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[Interpolations] Remove raw ptr for mstate and topology #185

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Merged
epernod merged 2 commits into from
May 14, 2025
Merged

[Interpolations] Remove raw ptr for mstate and topology #185

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8273c0c
use link instead of raw pointers
fredroy May 7, 2025
3504364
use SingleStateAccessor (+ some minor cleanings)
fredroy May 7, 2025
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29 changes: 13 additions & 16 deletions src/BeamAdapter/component/BaseBeamInterpolation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,14 +28,16 @@
#include <sofa/core/behavior/ForceField.h>
#include <sofa/core/behavior/Mass.h>
#include <sofa/core/objectmodel/Data.h>
#include <sofa/defaulttype/SolidTypes.h>
#include <sofa/core/topology/BaseMeshTopology.h>
#include <sofa/core/behavior/SingleStateAccessor.h>

#include <sofa/type/vector.h>
#include <sofa/type/Vec.h>
#include <sofa/type/Mat.h>
#include <sofa/type/Transform.h>
#include <sofa/type/SpatialVector.h>


#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/component/statecontainer/MechanicalObject.h>


Expand All @@ -55,13 +57,13 @@ using sofa::component::statecontainer::MechanicalObject;
*
*/
template<class DataTypes>
class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
class BaseBeamInterpolation : public sofa::core::behavior::SingleStateAccessor<DataTypes>
{
public:
SOFA_CLASS(SOFA_TEMPLATE(BaseBeamInterpolation, DataTypes) ,
sofa::core::objectmodel::BaseObject);
SOFA_TEMPLATE(sofa::core::behavior::SingleStateAccessor, DataTypes));

using Inherit = sofa::core::objectmodel::BaseObject;
using Inherit = sofa::core::behavior::SingleStateAccessor<DataTypes>;

using Coord = typename DataTypes::Coord;
using VecCoord = typename DataTypes::VecCoord;
Expand All @@ -70,8 +72,8 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
using Deriv = typename DataTypes::Deriv;
using VecDeriv = typename DataTypes::VecDeriv;

using Transform = typename sofa::defaulttype::SolidTypes<Real>::Transform;
using SpatialVector = typename sofa::defaulttype::SolidTypes<Real>::SpatialVector;
using Transform = sofa::type::Transform<Real>;
using SpatialVector = sofa::type::SpatialVector<Real>;

using Vec2 = sofa::type::Vec<2, Real>;
using Vec3 = sofa::type::Vec<3, Real>;
Expand All @@ -84,7 +86,7 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
using VecEdgeID = type::vector<BaseMeshTopology::EdgeID>;
using VecEdges = type::vector<BaseMeshTopology::Edge>;

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

virtual ~BaseBeamInterpolation() = default;

Expand Down Expand Up @@ -212,7 +214,6 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
typename MechanicalObject<StateDataTypes>::SPtr m_StateNodes;

Data< VecEdgeID > d_edgeList;
const VecEdges* m_topologyEdges{ nullptr };

///2. Vector of length of each beam. Same size as @sa d_edgeList
Data< type::vector< Real > > d_lengthList;
Expand All @@ -230,13 +231,9 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
Data< sofa::type::vector<EdgeID> > d_beamCollision;

Data<bool> d_dofsAndBeamsAligned;


/// pointer to the topology
BaseMeshTopology* m_topology{ nullptr };

/// pointer on mechanical state
MechanicalState<DataTypes>* m_mstate{ nullptr };

/// link to the (edge) topology
SingleLink<BaseBeamInterpolation<DataTypes>, BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_topology;
};


Expand Down
77 changes: 37 additions & 40 deletions src/BeamAdapter/component/BaseBeamInterpolation.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,9 @@ void BaseBeamInterpolation<DataTypes>::RotateFrameForAlignNormalizedX(const Quat


