontainer::MechanicalObject MechanicalObject; @@ -64,7 +64,7 @@ struct ProjectToLineConstraint_test : public BaseSimulationTest, NumericTest(); root->addObject(dofs); - projection = core::objectmodel::New(); + projection = core::objectmodel::New(); root->addObject(projection); /// Set the values @@ -221,9 +221,9 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(ProjectToLineConstraint_test, DataTypes); +TYPED_TEST_SUITE(LineProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( ProjectToLineConstraint_test , oneConstrainedParticle ) +TYPED_TEST( LineProjectiveConstraint_test , oneConstrainedParticle ) { EXPECT_MSG_NOEMIT(Error) ; this->init_oneConstrainedParticle(); @@ -231,7 +231,7 @@ TYPED_TEST( ProjectToLineConstraint_test , oneConstrainedParticle ) ASSERT_TRUE( this->test_projectVelocity() ); } // next test case -TYPED_TEST( ProjectToLineConstraint_test , allParticlesConstrained ) +TYPED_TEST( LineProjectiveConstraint_test , allParticlesConstrained ) { EXPECT_MSG_NOEMIT(Error) ; this->init_allParticlesConstrained(); diff --git a/Sofa/Component/Constraint/Projective/tests/PartialFixedConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp similarity index 88% rename from Sofa/Component/Constraint/Projective/tests/PartialFixedConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp index a7b462c0f5e4..3ca05c516799 100644 --- a/Sofa/Component/Constraint/Projective/tests/PartialFixedConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/PartialFixedProjectiveConstraint_test.cpp @@ -22,7 +22,7 @@ #include using sofa::testing::BaseSimulationTest; -#include +#include #include #include #include @@ -45,12 +45,12 @@ void createUniformMass(simulation::Node::SPtr node, component::statecontainer::M } template -struct PartialFixedConstraint_test : public BaseSimulationTest +struct PartialFixedProjectiveConstraint_test : public BaseSimulationTest { typedef _DataTypes DataTypes; typedef typename DataTypes::Real Real; - typedef component::constraint::projective::PartialFixedConstraint PartialFixedConstraint; + typedef component::constraint::projective::PartialFixedProjectiveConstraint PartialFixedProjectiveConstraint; typedef component::mechanicalload::ConstantForceField ForceField; typedef component::statecontainer::MechanicalObject MechanicalObject; @@ -92,7 +92,7 @@ struct PartialFixedConstraint_test : public BaseSimulationTest typename ForceField::SPtr forceField = addNew(node); forceField->setForce( 0, force ); - typename PartialFixedConstraint::SPtr constraint = addNew(node); + typename PartialFixedProjectiveConstraint::SPtr constraint = addNew(node); // Init simulation sofa::simulation::node::initRoot(root.get()); @@ -134,22 +134,22 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(PartialFixedConstraint_test, DataTypes); +TYPED_TEST_SUITE(PartialFixedProjectiveConstraint_test, DataTypes); // test cases -TYPED_TEST( PartialFixedConstraint_test , testContraintExplicit ) +TYPED_TEST( PartialFixedProjectiveConstraint_test , testContraintExplicit ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Explicit")) ); } -TYPED_TEST( PartialFixedConstraint_test , testContraintImplicitWithCG ) +TYPED_TEST( PartialFixedProjectiveConstraint_test , testContraintImplicitWithCG ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Implicit")) ); } -TYPED_TEST( PartialFixedConstraint_test , testContraintImplicitWithSparseLDL ) +TYPED_TEST( PartialFixedProjectiveConstraint_test , testContraintImplicitWithSparseLDL ) { EXPECT_MSG_NOEMIT(Error) ; EXPECT_TRUE( this->test(1e-8, std::string("Implicit_SparseLDL")) ); diff --git a/Sofa/Component/Constraint/Projective/tests/ProjectToPlaneConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp similarity index 92% rename from Sofa/Component/Constraint/Projective/tests/ProjectToPlaneConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp index 76c5e46ae256..c09830aed0ca 100644 --- a/Sofa/Component/Constraint/Projective/tests/ProjectToPlaneConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/PlaneProjectiveConstraint_test.cpp @@ -27,7 +27,7 @@ using sofa::testing::NumericTest; #include #include #include -#include +#include #include #include #include @@ -40,11 +40,11 @@ using namespace defaulttype; -/** Test suite for ProjectToPlaneConstraint. +/** Test suite for PlaneProjectiveConstraint. The test cases are defined in the #Test_Cases member group. */ template -struct ProjectToPlaneConstraint_test : public BaseSimulationTest, NumericTest +struct PlaneProjectiveConstraint_test : public BaseSimulationTest, NumericTest { typedef _DataTypes DataTypes; typedef typename DataTypes::VecCoord VecCoord; @@ -53,8 +53,8 @@ struct ProjectToPlaneConstraint_test : public BaseSimulationTest, NumericTest ProjectToPlaneConstraint; - typedef typename ProjectToPlaneConstraint::Indices Indices; + typedef constraint::projective::PlaneProjectiveConstraint PlaneProjectiveConstraint; + typedef typename PlaneProjectiveConstraint::Indices Indices; typedef component::topology::container::dynamic::PointSetTopologyContainer PointSetTopologyContainer; typedef statecontainer::MechanicalObject MechanicalObject; @@ -65,7 +65,7 @@ struct ProjectToPlaneConstraint_test : public BaseSimulationTest, NumericTest(); root->addObject(dofs); - projection = core::objectmodel::New(); + projection = core::objectmodel::New(); root->addObject(projection); /// Set the values @@ -220,9 +220,9 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(ProjectToPlaneConstraint_test, DataTypes); +TYPED_TEST_SUITE(PlaneProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( ProjectToPlaneConstraint_test , oneConstrainedParticle ) +TYPED_TEST( PlaneProjectiveConstraint_test , oneConstrainedParticle ) { EXPECT_MSG_NOEMIT(Error) ; this->init_oneConstrainedParticle(); @@ -230,7 +230,7 @@ TYPED_TEST( ProjectToPlaneConstraint_test , oneConstrainedParticle ) ASSERT_TRUE( this->test_projectVelocity() ); } // next test case -TYPED_TEST( ProjectToPlaneConstraint_test , allParticlesConstrained ) +TYPED_TEST( PlaneProjectiveConstraint_test , allParticlesConstrained ) { EXPECT_MSG_NOEMIT(Error) ; this->init_allParticlesConstrained(); diff --git a/Sofa/Component/Constraint/Projective/tests/ProjectToPointConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp similarity index 92% rename from Sofa/Component/Constraint/Projective/tests/ProjectToPointConstraint_test.cpp rename to Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp index 1b33c49fe5f7..fdcbc6ddfa54 100644 --- a/Sofa/Component/Constraint/Projective/tests/ProjectToPointConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/PointProjectiveConstraint_test.cpp @@ -27,7 +27,7 @@ using sofa::testing::NumericTest; #include #include #include -#include +#include #include #include #include @@ -41,11 +41,11 @@ using namespace defaulttype; using sofa::core::objectmodel::New; -/** Test suite for ProjectToPointConstraint. +/** Test suite for PointProjectiveConstraint. The test cases are defined in the #Test_Cases member group. */ template -struct ProjectToPointConstraint_test : public BaseSimulationTest, NumericTest +struct PointProjectiveConstraint_test : public BaseSimulationTest, NumericTest { typedef _DataTypes DataTypes; typedef typename DataTypes::VecCoord VecCoord; @@ -54,8 +54,8 @@ struct ProjectToPointConstraint_test : public BaseSimulationTest, NumericTest ProjectToPointConstraint; - typedef typename ProjectToPointConstraint::SetIndexArray Indices; + typedef constraint::projective::PointProjectiveConstraint PointProjectiveConstraint; + typedef typename PointProjectiveConstraint::SetIndexArray Indices; typedef component::topology::container::dynamic::PointSetTopologyContainer PointSetTopologyContainer; typedef statecontainer::MechanicalObject MechanicalObject; @@ -65,7 +65,7 @@ struct ProjectToPointConstraint_test : public BaseSimulationTest, NumericTestaddObject(dofs); // Project to point constraint - projection = New(); + projection = New(); root->addObject(projection); /// Set the values @@ -224,9 +224,9 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(ProjectToPointConstraint_test, DataTypes); +TYPED_TEST_SUITE(PointProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( ProjectToPointConstraint_test , oneConstrainedParticle ) +TYPED_TEST( PointProjectiveConstraint_test , oneConstrainedParticle ) { EXPECT_MSG_NOEMIT(Error) ; this->init_oneConstrainedParticle(); @@ -234,7 +234,7 @@ TYPED_TEST( ProjectToPointConstraint_test , oneConstrainedParticle ) ASSERT_TRUE( this->test_projectVelocity() ); } // next test case -TYPED_TEST( ProjectToPointConstraint_test , allParticlesConstrained ) +TYPED_TEST( PointProjectiveConstraint_test , allParticlesConstrained ) { EXPECT_MSG_NOEMIT(Error) ; this->init_allParticlesConstrained(); diff --git a/Sofa/Component/Diffusion/tests/scenes/TetrahedronDiffusionFEMForceField.scn b/Sofa/Component/Diffusion/tests/scenes/TetrahedronDiffusionFEMForceField.scn index b54a164645c3..c5a6db9c33b4 100644 --- a/Sofa/Component/Diffusion/tests/scenes/TetrahedronDiffusionFEMForceField.scn +++ b/Sofa/Component/Diffusion/tests/scenes/TetrahedronDiffusionFEMForceField.scn @@ -1,6 +1,6 @@ - + @@ -36,8 +36,8 @@ - - + + diff --git a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp index cf5d2724d67f..8472a6f1a3cd 100644 --- a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp +++ b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp @@ -168,7 +168,7 @@ struct SquareDistanceMappingCompare_test : NumericTest {{"position", "@../loader.position"}, {"edges", "@../loader.edges"}, {"name", "topology"}}); simpleapi::createObject(node, "MechanicalObject", {{"name", "defoDOF"}, {"template", "Vec3"}}); simpleapi::createObject(node, "EdgeSetGeometryAlgorithms"); - simpleapi::createObject(node, "FixedConstraint", {{"indices", "0"}}); + simpleapi::createObject(node, "FixedProjectiveConstraint", {{"indices", "0"}}); simpleapi::createObject(node, "DiagonalMass", {{"totalMass", "1e-2"}}); } diff --git a/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp b/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp index eb5c9790beba..f6a846d532b2 100644 --- a/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp +++ b/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp @@ -27,7 +27,7 @@ using sofa::testing::NumericTest; #include #include #include -#include +#include #include #include #include @@ -44,7 +44,7 @@ using namespace defaulttype; The test cases are defined in the #Test_Cases member group. */ template -struct SkeletalMotionConstraint_test : public BaseSimulationTest, NumericTest +struct SkeletalMotionProjectiveConstraint_test : public BaseSimulationTest, NumericTest { typedef _DataTypes DataTypes; typedef typename DataTypes::VecCoord VecCoord; @@ -55,7 +55,7 @@ struct SkeletalMotionConstraint_test : public BaseSimulationTest, NumericTest SkeletalMotionConstraint; + typedef constraint::projective::SkeletalMotionProjectiveConstraint SkeletalMotionProjectiveConstraint; typedef constraint::projective::SkeletonJoint SkeletonJoint; typedef statecontainer::MechanicalObject MechanicalObject; @@ -63,7 +63,7 @@ struct SkeletalMotionConstraint_test : public BaseSimulationTest, NumericTest joints; ///< skeletal joint - typename SkeletalMotionConstraint::SPtr projection; + typename SkeletalMotionProjectiveConstraint::SPtr projection; typename MechanicalObject::SPtr dofs; /// Create the context for the tests. @@ -77,7 +77,7 @@ struct SkeletalMotionConstraint_test : public BaseSimulationTest, NumericTest(); root->addObject(dofs); - projection = core::objectmodel::New(); + projection = core::objectmodel::New(); root->addObject(projection); @@ -184,9 +184,9 @@ typedef Types< > DataTypes; // the types to instanciate. // Test suite for all the instanciations -TYPED_TEST_SUITE(SkeletalMotionConstraint_test, DataTypes); +TYPED_TEST_SUITE(SkeletalMotionProjectiveConstraint_test, DataTypes); // first test case -TYPED_TEST( SkeletalMotionConstraint_test , twoConstrainedBones ) +TYPED_TEST( SkeletalMotionProjectiveConstraint_test , twoConstrainedBones ) { EXPECT_MSG_NOEMIT(Error) ; this->init_2bones(); diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp index 04679365b1a3..e999ad4621f7 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp @@ -174,7 +174,7 @@ void StaticSolver::solve(const sofa::core::ExecParams* params, SReal dt, sofa::c // Step 2 Projective constraints // Calls the "projectResponse" method of every BaseProjectiveConstraintSet objects found in the - // current context tree. An example of such constraint set is the FixedConstraint. In this case, + // current context tree. An example of such constraint set is the FixedProjectiveConstraint. In this case, // it will set to 0 every row (i, _) of the right-hand side (force) vector for the ith degree of // freedom. mop.projectResponse(force); @@ -218,7 +218,7 @@ void StaticSolver::solve(const sofa::core::ExecParams* params, SReal dt, sofa::c // B. For LinearSolver using other type of matrices (FullMatrix, SparseMatrix, CompressedRowSparseMatrix), // the "addMBKToMatrix" method is called on each BaseForceField objects and the "applyConstraint" method // is called on every BaseProjectiveConstraintSet objects. An example of such constraint set is the - // FixedConstraint. In this case, it will set to 0 every column (_, i) and row (i, _) of the assembled + // FixedProjectiveConstraint. In this case, it will set to 0 every column (_, i) and row (i, _) of the assembled // matrix for the ith degree of freedom. matrix.setSystemMBKMatrix(MechanicalMatrix::K * -1.0); } diff --git a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp index 226deeb18ca9..6e35c3245b1c 100644 --- a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp @@ -131,7 +131,7 @@ struct EulerImplicit_test_2_particles_to_equilibrium : public BaseSimulationTest 0.1 // damping ratio ); - simpleapi::createObject(string, "FixedConstraint", { + simpleapi::createObject(string, "FixedProjectiveConstraint", { { "indices", "0"} }); diff --git a/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp b/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp index 512f0f2a4fe2..b13f1a66af3b 100644 --- a/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp @@ -71,7 +71,7 @@ class StaticSolverTest : public sofa::testing::BaseTest }); createObject(root, "BoxROI", {{"name", "top_roi"}, {"box", "-7.5 -7.5 -0.9 7.5 7.5 0.1"}}); - createObject(root, "FixedConstraint", {{"indices", "@top_roi.indices"}}); + createObject(root, "FixedProjectiveConstraint", {{"indices", "@top_roi.indices"}}); createObject(root, "BoxROI", {{"name", "base_roi"}, {"box", "-7.5 -7.5 79.9 7.5 7.5 80.1"}}); createObject(root, "SurfacePressureForceField", {{"pressure", "100"}, {"mainDirection", "0 -1 0"}, {"triangleIndices", "@base_roi.trianglesInROI"}}); diff --git a/Sofa/Component/ODESolver/Backward/tests/scenes/EulerImplicitSpringDynamicTest.xml b/Sofa/Component/ODESolver/Backward/tests/scenes/EulerImplicitSpringDynamicTest.xml index 9d80018d4235..6164322ee8d3 100644 --- a/Sofa/Component/ODESolver/Backward/tests/scenes/EulerImplicitSpringDynamicTest.xml +++ b/Sofa/Component/ODESolver/Backward/tests/scenes/EulerImplicitSpringDynamicTest.xml @@ -1,6 +1,6 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp index 7681f7b5fb97..c68040856224 100644 --- a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp +++ b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/EulerSolver.cpp @@ -297,7 +297,7 @@ void EulerExplicitSolver::projectResponse(sofa::simulation::common::MechanicalOp SCOPED_TIMER("projectResponse"); // Calls the "projectResponse" method of every BaseProjectiveConstraintSet objects found in the - // current context tree. An example of such constraint set is the FixedConstraint. In this case, + // current context tree. An example of such constraint set is the FixedProjectiveConstraint. In this case, // it will set to 0 every row (i, _) of the input vector for the ith degree of freedom. mop->projectResponse(vecId); } @@ -326,7 +326,7 @@ void EulerExplicitSolver::assembleSystemMatrix(core::behavior::MultiMatrix - + @@ -27,7 +27,7 @@ - + diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/scenes/TetrahedronHyperelasticityFEMForceField_test.scn b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/scenes/TetrahedronHyperelasticityFEMForceField_test.scn index 275d27346115..cfcca0d04928 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/scenes/TetrahedronHyperelasticityFEMForceField_test.scn +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/scenes/TetrahedronHyperelasticityFEMForceField_test.scn @@ -1,7 +1,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp b/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp index 90c876194178..b0779c4062bf 100644 --- a/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp +++ b/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp @@ -30,7 +30,7 @@ #include // Including constraint, force and mass -#include +#include #include #include #include @@ -61,7 +61,7 @@ struct AffinePatch_sofa_test : public sofa::testing::BaseSimulationTest, sofa::t typedef typename DataTypes::VecDeriv VecDeriv; typedef typename DataTypes::Deriv Deriv; typedef typename DataTypes::Real Real; - typedef constraint::projective::AffineMovementConstraint AffineMovementConstraint; + typedef constraint::projective::AffineMovementProjectiveConstraint AffineMovementProjectiveConstraint; typedef statecontainer::MechanicalObject MechanicalObject; typedef typename component::solidmechanics::spring::MeshSpringForceField MeshSpringForceField; typedef typename component::solidmechanics::fem::elastic::TetrahedronFEMForceField TetraForceField; diff --git a/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp b/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp index 197433adacf5..b9d34e25cc26 100644 --- a/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp +++ b/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp @@ -39,9 +39,9 @@ #include #include #include -#include -#include -#include +#include +#include +#include #include namespace sofa { @@ -136,13 +136,13 @@ CylinderTractionStruct createCylinderTractionScene( typename BoxRoi::SPtr boxRoi1 = modeling::addNew(root,"boxRoiFix"); boxRoi1->d_alignedBoxes.setValue(vecBox); boxRoi1->d_strict.setValue(false); - // FixedConstraint - typename component::constraint::projective::FixedConstraint::SPtr fc= - modeling::addNew >(root); + // FixedProjectiveConstraint + typename component::constraint::projective::FixedProjectiveConstraint::SPtr fc= + modeling::addNew >(root); sofa::modeling::setDataLink(&boxRoi1->d_indices,&fc->d_indices); - // FixedPlaneConstraint - typename component::constraint::projective::FixedPlaneConstraint::SPtr fpc= - modeling::addNew >(root); + // FixedPlaneProjectiveConstraint + typename component::constraint::projective::FixedPlaneProjectiveConstraint::SPtr fpc= + modeling::addNew >(root); fpc->d_dmin= -0.01; fpc->d_dmax= 0.01; fpc->d_direction=Coord(0,0,1); @@ -158,9 +158,9 @@ CylinderTractionStruct createCylinderTractionScene( modeling::addNew >(root); tractionStruct.forceField=tpff; sofa::modeling::setDataLink(&boxRoi2->d_triangleIndices,&tpff->triangleList); - // ProjectToLineConstraint - typename component::constraint::projective::ProjectToLineConstraint::SPtr ptlc= - modeling::addNew >(root); + // LineProjectiveConstraint + typename component::constraint::projective::LineProjectiveConstraint::SPtr ptlc= + modeling::addNew >(root); ptlc->f_direction=Coord(1,0,0); ptlc->f_origin=Coord(0,0,0); sofa::type::vector vArray; diff --git a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h index d4b22e9e5c6d..6a6799a8d6eb 100644 --- a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h +++ b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/RegularGridNodeCreation.h @@ -40,7 +40,7 @@ template struct PatchTestStruct { simulation::Node::SPtr SquareNode; - typename component::constraint::projective::AffineMovementConstraint::SPtr affineConstraint; + typename component::constraint::projective::AffineMovementProjectiveConstraint::SPtr affineConstraint; typename component::statecontainer::MechanicalObject::SPtr dofs; }; @@ -66,7 +66,7 @@ PatchTestStruct createRegularGridScene( typedef component::topology::container::grid::RegularGridTopology RegularGridTopology; typedef typename component::engine::select::BoxROI BoxRoi; typedef typename sofa::component::engine::select::PairBoxROI PairBoxRoi; - typedef typename component::constraint::projective::AffineMovementConstraint AffineMovementConstraint; + typedef typename component::constraint::projective::AffineMovementProjectiveConstraint AffineMovementProjectiveConstraint; typedef component::linearsolver::iterative::CGLinearSolver CGLinearSolver; // Root node @@ -114,7 +114,7 @@ PatchTestStruct createRegularGridScene( pairBoxRoi->includedBox.setValue(includedBox); //Affine constraint - patchStruct.affineConstraint = modeling::addNew(SquareNode,"affineConstraint"); + patchStruct.affineConstraint = modeling::addNew(SquareNode,"affineConstraint"); modeling::setDataLink(&boxRoi->d_indices,&patchStruct.affineConstraint->m_meshIndices); modeling::setDataLink(&pairBoxRoi->f_indices,& patchStruct.affineConstraint->m_indices); diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.h b/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.h index 76657bbf82d8..42e6bf06bb44 100644 --- a/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.h +++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.h @@ -25,7 +25,7 @@ #include #include #include -#include +#include #include @@ -57,7 +57,7 @@ class ConstraintAttachBodyPerformer: public TInteractionPerformer typedef typename DataTypes::VecCoord VecCoord; typedef sofa::component::collision::response::mapper::BaseContactMapper< DataTypes > MouseContactMapper; typedef sofa::core::behavior::MechanicalState< DataTypes > MouseContainer; -// typedef sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes > MouseConstraint; +// typedef sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint< DataTypes > MouseConstraint; // typedef sofa::core::behavior::BaseForceField MouseForceField; @@ -91,7 +91,7 @@ class ConstraintAttachBodyPerformer: public TInteractionPerformer virtual bool start_partial(const BodyPicked& picked); MouseContactMapper *mapper; - sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint::SPtr m_constraint; + sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint::SPtr m_constraint; core::visual::DisplayFlags flags; diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl b/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl index 1c42a3fbdae9..921a7aacee75 100644 --- a/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl +++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl @@ -172,10 +172,10 @@ bool ConstraintAttachBodyPerformer::start_partial(const BodyPicked& p type::Vec3d point1; type::Vec3d point2; - using sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint; + using sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint; - m_constraint = sofa::core::objectmodel::New >(mstate1, mstate2); - BilateralInteractionConstraint< DataTypes >* bconstraint = static_cast< BilateralInteractionConstraint< sofa::defaulttype::Vec3Types >* >(m_constraint.get()); + m_constraint = sofa::core::objectmodel::New >(mstate1, mstate2); + BilateralLagrangianConstraint< DataTypes >* bconstraint = static_cast< BilateralLagrangianConstraint< sofa::defaulttype::Vec3Types >* >(m_constraint.get()); bconstraint->setName("Constraint-Mouse-Contact"); type::Vec3d normal = point1-point2; diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/FixParticlePerformer.inl b/Sofa/GUI/Component/src/sofa/gui/component/performer/FixParticlePerformer.inl index b96e142bbbdd..a52c148ef2fa 100644 --- a/Sofa/GUI/Component/src/sofa/gui/component/performer/FixParticlePerformer.inl +++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/FixParticlePerformer.inl @@ -22,7 +22,7 @@ #include #include -#include +#include #include #include @@ -62,7 +62,7 @@ void FixParticlePerformer::start() //Fix all the points - typename sofa::component::constraint::projective::FixedConstraint::SPtr fixFixation = sofa::core::objectmodel::New< sofa::component::constraint::projective::FixedConstraint >(); + typename sofa::component::constraint::projective::FixedProjectiveConstraint::SPtr fixFixation = sofa::core::objectmodel::New< sofa::component::constraint::projective::FixedProjectiveConstraint >(); fixFixation->d_fixAll.setValue(true); nodeFixation->addObject(fixFixation); diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/SuturePointPerformer.h b/Sofa/GUI/Component/src/sofa/gui/component/performer/SuturePointPerformer.h index b12adce22fbd..7412259eac93 100644 --- a/Sofa/GUI/Component/src/sofa/gui/component/performer/SuturePointPerformer.h +++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/SuturePointPerformer.h @@ -24,7 +24,7 @@ #include #include -#include +#include #include #include @@ -51,7 +51,7 @@ class SOFA_GUI_COMPONENT_API SuturePointPerformer: public TInteractionPerformer< typedef typename DataTypes::Real Real; typedef sofa::component::solidmechanics::spring::LinearSpring Spring; typedef sofa::component::solidmechanics::spring::StiffSpringForceField SpringObjectType; - typedef sofa::component::constraint::projective::FixedConstraint FixObjectType; + typedef sofa::component::constraint::projective::FixedProjectiveConstraint FixObjectType; SuturePointPerformer(BaseMouseInteractor *i); ~SuturePointPerformer(); diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp index 412011f4879d..5777d2acae9e 100644 --- a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp +++ b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp @@ -149,6 +149,16 @@ objectmodel::BaseObject::SPtr ObjectFactory::createObject(objectmodel::BaseConte //////////////////////////////////////////////////////////////////////////////////////////////// + //Check if object has been renamed + + using sofa::helper::lifecycle::renamedComponents; + auto renamedComponent = renamedComponents.find(classname); + if( renamedComponent != renamedComponents.end() ) + { + classname = renamedComponent->second.getNewName(); + } + + // In order to get the errors from the creators only, we save the current errors at this point // and we clear them. Once we extracted the errors from the creators, we put push them back. std::map> creators_errors; // (template_name, errors) @@ -206,14 +216,20 @@ objectmodel::BaseObject::SPtr ObjectFactory::createObject(objectmodel::BaseConte using sofa::helper::lifecycle::ComponentChange; using sofa::helper::lifecycle::uncreatableComponents; + using sofa::helper::lifecycle::movedComponents; if(it == registry.end()) { arg->logError("The object '" + classname + "' is not in the factory."); auto uuncreatableComponent = uncreatableComponents.find(classname); + auto movedComponent = movedComponents.find(classname); if( uuncreatableComponent != uncreatableComponents.end() ) { arg->logError( uuncreatableComponent->second.getMessage() ); } + else if (movedComponent != movedComponents.end()) + { + arg->logError( movedComponent->second.getMessage() ); + } else { std::vector possibleNames; diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp index a3cb1196bed3..1e7ada3fcc21 100644 --- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp @@ -32,7 +32,7 @@ const std::map > deprecatedComponents = { {"RigidRigidMapping", Deprecated("v23.06", "v23.12", "You can use the component RigidMapping with template='Rigid3,Rigid3' instead.")