Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[BeamInterpolation] Add method computeTransform with node indices as parameters #103

Merged
merged 2 commits into from
Sep 7, 2023
Merged

[BeamInterpolation] Add method computeTransform with node indices as parameters #103

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
ae07cc9
[BeamInterpolation] Add method computeTransform with node indices as …
epernod Jul 3, 2023
cc74c89
Fix compilation
epernod Jul 28, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 5 additions & 1 deletion src/BeamAdapter/component/BeamInterpolation.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ class BeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
using Transform = typename sofa::defaulttype::SolidTypes<Real>::Transform;
using SpatialVector = typename sofa::defaulttype::SolidTypes<Real>::SpatialVector;

using PointID = BaseMeshTopology::PointID;
using ElementID = BaseMeshTopology::EdgeID;
using VecElementID = type::vector<BaseMeshTopology::EdgeID>;
using VecEdges = type::vector<BaseMeshTopology::Edge>;
Expand Down Expand Up @@ -155,7 +156,10 @@ class BeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
void getDOFtoLocalTransformInGlobalFrame(unsigned int edgeInList, Transform &DOF0Global_H_local0, Transform &DOF1Global_H_local1, const VecCoord &x);


int computeTransform(ElementID edgeInList, Transform &global_H_local0, Transform &global_H_local1, const VecCoord &x);
int computeTransform(const ElementID edgeInList, Transform &global_H_local0, Transform &global_H_local1, const VecCoord &x);
int computeTransform(const ElementID edgeInList, const PointID node0Idx, const PointID node1Idx, Transform& global_H_local0, Transform& global_H_local1, const VecCoord& x);



void getTangent(Vec3& t, const Real& baryCoord,
const Transform &global_H_local0, const Transform &global_H_local1,const Real &L);
Expand Down
22 changes: 15 additions & 7 deletions src/BeamAdapter/component/BeamInterpolation.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -315,7 +315,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
// this transforamtion is given by global_H_local0 for node 0 (and dof0)
// and global_H_local1 for node 1 (and dof1)
Transform global_H_local0, global_H_local1;
computeTransform(i, global_H_local0, global_H_local1, statePos.ref()) ;
computeTransform(i, nd0Id, nd1Id, global_H_local0, global_H_local1, statePos.ref());
Vec3 beam_segment = global_H_local1.getOrigin() - global_H_local0.getOrigin();
lengthList.push_back(beam_segment.norm());

Expand Down Expand Up @@ -641,7 +641,7 @@ void BeamInterpolation<DataTypes>::getDOFtoLocalTransformInGlobalFrame(unsigned


template<class DataTypes>
int BeamInterpolation<DataTypes>::computeTransform(ElementID edgeInList,
int BeamInterpolation<DataTypes>::computeTransform(const ElementID edgeInList,
Transform &global_H_local0,
Transform &global_H_local1,
const VecCoord &x)
Expand All @@ -654,16 +654,24 @@ int BeamInterpolation<DataTypes>::computeTransform(ElementID edgeInList,
return -1;
}

return computeTransform(edgeInList, node0Idx, node1Idx, global_H_local0, global_H_local1, x);
}


template<class DataTypes>
int BeamInterpolation<DataTypes>::computeTransform(const ElementID edgeInList, const PointID node0Idx, const PointID node1Idx, Transform& global_H_local0, Transform& global_H_local1, const VecCoord& x)
{

/// 2. Computes the optional rigid transformation of DOF0_Transform_node0 and DOF1_Transform_node1
Transform DOF0_H_local0, DOF1_H_local1;
getDOFtoLocalTransform(edgeInList, DOF0_H_local0, DOF1_H_local1);
getDOFtoLocalTransform(edgeInList, DOF0_H_local0, DOF1_H_local1);

