Refactor TriangularShellForceField: Rename 'f_corotated' to 'd_corotated' and Add Draw Functionality

**Commit Message:**

"Refactor TriangularShellForceField: Rename 'f_corotated' to
'd_corotated' and Add Draw Functionality"

**Details:**
- Renamed `f_corotated` to `d_corotated` across multiple files to
improve consistency in naming conventions.
- Fixed several minor spelling errors (e.g., "postions" to "positions").
- Added a `draw()` function to `TriangularShellForceField` for visual
representation of shell triangle information, including arrows with
customizable radii.
- Minor code improvements in vector naming for clarity (`edgex` to
`edge_x`, etc.).

Author: adagolodjo

doc/code/html/_triangular_shell_force_field_8h_source.html

@@ -302,7 +302,7 @@
 <div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        Data &lt;Real&gt; f_thickness;</div>
 <div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        Data &lt;sofa::helper::OptionsGroup&gt; f_membraneElement;</div>
 <div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        Data &lt;sofa::helper::OptionsGroup&gt; f_bendingElement;</div>
-<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        Data&lt;bool&gt; f_corotated;</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        Data&lt;bool&gt; d_corotated;</div>
 <div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div>
 <div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        TRQSTriangleHandler* triangleHandler;</div>
 <div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div>

doc/code/html/classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field-members.html

@@ -141,7 +141,7 @@
   <tr bgcolor="#f0f0f0"><td class="entry"><b>Displacement</b> typedef (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr bgcolor="#f0f0f0"class="even"><td class="entry"><b>dktSD</b>(StrainDisplacement &amp;B, const TriangleInformation &amp;tinfo, const Real xi, const Real eta) (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>f_bendingElement</b> (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0"class="even"><td class="entry"><b>f_corotated</b> (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"class="even"><td class="entry"><b>d_corotated</b> (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>f_membraneElement</b> (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0"class="even"><td class="entry"><b>f_poisson</b> (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>f_thickness</b> (defined in <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a>)</td><td class="entry"><a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html">TriangularShellForceField&lt; DataTypes &gt;</a></td><td class="entry"></td></tr>

doc/code/html/classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field.html

@@ -199,7 +199,7 @@
 <tr class="memitem:a07b28156193cf0cc041d7804b89aa35f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a07b28156193cf0cc041d7804b89aa35f"></a>
 Data&lt; sofa::helper::OptionsGroup &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>f_bendingElement</b></td></tr>
 <tr class="memitem:ab7339bd86a9f9e86f7029116f7aad084"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab7339bd86a9f9e86f7029116f7aad084"></a>
-Data&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>f_corotated</b></td></tr>
+Data&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>d_corotated</b></td></tr>
 <tr class="memitem:ae9b0dde66496005adde20f2a37e58eeb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae9b0dde66496005adde20f2a37e58eeb"></a>
 <a class="el" href="classsofa_1_1component_1_1forcefield_1_1_triangular_shell_force_field_1_1_t_r_q_s_triangle_handler.html">TRQSTriangleHandler</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>triangleHandler</b></td></tr>
 </table><table class="memberdecls">

src/SofaShells/forcefield/TriangularShellForceField.h

@@ -59,7 +59,7 @@ using sofa::type::vector;
 using namespace sofa::core::topology;
 using namespace sofa::core::behavior;
 
-/// This class can be overridden if needed for additionnal storage within template specializations.
+/// This class can be overridden if needed for additional storage within template specializations.
 template<class DataTypes>
 class TriangularShellForceFieldInternalData
 {
@@ -200,6 +200,7 @@ class TriangularShellForceField : public core::behavior::ForceField<DataTypes>
         void addForce(const sofa::core::MechanicalParams* /*mparams*/, DataVecDeriv& dataF, const DataVecCoord& dataX, const DataVecDeriv& /*dataV*/ ) override ;
         void addDForce(const sofa::core::MechanicalParams* /*mparams*/, DataVecDeriv& datadF, const DataVecDeriv& datadX ) override ;
         void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+        void draw(const core::visual::VisualParams* vparams) override;
 
         SReal getPotentialEnergy(const sofa::core::MechanicalParams* /*mparams*/, const DataVecCoord& /*x*/) const override { return 0; }
 
