[mapping] new component (BeamProjectionDifferenceMultiMapping) (#113)

* [mapping] new component (BeamProjectionDifferenceMultiMapping)

* [mapping] change files' header

BeamAdapter_test/component/mapping/BeamProjectionDifferenceMultiMappingTest.cpp

@@ -0,0 +1,141 @@
+/******************************************************************************
+*                 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: [email protected]                             *
+******************************************************************************/
+#include <sofa/testing/BaseSimulationTest.h>
+using sofa::testing::BaseSimulationTest;
+
+#include <SceneCreator/SceneCreator.h>
+
+#include <sofa/simulation/graph/DAGSimulation.h>
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/defaulttype/RigidTypes.h>
+#include <sofa/component/statecontainer/MechanicalObject.h>
+#include <sofa/component/topology/container/constant/MeshTopology.h>
+#include <sofa/component/mapping/testing/Multi2MappingTestCreation.h>
+
+#include <BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.h>
+#include <BeamAdapter/component/BeamInterpolation.h>
+
+namespace beamadapter::test {
+
+using namespace sofa::core;
+using namespace sofa::component;
+using sofa::type::Vec;
+using sofa::type::Mat;
+using sofa::core::objectmodel::New;
+
+
+/**  Test suite for BeamProjectionDifferenceMultiMapping.
+The test cases are defined in the #Test_Cases member group.
+  */
+template <typename _BeamProjectionDifferenceMultiMapping>
+struct BeamProjectionDifferenceMultiMappingTest : public sofa::Multi2Mapping_test<_BeamProjectionDifferenceMultiMapping>
+{
+
+    typedef _BeamProjectionDifferenceMultiMapping BeamProjectionDifferenceMultiMapping;
+    typedef sofa::Multi2Mapping_test<BeamProjectionDifferenceMultiMapping> Inherit;
+
+    typedef typename BeamProjectionDifferenceMultiMapping::In1 In1DataTypes;
+    typedef typename BeamProjectionDifferenceMultiMapping::In2 In2DataTypes;
+    typedef statecontainer::MechanicalObject<In1DataTypes> In1MechanicalObject;
+    typedef statecontainer::MechanicalObject<In2DataTypes> In2MechanicalObject;
+
+    typedef typename BeamProjectionDifferenceMultiMapping::Out OutDataTypes;
+    typedef statecontainer::MechanicalObject<OutDataTypes> OutMechanicalObject;
+
+    typedef typename In1DataTypes::VecCoord In1VecCoord;
+    typedef typename In2DataTypes::VecCoord In2VecCoord;
+    typedef typename OutDataTypes::VecCoord OutVecCoord;
+
+
+    void SetUp() override
+    {
+    }
+
+
+    BeamProjectionDifferenceMultiMapping* m_mapping;
+    sofa::component::fem::BeamInterpolation<sofa::defaulttype::Rigid3Types>* m_interpolation;
+    sofa::component::topology::container::constant::MeshTopology* m_topology;
+
+
+    BeamProjectionDifferenceMultiMappingTest()
+    {
+        this->setupScene();
+        this->errorMax = 10;
+
+        m_mapping = static_cast<BeamProjectionDifferenceMultiMapping*>( this->mapping );
+    }
+
+
+    /** @name Test_Cases
+      For each of these cases, we can test if the mapping work
+      */
+    bool test_oneBeam_twoParticles()
+    {
+        const int Nin1=1, Nin2=2;
+        this->in1Dofs.resize(Nin1);
+        this->in2Dofs.resize(Nin2);
+        this->outDofs->resize(Nin1);
+
+        // parent position
+        In1VecCoord xin1(Nin1);
+        In1DataTypes::set( xin1[0], 0.5, 0., 0.);
+
+        // the beam
+        In2VecCoord xin2(Nin2);
+        In2DataTypes::set( xin2[0], 0., 0., 0. );
+        In2DataTypes::set( xin2[1], 1., 0., 0. );
+
+        // expected mapped values
+        OutVecCoord expectedChildCoords(Nin1);
+        OutDataTypes::set( expectedChildCoords[0], 0., 0., 0.);
+
+        m_topology = sofa::modeling::addNew<sofa::component::topology::container::constant::MeshTopology>(this->parentsIn2).get();
+        m_topology->addEdge(0,1);
+        m_mapping->l_in2Topology.set(m_topology);
+        m_interpolation = sofa::modeling::addNew<sofa::component::fem::BeamInterpolation<sofa::defaulttype::Rigid3Types>>(this->parentsIn2).get();
+        m_mapping->l_interpolation.set(m_interpolation);
+        m_mapping->d_indices.setValue(sofa::vector<sofa::Index>{0});
+        sofa::type::vector<bool> directions{0, 1, 1, 0, 0, 0, 0};
+        m_mapping->d_directions.setValue(directions);
+
+        return this->runTest(sofa::vector<In1VecCoord>{xin1}, sofa::vector<In2VecCoord>{xin2}, expectedChildCoords);
+    }
+};
+
+
+
+// Define the list of types to instanciate. We do not necessarily need to test all combinations.
+using ::testing::Types;
+typedef Types<
+beamadapter::mapping::BeamProjectionDifferenceMultiMapping<sofa::defaulttype::Rigid3Types, sofa::defaulttype::Rigid3Types, sofa::defaulttype::Rigid3Types>
+> DataTypes; // the types to instanciate.
+
+// Test suite for all the instanciations
+TYPED_TEST_SUITE(BeamProjectionDifferenceMultiMappingTest, DataTypes);
+
+TYPED_TEST( BeamProjectionDifferenceMultiMappingTest, oneBeam_twoParticles )
+{
+    // child coordinates given directly in parent frame
+    ASSERT_TRUE(this->test_oneBeam_twoParticles());
+}
+
+} // namespace

