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[SofaBaseMechanics] Fix UniformMass topology changes handling mode. #2377

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merged 16 commits into from
Oct 28, 2021
Merged

[SofaBaseMechanics] Fix UniformMass topology changes handling mode. #2377

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a65046d
[SofaBaseTopology] Fix TopologySubsetData call to creation/desctructi…
epernod Sep 29, 2021
17e6e9c
[SofaBaseTopology] Add method to register callback to tpologyHandler …
epernod Oct 1, 2021
698c9e3
[SofaBaseTopology] Various cleaning to use TopologyHandler instead of…
epernod Oct 1, 2021
035a2a3
[SofaBaseTopology] Ensure to add a topologyEnd event before propagati…
epernod Oct 1, 2021
900e053
[SofaBaseMechanics] UpdateUniformMass to use TopologySubsetIndices fo…
epernod Sep 29, 2021
037e15b
[SofaBaseMechanics] Fix the gravity center display when using a subse…
epernod Oct 1, 2021
9c601b9
[SofaBaseMechanics] Fix the topological changes handling when point a…
epernod Oct 1, 2021
7b56d6c
Remove unused variable
epernod Oct 1, 2021
79eb452
Fix gcc compilation
epernod Oct 3, 2021
e2bfac1
Merge branch 'master' into inf_uniformMass
fredroy Oct 11, 2021
86c6a27
Update SofaKernel/modules/SofaBaseMechanics/src/SofaBaseMechanics/Uni…
epernod Oct 12, 2021
adeed7a
Update SofaKernel/modules/SofaBaseMechanics/src/SofaBaseMechanics/Uni…
epernod Oct 20, 2021
3efb0aa
[SofaBaseMechanics] Update UniformMass and MeshMatrixMass checks on t…
epernod Oct 20, 2021
76afe1c
[SofaBaseMechanics] Remove option to handleTopologicalChanges and by …
epernod Oct 25, 2021
d71f2f5
Update UniforMass_test as Data handleTopologicalChanges has been removed
epernod Oct 25, 2021
1d7e680
Fix UniformMass, add security in case newsize of Mass is 0
epernod Oct 27, 2021
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14 changes: 7 additions & 7 deletions SofaKernel/modules/SofaBaseMechanics/src/SofaBaseMechanics/UniformMass.cpp
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Expand Up @@ -209,7 +209,7 @@ void UniformMass<RigidTypes, MassType>::drawRigid2DImpl(const VisualParams* vpar
return;

const VecCoord& x =mstate->read(core::ConstVecCoordId::position())->getValue();
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;
type::Vec3d len;

len[0] = len[1] = sqrt(d_vertexMass.getValue().inertiaMatrix);
Expand All @@ -232,7 +232,7 @@ void UniformMass<RigidTypes, MassType>::drawRigid3DImpl(const VisualParams* vpar
return;

const VecCoord& x =mstate->read(core::ConstVecCoordId::position())->getValue();
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;
typename RigidTypes::Vec3 gravityCenter;
type::Vec3d len;

Expand Down Expand Up @@ -283,7 +283,7 @@ void UniformMass<Vec6Types, MassType>::drawVec6Impl(const core::visual::VisualPa
return;
const VecCoord& x =mstate->read(core::ConstVecCoordId::position())->getValue();
const VecCoord& x0 = mstate->read(core::ConstVecCoordId::restPosition())->getValue();
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

Mat3x3d R; R.identity();

Expand Down Expand Up @@ -327,7 +327,7 @@ Vector6 UniformMass<RigidTypes,MassType>::getMomentumRigid3DImpl( const Mechanic
{
ReadAccessor<DataVecDeriv> v = d_v;
ReadAccessor<DataVecCoord> x = d_x;
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

Real m = d_vertexMass.getValue().mass;
const typename MassType::Mat3x3& I = d_vertexMass.getValue().inertiaMassMatrix;
Expand All @@ -354,7 +354,7 @@ Vector6 UniformMass<Vec3Types, MassType>::getMomentumVec3DImpl ( const Mechanica
{
ReadAccessor<DataVecDeriv> v = d_v;
ReadAccessor<DataVecCoord> x = d_x;
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

const MassType& m = d_vertexMass.getValue();
type::Vec6d momentum;
Expand All @@ -379,7 +379,7 @@ SReal UniformMass<VecTypes, MassType>::getPotentialEnergyRigidImpl(const core::M
SOFA_UNUSED(mparams) ;
SReal e = 0;
ReadAccessor< DataVecCoord > x = p_x;
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

typename Coord::Pos g ( getContext()->getGravity() );
for (unsigned int i=0; i<indices.size(); i++)
Expand All @@ -398,7 +398,7 @@ void UniformMass<VecTypes, MassType>::addMDxToVectorVecImpl(defaulttype::BaseVec
unsigned int derivDim = (unsigned)Deriv::size();
double m = d_vertexMass.getValue();

ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

const SReal* g = getContext()->getGravity().ptr();

Expand Down
10 changes: 6 additions & 4 deletions SofaKernel/modules/SofaBaseMechanics/src/SofaBaseMechanics/UniformMass.h
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Expand Up @@ -28,6 +28,8 @@
#include <sofa/defaulttype/BaseVector.h>
#include <sofa/core/objectmodel/DataFileName.h>
#include <sofa/core/topology/BaseMeshTopology.h>
#include <SofaBaseTopology/TopologyData.h>
#include <SofaBaseTopology/TopologySubsetIndices.h>

namespace sofa::component::mass
{
Expand All @@ -47,6 +49,8 @@ class UniformMass : public core::behavior::Mass<DataTypes>
typedef typename Coord::value_type Real;
typedef core::objectmodel::Data<VecCoord> DataVecCoord;
typedef core::objectmodel::Data<VecDeriv> DataVecDeriv;
typedef type::vector<Index> SetIndexArray;
typedef sofa::component::topology::TopologySubsetIndices SetIndex;
typedef TMassType MassType;

Data<MassType> d_vertexMass; ///< single value defining the mass of each particle
Expand All @@ -65,8 +69,7 @@ class UniformMass : public core::behavior::Mass<DataTypes>
/// indices outside of this range are discarded (useful for parallelization
/// using mesh partitionning)
Data< type::Vec<2,int> > d_localRange;
Data< type::vector<int> > d_indices; ///< optional local DOF indices. Any computation involving only indices outside of this list are discarded

SetIndex d_indices; ///< optional local DOF indices. Any computation involving only indices outside of this list are discarded
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the same SetIndex is actually quite confusing, it's hiding that it corresponds to a data..

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Ok what name do you want?
This is the same typedef as in all constraints component. Like FixedConstraint

Data<bool> d_handleTopologicalChanges; ///< The mass and totalMass are recomputed on particles add/remove.
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We could add the info specifying why this option exists (UniformMass works also only with DOFs - without TopologyContainer in the scene)

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New proposal: remove the data, and keep it as a private variable of the UniformMass class.
This boolean variable should be true if a Container is found, false else.

Data<bool> d_preserveTotalMass; ///< Prevent totalMass from decreasing when removing particles.

Expand Down Expand Up @@ -123,8 +126,6 @@ class UniformMass : public core::behavior::Mass<DataTypes>
virtual void initFromTotalMass();
/// @}

void handleTopologyChange() override;

void addMDx(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
void accFromF(const core::MechanicalParams* mparams, DataVecDeriv& a, const DataVecDeriv& f) override;
void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;
Expand All @@ -148,6 +149,7 @@ class UniformMass : public core::behavior::Mass<DataTypes>


private:
void updateMassOnResize(sofa::Size newSize);

template<class T>
void drawRigid3DImpl(const core::visual::VisualParams* vparams) ;
Expand Down
155 changes: 45 additions & 110 deletions SofaKernel/modules/SofaBaseMechanics/src/SofaBaseMechanics/UniformMass.inl
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Expand Up @@ -29,6 +29,7 @@
#include <sofa/defaulttype/DataTypeInfo.h>
#include <SofaBaseMechanics/AddMToMatrixFunctor.h>
#include <sofa/core/behavior/MultiMatrixAccessor.h>
#include <SofaBaseTopology/TopologyData.inl>
#include <sofa/core/topology/TopologyChange.h>
#include <sofa/core/MechanicalParams.h>

Expand Down Expand Up @@ -133,8 +134,8 @@ void UniformMass<DataTypes, MassType>::initDefaultImpl()

Mass<DataTypes>::init();

WriteAccessor<Data<vector<int> > > indices = d_indices;