/// 3. Computes the transformation global To local for both nodes
Transform global_H_DOF0(x[node0Idx].getCenter(),x[node0Idx].getOrientation());
Transform global_H_DOF1(x[node1Idx].getCenter(),x[node1Idx].getOrientation());
Transform global_H_DOF0(x[node0Idx].getCenter(), x[node0Idx].getOrientation());
Transform global_H_DOF1(x[node1Idx].getCenter(), x[node1Idx].getOrientation());
/// - add a optional transformation
global_H_local0 = global_H_DOF0*DOF0_H_local0;
global_H_local1 = global_H_DOF1*DOF1_H_local1;
global_H_local0 = global_H_DOF0 * DOF0_H_local0;
global_H_local1 = global_H_DOF1 * DOF1_H_local1;

return 1; /// no error
}
Expand Down
17 changes: 9 additions & 8 deletions src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -119,14 +119,15 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
length=(P0-P3).norm();
rest_length = interpolation->getLength(b);

unsigned n0, n1;
interpolation->getNodeIndices(b, n0, n1);

/// 2. compute the bending angle
Transform Tnode0, Tnode1;
interpolation->computeTransform(b,Tnode0,Tnode1,x);
interpolation->computeTransform(b, n0, n1, Tnode0,Tnode1,x);
Real angleBeam = interpolation->ComputeTotalBendingRotationAngle(rest_length/10.0, Tnode0, Tnode1,rest_length , 0.0, 1.0);

/// 3. treatment of the different case..
unsigned n0, n1;
interpolation->getNodeIndices(b, n0, n1);
bool case1a = (n0==n1);

if(prev_stretch)
Expand Down Expand Up @@ -164,7 +165,7 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
interpolation->getSplinePoints(b,xfree,P0,P1,P2,P3);

Transform global_H_local0_free, global_H_local1_free;
interpolation->computeTransform(b, global_H_local0_free, global_H_local1_free, xfree);
interpolation->computeTransform(b, n0, n1, global_H_local0_free, global_H_local1_free, xfree);
intervalDef.posFreeEnd = global_H_local0_free.getOrigin(); /// store the free position

intervalDef.rest_length=rest_length_interval; /// store the rest_length
Expand Down Expand Up @@ -231,10 +232,10 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
interpolation->getDOFtoLocalTransform(b, DOF0_H_local0, DOF1_H_local1);

Transform global_H_local0, global_H_local1;
interpolation->computeTransform(b, global_H_local0, global_H_local1, x);
interpolation->computeTransform(b, n0, n1, global_H_local0, global_H_local1, x);

Transform global_H_local0_free, global_H_local1_free;
interpolation->computeTransform(b, global_H_local0_free, global_H_local1_free, xfree);
interpolation->computeTransform(b, n0, n1, global_H_local0_free, global_H_local1_free, xfree);

intervalDef.dof_H_begin = DOF0_H_local0;
intervalDef.IdxBegin = n0;
Expand Down Expand Up @@ -262,11 +263,11 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x

Transform global_H_local0, global_H_local1;

interpolation->computeTransform(b, global_H_local0, global_H_local1, x);
interpolation->computeTransform(b, n0, n1, global_H_local0, global_H_local1, x);


Transform global_H_local0_free, global_H_local1_free;
interpolation->computeTransform(b, global_H_local0_free, global_H_local1_free, xfree);
interpolation->computeTransform(b, n0, n1, global_H_local0_free, global_H_local1_free, xfree);


intervalDef.dof_H_end = DOF1_H_local1;
Expand Down
7 changes: 4 additions & 3 deletions src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -168,9 +168,12 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::buildConstraintMatrix(const Const
continue;
}

unsigned int node0, node1;
interpolation->getNodeIndices(beam, node0, node1);

// Position and frame on the curve
interpolation->getBeamAtCurvAbs(m_previousPositions[i], beam, baryCoord);
interpolation->computeTransform(beam, Tnode0, Tnode1, x1free.ref());
interpolation->computeTransform(beam, node0, node1, Tnode0, Tnode1, x1free.ref());
interpolation->InterpolateTransformUsingSpline(Tresult, baryCoord, Tnode0, Tnode1, interpolation->getLength(beam));
Pos p = Tresult.getOrigin();
Pos dir0, dir1, dir2;
Expand All @@ -186,10 +189,8 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::buildConstraintMatrix(const Const
m_violations.push_back(violation * dir0);