CMakeLists.txt

@@ -55,6 +55,8 @@ set(HEADER_FILES
     ${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.inl
     ${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.h
     ${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.inl
+    ${BEAMADAPTER_SRC}/component/mapping/BeamProjectionDifferenceMultiMapping.h
+    ${BEAMADAPTER_SRC}/component/mapping/BeamProjectionDifferenceMultiMapping.inl
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.h
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.inl
 
@@ -94,6 +96,7 @@ set(SOURCE_FILES
 
     ${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.cpp
     ${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.cpp
+    ${BEAMADAPTER_SRC}/component/mapping/BeamProjectionDifferenceMultiMapping.cpp
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.cpp
 
     ${BEAMADAPTER_SRC}/component/model/BaseRodSectionMaterial.cpp

examples/python3/component/BeamProjectionDifferenceMultiMapping.py

@@ -0,0 +1,87 @@
+def createScene(rootnode):
+    settings = rootnode.addChild('Settings')
+    settings.addObject('RequiredPlugin', name='BeamAdapter')  # Needed to use components [BeamProjectionDifferenceMultiMapping]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop')  # Needed to use components [FreeMotionAnimationLoop]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction')  # Needed to use components [GenericConstraintCorrection]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver')  # Needed to use components [GenericConstraintSolver]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective')  # Needed to use components [FixedConstraint]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')  # Needed to use components [SparseLDLSolver]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.Mass')  # Needed to use components [UniformMass]  
+    settings.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward')  # Needed to use components [EulerImplicitSolver]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.Spring')  # Needed to use components [RestShapeSpringsForceField]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')  # Needed to use components [MechanicalObject]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Dynamic')  # Needed to use components [EdgeSetTopologyContainer,PointSetTopologyContainer]
+    settings.addObject('RequiredPlugin', name='Sofa.Component.Visual')  # Needed to use components [VisualStyle]  
+    settings.addObject('RequiredPlugin', name='Sofa.GUI.Component')  # Needed to use components [AttachBodyButtonSetting]
+
+    rootnode.addObject('VisualStyle', displayFlags='showBehavior showVisual')
+    rootnode.addObject('AttachBodyButtonSetting', stiffness=0.1)
+    rootnode.gravity.value = [0, -9810, 0]
+    rootnode.dt.value = 0.01
+
+    rootnode.addObject('FreeMotionAnimationLoop')
+    rootnode.addObject('GenericConstraintSolver', maxIterations=1000, tolerance=1e-3)
+
+    simulation = rootnode.addChild('Simulation')
+    simulation.addObject('EulerImplicitSolver')
+    simulation.addObject('SparseLDLSolver', template='CompressedRowSparseMatrixMat3x3d')
+    simulation.addObject('GenericConstraintCorrection')
+
+    # Beam
+    nbEdges = 3
+    beam = simulation.addChild('Beam')
+    beam.addObject('EdgeSetTopologyContainer', edges=[[i, i + 1] for i in range(nbEdges)])
+    beam.addObject('MechanicalObject', template='Rigid3',
+                   position=[[100 * i, 0, 0, 0, 0, 0, 1] for i in range(nbEdges + 1)])
+    beam.addObject('AdaptiveBeamForceFieldAndMass', massDensity=1e-6)
+    beam.addObject('BeamInterpolation', straight=False, dofsAndBeamsAligned=False,
+                   defaultYoungModulus=1e5)
+
+    # Particles
+    particles = simulation.addChild('Particles')
+    particles.addObject('PointSetTopologyContainer')
+    particles.addObject('MechanicalObject', template='Rigid3', showObject=True, showObjectScale=30, drawMode=1,
+                        position=[[0, 0, 0, 0, 0, 0, 1], [80, 0, 0, 0, 0, 0, 1], [150, 0, 0, 0, 0, 0, 1]])
+    particles.addObject('UniformMass', totalMass=0.005)
+    particles.addObject('FixedConstraint', indices=[0, 2])  # Fix first and last particles
+