template <class DataTypes>
BaseBeamInterpolation<DataTypes>::BaseBeamInterpolation(/*sofa::component::engine::WireRestShape<DataTypes> *_restShape*/)
: m_StateNodes(sofa::core::objectmodel::New< sofa::component::statecontainer::MechanicalObject<StateDataTypes> >())
BaseBeamInterpolation<DataTypes>::BaseBeamInterpolation()
: Inherit()
, m_StateNodes(sofa::core::objectmodel::New< sofa::component::statecontainer::MechanicalObject<StateDataTypes> >())
, d_edgeList(initData(&d_edgeList, "edgeList", "list of the edge in the topology that are concerned by the Interpolation"))
, d_lengthList(initData(&d_lengthList, "lengthList", "list of the length of each beam"))
, d_DOF0TransformNode0(initData(&d_DOF0TransformNode0, "DOF0TransformNode0", "Optional rigid transformation between the degree of Freedom and the first node of the beam"))
Expand All @@ -106,49 +107,43 @@ BaseBeamInterpolation<DataTypes>::BaseBeamInterpolation(/*sofa::component::engin
, d_beamCollision(initData(&d_beamCollision, "beamCollision", "list of beam (in edgeList) that needs to be considered for collision"))
, d_dofsAndBeamsAligned(initData(&d_dofsAndBeamsAligned, true, "dofsAndBeamsAligned",
"if false, a transformation for each beam is computed between the DOF and the beam nodes"))
, m_topology(nullptr)
, m_mstate(nullptr)
, l_topology(initLink("topology", "link to the topology (must contain edges)"))
{


m_StateNodes->setName("bezierNodes");
addSlave(m_StateNodes);
this->addSlave(m_StateNodes);
}


template<class DataTypes>
void BaseBeamInterpolation<DataTypes>::init()
{
Inherit::init();

BaseContext* context = getContext();

m_mstate = dynamic_cast<sofa::core::behavior::MechanicalState<DataTypes> *> (context->getMechanicalState());
if (m_mstate == nullptr)

if (!l_topology)
{
msg_error() << "No MechanicalState found. Component is de-activated.";
d_componentState.setValue(ComponentState::Invalid);
return;
l_topology.set(this->getMState()->getContext()->getMeshTopologyLink());
}

/// Get the topology from context and check if it is valid.
m_topology = context->getMeshTopology();
if (!m_topology)
if (l_topology)
{
msg_info() << "Found topology named "<< l_topology->getName() ;
}
else
{
msg_error() << "No Topology found. Component is de-activated.";
d_componentState.setValue(ComponentState::Invalid);
msg_error() << "Cannot find a topology container. Please specify the link to the topology or insert one in the same node.";
this->d_componentState.setValue(ComponentState::Invalid);
return;
}

/// Check the topology properties
if (m_topology->getNbEdges() == 0)

if(l_topology->getNbEdges() == 0)
{
msg_error() << "Found a topology but it is empty. Component is de-activated";
d_componentState.setValue(ComponentState::Invalid);
msg_error() << "Found a topology but it is empty (no edges). Component is de-activated";
this->d_componentState.setValue(ComponentState::Invalid);
return;
}

m_topologyEdges = &m_topology->getEdges();
this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
}


Expand Down Expand Up @@ -266,7 +261,7 @@ void BaseBeamInterpolation<DataTypes>::getBeamAtCurvAbs(const Real x_input, unsi
/// LTotal = length sum of the beams that are "out"
Real LTotal = 0.0;

const unsigned int edgeListSize = this->d_edgeList.getValue().size();
const sofa::Size edgeListSize = static_cast<sofa::Size>(this->d_edgeList.getValue().size());

/// we find the length of the beam that is "out"
for (unsigned int e = start; e < edgeListSize; e++)
Expand Down Expand Up @@ -360,7 +355,7 @@ void BaseBeamInterpolation<DataTypes>::getDOFtoLocalTransformInGlobalFrame(const
template <class DataTypes>
void BaseBeamInterpolation<DataTypes>::setTransformBetweenDofAndNode(const sofa::Index 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 > (d_DOF0TransformNode0.getValue().size() - 1) || beam > (d_DOF1TransformNode1.getValue().size() - 1))
{
msg_error() << "WARNING setTransformBetweenDofAndNode on non existing beam";
return;
Expand Down Expand Up @@ -402,15 +397,15 @@ int BaseBeamInterpolation<DataTypes>::getNodeIndices(const EdgeID edgeInList,
unsigned int& node0Idx,
unsigned int& node1Idx)
{
if (m_topologyEdges == nullptr)
if(!this->isComponentStateValid())
{
msg_error() << "This object does not have edge topology defined (computation halted). ";
msg_error() << "(getNodeIndices) This component is invalid, check the other error messages. ";
return -1;
}

/// 1. Get the indices of element and nodes
const EdgeID& e = d_edgeList.getValue()[edgeInList];
const BaseMeshTopology::Edge& edge = (*m_topologyEdges)[e];
const BaseMeshTopology::Edge& edge = l_topology->getEdge(e);
node0Idx = edge[0];
node1Idx = edge[1];

