Merge branch 'master' into 24_12_fix_gui_visual_model

sofa-framework · Dec 11, 2024 · f9cbcec · f9cbcec
2 parents 23ac332 + 6ae972f
commit f9cbcec
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Showing 71 changed files with 31,436 additions and 440 deletions.
diff --git a/...ction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp b/...ction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp
@@ -44,7 +44,6 @@ using sofa::core::MultiVecDerivId;
 using sofa::core::MultiVecCoordId;
 using sofa::core::ExecParams;
 using sofa::linearalgebra::BaseVector;
-using sofa::core::RegisterObject;
 using sofa::core::ConstMultiVecDerivId;
 using sofa::core::VecDerivId;
 using sofa::core::VecCoordId;

diff --git a/.../Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h b/.../Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h
@@ -71,14 +71,17 @@ public :
     /// the coordinates on which to apply velocities
     SetIndex d_coordinates;
 
+    /// If set to true then the last velocity will still be applied after all the key events
+    Data<bool> d_continueAfterEnd;
+
     /// the key times surrounding the current simulation time (for interpolation)
-    Real prevT, nextT;
+    Real m_prevT, m_nextT;
     ///the velocities corresponding to the surrounding key times
-    Deriv prevV, nextV;
+    Deriv m_prevV, m_nextV;
     ///position at the initial step for constrained DOFs position
-    VecCoord x0;
+    VecCoord m_x0;
     ///position at the previous step for constrained DOFs position
-    VecCoord xP;
+    VecCoord m_xP;
 
     /// Link to be set to the topology container in the component graph.
     SingleLink<LinearVelocityProjectiveConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
@@ -109,18 +112,24 @@ public :
     void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) 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;
+
     void draw(const core::visual::VisualParams* vparams) override;
 
 private:
-
-    /// to keep the time corresponding to the key times
-    Real currentTime;
+    /// Check if the constraint is still active regarding the current time and the continueAfterEnd data
+    bool isConstraintActive() const;
 
     /// to know if we found the key times
-    bool finished;
+    bool m_finished;
 
     /// find previous and next time keys
-    void findKeyTimes();
+    bool findKeyTimes();
 };
 
 #if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARVELOCITYPROJECTIVECONSTRAINT_CPP)