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[Projective] FixedProjectiveConstraint: Remove draw specializations a…
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…nd compute bbox (sofa-framework#4823)

* [Projective] FixedProjectiveConstraint: Remove draw specializations and compute bbox

* Fix float types
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@alxbilger
alxbilger authored Jul 23, 2024
1 parent b5490df commit 3ac30ac
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Showing 3 changed files with 65 additions and 94 deletions.
90 changes: 0 additions & 90 deletions ...straint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,101 +41,11 @@ int FixedProjectiveConstraintClass = core::RegisterObject("Attach given particle
.add< FixedProjectiveConstraint<Rigid2Types> >()
;


// methods specilizations declaration
template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API
void FixedProjectiveConstraint<defaulttype::Rigid3Types >::draw(const core::visual::VisualParams* vparams);
template <> SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API
void FixedProjectiveConstraint<defaulttype::Rigid2Types >::draw(const core::visual::VisualParams* vparams);



template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec3Types>;
template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec2Types>;
template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec1Types>;
template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Vec6Types>;
template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Rigid3Types>;
template class SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API FixedProjectiveConstraint<Rigid2Types>;



// methods specilizations definition
template <>
void FixedProjectiveConstraint<Rigid3Types>::draw(const core::visual::VisualParams* vparams)
{
if (this->d_componentState.getValue() != ComponentState::Valid) return;
if (!d_showObject.getValue()) return;
if (!this->isActive()) return;
if (!vparams->displayFlags().getShowBehaviorModels()) return;

const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();

const SetIndexArray & indices = d_indices.getValue();
const VecCoord& x = mstate->read(core::ConstVecCoordId::position())->getValue();

std::vector< type::Vec3 > points;

if (d_fixAll.getValue())
{
for (const auto& xi : x)
points.push_back(xi.getCenter());
}
else
{
if( x.size() < indices.size() )
{
for (unsigned i=0; i<x.size(); i++ )
{
points.push_back(x[indices[i]].getCenter());
}
}
else
{
for (const unsigned int index : indices)
{
points.push_back(x[index].getCenter());
}
}
}

if( d_drawSize.getValue() == 0) // old classical drawing by points
vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1,0.5,0.5,1));
else
vparams->drawTool()->drawSpheres(points, (float)d_drawSize.getValue(), sofa::type::RGBAColor(1.0f,0.35f,0.35f,1.0f));


}

template <>
void FixedProjectiveConstraint<Rigid2Types>::draw(const core::visual::VisualParams* vparams)
{
if (this->d_componentState.getValue() != ComponentState::Valid) return;
if (!d_showObject.getValue()) return;
if (!this->isActive()) return;
if (!vparams->displayFlags().getShowBehaviorModels()) return;

const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle();

const SetIndexArray& indices = d_indices.getValue();
const VecCoord& x =mstate->read(core::ConstVecCoordId::position())->getValue();

vparams->drawTool()->setLightingEnabled(false);
constexpr sofa::type::RGBAColor color (1,0.5,0.5,1);
std::vector<sofa::type::Vec3> vertices;

if(d_fixAll.getValue())
{
for (const auto& xi : x)
vertices.emplace_back(xi.getCenter()[0], xi.getCenter()[1], 0.0);
}
else
{
for (const unsigned int index : indices)
vertices.emplace_back(x[index].getCenter()[0], x[index].getCenter()[1], 0.0);
}

vparams->drawTool()->drawPoints(vertices, 10, color);

}

} // namespace sofa::component::constraint::projective
3 changes: 3 additions & 0 deletions ...onstraint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,7 @@ class FixedProjectiveConstraint : public core::behavior::ProjectiveConstraintSet

void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override;

void computeBBox(const core::ExecParams* params, bool onlyVisible) override;
void draw(const core::visual::VisualParams* vparams) override;

bool fixAllDOFs() const { return d_fixAll.getValue(); }
Expand All @@ -123,6 +124,8 @@ protected :
/// Function check values of given indices
void checkIndices();

void computeBBoxForIndices(const type::vector<Index>& indices);

};

#if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_FIXEDPROJECTIVECONSTRAINT_CPP)
Expand Down
66 changes: 62 additions & 4 deletions ...straint/Projective/src/sofa/component/constraint/projective/FixedProjectiveConstraint.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -361,6 +361,62 @@ void FixedProjectiveConstraint<DataTypes>::applyConstraint(sofa::core::behavior:
}
}

template <class DataTypes>
void FixedProjectiveConstraint<DataTypes>::computeBBoxForIndices(const type::vector<Index>& indices)
{
using Real = typename DataTypes::Real;

constexpr Real max_real = std::numeric_limits<Real>::max();
constexpr Real min_real = std::numeric_limits<Real>::lowest();
Real maxBBox[3] = {min_real,min_real,min_real};
Real minBBox[3] = {max_real,max_real,max_real};

const auto drawSize = static_cast<Real>(d_drawSize.getValue());

const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();

for (const auto index : indices)
{
const auto x3d = DataTypes::getCPos(x[index]);

for (unsigned int i = 0; i < x3d.size(); ++i)
{
maxBBox[i] = std::max(x3d[i] + drawSize, maxBBox[i]);
minBBox[i] = std::min(x3d[i] - drawSize, minBBox[i]);
}
}
this->f_bbox.setValue(sofa::type::TBoundingBox<Real>(minBBox,maxBBox));
}

template <class DataTypes>
void FixedProjectiveConstraint<DataTypes>::computeBBox(
const core::ExecParams* params, bool onlyVisible)
{
SOFA_UNUSED(params);

if( onlyVisible && !d_showObject.getValue() )
{
return;
}

if(this->d_componentState.getValue() == ComponentState::Invalid)
{
return;
}

const auto& indices = d_indices.getValue();

if (d_fixAll.getValue())
{
const auto bbox = this->mstate->computeBBox(); //this may compute twice the mstate bbox, but there is no way to determine if the bbox has already been computed
this->f_bbox.setValue(std::move(bbox));
}
else if (!indices.empty())
{
computeBBoxForIndices(indices);
}
}

template <class DataTypes>
void FixedProjectiveConstraint<DataTypes>::draw(const core::visual::VisualParams* vparams)
{
Expand Down Expand Up @@ -389,9 +445,9 @@ void FixedProjectiveConstraint<DataTypes>::draw(const core::visual::VisualParams
}
else
{
for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it)
for (const auto index : indices)
{
point = DataTypes::getCPos(x[*it]);
point = DataTypes::getCPos(x[index]);
points.push_back(point);
}
}
Expand All @@ -404,16 +460,18 @@ void FixedProjectiveConstraint<DataTypes>::draw(const core::visual::VisualParams
std::vector< sofa::type::Vec3 > points;
sofa::type::Vec3 point;
if( d_fixAll.getValue()==true )
{
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)
for (const auto index : indices)
{
point = DataTypes::getCPos(x[*it]);
point = DataTypes::getCPos(x[index]);
points.push_back(point);
}
}
Expand Down

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