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Fix compilation
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@epernod
epernod committed May 13, 2024
1 parent dc206ed commit 93f790d
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Showing 4 changed files with 62 additions and 59 deletions.
5 changes: 3 additions & 2 deletions src/BeamAdapter/component/BeamInterpolation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,8 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
using VecElementID = type::vector<BaseMeshTopology::EdgeID>;
using VecEdges = type::vector<BaseMeshTopology::Edge>;

using BaseBeamInterpolation<DataTypes>::d_componentState;
using BeamSection = sofa::beamadapter::BeamSection;
using BaseBeamInterpolation<DataTypes>::d_componentState;
public:
BeamInterpolation() ;
virtual ~BeamInterpolation() override = default;
Expand All @@ -112,7 +113,7 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
"' found in the context node.");
return false;
}
return BaseObject::canCreate(obj, context, arg);
return sofa::core::objectmodel::BaseObject::canCreate(obj, context, arg);
}

////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
102 changes: 51 additions & 51 deletions src/BeamAdapter/component/BeamInterpolation.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -131,9 +131,9 @@ void BeamInterpolation<DataTypes>::init()
template <class DataTypes>
void BeamInterpolation<DataTypes>::bwdInit()
{
BaseBeamInterpolation::bwdInit();
BaseBeamInterpolation<DataTypes>::bwdInit();

Size nbEdges = m_topology->getNbEdges();
Size nbEdges = this->m_topology->getNbEdges();
auto youngModulus = sofa::helper::getWriteOnlyAccessor(d_defaultYoungModulus);
if (youngModulus.size() != nbEdges)
{
Expand Down Expand Up @@ -167,16 +167,16 @@ void BeamInterpolation<DataTypes>::bwdInit()

if (!interpolationIsAlreadyInitialized())
{
auto edgeList = sofa::helper::getWriteOnlyAccessor(d_edgeList);
auto edgeList = sofa::helper::getWriteOnlyAccessor(this->d_edgeList);
edgeList.clear();

for (unsigned int i=0; i<m_topology->getNbEdges(); i++)
for (unsigned int i=0; i<this->m_topology->getNbEdges(); i++)
{
edgeList.push_back(i);
}

auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(d_DOF1TransformNode1);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(this->d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(this->d_DOF1TransformNode1);

if (!d_dofsAndBeamsAligned.getValue())
{
Expand All @@ -189,7 +189,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
lengthList.clear();

const unsigned int edgeListSize = d_edgeList.getValue().size();
const unsigned int edgeListSize = this->d_edgeList.getValue().size();
unsigned int nd0Id=0, nd1Id=0;


Expand All @@ -199,7 +199,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
//// Copute the distance between beam nodes to obtain a first value for the beam length
// Indeed the function "computeActualLength" needs a first approximation of this length

getNodeIndices(i, nd0Id, nd1Id);
this->getNodeIndices(i, nd0Id, nd1Id);

if(this->d_dofsAndBeamsAligned.getValue())
{
Expand All @@ -213,7 +213,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
// this transforamtion is given by global_H_local0 for node 0 (and dof0)
// and global_H_local1 for node 1 (and dof1)
Transform global_H_local0, global_H_local1;
computeTransform(i, nd0Id, nd1Id, global_H_local0, global_H_local1, statePos.ref());
this->computeTransform(i, nd0Id, nd1Id, global_H_local0, global_H_local1, statePos.ref());
Vec3 beam_segment = global_H_local1.getOrigin() - global_H_local0.getOrigin();
lengthList.push_back(beam_segment.norm());

Expand All @@ -225,11 +225,11 @@ void BeamInterpolation<DataTypes>::bwdInit()
for (unsigned it=0; it<3; it++){
// now that we have an approximation of the length, we can estimate the position of the spline control point;
Vec3 P0,P1,P2,P3;
getSplinePoints(i, statePos.ref(), P0, P1, P2, P3);
this->getSplinePoints(i, statePos.ref(), P0, P1, P2, P3);

// and we can compute more precisely the length
Real ActualLength;
computeActualLength(ActualLength,P0,P1,P2,P3);
this->computeActualLength(ActualLength,P0,P1,P2,P3);
lengthList[i]=ActualLength;
}

