Apply template method on BaseForceField

hugtalbot · hugtalbot · commit 9b2ab1bde3f8 · 2025-05-27T22:33:25.000+02:00
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h
@@ -168,8 +168,7 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
     }
 
     using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;
-    void addKToMatrix(const MechanicalParams* mparams,
-                      const MultiMatrixAccessor* matrix) override;
+    void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset) override;
 
     void computeStiffness(int beam, BeamLocalMatrices& beamLocalMatrices);
     void computeMass(int beam, BeamLocalMatrices& beamMatrices);
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl b/src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
@@ -691,12 +691,8 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addDForce(const MechanicalParams*
 
 
 template<class DataTypes>
-void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const MechanicalParams* mparams,
-                                                            const MultiMatrixAccessor* matrix)
+void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset)
 {
-    MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);
-    Real k = (Real)mparams->kFactor();
-
     unsigned int numBeams = l_interpolation->getNumBeams();
 
     for (unsigned int b=0; b<numBeams; b++)
@@ -716,18 +712,18 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const MechanicalPara
 
         int index0[6], index1[6];
         for (int i=0;i<6;i++)
-            index0[i] = matrixRef.offset+node0Idx*6+i;
+            index0[i] = offset+node0Idx*6+i;
         for (int i=0;i<6;i++)
-            index1[i] = matrixRef.offset+node1Idx*6+i;
+            index1[i] = offset+node1Idx*6+i;
 
         for (int i=0;i<6;i++)
         {
             for (int j=0;j<6;j++)
             {
-                matrixRef.matrix->add(index0[i], index0[j], - K00(i,j)*k);
-                matrixRef.matrix->add(index0[i], index1[j], - K01(i,j)*k);
-                matrixRef.matrix->add(index1[i], index0[j], - K10(i,j)*k);
-                matrixRef.matrix->add(index1[i], index1[j], - K11(i,j)*k);
+                matrix->add(index0[i], index0[j], - K00(i,j)*kFact);
+                matrix->add(index0[i], index1[j], - K01(i,j)*kFact);
+                matrix->add(index1[i], index0[j], - K10(i,j)*kFact);
+                matrix->add(index1[i], index1[j], - K11(i,j)*kFact);
             }
         }
     }
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.h b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.h
@@ -200,8 +200,7 @@ class AdaptiveInflatableBeamForceField : public Mass<DataTypes>
     }
 
     using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;
-    void addKToMatrix(const MechanicalParams* mparams,
-                      const MultiMatrixAccessor* matrix) override;
+    void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int & offset) override;
 
     void computeStiffness(int beam, BeamLocalMatrices& beamLocalMatrices);
     void computeMass(int beam, BeamLocalMatrices& beamMatrices);
diff --git a/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl b/src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
@@ -673,12 +673,9 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addDForce(const MechanicalPara
 
 
 template<class DataTypes>
-void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,
-                                                            const MultiMatrixAccessor* matrix)
+void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix,
+                                                               SReal kFact, unsigned int & offset)
 {
-    MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);
-    Real k = (Real)mparams->kFactor();
-
     unsigned int numBeams = l_interpolation->getNumBeams();
 
     for (unsigned int b=0; b<numBeams; b++)
@@ -699,18 +696,18 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(const MechanicalP
 
         int index0[6], index1[6];
         for (int i=0;i<6;i++)
-            index0[i] = matrixRef.offset+node0Idx*6+i;
+            index0[i] = offset+node0Idx*6+i;
         for (int i=0;i<6;i++)
-            index1[i] = matrixRef.offset+node1Idx*6+i;
+            index1[i] = offset+node1Idx*6+i;
 
         for (int i=0;i<6;i++)
         {
             for (int j=0;j<6;j++)
             {
-                matrixRef.matrix->add(index0[i], index0[j], - K00(i,j)*k);
-                matrixRef.matrix->add(index0[i], index1[j], - K01(i,j)*k);
-                matrixRef.matrix->add(index1[i], index0[j], - K10(i,j)*k);
-                matrixRef.matrix->add(index1[i], index1[j], - K11(i,j)*k);
+                matrix->add(index0[i], index0[j], - K00(i,j)*kFact);
+                matrix->add(index0[i], index1[j], - K01(i,j)*kFact);
+                matrix->add(index1[i], index0[j], - K10(i,j)*kFact);
+                matrix->add(index1[i], index1[j], - K11(i,j)*kFact);
             }
         }
     }

