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Cleaning + update accord to latest SOFA changes #136

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Jul 30, 2024
Merged

Cleaning + update accord to latest SOFA changes #136

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2 changes: 1 addition & 1 deletion src/ModelOrderReduction/component/contact/MORFrictionContact.h
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Expand Up @@ -27,7 +27,7 @@
#include <sofa/core/collision/Contact.h>
#include <sofa/core/collision/Intersection.h>
#include <sofa/component/mapping/linear/BarycentricMapping.h>
#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h>
#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h>
#include <ModelOrderReduction/component/contact/MORUnilateralInteractionConstraint.h>
#include <sofa/helper/Factory.h>
#include <sofa/component/collision/response/mapper/BaseContactMapper.h>
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2 changes: 1 addition & 1 deletion src/ModelOrderReduction/component/contact/MORFrictionContact.inl
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Expand Up @@ -97,7 +97,7 @@ void MORFrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::ac
m_constraint = sofa::core::objectmodel::New<sofa::component::constraint::lagrangian::model::MORUnilateralInteractionConstraint<defaulttype::Vec3Types> >(mmodel1, mmodel2, d_lambdaModesPath.getValue(), d_lambdaModesCoeffsPath.getValue());
m_constraint->setName( this->getName() );
this->setInteractionTags(mmodel1, mmodel2);
m_constraint->setCustomTolerance( tol.getValue() );
m_constraint->setCustomTolerance( this->d_tol.getValue() );
}

int size = contacts.size();
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20 changes: 10 additions & 10 deletions src/ModelOrderReduction/component/contact/MORUnilateralInteractionConstraint.h
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Expand Up @@ -28,7 +28,7 @@
#include <iostream>
#include <map>
#include <deque>
#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h>
#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h>
#include <Eigen/Sparse>

namespace sofa::component::constraint::lagrangian::model
Expand Down Expand Up @@ -56,10 +56,10 @@ class MORUnilateralConstraintResolution : public UnilateralConstraintResolution


template<class DataTypes>
class MORUnilateralInteractionConstraint : public UnilateralInteractionConstraint<DataTypes>
class MORUnilateralInteractionConstraint : public UnilateralLagrangianConstraint<DataTypes>
{
public:
SOFA_CLASS(SOFA_TEMPLATE(MORUnilateralInteractionConstraint,DataTypes), SOFA_TEMPLATE(UnilateralInteractionConstraint,DataTypes));
SOFA_CLASS(SOFA_TEMPLATE(MORUnilateralInteractionConstraint,DataTypes), SOFA_TEMPLATE(UnilateralLagrangianConstraint,DataTypes));

typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
Expand Down Expand Up @@ -100,13 +100,13 @@ class MORUnilateralInteractionConstraint : public UnilateralInteractionConstrain

protected:

using UnilateralInteractionConstraint<DataTypes>::contacts;
using UnilateralInteractionConstraint<DataTypes>::epsilon;
using UnilateralInteractionConstraint<DataTypes>::yetIntegrated;
using UnilateralInteractionConstraint<DataTypes>::customTolerance;
using UnilateralLagrangianConstraint<DataTypes>::contacts;
using UnilateralLagrangianConstraint<DataTypes>::epsilon;
using UnilateralLagrangianConstraint<DataTypes>::yetIntegrated;
using UnilateralLagrangianConstraint<DataTypes>::customTolerance;

using UnilateralInteractionConstraint<DataTypes>::prevForces;
using UnilateralInteractionConstraint<DataTypes>::contactsStatus;
using UnilateralLagrangianConstraint<DataTypes>::prevForces;
using UnilateralLagrangianConstraint<DataTypes>::contactsStatus;

// /// Computes constraint violation
// in position and stores it into resolution global vector
Expand All @@ -116,7 +116,7 @@ class MORUnilateralInteractionConstraint : public UnilateralInteractionConstrain

public:

using UnilateralInteractionConstraint<DataTypes>::constraintId;
using UnilateralLagrangianConstraint<DataTypes>::constraintId;
protected:
MORUnilateralInteractionConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr, std::string lambdaModesPath=nullptr,std::string lambdaModesCoeffsPath=nullptr);
~MORUnilateralInteractionConstraint();
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10 changes: 5 additions & 5 deletions src/ModelOrderReduction/component/contact/MORUnilateralInteractionConstraint.inl
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Expand Up @@ -23,7 +23,7 @@
#define MOR_MORUNILATERALINTERACTIONCONSTRAINT_INL