WriteAccessor<Data<SetIndexArray > > indices = d_indices;
if(mstate==nullptr)
{
msg_warning(this) << "Missing mechanical state. \n"
Expand Down Expand Up @@ -167,6 +168,27 @@ void UniformMass<DataTypes, MassType>::initDefaultImpl()
indices.push_back(i);
}

if (d_handleTopologicalChanges.getValue())
{
if (l_topology.empty())
{
msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
l_topology.set(this->getContext()->getMeshTopologyLink());
}

BaseMeshTopology* meshTopology = l_topology.get();
if (meshTopology != nullptr)
{
msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";

d_indices.createTopologyHandler(meshTopology);
d_indices.addTopologyEventCallBack(sofa::core::topology::TopologyChangeType::ENDING_EVENT, [this](const core::topology::TopologyChange* eventTopo) {
updateMassOnResize(d_indices.getValue().size());
});
}
else
msg_warning() << "handleTopologicalChanges has been set to true but not valid topology has been found at:'" << l_topology.getLinkedPath() << "'";
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}

//If user defines the vertexMass, use this as the mass
if (d_vertexMass.isSet())
Expand Down Expand Up @@ -338,107 +360,18 @@ void UniformMass<DataTypes, MassType>::initFromTotalMass()


template <class DataTypes, class MassType>
void UniformMass<DataTypes, MassType>::handleTopologyChange()
void UniformMass<DataTypes, MassType>::updateMassOnResize(sofa::Size newSize)
{
if (l_topology.empty())
if (d_preserveTotalMass.getValue())
{
msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
l_topology.set(this->getContext()->getMeshTopologyLink());
Real newVertexMass = d_totalMass.getValue() / Real(newSize);
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check if newSize == 0

d_vertexMass.setValue(static_cast<MassType>(newVertexMass));
}

BaseMeshTopology *meshTopology = l_topology.get();
msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";

if ( meshTopology != nullptr && mstate->getSize()>0 )
else
{
list< const TopologyChange * >::const_iterator it = meshTopology->beginChange();
list< const TopologyChange * >::const_iterator itEnd = meshTopology->endChange();

while ( it != itEnd )
{
switch ( ( *it )->getChangeType() )
{
// POINTS ADDED -----------------
case core::topology::POINTSADDED:
if ( d_handleTopologicalChanges.getValue())
{
WriteAccessor<Data<vector<int> > > indices = d_indices;
size_t sizeIndices = indices.size();
const auto& pointsAdded = ( static_cast< const sofa::core::topology::PointsAdded * >( *it ) )->getIndexArray();
size_t nbPointsAdded = pointsAdded.size();

for(size_t i=0; i<nbPointsAdded; i++)
{
indices.push_back(int(pointsAdded[i]));
}

size_t newNbPoints = sizeIndices+nbPointsAdded;

if (d_preserveTotalMass.getValue())
{
Real newVertexMass = d_totalMass.getValue() / Real(newNbPoints);
d_vertexMass.setValue( static_cast< MassType >( newVertexMass ) );
}
else
{
d_totalMass.setValue (Real(newNbPoints) * Real(d_vertexMass.getValue()) );
}
this->cleanTracker();
}
break;

// POINTS REMOVED -----------------
case core::topology::POINTSREMOVED:
if ( d_handleTopologicalChanges.getValue())
{
WriteAccessor<Data<vector<int> > > indices = d_indices;
size_t sizeIndices = indices.size();
const auto& pointsRemoved = ( static_cast< const sofa::core::topology::PointsRemoved * >( *it ) )->getArray();
size_t nbPointsRemoved = pointsRemoved.size();

size_t count=0;
for(size_t i=0; i<nbPointsRemoved; i++)
{
for(size_t j=0; j<sizeIndices; j++)
{
if(indices[j] == int(pointsRemoved[i]))
{
count++;
}
else
indices[i] = indices[i+count];
}
}

size_t newNbPoints = sizeIndices-nbPointsRemoved;
indices.resize(newNbPoints);

if(newNbPoints<=0)
{
msg_warning() << "All points removed";
return;
}

if (d_preserveTotalMass.getValue())
{
Real newVertexMass = d_totalMass.getValue() / Real(newNbPoints);
d_vertexMass.setValue( static_cast< MassType >( newVertexMass ) );
}
else
{
d_totalMass.setValue (Real(newNbPoints) * Real(d_vertexMass.getValue()) );
}
this->cleanTracker();
}
break;

default:
break;
}

++it;
}
d_totalMass.setValue(Real(newSize) * Real(d_vertexMass.getValue()));
}
this->cleanTracker();
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}