// Define the constraint
unsigned int node0, node1;
SpatialVector sv0, sv1;
Vec3 nullRot(0,0,0);
interpolation->getNodeIndices(beam, node0, node1);

MatrixDerivRowIterator c1_it = c1.wref().writeLine(m_cid + m_nbConstraints);
MatrixDerivRowIterator c2_it = c2.wref().writeLine(m_cid + m_nbConstraints);
Expand Down
10 changes: 5 additions & 5 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -460,8 +460,8 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const MechanicalParams*
for (unsigned int beamId=0; beamId <numBeams; beamId++)
{
///find the indices of the nodes
unsigned int node0Idx, node1Idx;
l_interpolation->getNodeIndices(beamId, node0Idx, node1Idx );
sofa::Index node0Idx, node1Idx;
l_interpolation->getNodeIndices(beamId, node0Idx, node1Idx);

///find the beamMatrices:
BeamLocalMatrices& beamMatrices = m_localBeamMatrices[beamId];
Expand All @@ -470,7 +470,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const MechanicalParams*
Transform global_H_local0, global_H_local1;

/// 1. get the current transform of the beam:
l_interpolation->computeTransform(beamId, global_H_local0, global_H_local1, x);
l_interpolation->computeTransform(beamId, node0Idx, node1Idx, global_H_local0, global_H_local1, x);

/// 2. Computes the frame of the beam based on the spline interpolation:
Transform global_H_local;
Expand Down Expand Up @@ -707,9 +707,9 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::draw(const VisualParams *vparams)
{
Transform globalH0Local, globalH1Local;

l_interpolation->computeTransform(b, globalH0Local, globalH1Local, x.ref());
unsigned int node0Idx, node1Idx;
l_interpolation->getNodeIndices( b, node0Idx, node1Idx );
l_interpolation->getNodeIndices(b, node0Idx, node1Idx);
l_interpolation->computeTransform(b, node0Idx, node1Idx, globalH0Local, globalH1Local, x.ref());

if (vparams->displayFlags().getShowBehaviorModels() && node0Idx!=node1Idx)
drawElement(vparams, b, globalH0Local, globalH1Local);
Expand Down
10 changes: 5 additions & 5 deletions src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -547,8 +547,8 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addForce (const MechanicalPara
for (unsigned int b=0; b<numBeams; b++)
{
///find the indices of the nodes
unsigned int node0Idx, node1Idx;
l_interpolation->getNodeIndices( b, node0Idx, node1Idx );
sofa::Index node0Idx, node1Idx;
l_interpolation->getNodeIndices(b, node0Idx, node1Idx);

///find the beamMatrices:
BeamLocalMatrices *beamMatrices = &m_localBeamMatrices[b] ;//new BeamLocalMatrices();
Expand All @@ -558,7 +558,7 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addForce (const MechanicalPara

/// 1. get the current transform of the beam:
dmsg_info() << "in addForce";
l_interpolation->computeTransform(b, global_H_local0, global_H_local1, x);
l_interpolation->computeTransform(b, node0Idx, node1Idx, global_H_local0, global_H_local1, x);

/// 2. Computes the frame of the beam based on the spline interpolation:
Transform global_H_local;
Expand Down Expand Up @@ -768,9 +768,9 @@ void AdaptiveInflatableBeamForceField<DataTypes>::draw(const VisualParams *vpara
{
Transform globalH0Local, globalH1Local;

l_interpolation->computeTransform(b, globalH0Local, globalH1Local, x.ref());
unsigned int node0Idx, node1Idx;
l_interpolation->getNodeIndices( b, node0Idx, node1Idx );
l_interpolation->getNodeIndices(b, node0Idx, node1Idx);
l_interpolation->computeTransform(b, node0Idx, node1Idx, globalH0Local, globalH1Local, x.ref());

if (vparams->displayFlags().getShowBehaviorModels() && node0Idx!=node1Idx)
drawElement(vparams, b, globalH0Local, globalH1Local);
Expand Down
Loading