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FIX constraint index modification #108

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merged 2 commits into from
Jun 6, 2024
Merged

FIX constraint index modification #108

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da367df
FIX constraint index modification
bakpaul Jun 5, 2024
bef1e62
FIX compilation
bakpaul Jun 5, 2024
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2 changes: 1 addition & 1 deletion src/Cosserat/constraint/CosseratActuatorConstraint.h
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Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,7 @@ class CosseratActuatorConstraint : public CableModel<DataTypes>
using CableModel<DataTypes>::d_displacement ;
using CableModel<DataTypes>::d_componentState ;
using CableModel<DataTypes>::m_nbLines ;
using CableModel<DataTypes>::m_constraintId ;
using CableModel<DataTypes>::m_constraintIndex ;
using CableModel<DataTypes>::m_state ;
using CableModel<DataTypes>::d_indices ;
using CableModel<DataTypes>::d_pullPoint;
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9 changes: 5 additions & 4 deletions src/Cosserat/constraint/CosseratActuatorConstraint.inl
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Expand Up @@ -104,11 +104,12 @@ void CosseratActuatorConstraint<DataTypes>::buildConstraintMatrix(const Constrai

SOFA_UNUSED(cParams);

m_constraintId = cIndex;
m_constraintIndex.setValue(cIndex);
const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);

MatrixDeriv& matrix = *cMatrix.beginEdit();

MatrixDerivRowIterator rowIterator = matrix.writeLine(m_constraintId);
MatrixDerivRowIterator rowIterator = matrix.writeLine(constraintIndex);

VecCoord positions = x.getValue();

Expand Down Expand Up @@ -144,7 +145,7 @@ void CosseratActuatorConstraint<DataTypes>::buildConstraintMatrix(const Constrai
}
cIndex++;
cMatrix.endEdit();
m_nbLines = cIndex - m_constraintId;
m_nbLines = cIndex - constraintIndex;
}


Expand All @@ -168,7 +169,7 @@ void CosseratActuatorConstraint<DataTypes>::getConstraintViolation(const Constra


for (unsigned i=0;i<d_indices.getValue().size();i++) {
resV->set(m_constraintId, dfree);
resV->set(m_constraintIndex.getValue(), dfree);
}
}

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4 changes: 2 additions & 2 deletions src/Cosserat/constraint/CosseratNeedleSlidingConstraint.h
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Expand Up @@ -134,8 +134,8 @@ namespace sofa::component::constraintset
using Constraint<DataTypes>::d_componentState;
////////////////////////////////////////////////////////////////////////////
/// \brief internalInit
unsigned int m_nbLines;
unsigned int m_constraintId;
unsigned m_nbLines ;
using Constraint<DataTypes>::m_constraintIndex ;

void internalInit();
};
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11 changes: 6 additions & 5 deletions src/Cosserat/constraint/CosseratNeedleSlidingConstraint.inl
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Expand Up @@ -113,7 +113,7 @@ namespace sofa::component::constraintset
SOFA_UNUSED(cParams);
MatrixDeriv &matrix = *cMatrix.beginEdit();
VecCoord positions = x.getValue();
m_constraintId = cIndex;
m_constraintIndex.setValue(cIndex);

type::Vec<3, bool> use = d_useDirections.getValue();

Expand All @@ -131,7 +131,7 @@ namespace sofa::component::constraintset
}
}
cMatrix.endEdit();
m_nbLines = cIndex - m_constraintId;
m_nbLines = cIndex - m_constraintIndex.getValue();

}

Expand All @@ -151,20 +151,21 @@ namespace sofa::component::constraintset
//ReadAccessor<Data<VecCoord>> positions = this->mstate->readPositions();
const VecCoord positions = x.getValue();
type::Vec<3, bool> use = d_useDirections.getValue();
const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);

