[SofaGeneralAnimationLoop, Sofa.SimulationCore] Extract MechanicalAccumulateJacobian

SofaKernel/modules/SofaSimulationCore/CMakeLists.txt

@@ -78,6 +78,7 @@ set(HEADER_FILES
 
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAccFromFVisitor.h
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAccumulateConstraint.h
+    ${SRC_ROOT}/mechanicalvisitor/MechanicalAccumulateJacobian.h
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAddMBKdxVisitor.h
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAddMBK_ToMatrixVisitor.h
@@ -198,6 +199,7 @@ set(SOURCE_FILES
 
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAccFromFVisitor.cpp
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAccumulateConstraint.cpp
+    ${SRC_ROOT}/mechanicalvisitor/MechanicalAccumulateJacobian.cpp
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.cpp
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAddMBKdxVisitor.cpp
     ${SRC_ROOT}/mechanicalvisitor/MechanicalAddMBK_ToMatrixVisitor.cpp

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/mechanicalvisitor/MechanicalAccumulateJacobian.cpp

@@ -0,0 +1,44 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#include <sofa/simulation/mechanicalvisitor/MechanicalAccumulateJacobian.h>
+#include <sofa/core/ConstraintParams.h>
+#include <sofa/core/BaseMapping.h>
+
+namespace sofa::simulation::mechanicalvisitor
+{
+
+MechanicalAccumulateJacobian::MechanicalAccumulateJacobian(const core::ConstraintParams* _cparams,
+                                                           core::MultiMatrixDerivId _res)
+    : simulation::BaseMechanicalVisitor(_cparams)
+    , res(_res)
+    , cparams(_cparams)
+{}
+
+void MechanicalAccumulateJacobian::bwdMechanicalMapping(simulation::Node* node, core::BaseMapping* map)
+{
+    const ctime_t t0 = begin(node, map);
+    map->applyJT(cparams, res, res);
+    end(node, map, t0);
+}
+
+} //namespace sofa::simulation::mechanicalvisitor

SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/mechanicalvisitor/MechanicalAccumulateJacobian.h

@@ -0,0 +1,55 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/simulation/BaseMechanicalVisitor.h>
+
+namespace sofa::simulation::mechanicalvisitor
+{
+
+class SOFA_SIMULATION_CORE_API MechanicalAccumulateJacobian : public simulation::BaseMechanicalVisitor
+{
+public:
+    MechanicalAccumulateJacobian(const core::ConstraintParams* _cparams, core::MultiMatrixDerivId _res);
+
+    void bwdMechanicalMapping(simulation::Node* node, core::BaseMapping* map) override;
+
+    /// Return a class name for this visitor
+    /// Only used for debugging / profiling purposes
+    const char* getClassName() const override { return "MechanicalAccumulateJacobian"; }
+
+    bool isThreadSafe() const override
+    {
+        return false;
+    }
+    // This visitor must go through all mechanical mappings, even if isMechanical flag is disabled
+    bool stopAtMechanicalMapping(simulation::Node* /*node*/, core::BaseMapping* /*map*/) override
+    {
+        return false; // !map->isMechanical();
+    }
+
+protected:
+    core::MultiMatrixDerivId res;
+    const sofa::core::ConstraintParams *cparams;
+};
+
+} //namespace sofa::simulation::mechanicalvisitor

modules/SofaGeneralAnimationLoop/src/SofaGeneralAnimationLoop/MechanicalMatrixMapper.h

@@ -32,49 +32,15 @@
 
 #include <sofa/core/topology/BaseMeshTopology.h>
 
-#include <sofa/simulation/MechanicalVisitor.h>
-
-#include <sofa/core/MultiVecId.h>
-#include <sofa/core/BaseMapping.h>
 #include <sofa/linearalgebra/SparseMatrixProduct[EigenSparseMatrix].h>
 
-namespace sofa::component::interactionforcefield
+namespace sofa::simulation
 {
+    class Node;
+}
 
-class SOFA_SOFAGENERALANIMATIONLOOP_API MechanicalAccumulateJacobian : public simulation::BaseMechanicalVisitor
+namespace sofa::component::interactionforcefield
 {
-public:
-    MechanicalAccumulateJacobian(const core::ConstraintParams* _cparams, core::MultiMatrixDerivId _res)
-        : simulation::BaseMechanicalVisitor(_cparams)
-        , res(_res)
-        , cparams(_cparams)
-    {}
-
-    void bwdMechanicalMapping(simulation::Node* node, core::BaseMapping* map) override
-    {
-        ctime_t t0 = begin(node, map);
-        map->applyJT(cparams, res, res);
-        end(node, map, t0);
-    }
-
-    /// Return a class name for this visitor
-    /// Only used for debugging / profiling purposes
-    const char* getClassName() const override { return "MechanicalAccumulateJacobian"; }
-
-    bool isThreadSafe() const override
-    {
-        return false;
-    }
-    // This visitor must go through all mechanical mappings, even if isMechanical flag is disabled
-    bool stopAtMechanicalMapping(simulation::Node* /*node*/, core::BaseMapping* /*map*/) override
-    {
-        return false; // !map->isMechanical();
-    }
-
-protected:
-    core::MultiMatrixDerivId res;
-    const sofa::core::ConstraintParams *cparams;
-};
 
 using sofa::core::objectmodel::BaseObject ;
 using sofa::component::linearsolver::CompressedRowSparseMatrix ;

modules/SofaGeneralAnimationLoop/src/SofaGeneralAnimationLoop/MechanicalMatrixMapper.inl

@@ -28,18 +28,19 @@
 #include <sofa/helper/ScopedAdvancedTimer.h>
 #include <sofa/linearalgebra/SparseMatrixProduct[EigenSparseMatrix].h>
 
-// accumulate jacobian
-
 #include <sofa/core/objectmodel/BaseContext.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/behavior/BaseMass.h>
 #include <sofa/defaulttype/MapMapSparseMatrix.h>
 
 #include <sofa/simulation/mechanicalvisitor/MechanicalResetConstraintVisitor.h>
+using sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor;
+#include <sofa/simulation/mechanicalvisitor/MechanicalAccumulateJacobian.h>
+
+#include <sofa/core/MechanicalParams.h>
 
 #include <sofa/simulation/CpuTask.h>
 #include <sofa/simulation/TaskScheduler.h>
-using sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor;
 
 // verify timing
 #include <sofa/helper/system/thread/CTime.h>
@@ -193,7 +194,7 @@ void MechanicalMatrixMapper<DataTypes1, DataTypes2>::bwdInit()
 }
 
 template<class DataTypes1, class DataTypes2>
-void MechanicalMatrixMapper<DataTypes1, DataTypes2>::parseNode(sofa::simulation::Node *node,std::string massName)
+void MechanicalMatrixMapper<DataTypes1, DataTypes2>::parseNode(sofa::simulation::Node *node, std::string massName)
 {
     bool empty = d_forceFieldList.getValue().empty();
     msg_info() << "parsing node:";
@@ -261,7 +262,7 @@ void MechanicalMatrixMapper<DataTypes1, DataTypes2>::accumulateJacobians(const M
     MechanicalResetConstraintVisitor(&cparams).execute(context);
     buildIdentityBlocksInJacobian(l_mechanicalState,Id);
 
-    MechanicalAccumulateJacobian(&cparams, core::MatrixDerivId::mappingJacobian()).execute(gnode);
+    sofa::simulation::mechanicalvisitor::MechanicalAccumulateJacobian(&cparams, core::MatrixDerivId::mappingJacobian()).execute(gnode);
 }
 
 template<class T>