Remove ForceMask (#1)

* remove forcemask * remove header
sofa-framework · Sep 9, 2021 · a240289 · a240289
1 parent c87b861
commit a240289
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Showing 16 changed files with 2 additions and 265 deletions.
diff --git a/Compliant_test/Assembly_test.cpp b/Compliant_test/Assembly_test.cpp
@@ -719,12 +719,6 @@ struct Assembly_test : public CompliantSolver_test
         DistanceMapping31::SPtr extensionMapping = addNew<DistanceMapping31>(extension);
         extensionMapping->setModels(pointPairDOF.get(),extensionDOF.get());
 
-
-        rigidDOF->forceMask.assign( rigidDOF->getSize(), true );
-        particleOnRigidDOF->forceMask.assign( particleOnRigidDOF->getSize(), true );
-        pointPairDOF->forceMask.assign( pointPairDOF->getSize(), true );
-        extensionDOF->forceMask.assign( extensionDOF->getSize(), true );
-
         UniformCompliance1::SPtr extensionCompliance = addNew<UniformCompliance1>(extension);
         extensionCompliance->compliance.setValue(0);
 

diff --git a/assembly/AssemblyVisitor.cpp b/assembly/AssemblyVisitor.cpp
@@ -68,14 +68,8 @@ AssemblyVisitor::chunk::map_type AssemblyVisitor::mapping(simulation::Node* node
 	assert( node->mechanicalMapping->getTo().size() == 1 &&
 	        "only n -> 1 mappings are handled");
 
-    ForceMaskActivate(node->mechanicalMapping->getMechTo());
-    ForceMaskActivate(node->mechanicalMapping->getMechFrom());
-
     const vector<sofa::defaulttype::BaseMatrix*>* js = node->mechanicalMapping->getJs();
 
-    ForceMaskDeactivate(node->mechanicalMapping->getMechTo());
-
-
     vector<core::BaseState*> from = node->mechanicalMapping->getFrom();
 
     for( unsigned i = 0, n = from.size(); i < n; ++i ) {

diff --git a/contact/PenaltyCompliantContact.h b/contact/PenaltyCompliantContact.h
@@ -101,20 +101,6 @@ class PenaltyCompliantContact : public BaseContact<TCollisionModel1, TCollisionM
         forcefield->d_damping.setValue( this->damping_ratio.getValue() );
         forcefield->d_stiffness.setValue( this->stiffness.getValue() );
 
-        for( unsigned i = 0 ; i < size ; ++i )
-        {
-            // no stiffness for non-violated penetration (alarm distance)
-            // TODO add a kind of projector to perform an unilateral stiffness (to add stiffness only one way).
-            // This would prevent sticky contacts and would allow to add small stiffness in alarm distance to slow-down object trying to go closer.
-
-            if( (*this->contacts)[i].value < 0 )
-            {
-                // only violated penetrations will propagate forces
-                this->mstate1->forceMask.insertEntry( this->mappedContacts[i].index1 );
-                if( !this->selfCollision ) this->mstate2->forceMask.insertEntry( this->mappedContacts[i].index2 );
-            }
-        }
-
     }
 
 
@@ -146,16 +132,6 @@ class PenaltyCompliantContact : public BaseContact<TCollisionModel1, TCollisionM
         forcefield->d_damping.setValue( this->damping_ratio.getValue() );
         forcefield->d_stiffness.setValue( this->stiffness.getValue() );
 
-        // every violated contact points must propagate constraint forces
-        for( unsigned i = 0 ; i < size ; ++i )
-        {
-            if( (*this->contacts)[i].value < 0 )
-            {
-                // only violated penetrations will propagate forces
-                this->mstate1->forceMask.insertEntry( this->mappedContacts[i].index1 );
-                if( !this->selfCollision ) this->mstate2->forceMask.insertEntry( this->mappedContacts[i].index2 );
-            }
-        }
     }
 
 

diff --git a/forcefield/CompliantPenaltyForceField.h b/forcefield/CompliantPenaltyForceField.h
@@ -138,14 +138,6 @@ class CompliantPenaltyForceField : public core::behavior::ForceField<TDataTypes>
         }
     }
 
-    virtual void updateForceMask() override
-    {
-        for( unsigned int i=0 ; i<m_violated.size() ; ++i )
-            if(m_violated[i])
-                this->mstate->forceMask.insertEntry(i);
-    }
-
-
 protected:
 
     CompliantPenaltyForceField( core::behavior::MechanicalState<DataTypes> *mm = 0)

diff --git a/mapping/AdditionMapping.h b/mapping/AdditionMapping.h
@@ -155,21 +155,6 @@ class SOFA_Compliant_API AdditionMapping : public ConstantAssembledMapping<TIn,
 #endif /* COMPLIANT_HAVE_SOFA_GL */
     }
 
