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[SofaConstraint] ADD Data to show constraint forces #840

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merged 12 commits into from
Dec 13, 2018
Merged

[SofaConstraint] ADD Data to show constraint forces #840

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ad2dbfd
[SofaConstraint] Add a data field to expose the constraint forces to …
zhongkaidefrost Nov 23, 2018
036fe74
[SofaConstraint] Rename lambda to constraintForces
zhongkaidefrost Nov 23, 2018
175834e
[SofaConstraint] clean data name with d_ convention
zhongkaidefrost Nov 27, 2018
2601457
[sofaConstraint]add comment to the Data constraintForces
zhongkaidefrost Nov 30, 2018
bc5b126
[SofaConstraint] FIX comment typo in GenericConstraintSolver
guparan Dec 5, 2018
dc04081
[SofaConstraint] ADD an extra field to control wether or not we store…
damienmarchal Dec 10, 2018
e171d3c
[SofaConstraint] Refactor the test to make the depend on BaseTest ins…
damienmarchal Dec 10, 2018
806675b
Merge remote-tracking branch 'upstream/master' into sofAddForce
damienmarchal Dec 10, 2018
c62b6f5
[SofaConstraint] CHANGE constraintForcesIndex to constraintForcesEnable
damienmarchal Dec 10, 2018
a009395
[SofaConstraint] FIX broken tests because of the update to BaseTest
damienmarchal Dec 10, 2018
66656fd
[SofaConstraint] ADD GenericConstraintSolver_test
damienmarchal Dec 10, 2018
fddceda
[SofaConstraint] Rename Data field d_constraintForceEnable into d_com…
damienmarchal Dec 12, 2018
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17 changes: 13 additions & 4 deletions modules/SofaConstraint/GenericConstraintSolver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ GenericConstraintSolver::GenericConstraintSolver()
, currentError(initData(&currentError, 0.0, "currentError", "OUTPUT: current error"))
, reverseAccumulateOrder(initData(&reverseAccumulateOrder, false, "reverseAccumulateOrder", "True to accumulate constraints from nodes in reversed order (can be necessary when using multi-mappings or interaction constraints not following the node hierarchy)"))
, current_cp(&m_cpBuffer[0])
, d_constraintForces(initData(&d_constraintForces,"constraintForces","Constraint forces"))
, last_cp(NULL)
{
addAlias(&maxIt, "maxIt");
Expand Down Expand Up @@ -332,7 +333,7 @@ void GenericConstraintSolver::rebuildSystem(double massFactor, double forceFacto
}
}

void afficheLCP(std::ostream& file, double *q, double **M, double *f, int dim, bool printMatrix = true)
void printLCP(std::ostream& file, double *q, double **M, double *f, int dim, bool printMatrix = true)
{
file.precision(9);
// affichage de la matrice du LCP
Expand Down Expand Up @@ -383,7 +384,7 @@ bool GenericConstraintSolver::solveSystem(const core::ConstraintParams * /*cPara
{
std::stringstream tmp;
tmp << "---> Before Resolution" << msgendl ;
afficheLCP(tmp, current_cp->getDfree(), current_cp->getW(), current_cp->getF(), current_cp->getDimension(), true);
printLCP(tmp, current_cp->getDfree(), current_cp->getW(), current_cp->getF(), current_cp->getDimension(), true);

msg_info() << tmp.str() ;
}
Expand All @@ -408,8 +409,16 @@ bool GenericConstraintSolver::solveSystem(const core::ConstraintParams * /*cPara
{
std::stringstream tmp;
tmp << "---> After Resolution" << msgendl;
afficheLCP(tmp, current_cp->_d.ptr(), current_cp->getW(), current_cp->getF(), current_cp->getDimension(), false);
msg_info() << tmp.str() ;
printLCP(tmp, current_cp->_d.ptr(), current_cp->getW(), current_cp->getF(), current_cp->getDimension(), false);
msg_info() << tmp.str() ;

std::vector<double>* v = d_constraintForces.beginEdit();
v->resize(current_cp->getDimension());
for(int i=0; i<current_cp->getDimension(); i++)
{
(*v)[i] = current_cp->getF()[i];
}
d_constraintForces.endEdit();
}


Expand Down
2 changes: 2 additions & 0 deletions modules/SofaConstraint/GenericConstraintSolver.h
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Expand Up @@ -130,6 +130,8 @@ class SOFA_CONSTRAINT_API GenericConstraintSolver : public ConstraintSolverImpl
Data<int> currentIterations; ///< OUTPUT: current number of constraint groups
Data<double> currentError; ///< OUTPUT: current error
Data<bool> reverseAccumulateOrder; ///< True to accumulate constraints from nodes in reversed order (can be necessary when using multi-mappings or interaction constraints not following the node hierarchy)
Data<helper::vector< double >> d_constraintForces; //The Data constraintForces is used to provide the intensities of constraint forces in the simulation. The user can easily check the constraint forces from the GenericConstraint component interface.


virtual sofa::core::MultiVecDerivId getLambda() const override
{
Expand Down