Expand Down Expand Up @@ -272,18 +272,18 @@ void BeamInterpolation<DataTypes>::reset()
template<class DataTypes>
bool BeamInterpolation<DataTypes>::interpolationIsAlreadyInitialized()
{
if (d_edgeList.getValue().size() == 0)
if (this->d_edgeList.getValue().size() == 0)
return false;

const unsigned int nbEdges = d_edgeList.getValue().size();
const unsigned int nbEdges = this->d_edgeList.getValue().size();

if (d_DOF0TransformNode0.getValue().size() != nbEdges)
if (this->d_DOF0TransformNode0.getValue().size() != nbEdges)
return false;

if (d_DOF1TransformNode1.getValue().size() != nbEdges)
if (this->d_DOF1TransformNode1.getValue().size() != nbEdges)
return false;

if (d_lengthList.getValue().size() != nbEdges)
if (this->d_lengthList.getValue().size() != nbEdges)
return false;

return true;
Expand All @@ -296,16 +296,16 @@ template<class DataTypes>
bool BeamInterpolation<DataTypes>::verifyTopology()
{
//TODO(dmarchal) This contains "code" specific slang that cannot be understood by user.
dmsg_info() << "The vector _topologyEdges is now set with " << m_topologyEdges->size() << " edges" ;
dmsg_info() << "The vector _topologyEdges is now set with " << this->m_topologyEdges->size() << " edges" ;


const VecElementID &edgeList = d_edgeList.getValue();
const VecElementID &edgeList = this->d_edgeList.getValue();
for (unsigned int j = 0; j < edgeList.size(); j++)
{
if(edgeList[j] > m_topologyEdges->size())
if(edgeList[j] > this->m_topologyEdges->size())
{
msg_error() << "The provided edge index '" << edgeList[j] << "'is larger than '"
<< m_topologyEdges->size() << "' the amount of edges in the topology. " ;
<< this->m_topologyEdges->size() << "' the amount of edges in the topology. " ;
return false;
}
}
Expand All @@ -317,11 +317,11 @@ bool BeamInterpolation<DataTypes>::verifyTopology()
template<class DataTypes>
void BeamInterpolation<DataTypes>::clear()
{
auto edgeList = sofa::helper::getWriteOnlyAccessor(d_edgeList);
auto lengthList = sofa::helper::getWriteOnlyAccessor(d_lengthList);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(d_DOF1TransformNode1);
auto curvAbsList = sofa::helper::getWriteOnlyAccessor(d_curvAbsList);
auto edgeList = sofa::helper::getWriteOnlyAccessor(this->d_edgeList);
auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(this->d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(this->d_DOF1TransformNode1);
auto curvAbsList = sofa::helper::getWriteOnlyAccessor(this->d_curvAbsList);

edgeList.clear();
lengthList.clear();
Expand All @@ -334,11 +334,11 @@ void BeamInterpolation<DataTypes>::clear()
template<class DataTypes>
void BeamInterpolation<DataTypes>::addBeam(const BaseMeshTopology::EdgeID &eID , const Real &length, const Real &x0, const Real &x1, const Real &angle)
{
auto edgeList = sofa::helper::getWriteOnlyAccessor(d_edgeList);
auto lengthList = sofa::helper::getWriteOnlyAccessor(d_lengthList);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(d_DOF1TransformNode1);
auto curvAbsList = sofa::helper::getWriteOnlyAccessor(d_curvAbsList);
auto edgeList = sofa::helper::getWriteOnlyAccessor(this->d_edgeList);
auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(this->d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(this->d_DOF1TransformNode1);
auto curvAbsList = sofa::helper::getWriteOnlyAccessor(this->d_curvAbsList);

curvAbsList.push_back(Vec2(x0, x1));

Expand Down Expand Up @@ -369,7 +369,7 @@ template <class DataTypes>
typename BeamInterpolation<DataTypes>::Real BeamInterpolation<DataTypes>::getRestTotalLength()
{
Real le(0.0);
const type::vector< double > &lengthList = d_lengthList.getValue();
const type::vector< double > &lengthList = this->d_lengthList.getValue();

