Merge remote-tracking branch 'origin/BeamMaterial' into LnRobotics

# Conflicts:
#	src/BeamAdapter/component/engine/WireRestShape.inl

CMakeLists.txt

@@ -55,7 +55,9 @@ set(HEADER_FILES
     ${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.inl
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.h
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.inl
-
+
+	${BEAMADAPTER_SRC}/component/model/WireSectionMaterial.h
+
     ${BEAMADAPTER_SRC}/utils/BeamSection.h
     ${BEAMADAPTER_SRC}/utils/BeamActions.h
     ${BEAMADAPTER_SRC}/utils/deprecatedcomponent.h
@@ -83,6 +85,8 @@ set(SOURCE_FILES
 
     ${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.cpp
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.cpp
+
+	${BEAMADAPTER_SRC}/component/model/WireSectionMaterial.cpp
     )
 
 if(SofaImplicitField_FOUND)

examples/SingleBeamDeployment.scn

@@ -15,11 +15,12 @@
     <DefaultVisualManagerLoop />
 
     <Node name="EdgeTopology">
-        <WireRestShape name="BeamRestShape" straightLength="980.0" length="1000.0"
-                                 numEdges="200" youngModulus="20000"
-                                 spireDiameter="25" numEdgesCollis="50 10"
-                                 printLog="1" template="Rigid3d" spireHeight="0.0"
-                                 densityOfBeams="30 5" youngModulusExtremity="20000" />
+        <WireSectionMaterial name="WireMat1" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200"/>
+        <WireSectionMaterial name="WireMat2" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200"/>
+        <WireRestShape name="BeamRestShape" printLog="1" straightLength="980.0" length="1000.0"
+                                 spireDiameter="25" spireHeight="0.0"
+                                 template="Rigid3d" densityOfBeams="30 5" 
+                                 wireMaterials="@WireMat1 @WireMat2"/>
         <EdgeSetTopologyContainer name="meshLinesBeam"/>
         <EdgeSetTopologyModifier name="Modifier"/> 
         <EdgeSetGeometryAlgorithms name="GeomAlgo" template="Rigid3d" /> 

src/BeamAdapter/component/engine/WireRestShape.h

@@ -34,6 +34,8 @@
 
 #include <BeamAdapter/config.h>
 #include <BeamAdapter/utils/BeamSection.h>
+#include <BeamAdapter/component/model/WireSectionMaterial.h>
+
 #include <sofa/defaulttype/SolidTypes.h>
 #include <sofa/core/objectmodel/BaseObject.h>
 #include <sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h>
@@ -51,11 +53,14 @@ using sofa::component::topology::container::dynamic::EdgeSetTopologyModifier;
 using sofa::component::topology::mapping::Edge2QuadTopologicalMapping;
 using sofa::core::loader::MeshLoader;
 
+using namespace sofa::beamadapter;
+
 /**
  * \class WireRestShape
  * \brief Describe the shape functions on multiple segments
- *
- *  Describe the shape functions on multiple segments using curvilinear abscissa
+ *  
+ *  Describe the full shape of a Wire with a given length and radius. The wire is discretized by a set of beams (given by the keyPoints and the relatives Beam density)
+ *  This component compute the beam discretization and the shape functions on multiple segments using curvilinear abscissa.
  */
 template <class DataTypes>
 class WireRestShape : public core::objectmodel::BaseObject
@@ -84,7 +89,7 @@ class WireRestShape : public core::objectmodel::BaseObject
      /////////////////////////// Inherited from BaseObject //////////////////////////////////////////
      void parse(core::objectmodel::BaseObjectDescription* arg) override;
      void init() override ;
-       
+
      void draw(const core::visual::VisualParams * vparams) override ;
 
 
@@ -97,10 +102,10 @@ class WireRestShape : public core::objectmodel::BaseObject
      void getRestTransformOnX(Transform &global_H_local, const Real &x);
 
      /// This function gives the Young modulus and Poisson's coefficient of the beam depending on the beam position
-     void getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson);
+     void getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson) const;
 
      /// This function gives the mass density and the BeamSection data depending on the beam position
-     void getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J);
+     void getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J) const;
 
      /**
       * This function provides a type::vector with the curviliar abscissa of the noticeable point(s) 
@@ -128,6 +133,12 @@ class WireRestShape : public core::objectmodel::BaseObject
 
      void rotateFrameForAlignX(const Quat &input, Vec3 &x, Quat &output);
 
+protected:
+    /// Internal method to init Lengths vector @sa d_keyPoints if not set using @sa d_length and @sa d_straightLength. Returns false if init can't be performed.
+    bool initLengths();
+    /// Internal method to init Edge Topology @sa _topology using the list of materials @sa l_sectionMaterials. Returns false if init can't be performed.
+    bool initTopology();
+
 
 public:
      /// Analitical creation of wire shape...
@@ -139,26 +150,13 @@ class WireRestShape : public core::objectmodel::BaseObject
      Data<Real> d_spireHeight;
      Data<type::vector<int> > d_density;
      Data<type::vector<Real> > d_keyPoints;
-     Data< int > d_numEdges;
-     Data<type::vector<int> > d_numEdgesCollis;
-
-     /// User Data about the Young modulus
-     Data<Real> d_poissonRatio;
-     Data<Real> d_youngModulus1;
-     Data<Real> d_youngModulus2;
-
-     /// Radius
-     Data<Real> d_radius1;
-     Data<Real> d_radius2;
-     Data<Real> d_innerRadius1;
-     Data<Real> d_innerRadius2;
-
-     Data<Real> d_massDensity1;
-     Data<Real> d_massDensity2;
 
      /// broken in 2 case
      Data<bool> d_brokenIn2;
      Data<bool>	d_drawRestShape;
+
+     /// Vector or links to the Wire section material. The order of the linked material will define the WireShape structure.
+     MultiLink<WireRestShape<DataTypes>, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials;
 
 private:
      /// Data required for the File loading
@@ -167,9 +165,6 @@ class WireRestShape : public core::objectmodel::BaseObject
      type::vector<Real> 		m_curvAbs ;
      double 							m_absOfGeometry {0};
 
-     BeamSection beamSection1;
-     BeamSection beamSection2;
-
      /// Link to be set to the topology container in the component graph.
      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.