Updating Cosserat namespace

SofaDefrost · Jun 10, 2024 · 6f6dbe6 · 6f6dbe6
1 parent 5042087
commit 6f6dbe6
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Showing 22 changed files with 46 additions and 71 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -27,8 +27,8 @@ set(HEADER_FILES
     ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.inl
     ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.h
     ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.inl
-    ${SRC_ROOT_DIR}/mapping/ProjectionEngine.h
-    ${SRC_ROOT_DIR}/mapping/ProjectionEngine.inl
+    ${SRC_ROOT_DIR}/engine/ProjectionEngine.h
+    ${SRC_ROOT_DIR}/engine/ProjectionEngine.inl
     ${SRC_ROOT_DIR}/mapping/DifferenceMultiMapping.h
     ${SRC_ROOT_DIR}/mapping/DifferenceMultiMapping.inl
     ${SRC_ROOT_DIR}/mapping/RigidDistanceMapping.h
@@ -53,7 +53,7 @@ set(SOURCE_FILES
     ${SRC_ROOT_DIR}/mapping/BaseCosserat.cpp
     ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.cpp
     ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.cpp
-    ${SRC_ROOT_DIR}/mapping/ProjectionEngine.cpp
+    ${SRC_ROOT_DIR}/engine/ProjectionEngine.cpp
     ${SRC_ROOT_DIR}/mapping/DifferenceMultiMapping.cpp
     ${SRC_ROOT_DIR}/mapping/RigidDistanceMapping.cpp
     ${SRC_ROOT_DIR}/engine/PointsManager.cpp

diff --git a/src/Cosserat/CMakeLists.txt b/src/Cosserat/CMakeLists.txt
@@ -9,14 +9,16 @@ set(HEADER_FILES
     mapping/DiscreteCosseratMapping.inl
     mapping/DiscretDynamicCosseratMapping.h
     mapping/DiscreteDynamicCosseratMapping.inl
-    mapping/ProjectionEngine.h
-    mapping/ProjectionEngine.inl
     mapping/DifferenceMultiMapping.h
     mapping/DifferenceMultiMapping.inl
     mapping/RigidDistanceMapping.h
     mapping/RigidDistanceMapping.inl
     mapping/LegendrePolynomialsMapping.h
     mapping/LegendrePolynomialsMapping.inl
+
+    engine/ProjectionEngine.h
+    engine/ProjectionEngine.inl
+
 
 
     forcefield/BeamHookeLawForceField.h
@@ -41,12 +43,13 @@ set(SOURCE_FILES
 
     mapping/BaseCosserat.cpp
     mapping/DiscreteCosseratMapping.cpp
-    mapping/ProjectionEngine.cpp
     mapping/DiscreteDynamicCosseratMapping.cpp
     mapping/DifferenceMultiMapping.cpp
     mapping/RigidDistanceMapping.cpp
     mapping/LegendrePolynomialsMapping.cpp
 
+    engine/ProjectionEngine.cpp
+
     forcefield/BeamHookeLawForceField.cpp
     forcefield/BeamHookeLawForceFieldRigid.cpp
     forcefield/CosseratInternalActuation.cpp

diff --git a/src/Cosserat/mapping/ProjectionEngine.cpp → src/Cosserat/engine/ProjectionEngine.cpp b/src/Cosserat/mapping/ProjectionEngine.cpp → src/Cosserat/engine/ProjectionEngine.cpp
diff --git a/src/Cosserat/mapping/ProjectionEngine.h → src/Cosserat/engine/ProjectionEngine.h b/src/Cosserat/mapping/ProjectionEngine.h → src/Cosserat/engine/ProjectionEngine.h
@@ -22,14 +22,12 @@
 #ifndef COSSERAT_ProjectionEngine_H
 #define COSSERAT_ProjectionEngine_H
 
-#include <Cosserat/config.h>
-
+#include <Cosserat/initCosserat.h>
 #include <sofa/core/behavior/PairInteractionConstraint.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/DataEngine.h>
 #include <sofa/type/Vec.h>
 #include <sofa/simulation/AnimateBeginEvent.h>
-
 #include <iostream>
 
 
@@ -66,32 +64,19 @@ class ProjectionEngine : public core::DataEngine
     Data<VecCoord> d_dest; ///< vector to substract to input
     Data<VecCoord> d_output;
 