for (unsigned int i = 0; i < lengthList.size(); i++)
le += lengthList[i];
Expand Down Expand Up @@ -415,20 +415,20 @@ void BeamInterpolation<DataTypes>::getYoungModulusAtX(int beamId, Real& /*x_curv
template <class DataTypes>
void BeamInterpolation<DataTypes>::setTransformBetweenDofAndNode(int beam, const Transform &DOF_H_Node, unsigned int zeroORone )
{
if (beam > int(d_DOF0TransformNode0.getValue().size()-1) || beam > int(d_DOF1TransformNode1.getValue().size()-1))
if (beam > int(this->d_DOF0TransformNode0.getValue().size()-1) || beam > int(this->d_DOF1TransformNode1.getValue().size()-1))
{
msg_error()<<"WARNING setTransformBetweenDofAndNode on non existing beam";
return;
}

if (!zeroORone)
{
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(d_DOF0TransformNode0);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(this->d_DOF0TransformNode0);
DOF0TransformNode0[beam] = DOF_H_Node;
}
else
{
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(d_DOF1TransformNode1);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(this->d_DOF1TransformNode1);
DOF1TransformNode1[beam] = DOF_H_Node;
}
}
Expand All @@ -441,17 +441,17 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis
{
/// the beam is straight: local is in the middle of local0 and local1
/// the transformation between local0 and local1 is provided by the length of the beam
local_H_local0_rest.set(-Vec3(d_lengthList.getValue()[edgeInList]/2,0,0), Quat());
local_H_local1_rest.set(Vec3(d_lengthList.getValue()[edgeInList]/2,0,0), Quat());
local_H_local0_rest.set(-Vec3(this->d_lengthList.getValue()[edgeInList]/2,0,0), Quat());
local_H_local1_rest.set(Vec3(this->d_lengthList.getValue()[edgeInList]/2,0,0), Quat());
}
else
{
MechanicalState<DataTypes>* state = dynamic_cast<MechanicalState<DataTypes>*>(getContext()->getMechanicalState());
MechanicalState<DataTypes>* state = dynamic_cast<MechanicalState<DataTypes>*>(this->getContext()->getMechanicalState());

if(state)
{
unsigned int node0Id, node1Id;
getNodeIndices(edgeInList,node0Id,node1Id);
this->getNodeIndices(edgeInList,node0Id,node1Id);

Coord global_0 = state->read(core::VecCoordId::restPosition())->getValue()[node0Id];
Coord global_1 = state->read(core::VecCoordId::restPosition())->getValue()[node1Id];
Expand All @@ -460,17 +460,17 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis
Transform global_H_DOF1 = Transform(global_1.getCenter(),global_1.getOrientation());

Transform DOF0_H_local0, DOF1_H_local1;
getDOFtoLocalTransform(edgeInList, DOF0_H_local0, DOF1_H_local1);
this->getDOFtoLocalTransform(edgeInList, DOF0_H_local0, DOF1_H_local1);

Transform global_H_local_0 = global_H_DOF0*DOF0_H_local0;
Transform global_H_local_1 = global_H_DOF1*DOF1_H_local1;


Transform global_H_local_middle;
Real baryX = 0.5;
Real L = getLength(edgeInList);
Real L = this->getLength(edgeInList);

InterpolateTransformUsingSpline(global_H_local_middle, baryX, global_H_local_0, global_H_local_1, L);
this->InterpolateTransformUsingSpline(global_H_local_middle, baryX, global_H_local_0, global_H_local_1, L);

local_H_local0_rest = global_H_local_middle.inversed() * global_H_local_0;
local_H_local1_rest = global_H_local_middle.inversed() * global_H_local_1;
Expand All @@ -486,7 +486,7 @@ void BeamInterpolation<DataTypes>::getInterpolationParam(unsigned int edgeInList
Real &_Iz, Real &_Asy, Real &_Asz, Real &_J)
{
/// get the length of the beam:
_L = d_lengthList.getValue()[edgeInList];
_L = this->d_lengthList.getValue()[edgeInList];

BeamSection bS = getBeamSection(edgeInList);
_A=bS._A;
Expand All @@ -506,7 +506,7 @@ void BeamInterpolation<DataTypes>::getTangentUsingSplinePoints(unsigned int edge
const ConstVecCoordId &vecXId, Vec3& t )
{

const VectorVec3& splinePos = m_StateNodes->read(vecXId)->getValue();
const VectorVec3& splinePos = this->m_StateNodes->read(vecXId)->getValue();
Vec3 P0,P1,P2,P3;

