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[Tests] Add more tests for AdaptiveBeamForceFieldAndMass #43

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merged 4 commits into from
Aug 10, 2022
Merged

[Tests] Add more tests for AdaptiveBeamForceFieldAndMass #43

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d59155d
[tests] Add more tests for AdaptiveBeamForceField and mass
epernod Aug 8, 2022
353916a
[tests] clean header includes and fix AdaptiveBeam FF test
epernod Aug 8, 2022
1ac3e21
[test] Fix some includes
epernod Aug 8, 2022
02476b1
[tests] Fix tests?
epernod Aug 9, 2022
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1 change: 1 addition & 0 deletions BeamAdapter_test/BeamInterpolation_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <sofa/helper/BackTrace.h>

#include <sofa/component/statecontainer/MechanicalObject.h>
#include <sofa/core/ExecParams.h>

using sofa::core::topology::BaseMeshTopology ;
using sofa::core::objectmodel::Data ;
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186 changes: 162 additions & 24 deletions BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp
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Expand Up @@ -21,40 +21,29 @@
******************************************************************************/
#include <sofa/testing/BaseSimulationTest.h>

#include <sofa/helper/BackTrace.h>

#include <BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h>
#include <sofa/component/statecontainer/MechanicalObject.h>
using sofa::core::topology::BaseMeshTopology ;
using sofa::core::objectmodel::Data ;

#include <sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h>
using sofa::component::topology::container::dynamic::TetrahedronSetTopologyContainer;

using sofa::helper::WriteAccessor ;
using sofa::defaulttype::Rigid3dTypes ;

#include <sofa/simulation/common/SceneLoaderXML.h>
using sofa::simulation::SceneLoaderXML;

#include <sofa/simulation/graph/DAGSimulation.h>
using sofa::simulation::Simulation ;
using sofa::simulation::Node ;
using sofa::simulation::setSimulation ;
using sofa::core::objectmodel::New ;
using sofa::core::objectmodel::BaseData ;
using sofa::component::statecontainer::MechanicalObject ;

#include <BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h>
using sofa::component::forcefield::AdaptiveBeamForceFieldAndMass;
#include <sofa/helper/system/thread/CTime.h>

#include <string>
using std::string;

namespace sofa
{
using sofa::component::forcefield::AdaptiveBeamForceFieldAndMass;
using sofa::component::statecontainer::MechanicalObject;
using sofa::helper::system::thread::ctime_t;

using sofa::simulation::Node;
using sofa::simulation::SceneLoaderXML;

struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationTest
{
using Rigid3dTypes = defaulttype::Rigid3dTypes;
using VecCoord = MechanicalObject<Rigid3dTypes>::VecCoord;

void simpleSceneTest(){
string scene =
"<?xml version='1.0'?>"
Expand All @@ -76,24 +65,173 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
Node::SPtr root = SceneLoaderXML::loadFromMemory ( "test1", scene.c_str(), scene.size());

ASSERT_NE(root.get(), nullptr);
MechanicalObject<defaulttype::Rigid3dTypes>* mechanicalObject = nullptr;
MechanicalObject<Rigid3dTypes>* mechanicalObject = nullptr;
root->getTreeObject(mechanicalObject);

ASSERT_NE(mechanicalObject, nullptr);
EXPECT_TRUE(mechanicalObject->getName() == "DOFs") ;

AdaptiveBeamForceFieldAndMass<defaulttype::Rigid3dTypes>* beamForceFieldMass = nullptr;
AdaptiveBeamForceFieldAndMass<Rigid3dTypes>* beamForceFieldMass = nullptr;

root->getTreeObject(beamForceFieldMass);

ASSERT_NE(beamForceFieldMass, nullptr);
ASSERT_NO_THROW(beamForceFieldMass->init());
ASSERT_NO_THROW(beamForceFieldMass->reinit());
}



Node::SPtr createSingleBeam()
{
string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'>"
" <RequiredPlugin name='Sofa.Component.ODESolver.Backward' />"
" <RequiredPlugin name='Sofa.Component.LinearSolver.Direct' />"
" <RequiredPlugin name='Sofa.Component.StateContainer' />"
" <RequiredPlugin name='Sofa.Component.Constraint.Projective' />"
" <RequiredPlugin name='Sofa.Component.StateContainer' />"
" <RequiredPlugin name='Sofa.Component.Topology.Container.Constant' />"
" <RequiredPlugin name='Sofa.Component.Topology.Container.Grid' />"
" <RequiredPlugin name='BeamAdapter' />"
" <DefaultAnimationLoop />"
" <DefaultVisualManagerLoop />"
" <Node name='BeamModel'/>"
" <EulerImplicitSolver rayleighStiffness='0.0' rayleighMass='0.0' />"
" <BTDLinearSolver />"
" <RegularGridTopology name='MeshLines' nx='200' ny='1' nz='1' xmax='100' xmin='0' ymin='0' ymax='0' zmax='0' zmin='0'/>"
" <MechanicalObject template='Rigid3d' name='DOFs' />"
" <FixedConstraint indices='0' />"
" <BeamInterpolation name='Interpol' radius='0.1'/>"
" <AdaptiveBeamForceFieldAndMass name='ForceField' interpolation='@Interpol' massDensity='10.0'/>"
" </Node> "
"</Node> ";