-    virtual void updateForceMask() override
-    {
-        const pairs_type& p = pairs.getValue();
-
-        for( size_t i = 0, iend = p.size(); i < iend; ++i )
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                const index_pair& indices = p[i];
-                this->maskFrom->insertEntry(indices[0]);
-                this->maskFrom->insertEntry(indices[1]);
-            }
-        }
-    }
-
 };
 
 
@@ -311,21 +296,6 @@ class SOFA_Compliant_API AdditionMapping : public ConstantAssembledMapping<TIn,
         }
 
 
-        virtual void updateForceMask() override
-        {
-            const pairs_type& p = pairs.getValue();
-
-            for( size_t i = 0, iend = p.size(); i < iend; ++i )
-            {
-                if( this->maskTo[0]->getEntry(i) )
-                {
-                    const index_pair& indices = p[i];
-                    this->maskFrom[0]->insertEntry(indices[0]);
-                    this->maskFrom[1]->insertEntry(indices[1]);
-                }
-            }
-        }
-
     };
 
 

diff --git a/mapping/AssembledRigidRigidMapping.h b/mapping/AssembledRigidRigidMapping.h
@@ -237,21 +237,6 @@ class SOFA_Compliant_API AssembledRigidRigidMapping : public AssembledMapping<TI
 
 	}
 
-
-    virtual void updateForceMask() override
-    {
-        const source_vectype& src = source.getValue();
-
-        for(unsigned i = 0, n = src.size(); i < n; ++i)
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                const source_type& s = src[i];
-                this->maskFrom->insertEntry(s.first);
-            }
-        }
-    }
-
 };
 
 

diff --git a/mapping/DifferenceMapping.h b/mapping/DifferenceMapping.h
@@ -150,21 +150,6 @@ class SOFA_Compliant_API DifferenceMapping : public ConstantAssembledMapping<TIn
 #endif /* COMPLIANT_HAVE_SOFA_GL */
     }
 
-    virtual void updateForceMask() override
-    {
-        const pairs_type& p = pairs.getValue();
-
-        for( size_t i = 0, iend = p.size(); i < iend; ++i )
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                const index_pair& indices = p[i];
-                this->maskFrom->insertEntry(indices[0]);
-                this->maskFrom->insertEntry(indices[1]);
-            }
-        }
-    }
-
 };
 
 
@@ -305,22 +290,6 @@ class SOFA_Compliant_API DifferenceMapping : public ConstantAssembledMapping<TIn
             }
         }
 
-
-        virtual void updateForceMask() override
-        {
-            const pairs_type& p = pairs.getValue();
-
-            for( size_t i = 0, iend = p.size(); i < iend; ++i )
-            {
-                if( this->maskTo[0]->getEntry(i) )
-                {
-                    const index_pair& indices = p[i];
-                    this->maskFrom[0]->insertEntry(indices[0]);
-                    this->maskFrom[1]->insertEntry(indices[1]);
-                }
-            }
-        }
-
     };
 
 

diff --git a/mapping/DotProductMapping.h b/mapping/DotProductMapping.h
@@ -135,21 +135,6 @@ class SOFA_Compliant_API DotProductMapping : public AssembledMapping<TIn, TOut>
         }
         K.compress();
     }
-
-    virtual void updateForceMask() override
-    {
-        const pairs_type& p = pairs.getValue();
-
-        for( size_t i = 0, iend = p.size(); i < iend; ++i )
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                const index_pair& indices = p[i];
-                this->maskFrom->insertEntry(indices[0]);
-                this->maskFrom->insertEntry(indices[1]);
-            }
-        }
-    }
 
 };
 
@@ -329,22 +314,6 @@ class SOFA_Compliant_API DotProductMapping : public AssembledMapping<TIn, TOut>
         }
 
 
-
-        virtual void updateForceMask() override
-        {
-            const pairs_type& p = pairs.getValue();
-
-            for( size_t i = 0, iend = p.size(); i < iend; ++i )
-            {
-                if( this->maskTo[0]->getEntry(i) )
-                {
-                    const pair& pp = p[i];
-                    this->maskFrom[pp[0][0]]->insertEntry(pp[0][1]);
-                    this->maskFrom[pp[1][0]]->insertEntry(pp[1][1]);
-                }
-            }
-        }
-
     };
 
 
@@ -440,19 +409,6 @@ class SOFA_Compliant_API DotProductMapping : public AssembledMapping<TIn, TOut>
         }
 