}, }; -const std::map > uncreatableComponents = { +const std::map > movedComponents = { // SofaValidation was pluginized in #1302 {"CompareState", Pluginized("v20.06", "SofaValidation")}, {"CompareTopology", Pluginized("v20.06", "SofaValidation")}, @@ -66,107 +66,6 @@ const std::map > uncreatableComponents { "LMConstraintSolver", Pluginized("v20.12", "LMConstraint") }, { "LMConstraintDirectSolver", Pluginized("v20.12", "LMConstraint") }, - /***********************/ - // REMOVED SINCE v23.06 - - { "OglGrid", Removed("v22.12", "v23.06")}, - { "OglLineAxis", Removed("v22.12", "v23.06")}, - - /***********************/ - // REMOVED SINCE v22.06 - - {"PointConstraint", Removed("v21.12", "v22.06")}, - - /***********************/ - // REMOVED SINCE v21.12 - - { "LMDNewProximityIntersection", Removed("v21.12", "v21.12") }, - { "LocalMinDistanceFilter", Removed("v21.12", "v21.12") }, - { "LineLocalMinDistanceFilter", Removed("v21.12", "v21.12") }, - { "PointLocalMinDistanceFilter", Removed("v21.12", "v21.12") }, - { "TriangleLocalMinDistanceFilter", Removed("v21.12", "v21.12") }, - - /***********************/ - // REMOVED SINCE v21.06 - - {"LengthContainer", Removed("v21.06", "v21.06")}, - {"PoissonContainer", Removed("v21.06", "v21.06")}, - {"RadiusContainer", Removed("v21.06", "v21.06")}, - {"StiffnessContainer", Removed("v21.06", "v21.06")}, - - /***********************/ - // REMOVED SINCE v20.12 - - { "DynamicSparseGridTopologyAlgorithms", Removed("v20.12", "v20.12") }, - { "HexahedronSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, - { "TetrahedronSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, - { "QuadSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, - { "TriangleSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, - { "EdgeSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, - { "PointSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, - - /***********************/ - // REMOVED SINCE v20.06 - - {"Euler", Removed("v19.12", "v20.06")}, - {"EulerExplicit", Removed("v19.12", "v20.06")}, - {"ExplicitEuler", Removed("v19.12", "v20.06")}, - {"EulerSolver", Removed("v19.12", "v20.06")}, - {"ExplicitEulerSolver", Removed("v19.12", "v20.06")}, - - {"Capsule", Removed("v19.12", "v20.06")}, - {"CapsuleModel", Removed("v19.12", "v20.06")}, - {"TCapsuleModel", Removed("v19.12", "v20.06")}, - - {"Cube", Removed("v19.12", "v20.06")}, - {"CubeModel", Removed("v19.12", "v20.06")}, - - {"CudaPoint", Removed("v19.12", "v20.06")}, - {"CudaPointModel", Removed("v19.12", "v20.06")}, - - {"Cylinder", Removed("v19.12", "v20.06")}, - {"CylinderModel", Removed("v19.12", "v20.06")}, - - {"Line", Removed("v19.12", "v20.06")}, - {"TLineModel", Removed("v19.12", "v20.06")}, - {"LineMeshModel", Removed("v19.12", "v20.06")}, - {"LineSetModel", Removed("v19.12", "v20.06")}, - {"LineMesh", Removed("v19.12", "v20.06")}, - {"LineSet", Removed("v19.12", "v20.06")}, - {"LineModel", Removed("v19.12", "v20.06")}, - - {"OBB", Removed("v19.12", "v20.06")}, - {"OBBModel", Removed("v19.12", "v20.06")}, - {"TOBBModel", Removed("v19.12", "v20.06")}, - - {"Point", Removed("v19.12", "v20.06")}, - {"TPointModel", Removed("v19.12", "v20.06")}, - {"PointModel", Removed("v19.12", "v20.06")}, - {"PointMesh", Removed("v19.12", "v20.06")}, - {"PointSet", Removed("v19.12", "v20.06")}, - - {"Ray", Removed("v19.12", "v20.06")}, - {"RayModel", Removed("v19.12", "v20.06")}, - - {"RigidCapsule", Removed("v19.12", "v20.06")}, - {"RigidCapsuleModel", Removed("v19.12", "v20.06")}, - {"RigidCapsuleCollisionModel", Removed("v19.12", "v20.06")}, - - {"Sphere", Removed("v19.12", "v20.06")}, - {"SphereModel", Removed("v19.12", "v20.06")}, - {"TSphereModel", Removed("v19.12", "v20.06")}, - - {"Tetrahedron", Removed("v19.12", "v20.06")}, - {"TetrahedronModel", Removed("v19.12", "v20.06")}, - - {"Triangle", Removed("v19.12", "v20.06")}, - {"TriangleSet", Removed("v19.12", "v20.06")}, - {"TriangleMesh", Removed("v19.12", "v20.06")}, - {"TriangleSetModel", Removed("v19.12", "v20.06")}, - {"TriangleMeshModel", Removed("v19.12", "v20.06")}, - {"TriangleModel", Removed("v19.12", "v20.06")}, - {"TTriangleModel", Removed("v19.12", "v20.06")}, - /***********************/ // MOVED SINCE v21.06 { "SpatialGridPointModel", Moved("v21.06", "SofaMiscCollision", "SofaSphFluid") }, @@ -721,7 +620,144 @@ const std::map > uncreatableComponents // Moved to CSparseSolvers { "SparseCholeskySolver", Moved("v23.12", "Sofa.Component.LinearSolver.Direct", "CSparseSolvers") }, - { "SparseLUSolver", Moved("v23.12", "Sofa.Component.LinearSolver.Direct", "CSparseSolvers") }, + { "SparseLUSolver", Moved("v23.12", "Sofa.Component.LinearSolver.Direct", "CSparseSolvers") } + +}; + +const std::map > uncreatableComponents = { + + /***********************/ + // REMOVED SINCE v23.06 + + { "OglGrid", Removed("v22.12", "v23.06")}, + { "OglLineAxis", Removed("v22.12", "v23.06")}, + + /***********************/ + // REMOVED SINCE v22.06 + + {"PointConstraint", Removed("v21.12", "v22.06")}, + + /***********************/ + // REMOVED SINCE v21.12 + + { "LMDNewProximityIntersection", Removed("v21.12", "v21.12") }, + { "LocalMinDistanceFilter", Removed("v21.12", "v21.12") }, + { "LineLocalMinDistanceFilter", Removed("v21.12", "v21.12") }, + { "PointLocalMinDistanceFilter", Removed("v21.12", "v21.12") }, + { "TriangleLocalMinDistanceFilter", Removed("v21.12", "v21.12") }, + + /***********************/ + // REMOVED SINCE v21.06 + + {"LengthContainer", Removed("v21.06", "v21.06")}, + {"PoissonContainer", Removed("v21.06", "v21.06")}, + {"RadiusContainer", Removed("v21.06", "v21.06")}, + {"StiffnessContainer", Removed("v21.06", "v21.06")}, + + /***********************/ + // REMOVED SINCE v20.12 + + { "DynamicSparseGridTopologyAlgorithms", Removed("v20.12", "v20.12") }, + { "HexahedronSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, + { "TetrahedronSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, + { "QuadSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, + { "TriangleSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, + { "EdgeSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, + { "PointSetTopologyAlgorithms", Removed("v20.12", "v20.12") }, + + /***********************/ + // REMOVED SINCE v20.06 + + {"Euler", Removed("v19.12", "v20.06")}, + {"EulerExplicit", Removed("v19.12", "v20.06")}, + {"ExplicitEuler", Removed("v19.12", "v20.06")}, + {"EulerSolver", Removed("v19.12", "v20.06")}, + {"ExplicitEulerSolver", Removed("v19.12", "v20.06")}, + + {"Capsule", Removed("v19.12", "v20.06")}, + {"CapsuleModel", Removed("v19.12", "v20.06")}, + {"TCapsuleModel", Removed("v19.12", "v20.06")}, + + {"Cube", Removed("v19.12", "v20.06")}, + {"CubeModel", Removed("v19.12", "v20.06")}, + + {"CudaPoint", Removed("v19.12", "v20.06")}, + {"CudaPointModel", Removed("v19.12", "v20.06")}, + + {"Cylinder", Removed("v19.12", "v20.06")}, + {"CylinderModel", Removed("v19.12", "v20.06")}, + + {"Line", Removed("v19.12", "v20.06")}, + {"TLineModel", Removed("v19.12", "v20.06")}, + {"LineMeshModel", Removed("v19.12", "v20.06")}, + {"LineSetModel", Removed("v19.12", "v20.06")}, + {"LineMesh", Removed("v19.12", "v20.06")}, + {"LineSet", Removed("v19.12", "v20.06")}, + {"LineModel", Removed("v19.12", "v20.06")}, + + {"OBB", Removed("v19.12", "v20.06")}, + {"OBBModel", Removed("v19.12", "v20.06")}, + {"TOBBModel", Removed("v19.12", "v20.06")}, + + {"Point", Removed("v19.12", "v20.06")}, + {"TPointModel", Removed("v19.12", "v20.06")}, + {"PointModel", Removed("v19.12", "v20.06")}, + {"PointMesh", Removed("v19.12", "v20.06")}, + {"PointSet", Removed("v19.12", "v20.06")}, + + {"Ray", Removed("v19.12", "v20.06")}, + {"RayModel", Removed("v19.12", "v20.06")}, + + {"RigidCapsule", Removed("v19.12", "v20.06")}, + {"RigidCapsuleModel", Removed("v19.12", "v20.06")}, + {"RigidCapsuleCollisionModel", Removed("v19.12", "v20.06")}, + + {"Sphere", Removed("v19.12", "v20.06")}, + {"SphereModel", Removed("v19.12", "v20.06")}, + {"TSphereModel", Removed("v19.12", "v20.06")}, + + {"Tetrahedron", Removed("v19.12", "v20.06")}, + {"TetrahedronModel", Removed("v19.12", "v20.06")}, + + {"Triangle", Removed("v19.12", "v20.06")}, + {"TriangleSet", Removed("v19.12", "v20.06")}, + {"TriangleMesh", Removed("v19.12", "v20.06")}, + {"TriangleSetModel", Removed("v19.12", "v20.06")}, + {"TriangleMeshModel", Removed("v19.12", "v20.06")}, + {"TriangleModel", Removed("v19.12", "v20.06")}, + {"TTriangleModel", Removed("v19.12", "v20.06")}, + +}; + + +const std::map< std::string, Renamed, std::less<> > renamedComponents = { + // Change Constraint naming #4302 + {"AffineMovementConstraint", Renamed("v24.06","v25.06","AffineMovementProjectiveConstraint")}, + {"AttachConstraint", Renamed("v24.06","v25.06","AttachProjectiveConstraint")}, + {"FixedConstraint", Renamed("v24.06","v25.06","FixedProjectiveConstraint")}, + {"FixedPlaneConstraint", Renamed("v24.06","v25.06","FixedPlaneProjectiveConstraint")}, + {"FixedRotationConstraint", Renamed("v24.06","v25.06","FixedRotationProjectiveConstraint")}, + {"FixedTranslationConstraint", Renamed("v24.06","v25.06","FixedTranslationProjectiveConstraint")}, + {"HermiteSplineConstraint", Renamed("v24.06","v25.06","HermiteSplineProjectiveConstraint")}, + {"LinearMovementConstraint", Renamed("v24.06","v25.06","LinearMovementProjectiveConstraint")}, + {"LinearVelocityConstraint", Renamed("v24.06","v25.06","LinearVelocityProjectiveConstraint")}, + {"OscillatorConstraint", Renamed("v24.06","v25.06","OscillatorProjectiveConstraint")}, + {"ParabolicConstraint", Renamed("v24.06","v25.06","ParabolicProjectiveConstraint")}, + {"PartialFixedConstraint", Renamed("v24.06","v25.06","PartialFixedProjectiveConstraint")}, + {"PartialLinearMovementConstraint", Renamed("v24.06","v25.06","PartialLinearMovementProjectiveConstraint")}, + {"PatchTestMovementConstraint", Renamed("v24.06","v25.06","PatchTestMovementProjectiveConstraint")}, + {"PositionBasedDynamicsConstraint", Renamed("v24.06","v25.06","PositionBasedDynamicsProjectiveConstraint")}, + {"SkeletalMotionConstraint", Renamed("v24.06","v25.06","SkeletalMotionProjectiveConstraint")}, + {"ProjectToLineConstraint", Renamed("v24.06","v25.06","LineProjectiveConstraint")}, + {"ProjectToPlaneConstraint", Renamed("v24.06","v25.06","PlaneProjectiveConstraint")}, + {"ProjectToPointConstraint", Renamed("v24.06","v25.06","PointProjectiveConstraint")}, + {"ProjectDirectionConstraint", Renamed("v24.06","v25.06","DirectionProjectiveConstraint")}, + {"BilateralInteractionConstraint", Renamed("v24.06","v25.06","BilateralLagrangianConstraint")}, + {"SlidingConstraint", Renamed("v24.06","v25.06","SlidingLagrangianConstraint")}, + {"StopperConstraint", Renamed("v24.06","v25.06","StopperLagrangianConstraint")}, + {"UniformConstraint", Renamed("v24.06","v25.06","UniformLagrangianConstraint")}, + {"UnilateralInteractionConstraint", Renamed("v24.06","v25.06","UnilateralLagrangianConstraint")} + }; } // namespace sofa::helper::lifecycle diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h index 732065b8bc9d..6bd25e04c637 100644 --- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h +++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h @@ -111,7 +111,32 @@ class SOFA_HELPER_API Moved : public ComponentChange } }; +class SOFA_HELPER_API Renamed : public ComponentChange +{ +public: + Renamed(const std::string& sinceVersion, const std::string& untilVersion, const std::string& newName) + { + std::stringstream output; + output << "This component has been RENAMED to " << newName << " since SOFA " << sinceVersion + << ", and this alias will be removed in SOFA " << untilVersion << "." + << " To continue using this component after SOFA "<< untilVersion <<" you will need to update your scene "; + m_message = output.str(); + m_changeVersion = untilVersion; + m_newName = newName; + } + + const std::string& getNewName() const + { + return m_newName; + } + +private: + std::string m_newName; +}; + extern SOFA_HELPER_API const std::map< std::string, Deprecated, std::less<> > deprecatedComponents; +extern SOFA_HELPER_API const std::map< std::string, ComponentChange, std::less<> > movedComponents; +extern SOFA_HELPER_API const std::map< std::string, Renamed, std::less<> > renamedComponents; extern SOFA_HELPER_API const std::map< std::string, ComponentChange, std::less<> > uncreatableComponents; } // namespace sofa::helper::lifecycle diff --git a/applications/collections/deprecated/modules/SofaExporter/examples/OBJExporter.scn b/applications/collections/deprecated/modules/SofaExporter/examples/OBJExporter.scn index 7a3879a7e452..47ba602efd09 100644 --- a/applications/collections/deprecated/modules/SofaExporter/examples/OBJExporter.scn +++ b/applications/collections/deprecated/modules/SofaExporter/examples/OBJExporter.scn @@ -1,5 +1,5 @@ - + @@ -18,7 +18,7 @@ - + diff --git a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn index 59ff8a7857f8..14f8ceb80574 100644 --- a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn +++ b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn @@ -5,7 +5,7 @@ - + @@ -27,7 +27,7 @@ - + @@ -36,7 +36,7 @@ - + diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn index 6941d64206ff..8b4517897014 100644 --- a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn +++ b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn @@ -6,7 +6,7 @@ - + @@ -43,7 +43,7 @@ - + diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn index dfe56efbf3f1..d4d284f4e3c1 100644 --- a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn +++ b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn index 5b6cf8c420fd..5c549726185d 100644 --- a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn +++ b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn @@ -6,7 +6,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py b/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py index 4d4f23c6de49..a2914792e0b6 100644 --- a/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py +++ b/applications/plugins/BulletCollisionDetection/examples/GlobalBulletCollision.py @@ -21,7 +21,7 @@ def createGraph(self,node): # a container floorNode = self.rootNode.createChild('Floor') rigid_meca = floorNode.createObject('MechanicalObject',name='father',template='Rigid',position='0 0 0 0 0 0 1') - floorNode.createObject('FixedConstraint',template='Rigid') + floorNode.createObject('FixedProjectiveConstraint',template='Rigid') #floorNode.createObject('UniformMass',template='Rigid',totalMass=1) mapped = floorNode.createChild('mapped') mapped.createObject('MeshOBJLoader', name='loader', filename='mesh/SaladBowl.obj') @@ -38,7 +38,7 @@ def createGraph(self,node): # meca = node.createObject('MechanicalObject',name='rigidDOF',template='Rigid',position='0 0 0 0 0 0 1') # mass = node.createObject('UniformMass',name='mass',totalMass=1,template='Rigid') - # node.createObject('FixedConstraint',template='Rigid') + # node.createObject('FixedProjectiveConstraint',template='Rigid') # node.createObject('BulletOBBModel',template='Rigid',name='BASE',extents='15 15 0.2',margin="0.5") diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn index 5b99c835abf0..a3b22ccb2ba2 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCap.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn index ad6980d15de6..be3d56236491 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCap1.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn index 69cb203fb53a..f067b42d1a91 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeEdge.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn index 007317fed3db..b4bd1bff1585 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapEdgeVertex.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn index 553a46dc083d..8b5f3fd8f500 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexEdge.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn index 0df0fd3a3bfc..74699c664566 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBCapVertexVertex.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn index bb2e1d1fceec..6e30f7392300 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn index f07ebf0d8c16..b3b6f6f37378 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBB2.scn @@ -4,7 +4,7 @@ - + @@ -29,7 +29,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn index 09785b198696..98404d9e5048 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBAlea.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn index 8b4b816a8146..cb722ba85a44 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBCollision.scn @@ -4,7 +4,7 @@ - + @@ -29,7 +29,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn index 2e592d5f536c..8809f875aca6 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeEdge.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn index 6db3a9018059..39ba344e3533 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBEdgeVertex.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn index b717a4761639..a8281fd12f94 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBFaceEdge.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn index f7fe9535c124..48bff4ce98ea 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBOBBVertexVertex.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn index a21c57e53982..3986adc9c3b8 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere.scn @@ -5,7 +5,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn index 67dcef7f5bbc..6958086322ed 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphere2.scn @@ -5,7 +5,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn index 73ce0986e7d7..fb19177217f5 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereEdge.scn @@ -5,7 +5,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn index 532a53d0986c..e1131d724bc1 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBSphereVertex.scn @@ -5,7 +5,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn index d5c1c45527bd..013b2b8509cd 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTri.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn index 0dfb625fa808..1fc607151588 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn index c8474887f48d..940298e3d69f 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeEdge2.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn index 66ca20abf4de..182c5ef73da9 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriEdgeVerex.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn index b2ebf71afec6..73e1e1535efa 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriFaceVertex.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn index d30e39a726a9..4db77349d711 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexEdge.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn index c1893aca86d2..e25636aae4ee 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexFace.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn index 37a9abb241cd..452b69386b40 100644 --- a/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn +++ b/applications/plugins/CollisionOBBCapsule/examples/OBBTriVertexVertex.scn @@ -5,7 +5,7 @@ - + @@ -40,7 +40,7 @@ - + diff --git a/applications/plugins/ExternalBehaviorModel/example/MultiMapping.py b/applications/plugins/ExternalBehaviorModel/example/MultiMapping.py index 40912650f483..c35033634979 100644 --- a/applications/plugins/ExternalBehaviorModel/example/MultiMapping.py +++ b/applications/plugins/ExternalBehaviorModel/example/MultiMapping.py @@ -14,7 +14,7 @@ def createGraph(self,node): rigidNode = self.rootNode.createChild('rigid') rigidNode.createObject('MechanicalObject', template='Rigid', name='dofs', position="0 0 0 0 0 0 1", showObject='1', showObjectScale='0.8') rigidNode.createObject('UniformMass', template='Rigid', totalMass="1") - rigidNode.createObject('PartialFixedConstraint',indices="0",fixedDirections="1 1 1 0 0 0") + rigidNode.createObject('PartialFixedProjectiveConstraint',indices="0",fixedDirections="1 1 1 0 0 0") rigidCollisionNode = rigidNode.createChild('rigid') rigidCollisionNode.createObject('MeshOBJLoader', filename="mesh/cube.obj", name="loader") diff --git a/applications/plugins/ExternalBehaviorModel/example/simple.scn b/applications/plugins/ExternalBehaviorModel/example/simple.scn index b9e6b608b89b..ef6ce72b566e 100644 --- a/applications/plugins/ExternalBehaviorModel/example/simple.scn +++ b/applications/plugins/ExternalBehaviorModel/example/simple.scn @@ -3,7 +3,7 @@ - + @@ -25,7 +25,7 @@ - + @@ -44,7 +44,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn b/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn index b6ebff5c894c..8447dc4d8629 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn @@ -8,7 +8,7 @@ - + @@ -50,7 +50,7 @@ - + @@ -86,7 +86,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn b/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn index d6f8c9ff6ce5..d3f88c411bba 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn @@ -8,7 +8,7 @@ - + @@ -56,7 +56,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-FEMLiver.scn b/applications/plugins/Geomagic/scenes/Geomagic-FEMLiver.scn index cdf81e4fab8c..81d53f6df1b9 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-FEMLiver.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-FEMLiver.scn @@ -8,7 +8,7 @@ - + @@ -49,7 +49,7 @@ - + diff --git a/applications/plugins/LeapMotion/examples/buffoon.scn b/applications/plugins/LeapMotion/examples/buffoon.scn index bfd57985440c..5e9cbdc251ea 100644 --- a/applications/plugins/LeapMotion/examples/buffoon.scn +++ b/applications/plugins/LeapMotion/examples/buffoon.scn @@ -85,7 +85,7 @@ - + diff --git a/applications/plugins/MultiThreading/examples/BeamLinearMapping_mt.scn b/applications/plugins/MultiThreading/examples/BeamLinearMapping_mt.scn index defb33bfc4dd..0bb5ba0765ed 100644 --- a/applications/plugins/MultiThreading/examples/BeamLinearMapping_mt.scn +++ b/applications/plugins/MultiThreading/examples/BeamLinearMapping_mt.scn @@ -4,7 +4,7 @@ - + @@ -35,7 +35,7 @@ --> - + - + @@ -23,7 +23,7 @@ - + diff --git a/applications/plugins/MultiThreading/examples/ParallelHexahedronFEMForceField.scn b/applications/plugins/MultiThreading/examples/ParallelHexahedronFEMForceField.scn index e147745648a4..1b5a5f24201a 100644 --- a/applications/plugins/MultiThreading/examples/ParallelHexahedronFEMForceField.scn +++ b/applications/plugins/MultiThreading/examples/ParallelHexahedronFEMForceField.scn @@ -1,7 +1,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/applications/plugins/MultiThreading/examples/ParallelMeshSpringForceField.scn b/applications/plugins/MultiThreading/examples/ParallelMeshSpringForceField.scn index 726abe07d5b0..64bb539add1e 100644 --- a/applications/plugins/MultiThreading/examples/ParallelMeshSpringForceField.scn +++ b/applications/plugins/MultiThreading/examples/ParallelMeshSpringForceField.scn @@ -2,7 +2,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/applications/plugins/MultiThreading/examples/ParallelTetrahedronFEMForceField.scn b/applications/plugins/MultiThreading/examples/ParallelTetrahedronFEMForceField.scn index 655bd5c2f4a7..315940295980 100644 --- a/applications/plugins/MultiThreading/examples/ParallelTetrahedronFEMForceField.scn +++ b/applications/plugins/MultiThreading/examples/ParallelTetrahedronFEMForceField.scn @@ -1,6 +1,6 @@ - + @@ -31,7 +31,7 @@ method="large" computeVonMisesStress="1" showVonMisesStressPerElement="true"/> - + diff --git a/applications/plugins/MultiThreading/examples/TriangularForceFieldComparison.scn b/applications/plugins/MultiThreading/examples/TriangularForceFieldComparison.scn index e1d4f772a797..a3e67630803d 100644 --- a/applications/plugins/MultiThreading/examples/TriangularForceFieldComparison.scn +++ b/applications/plugins/MultiThreading/examples/TriangularForceFieldComparison.scn @@ -5,7 +5,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -98,7 +98,7 @@ - + @@ -127,7 +127,7 @@ - + diff --git a/applications/plugins/MultiThreading/examples/livers.scn b/applications/plugins/MultiThreading/examples/livers.scn index 9a612b523a78..ec48c42ebc25 100644 --- a/applications/plugins/MultiThreading/examples/livers.scn +++ b/applications/plugins/MultiThreading/examples/livers.scn @@ -7,7 +7,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -71,7 +71,7 @@ - + @@ -104,7 +104,7 @@ - + @@ -138,7 +138,7 @@ - + diff --git a/applications/plugins/MultiThreading/examples/liversMeanPositions.scn b/applications/plugins/MultiThreading/examples/liversMeanPositions.scn index 537edd0c4588..4338d44d9e8b 100644 --- a/applications/plugins/MultiThreading/examples/liversMeanPositions.scn +++ b/applications/plugins/MultiThreading/examples/liversMeanPositions.scn @@ -7,7 +7,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -71,7 +71,7 @@ - + @@ -104,7 +104,7 @@ - + @@ -138,7 +138,7 @@ - + @@ -179,7 +179,7 @@ - + diff --git a/applications/plugins/Sensable/examples/Carving.scn b/applications/plugins/Sensable/examples/Carving.scn index f14b61c400f4..085515da1698 100644 --- a/applications/plugins/Sensable/examples/Carving.scn +++ b/applications/plugins/Sensable/examples/Carving.scn @@ -21,8 +21,8 @@ - - + + diff --git a/applications/plugins/Sensable/examples/Deformable-Method1.scn b/applications/plugins/Sensable/examples/Deformable-Method1.scn index 39152d3c235e..2490a666f80d 100644 --- a/applications/plugins/Sensable/examples/Deformable-Method1.scn +++ b/applications/plugins/Sensable/examples/Deformable-Method1.scn @@ -17,8 +17,8 @@ - - + + diff --git a/applications/plugins/Sensable/examples/Old Examples/flexibleRaptor.scn b/applications/plugins/Sensable/examples/Old Examples/flexibleRaptor.scn index 20955efe5e6b..864a1e2dec6c 100644 --- a/applications/plugins/Sensable/examples/Old Examples/flexibleRaptor.scn +++ b/applications/plugins/Sensable/examples/Old Examples/flexibleRaptor.scn @@ -25,7 +25,7 @@ - + diff --git a/applications/plugins/Sensable/examples/Old Examples/omni-probing-liver.scn b/applications/plugins/Sensable/examples/Old Examples/omni-probing-liver.scn index 72f342fe9388..4031bae0c170 100644 --- a/applications/plugins/Sensable/examples/Old Examples/omni-probing-liver.scn +++ b/applications/plugins/Sensable/examples/Old Examples/omni-probing-liver.scn @@ -15,7 +15,7 @@ - + diff --git a/applications/plugins/SixenseHydra/Scenes/Hydra_buffon.scn b/applications/plugins/SixenseHydra/Scenes/Hydra_buffon.scn index b442bb87892b..77a761c3713b 100644 --- a/applications/plugins/SixenseHydra/Scenes/Hydra_buffon.scn +++ b/applications/plugins/SixenseHydra/Scenes/Hydra_buffon.scn @@ -69,7 +69,7 @@ - + diff --git a/applications/plugins/SofaAssimp/SceneColladaLoader.cpp b/applications/plugins/SofaAssimp/SceneColladaLoader.cpp index c13aae99da01..2021ecae5990 100644 --- a/applications/plugins/SofaAssimp/SceneColladaLoader.cpp +++ b/applications/plugins/SofaAssimp/SceneColladaLoader.cpp @@ -34,7 +34,7 @@ #include #include #include -#include +#include #include #include #include @@ -331,18 +331,18 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam } } - // generating a SkeletalMotionConstraint and filling up its properties - SkeletalMotionConstraint::SPtr currentSkeletalMotionConstraint = sofa::core::objectmodel::New >(); + // generating a SkeletalMotionProjectiveConstraint and filling up its properties + SkeletalMotionProjectiveConstraint::SPtr currentSkeletalMotionProjectiveConstraint = sofa::core::objectmodel::New >(); { - // adding the generated SkeletalMotionConstraint to its parent Node - currentSubNode->addObject(currentSkeletalMotionConstraint); + // adding the generated SkeletalMotionProjectiveConstraint to its parent Node + currentSubNode->addObject(currentSkeletalMotionProjectiveConstraint); std::stringstream nameStream(meshName); if(meshName.empty()) nameStream << componentIndex++; - currentSkeletalMotionConstraint->setName(nameStream.str()); + currentSkeletalMotionProjectiveConstraint->setName(nameStream.str()); - currentSkeletalMotionConstraint->setAnimationSpeed(animationSpeed.getValue()); + currentSkeletalMotionProjectiveConstraint->setAnimationSpeed(animationSpeed.getValue()); aiNode* parentAiNode = NULL; if(parentNodeInfo) @@ -351,7 +351,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam type::vector > skeletonJoints; type::vector skeletonBones; fillSkeletalInfo(currentAiScene, parentAiNode, currentAiNode, currentTransformation, currentAiMesh, skeletonJoints, skeletonBones); - currentSkeletalMotionConstraint->setSkeletalMotion(skeletonJoints, skeletonBones); + currentSkeletalMotionProjectiveConstraint->setSkeletalMotion(skeletonJoints, skeletonBones); } } else diff --git a/applications/plugins/SofaAssimp/SceneColladaLoader.h b/applications/plugins/SofaAssimp/SceneColladaLoader.h index 117a5ae5f6f8..869e8519399c 100644 --- a/applications/plugins/SofaAssimp/SceneColladaLoader.h +++ b/applications/plugins/SofaAssimp/SceneColladaLoader.h @@ -26,7 +26,7 @@ #include #include #include -#include +#include #include // C++ importer interface #include // Output data structure @@ -130,7 +130,7 @@ class SOFA_ASSIMP_API SceneColladaLoader : public sofa::core::loader::SceneLoade private: - // build the joints and bones array used in the SkeletalMotionConstraint + // build the joints and bones array used in the SkeletalMotionProjectiveConstraint bool fillSkeletalInfo(const aiScene* scene, aiNode* meshParentNode, aiNode* meshNode, aiMatrix4x4 meshTransformation, aiMesh* mesh, type::vector >& skeletonJoints, type::vector& skeletonBones) const; // clean the scene graph of its empty and useless intermediary nodes diff --git a/applications/plugins/SofaAssimp/doc/index.html b/applications/plugins/SofaAssimp/doc/index.html index 3b7b3d369a26..7c553b03b3b3 100644 --- a/applications/plugins/SofaAssimp/doc/index.html +++ b/applications/plugins/SofaAssimp/doc/index.html @@ -131,11 +131,11 @@

Examples



      As you can see in Sofa Modeler, the scene to load a collada file is very simple. We have the SceneColladaLoader to load it and, important thing, we also have an EulerSolver -which will be used by the potential SkeletalMotionConstraints to "play" the animation updating positions and velocities. +which will be used by the potential SkeletalMotionProjectiveConstraints to "play" the animation updating positions and velocities. When you launch runSofa with this scene, a new node will be added which contains the whole collada scene. The name of this node is the name you gave to the SceneColladaLoader plus the string "_scene". On the right picture, the loader generated two child nodes call "mesh 0" which contains a mesh without skinning (the sphere), and "mesh 1" which contains a mesh with skinning and bones animation directly from the collada file. -The SkeletalMotionConstraint automatically interpolates between animation frames, play with the animation time step to slown down or speed up the animation. +The SkeletalMotionProjectiveConstraint automatically interpolates between animation frames, play with the animation time step to slown down or speed up the animation.