for (unsigned int i = 0; i < positions.size(); i++)
{
if (use[0]){
Real dfree0 = positions[i][0];
resV->set(m_constraintId + 2 * i, dfree0);
resV->set(constraintIndex + 2 * i, dfree0);
}
if (use[1]){
Real dfree1 = positions[i][1];
resV->set(m_constraintId + 2 * i, dfree1);
resV->set(constraintIndex + 2 * i, dfree1);
}
if (use[2]){
Real dfree2 = positions[i][2];
resV->set(m_constraintId + 2 * i + 1, dfree2);
resV->set(constraintIndex + 2 * i + 1, dfree2);
}
}
}
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2 changes: 1 addition & 1 deletion src/Cosserat/constraint/QPSlidingConstraint.h
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Expand Up @@ -162,7 +162,7 @@ class QPSlidingConstraint : public CableModel<DataTypes>
////////////////////////////////////////////////////////////////////////////
/// \brief internalInit
using SoftRobotsConstraint<DataTypes>::m_nbLines ;
using SoftRobotsConstraint<DataTypes>::m_constraintId ;
using SoftRobotsConstraint<DataTypes>::m_constraintIndex ;

void internalInit();
};
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26 changes: 14 additions & 12 deletions src/Cosserat/constraint/QPSlidingConstraint.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,8 @@ void QPSlidingConstraint<DataTypes>::buildConstraintMatrix(const ConstraintParam
SOFA_UNUSED(cParams);
MatrixDeriv& matrix = *cMatrix.beginEdit();
VecCoord positions = x.getValue();
m_constraintId= cIndex;
m_constraintIndex.setValue(cIndex);
const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);

for (unsigned int i=0; i<positions.size(); i++)
{
Expand All @@ -141,7 +142,7 @@ void QPSlidingConstraint<DataTypes>::buildConstraintMatrix(const ConstraintParam

}
cMatrix.endEdit();
m_nbLines = cIndex - m_constraintId;
m_nbLines = cIndex - constraintIndex;
}


Expand All @@ -155,6 +156,7 @@ void QPSlidingConstraint<DataTypes>::getConstraintViolation(const ConstraintPara

SOFA_UNUSED(cParams);
ReadAccessor<Data<VecCoord>> positions = m_state->readPositions();
const auto& constraintIndex = sofa::helper::getReadAccessor(m_constraintIndex);

if(Jdx->size()==0){
//std::cout << "Size JDX = "<< Jdx->size() << std::endl;
Expand All @@ -163,16 +165,16 @@ void QPSlidingConstraint<DataTypes>::getConstraintViolation(const ConstraintPara
Real dfree1 = positions[i][1];
Real dfree2 = positions[i][2];

resV->set(m_constraintId + 2*i , dfree1);
resV->set(m_constraintId + 2*i +1, dfree2);
resV->set(constraintIndex + 2*i , dfree1);
resV->set(constraintIndex + 2*i +1, dfree2);
}else{
Real dfree0 = positions[i][0];
Real dfree1 = positions[i][1];
Real dfree2 = positions[i][2];

resV->set(m_constraintId + 2*i , dfree0);
resV->set(m_constraintId + 2*i +1, dfree1);
resV->set(m_constraintId + 2*i +2, dfree2);
resV->set(constraintIndex + 2*i , dfree0);
resV->set(constraintIndex + 2*i +1, dfree1);
resV->set(constraintIndex + 2*i +2, dfree2);
}
}

Expand All @@ -183,18 +185,18 @@ void QPSlidingConstraint<DataTypes>::getConstraintViolation(const ConstraintPara
Real dfree1 = Jdx->element(2*i) + positions[i][1];
Real dfree2 = Jdx->element(2*i+1) + positions[i][2];

resV->set(m_constraintId + 2*i , dfree1);
resV->set(m_constraintId + 2*i +1, dfree2);
resV->set(constraintIndex + 2*i , dfree1);
resV->set(constraintIndex + 2*i +1, dfree2);
}else{
//std::cout << " The laste position : "<< positions[i] << "; Jdx->element() "<< Jdx->element(2*i) <<" "<< Jdx->element(2*i+1) <<" "<< Jdx->element(2*i+2) << std::endl;
Real dfree0 = Jdx->element(2*i) + positions[i][0];
Real dfree1 = Jdx->element(2*i+1) + positions[i][1];
Real dfree2 = Jdx->element(2*i+2) + positions[i][2];

//std::cout << " m_constraintId + 2*i : "<< m_constraintId + 2*i << std::endl;
resV->set(m_constraintId + 2*i , dfree0);
resV->set(m_constraintId + 2*i +1, dfree1);
resV->set(m_constraintId + 2*i +2, dfree2);
resV->set(constraintIndex + 2*i , dfree0);
resV->set(constraintIndex + 2*i +1, dfree1);
resV->set(constraintIndex + 2*i +2, dfree2);
}
}
}
Expand Down
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