Add RodSectionMaterial classes to be used in WireRestShape

CMakeLists.txt

@@ -58,10 +58,19 @@ set(HEADER_FILES
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.h
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.inl
 
+    ${BEAMADAPTER_SRC}/component/model/BaseRodSectionMaterial.h
+    ${BEAMADAPTER_SRC}/component/model/BaseRodSectionMaterial.inl
+    ${BEAMADAPTER_SRC}/component/model/RodMeshSection.h
+    ${BEAMADAPTER_SRC}/component/model/RodMeshSection.inl
+    ${BEAMADAPTER_SRC}/component/model/RodSpireSection.h
+    ${BEAMADAPTER_SRC}/component/model/RodSpireSection.inl
+    ${BEAMADAPTER_SRC}/component/model/RodStraightSection.h
+    ${BEAMADAPTER_SRC}/component/model/RodStraightSection.inl
+
     ${BEAMADAPTER_SRC}/utils/BeamSection.h
     ${BEAMADAPTER_SRC}/utils/BeamActions.h
     ${BEAMADAPTER_SRC}/utils/deprecatedcomponent.h
-    )
+)
 
 set(SOURCE_FILES
     ${BEAMADAPTER_SRC}/initBeamAdapter.cpp
@@ -86,7 +95,12 @@ set(SOURCE_FILES
     ${BEAMADAPTER_SRC}/component/mapping/AdaptiveBeamMapping.cpp
     ${BEAMADAPTER_SRC}/component/mapping/BeamLengthMapping.cpp
     ${BEAMADAPTER_SRC}/component/mapping/MultiAdaptiveBeamMapping.cpp
-    )
+
+    ${BEAMADAPTER_SRC}/component/model/BaseRodSectionMaterial.cpp
+    ${BEAMADAPTER_SRC}/component/model/RodMeshSection.cpp
+    ${BEAMADAPTER_SRC}/component/model/RodSpireSection.cpp
+    ${BEAMADAPTER_SRC}/component/model/RodStraightSection.cpp
+)
 
 if(SofaImplicitField_FOUND)
     set(HEADER_FILES ${HEADER_FILES}

src/BeamAdapter/component/engine/WireRestShape.h

@@ -97,10 +97,10 @@ class WireRestShape : public core::objectmodel::BaseObject
      void getRestTransformOnX(Transform &global_H_local, const Real &x);
 
      /// This function gives the Young modulus and Poisson's coefficient of the beam depending on the beam position
-     void getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson);
+     void getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson) const;
 
      /// This function gives the mass density and the BeamSection data depending on the beam position
-     void getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J);
+     void getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J) const;
 
      /**
       * This function provides a type::vector with the curviliar abscissa of the noticeable point(s) 

src/BeamAdapter/component/engine/WireRestShape.inl

@@ -431,7 +431,7 @@ void WireRestShape<DataTypes>::getRestTransformOnX(Transform &global_H_local, co
 
 
 template <class DataTypes>
-void WireRestShape<DataTypes>::getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson)
+void WireRestShape<DataTypes>::getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson) const
 {
     //Initialization
     Real _E1, _E2;
@@ -462,7 +462,7 @@ void WireRestShape<DataTypes>::getYoungModulusAtX(const Real& x_curv, Real& youn
 
 
 template <class DataTypes>
-void WireRestShape<DataTypes>::getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J)
+void WireRestShape<DataTypes>::getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J) const
 {
     if(x_curv <= this->d_straightLength.getValue())
     {

src/BeamAdapter/component/model/BaseRodSectionMaterial.cpp

@@ -0,0 +1,34 @@
+/******************************************************************************
+*                              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]                             *
+******************************************************************************/
+#define SOFA_PLUGIN_BEAMADAPTER_BASERODSECTIONMATERIAL_CPP
+
+#include <BeamAdapter/component/model/BaseRodSectionMaterial.inl>
+#include <sofa/defaulttype/RigidTypes.h>
+
+namespace sofa::beamadapter
+{
+
+using namespace sofa::defaulttype;
+
+template class SOFA_BEAMADAPTER_API BaseRodSectionMaterial<Rigid3Types>;
+
+}// namespace sofa::beamadapter