Original file line number	Diff line number	Diff line change
`@@ -168,8 +168,7 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>`
`168`	`168`	`}`
`169`	`169`
`170`	`170`	`using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;`
`171`		`- void addKToMatrix(const MechanicalParams* mparams,`
`172`		`- const MultiMatrixAccessor* matrix) override;`
	`171`	`+ void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset) override;`
`173`	`172`
`174`	`173`	`void computeStiffness(int beam, BeamLocalMatrices& beamLocalMatrices);`
`175`	`174`	`void computeMass(int beam, BeamLocalMatrices& beamMatrices);`
Original file line number	Diff line number	Diff line change
`@@ -691,12 +691,8 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addDForce(const MechanicalParams*`
`691`	`691`
`692`	`692`
`693`	`693`	`template<class DataTypes>`
`694`		`-void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const MechanicalParams* mparams,`
`695`		`- const MultiMatrixAccessor* matrix)`
	`694`	`+void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset)`
`696`	`695`	`{`
`697`		`- MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);`
`698`		`- Real k = (Real)mparams->kFactor();`
`699`		`-`
`700`	`696`	`unsigned int numBeams = l_interpolation->getNumBeams();`
`701`	`697`
`702`	`698`	`for (unsigned int b=0; b<numBeams; b++)`
`@@ -716,18 +712,18 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const MechanicalPara`
`716`	`712`
`717`	`713`	`int index0[6], index1[6];`
`718`	`714`	`for (int i=0;i<6;i++)`
`719`		`- index0[i] = matrixRef.offset+node0Idx*6+i;`
	`715`	`+ index0[i] = offset+node0Idx*6+i;`
`720`	`716`	`for (int i=0;i<6;i++)`
`721`		`- index1[i] = matrixRef.offset+node1Idx*6+i;`
	`717`	`+ index1[i] = offset+node1Idx*6+i;`
`722`	`718`
`723`	`719`	`for (int i=0;i<6;i++)`
`724`	`720`	`{`
`725`	`721`	`for (int j=0;j<6;j++)`
`726`	`722`	`{`
`727`		`- matrixRef.matrix->add(index0[i], index0[j], - K00(i,j)*k);`
`728`		`- matrixRef.matrix->add(index0[i], index1[j], - K01(i,j)*k);`
`729`		`- matrixRef.matrix->add(index1[i], index0[j], - K10(i,j)*k);`
`730`		`- matrixRef.matrix->add(index1[i], index1[j], - K11(i,j)*k);`
	`723`	`+ matrix->add(index0[i], index0[j], - K00(i,j)*kFact);`
	`724`	`+ matrix->add(index0[i], index1[j], - K01(i,j)*kFact);`
	`725`	`+ matrix->add(index1[i], index0[j], - K10(i,j)*kFact);`
	`726`	`+ matrix->add(index1[i], index1[j], - K11(i,j)*kFact);`
`731`	`727`	`}`
`732`	`728`	`}`
`733`	`729`	`}`
Original file line number	Diff line number	Diff line change
`@@ -200,8 +200,7 @@ class AdaptiveInflatableBeamForceField : public Mass<DataTypes>`
`200`	`200`	`}`
`201`	`201`
`202`	`202`	`using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;`
`203`		`- void addKToMatrix(const MechanicalParams* mparams,`
`204`		`- const MultiMatrixAccessor* matrix) override;`
	`203`	`+ void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int & offset) override;`
`205`	`204`
`206`	`205`	`void computeStiffness(int beam, BeamLocalMatrices& beamLocalMatrices);`
`207`	`206`	`void computeMass(int beam, BeamLocalMatrices& beamMatrices);`
Original file line number	Diff line number	Diff line change
`@@ -673,12 +673,9 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addDForce(const MechanicalPara`
`673`	`673`
`674`	`674`
`675`	`675`	`template<class DataTypes>`
`676`		`-void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,`
`677`		`- const MultiMatrixAccessor* matrix)`
	`676`	`+void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix,`
	`677`	`+ SReal kFact, unsigned int & offset)`
`678`	`678`	`{`
`679`		`- MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);`
`680`		`- Real k = (Real)mparams->kFactor();`
`681`		`-`
`682`	`679`	`unsigned int numBeams = l_interpolation->getNumBeams();`
`683`	`680`
`684`	`681`	`for (unsigned int b=0; b<numBeams; b++)`
`@@ -699,18 +696,18 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(const MechanicalP`
`699`	`696`
`700`	`697`	`int index0[6], index1[6];`
`701`	`698`	`for (int i=0;i<6;i++)`
`702`		`- index0[i] = matrixRef.offset+node0Idx*6+i;`
	`699`	`+ index0[i] = offset+node0Idx*6+i;`
`703`	`700`	`for (int i=0;i<6;i++)`
`704`		`- index1[i] = matrixRef.offset+node1Idx*6+i;`
	`701`	`+ index1[i] = offset+node1Idx*6+i;`
`705`	`702`
`706`	`703`	`for (int i=0;i<6;i++)`
`707`	`704`	`{`
`708`	`705`	`for (int j=0;j<6;j++)`
`709`	`706`	`{`
`710`		`- matrixRef.matrix->add(index0[i], index0[j], - K00(i,j)*k);`
`711`		`- matrixRef.matrix->add(index0[i], index1[j], - K01(i,j)*k);`
`712`		`- matrixRef.matrix->add(index1[i], index0[j], - K10(i,j)*k);`
`713`		`- matrixRef.matrix->add(index1[i], index1[j], - K11(i,j)*k);`
	`707`	`+ matrix->add(index0[i], index0[j], - K00(i,j)*kFact);`
	`708`	`+ matrix->add(index0[i], index1[j], - K01(i,j)*kFact);`
	`709`	`+ matrix->add(index1[i], index0[j], - K10(i,j)*kFact);`
	`710`	`+ matrix->add(index1[i], index1[j], - K11(i,j)*kFact);`
`714`	`711`	`}`
`715`	`712`	`}`
`716`	`713`	`}`