As you can see on the other example below, the woman's hair does not fit her head very well because its coordinates system belongs to a dummy object not supported for the moment. diff --git a/applications/plugins/SofaAssimp/examples/character_clothes.py b/applications/plugins/SofaAssimp/examples/character_clothes.py index 7a22571e62e3..9f6ae51734ef 100644 --- a/applications/plugins/SofaAssimp/examples/character_clothes.py +++ b/applications/plugins/SofaAssimp/examples/character_clothes.py @@ -65,7 +65,7 @@ def createBox(parent): parent.createObject('MechanicalObject', template='Rigid', name='model', position='0 100.0 0 0 0 0 1') parent.createObject('UniformMass') - parent.createObject('FixedConstraint', indices='0') + parent.createObject('FixedProjectiveConstraint', indices='0') collisionNode = parent.createChild('collision') collisionNode.createObject('MeshOBJLoader', name='loader', filename=mesh_path + 'cube.obj') diff --git a/applications/plugins/SofaCUDA/CMakeLists.txt b/applications/plugins/SofaCUDA/CMakeLists.txt index 18d32a9d0c54..cede9c498cc5 100644 --- a/applications/plugins/SofaCUDA/CMakeLists.txt +++ b/applications/plugins/SofaCUDA/CMakeLists.txt @@ -88,10 +88,10 @@ set(HEADER_FILES ${SOFACUDA_SOURCE_DIR}/component/collision/geometry/CudaTriangleModel.h ### Constraints - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedConstraint.h - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedConstraint.inl - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementConstraint.h - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementConstraint.inl + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedProjectiveConstraint.h + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedProjectiveConstraint.inl + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl ${SOFACUDA_SOURCE_DIR}/component/collision/response/contact/CudaPenalityContactForceField.h ${SOFACUDA_SOURCE_DIR}/component/collision/response/contact/CudaPenalityContactForceField.inl @@ -155,11 +155,11 @@ set(SOURCE_FILES ${SOFACUDA_SOURCE_DIR}/component/collision/geometry/CudaTriangleModel.cpp ### Constraints - ${SOFACUDA_SOURCE_DIR}/component/constraint/lagrangian/model/CudaBilateralInteractionConstraint.cpp - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedConstraint.cpp - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedTranslationConstraint.cpp - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementConstraint.cpp - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearVelocityConstraint.cpp + ${SOFACUDA_SOURCE_DIR}/component/constraint/lagrangian/model/CudaBilateralLagrangianConstraint.cpp + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedProjectiveConstraint.cpp + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cpp + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearVelocityProjectiveConstraint.cpp ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaBeamLinearMapping.cpp ${SOFACUDA_SOURCE_DIR}/component/engine/select/CudaBoxROI.cpp @@ -214,8 +214,8 @@ set(CUDA_SOURCES ### Collisions ### Constraints - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedConstraint.cu - ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementConstraint.cu + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaFixedProjectiveConstraint.cu + ${SOFACUDA_SOURCE_DIR}/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cu ) diff --git a/applications/plugins/SofaCUDA/examples/CudaDiagonalMass3f.scn b/applications/plugins/SofaCUDA/examples/CudaDiagonalMass3f.scn index a41d7f7d812c..a050a77b4dfd 100644 --- a/applications/plugins/SofaCUDA/examples/CudaDiagonalMass3f.scn +++ b/applications/plugins/SofaCUDA/examples/CudaDiagonalMass3f.scn @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/CudaMeshMatrixMass3f.scn b/applications/plugins/SofaCUDA/examples/CudaMeshMatrixMass3f.scn index c37d31a435e9..96be448a5c76 100644 --- a/applications/plugins/SofaCUDA/examples/CudaMeshMatrixMass3f.scn +++ b/applications/plugins/SofaCUDA/examples/CudaMeshMatrixMass3f.scn @@ -5,7 +5,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/SquareTissue-cpu.scn b/applications/plugins/SofaCUDA/examples/SquareTissue-cpu.scn index 8c4fc663c165..24a9bfef1f3d 100644 --- a/applications/plugins/SofaCUDA/examples/SquareTissue-cpu.scn +++ b/applications/plugins/SofaCUDA/examples/SquareTissue-cpu.scn @@ -4,7 +4,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/SquareTissue-cuda.scn b/applications/plugins/SofaCUDA/examples/SquareTissue-cuda.scn index 0de5b702db09..dd98b0408bce 100644 --- a/applications/plugins/SofaCUDA/examples/SquareTissue-cuda.scn +++ b/applications/plugins/SofaCUDA/examples/SquareTissue-cuda.scn @@ -9,7 +9,7 @@ - + @@ -29,7 +29,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/liver-CUDA.scn b/applications/plugins/SofaCUDA/examples/liver-CUDA.scn index 5a0d97d92670..aab06f1e8699 100644 --- a/applications/plugins/SofaCUDA/examples/liver-CUDA.scn +++ b/applications/plugins/SofaCUDA/examples/liver-CUDA.scn @@ -8,7 +8,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn b/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn index 68b670c1f6c2..2bb630e301ff 100644 --- a/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn +++ b/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn @@ -3,7 +3,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/quadSpringSphere2CUDA.scn b/applications/plugins/SofaCUDA/examples/quadSpringSphere2CUDA.scn index 93848be19a21..c64e31937aa6 100644 --- a/applications/plugins/SofaCUDA/examples/quadSpringSphere2CUDA.scn +++ b/applications/plugins/SofaCUDA/examples/quadSpringSphere2CUDA.scn @@ -6,7 +6,7 @@ - + - + @@ -28,7 +28,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/raptor-surface-cpu.scn b/applications/plugins/SofaCUDA/examples/raptor-surface-cpu.scn index 3d81d8eee70e..1b552f2fee44 100644 --- a/applications/plugins/SofaCUDA/examples/raptor-surface-cpu.scn +++ b/applications/plugins/SofaCUDA/examples/raptor-surface-cpu.scn @@ -1,5 +1,5 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/raptor-surface-cuda.scn b/applications/plugins/SofaCUDA/examples/raptor-surface-cuda.scn index c1f13507fcca..678a2fc71a18 100644 --- a/applications/plugins/SofaCUDA/examples/raptor-surface-cuda.scn +++ b/applications/plugins/SofaCUDA/examples/raptor-surface-cuda.scn @@ -4,7 +4,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/applications/plugins/SofaCUDA/examples/raptor.scn b/applications/plugins/SofaCUDA/examples/raptor.scn index 2578f49d39f4..0a6c0019fe95 100644 --- a/applications/plugins/SofaCUDA/examples/raptor.scn +++ b/applications/plugins/SofaCUDA/examples/raptor.scn @@ -10,7 +10,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/CudaHexahedronTLEDForceField_beam10x10x40_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/CudaHexahedronTLEDForceField_beam10x10x40_gpu.scn index 8fa7c7bffd92..7627e77bd952 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/CudaHexahedronTLEDForceField_beam10x10x40_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/CudaHexahedronTLEDForceField_beam10x10x40_gpu.scn @@ -9,7 +9,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam10x10x40_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam10x10x40_gpu.scn index 2ef393cbcd6c..978a40245486 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam10x10x40_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam10x10x40_gpu.scn @@ -9,7 +9,7 @@ - + @@ -42,7 +42,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam16x16x76_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam16x16x76_gpu.scn index 874433d4ddc3..fb541d527d53 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam16x16x76_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/CudaTetrahedronTLEDForceField_beam16x16x76_gpu.scn @@ -11,7 +11,7 @@ - + @@ -43,7 +43,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_cpu.scn index 6252c3efb664..105193031ccc 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_cpu.scn @@ -3,7 +3,7 @@ - + @@ -40,7 +40,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_gpu.scn index 380b07e84e96..5c3d68650276 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam10x10x40_gpu.scn @@ -10,7 +10,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_cpu.scn index 6e62626d07d7..9a22dfc3dc9b 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_cpu.scn @@ -3,7 +3,7 @@ - + @@ -41,7 +41,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_gpu.scn index a4dc1cf195e1..a10083418e65 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/HexahedronFEMForceField_beam16x16x76_gpu.scn @@ -12,7 +12,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_cpu.scn index ac8153d6f7b2..7796da7c44c0 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_cpu.scn @@ -3,7 +3,7 @@ - + @@ -44,7 +44,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_gpu.scn index 5e6d8de2f26f..d17803e7c3dd 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/MeshSpringForceField_beam10x10x40_gpu.scn @@ -10,7 +10,7 @@ - + @@ -39,7 +39,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_cpu.scn index 1679a23ead94..0e8d83018f09 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_cpu.scn @@ -1,6 +1,6 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_gpu.scn index b6a75ba6749d..04e69c0d70a8 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/QuadSpringsSphere_gpu.scn @@ -7,7 +7,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_cpu.scn index 9582735633f7..a927ece7da58 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_cpu.scn @@ -3,7 +3,7 @@ - + @@ -48,7 +48,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_gpu.scn index 04db6e4a5621..62633ccb794a 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam10x10x40_gpu.scn @@ -10,7 +10,7 @@ - + @@ -44,7 +44,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_cpu.scn index ff4eabb5c35a..dee6efd1fca1 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_cpu.scn @@ -3,7 +3,7 @@ - + @@ -49,7 +49,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_gpu.scn index 0e5df06504b1..096de16b5412 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/TetrahedronFEMForceField_beam16x16x76_gpu.scn @@ -12,7 +12,7 @@ - + @@ -45,7 +45,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_cpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_cpu.scn index b5e3b8c6510d..9aa2db094bd3 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_cpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_cpu.scn @@ -3,7 +3,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_gpu.scn b/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_gpu.scn index a8e58525301e..437e8d591a1c 100644 --- a/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_gpu.scn +++ b/applications/plugins/SofaCUDA/scenes/benchmarks/TriangularFEMForceFieldOptim_tissue100x100_gpu.scn @@ -9,7 +9,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_implicit.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_implicit.scn index 1d5b9a9ede36..718ffb9e7bcb 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_implicit.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_implicit.scn @@ -3,7 +3,7 @@ - + @@ -16,7 +16,7 @@ - + @@ -40,7 +40,7 @@ - + @@ -69,7 +69,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_rk4.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_rk4.scn index 58965778e860..b8076ed393bb 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_rk4.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaHexahedronFEMForceField_beam10x10x40_rk4.scn @@ -3,7 +3,7 @@ - + @@ -15,7 +15,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -66,7 +66,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_implicit.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_implicit.scn index 8fba50c8a84a..e584d442fb71 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_implicit.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_implicit.scn @@ -3,7 +3,7 @@ - + @@ -16,7 +16,7 @@ - + @@ -45,7 +45,7 @@ - + @@ -65,7 +65,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_rk4.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_rk4.scn index 80cf963b23a7..dce457e8680f 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_rk4.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaMeshSpringForceField_beam10x10x40_rk4.scn @@ -3,7 +3,7 @@ - + @@ -15,7 +15,7 @@ - + @@ -43,7 +43,7 @@ - + @@ -62,7 +62,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_implicit.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_implicit.scn index 35e427802eb4..c44f740e076f 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_implicit.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_implicit.scn @@ -3,7 +3,7 @@ - + @@ -16,7 +16,7 @@ - + @@ -49,7 +49,7 @@ - + @@ -79,7 +79,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_rk4.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_rk4.scn index 02270abfece7..1a5df4ad730f 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_rk4.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTetrahedronFEMForceField_beam10x10x40_rk4.scn @@ -3,7 +3,7 @@ - + @@ -15,7 +15,7 @@ - + @@ -47,7 +47,7 @@ - + @@ -76,7 +76,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue100x100_implicit.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue100x100_implicit.scn index cbf2b07201ec..e02a3548e2a3 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue100x100_implicit.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue100x100_implicit.scn @@ -3,7 +3,7 @@ - + @@ -14,7 +14,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -61,7 +61,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue20x20_implicit.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue20x20_implicit.scn index 51687ad146c1..7d5e1e5f69a6 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue20x20_implicit.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/CudaTriangularFEMForceFieldOptim_tissue20x20_implicit.scn @@ -3,7 +3,7 @@ - + @@ -14,7 +14,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -61,7 +61,7 @@ - + diff --git a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/QuadSpringsSphere.scn b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/QuadSpringsSphere.scn index b974d155a302..9d0f01b6e193 100644 --- a/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/QuadSpringsSphere.scn +++ b/applications/plugins/SofaCUDA/scenes/cpu-gpu_validation/QuadSpringsSphere.scn @@ -1,6 +1,6 @@ - + @@ -12,7 +12,7 @@ - + diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/CudaBilateralInteractionConstraint.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/CudaBilateralLagrangianConstraint.cpp similarity index 72% rename from applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/CudaBilateralInteractionConstraint.cpp rename to applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/CudaBilateralLagrangianConstraint.cpp index b0486fe7930d..c014599a76f8 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/CudaBilateralInteractionConstraint.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/lagrangian/model/CudaBilateralLagrangianConstraint.cpp @@ -21,18 +21,18 @@ ******************************************************************************/ #include #include -#include +#include #include namespace sofa::component::constraint::lagrangian::model { -template class SOFA_GPU_CUDA_API BilateralInteractionConstraint; -template class SOFA_GPU_CUDA_API BilateralInteractionConstraint; +template class SOFA_GPU_CUDA_API BilateralLagrangianConstraint; +template class SOFA_GPU_CUDA_API BilateralLagrangianConstraint; #ifdef SOFA_GPU_CUDA_DOUBLE -template class SOFA_GPU_CUDA_API BilateralInteractionConstraint; -template class SOFA_GPU_CUDA_API BilateralInteractionConstraint; +template class SOFA_GPU_CUDA_API BilateralLagrangianConstraint; +template class SOFA_GPU_CUDA_API BilateralLagrangianConstraint; #endif // SOFA_GPU_CUDA_DOUBLE } //namespace sofa::component::constraint::lagrangian::model @@ -42,12 +42,12 @@ namespace sofa::gpu::cuda using namespace sofa::component::constraint::lagrangian::model; -int BilateralInteractionConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") - .add< BilateralInteractionConstraint >() - .add< BilateralInteractionConstraint >() +int BilateralLagrangianConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") + .add< BilateralLagrangianConstraint >() + .add< BilateralLagrangianConstraint >() #ifdef SOFA_GPU_CUDA_DOUBLE - .add< BilateralInteractionConstraint >() - .add< BilateralInteractionConstraint >() + .add< BilateralLagrangianConstraint >() + .add< BilateralLagrangianConstraint >() #endif // SOFA_GPU_CUDA_DOUBLE ; } // namespace sofa::gpu::cuda diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cu b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cu deleted file mode 100644 index b193ef8ef77b..000000000000 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cu +++ /dev/null @@ -1,223 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include -#include -#include "cuda.h" -#include - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -namespace sofa -{ -namespace gpu -{ -namespace cuda -{ -#endif - -extern "C" -{ - void FixedConstraintCuda1f_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda1f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCuda3f_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCuda3f1_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3f1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCudaRigid3f_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCudaRigid3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void FixedConstraintCuda3d_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCuda3d1_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3d1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCudaRigid3d_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCudaRigid3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -////////////////////// -// GPU-side methods // -////////////////////// - -template -__global__ void FixedConstraintCuda1t_projectResponseContiguous_kernel(int size, real* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[index] = 0.0f; -} - -template -__global__ void FixedConstraintCuda3t_projectResponseContiguous_kernel(int size, CudaVec3* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[index] = CudaVec3::make(0.0f,0.0f,0.0f); -} - -template -__global__ void FixedConstraintCuda3t1_projectResponseContiguous_kernel(int size, CudaVec4* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[index] = CudaVec4::make(0.0f,0.0f,0.0f,0.0f); -} - -template -__global__ void FixedConstraintCudaRigid3t_projectResponseContiguous_kernel(int size, CudaRigidDeriv3* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[index] = CudaRigidDeriv3::make(0.0f,0.0f,0.0f,0.0f,0.0f,0.0f); -} - -template -__global__ void FixedConstraintCuda1t_projectResponseIndexed_kernel(int size, const int* indices, real* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[indices[index]] = 0.0f; -} - -template -__global__ void FixedConstraintCuda3t_projectResponseIndexed_kernel(int size, const int* indices, CudaVec3* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[indices[index]] = CudaVec3::make(0.0f,0.0f,0.0f); -} - -template -__global__ void FixedConstraintCuda3t1_projectResponseIndexed_kernel(int size, const int* indices, CudaVec4* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[indices[index]] = CudaVec4::make(0.0f,0.0f,0.0f,0.0f); -} - -template -__global__ void FixedConstraintCudaRigid3t_projectResponseIndexed_kernel(int size, const int* indices, CudaRigidDeriv3* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - if (index < size) - dx[indices[index]] = CudaRigidDeriv3::make(0.0f,0.0f,0.0f,0.0f,0.0f,0.0f); -} - -////////////////////// -// CPU-side methods // -////////////////////// - -void FixedConstraintCuda1f_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*sizeof(float)); -} - -void FixedConstraintCuda3f_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*3*sizeof(float)); -} - -void FixedConstraintCuda3f1_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*4*sizeof(float)); -} - -void FixedConstraintCudaRigid3f_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*6*sizeof(float)); -} - -void FixedConstraintCuda1f_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCuda1t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (float*)dx); mycudaDebugError("FixedConstraintCuda1t_projectResponseIndexed_kernel");} -} - -void FixedConstraintCuda3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCuda3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec3*)dx); mycudaDebugError("FixedConstraintCuda3t_projectResponseIndexed_kernel");} -} - -void FixedConstraintCuda3f1_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCuda3t1_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec4*)dx); mycudaDebugError("FixedConstraintCuda3t1_projectResponseIndexed_kernel");} -} - -void FixedConstraintCudaRigid3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("FixedConstraintCudaRigid3t_projectResponseIndexed_kernel");} -} - -#ifdef SOFA_GPU_CUDA_DOUBLE - -void FixedConstraintCuda3d_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*3*sizeof(double)); -} - -void FixedConstraintCuda3d1_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*4*sizeof(double)); -} - -void FixedConstraintCudaRigid3d_projectResponseContiguous(unsigned int size, void* dx) -{ - cudaMemset(dx, 0, size*6*sizeof(double)); -} - -void FixedConstraintCuda3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCuda3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec3*)dx); mycudaDebugError("FixedConstraintCuda3t_projectResponseIndexed_kernel");} -} - -void FixedConstraintCuda3d1_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCuda3t1_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec4*)dx); mycudaDebugError("FixedConstraintCuda3t1_projectResponseIndexed_kernel");} -} - -void FixedConstraintCudaRigid3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {FixedConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("FixedConstraintCudaRigid3t_projectResponseIndexed_kernel");} -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -} // namespace cuda -} // namespace gpu -} // namespace sofa -#endif diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h index 15e27ce1a2ae..f92c6941f628 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h @@ -21,91 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::component::constraint::projective -{ - -template -class FixedConstraintInternalData< gpu::cuda::CudaVectorTypes > -{ -public: - using Index = sofa::Index; - typedef FixedConstraintInternalData< gpu::cuda::CudaVectorTypes > Data; - typedef gpu::cuda::CudaVectorTypes DataTypes; - typedef FixedConstraint Main; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename Main::SetIndex SetIndex; - typedef typename Main::SetIndexArray SetIndexArray; - - // min/max fixed indices for contiguous constraints - Index minIndex; - Index maxIndex; - // vector of indices for general case - gpu::cuda::CudaVector cudaIndices; - - - static void init(Main* m); - - static void addConstraint(Main* m, Index index); - - static void removeConstraint(Main* m, Index index); - - static void projectResponse(Main* m, VecDeriv& dx); -}; - -template -class FixedConstraintInternalData< gpu::cuda::CudaRigidTypes > -{ -public: - using Index = sofa::Index; - typedef FixedConstraintInternalData< gpu::cuda::CudaRigidTypes > Data; - typedef gpu::cuda::CudaRigidTypes DataTypes; - typedef FixedConstraint Main; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename Main::SetIndex SetIndex; - typedef typename Main::SetIndexArray SetIndexArray; - - // min/max fixed indices for contiguous constraints - Index minIndex; - Index maxIndex; - // vector of indices for general case - gpu::cuda::CudaVector cudaIndices; - - - static void init(Main* m); - - static void addConstraint(Main* m, Index index); - - static void removeConstraint(Main* m, Index index); - - static void projectResponse(Main* m, VecDeriv& dx); -}; - -// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types -#define CudaFixedConstraint_DeclMethods(T) \ - template<> void FixedConstraint< T >::init(); \ - template<> void FixedConstraint< T >::addConstraint(Index index); \ - template<> void FixedConstraint< T >::removeConstraint(Index index); \ - template<> void FixedConstraint< T >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData); - -CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3fTypes); -CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3f1Types); -CudaFixedConstraint_DeclMethods(gpu::cuda::CudaRigid3fTypes); - -#ifdef SOFA_GPU_CUDA_DOUBLE - -CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3dTypes); -CudaFixedConstraint_DeclMethods(gpu::cuda::CudaVec3d1Types); -CudaFixedConstraint_DeclMethods(gpu::cuda::CudaRigid3dTypes); - -#endif // SOFA_GPU_CUDA_DOUBLE - -#undef CudaFixedConstraint_DeclMethods - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.h") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl index 1054b5a37846..95ad8d259850 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl @@ -21,433 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::gpu::cuda -{ - -extern "C" -{ - void FixedConstraintCuda1f_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda1f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCuda3f_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCuda3f1_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3f1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCudaRigid3f_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCudaRigid3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void FixedConstraintCuda3d_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCuda3d1_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCuda3d1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - void FixedConstraintCudaRigid3d_projectResponseContiguous(unsigned int size, void* dx); - void FixedConstraintCudaRigid3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -} // namespace sofa::gpu::cuda - -namespace sofa::component::constraint::projective -{ - -using namespace gpu::cuda; - -template -void FixedConstraintInternalData< gpu::cuda::CudaVectorTypes >::init(Main* m) -{ - Data& data = *m->data; - data.minIndex = sofa::InvalidID; - data.maxIndex = sofa::InvalidID; - data.cudaIndices.clear(); - m->core::behavior::template ProjectiveConstraintSet::init(); - const SetIndexArray& indices = m->d_indices.getValue(); - if (!indices.empty()) - { - // put indices in a set to sort them and remove duplicates - std::set sortedIndices; - for (typename SetIndex::const_iterator it = indices.begin(); it!=indices.end(); ++it) - sortedIndices.insert(*it); - // check if the indices are contiguous - if (*sortedIndices.begin() + (int)sortedIndices.size()-1 == *sortedIndices.rbegin()) - { - data.minIndex = *sortedIndices.begin(); - data.maxIndex = *sortedIndices.rbegin(); - msg_info("CudaFixedConstraint") << "init: " << sortedIndices.size() << " contiguous fixed indices, " << data.minIndex << " - " << data.maxIndex; - } - else - { - msg_info("CudaFixedConstraint") << "init: " << sortedIndices.size() << " non-contiguous fixed indices"; - data.cudaIndices.reserve(sortedIndices.size()); - for (std::set::const_iterator it = sortedIndices.begin(); it!=sortedIndices.end(); ++it) - data.cudaIndices.push_back(*it); - } - } - - m->d_componentState.setValue(ComponentState::Valid); -} - -template -void FixedConstraintInternalData< gpu::cuda::CudaVectorTypes >::addConstraint(Main* m, Index index) -{ - Data& data = *m->data; - //std::cout << "CudaFixedConstraint::addConstraint("<d_indices.beginEdit()->push_back(index); - m->d_indices.endEdit(); - if (data.cudaIndices.empty()) - { - if (data.minIndex == sofa::InvalidID) - { - //std::cout << "CudaFixedConstraint: single index "<= data.minIndex && index <= data.maxIndex) - { - // point already fixed - } - else if (data.minIndex == index + 1) - { - data.minIndex = index; - //std::cout << "CudaFixedConstraint: new min index "< -void FixedConstraintInternalData< gpu::cuda::CudaVectorTypes >::removeConstraint(Main* m, Index index) -{ - Data& data = *m->data; - removeValue(*m->d_indices.beginEdit(),index); - m->d_indices.endEdit(); - if (data.cudaIndices.empty()) - { - if (data.minIndex <= index && index <= data.maxIndex) - { - if (data.minIndex == index) - { - if (data.maxIndex == index) - { - // empty set - data.minIndex = sofa::InvalidID; - data.maxIndex = sofa::InvalidID; - } - else - ++data.minIndex; - } - else if (data.maxIndex == index) - --data.maxIndex; - else - { - data.cudaIndices.reserve(data.maxIndex-data.minIndex); - for (int i=data.minIndex; i -void FixedConstraintInternalData< gpu::cuda::CudaRigidTypes >::init(Main* m) -{ - Data& data = *m->data; - data.minIndex = sofa::InvalidID; - data.maxIndex = sofa::InvalidID; - data.cudaIndices.clear(); - m->core::behavior::template ProjectiveConstraintSet::init(); - const SetIndexArray& indices = m->d_indices.getValue(); - if (!indices.empty()) - { - // put indices in a set to sort them and remove duplicates - std::set sortedIndices; - for (typename SetIndex::const_iterator it = indices.begin(); it!=indices.end(); ++it) - sortedIndices.insert(*it); - // check if the indices are contiguous - if (*sortedIndices.begin() + (int)sortedIndices.size()-1 == *sortedIndices.rbegin()) - { - data.minIndex = *sortedIndices.begin(); - data.maxIndex = *sortedIndices.rbegin(); - msg_info("CudaFixedConstraint") << "init: " << sortedIndices.size() << " contiguous fixed indices, " << data.minIndex << " - " << data.maxIndex; - } - else - { - msg_info("CudaFixedConstraint") << "init: " << sortedIndices.size() << " non-contiguous fixed indices"; - data.cudaIndices.reserve(sortedIndices.size()); - for (std::set::const_iterator it = sortedIndices.begin(); it!=sortedIndices.end(); ++it) - data.cudaIndices.push_back(*it); - } - } - - m->d_componentState.setValue(ComponentState::Valid); -} - -template -void FixedConstraintInternalData< gpu::cuda::CudaRigidTypes >::addConstraint(Main* m, Index index) -{ - Data& data = *m->data; - //std::cout << "CudaFixedConstraint::addConstraint("<d_indices.beginEdit()->push_back(index); - m->d_indices.endEdit(); - if (data.cudaIndices.empty()) - { - if (data.minIndex == sofa::InvalidID) - { - //std::cout << "CudaFixedConstraint: single index "<= data.minIndex && index <= data.maxIndex) - { - // point already fixed - } - else if (data.minIndex == index+1) - { - data.minIndex = index; - //std::cout << "CudaFixedConstraint: new min index "< -void FixedConstraintInternalData< gpu::cuda::CudaRigidTypes >::removeConstraint(Main* m, Index index) -{ - Data& data = *m->data; - removeValue(*m->d_indices.beginEdit(),index); - m->d_indices.endEdit(); - if (data.cudaIndices.empty()) - { - if (data.minIndex <= index && index <= data.maxIndex) - { - if (data.minIndex == index) - { - if (data.maxIndex == index) - { - // empty set - data.minIndex = sofa::InvalidID; - data.maxIndex = sofa::InvalidID; - } - else - ++data.minIndex; - } - else if (data.maxIndex == index) - --data.maxIndex; - else - { - data.cudaIndices.reserve(data.maxIndex-data.minIndex); - for (int i=data.minIndex; i -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - const Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCuda1f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); - else if (data.minIndex >= 0) - FixedConstraintCuda1f_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+data.minIndex); - else - FixedConstraintCuda1f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - - -template <> -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - const Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCuda3f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); - else if (data.minIndex != sofa::InvalidID) - FixedConstraintCuda3f_projectResponseContiguous(data.maxIndex - data.minIndex + 1, ((float*)dx.deviceWrite()) + 3 * data.minIndex); - else - FixedConstraintCuda3f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - - -template <> -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - const Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCuda3f1_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); - else if (data.minIndex != sofa::InvalidID) - FixedConstraintCuda3f1_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+4*data.minIndex); - else - FixedConstraintCuda3f1_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - -template <> -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - const Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCudaRigid3f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); - else if (data.minIndex != sofa::InvalidID) - FixedConstraintCudaRigid3f_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+6*data.minIndex); - else - FixedConstraintCudaRigid3f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - - - -#ifdef SOFA_GPU_CUDA_DOUBLE - -// // Handle topological changes -// template <> -// void FixedConstraint::handleTopologyChange() { -// // std::list::const_iterator itBegin=topology->firstChange(); -// // std::list::const_iterator itEnd=topology->lastChange(); -// // -// // d_indices.beginEdit()->handleTopologyEvents(itBegin,itEnd,this->getMState()->getSize()); -// //printf("WARNING handleTopologyChange not implemented\n"); -// } - -template <> -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCuda3d_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite())); - else if (data.minIndex >= 0) - FixedConstraintCuda3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+3*data.minIndex); - else - FixedConstraintCuda3d_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - -template <> -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCuda3d1_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite())); - else if (data.minIndex >= 0) - FixedConstraintCuda3d1_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+4*data.minIndex); - else - FixedConstraintCuda3d1_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - -template <> -void FixedConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - if (m->d_fixAll.getValue()) - FixedConstraintCudaRigid3d_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite())); - else if (data.minIndex >= 0) - FixedConstraintCudaRigid3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+6*data.minIndex); - else - FixedConstraintCudaRigid3d_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types -#define CudaFixedConstraint_ImplMethods(T) \ - template<> void FixedConstraint< T >::init() \ - { data->init(this); } \ - template<> void FixedConstraint< T >::addConstraint(Index index) \ - { data->addConstraint(this, index); } \ - template<> void FixedConstraint< T >::removeConstraint(Index index) \ - { data->removeConstraint(this, index); } \ - template<> void FixedConstraint< T >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& d_resData) \ - { \ - VecDeriv &resData = *d_resData.beginEdit(); \ - data->projectResponse(this, resData); \ - d_resData.endEdit(); \ - } - -CudaFixedConstraint_ImplMethods(gpu::cuda::CudaVec3fTypes); -CudaFixedConstraint_ImplMethods(gpu::cuda::CudaVec3f1Types); -CudaFixedConstraint_ImplMethods(gpu::cuda::CudaRigid3fTypes); - -#ifdef SOFA_GPU_CUDA_DOUBLE - -CudaFixedConstraint_ImplMethods(gpu::cuda::CudaVec3dTypes); -CudaFixedConstraint_ImplMethods(gpu::cuda::CudaVec3d1Types); -CudaFixedConstraint_ImplMethods(gpu::cuda::CudaRigid3dTypes); - -#endif // SOFA_GPU_CUDA_DOUBLE - -#undef CudaFixedConstraint_ImplMethods - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cpp similarity index 54% rename from applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cpp rename to applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cpp index eb3455d6c046..0384749ab2c2 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cpp @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #include -#include +#include #include #include #include @@ -29,17 +29,17 @@ namespace sofa::component::constraint::projective { -template class SOFA_GPU_CUDA_API FixedConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; #ifdef SOFA_GPU_CUDA_DOUBLE -template class SOFA_GPU_CUDA_API FixedConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; -template class SOFA_GPU_CUDA_API FixedConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedProjectiveConstraint; #endif // SOFA_GPU_CUDA_DOUBLE } // namespace sofa::component::constraint::projective @@ -47,17 +47,17 @@ template class SOFA_GPU_CUDA_API FixedConstraint; namespace sofa::gpu::cuda { -int FixedConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() +int FixedProjectiveConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() #ifdef SOFA_GPU_CUDA_DOUBLE - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() - .add< component::constraint::projective::FixedConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() + .add< component::constraint::projective::FixedProjectiveConstraint >() #endif // SOFA_GPU_CUDA_DOUBLE ; diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cu b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cu new file mode 100644 index 000000000000..24a7dd330c21 --- /dev/null +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.cu @@ -0,0 +1,223 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include +#include "cuda.h" +#include + +#if defined(__cplusplus) && CUDA_VERSION < 2000 +namespace sofa +{ +namespace gpu +{ +namespace cuda +{ +#endif + +extern "C" +{ + void FixedProjectiveConstraintCuda1f_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda1f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCuda3f_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCuda3f1_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3f1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCudaRigid3f_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCudaRigid3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + +#ifdef SOFA_GPU_CUDA_DOUBLE + + void FixedProjectiveConstraintCuda3d_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCuda3d1_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3d1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCudaRigid3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + +#endif // SOFA_GPU_CUDA_DOUBLE +} + +////////////////////// +// GPU-side methods // +////////////////////// + +template +__global__ void FixedProjectiveConstraintCuda1t_projectResponseContiguous_kernel(int size, real* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[index] = 0.0f; +} + +template +__global__ void FixedProjectiveConstraintCuda3t_projectResponseContiguous_kernel(int size, CudaVec3* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[index] = CudaVec3::make(0.0f,0.0f,0.0f); +} + +template +__global__ void FixedProjectiveConstraintCuda3t1_projectResponseContiguous_kernel(int size, CudaVec4* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[index] = CudaVec4::make(0.0f,0.0f,0.0f,0.0f); +} + +template +__global__ void FixedProjectiveConstraintCudaRigid3t_projectResponseContiguous_kernel(int size, CudaRigidDeriv3* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[index] = CudaRigidDeriv3::make(0.0f,0.0f,0.0f,0.0f,0.0f,0.0f); +} + +template +__global__ void FixedProjectiveConstraintCuda1t_projectResponseIndexed_kernel(int size, const int* indices, real* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[indices[index]] = 0.0f; +} + +template +__global__ void FixedProjectiveConstraintCuda3t_projectResponseIndexed_kernel(int size, const int* indices, CudaVec3* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[indices[index]] = CudaVec3::make(0.0f,0.0f,0.0f); +} + +template +__global__ void FixedProjectiveConstraintCuda3t1_projectResponseIndexed_kernel(int size, const int* indices, CudaVec4* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[indices[index]] = CudaVec4::make(0.0f,0.0f,0.0f,0.0f); +} + +template +__global__ void FixedProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel(int size, const int* indices, CudaRigidDeriv3* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + if (index < size) + dx[indices[index]] = CudaRigidDeriv3::make(0.0f,0.0f,0.0f,0.0f,0.0f,0.0f); +} + +////////////////////// +// CPU-side methods // +////////////////////// + +void FixedProjectiveConstraintCuda1f_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*sizeof(float)); +} + +void FixedProjectiveConstraintCuda3f_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*3*sizeof(float)); +} + +void FixedProjectiveConstraintCuda3f1_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*4*sizeof(float)); +} + +void FixedProjectiveConstraintCudaRigid3f_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*6*sizeof(float)); +} + +void FixedProjectiveConstraintCuda1f_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCuda1t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (float*)dx); mycudaDebugError("FixedProjectiveConstraintCuda1t_projectResponseIndexed_kernel");} +} + +void FixedProjectiveConstraintCuda3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCuda3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec3*)dx); mycudaDebugError("FixedProjectiveConstraintCuda3t_projectResponseIndexed_kernel");} +} + +void FixedProjectiveConstraintCuda3f1_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCuda3t1_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec4*)dx); mycudaDebugError("FixedProjectiveConstraintCuda3t1_projectResponseIndexed_kernel");} +} + +void FixedProjectiveConstraintCudaRigid3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("FixedProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel");} +} + +#ifdef SOFA_GPU_CUDA_DOUBLE + +void FixedProjectiveConstraintCuda3d_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*3*sizeof(double)); +} + +void FixedProjectiveConstraintCuda3d1_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*4*sizeof(double)); +} + +void FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(unsigned int size, void* dx) +{ + cudaMemset(dx, 0, size*6*sizeof(double)); +} + +void FixedProjectiveConstraintCuda3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCuda3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec3*)dx); mycudaDebugError("FixedProjectiveConstraintCuda3t_projectResponseIndexed_kernel");} +} + +void FixedProjectiveConstraintCuda3d1_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCuda3t1_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaVec4*)dx); mycudaDebugError("FixedProjectiveConstraintCuda3t1_projectResponseIndexed_kernel");} +} + +void FixedProjectiveConstraintCudaRigid3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx) +{ + dim3 threads(BSIZE,1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {FixedProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("FixedProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel");} +} + +#endif // SOFA_GPU_CUDA_DOUBLE + +#if defined(__cplusplus) && CUDA_VERSION < 2000 +} // namespace cuda +} // namespace gpu +} // namespace sofa +#endif diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.h new file mode 100644 index 000000000000..1c4d1bf8b08e --- /dev/null +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.h @@ -0,0 +1,112 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include + +namespace sofa::component::constraint::projective +{ + +template +class FixedProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes > +{ +public: + using Index = sofa::Index; + typedef FixedProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes > Data; + typedef gpu::cuda::CudaVectorTypes DataTypes; + typedef FixedProjectiveConstraint Main; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename Main::SetIndex SetIndex; + typedef typename Main::SetIndexArray SetIndexArray; + + // min/max fixed indices for contiguous constraints + Index minIndex; + Index maxIndex; + // vector of indices for general case + gpu::cuda::CudaVector cudaIndices; + + + static void init(Main* m); + + static void addConstraint(Main* m, Index index); + + static void removeConstraint(Main* m, Index index); + + static void projectResponse(Main* m, VecDeriv& dx); +}; + +template +class FixedProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes > +{ +public: + using Index = sofa::Index; + typedef FixedProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes > Data; + typedef gpu::cuda::CudaRigidTypes DataTypes; + typedef FixedProjectiveConstraint Main; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename Main::SetIndex SetIndex; + typedef typename Main::SetIndexArray SetIndexArray; + + // min/max fixed indices for contiguous constraints + Index minIndex; + Index maxIndex; + // vector of indices for general case + gpu::cuda::CudaVector cudaIndices; + + + static void init(Main* m); + + static void addConstraint(Main* m, Index index); + + static void removeConstraint(Main* m, Index index); + + static void projectResponse(Main* m, VecDeriv& dx); +}; + +// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types +#define CudaFixedProjectiveConstraint_DeclMethods(T) \ + template<> void FixedProjectiveConstraint< T >::init(); \ + template<> void FixedProjectiveConstraint< T >::addConstraint(Index index); \ + template<> void FixedProjectiveConstraint< T >::removeConstraint(Index index); \ + template<> void FixedProjectiveConstraint< T >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& resData); + +CudaFixedProjectiveConstraint_DeclMethods(gpu::cuda::CudaVec3fTypes); +CudaFixedProjectiveConstraint_DeclMethods(gpu::cuda::CudaVec3f1Types); +CudaFixedProjectiveConstraint_DeclMethods(gpu::cuda::CudaRigid3fTypes); + +#ifdef SOFA_GPU_CUDA_DOUBLE + +CudaFixedProjectiveConstraint_DeclMethods(gpu::cuda::CudaVec3dTypes); +CudaFixedProjectiveConstraint_DeclMethods(gpu::cuda::CudaVec3d1Types); +CudaFixedProjectiveConstraint_DeclMethods(gpu::cuda::CudaRigid3dTypes); + +#endif // SOFA_GPU_CUDA_DOUBLE + +#undef CudaFixedProjectiveConstraint_DeclMethods + + +} // namespace sofa::component::constraint::projective diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl new file mode 100644 index 000000000000..6d3ce62aa718 --- /dev/null +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl @@ -0,0 +1,453 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include + +namespace sofa::gpu::cuda +{ + +extern "C" +{ + void FixedProjectiveConstraintCuda1f_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda1f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCuda3f_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCuda3f1_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3f1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCudaRigid3f_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCudaRigid3f_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + +#ifdef SOFA_GPU_CUDA_DOUBLE + + void FixedProjectiveConstraintCuda3d_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCuda3d1_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCuda3d1_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + void FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(unsigned int size, void* dx); + void FixedProjectiveConstraintCudaRigid3d_projectResponseIndexed(unsigned int size, const void* indices, void* dx); + +#endif // SOFA_GPU_CUDA_DOUBLE +} + +} // namespace sofa::gpu::cuda + +namespace sofa::component::constraint::projective +{ + +using namespace gpu::cuda; + +template +void FixedProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::init(Main* m) +{ + Data& data = *m->data; + data.minIndex = sofa::InvalidID; + data.maxIndex = sofa::InvalidID; + data.cudaIndices.clear(); + m->core::behavior::template ProjectiveConstraintSet::init(); + const SetIndexArray& indices = m->d_indices.getValue(); + if (!indices.empty()) + { + // put indices in a set to sort them and remove duplicates + std::set sortedIndices; + for (typename SetIndex::const_iterator it = indices.begin(); it!=indices.end(); ++it) + sortedIndices.insert(*it); + // check if the indices are contiguous + if (*sortedIndices.begin() + (int)sortedIndices.size()-1 == *sortedIndices.rbegin()) + { + data.minIndex = *sortedIndices.begin(); + data.maxIndex = *sortedIndices.rbegin(); + msg_info("CudaFixedProjectiveConstraint") << "init: " << sortedIndices.size() << " contiguous fixed indices, " << data.minIndex << " - " << data.maxIndex; + } + else + { + msg_info("CudaFixedProjectiveConstraint") << "init: " << sortedIndices.size() << " non-contiguous fixed indices"; + data.cudaIndices.reserve(sortedIndices.size()); + for (std::set::const_iterator it = sortedIndices.begin(); it!=sortedIndices.end(); ++it) + data.cudaIndices.push_back(*it); + } + } + + m->d_componentState.setValue(ComponentState::Valid); +} + +template +void FixedProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::addConstraint(Main* m, Index index) +{ + Data& data = *m->data; + //std::cout << "CudaFixedProjectiveConstraint::addConstraint("<d_indices.beginEdit()->push_back(index); + m->d_indices.endEdit(); + if (data.cudaIndices.empty()) + { + if (data.minIndex == sofa::InvalidID) + { + //std::cout << "CudaFixedProjectiveConstraint: single index "<= data.minIndex && index <= data.maxIndex) + { + // point already fixed + } + else if (data.minIndex == index + 1) + { + data.minIndex = index; + //std::cout << "CudaFixedProjectiveConstraint: new min index "< +void FixedProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::removeConstraint(Main* m, Index index) +{ + Data& data = *m->data; + removeValue(*m->d_indices.beginEdit(),index); + m->d_indices.endEdit(); + if (data.cudaIndices.empty()) + { + if (data.minIndex <= index && index <= data.maxIndex) + { + if (data.minIndex == index) + { + if (data.maxIndex == index) + { + // empty set + data.minIndex = sofa::InvalidID; + data.maxIndex = sofa::InvalidID; + } + else + ++data.minIndex; + } + else if (data.maxIndex == index) + --data.maxIndex; + else + { + data.cudaIndices.reserve(data.maxIndex-data.minIndex); + for (int i=data.minIndex; i +void FixedProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::init(Main* m) +{ + Data& data = *m->data; + data.minIndex = sofa::InvalidID; + data.maxIndex = sofa::InvalidID; + data.cudaIndices.clear(); + m->core::behavior::template ProjectiveConstraintSet::init(); + const SetIndexArray& indices = m->d_indices.getValue(); + if (!indices.empty()) + { + // put indices in a set to sort them and remove duplicates + std::set sortedIndices; + for (typename SetIndex::const_iterator it = indices.begin(); it!=indices.end(); ++it) + sortedIndices.insert(*it); + // check if the indices are contiguous + if (*sortedIndices.begin() + (int)sortedIndices.size()-1 == *sortedIndices.rbegin()) + { + data.minIndex = *sortedIndices.begin(); + data.maxIndex = *sortedIndices.rbegin(); + msg_info("CudaFixedProjectiveConstraint") << "init: " << sortedIndices.size() << " contiguous fixed indices, " << data.minIndex << " - " << data.maxIndex; + } + else + { + msg_info("CudaFixedProjectiveConstraint") << "init: " << sortedIndices.size() << " non-contiguous fixed indices"; + data.cudaIndices.reserve(sortedIndices.size()); + for (std::set::const_iterator it = sortedIndices.begin(); it!=sortedIndices.end(); ++it) + data.cudaIndices.push_back(*it); + } + } + + m->d_componentState.setValue(ComponentState::Valid); +} + +template +void FixedProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::addConstraint(Main* m, Index index) +{ + Data& data = *m->data; + //std::cout << "CudaFixedProjectiveConstraint::addConstraint("<d_indices.beginEdit()->push_back(index); + m->d_indices.endEdit(); + if (data.cudaIndices.empty()) + { + if (data.minIndex == sofa::InvalidID) + { + //std::cout << "CudaFixedProjectiveConstraint: single index "<= data.minIndex && index <= data.maxIndex) + { + // point already fixed + } + else if (data.minIndex == index+1) + { + data.minIndex = index; + //std::cout << "CudaFixedProjectiveConstraint: new min index "< +void FixedProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::removeConstraint(Main* m, Index index) +{ + Data& data = *m->data; + removeValue(*m->d_indices.beginEdit(),index); + m->d_indices.endEdit(); + if (data.cudaIndices.empty()) + { + if (data.minIndex <= index && index <= data.maxIndex) + { + if (data.minIndex == index) + { + if (data.maxIndex == index) + { + // empty set + data.minIndex = sofa::InvalidID; + data.maxIndex = sofa::InvalidID; + } + else + ++data.minIndex; + } + else if (data.maxIndex == index) + --data.maxIndex; + else + { + data.cudaIndices.reserve(data.maxIndex-data.minIndex); + for (int i=data.minIndex; i +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + const Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCuda1f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); + else if (data.minIndex >= 0) + FixedProjectiveConstraintCuda1f_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+data.minIndex); + else + FixedProjectiveConstraintCuda1f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + + +template <> +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + const Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCuda3f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); + else if (data.minIndex != sofa::InvalidID) + FixedProjectiveConstraintCuda3f_projectResponseContiguous(data.maxIndex - data.minIndex + 1, ((float*)dx.deviceWrite()) + 3 * data.minIndex); + else + FixedProjectiveConstraintCuda3f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + + +template <> +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + const Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCuda3f1_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); + else if (data.minIndex != sofa::InvalidID) + FixedProjectiveConstraintCuda3f1_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+4*data.minIndex); + else + FixedProjectiveConstraintCuda3f1_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + +template <> +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + const Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCudaRigid3f_projectResponseContiguous(dx.size(), ((float*)dx.deviceWrite())); + else if (data.minIndex != sofa::InvalidID) + FixedProjectiveConstraintCudaRigid3f_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((float*)dx.deviceWrite())+6*data.minIndex); + else + FixedProjectiveConstraintCudaRigid3f_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + + + +#ifdef SOFA_GPU_CUDA_DOUBLE + +// // Handle topological changes +// template <> +// void FixedProjectiveConstraint::handleTopologyChange() { +// // std::list::const_iterator itBegin=topology->firstChange(); +// // std::list::const_iterator itEnd=topology->lastChange(); +// // +// // d_indices.beginEdit()->handleTopologyEvents(itBegin,itEnd,this->getMState()->getSize()); +// //printf("WARNING handleTopologyChange not implemented\n"); +// } + +template <> +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCuda3d_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite())); + else if (data.minIndex >= 0) + FixedProjectiveConstraintCuda3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+3*data.minIndex); + else + FixedProjectiveConstraintCuda3d_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + +template <> +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCuda3d1_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite())); + else if (data.minIndex >= 0) + FixedProjectiveConstraintCuda3d1_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+4*data.minIndex); + else + FixedProjectiveConstraintCuda3d1_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + +template <> +void FixedProjectiveConstraintInternalData::projectResponse(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + if (m->d_fixAll.getValue()) + FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(dx.size(), ((double*)dx.deviceWrite())); + else if (data.minIndex >= 0) + FixedProjectiveConstraintCudaRigid3d_projectResponseContiguous(data.maxIndex-data.minIndex+1, ((double*)dx.deviceWrite())+6*data.minIndex); + else + FixedProjectiveConstraintCudaRigid3d_projectResponseIndexed(data.cudaIndices.size(), data.cudaIndices.deviceRead(), dx.deviceWrite()); +} + +#endif // SOFA_GPU_CUDA_DOUBLE + +// I know using macros is bad design but this is the only way not to repeat the code for all CUDA types +#define CudaFixedProjectiveConstraint_ImplMethods(T) \ + template<> void FixedProjectiveConstraint< T >::init() \ + { data->init(this); } \ + template<> void FixedProjectiveConstraint< T >::addConstraint(Index index) \ + { data->addConstraint(this, index); } \ + template<> void FixedProjectiveConstraint< T >::removeConstraint(Index index) \ + { data->removeConstraint(this, index); } \ + template<> void FixedProjectiveConstraint< T >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& d_resData) \ + { \ + VecDeriv &resData = *d_resData.beginEdit(); \ + data->projectResponse(this, resData); \ + d_resData.endEdit(); \ + } + +CudaFixedProjectiveConstraint_ImplMethods(gpu::cuda::CudaVec3fTypes); +CudaFixedProjectiveConstraint_ImplMethods(gpu::cuda::CudaVec3f1Types); +CudaFixedProjectiveConstraint_ImplMethods(gpu::cuda::CudaRigid3fTypes); + +#ifdef SOFA_GPU_CUDA_DOUBLE + +CudaFixedProjectiveConstraint_ImplMethods(gpu::cuda::CudaVec3dTypes); +CudaFixedProjectiveConstraint_ImplMethods(gpu::cuda::CudaVec3d1Types); +CudaFixedProjectiveConstraint_ImplMethods(gpu::cuda::CudaRigid3dTypes); + +#endif // SOFA_GPU_CUDA_DOUBLE + +#undef CudaFixedProjectiveConstraint_ImplMethods + +} // namespace sofa::component::constraint::projective diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationConstraint.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp similarity index 70% rename from applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationConstraint.cpp rename to applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp index 7d9d18db4394..64ebf9fecac0 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationConstraint.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp @@ -21,7 +21,7 @@ ******************************************************************************/ #include #include -#include +#include #include @@ -32,15 +32,15 @@ namespace sofa::component::constraint::projective { template<> -void FixedTranslationConstraint::draw(const core::visual::VisualParams* vparams); +void FixedTranslationProjectiveConstraint::draw(const core::visual::VisualParams* vparams); #ifdef SOFA_GPU_CUDA_DOUBLE template<> -void FixedTranslationConstraint::draw(const core::visual::VisualParams* vparams); +void FixedTranslationProjectiveConstraint::draw(const core::visual::VisualParams* vparams); #endif // SOFA_GPU_CUDA_DOUBLE template <> -void component::constraint::projective::FixedTranslationConstraint::draw(const core::visual::VisualParams* vparams) +void component::constraint::projective::FixedTranslationProjectiveConstraint::draw(const core::visual::VisualParams* vparams) { #if SOFACUDA_HAVE_SOFA_GL == 1 const SetIndexArray & indices = f_indices.getValue(); @@ -71,7 +71,7 @@ void component::constraint::projective::FixedTranslationConstraint -void component::constraint::projective::FixedTranslationConstraint::draw(const core::visual::VisualParams* vparams) +void component::constraint::projective::FixedTranslationProjectiveConstraint::draw(const core::visual::VisualParams* vparams) { const SetIndexArray & indices = f_indices.getValue(); if (!vparams->displayFlags().getShowBehaviorModels()) @@ -100,11 +100,11 @@ void component::constraint::projective::FixedTranslationConstraint; -template class SOFA_GPU_CUDA_API FixedTranslationConstraint; +template class SOFA_GPU_CUDA_API FixedTranslationProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedTranslationProjectiveConstraint; #ifdef SOFA_GPU_CUDA_DOUBLE -template class SOFA_GPU_CUDA_API FixedTranslationConstraint; -template class SOFA_GPU_CUDA_API FixedTranslationConstraint; +template class SOFA_GPU_CUDA_API FixedTranslationProjectiveConstraint; +template class SOFA_GPU_CUDA_API FixedTranslationProjectiveConstraint; #endif // SOFA_GPU_CUDA_DOUBLE }// namespace sofa::component::constraint::projective @@ -113,16 +113,16 @@ namespace sofa::gpu::cuda { -int FixedTranslationConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") -// .add< component::constraint::projective::FixedTranslationConstraint >() -// .add< component::constraint::projective::FixedTranslationConstraint >() - .add< component::constraint::projective::FixedTranslationConstraint >() - .add< component::constraint::projective::FixedTranslationConstraint >() +int FixedTranslationProjectiveConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") +// .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() +// .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() + .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() + .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() #ifdef SOFA_GPU_CUDA_DOUBLE -// .add< component::constraint::projective::FixedTranslationConstraint >() -// .add< component::constraint::projective::FixedTranslationConstraint >() - .add< component::constraint::projective::FixedTranslationConstraint >() - .add< component::constraint::projective::FixedTranslationConstraint >() +// .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() +// .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() + .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() + .add< component::constraint::projective::FixedTranslationProjectiveConstraint >() #endif // SOFA_GPU_CUDA_DOUBLE ; diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cu b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cu deleted file mode 100644 index 2deca0a26ad8..000000000000 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cu +++ /dev/null @@ -1,208 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include -#include -#include "cuda.h" -#include - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -namespace sofa -{ -namespace gpu -{ -namespace cuda -{ -#endif - -extern "C" -{ - - void LinearMovementConstraintCudaVec6f_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaVec6f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaVec6f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); - void LinearMovementConstraintCudaRigid3f_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaRigid3f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaRigid3f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - void LinearMovementConstraintCudaVec6d_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaVec6d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaVec6d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); - void LinearMovementConstraintCudaRigid3d_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaRigid3d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaRigid3d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); -#endif // SOFA_GPU_CUDA_DOUBLE - -}// extern "C" - -////////////////////// -// GPU-side methods // -////////////////////// - -template -__global__ void LinearMovementConstraintCudaVec6t_projectPositionIndexed_kernel(unsigned size, const int* indices, real dirX, real dirY, real dirZ, real dirU, real dirV, real dirW, const CudaVec6* x0, CudaVec6* x) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - - CudaVec6 m = CudaVec6::make(dirX, dirY, dirZ, dirU, dirV, dirW); - if (index < size) - { - x[indices[index]] = x0[index]; - x[indices[index]] += m; - } -}// projectPositionIndexed_kernel - -template -__global__ void LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel(unsigned size, const int* indices, CudaRigidDeriv3* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - - if (index < size) - { - dx[indices[index]] = CudaRigidDeriv3::make(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); - } -}// kernel Indexed Cuda3t1 - -template -__global__ void LinearMovementConstraintCudaRigid3t_projectPositionIndexed_kernel(unsigned size, const int* indices, real dirX, real dirY, real dirZ, real dirU, real dirV, real dirW, const CudaRigidCoord3* x0, CudaRigidCoord3* x) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - - CudaRigidCoord3 m = CudaRigidCoord3::make(dirX, dirY, dirZ, dirU, dirV, dirW, 0.0); - if (index < size) - { - x[indices[index]] = x0[index]; - x[indices[index]] += m; - } -}// projectPositionIndexed_kernel - - -template -__global__ void LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel(unsigned size, const int* indices, real velX, real velY, real velZ, real velU, real velV, real velW, CudaRigidDeriv3* dx) -{ - int index = blockIdx.x * BSIZE+threadIdx.x; - - CudaRigidDeriv3 vel = CudaRigidDeriv3::make(velX, velY, velZ, velU, velV, velW); - if (index < size) - { - dx[indices[index]] = vel; - } -}// projectVelocityIndexed_kernel - -////////////////////// -// CPU-side methods // -////////////////////// -void LinearMovementConstraintCudaVec6f_projectResponseIndexed(unsigned size, const void* indices, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel");} -} - -void LinearMovementConstraintCudaVec6f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - LinearMovementConstraintCudaVec6t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, - ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], - (const CudaVec6*) x0, (CudaVec6*)x); -} - -void LinearMovementConstraintCudaVec6f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel");} -} -void LinearMovementConstraintCudaRigid3f_projectResponseIndexed(unsigned size, const void* indices, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel");} -} - -void LinearMovementConstraintCudaRigid3f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], (const CudaRigidCoord3*) x0, (CudaRigidCoord3*)x); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectPositionIndexed_kernel");} -} - -void LinearMovementConstraintCudaRigid3f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel");} -} - -#ifdef SOFA_GPU_CUDA_DOUBLE -void LinearMovementConstraintCudaVec6d_projectResponseIndexed(unsigned size, const void* indices, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel");} -} - -void LinearMovementConstraintCudaVec6d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - LinearMovementConstraintCudaVec6t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, - ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], - (const CudaVec6*) x0, (CudaVec6*)x); -} - -void LinearMovementConstraintCudaVec6d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel");} -} - -void LinearMovementConstraintCudaRigid3d_projectResponseIndexed(unsigned size, const void* indices, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectResponseIndexed_kernel");} -} - -void LinearMovementConstraintCudaRigid3d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], (const CudaRigidCoord3*) x0, (CudaRigidCoord3*)x); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectPositionIndexed_kernel");} -} - -void LinearMovementConstraintCudaRigid3d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) -{ - dim3 threads(BSIZE, 1); - dim3 grid((size+BSIZE-1)/BSIZE,1); - {LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementConstraintCudaRigid3t_projectVelocityIndexed_kernel");} -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -} // namespace cuda -} // namespace gpu -} // namespace sofa -#endif diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h index fcfa31f5a2f9..a52516866768 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h @@ -21,190 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::gpu::cuda -{ - -template -class CudaKernelsLinearMovementConstraint; - -}// namespace sofa::gpu::cuda - -namespace sofa::component::constraint::projective -{ - -template -class LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes > -{ -public: - using Index = sofa::Index; - typedef LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes > Data; - typedef gpu::cuda::CudaVectorTypes DataTypes; - typedef LinearMovementConstraint Main; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename DataTypes::Coord Coord; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::PointSubsetData< SetIndexArray > SetIndex; - - typedef sofa::core::objectmodel::Data DataVecDeriv; - typedef sofa::core::objectmodel::Data DataMatrixDeriv; - - typedef gpu::cuda::CudaKernelsLinearMovementConstraint Kernels; - - // vector of indices for general case - gpu::cuda::CudaVector indices; - - // initial positions - gpu::cuda::CudaVector x0; - - int size; - - static void init(Main* m, VecCoord& x); - - static void addIndex(Main* m, Index index); - - static void removeIndex(Main* m, Index index); - - static void projectResponse(Main* m, VecDeriv& dx); - static void projectPosition(Main* m, VecCoord& x); - static void projectVelocity(Main* m, VecDeriv& dx); - -}; - - -template -class LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes > -{ -public: - using Index = sofa::Index; - typedef LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes > Data; - typedef gpu::cuda::CudaRigidTypes DataTypes; - typedef LinearMovementConstraint Main; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef typename DataTypes::Coord Coord; - typedef type::vector SetIndexArray; - typedef sofa::core::topology::PointSubsetData< SetIndexArray > SetIndex; - - typedef sofa::core::objectmodel::Data DataVecDeriv; - typedef sofa::core::objectmodel::Data DataMatrixDeriv; - - typedef gpu::cuda::CudaKernelsLinearMovementConstraint Kernels; - - // vector of indices for general case - gpu::cuda::CudaVector indices; - - // initial positions - gpu::cuda::CudaVector x0; - - int size; - - static void init(Main* m, VecCoord& x); - - static void addIndex(Main* m, Index index); - - static void removeIndex(Main* m, Index index); - - static void projectResponse(Main* m, VecDeriv& dx); - static void projectPosition(Main* m, VecCoord& x); - static void projectVelocity(Main* m, VecDeriv& dx); - -}; - - -// template<> -// void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::init(); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::addIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::removeIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::addIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::removeIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - -// template<> -// void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::init(); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::addIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::removeIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::addIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::removeIndex(Index index); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); - -#endif // SOFA_GPU_CUDA_DOUBLE - - - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl index a9abcd99c24a..1771a40013b0 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl @@ -21,576 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::gpu::cuda -{ - -extern "C" -{ - - void LinearMovementConstraintCudaVec6f_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaVec6f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaVec6f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); - void LinearMovementConstraintCudaRigid3f_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaRigid3f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaRigid3f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - void LinearMovementConstraintCudaVec6d_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaVec6d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaVec6d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); - void LinearMovementConstraintCudaRigid3d_projectResponseIndexed(unsigned size, const void* indices, void* dx); - void LinearMovementConstraintCudaRigid3d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); - void