-
-    //Data<Deriv> d_force; ///< interaction force
-
-    //    Real m_dist;	// constraint violation
-    //    Real m_thirdConstraint; // 0 if A<proj<B, -1 if proj<A, 1 if B<proj
-    //    bool m_yetIntegrated;
-    //    unsigned int m_cid;
-
-
     ProjectionEngine();
-
     virtual ~ProjectionEngine(){}
 
 public:
     void init() override;
     void reinit() override;
 
     void handleEvent(core::objectmodel::Event *ev) override;
-
     void computeProximity();
-
     void draw(const core::visual::VisualParams* vparams) override;
     void drawLinesBetweenPoints(const core::visual::VisualParams* vparams);
 
 
-
 private:
     // storage of force
     Deriv  m_dirAxe, m_dirProj, m_dirOrtho;
@@ -119,11 +104,6 @@ class ProjectionEngine : public core::DataEngine
 
 };
 
-//#if !defined(SOFA_COSSERAT_CPP_ProjectionEngine)
-//extern template class SOFA_CONSTRAINT_API ProjectionEngine< sofa::defaulttype::Vec3Types >;
-
-//#endif
-
 } // namespace sofa::component::constraintset
 
 

diff --git a/src/Cosserat/mapping/ProjectionEngine.inl → src/Cosserat/engine/ProjectionEngine.inl b/src/Cosserat/mapping/ProjectionEngine.inl → src/Cosserat/engine/ProjectionEngine.inl
@@ -55,9 +55,7 @@ void ProjectionEngine<DataTypes>::init()
 
 template<class DataTypes>
 void ProjectionEngine<DataTypes>::reinit()
-{
-
-}
+{}
 
 
 template<class DataTypes>
@@ -218,24 +216,9 @@ void ProjectionEngine<DataTypes>::draw(const core::visual::VisualParams* vparams
     vparams->drawTool()->disableLighting();
 
     sofa::type::RGBAColor color;
-    //    Constraint& c = m_constraints[0];
-
-    //    if(c.thirdConstraint<0)
-    //        color = sofa::defaulttype::RGBAColor::yellow();
-    //    else if(c.thirdConstraint>0)
-    //        color = sofa::defaulttype::RGBAColor::green();
-    //    else
     color = sofa::type::RGBAColor::magenta();
 
     std::vector<sofa::type::Vec3> vertices;
-    //    vertices.push_back(DataTypes::getCPos((this->mstate1->read(core::ConstVecCoordId::position())->getValue())[d_m1.getValue()]));
-
-    //    vparams->drawTool()->drawPoints(vertices, 10, color);
-    //    vertices.clear();
-
-    //    color = sofa::defaulttype::RGBAColor::blue();
-    //    vertices.push_back(DataTypes::getCPos((this->mstate2->read(core::ConstVecCoordId::position())->getValue())[d_m2a.getValue()]));
-    //    vertices.push_back(DataTypes::getCPos((this->mstate2->read(core::ConstVecCoordId::position())->getValue())[d_m2b.getValue()]));
     vparams->drawTool()->drawLines(vertices, 1, color);
 
     for (size_t i =0 ; i < m_constraints.size(); i++) {
@@ -244,9 +227,7 @@ void ProjectionEngine<DataTypes>::draw(const core::visual::VisualParams* vparams
         vertices.push_back(m_constraints[i].Q);
         vparams->drawTool()->drawLines(vertices, 1, color);
     }
-    //printf("ProjectionEngine<DataTypes>::draw(const core::visual::VisualParams* vparams) After \n");
 
-    //drawLinesBetweenPoints(vparams);
     vparams->drawTool()->restoreLastState();
 }
 
@@ -269,5 +250,4 @@ void ProjectionEngine<DataTypes>::drawLinesBetweenPoints(const core::visual::Vis
 
 } // namespace sofa::component::constraintset
 
-
-#endif
+#endif
diff --git a/src/Cosserat/forcefield/BeamHookeLawForceField.cpp b/src/Cosserat/forcefield/BeamHookeLawForceField.cpp
@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #define SOFA_COSSERAT_CPP_BeamHookeLawForceField
-#include "BeamHookeLawForceField.inl"
+#include <Cosserat/forcefield/BeamHookeLawForceField.inl>
 
 #include <sofa/core/ObjectFactory.h>
 

diff --git a/src/Cosserat/forcefield/BeamHookeLawForceField.h b/src/Cosserat/forcefield/BeamHookeLawForceField.h
@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/config.h>
+#include <Cosserat/initCosserat.h>
 
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>

diff --git a/src/Cosserat/forcefield/BeamHookeLawForceField.inl b/src/Cosserat/forcefield/BeamHookeLawForceField.inl
@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include "BeamHookeLawForceField.h"
+#include <Cosserat/forcefield/BeamHookeLawForceField.h>
 
