Feature/strain2rigid fixes

q

@@ -0,0 +1,67 @@
+* main
+  master
+  tutorial-cleanning
+  v25.12
+  remotes/appa/main
+  remotes/appa/master
+  remotes/appa/tutorial-cleanning
+  remotes/origin/Dev
+  remotes/origin/DevPlasticity
+  remotes/origin/HEAD -> origin/master
+  remotes/origin/Tutorial
+  remotes/origin/actuatorBranch
+  remotes/origin/bakpaul_new_registration_mechanism
+  remotes/origin/cleanning/clean_scenes
+  remotes/origin/cosseratExtension-review2
+  remotes/origin/cosseratExtention-review
+  remotes/origin/cosseratState
+  remotes/origin/dev_coaxial_beam_model
+  remotes/origin/dev_coaxial_beam_model_v2
+  remotes/origin/feature/comprehensive-improvements
+  remotes/origin/feature/cosserat-dependency
+  remotes/origin/feature/cosserat-in-global-frame
+  remotes/origin/feature/cosserat-tests
+  remotes/origin/feature/differentiability-refactor
+  remotes/origin/feature/differentiable-liegroups
+  remotes/origin/feature/doc-and-quality-improvements
+  remotes/origin/feature/hookeseraPCS-force-field-v2
+  remotes/origin/feature/improve-basecosserat-mapping
+  remotes/origin/feature/lie-groups
+  remotes/origin/feature/liegroup-based-mappings
+  remotes/origin/feature/liegroups-python-bindings
+  remotes/origin/feature/liegroups-sola-improvements
+  remotes/origin/feature/plugin-reorganization
+  remotes/origin/feature/reorganize-python-bindings
+  remotes/origin/fixLinkWithSoftRobot
+  remotes/origin/guillaume_Samain
+  remotes/origin/hugtalbot-patch-1
+  remotes/origin/hugtalbot-patch-2
+  remotes/origin/hugtalbot-patch-3
+  remotes/origin/main
+  remotes/origin/master
+  remotes/origin/needleModule
+  remotes/origin/pr-add-tests
+  remotes/origin/pr-minor-fix-warnings
+  remotes/origin/pr-refactor-step3
+  remotes/origin/pr-synchronize-with-sofa-master
+  remotes/origin/refactor-src-organization
+  remotes/origin/refactor/mapping-components-cleanup
+  remotes/origin/revert-38-cosseratState
+  remotes/origin/testForVincent
+  remotes/origin/tutorial-june-2025
+  remotes/origin/update_python_prefabs
+  remotes/origin/update_python_prefabs_w_master_chpick_pr-add-tests
+  remotes/origin/update_test_scenes
+  remotes/origin/updateversion
+  remotes/origin/v20.12
+  remotes/origin/v21.12
+  remotes/origin/v22.06
+  remotes/origin/v22.12
+  remotes/origin/v23.06
+  remotes/origin/v23.12
+  remotes/origin/v24.06
+  remotes/origin/v24.12
+  remotes/origin/v24.12_update_workflow
+  remotes/origin/v25.06
+  remotes/origin/v25.12
+  remotes/origin/v25.12_update_workflow

src/Cosserat/forcefield/standard/BeamHookeLawForceField.inl

@@ -71,7 +71,8 @@ namespace sofa::component::forcefield {
 		d_GA(initData(&d_GA, "GA", "The inertia parameter, GA")),
 		d_EA(initData(&d_EA, "EA", "The inertia parameter, EA")),
 		d_EI(initData(&d_EI, "EI", "The inertia parameter, EI")) {
-		compute_df = false;
+
+		compute_df = true;//@appa: initialize compute_df at true (by default)
 	}
 
 	template<typename DataTypes>
@@ -86,7 +87,7 @@ namespace sofa::component::forcefield {
 	   recalculating the properties related to the cross-section of the beams. It
 	   calculates the area moment of inertia (Iy and Iz), the polar moment of
 	   inertia (J), and the cross-sectional area (A). These calculations depend on
-	   the chosen cross-section shape, either circular or rectangular. T he formulas
+	   the chosen cross-section shape, either circular or rectangular. The formulas
 	   used for these calculations are based on standard equations for these
 	   properties.*/
 	template<typename DataTypes>
@@ -153,6 +154,7 @@ namespace sofa::component::forcefield {
 		SOFA_UNUSED(d_v);
 		SOFA_UNUSED(mparams);
 