#include "MORUnilateralInteractionConstraint.h"
#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.inl>
#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl>
#include <sofa/core/visual/VisualParams.h>
#include <sofa/type/Vec.h>
#include <sofa/type/RGBAColor.h>
Expand All @@ -36,7 +36,7 @@ namespace sofa::component::constraint::lagrangian::model
using sofa::component::loader::MatrixLoader;
template<class DataTypes>
MORUnilateralInteractionConstraint<DataTypes>::MORUnilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2, std::string lambdaModesPath, std::string lambdaModesCoeffsPath)
: UnilateralInteractionConstraint<DataTypes>(object1,object2)
: UnilateralLagrangianConstraint<DataTypes>(object1,object2)
{
m_lambdaModesPath = lambdaModesPath;
m_lambdaModesCoeffsPath = lambdaModesCoeffsPath;
Expand All @@ -61,7 +61,7 @@ void MORUnilateralInteractionConstraint<DataTypes>::buildConstraintMatrix(const
{
assert(this->mstate1);
assert(this->mstate2);
double myMuForAllContacts;
double myMuForAllContacts {};
reducedContacts.resize(0);
if (this->mstate1 == this->mstate2)
{
Expand Down Expand Up @@ -189,7 +189,7 @@ void MORUnilateralInteractionConstraint<DataTypes>::getConstraintViolation(const

case core::ConstraintParams::ACC :
case core::ConstraintParams::VEL :
UnilateralInteractionConstraint<DataTypes>::getVelocityViolation(v);
UnilateralLagrangianConstraint<DataTypes>::getVelocityViolation(v);
break;

default :
Expand Down Expand Up @@ -315,7 +315,7 @@ void MORUnilateralInteractionConstraint<DataTypes>::getConstraintResolution(cons
if(c.mu > 0.0)
{
i = i+2;
UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.mu, NULL, &contactsStatus[i]);
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
Expand Down
2 changes: 1 addition & 1 deletion src/ModelOrderReduction/component/contact/MORpointModel.inl
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Expand Up @@ -121,7 +121,7 @@ void MORPointCollisionModel<DataTypes>::draw(const core::visual::VisualParams* v
vparams->drawTool()->drawPoints(pointsP, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));
vparams->drawTool()->drawLines(pointsL, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));

if (m_displayFreePosition.getValue())
if (this->d_displayFreePosition.getValue())
{
std::vector< type::Vec3 > pointsPFree;

Expand Down
28 changes: 14 additions & 14 deletions src/ModelOrderReduction/component/forcefield/HyperReducedHexahedronFEMForceField.inl
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Expand Up @@ -172,7 +172,7 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::addDForce (const core::Mech
}

Displacement F;
this->computeForce( F, X, _elementStiffnesses.getValue()[i] );
this->computeForce( F, X, this->d_elementStiffnesses.getValue()[i] );
for(int w=0; w<8; ++w)
{
Deriv contrib = _rotations[i].multTranspose(Deriv(F[w*3], F[w*3+1], F[w*3+2])) * kFactor;
Expand Down Expand Up @@ -219,12 +219,12 @@ template<class DataTypes>
}


if(f_updateStiffnessMatrix.getValue())
this->computeElementStiffness( (*_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );
if(this->d_updateStiffnessMatrix.getValue())
this->computeElementStiffness( (*this->d_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );


Displacement F; //forces
this->computeForce( F, D, _elementStiffnesses.getValue()[i] ); // compute force on element
this->computeForce( F, D, this->d_elementStiffnesses.getValue()[i] ); // compute force on element

for(int w=0; w<8; ++w)
f[elem[w]] += Deriv( F[w*3], F[w*3+1], F[w*3+2] ) ;
Expand Down Expand Up @@ -279,12 +279,12 @@ template<class DataTypes>
}


if(f_updateStiffnessMatrix.getValue())
this->computeElementStiffness( (*_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );
if(this->d_updateStiffnessMatrix.getValue())
this->computeElementStiffness( (*this->d_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );


Displacement F; //forces
this->computeForce( F, D, _elementStiffnesses.getValue()[i] ); // compute force on element
this->computeForce( F, D, this->d_elementStiffnesses.getValue()[i] ); // compute force on element
std::vector<Deriv> contrib;
std::vector<unsigned int> indexList;
contrib.resize(8);
Expand Down Expand Up @@ -359,13 +359,13 @@ template<class DataTypes>
//forces
Displacement F;

if(f_updateStiffnessMatrix.getValue())
if(this->d_updateStiffnessMatrix.getValue())
// this->computeElementStiffness( _elementStiffnesses[i], _materialsStiffnesses[i], deformed );
this->computeElementStiffness( (*_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0);
this->computeElementStiffness( (*this->d_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0);