 #include <sofa/linearalgebra/FullVector.h>
 #include <sofa/core/behavior/MechanicalState.h>

diff --git a/src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.cpp b/src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.cpp
@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #define SOFA_COSSERAT_BeamHookeLawForceFieldRigid_CPP
-#include "BeamHookeLawForceFieldRigid.inl"
+#include <Cosserat/forcefield/BeamHookeLawForceFieldRigid.inl>
 
 #include <sofa/core/ObjectFactory.h>
 

diff --git a/src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.h b/src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.h
@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/config.h>
+#include <Cosserat/initCosserat.h>
 
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>

diff --git a/src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.inl b/src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.inl
@@ -29,6 +29,7 @@
 ******************************************************************************/
 #pragma once
 #include "BeamHookeLawForceFieldRigid.h"
+#include <Cosserat/forcefield/BeamHookeLawForceFieldRigid.h>
 
 #include <sofa/linearalgebra/FullVector.h>
 #include <sofa/core/behavior/MechanicalState.h>

diff --git a/src/Cosserat/forcefield/CosseratInternalActuation.cpp b/src/Cosserat/forcefield/CosseratInternalActuation.cpp
@@ -28,8 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #define SOFA_COSSERAT_CPP_CosseratInternalActuation
-#include "CosseratInternalActuation.inl"
-
+#include <Cosserat/forcefield/CosseratInternalActuation.inl>
 #include <sofa/core/ObjectFactory.h>
 
 namespace sofa::component::forcefield

diff --git a/src/Cosserat/forcefield/CosseratInternalActuation.h b/src/Cosserat/forcefield/CosseratInternalActuation.h
@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/config.h>
+#include <Cosserat/initCosserat.h>
 
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>

diff --git a/src/Cosserat/forcefield/CosseratInternalActuation.inl b/src/Cosserat/forcefield/CosseratInternalActuation.inl
@@ -28,7 +28,8 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include "CosseratInternalActuation.h"
+#include <Cosserat/initCosserat.h>
+#include <Cosserat/forcefield/CosseratInternalActuation.h>
 
 #include <sofa/linearalgebra/FullVector.h>
 #include <sofa/core/behavior/ForceField.inl>

diff --git a/src/Cosserat/forcefield/MyUniformVelocityDampingForceField.cpp b/src/Cosserat/forcefield/MyUniformVelocityDampingForceField.cpp
@@ -21,7 +21,8 @@
 ******************************************************************************/
 #define SOFA_COMPONENT_FORCEFIELD_UNIFORMVELOCITYDAMPINGFORCEFIELD_CPP
 
-#include "MyUniformVelocityDampingForceField.inl"
+#include <Cosserat/initCosserat.h>
+#include <Cosserat/forcefield/MyUniformVelocityDampingForceField.inl>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/defaulttype/VecTypes.h>
 #include <sofa/defaulttype/RigidTypes.h>

diff --git a/src/Cosserat/forcefield/MyUniformVelocityDampingForceField.h b/src/Cosserat/forcefield/MyUniformVelocityDampingForceField.h
@@ -20,7 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <SofaBoundaryCondition/config.h>
+#include <Cosserat/initCosserat.h>
 
 #include <sofa/core/behavior/ForceField.h>
 
@@ -30,7 +30,7 @@ using sofa::type::Vec ;
 using sofa::type::Mat ;
 using sofa::type::vector;
 using sofa::core::MechanicalParams;
-using sofa::defaulttype::BaseMatrix;
+using sofa::linearalgebra::BaseMatrix;
 using sofa::core::behavior::ForceField ;
 using sofa::core::behavior::MultiMatrixAccessor ;
 
@@ -68,19 +68,17 @@ class MyUniformVelocityDampingForceField : public core::behavior::ForceField<Dat
 
     void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df , const DataVecDeriv& d_dx) override;
 
-    void addKToMatrix(sofa::defaulttype::BaseMatrix *, SReal, unsigned int &) override {}
+    void addKToMatrix(sofa::linearalgebra::BaseMatrix *, SReal, unsigned int &) override {}
 
-    void addBToMatrix(sofa::defaulttype::BaseMatrix * mat, SReal bFact, unsigned int& offset) override;
+    void addBToMatrix(sofa::linearalgebra::BaseMatrix * mat, SReal bFact, unsigned int& offset) override;
 
     void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix ) override;
 
     SReal getPotentialEnergy(const core::MechanicalParams* params, const DataVecCoord& x) const override;
 
-
 };
 