Node::SPtr root = SceneLoaderXML::loadFromMemory("singleBeam", scene.c_str(), (unsigned int)(scene.size()));
sofa::simulation::getSimulation()->init(root.get());

return root;
}


void checkCreation()
{
Node::SPtr root = createSingleBeam();

// Search for Beam FF
AdaptiveBeamForceFieldAndMass<Rigid3dTypes>* beamForceFieldMass = nullptr;
root->getTreeObject(beamForceFieldMass);
ASSERT_NE(beamForceFieldMass, nullptr);

// Check component state and Data default values

// TODO: activate this test in component init refactoring PR
//ASSERT_EQ(beamForceFieldMass->d_componentState.getValue(), sofa::core::objectmodel::ComponentState::Valid);
ASSERT_EQ(beamForceFieldMass->d_computeMass.getValue(), true);
ASSERT_FLOAT_EQ(beamForceFieldMass->d_massDensity.getValue(), 10.0);
ASSERT_FLOAT_EQ(beamForceFieldMass->rayleighMass.getValue(), 0.0);
ASSERT_FLOAT_EQ(beamForceFieldMass->rayleighStiffness.getValue(), 0.0);
}


void checkValues()
{
int nbrStep = 500;
int nbrGrid = 200;
Node::SPtr root = createSingleBeam();

// Search for Beam FF
AdaptiveBeamForceFieldAndMass<Rigid3dTypes>* beamForceFieldMass = nullptr;
root->getTreeObject(beamForceFieldMass);
ASSERT_NE(beamForceFieldMass, nullptr);

// Access mstate
MechanicalObject<Rigid3dTypes>* dofs = nullptr;
root->getTreeObject(dofs);

// Access dofs
const VecCoord& positions = dofs->x.getValue();
ASSERT_EQ(positions.size(), nbrGrid);

// Check position at init
auto id = nbrGrid - 1;
EXPECT_NEAR(positions[id][0], 100, 1e-4);
EXPECT_NEAR(positions[id][1], 0, 1e-4);
EXPECT_NEAR(positions[id][2], 0, 1e-4);

// run some simulation steps
auto simulation = sofa::simulation::getSimulation();
for (int i = 0; i < nbrStep; i++)
{
simulation->animate(root.get(), 0.01);
}

// Check position after simulation
EXPECT_NEAR(positions[id][0], -1.34228, 1e-4);
EXPECT_NEAR(positions[id][1], -110.274221, 1e-4);
EXPECT_NEAR(positions[id][2], 0, 1e-4);
}


void testPerformances()
{
Node::SPtr root = createSingleBeam();

int nbrStep = 1000;
int nbrTest = 10;

double diffTimeMs = 0;
double timeMin = std::numeric_limits<double>::max();
double timeMax = std::numeric_limits<double>::min();

auto simulation = sofa::simulation::getSimulation();
for (int i = 0; i < nbrTest; ++i)
{
ctime_t startTime = sofa::helper::system::thread::CTime::getRefTime();
for (int i = 0; i < nbrStep; i++)
{
simulation->animate(root.get(), 0.01);
}

ctime_t diffTime = sofa::helper::system::thread::CTime::getRefTime() - startTime;
double diffTimed = sofa::helper::system::thread::CTime::toSecond(diffTime);

if (timeMin > diffTimed)
timeMin = diffTimed;
if (timeMax < diffTimed)
timeMax = diffTimed;

diffTimeMs += diffTimed;
simulation->reset(root.get());
}

//std::cout << "timeMean: " << diffTimeMs/nbrTest << std::endl;
//std::cout << "timeMin: " << timeMin << std::endl;
//std::cout << "timeMax: " << timeMax << std::endl;

// Some logs (2022-08-08):
//timeMean: 1.00409
//timeMin : 0.977432
//timeMax : 1.02568

}
};

TEST_F(AdaptiveBeamForceFieldAndMassTest, SimpleScene) {
ASSERT_NO_THROW(this->simpleSceneTest()) ;
}

TEST_F(AdaptiveBeamForceFieldAndMassTest, checkCreation) {
ASSERT_NO_THROW(this->checkCreation());
}

TEST_F(AdaptiveBeamForceFieldAndMassTest, checkValues) {
ASSERT_NO_THROW(this->checkValues());
}

TEST_F(AdaptiveBeamForceFieldAndMassTest, DISABLED_testPerformances) {
ASSERT_NO_THROW(this->testPerformances());
}

}