LinearMovementConstraintCudaRigid3d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); -#endif // SOFA_GPU_CUDA_DOUBLE - -}// extern "C" - -template<> -class CudaKernelsLinearMovementConstraint< CudaVec6fTypes > -{ -public: - static void projectResponse(unsigned size, const void* indices, void* dx) - { - LinearMovementConstraintCudaVec6f_projectResponseIndexed(size, indices, dx); - } - static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) - { - LinearMovementConstraintCudaVec6f_projectPositionIndexed(size, indices, dir, x0, x); - } - static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) - { - LinearMovementConstraintCudaVec6f_projectVelocityIndexed(size, indices, dir, dx); - } -};// CudaKernelsLinearMovementConstraint - -template<> -class CudaKernelsLinearMovementConstraint< CudaRigid3fTypes > -{ -public: - static void projectResponse(unsigned size, const void* indices, void* dx) - { - LinearMovementConstraintCudaRigid3f_projectResponseIndexed(size, indices, dx); - } - static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) - { - LinearMovementConstraintCudaRigid3f_projectPositionIndexed(size, indices, dir, x0, x); - } - static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) - { - LinearMovementConstraintCudaRigid3f_projectVelocityIndexed(size, indices, dir, dx); - } -};// CudaKernelsLinearMovementConstraint - -#ifdef SOFA_GPU_CUDA_DOUBLE - -template<> -class CudaKernelsLinearMovementConstraint< CudaVec6dTypes > -{ -public: - static void projectResponse(unsigned size, const void* indices, void* dx) - { - LinearMovementConstraintCudaVec6d_projectResponseIndexed(size, indices, dx); - } - static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) - { - LinearMovementConstraintCudaVec6d_projectPositionIndexed(size, indices, dir, x0, x); - } - static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) - { - LinearMovementConstraintCudaVec6d_projectVelocityIndexed(size, indices, dir, dx); - } -};// CudaKernelsLinearMovementConstraint - -template<> -class CudaKernelsLinearMovementConstraint< CudaRigid3dTypes > -{ -public: - static void projectResponse(unsigned size, const void* indices, void* dx) - { - LinearMovementConstraintCudaRigid3d_projectResponseIndexed(size, indices, dx); - } - static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) - { - LinearMovementConstraintCudaRigid3d_projectPositionIndexed(size, indices, dir, x0, x); - } - static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) - { - LinearMovementConstraintCudaRigid3d_projectVelocityIndexed(size, indices, dir, dx); - } -};// CudaKernelsLinearMovementConstraint - -#endif // SOFA_GPU_CUDA_DOUBLE - -} // namespace sofa::gpu::cuda - -namespace sofa::component::constraint::projective -{ - -///////////////////////////////////// -// CudaVectorTypes specializations -///////////////////////////////////// -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes >::addIndex(Main* m, Index index) -{ - Data& data = *m->data; - - m->m_indices.beginEdit()->push_back(index); - m->m_indices.endEdit(); - - data.indices.push_back(index); - // TODO : then it becomes non-consistent and also in the main version !!! -// data.x0.push_back(); - -}// LinearMovementConstraintInternalData::addIndex - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes >::removeIndex(Main* m, Index index) -{ - // Data& data = m->data; - - removeValue(*m->m_indices.beginEdit(),index); - m->m_indices.endEdit(); - - // removeValue(data.indices, index); - // TODO : then it becomes non-consistent and also in the main version !!! -// data.x0.push_back(); - -}// LinearMovementConstraintInternalData::removeIndex - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes >::init(Main* m, VecCoord& x) -{ - Data& data = *m->data; - const SetIndexArray & indices = m->m_indices.getValue(); -// m->x0.resize( indices.size() ); -// for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) -// m->x0[*it] = x[*it]; - - // gpu part - data.size = indices.size(); - data.indices.resize(data.size); - unsigned index =0; - for (typename SetIndex::const_iterator it = indices.begin(); it != indices.end(); it++) - { - data.indices[index] = *it; - index++; - } - - data.x0.resize(data.size); - index = 0; - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - data.x0[index] = x[*it]; - index++; - } -}// LinearMovementConstraintInternalData::init - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes >::projectResponse(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - - Real cT = (Real) m->getContext()->getTime(); - - if ((cT != m->currentTime) || !m->finished) - { - m->findKeyTimes(); - } - - if (m->finished && m->nextT != m->prevT) - { - Kernels::projectResponse( - data.size, - data.indices.deviceRead(), - dx.deviceWrite() - ); - } -}// LinearMovementConstraintInternalData::projectResponse - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes >::projectPosition(Main* m, VecCoord& x) -{ - Data& data = *m->data; - - Real cT = (Real) m->getContext()->getTime(); - - // initialize initial Dofs positions, if it's not done - if (data.x0.size() == 0) - { - data.init(m, x); - } - - if ((cT != m->currentTime) || !m->finished) - { - m->findKeyTimes(); - } - - if (m->finished && m->nextT != m->prevT) - { - Real dt = (cT - m->prevT) / (m->nextT - m->prevT); - Deriv depl = m->prevM + (m->nextM-m->prevM)*dt; - - Kernels::projectPosition( - data.size, - data.indices.deviceRead(), - depl.ptr(), - data.x0.deviceRead(), - x.deviceWrite() - ); - } -}// LinearMovementConstraintInternalData::projectPosition - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaVectorTypes >::projectVelocity(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - - Real cT = (Real) m->getContext()->getTime(); - - if ((cT != m->currentTime) || !m->finished) - m->findKeyTimes(); - - if (m->finished && m->nextT != m->prevT) - { - Deriv dv = (m->nextM - m->prevM)*(1.0/(m->nextT - m->prevT)); - - Kernels::projectVelocity( - data.size, - data.indices.deviceRead(), - dv.ptr(), - dx.deviceWrite() - ); - } -}// LinearMovementConstraintInternalData::projectVelocity - - -///////////////////////////////////// -// CudaRigidTypes specializations -///////////////////////////////////// - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes >::addIndex(Main* m, Index index) -{ - Data& data = *m->data; - - m->m_indices.beginEdit()->push_back(index); - m->m_indices.endEdit(); - - data.indices.push_back(index); - // TODO : then it becomes non-consistent and also in the main version !!! -// data.x0.push_back(); - -}// LinearMovementConstraintInternalData::addIndex - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes >::removeIndex(Main* m, Index index) -{ - // Data& data = m->data; - - removeValue(*m->m_indices.beginEdit(),index); - m->m_indices.endEdit(); - - // removeValue(data.indices, index); - // TODO : then it becomes non-consistent and also in the main version !!! -// data.x0.push_back(); - -}// LinearMovementConstraintInternalData::removeIndex - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes >::init(Main* m, VecCoord& x) -{ - Data& data = *m->data; - const SetIndexArray & indices = m->m_indices.getValue(); -// m->x0.resize( indices.size() ); -// for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) -// m->x0[*it] = x[*it]; - - // gpu part - data.size = indices.size(); - data.indices.resize(data.size); - unsigned index =0; - for (typename SetIndex::const_iterator it = indices.begin(); it != indices.end(); it++) - { - data.indices[index] = *it; - index++; - } - - data.x0.resize(data.size); - index = 0; - for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) - { - data.x0[index] = x[*it]; - index++; - } -}// LinearMovementConstraintInternalData::init - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes >::projectResponse(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - - Real cT = (Real) m->getContext()->getTime(); - - if ((cT != m->currentTime) || !m->finished) - { - m->findKeyTimes(); - } - - if (m->finished && m->nextT != m->prevT) - { - Kernels::projectResponse( - data.size, - data.indices.deviceRead(), - dx.deviceWrite() - ); - } -}// LinearMovementConstraintInternalData::projectResponse - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes >::projectPosition(Main* m, VecCoord& x) -{ - Data& data = *m->data; - - Real cT = (Real) m->getContext()->getTime(); - - // initialize initial Dofs positions, if it's not done - if (data.x0.size() == 0) - { - data.init(m, x); - } - - if ((cT != m->currentTime) || !m->finished) - { - m->findKeyTimes(); - } - - if (m->finished && m->nextT != m->prevT) - { - Real dt = (cT - m->prevT) / (m->nextT - m->prevT); - Deriv depl = m->prevM + (m->nextM-m->prevM)*dt; - - Kernels::projectPosition( - data.size, - data.indices.deviceRead(), - depl.ptr(), - data.x0.deviceRead(), - x.deviceWrite() - ); - } -}// LinearMovementConstraintInternalData::projectPosition - -template -void LinearMovementConstraintInternalData< gpu::cuda::CudaRigidTypes >::projectVelocity(Main* m, VecDeriv& dx) -{ - Data& data = *m->data; - - Real cT = (Real) m->getContext()->getTime(); - - if ((cT != m->currentTime) || !m->finished) - m->findKeyTimes(); - - if (m->finished && m->nextT != m->prevT) - { - Deriv dv = (m->nextM - m->prevM)*(1.0/(m->nextT - m->prevT)); - - Kernels::projectVelocity( - data.size, - data.indices.deviceRead(), - dv.ptr(), - dx.deviceWrite() - ); - } -}// LinearMovementConstraintInternalData::projectVelocity - - -////////////////////////////// -// Specializations -///////////////////////////// - -// template<> -// void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::init() -// { -// data.init(this); -// } - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::addIndex(Index index) -{ - data->addIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::removeIndex(Index index) -{ - data->removeIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectResponse(this, _dx); - dx.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) -{ - /* data.projectResponseT(this, index); */ -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) -{ - VecCoord& _x = *x.beginEdit(); - data->projectPosition(this, _x); - x.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6fTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectVelocity(this, _dx); - dx.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::addIndex(Index index) -{ - data->addIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::removeIndex(Index index) -{ - data->removeIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectResponse(this, _dx); - dx.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) -{ - /* data.projectResponseT(this, index); */ -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) -{ - VecCoord& _x = *x.beginEdit(); - data->projectPosition(this, _x); - x.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3fTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectVelocity(this, _dx); - dx.endEdit(); -} - -#ifdef SOFA_GPU_CUDA_DOUBLE -// template<> -// void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::init() -// { -// data->init(this); -// } - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::addIndex(Index index) -{ - data->addIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::removeIndex(Index index) -{ - data->removeIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectResponse(this, _dx); - dx.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) -{ - /* data.projectResponseT(this, index); */ -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) -{ - VecCoord& _x = *x.beginEdit(); - data->projectPosition(this, _x); - x.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaVec6dTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectVelocity(this, _dx); - dx.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::addIndex(Index index) -{ - data->addIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::removeIndex(Index index) -{ - data->removeIndex(this, index); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectResponse(this, _dx); - dx.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) -{ - /* data.projectResponseT(this, index); */ -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) -{ - VecCoord& _x = *x.beginEdit(); - data->projectPosition(this, _x); - x.endEdit(); -} - -template<> -void LinearMovementConstraint< gpu::cuda::CudaRigid3dTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) -{ - VecDeriv& _dx = *dx.beginEdit(); - data->projectVelocity(this, _dx); - dx.endEdit(); -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -} // namespace sofa::component::constraint::projective +SOFA_DEPRECATED_HEADER("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cpp similarity index 72% rename from applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cpp rename to applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cpp index 6968e2ddfed3..2ef5054b2024 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cpp @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #include -#include +#include #include #include @@ -41,16 +41,16 @@ namespace sofa::gpu::cuda { -int LinearMovementConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") -// .add< component::constraint::projective::LinearMovementConstraint >() -// .add< component::constraint::projective::LinearMovementConstraint >() - .add< component::constraint::projective::LinearMovementConstraint >() - .add< component::constraint::projective::LinearMovementConstraint >() +int LinearMovementProjectiveConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") +// .add< component::constraint::projective::LinearMovementProjectiveConstraint >() +// .add< component::constraint::projective::LinearMovementProjectiveConstraint >() + .add< component::constraint::projective::LinearMovementProjectiveConstraint >() + .add< component::constraint::projective::LinearMovementProjectiveConstraint >() #ifdef SOFA_GPU_CUDA_DOUBLE -// .add< component::constraint::projective::LinearMovementConstraint >() -// .add< component::constraint::projective::LinearMovementConstraint >() - .add< component::constraint::projective::LinearMovementConstraint >() - .add< component::constraint::projective::LinearMovementConstraint >() +// .add< component::constraint::projective::LinearMovementProjectiveConstraint >() +// .add< component::constraint::projective::LinearMovementProjectiveConstraint >() + .add< component::constraint::projective::LinearMovementProjectiveConstraint >() + .add< component::constraint::projective::LinearMovementProjectiveConstraint >() #endif // SOFA_GPU_CUDA_DOUBLE ; diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cu b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cu new file mode 100644 index 000000000000..d315362b0de4 --- /dev/null +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.cu @@ -0,0 +1,208 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include +#include "cuda.h" +#include + +#if defined(__cplusplus) && CUDA_VERSION < 2000 +namespace sofa +{ +namespace gpu +{ +namespace cuda +{ +#endif + +extern "C" +{ + + void LinearMovementProjectiveConstraintCudaVec6f_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaVec6f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaVec6f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3f_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaRigid3f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); + +#ifdef SOFA_GPU_CUDA_DOUBLE + void LinearMovementProjectiveConstraintCudaVec6d_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaVec6d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaVec6d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3d_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaRigid3d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); +#endif // SOFA_GPU_CUDA_DOUBLE + +}// extern "C" + +////////////////////// +// GPU-side methods // +////////////////////// + +template +__global__ void LinearMovementProjectiveConstraintCudaVec6t_projectPositionIndexed_kernel(unsigned size, const int* indices, real dirX, real dirY, real dirZ, real dirU, real dirV, real dirW, const CudaVec6* x0, CudaVec6* x) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + + CudaVec6 m = CudaVec6::make(dirX, dirY, dirZ, dirU, dirV, dirW); + if (index < size) + { + x[indices[index]] = x0[index]; + x[indices[index]] += m; + } +}// projectPositionIndexed_kernel + +template +__global__ void LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel(unsigned size, const int* indices, CudaRigidDeriv3* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + + if (index < size) + { + dx[indices[index]] = CudaRigidDeriv3::make(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + } +}// kernel Indexed Cuda3t1 + +template +__global__ void LinearMovementProjectiveConstraintCudaRigid3t_projectPositionIndexed_kernel(unsigned size, const int* indices, real dirX, real dirY, real dirZ, real dirU, real dirV, real dirW, const CudaRigidCoord3* x0, CudaRigidCoord3* x) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + + CudaRigidCoord3 m = CudaRigidCoord3::make(dirX, dirY, dirZ, dirU, dirV, dirW, 0.0); + if (index < size) + { + x[indices[index]] = x0[index]; + x[indices[index]] += m; + } +}// projectPositionIndexed_kernel + + +template +__global__ void LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel(unsigned size, const int* indices, real velX, real velY, real velZ, real velU, real velV, real velW, CudaRigidDeriv3* dx) +{ + int index = blockIdx.x * BSIZE+threadIdx.x; + + CudaRigidDeriv3 vel = CudaRigidDeriv3::make(velX, velY, velZ, velU, velV, velW); + if (index < size) + { + dx[indices[index]] = vel; + } +}// projectVelocityIndexed_kernel + +////////////////////// +// CPU-side methods // +////////////////////// +void LinearMovementProjectiveConstraintCudaVec6f_projectResponseIndexed(unsigned size, const void* indices, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaVec6f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + LinearMovementProjectiveConstraintCudaVec6t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, + ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], + (const CudaVec6*) x0, (CudaVec6*)x); +} + +void LinearMovementProjectiveConstraintCudaVec6f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel");} +} +void LinearMovementProjectiveConstraintCudaRigid3f_projectResponseIndexed(unsigned size, const void* indices, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaRigid3f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], (const CudaRigidCoord3*) x0, (CudaRigidCoord3*)x); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectPositionIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaRigid3f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((float*)dir)[0], ((float*)dir)[1], ((float*)dir)[2], ((float*)dir)[3], ((float*)dir)[4], ((float*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel");} +} + +#ifdef SOFA_GPU_CUDA_DOUBLE +void LinearMovementProjectiveConstraintCudaVec6d_projectResponseIndexed(unsigned size, const void* indices, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaVec6d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + LinearMovementProjectiveConstraintCudaVec6t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, + ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], + (const CudaVec6*) x0, (CudaVec6*)x); +} + +void LinearMovementProjectiveConstraintCudaVec6d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaRigid3d_projectResponseIndexed(unsigned size, const void* indices, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectResponseIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaRigid3d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectPositionIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], (const CudaRigidCoord3*) x0, (CudaRigidCoord3*)x); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectPositionIndexed_kernel");} +} + +void LinearMovementProjectiveConstraintCudaRigid3d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx) +{ + dim3 threads(BSIZE, 1); + dim3 grid((size+BSIZE-1)/BSIZE,1); + {LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel<<< grid, threads >>>(size, (const int*)indices, ((double*)dir)[0], ((double*)dir)[1], ((double*)dir)[2], ((double*)dir)[3], ((double*)dir)[4], ((double*)dir)[5], (CudaRigidDeriv3*)dx); mycudaDebugError("LinearMovementProjectiveConstraintCudaRigid3t_projectVelocityIndexed_kernel");} +} + +#endif // SOFA_GPU_CUDA_DOUBLE + +#if defined(__cplusplus) && CUDA_VERSION < 2000 +} // namespace cuda +} // namespace gpu +} // namespace sofa +#endif diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h new file mode 100644 index 000000000000..be287995b879 --- /dev/null +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h @@ -0,0 +1,210 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include + +namespace sofa::gpu::cuda +{ + +template +class CudaKernelsLinearMovementProjectiveConstraint; + +}// namespace sofa::gpu::cuda + +namespace sofa::component::constraint::projective +{ + +template +class LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes > +{ +public: + using Index = sofa::Index; + typedef LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes > Data; + typedef gpu::cuda::CudaVectorTypes DataTypes; + typedef LinearMovementProjectiveConstraint Main; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename DataTypes::Coord Coord; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::PointSubsetData< SetIndexArray > SetIndex; + + typedef sofa::core::objectmodel::Data DataVecDeriv; + typedef sofa::core::objectmodel::Data DataMatrixDeriv; + + typedef gpu::cuda::CudaKernelsLinearMovementProjectiveConstraint Kernels; + + // vector of indices for general case + gpu::cuda::CudaVector indices; + + // initial positions + gpu::cuda::CudaVector x0; + + int size; + + static void init(Main* m, VecCoord& x); + + static void addIndex(Main* m, Index index); + + static void removeIndex(Main* m, Index index); + + static void projectResponse(Main* m, VecDeriv& dx); + static void projectPosition(Main* m, VecCoord& x); + static void projectVelocity(Main* m, VecDeriv& dx); + +}; + + +template +class LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes > +{ +public: + using Index = sofa::Index; + typedef LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes > Data; + typedef gpu::cuda::CudaRigidTypes DataTypes; + typedef LinearMovementProjectiveConstraint Main; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::MatrixDeriv::RowType MatrixDerivRowType; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef typename DataTypes::Coord Coord; + typedef type::vector SetIndexArray; + typedef sofa::core::topology::PointSubsetData< SetIndexArray > SetIndex; + + typedef sofa::core::objectmodel::Data DataVecDeriv; + typedef sofa::core::objectmodel::Data DataMatrixDeriv; + + typedef gpu::cuda::CudaKernelsLinearMovementProjectiveConstraint Kernels; + + // vector of indices for general case + gpu::cuda::CudaVector indices; + + // initial positions + gpu::cuda::CudaVector x0; + + int size; + + static void init(Main* m, VecCoord& x); + + static void addIndex(Main* m, Index index); + + static void removeIndex(Main* m, Index index); + + static void projectResponse(Main* m, VecDeriv& dx); + static void projectPosition(Main* m, VecCoord& x); + static void projectVelocity(Main* m, VecDeriv& dx); + +}; + + +// template<> +// void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::init(); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::addIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::removeIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::addIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::removeIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +#ifdef SOFA_GPU_CUDA_DOUBLE + +// template<> +// void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::init(); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::addIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::removeIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::addIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::removeIndex(Index index); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectResponse(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& dx); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectPosition(const core::MechanicalParams* mparams, DataVecCoord& x); + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& dx); + +#endif // SOFA_GPU_CUDA_DOUBLE + + + +} // namespace sofa::component::constraint::projective diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl new file mode 100644 index 000000000000..e3f00a0f5d70 --- /dev/null +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl @@ -0,0 +1,596 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include + +namespace sofa::gpu::cuda +{ + +extern "C" +{ + + void LinearMovementProjectiveConstraintCudaVec6f_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaVec6f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaVec6f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3f_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3f_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaRigid3f_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); + +#ifdef SOFA_GPU_CUDA_DOUBLE + void LinearMovementProjectiveConstraintCudaVec6d_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaVec6d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaVec6d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3d_projectResponseIndexed(unsigned size, const void* indices, void* dx); + void LinearMovementProjectiveConstraintCudaRigid3d_projectPositionIndexed(unsigned size, const void* indices, const void* dir, const void* x0, void* x); + void LinearMovementProjectiveConstraintCudaRigid3d_projectVelocityIndexed(unsigned size, const void* indices, const void* dir, void* dx); +#endif // SOFA_GPU_CUDA_DOUBLE + +}// extern "C" + +template<> +class CudaKernelsLinearMovementProjectiveConstraint< CudaVec6fTypes > +{ +public: + static void projectResponse(unsigned size, const void* indices, void* dx) + { + LinearMovementProjectiveConstraintCudaVec6f_projectResponseIndexed(size, indices, dx); + } + static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) + { + LinearMovementProjectiveConstraintCudaVec6f_projectPositionIndexed(size, indices, dir, x0, x); + } + static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) + { + LinearMovementProjectiveConstraintCudaVec6f_projectVelocityIndexed(size, indices, dir, dx); + } +};// CudaKernelsLinearMovementProjectiveConstraint + +template<> +class CudaKernelsLinearMovementProjectiveConstraint< CudaRigid3fTypes > +{ +public: + static void projectResponse(unsigned size, const void* indices, void* dx) + { + LinearMovementProjectiveConstraintCudaRigid3f_projectResponseIndexed(size, indices, dx); + } + static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) + { + LinearMovementProjectiveConstraintCudaRigid3f_projectPositionIndexed(size, indices, dir, x0, x); + } + static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) + { + LinearMovementProjectiveConstraintCudaRigid3f_projectVelocityIndexed(size, indices, dir, dx); + } +};// CudaKernelsLinearMovementProjectiveConstraint + +#ifdef SOFA_GPU_CUDA_DOUBLE + +template<> +class CudaKernelsLinearMovementProjectiveConstraint< CudaVec6dTypes > +{ +public: + static void projectResponse(unsigned size, const void* indices, void* dx) + { + LinearMovementProjectiveConstraintCudaVec6d_projectResponseIndexed(size, indices, dx); + } + static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) + { + LinearMovementProjectiveConstraintCudaVec6d_projectPositionIndexed(size, indices, dir, x0, x); + } + static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) + { + LinearMovementProjectiveConstraintCudaVec6d_projectVelocityIndexed(size, indices, dir, dx); + } +};// CudaKernelsLinearMovementProjectiveConstraint + +template<> +class CudaKernelsLinearMovementProjectiveConstraint< CudaRigid3dTypes > +{ +public: + static void projectResponse(unsigned size, const void* indices, void* dx) + { + LinearMovementProjectiveConstraintCudaRigid3d_projectResponseIndexed(size, indices, dx); + } + static void projectPosition(unsigned size, const void* indices, const void* dir, const void* x0, void* x) + { + LinearMovementProjectiveConstraintCudaRigid3d_projectPositionIndexed(size, indices, dir, x0, x); + } + static void projectVelocity(unsigned size, const void* indices, const void* dir, void* dx) + { + LinearMovementProjectiveConstraintCudaRigid3d_projectVelocityIndexed(size, indices, dir, dx); + } +};// CudaKernelsLinearMovementProjectiveConstraint + +#endif // SOFA_GPU_CUDA_DOUBLE + +} // namespace sofa::gpu::cuda + +namespace sofa::component::constraint::projective +{ + +///////////////////////////////////// +// CudaVectorTypes specializations +///////////////////////////////////// +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::addIndex(Main* m, Index index) +{ + Data& data = *m->data; + + m->m_indices.beginEdit()->push_back(index); + m->m_indices.endEdit(); + + data.indices.push_back(index); + // TODO : then it becomes non-consistent and also in the main version !!! +// data.x0.push_back(); + +}// LinearMovementProjectiveConstraintInternalData::addIndex + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::removeIndex(Main* m, Index index) +{ + // Data& data = m->data; + + removeValue(*m->m_indices.beginEdit(),index); + m->m_indices.endEdit(); + + // removeValue(data.indices, index); + // TODO : then it becomes non-consistent and also in the main version !!! +// data.x0.push_back(); + +}// LinearMovementProjectiveConstraintInternalData::removeIndex + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::init(Main* m, VecCoord& x) +{ + Data& data = *m->data; + const SetIndexArray & indices = m->m_indices.getValue(); +// m->x0.resize( indices.size() ); +// for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) +// m->x0[*it] = x[*it]; + + // gpu part + data.size = indices.size(); + data.indices.resize(data.size); + unsigned index =0; + for (typename SetIndex::const_iterator it = indices.begin(); it != indices.end(); it++) + { + data.indices[index] = *it; + index++; + } + + data.x0.resize(data.size); + index = 0; + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + data.x0[index] = x[*it]; + index++; + } +}// LinearMovementProjectiveConstraintInternalData::init + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::projectResponse(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + + Real cT = (Real) m->getContext()->getTime(); + + if ((cT != m->currentTime) || !m->finished) + { + m->findKeyTimes(); + } + + if (m->finished && m->nextT != m->prevT) + { + Kernels::projectResponse( + data.size, + data.indices.deviceRead(), + dx.deviceWrite() + ); + } +}// LinearMovementProjectiveConstraintInternalData::projectResponse + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::projectPosition(Main* m, VecCoord& x) +{ + Data& data = *m->data; + + Real cT = (Real) m->getContext()->getTime(); + + // initialize initial Dofs positions, if it's not done + if (data.x0.size() == 0) + { + data.init(m, x); + } + + if ((cT != m->currentTime) || !m->finished) + { + m->findKeyTimes(); + } + + if (m->finished && m->nextT != m->prevT) + { + Real dt = (cT - m->prevT) / (m->nextT - m->prevT); + Deriv depl = m->prevM + (m->nextM-m->prevM)*dt; + + Kernels::projectPosition( + data.size, + data.indices.deviceRead(), + depl.ptr(), + data.x0.deviceRead(), + x.deviceWrite() + ); + } +}// LinearMovementProjectiveConstraintInternalData::projectPosition + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaVectorTypes >::projectVelocity(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + + Real cT = (Real) m->getContext()->getTime(); + + if ((cT != m->currentTime) || !m->finished) + m->findKeyTimes(); + + if (m->finished && m->nextT != m->prevT) + { + Deriv dv = (m->nextM - m->prevM)*(1.0/(m->nextT - m->prevT)); + + Kernels::projectVelocity( + data.size, + data.indices.deviceRead(), + dv.ptr(), + dx.deviceWrite() + ); + } +}// LinearMovementProjectiveConstraintInternalData::projectVelocity + + +///////////////////////////////////// +// CudaRigidTypes specializations +///////////////////////////////////// + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::addIndex(Main* m, Index index) +{ + Data& data = *m->data; + + m->m_indices.beginEdit()->push_back(index); + m->m_indices.endEdit(); + + data.indices.push_back(index); + // TODO : then it becomes non-consistent and also in the main version !!! +// data.x0.push_back(); + +}// LinearMovementProjectiveConstraintInternalData::addIndex + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::removeIndex(Main* m, Index index) +{ + // Data& data = m->data; + + removeValue(*m->m_indices.beginEdit(),index); + m->m_indices.endEdit(); + + // removeValue(data.indices, index); + // TODO : then it becomes non-consistent and also in the main version !!! +// data.x0.push_back(); + +}// LinearMovementProjectiveConstraintInternalData::removeIndex + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::init(Main* m, VecCoord& x) +{ + Data& data = *m->data; + const SetIndexArray & indices = m->m_indices.getValue(); +// m->x0.resize( indices.size() ); +// for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) +// m->x0[*it] = x[*it]; + + // gpu part + data.size = indices.size(); + data.indices.resize(data.size); + unsigned index =0; + for (typename SetIndex::const_iterator it = indices.begin(); it != indices.end(); it++) + { + data.indices[index] = *it; + index++; + } + + data.x0.resize(data.size); + index = 0; + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + data.x0[index] = x[*it]; + index++; + } +}// LinearMovementProjectiveConstraintInternalData::init + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::projectResponse(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + + Real cT = (Real) m->getContext()->getTime(); + + if ((cT != m->currentTime) || !m->finished) + { + m->findKeyTimes(); + } + + if (m->finished && m->nextT != m->prevT) + { + Kernels::projectResponse( + data.size, + data.indices.deviceRead(), + dx.deviceWrite() + ); + } +}// LinearMovementProjectiveConstraintInternalData::projectResponse + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::projectPosition(Main* m, VecCoord& x) +{ + Data& data = *m->data; + + Real cT = (Real) m->getContext()->getTime(); + + // initialize initial Dofs positions, if it's not done + if (data.x0.size() == 0) + { + data.init(m, x); + } + + if ((cT != m->currentTime) || !m->finished) + { + m->findKeyTimes(); + } + + if (m->finished && m->nextT != m->prevT) + { + Real dt = (cT - m->prevT) / (m->nextT - m->prevT); + Deriv depl = m->prevM + (m->nextM-m->prevM)*dt; + + Kernels::projectPosition( + data.size, + data.indices.deviceRead(), + depl.ptr(), + data.x0.deviceRead(), + x.deviceWrite() + ); + } +}// LinearMovementProjectiveConstraintInternalData::projectPosition + +template +void LinearMovementProjectiveConstraintInternalData< gpu::cuda::CudaRigidTypes >::projectVelocity(Main* m, VecDeriv& dx) +{ + Data& data = *m->data; + + Real cT = (Real) m->getContext()->getTime(); + + if ((cT != m->currentTime) || !m->finished) + m->findKeyTimes(); + + if (m->finished && m->nextT != m->prevT) + { + Deriv dv = (m->nextM - m->prevM)*(1.0/(m->nextT - m->prevT)); + + Kernels::projectVelocity( + data.size, + data.indices.deviceRead(), + dv.ptr(), + dx.deviceWrite() + ); + } +}// LinearMovementProjectiveConstraintInternalData::projectVelocity + + +////////////////////////////// +// Specializations +///////////////////////////// + +// template<> +// void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::init() +// { +// data.init(this); +// } + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::addIndex(Index index) +{ + data->addIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::removeIndex(Index index) +{ + data->removeIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectResponse(this, _dx); + dx.