 
-
 #if !defined(SOFA_COMPONENT_FORCEFIELD_UNIFORMVELOCITYDAMPINGFORCEFIELD_CPP)
 extern template class SOFA_SOFABOUNDARYCONDITION_API MyUniformVelocityDampingForceField<defaulttype::Vec3Types>;
 extern template class SOFA_SOFABOUNDARYCONDITION_API MyUniformVelocityDampingForceField<defaulttype::Vec2Types>;

diff --git a/src/Cosserat/forcefield/MyUniformVelocityDampingForceField.inl b/src/Cosserat/forcefield/MyUniformVelocityDampingForceField.inl
@@ -20,7 +20,8 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-
+#include <Cosserat/initCosserat.h>
+#include <Cosserat/forcefield/MyUniformVelocityDampingForceField.h>
 #include "MyUniformVelocityDampingForceField.h"
 #include <sofa/defaulttype/BaseMatrix.h>
 #include <sofa/core/MechanicalParams.h>

diff --git a/src/Cosserat/initCosserat.h.in b/src/Cosserat/initCosserat.h.in
@@ -46,6 +46,13 @@
 */
 
 namespace Cosserat {
+
+namespace type {
+//using Vec3 = sofa::defaulttype::Vec3;
+//using cosserat::type::SE3;
+}
+
+
 SOFA_COSSERAT_API void init();
 constexpr const char *MODULE_NAME = "@PROJECT_NAME@";
 constexpr const char *MODULE_VERSION = "@PROJECT_VERSION@";

diff --git a/src/Cosserat/mapping/BaseCosserat.h b/src/Cosserat/mapping/BaseCosserat.h
@@ -60,6 +60,8 @@ using sofa::type::vector;
 using sofa::type::Vec3;
 using sofa::type::Vec6;
 using sofa::type::Mat;
+
+typedef typename Eigen::Matrix4d _SE3;
 } // namespace
 
 /*!
@@ -132,7 +134,7 @@ class BaseCosserat : public virtual sofa::core::objectmodel::BaseObject {
 
     typedef typename sofa::type::Matrix4 se3;
     typedef typename sofa::type::Matrix4 SE3;
-    typedef typename Eigen::Matrix4d _SE3;
+
     typedef typename Eigen::Matrix4d _se3;
     typedef typename sofa::type::Mat<6, 6, SReal> Tangent;
     typedef typename Eigen::Matrix3d RotMat;

diff --git a/src/Cosserat/mapping/DiscreteCosseratMapping.h b/src/Cosserat/mapping/DiscreteCosseratMapping.h
@@ -58,9 +58,9 @@ class DiscreteCosseratMapping
     : public sofa::core::Multi2Mapping<TIn1, TIn2, TOut>,
       public Cosserat::mapping::BaseCosserat<TIn1, TIn2, TOut> {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE3(DiscreteCosseratMapping, TIn1, TIn2, TOut),
-               SOFA_TEMPLATE3(sofa::core::Multi2Mapping, TIn1, TIn2, TOut));
-    typedef sofa::core::Multi2Mapping<TIn1, TIn2, TOut> Inherit;
+    SOFA_CLASS2(SOFA_TEMPLATE3(DiscreteCosseratMapping, TIn1, TIn2, TOut),
+               SOFA_TEMPLATE3(sofa::core::Multi2Mapping, TIn1, TIn2, TOut),
+              SOFA_TEMPLATE3(Cosserat::mapping::BaseCosserat, TIn1, TIn2, TOut));
 
     /// Input Model Type
     typedef TIn1 In1;

diff --git a/src/Cosserat/mapping/DiscreteCosseratMapping.inl b/src/Cosserat/mapping/DiscreteCosseratMapping.inl
@@ -85,6 +85,7 @@ void DiscreteCosseratMapping<TIn1, TIn2, TOut>::init() {
     reinit();
     // I call Init here since we build the mechanics only in the
     Inherit1::init();
+    Inherit2::init();
 
     m_colorMap.setColorScheme("Blue to Red");
     m_colorMap.reinit();

diff --git a/src/Cosserat/mapping/LegendrePolynomialsMapping.h b/src/Cosserat/mapping/LegendrePolynomialsMapping.h
@@ -2,7 +2,8 @@
 // Created by younes on 17/11/2021.
 //
 #pragma once
-#include <Cosserat/config.h>
+#include <Cosserat/initCosserat.h>
+#include <Cosserat/mapping/BaseCosserat.h>
 
 #include <sofa/core/BaseMapping.h>
 #include <sofa/core/config.h>