// compute force on element
this->computeForce( F, D, _elementStiffnesses.getValue()[i] );
this->computeForce( F, D, this->d_elementStiffnesses.getValue()[i] );


for(int j=0; j<8; ++j)
Expand Down Expand Up @@ -397,15 +397,15 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::buildStiffnessMatrix(
constexpr auto S = DataTypes::deriv_total_size; // size of node blocks
constexpr auto N = Element::size();

const auto& stiffnesses = _elementStiffnesses.getValue();
const auto& stiffnesses = this->d_elementStiffnesses.getValue();
const auto* indexedElements = this->getIndexedElements();
sofa::type::Mat<3, 3, Real> localMatrix(type::NOINIT);

auto dfdx = matrix->getForceDerivativeIn(this->mstate)
.withRespectToPositionsIn(this->mstate);


typename VecElement::const_iterator it, it0;
VecElement::const_iterator it, it0;

it0 = indexedElements->begin();
std::size_t nbElementsConsidered;
Expand Down Expand Up @@ -453,7 +453,7 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::draw(const core::visual::Vi
{
if (!vparams->displayFlags().getShowForceFields()) return;
if (!this->mstate) return;
if (!f_drawing.getValue()) return;
if (!this->d_drawing.getValue()) return;


const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
Expand Down Expand Up @@ -495,7 +495,7 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::draw(const core::visual::Vi
Index g = (*it)[6];

Coord center = (x[a]+x[b]+x[c]+x[d]+x[e]+x[g]+x[f]+x[h])*0.125;
Real percentage = f_drawPercentageOffset.getValue();
Real percentage = this->d_drawPercentageOffset.getValue();
Coord pa = x[a]-(x[a]-center)*percentage;
Coord pb = x[b]-(x[b]-center)*percentage;
Coord pc = x[c]-(x[c]-center)*percentage;
Expand Down
25 changes: 12 additions & 13 deletions ...delOrderReduction/component/forcefield/HyperReducedTetrahedralCorotationalFEMForceField.h
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Expand Up @@ -108,21 +108,20 @@ class HyperReducedTetrahedralCorotationalFEMForceField : public virtual Tetrahed


using TetrahedralCorotationalFEMForceField<DataTypes>::method;
using TetrahedralCorotationalFEMForceField<DataTypes>::f_method; ///< the computation method of the displacements
using TetrahedralCorotationalFEMForceField<DataTypes>::_poissonRatio; ///< FEM Poisson Ratio
using TetrahedralCorotationalFEMForceField<DataTypes>::_youngModulus; ///< FEM Young Modulus
using TetrahedralCorotationalFEMForceField<DataTypes>::_localStiffnessFactor; ///< Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N]
using TetrahedralCorotationalFEMForceField<DataTypes>::_updateStiffnessMatrix;
using TetrahedralCorotationalFEMForceField<DataTypes>::_assembling;
using TetrahedralCorotationalFEMForceField<DataTypes>::f_drawing; ///< draw the forcefield if true
using TetrahedralCorotationalFEMForceField<DataTypes>::d_method; ///< the computation method of the displacements
using TetrahedralCorotationalFEMForceField<DataTypes>::d_poissonRatio; ///< FEM Poisson Ratio
using TetrahedralCorotationalFEMForceField<DataTypes>::d_youngModulus; ///< FEM Young Modulus
using TetrahedralCorotationalFEMForceField<DataTypes>::d_localStiffnessFactor; ///< Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N]
using TetrahedralCorotationalFEMForceField<DataTypes>::d_updateStiffnessMatrix;
using TetrahedralCorotationalFEMForceField<DataTypes>::d_assembling;
using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawing; ///< draw the forcefield if true
using TetrahedralCorotationalFEMForceField<DataTypes>::_displayWholeVolume;
using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor1; ///< draw color for faces 1
using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor2; ///< draw color for faces 2
using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor3; ///< draw color for faces 3
using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor4; ///< draw color for faces 4
using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor1; ///< draw color for faces 1
using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor2; ///< draw color for faces 2
using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor3; ///< draw color for faces 3
using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor4; ///< draw color for faces 4
using TetrahedralCorotationalFEMForceField<DataTypes>::_volumeGraph;
protected:
HyperReducedTetrahedralCorotationalFEMForceField();

public:

virtual void init() override;
Expand Down
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