+    # This will constrain the first particle and its projection on the beam to remain attached together
+    fixing = particles.addChild('FixingConstraintParticle1')
+    beam.addChild(fixing)
+    fixing.addObject('MechanicalObject', template='Rigid3', position=[0, 0, 0, 0, 0, 0, 0])
+    fixing.addObject('RestShapeSpringsForceField', stiffness=1e6, angularStiffness=1e6)
+    fixing.addObject('BeamProjectionDifferenceMultiMapping',
+                     directions=[1, 1, 1, 1, 1, 1, 1],  # The three positions and rotations
+                     input1=particles.getMechanicalState().linkpath,
+                     indicesInput1=[0],
+                     input2=beam.getMechanicalState().linkpath,
+                     interpolationInput2=beam.BeamInterpolation.linkpath,
+                     output=fixing.getMechanicalState().linkpath)
+
+    # This will constrain the second particle to slide along the beam, and it will also constrain the orientation
+    # of the beam and the particle to remain the same
+    sliding = particles.addChild('SlidingConstraintParticle2')
+    beam.addChild(sliding)
+    sliding.addObject('MechanicalObject', template='Rigid3', position=[0, 0, 0, 0, 0, 0, 0])
+    sliding.addObject('RestShapeSpringsForceField', stiffness=1e6, angularStiffness=0)
+    sliding.addObject('BeamProjectionDifferenceMultiMapping',
+                      directions=[0, 1, 1, 1, 1, 1, 1],  # Only y, z positions to allow the particle to slide on the beam
+                      # but this time we add the three rotations
+                      input1=particles.getMechanicalState().linkpath,
+                      indicesInput1=[1],
+                      input2=beam.getMechanicalState().linkpath,
+                      interpolationInput2=beam.BeamInterpolation.linkpath,
+                      output=sliding.getMechanicalState().linkpath)
+
+    # This will constrain the third particle to slide along the beam
+    sliding = particles.addChild('SlidingConstraintParticle3')
+    beam.addChild(sliding)
+    sliding.addObject('MechanicalObject', template='Rigid3', position=[0, 0, 0, 0, 0, 0, 0])
+    sliding.addObject('RestShapeSpringsForceField', stiffness=1e6, angularStiffness=1e6)
+    sliding.addObject('BeamProjectionDifferenceMultiMapping',
+                      directions=[0, 1, 1, 0, 0, 0, 0],  # Only y, z positions to allow the particle to slide on the beam
+                      input1=particles.getMechanicalState().linkpath,
+                      indicesInput1=[2],
+                      input2=beam.getMechanicalState().linkpath,
+                      interpolationInput2=beam.BeamInterpolation.linkpath,
+                      output=sliding.getMechanicalState().linkpath)

src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.cpp

@@ -0,0 +1,43 @@
+/******************************************************************************
+*                              BeamAdapter plugin                             *
+*                  (c) 2006 Inria, University of Lille, CNRS                  *
+*                                                                             *
+* 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: see Authors.md                                                     *
+*                                                                             *
+* Contact information: [email protected]                             *
+******************************************************************************/
+//
+// Author: Eulalie Coevoet
+//
+// Copyright: See COPYING file that comes with this distribution
+
+#define BEAMADAPTER_MAPPING_BEAMPROJECTIONDIFFERENCEMULTIMAPPING_CPP
+
+#include <BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl>
+
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/core/ObjectFactory.h>
+
+namespace beamadapter::mapping
+{
+
+using namespace sofa::defaulttype;
+
+// Register in the Factory
+int BeamProjectionDifferenceMultiMappingClass = sofa::core::RegisterObject("Computes the difference between given points and their projection on a beam.")
+        .add< BeamProjectionDifferenceMultiMapping< Rigid3Types, Rigid3Types, Rigid3Types > >();
+
+} // namespace