Expand All @@ -452,7 +385,7 @@ void UniformMass<DataTypes, MassType>::addMDx ( const core::MechanicalParams*,
helper::WriteAccessor<DataVecDeriv> res = vres;
helper::ReadAccessor<DataVecDeriv> dx = vdx;

WriteAccessor<Data<vector<int> > > indices = d_indices;
WriteAccessor<Data<SetIndexArray > > indices = d_indices;

MassType m = d_vertexMass.getValue();
if ( factor != 1.0 )
Expand All @@ -471,7 +404,7 @@ void UniformMass<DataTypes, MassType>::accFromF ( const core::MechanicalParams*,
WriteOnlyAccessor<DataVecDeriv> a = va;
ReadAccessor<DataVecDeriv> f = vf;

ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

MassType m = d_vertexMass.getValue();
for ( unsigned int i=0; i<indices.size(); i++ )
Expand Down Expand Up @@ -537,7 +470,7 @@ void UniformMass<DataTypes, MassType>::addForce ( const core::MechanicalParams*,



ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

// add weight and inertia force
if (this->m_separateGravity.getValue()) for ( unsigned int i=0; i<indices.size(); i++ )
Expand All @@ -556,7 +489,7 @@ SReal UniformMass<DataTypes, MassType>::getKineticEnergy ( const MechanicalParam
SOFA_UNUSED(params);

ReadAccessor<DataVecDeriv> v = d_v;
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

SReal e = 0;
const MassType& m = d_vertexMass.getValue();
Expand All @@ -573,7 +506,7 @@ SReal UniformMass<DataTypes, MassType>::getPotentialEnergy ( const MechanicalPar
{
SOFA_UNUSED(params);
ReadAccessor<DataVecCoord> x = d_x;
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

SReal e = 0;
const MassType& m = d_vertexMass.getValue();
Expand Down Expand Up @@ -623,7 +556,7 @@ void UniformMass<DataTypes, MassType>::addMToMatrix (const MechanicalParams *mpa

Real mFactor = Real(sofa::core::mechanicalparams::mFactorIncludingRayleighDamping(mparams, this->rayleighMass.getValue()));

ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;
for ( unsigned int i=0; i<indices.size(); i++ )
calc ( r.matrix, m, int(r.offset + N*indices[i]), mFactor);
}
Expand Down Expand Up @@ -660,8 +593,11 @@ void UniformMass<DataTypes, MassType>::draw(const VisualParams* vparams)
if (!mstate.get())
return;

if (!d_showCenterOfGravity.getValue())
return;

ReadAccessor<VecCoord> x = mstate->read(ConstVecCoordId::position())->getValue();
ReadAccessor<Data<vector<int> > > indices = d_indices;
ReadAccessor<Data<SetIndexArray > > indices = d_indices;

Coord gravityCenter;
std::vector< sofa::type::Vector3 > points;
Expand All @@ -670,14 +606,13 @@ void UniformMass<DataTypes, MassType>::draw(const VisualParams* vparams)
sofa::type::Vector3 p;
p = DataTypes::getCPos(x[indices[i]]);

points.push_back ( p );
points.push_back ( p );
gravityCenter += x[indices[i]];
}


if ( d_showCenterOfGravity.getValue() )
vparams->drawTool()->drawSpheres(points, 0.01, sofa::type::RGBAColor::yellow());

{
gravityCenter /= x.size();
gravityCenter /= indices.size();
const sofa::type::RGBAColor color = sofa::type::RGBAColor::yellow();

Real axisSize = d_showAxisSize.getValue();
Expand Down
2 changes: 2 additions & 0 deletions SofaKernel/modules/SofaBaseTopology/src/SofaBaseTopology/PointSetTopologyModifier.cpp
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Expand Up @@ -434,6 +434,8 @@ void PointSetTopologyModifier::propagateTopologicalChanges()
{
if (m_container->beginChange() == m_container->endChange()) return; // nothing to do if no event is stored

sofa::core::topology::EndingEvent* e = new sofa::core::topology::EndingEvent();
m_container->addTopologyChange(e);
this->propagateTopologicalEngineChanges();

sofa::core::ExecParams* params = sofa::core::execparams::defaultInstance();
Expand Down
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