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[WireRestShape] Clean code related to brokenIn2 and EdgeSetTopologyModifier #116

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Nov 1, 2023
Merged

[WireRestShape] Clean code related to brokenIn2 and EdgeSetTopologyModifier #116

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fbdc1f0
[WireRestShape] Remove optiond releaseWire or brokenIn2
epernod Jun 29, 2023
dfab80d
Remove use of Edge2QuadTopologicalMapping
epernod Jun 27, 2023
dece380
[WireRestShape] Remove code related to releaseWire, brokenIn2 and Edg…
epernod Oct 19, 2023
27fa7d4
Fix tests
epernod Oct 19, 2023
6a0f8af
Update WireRestShape.h
epernod Oct 23, 2023
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6 changes: 2 additions & 4 deletions BeamAdapter_test/component/model/WireRestShape_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,9 +159,7 @@ void WireRestShape_test::testParameterInit()
Real fullLength = wire->getLength();
EXPECT_EQ(fullLength, 100.0);

Real straightLength = wire->getReleaseCurvAbs();
EXPECT_EQ(straightLength, 95.0);

Real straightLength = 95.0;
vector<Real> keysPoints, keysPoints_ref = { 0, straightLength, fullLength };
Real ratio = straightLength / fullLength;
vector<int> nbP_density, nbP_density_ref = { int(floor(5.0 * ratio)), int(floor(20.0 * (1 - ratio))) };
Expand Down Expand Up @@ -243,7 +241,7 @@ void WireRestShape_test::testTransformMethods()
EXPECT_NE(wire, nullptr);

Real fullLength = wire->getLength();
Real straightLength = wire->getReleaseCurvAbs();
Real straightLength = 95.0;
Real middHook = (fullLength + straightLength) / 2;

Transform transfo_0, transfo_1, transfo_2, transfo_3;
Expand Down
30 changes: 15 additions & 15 deletions src/BeamAdapter/component/engine/WireRestShape.h
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Expand Up @@ -36,8 +36,7 @@
#include <BeamAdapter/utils/BeamSection.h>
#include <sofa/defaulttype/SolidTypes.h>
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h>
#include <sofa/component/topology/mapping/Edge2QuadTopologicalMapping.h>
#include <sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h>
#include <sofa/core/loader/MeshLoader.h>

namespace sofa::component::engine
Expand All @@ -47,8 +46,6 @@ namespace _wirerestshape_
{

using sofa::core::topology::TopologyContainer;
using sofa::component::topology::container::dynamic::EdgeSetTopologyModifier;
using sofa::component::topology::mapping::Edge2QuadTopologicalMapping;
using sofa::core::loader::MeshLoader;

/**
Expand Down Expand Up @@ -90,9 +87,6 @@ class WireRestShape : public core::objectmodel::BaseObject

/////////////////////////// Methods of WireRestShape //////////////////////////////////////////

/// For coils: a part of the coil instrument can be brokenIn2 (by default the point of release is the end of the straight length)
Real getReleaseCurvAbs() const {return d_straightLength.getValue();}

/// This function is called by the force field to evaluate the rest position of each beam
void getRestTransformOnX(Transform &global_H_local, const Real &x);

Expand Down Expand Up @@ -121,14 +115,23 @@ class WireRestShape : public core::objectmodel::BaseObject
void getCollisionSampling(Real &dx, const Real &x_curv) ;
void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) ;

//TODO(dmarchal 2017-05-17) Please specify who and when it will be done either a time after wich
//we can remove the todo.
// todo => topological change !
void releaseWirePart();

void rotateFrameForAlignX(const Quat &input, Vec3 &x, Quat &output);


/////////////////////////// Deprecated Methods //////////////////////////////////////////

/// For coils: a part of the coil instrument can be brokenIn2 (by default the point of release is the end of the straight length)
[[deprecated("Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06")]]
Real getReleaseCurvAbs() const {
msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06";
return 0.0;
}

[[deprecated("Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06")]]
void releaseWirePart() {
msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06";
}

public:
/// Analitical creation of wire shape...
Data<bool> d_isAProceduralShape;
Expand Down Expand Up @@ -157,7 +160,6 @@ class WireRestShape : public core::objectmodel::BaseObject
Data<Real> d_massDensity2;

/// broken in 2 case
Data<bool> d_brokenIn2;
Data<bool> d_drawRestShape;

private:
Expand All @@ -174,8 +176,6 @@ class WireRestShape : public core::objectmodel::BaseObject
SingleLink<WireRestShape<DataTypes>, TopologyContainer, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
/// Pointer to the topology container, should be set using @sa l_topology, otherwise will search for one in current Node.
TopologyContainer* _topology{ nullptr };
/// Pointer to the topology modifier. Will be set at init by searching one in @sa _topology context.
EdgeSetTopologyModifier* edgeMod{ nullptr };