@@ -210,11 +211,12 @@ class TriangularShellForceField : public core::behavior::ForceField<DataTypes>
         Data <Real> d_thickness;
         Data <sofa::helper::OptionsGroup> d_membraneElement;
         Data <sofa::helper::OptionsGroup> d_bendingElement;
-        Data<bool> f_corotated;
+        Data<bool> d_corotated;
         Data<sofa::helper::OptionsGroup> d_measure;
         Data<type::vector<Real> > d_measuredValues;
         Data<bool> d_isShellveryThin;
         Data<bool> d_use_rest_position;
+        Data<Real> d_arrow_radius;
 
         TRQSTriangleHandler* triangleHandler;
 

src/SofaShells/forcefield/TriangularShellForceField.inl

@@ -38,6 +38,7 @@
 #include <vector>
 #include <algorithm>
 #include <sofa/defaulttype/VecTypes.h>
+#include <sofa/core/visual/VisualParams.h>
 #include <assert.h>
 #include <map>
 #include <utility>
@@ -77,13 +78,14 @@ TriangularShellForceField<DataTypes>::TriangularShellForceField()
     , d_thickness(initData(&d_thickness,(Real)0.1,"thickness","Thickness of the plates"))
     , d_membraneElement(initData(&d_membraneElement, "membraneElement", "The membrane element to use"))
     , d_bendingElement(initData(&d_bendingElement, "bendingElement", "The bending plate element to use"))
-    , f_corotated(initData(&f_corotated, true, "corotated", "Compute forces in corotational frame"))
+    , d_corotated(initData(&d_corotated, true, "corotated", "Compute forces in corotational frame"))
     , d_measure(initData(&d_measure, "measure", "Compute the strain or stress"))
     , d_measuredValues(initData(&d_measuredValues, "measuredValues", "Measured values for stress or strain"))
-    ,d_isShellveryThin(initData(&d_isShellveryThin, false, "isShellveryThin", "This bool is to adapt "
+    , d_isShellveryThin(initData(&d_isShellveryThin, false, "isShellveryThin", "This bool is to adapt "
                                                                                "computation in case we are using verry tiny(thickness) shell element"))
     , d_use_rest_position(initData(&d_use_rest_position, true, "use_rest_position", "Use the rest position inteat of using postion to update the restposition"))
     , triangleInfo(initData(&triangleInfo, "triangleInfo", "Internal triangle data"))
+    , d_arrow_radius(initData(&d_arrow_radius, (Real)0.1, "arrow_radius", "the arrow radius"))
 
 {
     d_membraneElement.beginEdit()->setNames(7,
@@ -410,7 +412,7 @@ void TriangularShellForceField<DataTypes>::initTriangle(const int i, const Index
     tinfo->restPositions[1] = x0[b].getCenter();
     tinfo->restPositions[2] = x0[c].getCenter();
 
-    if (f_corotated.getValue()) {
+    if (d_corotated.getValue()) {
         // Center the element
         Vec3 center = (tinfo->restPositions[0] + tinfo->restPositions[1] +
                        tinfo->restPositions[2])/3;
@@ -480,7 +482,7 @@ template <class DataTypes>
 void TriangularShellForceField<DataTypes>::computeRotation(Transformation& R, const VecCoord &x, const Index &a, const Index &b, const Index &c)
 {
 
-    if (!f_corotated.getValue()) {
+    if (!d_corotated.getValue()) {
         // Return identity matrix
         R = Transformation(Vec3(1,0,0), Vec3(0,1,0), Vec3(0,0,1));
         return;
@@ -509,7 +511,7 @@ void TriangularShellForceField<DataTypes>::computeRotation(Transformation& R, co
 template <class DataTypes>
 void TriangularShellForceField<DataTypes>::computeRotation(Transformation& R, const type::fixed_array<Vec3, 3> &x)
 {
-    if (!f_corotated.getValue()) {
+    if (!d_corotated.getValue()) {
         // Return identity matrix
         R = Transformation(Vec3(1,0,0), Vec3(0,1,0), Vec3(0,0,1));
         return;
@@ -519,19 +521,19 @@ void TriangularShellForceField<DataTypes>::computeRotation(Transformation& R, co
     // Second vector in the plane of the two first edges
     // Third vector orthogonal to first and second
 
-    Vec3 edgex = x[1] - x[0];
-    Vec3 edgey = x[2] - x[0];
+    Vec3 edge_x = x[1] - x[0];
+    Vec3 edge_y = x[2] - x[0];
 
-    Vec3 edgez = cross(edgex, edgey);
+    Vec3 edge_z = cross(edge_x, edge_y);
 
