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[GUI.Component] ConstraintAttachBodyPerformer: Add RigidType support #4801

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merged 4 commits into from
Jul 25, 2024
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[GUI.Component] ConstraintAttachBodyPerformer: Add RigidType support #4801

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2750fde
add support of rigid type for the bilateralconstraitperformer
fredroy Jul 1, 2024
5406308
add code to eventually keep the rotation, but this option is disabled…
fredroy Jul 18, 2024
2255330
add init/bwdinit to take into account orientation (but still disabled)
fredroy Jul 18, 2024
28c9201
Merge branch 'master' into add_bilateralconstraitperformer_rigid
hugtalbot Jul 25, 2024
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5 changes: 4 additions & 1 deletion Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,4 +34,7 @@ namespace sofa::gui::component::performer
template class SOFA_GUI_COMPONENT_API ConstraintAttachBodyPerformer<defaulttype::Vec3Types>;
helper::Creator<InteractionPerformer::InteractionPerformerFactory, ConstraintAttachBodyPerformer<defaulttype::Vec3Types> > ConstraintAttachBodyPerformerVec3dClass("ConstraintAttachBody",true);

} // namespace sofa::gui::component::performer
template class SOFA_GUI_COMPONENT_API ConstraintAttachBodyPerformer<defaulttype::RigidTypes>;
helper::Creator<InteractionPerformer::InteractionPerformerFactory, ConstraintAttachBodyPerformer<defaulttype::RigidTypes> > ConstraintAttachBodyPerformerRigidClass("ConstraintAttachBody",true);

} // namespace sofa::gui::component::performer
1 change: 1 addition & 0 deletions Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.h
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Expand Up @@ -53,6 +53,7 @@ class ConstraintAttachBodyPerformer: public BaseAttachBodyPerformer<DataTypes>

#if !defined(SOFA_COMPONENT_COLLISION_CONSTRAINTATTACHBODYPERFORMER_CPP)
extern template class SOFA_GUI_COMPONENT_API ConstraintAttachBodyPerformer<defaulttype::Vec3Types>;
extern template class SOFA_GUI_COMPONENT_API ConstraintAttachBodyPerformer<defaulttype::RigidTypes>;
#endif

} // namespace sofa::gui::component::performer
42 changes: 30 additions & 12 deletions Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl
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Expand Up @@ -25,6 +25,7 @@
#include <sofa/core/visual/VisualParams.h>
#include <sofa/core/BaseMapping.h>
#include <sofa/simulation/Node.h>
#include <sofa/type/isRigidType.h>

namespace sofa::gui::component::performer
{
Expand Down Expand Up @@ -52,12 +53,13 @@ bool ConstraintAttachBodyPerformer<DataTypes>::startPartial(const BodyPicked& pi
const std::string name = "contactMouse";
mstateCollision = this->m_mapper->createMapping(name.c_str());
this->m_mapper->resize(1);

const typename DataTypes::Coord pointPicked=picked.point;

const int idx=picked.indexCollisionElement;
typename DataTypes::CPos pointPicked = picked.point;
typename DataTypes::Real r=0.0;

index = this->m_mapper->addPointB(pointPicked, idx, r);
typename DataTypes::Coord dofPicked;
DataTypes::setCPos(dofPicked, pointPicked);
index = this->m_mapper->addPointB(dofPicked, idx, r);
this->m_mapper->update();

if (mstateCollision->getContext() != picked.body->getContext())
Expand Down Expand Up @@ -89,22 +91,38 @@ bool ConstraintAttachBodyPerformer<DataTypes>::startPartial(const BodyPicked& pi
m_mstate1 = dynamic_cast<MouseContainer*>(this->m_interactor->getMouseContainer());
m_mstate2 = mstateCollision;

type::Vec3d point1;
type::Vec3d point2;

using sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint;


this->m_interactionObject = sofa::core::objectmodel::New<BilateralLagrangianConstraint<DataTypes> >(m_mstate1, m_mstate2);
auto* bconstraint = dynamic_cast< BilateralLagrangianConstraint< DataTypes >* >(this->m_interactionObject.get());

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this->m_interactionObject = sofa::core::objectmodel::New<BilateralLagrangianConstraint<sofa::defaulttype::Vec3Types> >(m_mstate1, m_mstate2);
auto* bconstraint = dynamic_cast< BilateralLagrangianConstraint< sofa::defaulttype::Vec3Types >* >(this->m_interactionObject.get());
if constexpr (sofa::type::isRigidType<DataTypes>())
{
// BilateralLagrangianConstraint::d_keepOrientDiff is protected
auto* keepOrientDiffBaseData = bconstraint->findData("keepOrientationDifference");
assert(keepOrientDiffBaseData);
auto* keepOrientDiffData = dynamic_cast<Data<bool>*>(keepOrientDiffBaseData);
assert(keepOrientDiffData);

// setting "keepOrientDiffData" to True
// would avoid having the beam forced to be oriented with the world frame.
// But it is unstable in v24.12 so for now, we set to false.
keepOrientDiffData->setValue(false);

bconstraint->init();
}

bconstraint->setName("Constraint-Mouse-Contact");

type::Vec3d normal = point1-point2;

bconstraint->addContact(normal, point1, point2, normal.norm(), 0, index, point2, point1);
static const typename DataTypes::Coord point1 {};
static const typename DataTypes::Coord point2 {};
static const typename DataTypes::Deriv normal {};

bconstraint->addContact(normal, point1, point2, 0.0, 0, index, point2, point1);

bconstraint->bwdInit();

const core::objectmodel::TagSet &tags=mstateCollision->getTags();
for (auto tag : tags)
bconstraint->addTag(tag);
Expand Down
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