src/BeamAdapter/component/model/BaseRodSectionMaterial.h

@@ -0,0 +1,122 @@
+/******************************************************************************
+*                              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]                             *
+******************************************************************************/
+#pragma once
+
+#include <BeamAdapter/config.h>
+#include <BeamAdapter/utils/BeamSection.h>
+#include <sofa/defaulttype/SolidTypes.h>
+#include <sofa/core/objectmodel/BaseObject.h>
+#include <sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h>
+#include <sofa/core/loader/MeshLoader.h>
+
+namespace sofa::beamadapter
+{
+
+using sofa::core::loader::MeshLoader;
+
+/**
+ * \class BaseRodSectionMaterial
+ * \brief Base class describing a Rod section which will define a set of beam elements.
+ *  
+ * This class provide an api to define a rod/wire section using physical and geometry parameters.
+ * The section will then be modellized by a set of beam elements. Inheriting class should provide the geometry structure:
+ * @sa RodMeshSection to define a rod using a mesh file, @sa RodSpireSection or @sa RodStraightSection to define procedural shapes.
+ * Method @sa initSection and @sa getRestTransformOnX should be overriden to provide the correct creation and interpolation.
+ * 
+ * The rod section is described by:
+ * - Topology parameters: vertices and edges @sa d_nbEdgesVisu and @sa d_nbEdgesCollis
+ * - Geometry parameters: radius @sa d_radius, @sa d_innerRadius and length @sa d_length
+ * - Mechanical parameters: @sa d_poissonRatio and @sa d_youngModulus
+ */
+template <class DataTypes>
+class BaseRodSectionMaterial : public core::objectmodel::BaseObject
+{
+public:
+    SOFA_CLASS(SOFA_TEMPLATE(BaseRodSectionMaterial, DataTypes), core::objectmodel::BaseObject);
+
+    using Coord = typename DataTypes::Coord;
+    using Real = typename Coord::value_type;
+    using Transform = typename sofa::defaulttype::SolidTypes<Real>::Transform;
+    using Vec3 = sofa::type::Vec<3, Real>;
+    using Quat = sofa::type::Quat<Real>;
+    using Size = sofa::Size;
+
+    /////////////////////////// Inherited from BaseObject //////////////////////////////////////////
+
+    /// Default Constructor
+    BaseRodSectionMaterial();
+
+    /// init method from BaseObject API. Will call internal @see initSection to be overriden by children
+    void init() override;
+
+
+    /////////////////////////// Geometry and physics Getter //////////////////////////////////////////
+
+    /// Returns the number of visual edges of this section. To be set or computed by child.
+    [[nodiscard]] int getNbVisualEdges() const { return d_nbEdgesVisu.getValue(); }
+
+    /// Returns the number of collision edges of this section. To be set or computed by child.
+    [[nodiscard]] int getNbCollisionEdges() const { return d_nbEdgesCollis.getValue(); }
+
+    /// Returns the total length of this section. To be set or computed by child.
+    [[nodiscard]] Real getLength() const { return d_length.getValue(); }
+
+    /// Returns the Young modulus and Poisson's coefficient of this section
+    void getYoungModulusAtX(Real& youngModulus, Real& cPoisson) const;
+
+    /// Returns the mass density and the BeamSection of this section
+    void getInterpolationParam(Real& _rho, Real& _A, Real& _Iy, Real& _Iz, Real& _Asy, Real& _Asz, Real& _J) const;
+
+    /// This function is called to get the rest position of the beam depending on the current curved abscisse given in parameter 
+    virtual void getRestTransformOnX(Transform& global_H_local, const Real& x_used, const Real& x_start)
+    {
+        SOFA_UNUSED(global_H_local);
+        SOFA_UNUSED(x_used);
+        SOFA_UNUSED(x_start);
+    }
+
+protected:
+    /// Internal method to init the section. to be overidden by child.
+    virtual bool initSection() { return false; }
+
+public:
+    Data<Real> d_poissonRatio; ///< Data defining the mehcanical Poisson ratio of this section
+    Data<Real> d_youngModulus; ///< Data defining the mehcanical Young Modulus of this section
+    Data<Real> d_massDensity; ///< Data defining the mehcanical mass density of this section
+
+    Data<Real> d_radius; ///< Data defining the geometry radius of this section
+    Data<Real> d_innerRadius; ///< Data defining the geometry internal radius of this section is hollow 
+    Data<Real> d_length; ///< Data defining the geometry length of this section
+
+    Data<Size> d_nbEdgesVisu; ///< Data defining the number of visual edges composing this section
+    Data<Size> d_nbEdgesCollis; ///< Data defining the number of collision edges composing this section
+
+private:
+    /// Internal structure to store physical parameter of the a beam section
+    BeamSection beamSection;
+};
+
+#if !defined(SOFA_PLUGIN_BEAMADAPTER_BASERODSECTIONMATERIAL_CPP)
+extern template class SOFA_BEAMADAPTER_API BaseRodSectionMaterial<sofa::defaulttype::Rigid3Types>;
+#endif
+
+} // namespace sofa::beamadapter