-    edgey = cross(edgez, edgex);
+    edge_y = cross(edge_z, edge_x);
 
-    edgex.normalize();
-    edgey.normalize();
-    edgez.normalize();
+    edge_x.normalize();
+    edge_y.normalize();
+    edge_z.normalize();
 
-    R = Transformation(edgex, edgey, edgez);
-    //Qframe.fromMatrix(Transformation(edgex, edgey, edgez));
+    R = Transformation(edge_x, edge_y, edge_z);
+    //Qframe.fromMatrix(Transformation(edge_x, edge_y, edge_z));
 }
 
 
@@ -563,14 +565,14 @@ void TriangularShellForceField<DataTypes>::computeMaterialStiffness()
     // Integrate through the shell thickness
     materialMatrixMembrane *= t;
     if (d_isShellveryThin.getValue())
-        materialMatrixBending *= t*t/1.;
+        materialMatrixBending *= t*t;
     else
         materialMatrixBending *= t*t*t / 12;
 }
 
 
 // -------------------------------------------------------------------------------------------------------------
-// --- Compute displacement vector D as the difference between current current position and initial position
+// --- Compute displacement vector D as the difference between current position and initial position
 // -------------------------------------------------------------------------------------------------------------
 template <class DataTypes>
 void TriangularShellForceField<DataTypes>::computeDisplacement(Displacement &Dm, Displacement &Db, const VecCoord &x, const Index elementIndex)
@@ -582,12 +584,12 @@ void TriangularShellForceField<DataTypes>::computeDisplacement(Displacement &Dm,
     Index b = tinfo->b;
     Index c = tinfo->c;
 
-    // Compute local (in-plane) postions
+    // Compute local (in-plane) positions
     tinfo->deformedPositions[0] = x[a].getCenter();
     tinfo->deformedPositions[1] = x[b].getCenter();
     tinfo->deformedPositions[2] = x[c].getCenter();
 
-    if (f_corotated.getValue()) {
+    if (d_corotated.getValue()) {
         Vec3 center = (tinfo->deformedPositions[0] + tinfo->deformedPositions[1] +
                        tinfo->deformedPositions[2])/3;
 
@@ -603,7 +605,7 @@ void TriangularShellForceField<DataTypes>::computeDisplacement(Displacement &Dm,
     tinfo->Q.fromMatrix(tinfo->R);
 #endif
 
-    // Compute local (in-plane) postions
+    // Compute local (in-plane) positions
     tinfo->deformedPositions[0] = tinfo->R * tinfo->deformedPositions[0];
     tinfo->deformedPositions[1] = tinfo->R * tinfo->deformedPositions[1];
     tinfo->deformedPositions[2] = tinfo->R * tinfo->deformedPositions[2];
@@ -1274,6 +1276,31 @@ void TriangularShellForceField<DataTypes>::dktSD(StrainDisplacement &B, const Tr
     B /= 2*tinfo.area;
 }
 
+template <class DataTypes>
+void TriangularShellForceField<DataTypes>::draw(const core::visual::VisualParams* vparams){
+   // Draw arrows from using shell triangle info (tinfo.R) in the center of the triangle
+
+   int nbTriangles=_topology->getNbTriangles();
+   type::vector<TriangleInformation>& triangleInf = *(triangleInfo.beginEdit());
+   const Real radius = d_arrow_radius.getValue();
+   for (unsigned int i=0; i< nbTriangles; i++)
+   {
+     const TriangleInformation &tinfo = triangleInf[i];
+     Vec3 vx = tinfo.R * Vec3(1, 0, 0);
+     Vec3 vy = tinfo.R * Vec3(0, 1, 0);
+     Vec3 vz = tinfo.R * Vec3(0, 0, 1);
+
+     // compute the center of the triangle
+     Vec3 center = (tinfo.deformedPositions[0] + tinfo.deformedPositions[1] +
+                    tinfo.deformedPositions[2])/3;
+     vparams->drawTool()->drawArrow(center, center + vx, radius, type::RGBAColor(1.0, 0.0, 0.0, 1.0));
+     vparams->drawTool()->drawArrow(center, center + vy, radius, type::RGBAColor(0.0, 1.0, 0.0, 1.0));
+     vparams->drawTool()->drawArrow(center, center + vz, radius, type::RGBAColor(0.0, 0.0, 1.0, 1.0));
+   }
+   triangleInfo.endEdit();
+  }
+
+
 } // namespace forcefield
 
 } // namespace component