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) +{ + /* data.projectResponseT(this, index); */ +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) +{ + VecCoord& _x = *x.beginEdit(); + data->projectPosition(this, _x); + x.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6fTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectVelocity(this, _dx); + dx.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::addIndex(Index index) +{ + data->addIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::removeIndex(Index index) +{ + data->removeIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectResponse(this, _dx); + dx.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) +{ + /* data.projectResponseT(this, index); */ +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) +{ + VecCoord& _x = *x.beginEdit(); + data->projectPosition(this, _x); + x.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3fTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectVelocity(this, _dx); + dx.endEdit(); +} + +#ifdef SOFA_GPU_CUDA_DOUBLE +// template<> +// void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::init() +// { +// data->init(this); +// } + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::addIndex(Index index) +{ + data->addIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::removeIndex(Index index) +{ + data->removeIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectResponse(this, _dx); + dx.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) +{ + /* data.projectResponseT(this, index); */ +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) +{ + VecCoord& _x = *x.beginEdit(); + data->projectPosition(this, _x); + x.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaVec6dTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectVelocity(this, _dx); + dx.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::addIndex(Index index) +{ + data->addIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::removeIndex(Index index) +{ + data->removeIndex(this, index); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectResponse(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectResponse(this, _dx); + dx.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectJacobianMatrix(const core::MechanicalParams* /* mparams */, DataMatrixDeriv& /*dx*/) +{ + /* data.projectResponseT(this, index); */ +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectPosition(const core::MechanicalParams* /* mparams */, DataVecCoord& x) +{ + VecCoord& _x = *x.beginEdit(); + data->projectPosition(this, _x); + x.endEdit(); +} + +template<> +void LinearMovementProjectiveConstraint< gpu::cuda::CudaRigid3dTypes >::projectVelocity(const core::MechanicalParams* /* mparams */, DataVecDeriv& dx) +{ + VecDeriv& _dx = *dx.beginEdit(); + data->projectVelocity(this, _dx); + dx.endEdit(); +} + +#endif // SOFA_GPU_CUDA_DOUBLE + +} // namespace sofa::component::constraint::projective diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearVelocityConstraint.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearVelocityProjectiveConstraint.cpp similarity index 75% rename from applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearVelocityConstraint.cpp rename to applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearVelocityProjectiveConstraint.cpp index 57c4996f06d1..c720af9db742 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearVelocityConstraint.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearVelocityProjectiveConstraint.cpp @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #include -#include +#include #include @@ -28,11 +28,11 @@ namespace sofa::component::constraint::projective { -template class SOFA_GPU_CUDA_API LinearVelocityConstraint; -template class SOFA_GPU_CUDA_API LinearVelocityConstraint; +template class SOFA_GPU_CUDA_API LinearVelocityProjectiveConstraint; +template class SOFA_GPU_CUDA_API LinearVelocityProjectiveConstraint; #ifdef SOFA_GPU_CUDA_DOUBLE -template class SOFA_GPU_CUDA_API LinearVelocityConstraint; -template class SOFA_GPU_CUDA_API LinearVelocityConstraint; +template class SOFA_GPU_CUDA_API LinearVelocityProjectiveConstraint; +template class SOFA_GPU_CUDA_API LinearVelocityProjectiveConstraint; #endif // SOFA_GPU_CUDA_DOUBLE }// namespace sofa::component::constraint::projective @@ -40,12 +40,12 @@ template class SOFA_GPU_CUDA_API LinearVelocityConstraint >() - .add< sofa::component::constraint::projective::LinearVelocityConstraint >() +int LinearVelocityProjectiveConstraintCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") + .add< sofa::component::constraint::projective::LinearVelocityProjectiveConstraint >() + .add< sofa::component::constraint::projective::LinearVelocityProjectiveConstraint >() #ifdef SOFA_GPU_CUDA_DOUBLE - .add< sofa::component::constraint::projective::LinearVelocityConstraint >() - .add< sofa::component::constraint::projective::LinearVelocityConstraint >() + .add< sofa::component::constraint::projective::LinearVelocityProjectiveConstraint >() + .add< sofa::component::constraint::projective::LinearVelocityProjectiveConstraint >() #endif // SOFA_GPU_CUDA_DOUBLE ; diff --git a/applications/plugins/SofaCarving/examples/CarvingTool.scn b/applications/plugins/SofaCarving/examples/CarvingTool.scn index 90f4e9fb6950..c7be2d9f4be7 100644 --- a/applications/plugins/SofaCarving/examples/CarvingTool.scn +++ b/applications/plugins/SofaCarving/examples/CarvingTool.scn @@ -5,7 +5,7 @@ - + @@ -43,7 +43,7 @@ - + @@ -66,7 +66,7 @@ - diff --git a/applications/plugins/SofaCarving/examples/SimpleCarving.py b/applications/plugins/SofaCarving/examples/SimpleCarving.py index 037de56f25b4..9c4535775710 100644 --- a/applications/plugins/SofaCarving/examples/SimpleCarving.py +++ b/applications/plugins/SofaCarving/examples/SimpleCarving.py @@ -59,7 +59,7 @@ def createScene(root): TT.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo") TT.addObject('DiagonalMass', massDensity=0.5) - TT.addObject('FixedConstraint', indices=[1, 3, 50]) + TT.addObject('FixedProjectiveConstraint', indices=[1, 3, 50]) TT.addObject('TetrahedralCorotationalFEMForceField', name="CFEM", youngModulus=160, poissonRatio=0.3, method="large") # Add corresponding surface topology diff --git a/applications/plugins/SofaCarving/examples/SimpleCarving.scn b/applications/plugins/SofaCarving/examples/SimpleCarving.scn index 73eece420821..7fa29ef2fcb3 100644 --- a/applications/plugins/SofaCarving/examples/SimpleCarving.scn +++ b/applications/plugins/SofaCarving/examples/SimpleCarving.scn @@ -5,7 +5,7 @@ - + @@ -43,7 +43,7 @@ - + diff --git a/applications/plugins/SofaCarving/examples/SimpleCarving_withPenetration.scn b/applications/plugins/SofaCarving/examples/SimpleCarving_withPenetration.scn index b30466918a4f..1150c1338281 100644 --- a/applications/plugins/SofaCarving/examples/SimpleCarving_withPenetration.scn +++ b/applications/plugins/SofaCarving/examples/SimpleCarving_withPenetration.scn @@ -5,7 +5,7 @@ - + @@ -43,7 +43,7 @@ - + diff --git a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn index 5f81a39f478c..5917bf01f9cf 100644 --- a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn +++ b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn @@ -4,7 +4,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/applications/plugins/SofaHAPI/examples/SofaHAPI1.scn b/applications/plugins/SofaHAPI/examples/SofaHAPI1.scn index 39df2f1751d2..ef2c5275e586 100644 --- a/applications/plugins/SofaHAPI/examples/SofaHAPI1.scn +++ b/applications/plugins/SofaHAPI/examples/SofaHAPI1.scn @@ -71,7 +71,7 @@ - + @@ -91,7 +91,7 @@ - + diff --git a/applications/plugins/SofaMatrix/examples/ComplianceMatrixExporter.scn b/applications/plugins/SofaMatrix/examples/ComplianceMatrixExporter.scn index 4949de493289..c25e38f1c058 100644 --- a/applications/plugins/SofaMatrix/examples/ComplianceMatrixExporter.scn +++ b/applications/plugins/SofaMatrix/examples/ComplianceMatrixExporter.scn @@ -1,9 +1,9 @@ - + - + @@ -30,12 +30,12 @@ - + - + diff --git a/applications/plugins/SofaMatrix/examples/ComplianceMatrixImage.scn b/applications/plugins/SofaMatrix/examples/ComplianceMatrixImage.scn index d443ea930891..c84dbe042051 100644 --- a/applications/plugins/SofaMatrix/examples/ComplianceMatrixImage.scn +++ b/applications/plugins/SofaMatrix/examples/ComplianceMatrixImage.scn @@ -1,9 +1,9 @@ - + - + @@ -30,12 +30,12 @@ - + - + diff --git a/applications/plugins/SofaMatrix/examples/FillReducingOrdering.scn b/applications/plugins/SofaMatrix/examples/FillReducingOrdering.scn index 6e5f3c405283..637e6cf23171 100644 --- a/applications/plugins/SofaMatrix/examples/FillReducingOrdering.scn +++ b/applications/plugins/SofaMatrix/examples/FillReducingOrdering.scn @@ -7,7 +7,7 @@ The scene compares two simulations in which only the vertices order differs: - The Node "Reorder" simulates the reordered mesh. --> - + @@ -41,7 +41,7 @@ The scene compares two simulations in which only the vertices order differs: - + @@ -63,7 +63,7 @@ The scene compares two simulations in which only the vertices order differs: - + diff --git a/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixExporter.scn b/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixExporter.scn index 7d8cb1f45ab2..73aeaaefc6c4 100644 --- a/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixExporter.scn +++ b/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixExporter.scn @@ -1,5 +1,5 @@ - + @@ -20,7 +20,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -47,14 +47,14 @@ - + - + diff --git a/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn b/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn index f7b91bace857..dabb9ac50b3d 100644 --- a/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn +++ b/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn @@ -1,5 +1,5 @@ - + @@ -22,14 +22,14 @@ - + - + diff --git a/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn b/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn index b62ead4bd7a8..0531b6a07f97 100644 --- a/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn +++ b/applications/plugins/SofaNewmat/examples/MatrixContributions121.scn @@ -7,7 +7,7 @@ - + @@ -36,7 +36,7 @@ - + @@ -61,7 +61,7 @@ - + diff --git a/applications/plugins/SofaNewmat/examples/MatrixContributions122.scn b/applications/plugins/SofaNewmat/examples/MatrixContributions122.scn index 329845633a77..32e9dbdb8aa4 100644 --- a/applications/plugins/SofaNewmat/examples/MatrixContributions122.scn +++ b/applications/plugins/SofaNewmat/examples/MatrixContributions122.scn @@ -7,7 +7,7 @@ - + @@ -35,7 +35,7 @@ - + @@ -52,7 +52,7 @@ - + @@ -66,7 +66,7 @@ - + @@ -83,7 +83,7 @@ - + diff --git a/applications/plugins/SofaNewmat/examples/MatrixContributions123.scn b/applications/plugins/SofaNewmat/examples/MatrixContributions123.scn index 0b01f17072ab..92de546a666f 100644 --- a/applications/plugins/SofaNewmat/examples/MatrixContributions123.scn +++ b/applications/plugins/SofaNewmat/examples/MatrixContributions123.scn @@ -7,7 +7,7 @@ - + @@ -35,7 +35,7 @@ - + @@ -56,7 +56,7 @@ - + @@ -83,7 +83,7 @@ - + @@ -104,7 +104,7 @@ - + diff --git a/applications/plugins/SofaPardisoSolver/examples/FEMBAR-SparsePARDISOSolver.scn b/applications/plugins/SofaPardisoSolver/examples/FEMBAR-SparsePARDISOSolver.scn index 3c0e22b9c780..72047b6b2c90 100644 --- a/applications/plugins/SofaPardisoSolver/examples/FEMBAR-SparsePARDISOSolver.scn +++ b/applications/plugins/SofaPardisoSolver/examples/FEMBAR-SparsePARDISOSolver.scn @@ -16,7 +16,7 @@ - + diff --git a/applications/plugins/SofaSimpleGUI/examples/liver.scn b/applications/plugins/SofaSimpleGUI/examples/liver.scn index e34960720fde..2ea0cb8954ca 100644 --- a/applications/plugins/SofaSimpleGUI/examples/liver.scn +++ b/applications/plugins/SofaSimpleGUI/examples/liver.scn @@ -3,7 +3,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn index 59664aa06257..a11bac2929fa 100644 --- a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn +++ b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn @@ -1,7 +1,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/applications/plugins/SofaSphFluid/examples/ParticlesRepulsionForceField.scn b/applications/plugins/SofaSphFluid/examples/ParticlesRepulsionForceField.scn index f297af3ddd5a..c5e2feef46f9 100644 --- a/applications/plugins/SofaSphFluid/examples/ParticlesRepulsionForceField.scn +++ b/applications/plugins/SofaSphFluid/examples/ParticlesRepulsionForceField.scn @@ -4,7 +4,7 @@ - + diff --git a/applications/plugins/SofaTest/Elasticity_test.h b/applications/plugins/SofaTest/Elasticity_test.h index fbe0c7428285..1dd3d658302e 100644 --- a/applications/plugins/SofaTest/Elasticity_test.h +++ b/applications/plugins/SofaTest/Elasticity_test.h @@ -31,7 +31,7 @@ #include #include -#include +#include #include namespace sofa { @@ -41,7 +41,7 @@ template struct PatchTestStruct { simulation::Node::SPtr SquareNode; - typename component::constraint::projective::AffineMovementConstraint::SPtr affineConstraint; + typename component::constraint::projective::AffineMovementProjectiveConstraint::SPtr affineConstraint; typename component::statecontainer::MechanicalObject::SPtr dofs; }; diff --git a/applications/plugins/SofaTest/Elasticity_test.inl b/applications/plugins/SofaTest/Elasticity_test.inl index f32feeac540b..3433abc20af4 100644 --- a/applications/plugins/SofaTest/Elasticity_test.inl +++ b/applications/plugins/SofaTest/Elasticity_test.inl @@ -36,10 +36,10 @@ // Constraint -#include +#include #include -#include -#include +#include +#include // ForceField #include @@ -98,7 +98,7 @@ Elasticity_test::createRegularGridScene( typedef component::topology::container::grid::RegularGridTopology RegularGridTopology; typedef typename component::engine::select::BoxROI BoxRoi; typedef typename sofa::component::engine::select::PairBoxROI PairBoxRoi; - typedef typename sofa::component::constraint::projective::AffineMovementConstraint AffineMovementConstraint; + typedef typename sofa::component::constraint::projective::AffineMovementProjectiveConstraint AffineMovementProjectiveConstraint; typedef component::linearsolver::iterative::CGLinearSolver CGLinearSolver; // Root node @@ -144,7 +144,7 @@ Elasticity_test::createRegularGridScene( pairBoxRoi->includedBox.setValue(includedBox); //Affine constraint - patchStruct.affineConstraint = modeling::addNew(SquareNode,"affineConstraint"); + patchStruct.affineConstraint = modeling::addNew(SquareNode,"affineConstraint"); modeling::setDataLink(&boxRoi->d_indices,&patchStruct.affineConstraint->m_meshIndices); modeling::setDataLink(&pairBoxRoi->f_indices,& patchStruct.affineConstraint->m_indices); @@ -223,9 +223,9 @@ CylinderTractionStruct Elasticity_test::createCylinderTra typename component::constraint::projective::FixedConstraint::SPtr fc= modeling::addNew >(root); sofa::modeling::setDataLink(&boxRoi1->d_indices,&fc->d_indices); - // FixedPlaneConstraint - typename component::constraint::projective::FixedPlaneConstraint::SPtr fpc= - modeling::addNew >(root); + // FixedPlaneProjectiveConstraint + typename component::constraint::projective::FixedPlaneProjectiveConstraint::SPtr fpc= + modeling::addNew >(root); fpc->d_dmin= -0.01; fpc->d_dmax= 0.01; fpc->d_direction=Coord(0,0,1); @@ -241,9 +241,9 @@ CylinderTractionStruct Elasticity_test::createCylinderTra modeling::addNew >(root); tractionStruct.forceField=tpff; sofa::modeling::setDataLink(&boxRoi2->d_triangleIndices,&tpff->triangleList); - // ProjectToLineConstraint - typename component::constraint::projective::ProjectToLineConstraint::SPtr ptlc= - modeling::addNew >(root); + // LineProjectiveConstraint + typename component::constraint::projective::LineProjectiveConstraint::SPtr ptlc= + modeling::addNew >(root); ptlc->f_direction=Coord(1,0,0); ptlc->f_origin=Coord(0,0,0); sofa::type::vector vArray; diff --git a/applications/plugins/SofaTest/InitPlugin_test.h b/applications/plugins/SofaTest/InitPlugin_test.h index f79c0bdeb81a..140827304d80 100644 --- a/applications/plugins/SofaTest/InitPlugin_test.h +++ b/applications/plugins/SofaTest/InitPlugin_test.h @@ -95,7 +95,7 @@ Other solver tests are available in Compliant_test: AssembledSolver_test and Dam -if constrained particle have the expected position. -if unconstrained particle have not changed. -Some projective constraint tests are available in SofaTest_test: ProjectToLineConstraint and ProjectToPlaneConstraint. +Some projective constraint tests are available in SofaTest_test: LineProjectiveConstraint and ProjectToPlaneConstraint. - Engine test: To test engine you set input values and check if the ouput values correspond to the expected ones. The test Engine_test tests if the update method is called only if necessary. To test this a minimal engine TestEngine was created with a counter in its update method. diff --git a/applications/plugins/SofaTest/SofaTest_test/scenes/damping.py b/applications/plugins/SofaTest/SofaTest_test/scenes/damping.py index 3b5bd86d9c85..b5c763922e70 100644 --- a/applications/plugins/SofaTest/SofaTest_test/scenes/damping.py +++ b/applications/plugins/SofaTest/SofaTest_test/scenes/damping.py @@ -120,7 +120,7 @@ def createScene(node): angularNode.createObject('MechanicalObject', template="Rigid", name="dofs", position="0 0 0 0 0 0 1", velocity="0 0 0 "+str(INITIAL_VELOCITY)+" 0 0") angularNode.createObject('UniformMass', filename=rigidFilename) angularNode.createObject('UniformVelocityDampingForceField', dampingCoefficient=DAMPING_COEF) - #angularNode.createObject('PartialFixedConstraint', indices='0', fixedDirections="1 1 1 0 1 1") + #angularNode.createObject('PartialFixedProjectiveConstraint', indices='0', fixedDirections="1 1 1 0 1 1") # translation damping test @@ -130,7 +130,7 @@ def createScene(node): translationNode.createObject('MechanicalObject', template="Rigid", name="dofs", position="0 0 0 0 0 0 1", velocity=str(INITIAL_VELOCITY)+" 0 0 0 0 0") translationNode.createObject('UniformMass', filename=rigidFilename) translationNode.createObject('UniformVelocityDampingForceField', dampingCoefficient=DAMPING_COEF) - #translationNode.createObject('PartialFixedConstraint', indices='0', fixedDirections="0 1 1 1 1 1") + #translationNode.createObject('PartialFixedProjectiveConstraint', indices='0', fixedDirections="0 1 1 1 1 1") return node diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckUsingAlias.cpp b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckUsingAlias.cpp index dcdde083ad0e..cde238845e9f 100644 --- a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckUsingAlias.cpp +++ b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckUsingAlias.cpp @@ -85,13 +85,13 @@ void SceneCheckUsingAlias::doPrintSummary() const unsigned int count = std::count(i.second.begin(), i.second.end(), unique_alias); using sofa::helper::lifecycle::ComponentChange; - using sofa::helper::lifecycle::uncreatableComponents; + using sofa::helper::lifecycle::renamedComponents; usingAliasesWarning << " - " << i.first << ": " << count << " created with alias \"" << unique_alias << "\""; - auto searchAlias = uncreatableComponents.find(unique_alias); - if( searchAlias != uncreatableComponents.end() ) + auto searchAlias = renamedComponents.find(unique_alias); + if( searchAlias != renamedComponents.end() ) { - usingAliasesWarning << " This alias will be REMOVED at the SOFA release " << searchAlias->second.getVersion() << ", please update your scenes."; + usingAliasesWarning << " " << searchAlias->second.getMessage(); } if(unique_alias != unique_aliases.back()) usingAliasesWarning << msgendl; diff --git a/examples/Benchmark/Accuracy/TriangleFEMForceField_compare.scn b/examples/Benchmark/Accuracy/TriangleFEMForceField_compare.scn index acff67b6931c..9d690bed376f 100644 --- a/examples/Benchmark/Accuracy/TriangleFEMForceField_compare.scn +++ b/examples/Benchmark/Accuracy/TriangleFEMForceField_compare.scn @@ -1,7 +1,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -59,7 +59,7 @@ - + @@ -88,7 +88,7 @@ - + diff --git a/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn b/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn index c17a4fb2b37f..85132630579d 100644 --- a/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn +++ b/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn @@ -5,7 +5,7 @@ - + @@ -29,7 +29,7 @@ - + diff --git a/examples/Benchmark/Performance/Bar16-fem-implicit-CudaVec3f.pscn b/examples/Benchmark/Performance/Bar16-fem-implicit-CudaVec3f.pscn index 1b2601cdefbc..c25c4b475296 100644 --- a/examples/Benchmark/Performance/Bar16-fem-implicit-CudaVec3f.pscn +++ b/examples/Benchmark/Performance/Bar16-fem-implicit-CudaVec3f.pscn @@ -15,7 +15,7 @@ /> --> '."\n"; ?> - + diff --git a/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3d.pscn b/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3d.pscn index d8df5a991353..32580e91d451 100644 --- a/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3d.pscn +++ b/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3d.pscn @@ -2,7 +2,7 @@ - + @@ -27,7 +27,7 @@ /> --> '."\n"; ?> - + diff --git a/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3f.pscn b/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3f.pscn index f911693ab22e..70b4cc28ff49 100644 --- a/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3f.pscn +++ b/examples/Benchmark/Performance/Bar16-fem-implicit-Vec3f.pscn @@ -15,7 +15,7 @@ /> --> '."\n"; ?> - + diff --git a/examples/Benchmark/Performance/Bar16-spring-rk4-CudaVec3f.pscn b/examples/Benchmark/Performance/Bar16-spring-rk4-CudaVec3f.pscn index 08e39fab9265..c1f3e1d33d5e 100644 --- a/examples/Benchmark/Performance/Bar16-spring-rk4-CudaVec3f.pscn +++ b/examples/Benchmark/Performance/Bar16-spring-rk4-CudaVec3f.pscn @@ -15,7 +15,7 @@ /> --> '."\n"; ?> - + diff --git a/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3d.pscn b/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3d.pscn index 8529cfce5cc4..0ed5c7c75318 100644 --- a/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3d.pscn +++ b/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3d.pscn @@ -2,7 +2,7 @@ - + @@ -27,7 +27,7 @@ /> --> '."\n"; ?> - + diff --git a/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3f.pscn b/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3f.pscn index e1f658a0562b..b467e0639b59 100644 --- a/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3f.pscn +++ b/examples/Benchmark/Performance/Bar16-spring-rk4-Vec3f.pscn @@ -15,7 +15,7 @@ /> --> '."\n"; ?> - + diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG.scn index ccd8c09cf703..41bab20a46fb 100644 --- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG.scn +++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG.scn @@ -10,7 +10,7 @@ The differences are in the way the global system matrix is built and solved: --> - + @@ -39,7 +39,7 @@ The differences are in the way the global system matrix is built and solved: - + diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn index d82a67aabbfd..01f2c6d497cd 100644 --- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn +++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_assembledCG_blocs.scn @@ -10,7 +10,7 @@ The differences are in the way the global system matrix is built and solved: --> - + @@ -38,7 +38,7 @@ The differences are in the way the global system matrix is built and solved: - + diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct.scn index 02276f5d64c4..e9d27faa57bb 100644 --- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct.scn +++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct.scn @@ -10,7 +10,7 @@ The differences are in the way the global system matrix is built and solved: --> - + @@ -40,7 +40,7 @@ The differences are in the way the global system matrix is built and solved: - + diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn index 98675483b53f..3a1e7a22ab26 100644 --- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn +++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_direct_blocs.scn @@ -10,7 +10,7 @@ The differences are in the way the global system matrix is built and solved: --> - + @@ -39,7 +39,7 @@ The differences are in the way the global system matrix is built and solved: - + diff --git a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_matrixfreeCG.scn b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_matrixfreeCG.scn index 3d13ce2db0da..e5f0867fd30f 100644 --- a/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_matrixfreeCG.scn +++ b/examples/Benchmark/Performance/MatrixAssembly/MatrixAssembly_matrixfreeCG.scn @@ -10,7 +10,7 @@ The differences are in the way the global system matrix is built and solved: --> - + @@ -40,7 +40,7 @@ The differences are in the way the global system matrix is built and solved: - + diff --git a/examples/Benchmark/TopologicalChanges/AffineMovementConstraint__RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/AffineMovementConstraint__RemovingMeshTest.scn index 483706da2403..281c96ff109b 100644 --- a/examples/Benchmark/TopologicalChanges/AffineMovementConstraint__RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/AffineMovementConstraint__RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Benchmark/TopologicalChanges/FixedConstraint_RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/FixedConstraint_RemovingMeshTest.scn index c0406f6cca15..84fa89acc837 100644 --- a/examples/Benchmark/TopologicalChanges/FixedConstraint_RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/FixedConstraint_RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Benchmark/TopologicalChanges/FixedPlaneConstraint_RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/FixedPlaneConstraint_RemovingMeshTest.scn index 411c3c7bb3fd..66d04efb6cc5 100644 --- a/examples/Benchmark/TopologicalChanges/FixedPlaneConstraint_RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/FixedPlaneConstraint_RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Benchmark/TopologicalChanges/LinearMovementConstraint_RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/LinearMovementConstraint_RemovingMeshTest.scn index 9f30bb75e823..662cb14f0522 100644 --- a/examples/Benchmark/TopologicalChanges/LinearMovementConstraint_RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/LinearMovementConstraint_RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Benchmark/TopologicalChanges/ProjectToLineConstraint_RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/ProjectToLineConstraint_RemovingMeshTest.scn index 6a59053485f3..82a7db960a96 100644 --- a/examples/Benchmark/TopologicalChanges/ProjectToLineConstraint_RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/ProjectToLineConstraint_RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Benchmark/TopologicalChanges/ProjectToPlaneConstraint_RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/ProjectToPlaneConstraint_RemovingMeshTest.scn index d4d097c6af29..2171a27bc6b4 100644 --- a/examples/Benchmark/TopologicalChanges/ProjectToPlaneConstraint_RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/ProjectToPlaneConstraint_RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Benchmark/TopologicalChanges/ProjectToPointConstraint_RemovingMeshTest.scn b/examples/Benchmark/TopologicalChanges/ProjectToPointConstraint_RemovingMeshTest.scn index f25820f316b2..0fc9b098e3b9 100644 --- a/examples/Benchmark/TopologicalChanges/ProjectToPointConstraint_RemovingMeshTest.scn +++ b/examples/Benchmark/TopologicalChanges/ProjectToPointConstraint_RemovingMeshTest.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_NNCG.scn b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_NNCG.scn index 1ba14adfb2e8..f45125d24cf9 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_NNCG.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_NNCG.scn @@ -1,5 +1,5 @@ - + @@ -7,7 +7,7 @@ - + @@ -72,7 +72,7 @@ - + @@ -98,7 +98,7 @@ - + @@ -124,7 +124,7 @@ - + @@ -150,5 +150,5 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_PGS.scn b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_PGS.scn index 043835a17685..b91d193492e8 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_PGS.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_PGS.scn @@ -1,5 +1,5 @@ - + @@ -7,7 +7,7 @@ - + @@ -72,7 +72,7 @@ - + @@ -98,7 +98,7 @@ - + @@ -124,7 +124,7 @@ - + @@ -150,5 +150,5 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_Rigid.scn b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_Rigid.scn index 0a387c66ad47..5f2c6b2249f4 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_Rigid.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_Rigid.scn @@ -1,12 +1,12 @@ - + - + - + @@ -26,7 +26,7 @@ - + @@ -44,5 +44,5 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_UGS.scn b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_UGS.scn index 80c1002e8e13..a9a540b58245 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_UGS.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralInteractionConstraint_UGS.scn @@ -1,5 +1,5 @@ - + @@ -7,7 +7,7 @@ - + @@ -72,7 +72,7 @@ - + @@ -98,7 +98,7 @@ - + @@ -124,7 +124,7 @@ - + @@ -150,5 +150,5 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/InextensiblePendulum.scn b/examples/Component/Constraint/Lagrangian/InextensiblePendulum.scn index ab6bdf1cb571..0d8004f572e4 100644 --- a/examples/Component/Constraint/Lagrangian/InextensiblePendulum.scn +++ b/examples/Component/Constraint/Lagrangian/InextensiblePendulum.scn @@ -5,9 +5,9 @@ - + - + @@ -42,13 +42,13 @@ - + - + diff --git a/examples/Component/Constraint/Lagrangian/SlidingConstraint.scn b/examples/Component/Constraint/Lagrangian/SlidingConstraint.scn index 615a001036d5..0adb51d70a32 100644 --- a/examples/Component/Constraint/Lagrangian/SlidingConstraint.scn +++ b/examples/Component/Constraint/Lagrangian/SlidingConstraint.scn @@ -6,7 +6,7 @@ - + @@ -53,7 +53,7 @@ - + @@ -81,5 +81,5 @@ - + diff --git a/examples/Component/Constraint/Projective/AffineMovementConstraint.scn b/examples/Component/Constraint/Projective/AffineMovementConstraint.scn index 5e87538455e5..cf9dee066e42 100644 --- a/examples/Component/Constraint/Projective/AffineMovementConstraint.scn +++ b/examples/Component/Constraint/Projective/AffineMovementConstraint.scn @@ -1,6 +1,6 @@ - + @@ -21,6 +21,6 @@ - + diff --git a/examples/Component/Constraint/Projective/AffineMovementConstraint3D.scn b/examples/Component/Constraint/Projective/AffineMovementConstraint3D.scn index 6fe3cfe9ee29..9559ae201989 100644 --- a/examples/Component/Constraint/Projective/AffineMovementConstraint3D.scn +++ b/examples/Component/Constraint/Projective/AffineMovementConstraint3D.scn @@ -1,6 +1,6 @@ - + @@ -21,7 +21,7 @@ - + diff --git a/examples/Component/Constraint/Projective/AttachConstraint.scn b/examples/Component/Constraint/Projective/AttachConstraint.scn index e419879213cf..80c6b41aa3f7 100644 --- a/examples/Component/Constraint/Projective/AttachConstraint.scn +++ b/examples/Component/Constraint/Projective/AttachConstraint.scn @@ -1,5 +1,5 @@ - + @@ -50,8 +50,8 @@ - - + + @@ -80,7 +80,7 @@ - - + + diff --git a/examples/Component/Constraint/Projective/AttachConstraintMatrix.scn b/examples/Component/Constraint/Projective/AttachConstraintMatrix.scn index ec7ae3cf09a9..b793d8158538 100644 --- a/examples/Component/Constraint/Projective/AttachConstraintMatrix.scn +++ b/examples/Component/Constraint/Projective/AttachConstraintMatrix.scn @@ -1,5 +1,5 @@ - + @@ -37,8 +37,8 @@ --> - - + + @@ -66,7 +66,7 @@ --> - - + + diff --git a/examples/Component/Constraint/Projective/BilinearConstraint.scn b/examples/Component/Constraint/Projective/BilinearConstraint.scn index 3886aca51c93..86cf8836f0d5 100644 --- a/examples/Component/Constraint/Projective/BilinearConstraint.scn +++ b/examples/Component/Constraint/Projective/BilinearConstraint.scn @@ -1,6 +1,6 @@ - + @@ -21,7 +21,7 @@ - diff --git a/examples/Component/Constraint/Projective/BilinearConstraint3D.scn b/examples/Component/Constraint/Projective/BilinearConstraint3D.scn index ba7c8b1a8c66..790ebfd1aa1f 100644 --- a/examples/Component/Constraint/Projective/BilinearConstraint3D.scn +++ b/examples/Component/Constraint/Projective/BilinearConstraint3D.scn @@ -1,6 +1,6 @@ - + @@ -21,7 +21,7 @@ - - + diff --git a/examples/Component/Constraint/Projective/FixedConstraint.scn b/examples/Component/Constraint/Projective/FixedConstraint.scn index f7d7b948cb39..91adbd6b9171 100644 --- a/examples/Component/Constraint/Projective/FixedConstraint.scn +++ b/examples/Component/Constraint/Projective/FixedConstraint.scn @@ -3,7 +3,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Constraint/Projective/FixedPlaneConstraint.scn b/examples/Component/Constraint/Projective/FixedPlaneConstraint.scn index 33091349da83..e81e89fe67e7 100644 --- a/examples/Component/Constraint/Projective/FixedPlaneConstraint.scn +++ b/examples/Component/Constraint/Projective/FixedPlaneConstraint.scn @@ -3,7 +3,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Component/Constraint/Projective/FixedRotationConstraint.scn b/examples/Component/Constraint/Projective/FixedRotationConstraint.scn index 9a1d330bced4..dff0cbf791fa 100644 --- a/examples/Component/Constraint/Projective/FixedRotationConstraint.scn +++ b/examples/Component/Constraint/Projective/FixedRotationConstraint.scn @@ -2,7 +2,7 @@ - + @@ -23,8 +23,8 @@ - - + + @@ -35,7 +35,7 @@ - + diff --git a/examples/Component/Constraint/Projective/HermiteSplineConstraint.scn b/examples/Component/Constraint/Projective/HermiteSplineConstraint.scn index 0e9cebd5f002..94c103f33135 100644 --- a/examples/Component/Constraint/Projective/HermiteSplineConstraint.scn +++ b/examples/Component/Constraint/Projective/HermiteSplineConstraint.scn @@ -1,5 +1,5 @@ - + @@ -41,7 +41,7 @@ - + @@ -72,7 +72,7 @@ - + diff --git a/examples/Component/Constraint/Projective/LinearMovementConstraint.scn b/examples/Component/Constraint/Projective/LinearMovementConstraint.scn index 765e24d06916..a0c44039f029 100644 --- a/examples/Component/Constraint/Projective/LinearMovementConstraint.scn +++ b/examples/Component/Constraint/Projective/LinearMovementConstraint.scn @@ -1,7 +1,7 @@ - + @@ -15,7 +15,7 @@ - - - - + @@ -33,9 +33,9 @@ - + - + diff --git a/examples/Component/Constraint/Projective/OscillatorConstraint_rigid.scn b/examples/Component/Constraint/Projective/OscillatorConstraint_rigid.scn index 29e63ffcf16e..ebf9b35dcddf 100644 --- a/examples/Component/Constraint/Projective/OscillatorConstraint_rigid.scn +++ b/examples/Component/Constraint/Projective/OscillatorConstraint_rigid.scn @@ -1,5 +1,5 @@ - + @@ -11,13 +11,13 @@ - + - + diff --git a/examples/Component/Constraint/Projective/ParabolicConstraint.scn b/examples/Component/Constraint/Projective/ParabolicConstraint.scn index 9ad9caf4787e..3ca3981defe8 100644 --- a/examples/Component/Constraint/Projective/ParabolicConstraint.scn +++ b/examples/Component/Constraint/Projective/ParabolicConstraint.scn @@ -3,7 +3,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/Constraint/Projective/PartialFixedConstraint.scn b/examples/Component/Constraint/Projective/PartialFixedConstraint.scn index 9e235784ff40..2d58937d7d57 100644 --- a/examples/Component/Constraint/Projective/PartialFixedConstraint.scn +++ b/examples/Component/Constraint/Projective/PartialFixedConstraint.scn @@ -3,7 +3,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Constraint/Projective/PatchTestConstraint.scn b/examples/Component/Constraint/Projective/PatchTestConstraint.scn index 4c1b2ad4c17d..14a0cde03f6e 100644 --- a/examples/Component/Constraint/Projective/PatchTestConstraint.scn +++ b/examples/Component/Constraint/Projective/PatchTestConstraint.scn @@ -1,6 +1,6 @@ - + @@ -21,7 +21,7 @@ - - + diff --git a/examples/Component/Constraint/Projective/ProjectDirectionConstraint.scn b/examples/Component/Constraint/Projective/ProjectDirectionConstraint.scn index 6ea4da00c661..eab3eae47e1f 100644 --- a/examples/Component/Constraint/Projective/ProjectDirectionConstraint.scn +++ b/examples/Component/Constraint/Projective/ProjectDirectionConstraint.scn @@ -1,6 +1,6 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/examples/Component/Constraint/Projective/ProjectToLineConstraint.scn b/examples/Component/Constraint/Projective/ProjectToLineConstraint.scn index ecfa2892dd89..4174189da28a 100644 --- a/examples/Component/Constraint/Projective/ProjectToLineConstraint.scn +++ b/examples/Component/Constraint/Projective/ProjectToLineConstraint.scn @@ -1,6 +1,6 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/examples/Component/Constraint/Projective/ProjectToPlaneConstraint.scn b/examples/Component/Constraint/Projective/ProjectToPlaneConstraint.scn index 8c46fd43d587..797dd281312a 100644 --- a/examples/Component/Constraint/Projective/ProjectToPlaneConstraint.scn +++ b/examples/Component/Constraint/Projective/ProjectToPlaneConstraint.scn @@ -1,6 +1,6 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Constraint/Projective/ProjectToPointConstraint.scn b/examples/Component/Constraint/Projective/ProjectToPointConstraint.scn index ebef7961b348..c8fbd99a6fd7 100644 --- a/examples/Component/Constraint/Projective/ProjectToPointConstraint.scn +++ b/examples/Component/Constraint/Projective/ProjectToPointConstraint.scn @@ -1,6 +1,6 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/examples/Component/Controller/MechanicalStateController.scn b/examples/Component/Controller/MechanicalStateController.scn index 65db4fe0dbcc..8c4010ccf6b4 100644 --- a/examples/Component/Controller/MechanicalStateController.scn +++ b/examples/Component/Controller/MechanicalStateController.scn @@ -3,7 +3,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/examples/Component/Diffusion/TetrahedronDiffusionFEMForceField.scn b/examples/Component/Diffusion/TetrahedronDiffusionFEMForceField.scn index b3b91f47d5a3..6d8f39a209e6 100644 --- a/examples/Component/Diffusion/TetrahedronDiffusionFEMForceField.scn +++ b/examples/Component/Diffusion/TetrahedronDiffusionFEMForceField.scn @@ -1,5 +1,5 @@ - + @@ -35,8 +35,8 @@ - - + + diff --git a/examples/Component/Engine/Analyze/ShapeMatching.scn b/examples/Component/Engine/Analyze/ShapeMatching.scn index 963419e8bb6e..79d6cc580328 100644 --- a/examples/Component/Engine/Analyze/ShapeMatching.scn +++ b/examples/Component/Engine/Analyze/ShapeMatching.