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[constraint] PositionModel: add features #282

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May 2, 2024
Merged

[constraint] PositionModel: add features #282

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2 changes: 1 addition & 1 deletion src/SoftRobots/component/constraint/PositionConstraint.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -149,7 +149,7 @@ void PositionConstraint<DataTypes>::getConstraintViolation(const ConstraintParam
for(sofa::Size j=0; j<DataTypes::Deriv::total_size; j++)
if(useDirections[j])
{
Real dfree = Jdx->element(index) + d*directions[j]*weight;
Real dfree = Jdx->element(index) + d*directions[j]*weight[j];
resV->set(m_constraintId+index, dfree);
index++;
}
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8 changes: 7 additions & 1 deletion src/SoftRobots/component/constraint/model/PositionModel.cpp
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Expand Up @@ -53,6 +53,11 @@ void PositionModel<Rigid3Types>::normalizeDirections()
d_directions.setValue(directions);
}


template<>
void PositionModel<Vec1Types>::drawPoints(const VisualParams* vparams, const std::vector<Coord> &points, float size, const RGBAColor& color) {
}

template<>
void PositionModel<Vec3Types>::drawPoints(const VisualParams* vparams, const std::vector<Coord> &points, float size, const RGBAColor& color) {
vparams->drawTool()->drawPoints(points, size, color);
Expand All @@ -75,8 +80,9 @@ void PositionModel<Rigid3Types>::drawPoints(const VisualParams* vparams, const s
}

using namespace sofa::defaulttype;
template class SOFA_SOFTROBOTS_API PositionModel<Vec1Types>;
template class SOFA_SOFTROBOTS_API PositionModel<Vec2Types>;
template class SOFA_SOFTROBOTS_API PositionModel<Vec3Types>;
template class SOFA_SOFTROBOTS_API PositionModel<Rigid3Types>;
template class SOFA_SOFTROBOTS_API PositionModel<Vec2Types>;

} // namespace
5 changes: 3 additions & 2 deletions src/SoftRobots/component/constraint/model/PositionModel.h
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Expand Up @@ -85,7 +85,7 @@ class PositionModel : virtual public SoftRobotsConstraint<DataTypes>

protected:
sofa::Data<sofa::type::vector<unsigned int> > d_indices;
sofa::Data<Real> d_weight;
sofa::Data<sofa::type::vector<Real>> d_weight;
sofa::Data<VecDeriv> d_directions;
sofa::Data<Vec<Deriv::total_size, bool>> d_useDirections;
sofa::Data<sofa::type::vector<Real>> d_delta;
Expand Down Expand Up @@ -125,8 +125,9 @@ template<> SOFA_SOFTROBOTS_API
void PositionModel<sofa::defaulttype::Rigid3Types>::drawPoints(const VisualParams* vparams, const std::vector<Coord> &points, float size, const sofa::type::RGBAColor& color);

#if !defined(SOFTROBOTS_POSITIONMODEL_CPP)
extern template class SOFA_SOFTROBOTS_API PositionModel<sofa::defaulttype::Vec3Types>;
extern template class SOFA_SOFTROBOTS_API PositionModel<sofa::defaulttype::Vec1Types>;
extern template class SOFA_SOFTROBOTS_API PositionModel<sofa::defaulttype::Vec2Types>;
extern template class SOFA_SOFTROBOTS_API PositionModel<sofa::defaulttype::Vec3Types>;
extern template class SOFA_SOFTROBOTS_API PositionModel<sofa::defaulttype::Rigid3Types>;
#endif

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19 changes: 16 additions & 3 deletions src/SoftRobots/component/constraint/model/PositionModel.inl
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Expand Up @@ -52,7 +52,7 @@ PositionModel<DataTypes>::PositionModel(MechanicalState* object)
"If indices size is lower than target size, \n"
"some target will not be considered"))

, d_weight(initData(&d_weight, 1., "weight",
, d_weight(initData(&d_weight, sofa::type::vector<Real>(Deriv::total_size, 1.), "weight",
"The parameter sets a weight to the minimization."))

, d_directions(initData(&d_directions,"directions",
Expand All @@ -67,8 +67,21 @@ PositionModel<DataTypes>::PositionModel(MechanicalState* object)
, d_delta(initData(&d_delta, "delta","Distance to target"))
{
d_delta.setReadOnly(true);
}

this->addUpdateCallback("updateWeight", {&d_weight}, [this](const sofa::core::DataTracker& t)
{
SOFA_UNUSED(t);
auto weight = sofa::helper::getWriteAccessor(d_weight);
if (weight.size() != Deriv::total_size)
{
msg_info() << "Wrong size for the data field weight, " << weight.size() <<
" instead of " << Deriv::total_size << ". Resizing, with weight[0] as the default value.";
Real w = weight.empty()? 1.: weight[0];
d_weight.setValue(sofa::type::vector<Real>(Deriv::total_size, w));
}
return sofa::core::objectmodel::ComponentState::Valid;
}, {});
}


template<class DataTypes>
Expand Down Expand Up @@ -220,7 +233,7 @@ void PositionModel<DataTypes>::buildConstraintMatrix(const ConstraintParams* cPa
if(useDirections[j])
{
MatrixDerivRowIterator rowIterator = column.writeLine(m_constraintId+index);
rowIterator.setCol(indices[i], directions[j]*weight);
rowIterator.setCol(indices[i], directions[j]*weight[j]);
index++;
}
}
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