src/BeamAdapter/component/model/BaseRodSectionMaterial.inl

@@ -0,0 +1,96 @@
+/******************************************************************************
+*                              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]                             *
+******************************************************************************/
+#pragma once
+
+#include <BeamAdapter/component/model/BaseRodSectionMaterial.h>
+
+namespace sofa::beamadapter
+{
+
+template <class DataTypes>
+BaseRodSectionMaterial<DataTypes>::BaseRodSectionMaterial()
+    : d_poissonRatio(initData(&d_poissonRatio, (Real)0.49, "poissonRatio", "Poisson Ratio of this section"))
+    , d_youngModulus(initData(&d_youngModulus, (Real)5000, "youngModulus", "Young Modulus of this section"))
+    , d_massDensity(initData(&d_massDensity, (Real)1.0, "massDensity", "Density of the mass (usually in kg/m^3)"))
+    , d_radius(initData(&d_radius, (Real)1.0, "radius", "Full radius of this section"))
+    , d_innerRadius(initData(&d_innerRadius, (Real)0.0, "innerRadius", "Inner radius of this section if hollow"))   
+    , d_length(initData(&d_length, (Real)1.0, "length", "Total length of this section"))
+    , d_nbEdgesVisu(initData(&d_nbEdgesVisu, (Size)10, "nbEdgesVisu", "number of Edges for the visual model"))
+    , d_nbEdgesCollis(initData(&d_nbEdgesCollis, (Size)20, "nbEdgesCollis", "number of Edges for the collision model"))
+{
+
+}
+
+
+template <class DataTypes>
+void BaseRodSectionMaterial<DataTypes>::init()
+{
+    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Loading);
+
+    // Prepare beam sections
+    double r = this->d_radius.getValue();
+    double rInner = this->d_innerRadius.getValue();
+    this->beamSection._r = r;
+    this->beamSection._rInner = rInner;
+    this->beamSection._Iz = M_PI * (r * r * r * r - rInner * rInner * rInner * rInner) / 4.0;
+    this->beamSection._Iy = this->beamSection._Iz;
+    this->beamSection._J = this->beamSection._Iz + this->beamSection._Iy;
+    this->beamSection._A = M_PI * (r * r - rInner * rInner);
+    this->beamSection._Asy = 0.0;
+    this->beamSection._Asz = 0.0;
+
+    // call delegate method to init the section
+    bool res = initSection();
+
+    if (res)
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
+    else
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+}
+
+
+template <class DataTypes>
+void BaseRodSectionMaterial<DataTypes>::getYoungModulusAtX(Real& youngModulus, Real& cPoisson) const
+{
+    youngModulus = this->d_youngModulus.getValue();
+    cPoisson = this->d_poissonRatio.getValue();
+}
+
+
+template <class DataTypes>
+void BaseRodSectionMaterial<DataTypes>::getInterpolationParam(Real& _rho, Real& _A, Real& _Iy, Real& _Iz, Real& _Asy, Real& _Asz, Real& _J) const
+{
+    if (d_massDensity.isSet())
+        _rho = d_massDensity.getValue();
+
+    if (d_radius.isSet())
+    {
+        _A = beamSection._A;
+        _Iy = beamSection._Iy;
+        _Iz = beamSection._Iz;
+        _Asy = beamSection._Asy;
+        _Asz = beamSection._Asz;
+        _J = beamSection._J;
+    }
+}
+
+} // namespace sofa::beamadapter

src/BeamAdapter/component/model/RodMeshSection.cpp

@@ -0,0 +1,39 @@
+/******************************************************************************
+*                              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]                             *
+******************************************************************************/
+#define SOFA_PLUGIN_BEAMADAPTER_RODMESHSECTION_CPP
+
+#include <BeamAdapter/component/model/RodMeshSection.inl>
+#include <BeamAdapter/component/model/BaseRodSectionMaterial.inl>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/defaulttype/RigidTypes.h>
+
+namespace sofa::beamadapter
+{
+
+using namespace sofa::defaulttype;
+
+const int RodMeshSectionClass = core::RegisterObject("Class defining a Rod Section using a MeshLoader and material parameters.")
+    .add< RodMeshSection<Rigid3Types> >(true);
+
+template class SOFA_BEAMADAPTER_API RodMeshSection<Rigid3Types>;
+
+}// namespace sofa::beamadapter