/// Link to be set to the topology container in the component graph.
SingleLink<WireRestShape<DataTypes>, MeshLoader, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_loader;
Expand Down
76 changes: 4 additions & 72 deletions src/BeamAdapter/component/engine/WireRestShape.inl
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Expand Up @@ -34,8 +34,6 @@
#include <BeamAdapter/component/engine/WireRestShape.h>

#include <sofa/core/behavior/MechanicalState.h>
#include <sofa/component/topology/container/dynamic/QuadSetTopologyModifier.h>
#include <sofa/component/topology/mapping/Edge2QuadTopologicalMapping.h>

#include <sofa/simulation/TopologyChangeVisitor.h>
#include <sofa/core/visual/VisualParams.h>
Expand Down Expand Up @@ -79,7 +77,6 @@ WireRestShape<DataTypes>::WireRestShape() :
, d_innerRadius2(initData(&d_innerRadius2,(Real)0.0f,"innerRadiusExtremity","inner radius for beams at the extremity\nonly if not straight"))
, d_massDensity1(initData(&d_massDensity1,(Real)1.0,"massDensity", "Density of the mass (usually in kg/m^3)" ))
, d_massDensity2(initData(&d_massDensity2,(Real)1.0,"massDensityExtremity", "Density of the mass at the extremity\nonly if not straight" ))
, d_brokenIn2(initData(&d_brokenIn2, (bool)false, "brokenIn2", ""))
, d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape"))
, l_topology(initLink("topology", "link to the topology container"))
, l_loader(initLink("loader", "link to the MeshLoader"))
Expand Down Expand Up @@ -189,16 +186,7 @@ void WireRestShape<DataTypes>::init()
return;
}
}

// Get pointer to the topology Modifier (for topological changes)
_topology->getContext()->get(edgeMod);

if (edgeMod == nullptr)
{
msg_warning() << "No EdgeSetTopologyModifier found in the same node as the topology container: " << _topology->getName() << ". This wire won't support topological changes.";
}




////////////////////////////////////////////////////////
////////// keyPoint list and Density Assignement ///////
Expand Down Expand Up @@ -272,65 +260,12 @@ void WireRestShape<DataTypes>::init()
}


template <class DataTypes>
void WireRestShape<DataTypes>::releaseWirePart(){

d_brokenIn2.setValue(true);

if ( edgeMod == nullptr )
{
msg_error() << "no edgeSetModifier in the node -> cannot do the topological change";
return;
}
///////// remove the edge that is cut //////
for ( sofa::Size i=0; i<_topology->getNbPoints(); i++)
{
if( _topology->getPX(i) > this->getReleaseCurvAbs() + EPSILON )
{
type::vector<sofa::core::topology::BaseMeshTopology::EdgeID> edge_remove;
edge_remove.push_back( i-1 );

msg_info() << "releaseWirePart() -> remove edge number "<< i ;

edgeMod->removeEdges(edge_remove,false); // remove the single edge and do not remove any point...

msg_info() << "WireRestShape _topology name="<<_topology->getName()<<" - numEdges ="<<_topology->getNbEdges() ;

return;
}
}

dmsg_info() <<" Wire Part is brokenIn2... should implement a topo change !" ;
}


template <class DataTypes>
void WireRestShape<DataTypes>::getSamplingParameters(type::vector<Real>& xP_noticeable,
type::vector<int>& nbP_density) const
{

xP_noticeable.clear();
nbP_density.clear();

if (d_brokenIn2.getValue())
{
for (unsigned int i=0; i<d_keyPoints.getValue().size(); i++)
{
Real x=d_keyPoints.getValue()[i];
if( x + EPSILON > getReleaseCurvAbs() )
break;
xP_noticeable.push_back(x);
nbP_density.push_back(d_density.getValue()[i]);
}
xP_noticeable.push_back( getReleaseCurvAbs());

dmsg_info() <<"getSamplingParameters brokenIn2 detected - return xP_noticeable ="<<xP_noticeable<<" and nbP_density ="<<nbP_density ;
}
else
{
xP_noticeable = d_keyPoints.getValue();
nbP_density = d_density.getValue();
}
xP_noticeable = d_keyPoints.getValue();
nbP_density = d_density.getValue();
}

template <class DataTypes>
Expand Down Expand Up @@ -775,10 +710,7 @@ void WireRestShape<DataTypes>::getRestPosNonProcedural(Real& abs, Coord &p)
template <class DataTypes>
typename WireRestShape<DataTypes>::Real WireRestShape<DataTypes>::getLength()
{
if(d_brokenIn2.getValue())
return d_straightLength.getValue();
else
return d_length.getValue();
return d_length.getValue();
}

template <class DataTypes>
Expand Down