+
 		if (!this->getMState()) {
 			msg_info("BeamHookeLawForceField") << "No Mechanical State found, no force will be computed..." << "\n";
 			compute_df = false;
@@ -171,22 +173,23 @@ namespace sofa::component::forcefield {
 			compute_df = false;
 			return;
 		}
-
+		
 		if (!d_variantSections.getValue())
 			// @todo: use multithread
-			for (unsigned int i = 0; i < x.size(); i++)
+			for (unsigned int i = 0; i < x.size(); i++){
 				// Using the correct matrix type for the datatype
 				// For Vec3Types, m_K_section should be Mat33
 				f[i] -= (m_K_section * (x[i] - x0[i])) * this->d_length.getValue()[i];
+			}
 		else
 			// @todo: use multithread
 			for (unsigned int i = 0; i < x.size(); i++)
 				f[i] -= (m_K_sectionList[i] * (x[i] - x0[i])) * this->d_length.getValue()[i];
 
-		// Debug output if needed
 
-			displayForces(f, "addForce - computed forces");
-			displaySectionMatrix(m_K_section, "addForce - K section matrix");
+		// Debug output if needed
+		// displayForces(f, "addForce - computed forces");
+		// displaySectionMatrix(m_K_section, "addForce - K section matrix");
 
 
 		d_f.endEdit();
@@ -195,30 +198,33 @@ namespace sofa::component::forcefield {
 	template<typename DataTypes>
 	void BeamHookeLawForceField<DataTypes>::addDForce(const MechanicalParams *mparams, DataVecDeriv &d_df,
 													  const DataVecDeriv &d_dx) {
+
 		if (!compute_df)
 			return;
 
 		WriteAccessor<DataVecDeriv> df = d_df;
 		ReadAccessor<DataVecDeriv> dx = d_dx;
 		Real kFactor = (Real) mparams->kFactorIncludingRayleighDamping(this->rayleighStiffness.getValue());
-
+		
 		df.resize(dx.size());
 		if (!d_variantSections.getValue())
-			for (unsigned int i = 0; i < dx.size(); i++)
+			for (unsigned int i = 0; i < dx.size(); i++){
 				df[i] -= (m_K_section * dx[i]) * kFactor * this->d_length.getValue()[i];
+			}
+
 		else
 			for (unsigned int i = 0; i < dx.size(); i++)
 				df[i] -= (m_K_sectionList[i] * dx[i]) * kFactor * this->d_length.getValue()[i];
 
 
 		// Debug output if needed
-		displayDForces(df, "addDForce - computed differential forces");
-
+		// displayDForces(df, "addDForce - computed differential forces");
 	}
 
 	template<typename DataTypes>
 	double BeamHookeLawForceField<DataTypes>::getPotentialEnergy(const MechanicalParams *mparams,
 																 const DataVecCoord &d_x) const {
+
 		SOFA_UNUSED(mparams);
 		if (!this->getMState())
 			return 0.0;
@@ -246,14 +252,14 @@ namespace sofa::component::forcefield {
 				energy += 0.5 * dot(strain, K * strain) * this->d_length.getValue()[i];
 			}
 		}
-
 		return energy;
 	}
 
 
 	template<typename DataTypes>
 	void BeamHookeLawForceField<DataTypes>::addKToMatrix(const MechanicalParams *mparams,
 														 const MultiMatrixAccessor *matrix) {
+
 		MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate);
 		BaseMatrix *mat = mref.matrix;
 		unsigned int offset = mref.offset;
@@ -274,7 +280,7 @@ namespace sofa::component::forcefield {
 		}
 
 		// Debug output if needed
-		displayKMatrix(matrix, "addKToMatrix - global K matrix");
+		//displayKMatrix(matrix, "addKToMatrix - global K matrix");
 
 	}
 

src/Cosserat/forcefield/standard/HookeSeratPCSForceField.inl

@@ -96,7 +96,7 @@ namespace sofa::component::forcefield {
 	   recalculating the properties related to the cross-section of the beams. It
 	   calculates the area moment of inertia (Iy and Iz), the polar moment of
 	   inertia (J), and the cross-sectional area (A). These calculations depend on
-	   the chosen cross-section shape, either circular or rectangular. T he formulas
+	   the chosen cross-section shape, either circular or rectangular. The formulas
 	   used for these calculations are based on standard equations for these
 	   properties.*/
 	template<typename DataTypes>
@@ -182,22 +182,28 @@ namespace sofa::component::forcefield {
 			return;
 		}
 