Expand All @@ -437,14 +432,14 @@ void BaseBeamInterpolation<DataTypes>::getSplinePoints(const EdgeID edgeInList,
template<class DataTypes>
unsigned int BaseBeamInterpolation<DataTypes>::getStateSize() const
{
if (m_mstate == nullptr)
if(!this->isComponentStateValid())
{
msg_error() << "No _mstate found (Aborting)";
msg_error() << "(getStateSize) This component is invalid, check the other error messages. ";
return 0;
}
else
{
return m_mstate->getSize();
return this->getMState()->getSize();
}
}

Expand Down Expand Up @@ -582,22 +577,24 @@ void BaseBeamInterpolation<DataTypes>::computeStrechAndTwist(const EdgeID edgeIn

///vId_Out provides the id of the multiVecId which stores the position of the Bezier Points
template<class DataTypes>
void BaseBeamInterpolation<DataTypes>::updateBezierPoints(const VecCoord& x, sofa::core::VecCoordId& vId_Out) {
void BaseBeamInterpolation<DataTypes>::updateBezierPoints(const VecCoord& x, sofa::core::VecCoordId& vId_Out)
{
const sofa::Size edgeListSize = static_cast<sofa::Size>(d_edgeList.getValue().size());
///Mechanical Object to stock Bezier points.
m_StateNodes->resize(d_edgeList.getValue().size() * 4);
m_StateNodes->resize(edgeListSize * 4);
auto bezierPosVec = sofa::helper::getWriteOnlyAccessor(*m_StateNodes->write(vId_Out));
bezierPosVec.resize(d_edgeList.getValue().size() * 4);
bezierPosVec.resize(edgeListSize * 4);

for (unsigned int i = 0; i < d_edgeList.getValue().size(); i++) {
for (unsigned int i = 0; i < edgeListSize; i++) {
updateBezierPoints(x, i, bezierPosVec.wref());

}
}

template<class DataTypes>
void BaseBeamInterpolation<DataTypes>::updateBezierPoints(const VecCoord& x, unsigned int index,
VectorVec3& bezierPosVec) {
/// <<" interpolatePointUsingSpline : "<< edgeInList<<" xbary="<<baryCoord<<" localPos"<<localPos<<std::endl;
VectorVec3& bezierPosVec)
{
const Real _L = d_lengthList.getValue()[index];

/// \todo remove call to
Expand Down
2 changes: 2 additions & 0 deletions src/BeamAdapter/component/BeamInterpolation.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
{
public:
SOFA_CLASS( SOFA_TEMPLATE(BeamInterpolation, DataTypes) , SOFA_TEMPLATE(BaseBeamInterpolation, DataTypes));

using Inherit = BaseBeamInterpolation<DataTypes>;

using Coord = typename DataTypes::Coord;
using VecCoord = typename DataTypes::VecCoord;
Expand Down
38 changes: 20 additions & 18 deletions src/BeamAdapter/component/BeamInterpolation.inl
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,9 @@ using sofa::helper::ReadAccessor ;

//////////////////////////////////// BREAMINTERPOLATION ////////////////////////////////////////////
template <class DataTypes>
BeamInterpolation<DataTypes>::BeamInterpolation() :
crossSectionShape(initData(&crossSectionShape,
BeamInterpolation<DataTypes>::BeamInterpolation()
: Inherit()
, crossSectionShape(initData(&crossSectionShape,
{"circular","elliptic (not available)","rectangular"},
"crossSectionShape",
"shape of the cross-section. Can be: circular, elliptic, square, rectangular. Default is circular" ))
Expand Down Expand Up @@ -139,7 +140,7 @@ void BeamInterpolation<DataTypes>::computeCrossSectionInertiaMatrix()
}
else
{
Size nbEdges = this->m_topology->getNbEdges();
Size nbEdges = this->l_topology->getNbEdges();
m_section.resize(nbEdges);
if ( crossSectionShape.getValue().getSelectedItem() == "elliptic")
{
Expand Down Expand Up @@ -192,12 +193,12 @@ template <class DataTypes>
void BeamInterpolation<DataTypes>::init()
{
this->d_componentState.setValue(ComponentState::Loading);
BaseBeamInterpolation<DataTypes>::init();
Inherit::init();

if (this->d_componentState.getValue() == ComponentState::Invalid)
return;