P0=splinePos[edgeInList*4];
Expand Down Expand Up @@ -558,16 +558,16 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){
if(d_vecID.getValue().getSelectedItem() == "current")
{
dmsg_info() <<" position " << msgendl
<< " ="<< m_mstate->read( core::ConstVecCoordId::position() )->getValue( ) ;
x=m_mstate->read( core::ConstVecCoordId::position() );
<< " ="<< this->m_mstate->read( core::ConstVecCoordId::position() )->getValue( ) ;
x=this->m_mstate->read( core::ConstVecCoordId::position() );
}
else if(d_vecID.getValue().getSelectedItem() == "free")
{
x=m_mstate->read( core::ConstVecCoordId::freePosition() ) ;
x=this->m_mstate->read( core::ConstVecCoordId::freePosition() ) ;
}
else /// rest position
{
x=m_mstate->read( core::ConstVecCoordId::restPosition() ) ;
x=this->m_mstate->read( core::ConstVecCoordId::restPosition() ) ;
computeVel = false;
}

Expand All @@ -581,20 +581,20 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){

/// convert position (RigidTypes) in Transform
Transform global_H_local0, global_H_local1;
computeTransform(numBeam, global_H_local0, global_H_local1, x->getValue() );
this->computeTransform(numBeam, global_H_local0, global_H_local1, x->getValue() );

/// compute the length of the spline
Vec3 P0,P1,P2,P3;
getSplinePoints(numBeam, x->getValue() , P0, P1, P2, P3);
this->getSplinePoints(numBeam, x->getValue() , P0, P1, P2, P3);
Real length;
computeActualLength(length,P0,P1,P2,P3);
this->computeActualLength(length,P0,P1,P2,P3);

/// get the result of the transform:
Transform global_H_localResult;

if(computeVel)
{
InterpolateTransformUsingSpline(global_H_localResult,baryCoord,global_H_local0,global_H_local1,length);
this->InterpolateTransformUsingSpline(global_H_localResult,baryCoord,global_H_local0,global_H_local1,length);
}
// else
// {
Expand Down
2 changes: 2 additions & 0 deletions src/BeamAdapter/component/WireBeamInterpolation.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,8 @@ class WireBeamInterpolation : public BaseBeamInterpolation<DataTypes>
typedef typename Inherited::Vec3 Vec3;
typedef typename Inherited::Quat Quat;

using BeamSection = sofa::beamadapter::BeamSection;

WireBeamInterpolation(sofa::component::engine::WireRestShape<DataTypes> *_restShape = nullptr);

virtual ~WireBeamInterpolation() = default;
Expand Down
12 changes: 6 additions & 6 deletions src/BeamAdapter/component/WireBeamInterpolation.inl
View file
Original file line number Diff line number Diff line change
Expand Up @@ -166,7 +166,7 @@ template<class DataTypes>
void WireBeamInterpolation<DataTypes>::getInterpolationParam(unsigned int edgeInList, Real& _L, Real& _A, Real& _Iy, Real& _Iz,
Real& _Asy, Real& _Asz, Real& _J)
{
_L = d_lengthList.getValue()[edgeInList];
_L = this->d_lengthList.getValue()[edgeInList];
Real _rho;
Real x_curv = 0;
this->getAbsCurvXFromBeam(edgeInList, x_curv);
Expand Down Expand Up @@ -300,12 +300,12 @@ void WireBeamInterpolation<DataTypes>::getBeamAtCurvAbs(const Real& x_input, uns
/// LTotal = length sum of the beams that are "out"
Real LTotal = 0.0;

const unsigned int edgeListSize = d_edgeList.getValue().size();
const unsigned int edgeListSize = this->d_edgeList.getValue().size();

/// we find the length of the beam that is "out"
for (unsigned int e = start; e < edgeListSize; e++)
{
LTotal += getLength(e);
LTotal += this->getLength(e);
}

/// x_i = abs_curv from the begining of the instrument
Expand All @@ -323,12 +323,12 @@ void WireBeamInterpolation<DataTypes>::getBeamAtCurvAbs(const Real& x_input, uns

for (unsigned int e = start; e < edgeListSize; e++)
{
x += getLength(e);
x += this->getLength(e);
if (x > x_i)
{
edgeInList_output = e;
Real x0 = x - getLength(e);
baryCoord_output = (x_i - x0) / getLength(e);
Real x0 = x - this->getLength(e);
baryCoord_output = (x_i - x0) / this->getLength(e);
return;
}
}
Expand Down

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