 
-        virtual void updateForceMask() override
-        {
-            const type::vector< unsigned >& indices = d_indices.getValue();
-
-            for( size_t i = 0, iend = indices.size(); i < iend; ++i )
-            {
-                if( this->maskTo->getEntry(i) )
-                {
-                    this->maskFrom->insertEntry(indices[i]);
-                }
-            }
-        }
-
     };
 
 

diff --git a/mapping/GearMapping.h b/mapping/GearMapping.h
@@ -4,7 +4,7 @@
 #include <Compliant/config.h>
 
 #include "AssembledMultiMapping.h"
-#include <sofa/helper/StateMask.h>
+
 namespace sofa
 {
 
@@ -119,20 +119,6 @@ namespace mapping
             }
         }
 
-        virtual void updateForceMask() override
-        {
-            const pairs_type& p = d_pairs.getValue();
-
-            for( size_t i = 0, iend = p.size(); i < iend; ++i )
-            {
-                if( this->maskTo[0]->getEntry(i) )
-                {
-                    const index_pair& indices = p[i];
-                    this->maskFrom[0]->insertEntry(indices[0][0]);
-                    this->maskFrom[1]->insertEntry(indices[1][0]);
-                }
-            }
-        }
 
     };
 

diff --git a/mapping/ProjectionMapping.h b/mapping/ProjectionMapping.h
@@ -102,19 +102,6 @@ class ProjectionMapping : public AssembledMapping<TIn, TOut> {
 		}
 
 	}
-
-    virtual void updateForceMask() override
-    {
-        const type::vector<set_type>& s = set.getValue();
-
-        for( size_t i = 0, iend = s.size(); i < iend; ++i )
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                this->maskFrom->insertEntry(s[i].first);
-            }
-        }
-    }
 
 };
 

diff --git a/mapping/RigidJointMapping.h b/mapping/RigidJointMapping.h
@@ -205,21 +205,6 @@ class RigidJointMapping : public AssembledMapping<TIn, TOut> {
         }
     }
 
-
-    virtual void updateForceMask() override
-    {
-        const pairs_type& p = pairs.getValue();
-
-        for( size_t i = 0, iend = p.size(); i < iend; ++i )
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                const index_pair& indices = p[i];
-                this->maskFrom->insertEntry(indices[0]);
-                this->maskFrom->insertEntry(indices[1]);
-            }
-        }
-    }
 };
 }
 }

diff --git a/mapping/RigidJointMultiMapping.h b/mapping/RigidJointMultiMapping.h
@@ -323,20 +323,6 @@ class RigidJointMultiMapping : public AssembledMultiMapping<TIn, TOut> {
 		}
 	}
 
-    virtual void updateForceMask() override
-    {
-        const pairs_type& p = pairs.getValue();
-
-        for( size_t i = 0, iend = p.size(); i < iend; ++i )
-        {
-            if( this->maskTo[0]->getEntry(i) )
-            {
-                const index_pair& indices = p[i];
-                this->maskFrom[0]->insertEntry(indices[0]);
-                this->maskFrom[1]->insertEntry(indices[1]);
-            }
-        }
-    }
 
 };
 

diff --git a/mapping/SafeDistanceMapping.h b/mapping/SafeDistanceMapping.h
@@ -330,21 +330,6 @@ class SOFA_Compliant_API SafeDistanceMapping : public AssembledMapping<TIn, TOut
 #endif /* COMPLIANT_HAVE_SOFA_GL */
     }
 
-    virtual void updateForceMask() override
-    {
-        const pairs_type& p = d_pairs.getValue();
-
-        for( size_t i = 0, iend = p.size(); i < iend; ++i )
-        {
-            if( this->maskTo->getEntry(i) )
-            {
-                const index_pair& indices = p[i];
-                this->maskFrom->insertEntry(indices[0]);
-                this->maskFrom->insertEntry(indices[1]);
-            }
-        }
-    }
-
 };
 
 
@@ -665,15 +650,6 @@ class SOFA_Compliant_API SafeDistanceFromTargetMapping : public AssembledMapping
 #endif /* COMPLIANT_HAVE_SOFA_GL */
     }
 
-    virtual void updateForceMask() override
-    {
-        const type::vector< unsigned >& indices = d_indices.getValue();
-
-        for( size_t i = 0, iend = indices.size(); i < iend; ++i )
-            if( this->maskTo->getEntry(i) )
-                this->maskFrom->insertEntry(indices[i]);
-    }
-
 };
 
 

diff --git a/mapping/WinchMultiMapping.h b/mapping/WinchMultiMapping.h
@@ -144,11 +144,6 @@ class WinchMultiMapping : public AssembledMultiMapping<TIn, TOut>
     }
 
 
-    virtual void updateForceMask()
-    {
-
-    }
-
 };
 
 #if !defined(SOFA_COMPONENT_MAPPING_WINCHMULTIMAPPING_CPP)