Size nbEdges = this->m_topology->getNbEdges();
Size nbEdges = this->l_topology->getNbEdges();
checkDataSize(m_defaultRadius, d_radius, nbEdges);
checkDataSize(m_defaultInnerRadius, d_innerRadius, nbEdges);
checkDataSize(m_defaultLengthY, d_lengthY, nbEdges);
Expand All @@ -211,7 +212,7 @@ void BeamInterpolation<DataTypes>::init()
auto edgeList = sofa::helper::getWriteOnlyAccessor(this->d_edgeList);
edgeList.clear();

for (unsigned int i=0; i<this->m_topology->getNbEdges(); i++)
for (unsigned int i=0; i<this->l_topology->getNbEdges(); i++)
{
edgeList.push_back(i);
}
Expand All @@ -225,7 +226,7 @@ void BeamInterpolation<DataTypes>::init()
DOF1TransformNode1.resize(edgeList.size());
}

ReadAccessor<Data<VecCoord> > statePos = this->m_mstate->read(sofa::core::vec_id::read_access::position) ;
ReadAccessor<Data<VecCoord> > statePos = this->getMState()->read(sofa::core::vec_id::read_access::position) ;

auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
lengthList.clear();
Expand Down Expand Up @@ -335,17 +336,18 @@ bool BeamInterpolation<DataTypes>::interpolationIsAlreadyInitialized()
template<class DataTypes>
bool BeamInterpolation<DataTypes>::verifyTopology()
{
const auto nbEdges = this->l_topology->getNbEdges();

//TODO(dmarchal) This contains "code" specific slang that cannot be understood by user.
dmsg_info() << "The vector _topologyEdges is now set with " << this->m_topologyEdges->size() << " edges" ;

dmsg_info() << "The vector _topologyEdges is now set with " << nbEdges << " edges" ;

const VecElementID &edgeList = this->d_edgeList.getValue();
for (unsigned int j = 0; j < edgeList.size(); j++)
{
if(edgeList[j] > this->m_topologyEdges->size())
if(edgeList[j] > nbEdges)
{
msg_error() << "The provided edge index '" << edgeList[j] << "'is larger than '"
<< this->m_topologyEdges->size() << "' the amount of edges in the topology. " ;
<< nbEdges << "' the amount of edges in the topology. " ;
return false;
}
}
Expand Down Expand Up @@ -420,7 +422,7 @@ void BeamInterpolation<DataTypes>::getMechanicalSampling(Real& dx, const Real x_
{
SOFA_UNUSED(x_localcurv_abs);

const auto numLines = this->m_topologyEdges->size();
const auto numLines = this->l_topology->getNbEdges();
dx = getRestTotalLength()/numLines;
}

Expand All @@ -429,14 +431,14 @@ void BeamInterpolation<DataTypes>::getCollisionSampling(Real &dx, const Real x_l
{
SOFA_UNUSED(x_localcurv_abs);

const auto numLines = this->m_topologyEdges->size();
const auto numLines = this->l_topology->getNbEdges();
dx = getRestTotalLength()/numLines;
}

template <class DataTypes>
void BeamInterpolation<DataTypes>::getNumberOfCollisionSegment(Real &dx, unsigned int &numLines)
{
numLines = static_cast<unsigned int>(this->m_topologyEdges->size());
numLines = static_cast<unsigned int>(this->l_topology->getNbEdges());
dx = getRestTotalLength()/numLines;
}

Expand Down Expand Up @@ -599,16 +601,16 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){
if(d_vecID.getValue().getSelectedItem() == "current")
{
dmsg_info() <<" position " << msgendl
<< " ="<< this->m_mstate->read( sofa::core::vec_id::read_access::position )->getValue( ) ;
x=this->m_mstate->read( sofa::core::vec_id::read_access::position );
<< " ="<< this->getMState()->read( sofa::core::vec_id::read_access::position )->getValue( ) ;
x=this->getMState()->read( sofa::core::vec_id::read_access::position );
}
else if(d_vecID.getValue().getSelectedItem() == "free")
{
x=this->m_mstate->read( sofa::core::vec_id::read_access::freePosition ) ;
x=this->getMState()->read( sofa::core::vec_id::read_access::freePosition ) ;
}
else /// rest position
{
x=this->m_mstate->read( sofa::core::vec_id::read_access::restPosition ) ;
x=this->getMState()->read( sofa::core::vec_id::read_access::restPosition ) ;
computeVel = false;
}

Expand Down
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