+		Vector3 current_strain = Vector3::Zero();
+		Vector3 rest_strain = Vector3::Zero();
+		Vector3 strain = Vector3::Zero();
+		Vector3 _f = Vector3::Zero();
+
+
 		if (!d_variantSections.getValue()) {
 			// @todo: use multithread
 			for (unsigned int i = 0; i < x.size(); i++) {
 				// Using the correct matrix type for the datatype
 				// For Vec3Types, m_K_section should be Mat33
-				Vector3 current_strain = Vector3::Map(x[i].data());
-				Vector3 rest_strain = Vector3::Map(x0[i].data());
-				Vector3 strain = current_strain - rest_strain;
-				Vector3 _f = (m_K_section * strain) * this->d_length.getValue()[i];
+				current_strain = Vector3::Map(x[i].data());
+				rest_strain = Vector3::Map(x0[i].data());
+				strain = current_strain - rest_strain;
+
+				_f = (m_K_section * strain) * this->d_length.getValue()[i];
 
 				for (unsigned int j = 0; j < 3; j++)
 					f[i][j] -= _f[j];
 			}
 		} else {
 			// @todo: use multithread
-			Vector3 current_strain, rest_strain, strain, _f;
 
 			for (unsigned int i = 0; i < x.size(); i++) {
 				current_strain = Vector3::Map(x[i].data());
@@ -210,23 +216,25 @@ namespace sofa::component::forcefield {
 		}
 
 		// Debug output if needed
-		displayForces(f, "addForce - computed forces");
-		displaySectionMatrix(m_K_section, "addForce - K section matrix");
-
+		// displayForces(f, "addForce - computed forces");
+		// displaySectionMatrix(m_K_section, "addForce - K section matrix");
 
 		d_f.endEdit();
 	}
 
 	template<typename DataTypes>
 	void HookeSeratPCSForceField<DataTypes>::addDForce(const MechanicalParams *mparams, DataVecDeriv &d_df,
 													   const DataVecDeriv &d_dx) {
+
 		if (!compute_df)
 			return;
 
 		WriteAccessor<DataVecDeriv> df = d_df;
 		ReadAccessor<DataVecDeriv> dx = d_dx;
 		Real kFactor = (Real) mparams->kFactorIncludingRayleighDamping(this->rayleighStiffness.getValue());
-		Vector3 d_strain, _df;
+		Vector3 d_strain = Vector3::Zero();
+		Vector3 _df= Vector3::Zero();
+
 		df.resize(dx.size());
 		if (!d_variantSections.getValue()) {
 
@@ -244,18 +252,21 @@ namespace sofa::component::forcefield {
 		else
 			for (unsigned int i = 0; i < dx.size(); i++) {
 				d_strain = Vector3::Map(dx[i].data());
-				_df = (m_K_sectionList[i] * d_strain) * this->d_length.getValue()[i];
+				_df = (m_K_sectionList[i] * d_strain) * kFactor * this->d_length.getValue()[i]; //@appa: kFactor was missing
 				for (unsigned int j = 0; j < 3; j++)
 					df[i][j] -= _df[j];
 			}
 
+
 		// Debug output if needed
-		displayDForces(df, "addDForce - computed differential forces");
+		// displayDForces(df, "addDForce - computed differential forces");
 	}
 
 	template<typename DataTypes>
 	double HookeSeratPCSForceField<DataTypes>::getPotentialEnergy(const MechanicalParams *mparams,
 																  const DataVecCoord &d_x) const {
+
+
 		SOFA_UNUSED(mparams);
 		if (!this->getMState())
 			return 0.0;
@@ -282,14 +293,14 @@ namespace sofa::component::forcefield {
 				energy += 0.5 * strain.dot(K * strain) * this->d_length.getValue()[i];
 			}
 		}
-
 		return energy;
 	}
 
 
 	template<typename DataTypes>
 	void HookeSeratPCSForceField<DataTypes>::addKToMatrix(const MechanicalParams *mparams,
 														  const MultiMatrixAccessor *matrix) {
+
 		MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate);
 		BaseMatrix *mat = mref.matrix;
 		unsigned int offset = mref.offset;
@@ -310,7 +321,8 @@ namespace sofa::component::forcefield {
 		}
 
 		// Debug output if needed
-	        displayKMatrix(matrix, "addKToMatrix - global K matrix");
+	    // displayKMatrix(matrix, "addKToMatrix - global K matrix");
+
 	}
 
 	template<typename DataTypes>

src/Cosserat/mapping/BaseCosseratMapping.cpp

@@ -30,4 +30,4 @@ template class SOFA_COSSERAT_API
 template class SOFA_COSSERAT_API
     BaseCosseratMapping<sofa::defaulttype::Vec6Types, sofa::defaulttype::Rigid3Types, sofa::defaulttype::Rigid3Types>;
 
-} // namespace cosserat::mapping
+} // namespace cosserat::mapping