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/Engine/Generate/GenerateCylinder.scn b/examples/Component/Engine/Generate/GenerateCylinder.scn index d2eefb6e6555..c0510c1ad903 100644 --- a/examples/Component/Engine/Generate/GenerateCylinder.scn +++ b/examples/Component/Engine/Generate/GenerateCylinder.scn @@ -1,6 +1,6 @@ - + @@ -21,10 +21,10 @@ - - + + - + diff --git a/examples/Component/Engine/Generate/GenerateGrid.scn b/examples/Component/Engine/Generate/GenerateGrid.scn index 5e3a62f10690..3759be30c7bd 100644 --- a/examples/Component/Engine/Generate/GenerateGrid.scn +++ b/examples/Component/Engine/Generate/GenerateGrid.scn @@ -1,6 +1,6 @@ - + @@ -21,10 +21,10 @@ - - + + - + @@ -36,10 +36,10 @@ - - + + - + diff --git a/examples/Component/Engine/Generate/MergePoints.scn b/examples/Component/Engine/Generate/MergePoints.scn index 462b3657c576..14b1f6c0f46d 100644 --- a/examples/Component/Engine/Generate/MergePoints.scn +++ b/examples/Component/Engine/Generate/MergePoints.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Engine/Generate/MeshTetraStuffing.scn b/examples/Component/Engine/Generate/MeshTetraStuffing.scn index 1fc3eb5daf4b..02736784952c 100644 --- a/examples/Component/Engine/Generate/MeshTetraStuffing.scn +++ b/examples/Component/Engine/Generate/MeshTetraStuffing.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/Engine/Select/BoxROI.scn b/examples/Component/Engine/Select/BoxROI.scn index 446af45803e7..d2aae26848b0 100644 --- a/examples/Component/Engine/Select/BoxROI.scn +++ b/examples/Component/Engine/Select/BoxROI.scn @@ -4,7 +4,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Component/Engine/Select/BoxROI_1d.scn b/examples/Component/Engine/Select/BoxROI_1d.scn index d7f3a38bfd33..29c05fad73bc 100644 --- a/examples/Component/Engine/Select/BoxROI_1d.scn +++ b/examples/Component/Engine/Select/BoxROI_1d.scn @@ -1,6 +1,6 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Component/Engine/Select/BoxROI_2d.scn b/examples/Component/Engine/Select/BoxROI_2d.scn index 8ff3eed83f2b..d8aa11229f43 100644 --- a/examples/Component/Engine/Select/BoxROI_2d.scn +++ b/examples/Component/Engine/Select/BoxROI_2d.scn @@ -1,6 +1,6 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Component/Engine/Select/MeshBoundaryROI.scn b/examples/Component/Engine/Select/MeshBoundaryROI.scn index 708f6c5f2aec..268abb6cc96d 100644 --- a/examples/Component/Engine/Select/MeshBoundaryROI.scn +++ b/examples/Component/Engine/Select/MeshBoundaryROI.scn @@ -1,6 +1,6 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Component/Engine/Select/MeshSplittingEngine.scn b/examples/Component/Engine/Select/MeshSplittingEngine.scn index 8016eba6c8d8..9964396e5464 100644 --- a/examples/Component/Engine/Select/MeshSplittingEngine.scn +++ b/examples/Component/Engine/Select/MeshSplittingEngine.scn @@ -2,7 +2,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/Engine/Select/NearestPointROI.scn b/examples/Component/Engine/Select/NearestPointROI.scn index d0db2545113c..f54e0aa60eda 100644 --- a/examples/Component/Engine/Select/NearestPointROI.scn +++ b/examples/Component/Engine/Select/NearestPointROI.scn @@ -2,9 +2,9 @@ - + - + @@ -34,7 +34,7 @@ - + @@ -50,7 +50,7 @@ - + @@ -58,8 +58,8 @@ - - + + - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Engine/Select/PointsFromIndices.scn b/examples/Component/Engine/Select/PointsFromIndices.scn index ed1337aee5b5..7725226bba49 100644 --- a/examples/Component/Engine/Select/PointsFromIndices.scn +++ b/examples/Component/Engine/Select/PointsFromIndices.scn @@ -1,6 +1,6 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/examples/Component/Engine/Select/ProximityROI.scn b/examples/Component/Engine/Select/ProximityROI.scn index 83001a35557d..7ba48a66000a 100644 --- a/examples/Component/Engine/Select/ProximityROI.scn +++ b/examples/Component/Engine/Select/ProximityROI.scn @@ -3,7 +3,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Component/Engine/Select/SphereROI.scn b/examples/Component/Engine/Select/SphereROI.scn index 6b12d91a9f52..0b9e6848cd16 100644 --- a/examples/Component/Engine/Select/SphereROI.scn +++ b/examples/Component/Engine/Select/SphereROI.scn @@ -3,7 +3,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Engine/Select/SubsetTopology.scn b/examples/Component/Engine/Select/SubsetTopology.scn index 21e3ebf839d9..f16a84ab8dbb 100644 --- a/examples/Component/Engine/Select/SubsetTopology.scn +++ b/examples/Component/Engine/Select/SubsetTopology.scn @@ -3,7 +3,7 @@ - + @@ -50,7 +50,7 @@ - + diff --git a/examples/Component/Engine/Select/SubsetTopology_localIndicesOption.scn b/examples/Component/Engine/Select/SubsetTopology_localIndicesOption.scn index 31bd27fdd007..5e50f45b0275 100644 --- a/examples/Component/Engine/Select/SubsetTopology_localIndicesOption.scn +++ b/examples/Component/Engine/Select/SubsetTopology_localIndicesOption.scn @@ -3,7 +3,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/examples/Component/Engine/Select/SubsetTopology_refiningMesh.scn b/examples/Component/Engine/Select/SubsetTopology_refiningMesh.scn index 9278d14c0f03..56a2d8dfcdc0 100644 --- a/examples/Component/Engine/Select/SubsetTopology_refiningMesh.scn +++ b/examples/Component/Engine/Select/SubsetTopology_refiningMesh.scn @@ -3,7 +3,7 @@ - + diff --git a/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn b/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn index c2ad7fcabc41..14972862716f 100644 --- a/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn +++ b/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn @@ -3,7 +3,7 @@ - + @@ -33,8 +33,8 @@ - - + + diff --git a/examples/Component/Engine/Select/ValuesFromPositions_vectorField.scn b/examples/Component/Engine/Select/ValuesFromPositions_vectorField.scn index 7dae968e1ec2..effa36cf9d9f 100644 --- a/examples/Component/Engine/Select/ValuesFromPositions_vectorField.scn +++ b/examples/Component/Engine/Select/ValuesFromPositions_vectorField.scn @@ -4,7 +4,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Component/Engine/Transform/DisplacementMatrixEngine.scn b/examples/Component/Engine/Transform/DisplacementMatrixEngine.scn index 3ad1146f2b30..bda26fff2184 100644 --- a/examples/Component/Engine/Transform/DisplacementMatrixEngine.scn +++ b/examples/Component/Engine/Transform/DisplacementMatrixEngine.scn @@ -1,6 +1,6 @@ - + @@ -13,7 +13,7 @@ - + diff --git a/examples/Component/IO/Mesh/GIDMeshLoader.scn b/examples/Component/IO/Mesh/GIDMeshLoader.scn index 67d832f36aaa..30cc187f067c 100644 --- a/examples/Component/IO/Mesh/GIDMeshLoader.scn +++ b/examples/Component/IO/Mesh/GIDMeshLoader.scn @@ -1,6 +1,6 @@ - + @@ -21,7 +21,7 @@ - + diff --git a/examples/Component/IO/Mesh/GridMeshCreator.scn b/examples/Component/IO/Mesh/GridMeshCreator.scn index 57ad5cb3d656..f7fc089de77c 100644 --- a/examples/Component/IO/Mesh/GridMeshCreator.scn +++ b/examples/Component/IO/Mesh/GridMeshCreator.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/IO/Mesh/LiverUseNewLoaders.scn b/examples/Component/IO/Mesh/LiverUseNewLoaders.scn index feb56b804528..33fc1206e067 100644 --- a/examples/Component/IO/Mesh/LiverUseNewLoaders.scn +++ b/examples/Component/IO/Mesh/LiverUseNewLoaders.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/IO/Mesh/MeshGmshLoader.scn b/examples/Component/IO/Mesh/MeshGmshLoader.scn index 0acff14cbf5d..4158c668ac37 100644 --- a/examples/Component/IO/Mesh/MeshGmshLoader.scn +++ b/examples/Component/IO/Mesh/MeshGmshLoader.scn @@ -5,7 +5,7 @@ - + @@ -34,7 +34,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/examples/Component/LinearSolver/Direct/Eigen3-SVD.scn b/examples/Component/LinearSolver/Direct/Eigen3-SVD.scn index 6cdfe62062db..356075b7f5fd 100644 --- a/examples/Component/LinearSolver/Direct/Eigen3-SVD.scn +++ b/examples/Component/LinearSolver/Direct/Eigen3-SVD.scn @@ -1,7 +1,7 @@ - + @@ -19,7 +19,7 @@ - + diff --git a/examples/Component/LinearSolver/Direct/FEMBAR_SVDLinearSolver.scn b/examples/Component/LinearSolver/Direct/FEMBAR_SVDLinearSolver.scn index 1496fe41a7c3..4c26c5c7735a 100644 --- a/examples/Component/LinearSolver/Direct/FEMBAR_SVDLinearSolver.scn +++ b/examples/Component/LinearSolver/Direct/FEMBAR_SVDLinearSolver.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/LinearSolver/FEMBAR-common.xml b/examples/Component/LinearSolver/FEMBAR-common.xml index 2162436968d5..924dcf4aec3b 100644 --- a/examples/Component/LinearSolver/FEMBAR-common.xml +++ b/examples/Component/LinearSolver/FEMBAR-common.xml @@ -1,7 +1,7 @@ - + @@ -25,5 +25,5 @@ - + \ No newline at end of file diff --git a/examples/Component/LinearSolver/Iterative/CGLinearSolver.scn b/examples/Component/LinearSolver/Iterative/CGLinearSolver.scn index 24a12bf6f834..c7770743c4aa 100644 --- a/examples/Component/LinearSolver/Iterative/CGLinearSolver.scn +++ b/examples/Component/LinearSolver/Iterative/CGLinearSolver.scn @@ -1,6 +1,6 @@ - + @@ -17,7 +17,7 @@ - + diff --git a/examples/Component/LinearSystem/CompositeLinearSystem.scn b/examples/Component/LinearSystem/CompositeLinearSystem.scn index b8db4d65117c..d0c869966ad6 100644 --- a/examples/Component/LinearSystem/CompositeLinearSystem.scn +++ b/examples/Component/LinearSystem/CompositeLinearSystem.scn @@ -1,5 +1,5 @@ - + @@ -41,7 +41,7 @@ - + @@ -65,7 +65,7 @@ - + @@ -79,7 +79,7 @@ - + diff --git a/examples/Component/LinearSystem/ConstantSparsityPatternSystem.scn b/examples/Component/LinearSystem/ConstantSparsityPatternSystem.scn index db3ae28eb81d..af5194c5e135 100644 --- a/examples/Component/LinearSystem/ConstantSparsityPatternSystem.scn +++ b/examples/Component/LinearSystem/ConstantSparsityPatternSystem.scn @@ -1,7 +1,7 @@ - + @@ -29,7 +29,7 @@ - + @@ -53,7 +53,7 @@ - + @@ -67,7 +67,7 @@ - + diff --git a/examples/Component/LinearSystem/MatrixLinearSystem.scn b/examples/Component/LinearSystem/MatrixLinearSystem.scn index fa0299f2009a..8b034949c81f 100644 --- a/examples/Component/LinearSystem/MatrixLinearSystem.scn +++ b/examples/Component/LinearSystem/MatrixLinearSystem.scn @@ -1,7 +1,7 @@ - + @@ -42,7 +42,7 @@ - + @@ -67,7 +67,7 @@ - + @@ -93,7 +93,7 @@ - + diff --git a/examples/Component/LinearSystem/PendulumSpringsDistanceMapping.scn b/examples/Component/LinearSystem/PendulumSpringsDistanceMapping.scn index 8266e71cc48d..70341c2f4967 100644 --- a/examples/Component/LinearSystem/PendulumSpringsDistanceMapping.scn +++ b/examples/Component/LinearSystem/PendulumSpringsDistanceMapping.scn @@ -5,7 +5,7 @@ - + @@ -36,7 +36,7 @@ - + @@ -60,7 +60,7 @@ - + diff --git a/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn b/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn index 179bf3489908..79102a5227bd 100644 --- a/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn +++ b/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn @@ -3,7 +3,7 @@ - + @@ -53,7 +53,7 @@ - + diff --git a/examples/Component/Mapping/Linear/BarycentricTetraMapping.scn b/examples/Component/Mapping/Linear/BarycentricTetraMapping.scn index f98703a65263..7e22f035d0ff 100644 --- a/examples/Component/Mapping/Linear/BarycentricTetraMapping.scn +++ b/examples/Component/Mapping/Linear/BarycentricTetraMapping.scn @@ -3,7 +3,7 @@ - + @@ -45,7 +45,7 @@ - + diff --git a/examples/Component/Mapping/Linear/CenterOfMassMapping.scn b/examples/Component/Mapping/Linear/CenterOfMassMapping.scn index c570784c8497..a50d9cdbc89e 100644 --- a/examples/Component/Mapping/Linear/CenterOfMassMapping.scn +++ b/examples/Component/Mapping/Linear/CenterOfMassMapping.scn @@ -3,7 +3,7 @@ - + @@ -32,7 +32,7 @@ free_velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" rest_position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1" /> - + - + @@ -42,7 +42,7 @@ - + diff --git a/examples/Component/Mapping/Linear/DeformableOnRigidFrameMappingConstraints.scn b/examples/Component/Mapping/Linear/DeformableOnRigidFrameMappingConstraints.scn index 463e57f4b12c..b0cc566a42a8 100644 --- a/examples/Component/Mapping/Linear/DeformableOnRigidFrameMappingConstraints.scn +++ b/examples/Component/Mapping/Linear/DeformableOnRigidFrameMappingConstraints.scn @@ -7,7 +7,7 @@ - + diff --git a/examples/Component/Mapping/Linear/IdentityMapping.scn b/examples/Component/Mapping/Linear/IdentityMapping.scn index a7758dd636f6..ab825bf5fe38 100644 --- a/examples/Component/Mapping/Linear/IdentityMapping.scn +++ b/examples/Component/Mapping/Linear/IdentityMapping.scn @@ -4,7 +4,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Component/Mapping/Linear/SimpleTesselatedTetraTopologicalMapping.scn b/examples/Component/Mapping/Linear/SimpleTesselatedTetraTopologicalMapping.scn index 4d1cc74a8193..4773230ce07b 100644 --- a/examples/Component/Mapping/Linear/SimpleTesselatedTetraTopologicalMapping.scn +++ b/examples/Component/Mapping/Linear/SimpleTesselatedTetraTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Mapping/Linear/SkinningMapping.scn b/examples/Component/Mapping/Linear/SkinningMapping.scn index 351649d07ae7..4d78200855fd 100644 --- a/examples/Component/Mapping/Linear/SkinningMapping.scn +++ b/examples/Component/Mapping/Linear/SkinningMapping.scn @@ -3,7 +3,7 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/examples/Component/Mapping/Linear/SubsetMapping.scn b/examples/Component/Mapping/Linear/SubsetMapping.scn index d44ec9fc2486..b3f9cc262737 100644 --- a/examples/Component/Mapping/Linear/SubsetMapping.scn +++ b/examples/Component/Mapping/Linear/SubsetMapping.scn @@ -4,7 +4,7 @@ - + @@ -41,7 +41,7 @@ /> - + diff --git a/examples/Component/Mapping/NonLinear/DistanceMapping.scn b/examples/Component/Mapping/NonLinear/DistanceMapping.scn index 2d79d67e6d13..fe92700c998a 100644 --- a/examples/Component/Mapping/NonLinear/DistanceMapping.scn +++ b/examples/Component/Mapping/NonLinear/DistanceMapping.scn @@ -2,7 +2,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn b/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn index 3a5f3a1e5f71..525c69acc04b 100644 --- a/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn +++ b/examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn @@ -2,7 +2,7 @@ - + @@ -31,7 +31,7 @@ - + @@ -47,7 +47,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn b/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn index 7744bd8aec99..1288a343fcd7 100644 --- a/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn +++ b/examples/Component/Mapping/NonLinear/RigidMapping-basic.scn @@ -1,6 +1,6 @@ - + @@ -15,7 +15,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn b/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn index 5f19f6a606de..f80e9ca2cc0f 100644 --- a/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn +++ b/examples/Component/Mapping/NonLinear/RigidMapping2d-basic.scn @@ -1,6 +1,6 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn b/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn index 6027d7de902f..cc1d920970c2 100644 --- a/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn +++ b/examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn @@ -1,6 +1,6 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/RigidRigidMapping.scn b/examples/Component/Mapping/NonLinear/RigidRigidMapping.scn index 7ac77700c1c0..a4a83f1ea470 100644 --- a/examples/Component/Mapping/NonLinear/RigidRigidMapping.scn +++ b/examples/Component/Mapping/NonLinear/RigidRigidMapping.scn @@ -1,5 +1,5 @@ - + @@ -15,7 +15,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/SquareDistanceMapping.scn b/examples/Component/Mapping/NonLinear/SquareDistanceMapping.scn index 60e7ce3bd354..03b54fc6d5bb 100644 --- a/examples/Component/Mapping/NonLinear/SquareDistanceMapping.scn +++ b/examples/Component/Mapping/NonLinear/SquareDistanceMapping.scn @@ -2,7 +2,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/SquareMapping.scn b/examples/Component/Mapping/NonLinear/SquareMapping.scn index dd96407b38a6..db024529d70f 100644 --- a/examples/Component/Mapping/NonLinear/SquareMapping.scn +++ b/examples/Component/Mapping/NonLinear/SquareMapping.scn @@ -2,7 +2,7 @@ - + @@ -28,7 +28,7 @@ - + @@ -50,7 +50,7 @@ - + diff --git a/examples/Component/Mass/DiagonalMass.scn b/examples/Component/Mass/DiagonalMass.scn index ac24b41552c3..f83e61ebcb5c 100644 --- a/examples/Component/Mass/DiagonalMass.scn +++ b/examples/Component/Mass/DiagonalMass.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Mass/MeshMatrixMass.scn b/examples/Component/Mass/MeshMatrixMass.scn index b8abec1d3142..a837db2e0006 100644 --- a/examples/Component/Mass/MeshMatrixMass.scn +++ b/examples/Component/Mass/MeshMatrixMass.scn @@ -4,7 +4,7 @@ - + @@ -36,7 +36,7 @@ - + diff --git a/examples/Component/Mass/UniformMass.scn b/examples/Component/Mass/UniformMass.scn index c85e272e18a4..7de3a469e353 100644 --- a/examples/Component/Mass/UniformMass.scn +++ b/examples/Component/Mass/UniformMass.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/MechanicalLoad/ConstantForceField.scn b/examples/Component/MechanicalLoad/ConstantForceField.scn index f7f23dc35bbf..c5969c4f2120 100644 --- a/examples/Component/MechanicalLoad/ConstantForceField.scn +++ b/examples/Component/MechanicalLoad/ConstantForceField.scn @@ -22,7 +22,7 @@ - + diff --git a/examples/Component/MechanicalLoad/EllipsoidForceField.scn b/examples/Component/MechanicalLoad/EllipsoidForceField.scn index 73a6dbbef0a1..717ab8d95db8 100644 --- a/examples/Component/MechanicalLoad/EllipsoidForceField.scn +++ b/examples/Component/MechanicalLoad/EllipsoidForceField.scn @@ -5,7 +5,7 @@ - + @@ -36,7 +36,7 @@ - + diff --git a/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn b/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn index 697072de215e..ef1a0060d8a4 100644 --- a/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn +++ b/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn @@ -3,7 +3,7 @@ - + @@ -28,7 +28,7 @@ - + @@ -37,9 +37,9 @@ - + - + diff --git a/examples/Component/MechanicalLoad/SphereForceField.scn b/examples/Component/MechanicalLoad/SphereForceField.scn index 298742dfc7ba..fd6fd1d89929 100644 --- a/examples/Component/MechanicalLoad/SphereForceField.scn +++ b/examples/Component/MechanicalLoad/SphereForceField.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/MechanicalLoad/SurfacePressureForceField.scn b/examples/Component/MechanicalLoad/SurfacePressureForceField.scn index f8c69abde258..63a14b6b4ede 100644 --- a/examples/Component/MechanicalLoad/SurfacePressureForceField.scn +++ b/examples/Component/MechanicalLoad/SurfacePressureForceField.scn @@ -3,7 +3,7 @@ - + diff --git a/examples/Component/MechanicalLoad/TaitSurfacePressureForceField.scn b/examples/Component/MechanicalLoad/TaitSurfacePressureForceField.scn index 375558764ffc..91e97efe3d49 100644 --- a/examples/Component/MechanicalLoad/TaitSurfacePressureForceField.scn +++ b/examples/Component/MechanicalLoad/TaitSurfacePressureForceField.scn @@ -3,7 +3,7 @@ - + diff --git a/examples/Component/MechanicalLoad/TrianglePressureForceField.scn b/examples/Component/MechanicalLoad/TrianglePressureForceField.scn index 80d90907be94..eebfa803818f 100644 --- a/examples/Component/MechanicalLoad/TrianglePressureForceField.scn +++ b/examples/Component/MechanicalLoad/TrianglePressureForceField.scn @@ -4,7 +4,7 @@ - + @@ -32,8 +32,8 @@ - - + + diff --git a/examples/Component/ODESolver/Backward/EulerImplicitSolver-comparison.scn b/examples/Component/ODESolver/Backward/EulerImplicitSolver-comparison.scn index 9db818361d83..5cf7e86aba4f 100644 --- a/examples/Component/ODESolver/Backward/EulerImplicitSolver-comparison.scn +++ b/examples/Component/ODESolver/Backward/EulerImplicitSolver-comparison.scn @@ -1,6 +1,6 @@ - + @@ -24,7 +24,7 @@ - + @@ -39,7 +39,7 @@ - + @@ -54,7 +54,7 @@ - + @@ -69,7 +69,7 @@ - + diff --git a/examples/Component/ODESolver/Backward/EulerImplicitSolver.scn b/examples/Component/ODESolver/Backward/EulerImplicitSolver.scn index bc2b9b85373f..bb30a06a9504 100644 --- a/examples/Component/ODESolver/Backward/EulerImplicitSolver.scn +++ b/examples/Component/ODESolver/Backward/EulerImplicitSolver.scn @@ -1,5 +1,5 @@ - + @@ -21,7 +21,7 @@ - + diff --git a/examples/Component/ODESolver/Backward/NewmarkImplicitSolver.scn b/examples/Component/ODESolver/Backward/NewmarkImplicitSolver.scn index 81796d0f426b..3f391fb9ee96 100644 --- a/examples/Component/ODESolver/Backward/NewmarkImplicitSolver.scn +++ b/examples/Component/ODESolver/Backward/NewmarkImplicitSolver.scn @@ -1,5 +1,5 @@ - + @@ -24,7 +24,7 @@ - + @@ -41,7 +41,7 @@ - + @@ -57,7 +57,7 @@ - + diff --git a/examples/Component/ODESolver/Backward/StaticSolver.scn b/examples/Component/ODESolver/Backward/StaticSolver.scn index 4689fba42e4c..0a79f591aa5a 100644 --- a/examples/Component/ODESolver/Backward/StaticSolver.scn +++ b/examples/Component/ODESolver/Backward/StaticSolver.scn @@ -1,5 +1,5 @@ - + @@ -26,7 +26,7 @@ - + @@ -41,7 +41,7 @@ - + @@ -56,7 +56,7 @@ - + diff --git a/examples/Component/ODESolver/Backward/VariationalSymplecticSolver.scn b/examples/Component/ODESolver/Backward/VariationalSymplecticSolver.scn index a031face7c07..ea118addb4dd 100644 --- a/examples/Component/ODESolver/Backward/VariationalSymplecticSolver.scn +++ b/examples/Component/ODESolver/Backward/VariationalSymplecticSolver.scn @@ -1,5 +1,5 @@ - + diff --git a/examples/Component/ODESolver/Forward/EulerExplicitSolver.scn b/examples/Component/ODESolver/Forward/EulerExplicitSolver.scn index 1272f33b10a4..9f8fb2095217 100644 --- a/examples/Component/ODESolver/Forward/EulerExplicitSolver.scn +++ b/examples/Component/ODESolver/Forward/EulerExplicitSolver.scn @@ -7,7 +7,7 @@ trivially, it requires a linear solver, here SparseLDLSolver. --> - + @@ -37,7 +37,7 @@ trivially, it requires a linear solver, here SparseLDLSolver. - + diff --git a/examples/Component/ODESolver/Forward/EulerExplicitSolver_diagonal.scn b/examples/Component/ODESolver/Forward/EulerExplicitSolver_diagonal.scn index a95b1a42dea5..5a803ed22c5f 100644 --- a/examples/Component/ODESolver/Forward/EulerExplicitSolver_diagonal.scn +++ b/examples/Component/ODESolver/Forward/EulerExplicitSolver_diagonal.scn @@ -7,7 +7,7 @@ trivially, it does not require a linear solver. --> - + @@ -36,7 +36,7 @@ trivially, it does not require a linear solver. - + diff --git a/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn b/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn index 14d46ad801fa..a82b531ff070 100644 --- a/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn +++ b/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn @@ -7,7 +7,7 @@ trivially, it requires a linear solver, here SparseLDLSolver. --> - + @@ -29,7 +29,7 @@ trivially, it requires a linear solver, here SparseLDLSolver. - + diff --git a/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn b/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn index 6d5620fc725d..f8a7a002d4a3 100644 --- a/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn +++ b/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn @@ -7,7 +7,7 @@ trivially, it does not require a linear solver. --> - + @@ -29,7 +29,7 @@ trivially, it does not require a linear solver. - + diff --git a/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn b/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn index 5eb51e00eab0..c45ca8d11f12 100644 --- a/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn +++ b/examples/Component/ODESolver/Forward/RungeKutta4Solver.scn @@ -1,6 +1,6 @@ - + @@ -19,7 +19,7 @@ - + diff --git a/examples/Component/SceneUtility/Monitor.scn b/examples/Component/SceneUtility/Monitor.scn index 10a2bf4132a7..1810517d79dc 100644 --- a/examples/Component/SceneUtility/Monitor.scn +++ b/examples/Component/SceneUtility/Monitor.scn @@ -3,7 +3,7 @@ - + @@ -17,7 +17,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/BeamFEMForceField.scn b/examples/Component/SolidMechanics/FEM/BeamFEMForceField.scn index 6de3f836c548..f7d6d1850d5f 100644 --- a/examples/Component/SolidMechanics/FEM/BeamFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/BeamFEMForceField.scn @@ -6,7 +6,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -49,7 +49,7 @@ - + @@ -70,7 +70,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/FastTetrahedralCorotationalForceField.scn b/examples/Component/SolidMechanics/FEM/FastTetrahedralCorotationalForceField.scn index ef62a08a3f66..f51bfdca6ef9 100644 --- a/examples/Component/SolidMechanics/FEM/FastTetrahedralCorotationalForceField.scn +++ b/examples/Component/SolidMechanics/FEM/FastTetrahedralCorotationalForceField.scn @@ -1,6 +1,6 @@ - + @@ -31,7 +31,7 @@ - + @@ -51,7 +51,7 @@ - + @@ -70,7 +70,7 @@ - + @@ -89,7 +89,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/FastTetrahedronCorotationalForceField_validation.scn b/examples/Component/SolidMechanics/FEM/FastTetrahedronCorotationalForceField_validation.scn index 47999c5dfac9..5b2224456255 100644 --- a/examples/Component/SolidMechanics/FEM/FastTetrahedronCorotationalForceField_validation.scn +++ b/examples/Component/SolidMechanics/FEM/FastTetrahedronCorotationalForceField_validation.scn @@ -3,7 +3,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/Heterogeneous-TetrahedronFEMForceField.scn b/examples/Component/SolidMechanics/FEM/Heterogeneous-TetrahedronFEMForceField.scn index 816e02413989..0fe9a314781a 100644 --- a/examples/Component/SolidMechanics/FEM/Heterogeneous-TetrahedronFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/Heterogeneous-TetrahedronFEMForceField.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/HexahedralFEMForceField.scn b/examples/Component/SolidMechanics/FEM/HexahedralFEMForceField.scn index 7452f277823d..1c34905cb0a2 100644 --- a/examples/Component/SolidMechanics/FEM/HexahedralFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/HexahedralFEMForceField.scn @@ -4,7 +4,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/HexahedralFEMForceFieldAndMass.scn b/examples/Component/SolidMechanics/FEM/HexahedralFEMForceFieldAndMass.scn index 0ec0270db842..c7f7d2032f57 100644 --- a/examples/Component/SolidMechanics/FEM/HexahedralFEMForceFieldAndMass.scn +++ b/examples/Component/SolidMechanics/FEM/HexahedralFEMForceFieldAndMass.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMForceFieldAndMass.scn b/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMForceFieldAndMass.scn index 60154bce09bb..d9cacbce5338 100644 --- a/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMForceFieldAndMass.scn +++ b/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMForceFieldAndMass.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMMapping.scn b/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMMapping.scn index 2f336d01caf7..4504389e56cc 100644 --- a/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMMapping.scn +++ b/examples/Component/SolidMechanics/FEM/HexahedronCompositeFEMMapping.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/HexahedronFEMForceField.scn b/examples/Component/SolidMechanics/FEM/HexahedronFEMForceField.scn index f42cbc5ec946..5b04f5ba4c17 100644 --- a/examples/Component/SolidMechanics/FEM/HexahedronFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/HexahedronFEMForceField.scn @@ -4,7 +4,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/HexahedronFEMForceFieldAndMass.scn b/examples/Component/SolidMechanics/FEM/HexahedronFEMForceFieldAndMass.scn index db7bd372a48e..9593a932fb65 100644 --- a/examples/Component/SolidMechanics/FEM/HexahedronFEMForceFieldAndMass.scn +++ b/examples/Component/SolidMechanics/FEM/HexahedronFEMForceFieldAndMass.scn @@ -4,7 +4,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/QuadBendingFEMForceField.scn b/examples/Component/SolidMechanics/FEM/QuadBendingFEMForceField.scn index bd43c7d74559..cf38273caee1 100644 --- a/examples/Component/SolidMechanics/FEM/QuadBendingFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/QuadBendingFEMForceField.scn @@ -3,7 +3,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn b/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn index b986347c1f83..62ccba55d4cc 100644 --- a/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/StandardTetrahedralFEMForceField.scn @@ -1,6 +1,6 @@  - + @@ -27,7 +27,7 @@ - + @@ -50,7 +50,7 @@ - + @@ -73,7 +73,7 @@ - + @@ -97,7 +97,7 @@ - + @@ -121,7 +121,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn index c6ce0dfa93c5..c3df8204e176 100644 --- a/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/TetrahedralCorotationalFEMForceField.scn @@ -3,7 +3,7 @@ - + @@ -40,7 +40,7 @@ - + @@ -59,7 +59,7 @@ - + @@ -78,7 +78,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField.scn index a408d693b72f..d0256eddc4b5 100644 --- a/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField.scn @@ -1,6 +1,6 @@ - + @@ -32,7 +32,7 @@ method="small" computeVonMisesStress="2" showVonMisesStressPerElement="true"/> - + @@ -53,7 +53,7 @@ method="large" computeVonMisesStress="1" showVonMisesStressPerElement="true"/> - + @@ -73,7 +73,7 @@ method="polar" computeVonMisesStress="1" showVonMisesStressPerElement="true"/> - + @@ -93,7 +93,7 @@ method="svd" computeVonMisesStress="1" showVonMisesStressPerElement="true"/> - + diff --git a/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField_assemble.scn b/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField_assemble.scn index dc6c9526fe9a..d3ca3afc6ef7 100644 --- a/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField_assemble.scn +++ b/examples/Component/SolidMechanics/FEM/TetrahedronFEMForceField_assemble.scn @@ -1,6 +1,6 @@ - + @@ -32,7 +32,7 @@ method="small" computeVonMisesStress="2" showVonMisesStressPerElement="true"/> - + @@ -53,7 +53,7 @@ method="large" computeVonMisesStress="1" showVonMisesStressPerElement="true"/> - + diff --git a/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn index 153604ed4127..33f6f9ec77f8 100644 --- a/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/TetrahedronHyperelasticityFEMForceField.scn @@ -3,7 +3,7 @@ - + @@ -35,7 +35,7 @@ - + @@ -58,7 +58,7 @@ - + @@ -81,7 +81,7 @@ - + @@ -105,7 +105,7 @@ - + @@ -129,7 +129,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn b/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn index 334b284bed66..667747cdd90e 100644 --- a/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn +++ b/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn @@ -4,7 +4,7 @@ - + @@ -34,8 +34,8 @@ - - + + diff --git a/examples/Component/SolidMechanics/FEM/TriangleFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TriangleFEMForceField.scn index 42e22aa28acd..de077cccc6f3 100644 --- a/examples/Component/SolidMechanics/FEM/TriangleFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/TriangleFEMForceField.scn @@ -5,7 +5,7 @@ - + @@ -29,7 +29,7 @@ - + @@ -43,7 +43,7 @@ - + @@ -57,7 +57,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/TriangularFEMForceField.scn b/examples/Component/SolidMechanics/FEM/TriangularFEMForceField.scn index 93562748dea7..b3af073835de 100644 --- a/examples/Component/SolidMechanics/FEM/TriangularFEMForceField.scn +++ b/examples/Component/SolidMechanics/FEM/TriangularFEMForceField.scn @@ -2,7 +2,7 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/TriangularFEMForceFieldOptim.scn b/examples/Component/SolidMechanics/FEM/TriangularFEMForceFieldOptim.scn index 11109678816f..335f377b2ccc 100644 --- a/examples/Component/SolidMechanics/FEM/TriangularFEMForceFieldOptim.scn +++ b/examples/Component/SolidMechanics/FEM/TriangularFEMForceFieldOptim.scn @@ -1,6 +1,6 @@ - + @@ -26,7 +26,7 @@ - + @@ -42,7 +42,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn b/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn index 742e0ede0969..6c1db8b3e1b5 100644 --- a/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn +++ b/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + @@ -51,7 +51,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -86,7 +86,7 @@ - + @@ -104,7 +104,7 @@ - + @@ -122,7 +122,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/FastTriangularBendingSprings.scn b/examples/Component/SolidMechanics/Spring/FastTriangularBendingSprings.scn index 2c641ed6442b..d3248971fa9b 100644 --- a/examples/Component/SolidMechanics/Spring/FastTriangularBendingSprings.scn +++ b/examples/Component/SolidMechanics/Spring/FastTriangularBendingSprings.scn @@ -1,6 +1,6 @@ - + @@ -23,7 +23,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/GearSpringForceField.scn b/examples/Component/SolidMechanics/Spring/GearSpringForceField.scn index d4e8365c1c4c..8638f562f7aa 100644 --- a/examples/Component/SolidMechanics/Spring/GearSpringForceField.scn +++ b/examples/Component/SolidMechanics/Spring/GearSpringForceField.scn @@ -1,6 +1,6 @@ - + @@ -19,7 +19,7 @@ - + - + @@ -24,7 +24,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/PolynomialSpringsForceField.scn b/examples/Component/SolidMechanics/Spring/PolynomialSpringsForceField.scn index 3fb4b48612c6..4c3714729405 100644 --- a/examples/Component/SolidMechanics/Spring/PolynomialSpringsForceField.scn +++ b/examples/Component/SolidMechanics/Spring/PolynomialSpringsForceField.scn @@ -1,6 +1,6 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn b/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn index f31183aff9c4..a558ca9c4615 100644 --- a/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn +++ b/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn @@ -4,7 +4,7 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/QuadularBendingSprings.scn b/examples/Component/SolidMechanics/Spring/QuadularBendingSprings.scn index e13e58e6e3d9..cbd07d9dd5c8 100644 --- a/examples/Component/SolidMechanics/Spring/QuadularBendingSprings.scn +++ b/examples/Component/SolidMechanics/Spring/QuadularBendingSprings.scn @@ -1,6 +1,6 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/StiffSpringForceField.scn b/examples/Component/SolidMechanics/Spring/StiffSpringForceField.scn index 32915c1e0f31..3c258b02abe9 100644 --- a/examples/Component/SolidMechanics/Spring/StiffSpringForceField.scn +++ b/examples/Component/SolidMechanics/Spring/StiffSpringForceField.scn @@ -1,6 +1,6 @@ - + @@ -18,7 +18,7 @@ - + - + @@ -19,7 +19,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/TriangleBendingSprings.scn b/examples/Component/SolidMechanics/Spring/TriangleBendingSprings.scn index fbdf1ef7e0a6..388c392d5408 100644 --- a/examples/Component/SolidMechanics/Spring/TriangleBendingSprings.scn +++ b/examples/Component/SolidMechanics/Spring/TriangleBendingSprings.scn @@ -4,7 +4,7 @@ - + @@ -29,7 +29,7 @@ - + @@ -44,7 +44,7 @@ - + @@ -59,7 +59,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/TriangularBendingSprings.scn b/examples/Component/SolidMechanics/Spring/TriangularBendingSprings.scn index 1b7c86c30004..8a54f619b883 100644 --- a/examples/Component/SolidMechanics/Spring/TriangularBendingSprings.scn +++ b/examples/Component/SolidMechanics/Spring/TriangularBendingSprings.scn @@ -1,7 +1,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/TriangularBiquadraticSpringsForceField.scn b/examples/Component/SolidMechanics/Spring/TriangularBiquadraticSpringsForceField.scn index a18fbb939a44..6e302f05d1eb 100644 --- a/examples/Component/SolidMechanics/Spring/TriangularBiquadraticSpringsForceField.scn +++ b/examples/Component/SolidMechanics/Spring/TriangularBiquadraticSpringsForceField.