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Apply template method on BaseForceField #330

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Apply template method on BaseForceField #330

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bbc374e
Fix compiation PipeForceField
hugtalbot May 15, 2025
a8143c1
Apply template method on BaseForceField : PartialRigidicationFF and P…
hugtalbot May 27, 2025
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2 changes: 1 addition & 1 deletion src/SoftRobots/component/forcefield/PartialRigidificationForceField.h
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Original file line number Diff line number Diff line change
Expand Up @@ -168,7 +168,7 @@ class PartialRigidificationForceField : public MixedInteractionForceField<TDataT


///////////////////////// Inherited from BaseInteractionForceField ///////////////////
void addKToMatrix(const MechanicalParams* mparams,
void doAddKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix ) override;
////////////////////////////////////////////////////////////////////////////////////
protected:
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2 changes: 1 addition & 1 deletion src/SoftRobots/component/forcefield/PartialRigidificationForceField.inl
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Expand Up @@ -60,7 +60,7 @@ PartialRigidificationForceField<DataTypes1, DataTypes2>::PartialRigidificationFo


template<class DataTypes1, class DataTypes2>
void PartialRigidificationForceField<DataTypes1, DataTypes2>::addKToMatrix(const MechanicalParams* mparams,
void PartialRigidificationForceField<DataTypes1, DataTypes2>::doAddKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix)
{
MultiMatrixAccessor::MatrixRef mat11 = matrix->getMatrix(mstate1);
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3 changes: 1 addition & 2 deletions src/SoftRobots/component/forcefield/PipeForceField.h
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Expand Up @@ -119,8 +119,7 @@ public :
dx ) override;


void addKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix) override;
void addKToMatrix(sofa::linearalgebra::BaseMatrix * mat, SReal kFact, unsigned int & offset) override;

double getPotentialEnergy(const MechanicalParams* mparams,
const DataVecCoord& x) const override;
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11 changes: 6 additions & 5 deletions src/SoftRobots/component/forcefield/PipeForceField.inl
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Expand Up @@ -109,9 +109,11 @@ double PipeForceField<DataTypes>::getPotentialEnergy(const MechanicalParams* mpa
}

template<typename DataTypes>
void PipeForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix)
void PipeForceField<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix,
SReal kFact, unsigned int & offset)
{
SOFA_UNUSED(kFact);

if (l_barycentricMapping.get() == nullptr )
{
msg_error() << "Link to barycentric mapping is missing or incorrect. AddKToMatrix not computed.";
Expand Down Expand Up @@ -154,7 +156,7 @@ void PipeForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,

MultiMatrixAccessor::MatrixRef mappedMatrixRef = mappedFFMatrixAccessor->getMatrix(springState);

l_mappedForceField.get()->addKToMatrix(mparams, mappedFFMatrixAccessor);
l_mappedForceField.get()->addKToMatrix(sofa::core::mechanicalparams::defaultInstance(), mappedFFMatrixAccessor);
CompressedRowSparseMatrix<_3_3_Matrix_Type> JtK ;
CompressedRowSparseMatrix<_3_3_Matrix_Type> JtKJ ;

Expand All @@ -167,7 +169,6 @@ void PipeForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,
if(mstate==nullptr)
msg_error() << "Missing context mechanical state.";

MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);
_3_3_Matrix_Type KMatrixBuffer;
for(size_t kRowIndex = 0 ; kRowIndex < (unsigned int)JtKJ.nBlockRow ; ++kRowIndex) {
for(_3_3_ColBlockConstIterator kColIter = JtKJ.bRowBegin(kRowIndex); kColIter < JtKJ.bRowEnd(kRowIndex) ; kColIter++) {
Expand All @@ -180,7 +181,7 @@ void PipeForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,

for (int i = 0; i < 3 ; i++)
for (int j = 0; j < 3; j++)
matrixRef.matrix->add(matrixRef.offset + 3 * kRowIndex + i,matrixRef.offset + 3 * kColIndex + j, kBlockData(i, j));
matrix->add(offset + 3 * kRowIndex + i, offset + 3 * kColIndex + j, kBlockData(i, j));
}
}

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