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/TriangularQuadraticSpringsForceField.scn b/examples/Component/SolidMechanics/Spring/TriangularQuadraticSpringsForceField.scn index fad0a123be8c..5eab98c9c75b 100644 --- a/examples/Component/SolidMechanics/Spring/TriangularQuadraticSpringsForceField.scn +++ b/examples/Component/SolidMechanics/Spring/TriangularQuadraticSpringsForceField.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn b/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn index 2054f6972a8b..6befcf8641f0 100644 --- a/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn +++ b/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn @@ -2,7 +2,7 @@ - + @@ -21,7 +21,7 @@ - + - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/SolidMechanics/TensorMass/TriangularTensorMassForceField.scn b/examples/Component/SolidMechanics/TensorMass/TriangularTensorMassForceField.scn index e36ea927beea..0c343ed04515 100644 --- a/examples/Component/SolidMechanics/TensorMass/TriangularTensorMassForceField.scn +++ b/examples/Component/SolidMechanics/TensorMass/TriangularTensorMassForceField.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Topology/Container/Constant/CubeTopology.scn b/examples/Component/Topology/Container/Constant/CubeTopology.scn index b609a8053185..7bbc5019a00e 100644 --- a/examples/Component/Topology/Container/Constant/CubeTopology.scn +++ b/examples/Component/Topology/Container/Constant/CubeTopology.scn @@ -2,7 +2,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Component/Topology/Container/Constant/MeshTopology.scn b/examples/Component/Topology/Container/Constant/MeshTopology.scn index 2fb0c26b4cb7..bf9714109e23 100644 --- a/examples/Component/Topology/Container/Constant/MeshTopology.scn +++ b/examples/Component/Topology/Container/Constant/MeshTopology.scn @@ -3,7 +3,7 @@ - + @@ -29,7 +29,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/AddingHexa2QuadProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingHexa2QuadProcess.scn index 7dfdc4189fd9..129114307541 100644 --- a/examples/Component/Topology/Container/Dynamic/AddingHexa2QuadProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/AddingHexa2QuadProcess.scn @@ -32,7 +32,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/AddingQuad2TriangleProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingQuad2TriangleProcess.scn index 978ed3cd0a52..f581f4b1cc46 100644 --- a/examples/Component/Topology/Container/Dynamic/AddingQuad2TriangleProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/AddingQuad2TriangleProcess.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/AddingTetra2TriangleProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingTetra2TriangleProcess.scn index 9f72d246cebf..e2e194409a7c 100644 --- a/examples/Component/Topology/Container/Dynamic/AddingTetra2TriangleProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/AddingTetra2TriangleProcess.scn @@ -5,7 +5,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/AddingTetraProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingTetraProcess.scn index 49c575e37c0f..9f03e52700fd 100644 --- a/examples/Component/Topology/Container/Dynamic/AddingTetraProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/AddingTetraProcess.scn @@ -1,7 +1,7 @@ - + @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/AddingTriangle2EdgeProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingTriangle2EdgeProcess.scn index 8d8f6ca94f97..9db682d2432e 100644 --- a/examples/Component/Topology/Container/Dynamic/AddingTriangle2EdgeProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/AddingTriangle2EdgeProcess.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/AddingTrianglesProcess.scn b/examples/Component/Topology/Container/Dynamic/AddingTrianglesProcess.scn index 0d9105af026a..b66e3a2506d0 100644 --- a/examples/Component/Topology/Container/Dynamic/AddingTrianglesProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/AddingTrianglesProcess.scn @@ -2,7 +2,7 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/IncisionTrianglesProcess.scn b/examples/Component/Topology/Container/Dynamic/IncisionTrianglesProcess.scn index 2a5ca7c8d5b4..56ab31ecb70d 100644 --- a/examples/Component/Topology/Container/Dynamic/IncisionTrianglesProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/IncisionTrianglesProcess.scn @@ -1,7 +1,7 @@ - + @@ -30,9 +30,9 @@ - + - + diff --git a/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn b/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn index d78dd21bf320..da98e773a16c 100644 --- a/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn +++ b/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn @@ -4,7 +4,7 @@ - + @@ -35,7 +35,7 @@ - + @@ -60,7 +60,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingBilateralInteractionConstraint.scn b/examples/Component/Topology/Container/Dynamic/RemovingBilateralInteractionConstraint.scn index 99379c748614..f5add59b1cb4 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingBilateralInteractionConstraint.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingBilateralInteractionConstraint.scn @@ -3,9 +3,9 @@ - + - + @@ -49,7 +49,7 @@ - + @@ -69,7 +69,7 @@ - diff --git a/examples/Component/Topology/Container/Dynamic/RemovingHexa2QuadProcess.scn b/examples/Component/Topology/Container/Dynamic/RemovingHexa2QuadProcess.scn index 8082325f57fc..7e6a9ce7a366 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingHexa2QuadProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingHexa2QuadProcess.scn @@ -4,7 +4,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingHexa2TetraProcess.scn b/examples/Component/Topology/Container/Dynamic/RemovingHexa2TetraProcess.scn index 2aeabffa5ff0..47e266cdb051 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingHexa2TetraProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingHexa2TetraProcess.scn @@ -4,7 +4,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingPointSprings.scn b/examples/Component/Topology/Container/Dynamic/RemovingPointSprings.scn index e8ca93ba73f7..bd8f5173e257 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingPointSprings.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingPointSprings.scn @@ -1,6 +1,6 @@ - + @@ -23,7 +23,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingQuad2TriangleProcess.scn b/examples/Component/Topology/Container/Dynamic/RemovingQuad2TriangleProcess.scn index 5f768411e3d3..0da9403d217a 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingQuad2TriangleProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingQuad2TriangleProcess.scn @@ -4,7 +4,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess.scn index b14df973ec33..e24313c4e8d2 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess.scn @@ -4,7 +4,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -70,7 +70,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn index a2f7b98388e0..439d24d59d70 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn @@ -4,7 +4,7 @@ - + @@ -38,8 +38,8 @@ - - + + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options1.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options1.scn index a2501516c7c5..5f89f1127221 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options1.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options1.scn @@ -4,7 +4,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options2.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options2.scn index bb16ddce2dab..1354d9e00b38 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options2.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetra2Triangle_options2.scn @@ -4,7 +4,7 @@ - + @@ -38,7 +38,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess.scn index f2808233196e..c54a981b3246 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess.scn @@ -1,7 +1,7 @@ - + @@ -27,7 +27,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess_withCollisionModel.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess_withCollisionModel.scn index 568776286e5e..dbe1160b8b90 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess_withCollisionModel.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetraProcess_withCollisionModel.scn @@ -5,7 +5,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTrianglesProcess.scn b/examples/Component/Topology/Container/Dynamic/RemovingTrianglesProcess.scn index 02d9577caba3..47177d68a176 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTrianglesProcess.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTrianglesProcess.scn @@ -2,7 +2,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/TetrahedronForceFieldTopologyChangeHandling.scn b/examples/Component/Topology/Container/Dynamic/TetrahedronForceFieldTopologyChangeHandling.scn index 5964665426c2..25e635fc4899 100644 --- a/examples/Component/Topology/Container/Dynamic/TetrahedronForceFieldTopologyChangeHandling.scn +++ b/examples/Component/Topology/Container/Dynamic/TetrahedronForceFieldTopologyChangeHandling.scn @@ -3,7 +3,7 @@ - + @@ -31,8 +31,8 @@ - - + + @@ -48,8 +48,8 @@ - - + + diff --git a/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn b/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn index 7d2df8a57076..9967f3e86192 100644 --- a/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn +++ b/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + @@ -54,7 +54,7 @@ - + @@ -74,7 +74,7 @@ - + @@ -92,7 +92,7 @@ - + @@ -111,7 +111,7 @@ - + @@ -130,7 +130,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/CylinderGridTopology.scn b/examples/Component/Topology/Container/Grid/CylinderGridTopology.scn index 3a2c8fba8368..c335012a561c 100644 --- a/examples/Component/Topology/Container/Grid/CylinderGridTopology.scn +++ b/examples/Component/Topology/Container/Grid/CylinderGridTopology.scn @@ -1,5 +1,5 @@ - + diff --git a/examples/Component/Topology/Container/Grid/RegularGridTopology.scn b/examples/Component/Topology/Container/Grid/RegularGridTopology.scn index 98477edc65e9..7e0a03a59ef2 100644 --- a/examples/Component/Topology/Container/Grid/RegularGridTopology.scn +++ b/examples/Component/Topology/Container/Grid/RegularGridTopology.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/RegularGridTopology_TrianglesMesh.scn b/examples/Component/Topology/Container/Grid/RegularGridTopology_TrianglesMesh.scn index 73c2db192089..ba5fa7211f6c 100644 --- a/examples/Component/Topology/Container/Grid/RegularGridTopology_TrianglesMesh.scn +++ b/examples/Component/Topology/Container/Grid/RegularGridTopology_TrianglesMesh.scn @@ -4,7 +4,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/RegularGridTopology_dimension.scn b/examples/Component/Topology/Container/Grid/RegularGridTopology_dimension.scn index 4b6013ae7414..971036289a1a 100644 --- a/examples/Component/Topology/Container/Grid/RegularGridTopology_dimension.scn +++ b/examples/Component/Topology/Container/Grid/RegularGridTopology_dimension.scn @@ -5,7 +5,7 @@ - + @@ -40,7 +40,7 @@ - + @@ -63,7 +63,7 @@ - + @@ -80,7 +80,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/SparseGridRamificationTopology.scn b/examples/Component/Topology/Container/Grid/SparseGridRamificationTopology.scn index 775017e130f0..89913d936e92 100644 --- a/examples/Component/Topology/Container/Grid/SparseGridRamificationTopology.scn +++ b/examples/Component/Topology/Container/Grid/SparseGridRamificationTopology.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/SparseGridTopology.scn b/examples/Component/Topology/Container/Grid/SparseGridTopology.scn index a0b48814d934..665e19b7f721 100644 --- a/examples/Component/Topology/Container/Grid/SparseGridTopology.scn +++ b/examples/Component/Topology/Container/Grid/SparseGridTopology.scn @@ -5,7 +5,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/SphereGridTopology.scn b/examples/Component/Topology/Container/Grid/SphereGridTopology.scn index e945880d4b09..81d160066187 100644 --- a/examples/Component/Topology/Container/Grid/SphereGridTopology.scn +++ b/examples/Component/Topology/Container/Grid/SphereGridTopology.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/Topology/Mapping/Edge2QuadTopologicalMapping.scn b/examples/Component/Topology/Mapping/Edge2QuadTopologicalMapping.scn index 4e6356f8d3c0..0c855327e744 100644 --- a/examples/Component/Topology/Mapping/Edge2QuadTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Edge2QuadTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Hexa2QuadTopologicalMapping.scn b/examples/Component/Topology/Mapping/Hexa2QuadTopologicalMapping.scn index 115562bf8aa9..cb9a02fc91fc 100644 --- a/examples/Component/Topology/Mapping/Hexa2QuadTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Hexa2QuadTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping.scn b/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping.scn index 376d4c233267..cb3e306da962 100644 --- a/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping_export.scn b/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping_export.scn index 563a1e0b03eb..d3ccf4b4902a 100644 --- a/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping_export.scn +++ b/examples/Component/Topology/Mapping/Hexa2TetraTopologicalMapping_export.scn @@ -3,7 +3,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Mesh2PointTopologicalMapping.scn b/examples/Component/Topology/Mapping/Mesh2PointTopologicalMapping.scn index a6441cb623a2..e2785cc05859 100644 --- a/examples/Component/Topology/Mapping/Mesh2PointTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Mesh2PointTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Quad2TriangleTopologicalMapping.scn b/examples/Component/Topology/Mapping/Quad2TriangleTopologicalMapping.scn index 69841881ae37..acb1a15e14bb 100644 --- a/examples/Component/Topology/Mapping/Quad2TriangleTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Quad2TriangleTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/Topology/Mapping/SubsetTopologicalMapping.scn b/examples/Component/Topology/Mapping/SubsetTopologicalMapping.scn index b1cbb23bb12c..71d80fd5ae91 100644 --- a/examples/Component/Topology/Mapping/SubsetTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/SubsetTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/Topology/Mapping/SubsetTopologicalMapping2.scn b/examples/Component/Topology/Mapping/SubsetTopologicalMapping2.scn index 3fe5c8e41afc..9a1dc9a39d42 100644 --- a/examples/Component/Topology/Mapping/SubsetTopologicalMapping2.scn +++ b/examples/Component/Topology/Mapping/SubsetTopologicalMapping2.scn @@ -4,7 +4,7 @@ - + @@ -36,7 +36,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn index a3c10c569b03..bc4dab7563a2 100644 --- a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -33,8 +33,8 @@ - - + + diff --git a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_NoInitialTriangle_option.scn b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_NoInitialTriangle_option.scn index 22a8eea59782..3b75eb4a4802 100644 --- a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_NoInitialTriangle_option.scn +++ b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_NoInitialTriangle_option.scn @@ -4,7 +4,7 @@ - + @@ -32,8 +32,8 @@ - - + + diff --git a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn index 6a54be5dd805..81b17db73c35 100644 --- a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn +++ b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn @@ -3,7 +3,7 @@ - + @@ -34,8 +34,8 @@ - - + + diff --git a/examples/Component/Topology/Mapping/TopoMap_Hexa2Quad2Triangle.scn b/examples/Component/Topology/Mapping/TopoMap_Hexa2Quad2Triangle.scn index 84386d456b8d..377d96cb032f 100644 --- a/examples/Component/Topology/Mapping/TopoMap_Hexa2Quad2Triangle.scn +++ b/examples/Component/Topology/Mapping/TopoMap_Hexa2Quad2Triangle.scn @@ -3,7 +3,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Triangle2EdgeTopologicalMapping.scn b/examples/Component/Topology/Mapping/Triangle2EdgeTopologicalMapping.scn index 8d6c7fe62349..0b9ac8859f71 100644 --- a/examples/Component/Topology/Mapping/Triangle2EdgeTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Triangle2EdgeTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Component/Visual/DataDisplay.scn b/examples/Component/Visual/DataDisplay.scn index 186da9b83d9c..056cb1104ac7 100644 --- a/examples/Component/Visual/DataDisplay.scn +++ b/examples/Component/Visual/DataDisplay.scn @@ -4,7 +4,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/examples/Component/Visual/LinearBlendSkinningGPU.scn b/examples/Component/Visual/LinearBlendSkinningGPU.scn index 8b2f2a3a17be..78f55310d59d 100644 --- a/examples/Component/Visual/LinearBlendSkinningGPU.scn +++ b/examples/Component/Visual/LinearBlendSkinningGPU.scn @@ -1,6 +1,6 @@ - + @@ -13,7 +13,7 @@ - + diff --git a/examples/Component/Visual/OglShader.scn b/examples/Component/Visual/OglShader.scn index 33a71916ab8f..286a3e01e7f8 100644 --- a/examples/Component/Visual/OglShader.scn +++ b/examples/Component/Visual/OglShader.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Component/Visual/OglShader_tessellation.scn b/examples/Component/Visual/OglShader_tessellation.scn index 8ba7a2f79c5b..8cca789e0ad1 100644 --- a/examples/Component/Visual/OglShader_tessellation.scn +++ b/examples/Component/Visual/OglShader_tessellation.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Visual/OglViewport.scn b/examples/Component/Visual/OglViewport.scn index f0ee97506a7b..861b877b84f2 100644 --- a/examples/Component/Visual/OglViewport.scn +++ b/examples/Component/Visual/OglViewport.scn @@ -3,7 +3,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Component/Visual/PostProcessManager_DepthOfField.scn b/examples/Component/Visual/PostProcessManager_DepthOfField.scn index c64fa42544ca..f7c484be59b8 100644 --- a/examples/Component/Visual/PostProcessManager_DepthOfField.scn +++ b/examples/Component/Visual/PostProcessManager_DepthOfField.scn @@ -3,7 +3,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Visual/VisualStyle.scn b/examples/Component/Visual/VisualStyle.scn index 7b728fc39a23..cdabc70aa44e 100644 --- a/examples/Component/Visual/VisualStyle.scn +++ b/examples/Component/Visual/VisualStyle.scn @@ -1,7 +1,7 @@ - + @@ -24,7 +24,7 @@ - + diff --git a/examples/Demos/TriangleSurfaceCutting.scn b/examples/Demos/TriangleSurfaceCutting.scn index ff1ac8f95c0f..6606ffde44a3 100644 --- a/examples/Demos/TriangleSurfaceCutting.scn +++ b/examples/Demos/TriangleSurfaceCutting.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Demos/include_test.scn b/examples/Demos/include_test.scn index e87c364c0a6e..2abaeecc3122 100644 --- a/examples/Demos/include_test.scn +++ b/examples/Demos/include_test.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Demos/include_test.xml b/examples/Demos/include_test.xml index b9d0af04bd9b..630c537c6279 100644 --- a/examples/Demos/include_test.xml +++ b/examples/Demos/include_test.xml @@ -3,7 +3,7 @@ - + diff --git a/examples/Demos/liver.scn b/examples/Demos/liver.scn index f9a61bcd922b..97cbaccc4cd3 100644 --- a/examples/Demos/liver.scn +++ b/examples/Demos/liver.scn @@ -4,7 +4,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Demos/liverConfiguration.scn b/examples/Demos/liverConfiguration.scn index 79bb8040f472..320b1c9cd4a6 100644 --- a/examples/Demos/liverConfiguration.scn +++ b/examples/Demos/liverConfiguration.scn @@ -4,7 +4,7 @@ - + @@ -49,7 +49,7 @@ - + diff --git a/examples/Demos/rigidifiedSectionsInBeam.scn b/examples/Demos/rigidifiedSectionsInBeam.scn index 6997800c1fd5..1556d02f2784 100644 --- a/examples/Demos/rigidifiedSectionsInBeam.scn +++ b/examples/Demos/rigidifiedSectionsInBeam.scn @@ -15,7 +15,7 @@ The distances do not vary over time for the rigidified beam, whereas we can obse - + @@ -41,7 +41,7 @@ The distances do not vary over time for the rigidified beam, whereas we can obse - + @@ -76,7 +76,7 @@ The distances do not vary over time for the rigidified beam, whereas we can obse - + diff --git a/examples/Demos/simpleBoundaryConditions.scn b/examples/Demos/simpleBoundaryConditions.scn index 4a2f8a3c4b5b..003ba8a71e6c 100644 --- a/examples/Demos/simpleBoundaryConditions.scn +++ b/examples/Demos/simpleBoundaryConditions.scn @@ -1,7 +1,7 @@ - + @@ -27,15 +27,15 @@ - + - + - + diff --git a/examples/Demos/simpleSphere.scn b/examples/Demos/simpleSphere.scn index ff25c96b2b53..3f368f5dc1e5 100644 --- a/examples/Demos/simpleSphere.scn +++ b/examples/Demos/simpleSphere.scn @@ -4,7 +4,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Demos/skybox.scn b/examples/Demos/skybox.scn index 71debbb798b9..6291ef1f6424 100644 --- a/examples/Demos/skybox.scn +++ b/examples/Demos/skybox.scn @@ -2,7 +2,7 @@ - + @@ -46,7 +46,7 @@ - + diff --git a/examples/Objects/BoxConstraint.xml b/examples/Objects/BoxConstraint.xml index c0e071328df7..c738f9b2ee34 100644 --- a/examples/Objects/BoxConstraint.xml +++ b/examples/Objects/BoxConstraint.xml @@ -1,4 +1,4 @@ - + diff --git a/examples/Objects/InstrumentCoil.xml b/examples/Objects/InstrumentCoil.xml index 487295942a2a..8fe3e9883a95 100644 --- a/examples/Objects/InstrumentCoil.xml +++ b/examples/Objects/InstrumentCoil.xml @@ -12,7 +12,7 @@ - + diff --git a/examples/Objects/PlaneConstraint.xml b/examples/Objects/PlaneConstraint.xml index 38c58c77d7d3..3584c1a658f2 100644 --- a/examples/Objects/PlaneConstraint.xml +++ b/examples/Objects/PlaneConstraint.xml @@ -1,4 +1,4 @@ - + diff --git a/examples/Tutorials/Basic/TutorialBasicPendulum.scn b/examples/Tutorials/Basic/TutorialBasicPendulum.scn index f7427773fe82..4b798c38a5ad 100644 --- a/examples/Tutorials/Basic/TutorialBasicPendulum.scn +++ b/examples/Tutorials/Basic/TutorialBasicPendulum.scn @@ -2,7 +2,7 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Tutorials/ForceFields/TutorialForceFieldLiverFEM.scn b/examples/Tutorials/ForceFields/TutorialForceFieldLiverFEM.scn index 42acfdc79f9c..442c862eee61 100644 --- a/examples/Tutorials/ForceFields/TutorialForceFieldLiverFEM.scn +++ b/examples/Tutorials/ForceFields/TutorialForceFieldLiverFEM.scn @@ -5,7 +5,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Tutorials/ForceFields/TutorialForceFieldLiverHexaFEM.scn b/examples/Tutorials/ForceFields/TutorialForceFieldLiverHexaFEM.scn index 26348f81c479..f66648996464 100644 --- a/examples/Tutorials/ForceFields/TutorialForceFieldLiverHexaFEM.scn +++ b/examples/Tutorials/ForceFields/TutorialForceFieldLiverHexaFEM.scn @@ -5,7 +5,7 @@ - + @@ -31,7 +31,7 @@ - + diff --git a/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn b/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn index 1bf78a604598..3c20e7699fb4 100644 --- a/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn +++ b/examples/Tutorials/ForceFields/TutorialForceFieldLiverSprings.scn @@ -5,7 +5,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Tutorials/ForceFields/TutorialForceFieldLiverTriangleFEM.scn b/examples/Tutorials/ForceFields/TutorialForceFieldLiverTriangleFEM.scn index 839282b1a534..819b41a76a3d 100644 --- a/examples/Tutorials/ForceFields/TutorialForceFieldLiverTriangleFEM.scn +++ b/examples/Tutorials/ForceFields/TutorialForceFieldLiverTriangleFEM.scn @@ -4,7 +4,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Tutorials/Mappings/TutorialMappingLiverBarycentric.scn b/examples/Tutorials/Mappings/TutorialMappingLiverBarycentric.scn index ab44da460449..d97b935f351a 100644 --- a/examples/Tutorials/Mappings/TutorialMappingLiverBarycentric.scn +++ b/examples/Tutorials/Mappings/TutorialMappingLiverBarycentric.scn @@ -3,7 +3,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo1.scn b/examples/Tutorials/OldTutorials/demo1.scn index 83d3e3613251..a25d89ff9441 100644 --- a/examples/Tutorials/OldTutorials/demo1.scn +++ b/examples/Tutorials/OldTutorials/demo1.scn @@ -9,7 +9,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo2.scn b/examples/Tutorials/OldTutorials/demo2.scn index ca64909df408..d43f195bc7fa 100644 --- a/examples/Tutorials/OldTutorials/demo2.scn +++ b/examples/Tutorials/OldTutorials/demo2.scn @@ -9,7 +9,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo3.scn b/examples/Tutorials/OldTutorials/demo3.scn index ef71cf6a9332..78ebe2667a1b 100644 --- a/examples/Tutorials/OldTutorials/demo3.scn +++ b/examples/Tutorials/OldTutorials/demo3.scn @@ -1,6 +1,6 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo4.scn b/examples/Tutorials/OldTutorials/demo4.scn index 651dca145895..f877377b70b0 100644 --- a/examples/Tutorials/OldTutorials/demo4.scn +++ b/examples/Tutorials/OldTutorials/demo4.scn @@ -1,7 +1,7 @@ - + @@ -21,7 +21,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo5.scn b/examples/Tutorials/OldTutorials/demo5.scn index 3643ac61acfc..5507e97dc42d 100644 --- a/examples/Tutorials/OldTutorials/demo5.scn +++ b/examples/Tutorials/OldTutorials/demo5.scn @@ -1,7 +1,7 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo6.scn b/examples/Tutorials/OldTutorials/demo6.scn index 6a8c288693d4..ed6e6094f90b 100644 --- a/examples/Tutorials/OldTutorials/demo6.scn +++ b/examples/Tutorials/OldTutorials/demo6.scn @@ -3,7 +3,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo6Triangle.scn b/examples/Tutorials/OldTutorials/demo6Triangle.scn index 6680ccbe030e..38bc1aad011f 100644 --- a/examples/Tutorials/OldTutorials/demo6Triangle.scn +++ b/examples/Tutorials/OldTutorials/demo6Triangle.scn @@ -3,7 +3,7 @@ - + @@ -29,7 +29,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo7.scn b/examples/Tutorials/OldTutorials/demo7.scn index c5ef158c0f48..9acd9e08f3f1 100644 --- a/examples/Tutorials/OldTutorials/demo7.scn +++ b/examples/Tutorials/OldTutorials/demo7.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Tutorials/OldTutorials/demo7Triangle.scn b/examples/Tutorials/OldTutorials/demo7Triangle.scn index 5029a221df67..ea0e55ddb400 100644 --- a/examples/Tutorials/OldTutorials/demo7Triangle.scn +++ b/examples/Tutorials/OldTutorials/demo7Triangle.scn @@ -4,7 +4,7 @@ - + @@ -30,7 +30,7 @@ - + diff --git a/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn index 5321450246dd..2c0ca1241782 100644 --- a/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn +++ b/examples/Tutorials/StepByStep/Pendulum/2_Pendulum.scn @@ -1,7 +1,7 @@ - + @@ -17,6 +17,6 @@ - + diff --git a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn index 190879b5fbed..2b32034e94a1 100644 --- a/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn +++ b/examples/Tutorials/StepByStep/Pendulum/3_Pendulum.scn @@ -1,7 +1,7 @@ - + @@ -17,6 +17,6 @@ - + diff --git a/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn index 84def987c71b..157cd1905a7a 100644 --- a/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn +++ b/examples/Tutorials/StepByStep/Pendulum/4_Pendulum.scn @@ -1,7 +1,7 @@ - + @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn index ab7cfce6485d..52daf599a7c1 100644 --- a/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn +++ b/examples/Tutorials/StepByStep/Pendulum/5_Pendulum.scn @@ -1,7 +1,7 @@ - + @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn index 131dc8e3a0d2..8eb715a9ed15 100644 --- a/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn +++ b/examples/Tutorials/StepByStep/Pendulum/6_Pendulum.scn @@ -1,7 +1,7 @@ - + @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn b/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn index 716589198f68..279fb7443afc 100644 --- a/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn +++ b/examples/Tutorials/StepByStep/Pendulum/7_Pendulum.scn @@ -1,7 +1,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.html b/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.html index 6f85f2bb9fc7..75bde4f22ea9 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.html +++ b/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.html @@ -31,7 +31,7 @@

Add a DiagonalMass component. In the Property 2/2 tab, change the mass density to "2".

-

Add a FixedPlaneConstraint component. In the Property 2/2 tab, change the normal direction of the plane to (0 0 1), the minimum plane distance from the origin to "-0.1" and the maximum plane distance from the origin to "0.1".

+

Add a FixedPlaneProjectiveConstraint component. In the Property 2/2 tab, change the normal direction of the plane to (0 0 1), the minimum plane distance from the origin to "-0.1" and the maximum plane distance from the origin to "0.1".

Add a FixedConstraint component.

diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.scn b/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.scn index 62835d77397e..aeb42eee4e11 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.scn +++ b/examples/Tutorials/StepByStep/TopologicalMapping/2_TopoMapping.scn @@ -2,7 +2,7 @@ - + @@ -29,7 +29,7 @@ - - + + diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/3_TopoMapping.scn b/examples/Tutorials/StepByStep/TopologicalMapping/3_TopoMapping.scn index 8ceefb5a0a05..8934fadbd895 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/3_TopoMapping.scn +++ b/examples/Tutorials/StepByStep/TopologicalMapping/3_TopoMapping.scn @@ -2,7 +2,7 @@ - + @@ -31,8 +31,8 @@ - - + + diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/4_TopoMapping.scn b/examples/Tutorials/StepByStep/TopologicalMapping/4_TopoMapping.scn index 08159c9da90f..f22e47f1f07b 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/4_TopoMapping.scn +++ b/examples/Tutorials/StepByStep/TopologicalMapping/4_TopoMapping.scn @@ -3,7 +3,7 @@ - + @@ -33,8 +33,8 @@ - - + + diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/5_TopoMapping.scn b/examples/Tutorials/StepByStep/TopologicalMapping/5_TopoMapping.scn index cd88d1723003..2e3af39877c2 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/5_TopoMapping.scn +++ b/examples/Tutorials/StepByStep/TopologicalMapping/5_TopoMapping.scn @@ -2,7 +2,7 @@ - + @@ -27,6 +27,6 @@ - + diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/6_TopoMapping.scn b/examples/Tutorials/StepByStep/TopologicalMapping/6_TopoMapping.scn index 5d1e2c99581d..71f1ee35826a 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/6_TopoMapping.scn +++ b/examples/Tutorials/StepByStep/TopologicalMapping/6_TopoMapping.scn @@ -3,7 +3,7 @@ - + @@ -32,7 +32,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn b/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn index b36132ea1d8a..613ee62a277c 100644 --- a/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn +++ b/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn @@ -5,7 +5,7 @@ - + @@ -30,7 +30,7 @@ - + @@ -48,7 +48,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn index a373dbd4c108..24397ec455e7 100644 --- a/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn @@ -5,7 +5,7 @@ - + @@ -39,7 +39,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn index 147a8101d855..0988993861d2 100644 --- a/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn @@ -5,7 +5,7 @@ - + @@ -35,7 +35,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn b/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn index e69b5ab4ab04..2cba18085b8b 100644 --- a/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn +++ b/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn @@ -5,7 +5,7 @@ - + @@ -29,7 +29,7 @@ - + @@ -38,7 +38,7 @@ - + @@ -47,7 +47,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyLinearMesh.scn b/examples/Tutorials/Topologies/TopologyLinearMesh.scn index b74b106e104b..8d0ab41eff55 100644 --- a/examples/Tutorials/Topologies/TopologyLinearMesh.scn +++ b/examples/Tutorials/Topologies/TopologyLinearMesh.scn @@ -5,7 +5,7 @@ - + @@ -28,7 +28,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn index df5bbe0f42e0..405995b6f4ed 100644 --- a/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn @@ -5,7 +5,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn b/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn index dfaa0ac1ecd5..f106babd7c7e 100644 --- a/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn +++ b/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn @@ -5,7 +5,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -51,7 +51,7 @@ - + @@ -67,7 +67,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn index f278c7c6683c..cd31606b43e3 100644 --- a/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn @@ -5,7 +5,7 @@ - + @@ -37,8 +37,8 @@ - - + + diff --git a/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn index 38bd3ad2a1fd..864bbb4448b0 100644 --- a/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn @@ -4,7 +4,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn b/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn index ac65ea551bcb..51c3c0601456 100644 --- a/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn +++ b/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn @@ -5,7 +5,7 @@ - + @@ -32,7 +32,7 @@ - + @@ -48,7 +48,7 @@ - + @@ -63,7 +63,7 @@ - + diff --git a/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn b/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn index 60262a2943f9..106be54f5d51 100644 --- a/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn +++ b/examples/Tutorials/sandbox/explicit_singlehexaFEM.scn @@ -1,6 +1,6 @@ - + @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn b/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn index 188ff6cd0411..445f4f01c822 100644 --- a/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn +++ b/examples/Tutorials/sandbox/implicit_singlehexaFEM.scn @@ -1,6 +1,6 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn b/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn index 66eb89381260..3eade9528571 100644 --- a/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn +++ b/examples/Tutorials/sandbox/implicit_singlehexaFEM_2.scn @@ -1,6 +1,6 @@ - + @@ -22,7 +22,7 @@ - + diff --git a/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn b/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn index 2cb127cc6abc..42be6a45efa2 100644 --- a/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn +++ b/examples/Tutorials/sandbox/rungekutta_singlehexaFEM.scn @@ -1,6 +1,6 @@ - + @@ -17,7 +17,7 @@ - +