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Apply template method on BaseForceField #194

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Apply template method on BaseForceField #194

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b107f7c
[Mass] Apply template method design pattern to BaseMass
hugtalbot May 12, 2025
a11d0c4
forgotten doAddMToMatrix
hugtalbot May 12, 2025
585400c
Fix compiation AdaptiveBeamForceFieldAndMass
hugtalbot May 15, 2025
9b2ab1b
Apply template method on BaseForceField
hugtalbot May 27, 2025
3b83934
Merge branch 'master' into 2025_sprintsed_BaseForceField
hugtalbot Apr 8, 2026
13ba917
Add namespace to MechanicalParams and MultiMatrixAccessor
hugtalbot Apr 8, 2026
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11 changes: 5 additions & 6 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.h
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Original file line number Diff line number Diff line change
Expand Up @@ -119,12 +119,12 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
/// Mass Interface
/////////////////////////////////////
void addMDx(const sofa::core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
void addMToMatrix(const sofa::core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
void doAddMToMatrix(const sofa::core::MechanicalParams *mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
void addMBKToMatrix(const sofa::core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;

void buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices) override;
void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
void buildDampingMatrix(core::behavior::DampingMatrix* matrices) override;
void doBuildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices) override;
void doBuildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
void doBuildDampingMatrix(core::behavior::DampingMatrix* matrices) override;

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
void accFromF(const sofa::core::MechanicalParams* mparams, DataVecDeriv& , const DataVecDeriv& ) override
Expand Down Expand Up @@ -166,8 +166,7 @@ class AdaptiveBeamForceFieldAndMass : public core::behavior::Mass<DataTypes>
}

using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;
void addKToMatrix(const sofa::core::MechanicalParams* mparams,
const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset) override;

void computeStiffness(const sofa::Index beamID, BeamLocalMatrices& beamLocalMatrices);
void computeMass(const sofa::Index beamID, BeamLocalMatrices& beamMatrices);
Expand Down
26 changes: 11 additions & 15 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -341,7 +341,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addMDx(const sofa::core::Mechanic


template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::addMToMatrix(const sofa::core::MechanicalParams *mparams,
void AdaptiveBeamForceFieldAndMass<DataTypes>::doAddMToMatrix(const sofa::core::MechanicalParams *mparams,
const sofa::core::behavior::MultiMatrixAccessor* matrix)
{
sofa::core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(mstate);
Expand Down Expand Up @@ -382,7 +382,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addMToMatrix(const sofa::core::Me
}

template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
void AdaptiveBeamForceFieldAndMass<DataTypes>::doBuildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
{
const auto numBeams = l_interpolation->getNumBeams();

Expand Down Expand Up @@ -471,7 +471,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addMBKToMatrix(const sofa::core::
}

template <class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::buildDampingMatrix(core::behavior::DampingMatrix*)
void AdaptiveBeamForceFieldAndMass<DataTypes>::doBuildDampingMatrix(core::behavior::DampingMatrix*)
{
// No damping in this ForceField
}
Expand Down Expand Up @@ -695,12 +695,8 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addDForce(const sofa::core::Mecha


template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const sofa::core::MechanicalParams* mparams,
const sofa::core::behavior::MultiMatrixAccessor* matrix)
void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset)
{
sofa::core::behavior::MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);
const Real k = (Real)mparams->kFactor();

const auto numBeams = l_interpolation->getNumBeams();

for (sofa::Index b=0; b<numBeams; b++)
Expand All @@ -720,25 +716,25 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addKToMatrix(const sofa::core::Me

sofa::Index index0[6], index1[6];
for (sofa::Index i=0;i<6;i++)
index0[i] = matrixRef.offset+node0Idx*6+i;
index0[i] = offset+node0Idx*6+i;
for (sofa::Index i=0;i<6;i++)
index1[i] = matrixRef.offset+node1Idx*6+i;
index1[i] = offset+node1Idx*6+i;

for (sofa::Index i=0;i<6;i++)
{
for (sofa::Index j=0;j<6;j++)
{
matrixRef.matrix->add(index0[i], index0[j], - K00(i,j)*k);
matrixRef.matrix->add(index0[i], index1[j], - K01(i,j)*k);
matrixRef.matrix->add(index1[i], index0[j], - K10(i,j)*k);
matrixRef.matrix->add(index1[i], index1[j], - K11(i,j)*k);
matrix->add(index0[i], index0[j], - K00(i,j)*kFact);
matrix->add(index0[i], index1[j], - K01(i,j)*kFact);
matrix->add(index1[i], index0[j], - K10(i,j)*kFact);
matrix->add(index1[i], index1[j], - K11(i,j)*kFact);
}
}
}
}

template<class DataTypes>
void AdaptiveBeamForceFieldAndMass<DataTypes>::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix)
void AdaptiveBeamForceFieldAndMass<DataTypes>::doBuildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix)
{
const auto numBeams = l_interpolation->getNumBeams();

Expand Down
5 changes: 2 additions & 3 deletions src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.h
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Original file line number Diff line number Diff line change
Expand Up @@ -154,7 +154,7 @@ class AdaptiveInflatableBeamForceField : public Mass<DataTypes>
/// Mass Interface
/////////////////////////////////////
virtual void addMDx(const MechanicalParams* mparams, DataVecDeriv& f, const DataVecDeriv& dx, SReal factor) override;
virtual void addMToMatrix(const MechanicalParams *mparams, const MultiMatrixAccessor* matrix) override;
virtual void doAddMToMatrix(const MechanicalParams *mparams, const MultiMatrixAccessor* matrix) override;
virtual void addMBKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix) override;

//TODO(dmarchal 2017-05-17) So what do we do ? For who is this message intended for ? How can we make this code "more" manageable.
Expand Down Expand Up @@ -200,8 +200,7 @@ class AdaptiveInflatableBeamForceField : public Mass<DataTypes>
}

using sofa::core::behavior::ForceField<DataTypes>::addKToMatrix;
void addKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix) override;
void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int & offset) override;

void computeStiffness(int beam, BeamLocalMatrices& beamLocalMatrices);
void computeMass(int beam, BeamLocalMatrices& beamMatrices);
Expand Down
21 changes: 9 additions & 12 deletions src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -370,7 +370,7 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addMDx(const MechanicalParams*


template<class DataTypes>
void AdaptiveInflatableBeamForceField<DataTypes>::addMToMatrix(const MechanicalParams *mparams,
void AdaptiveInflatableBeamForceField<DataTypes>::doAddMToMatrix(const MechanicalParams *mparams,
const MultiMatrixAccessor* matrix)
{
MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate);
Expand Down Expand Up @@ -673,12 +673,9 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addDForce(const MechanicalPara


template<class DataTypes>
void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(const MechanicalParams* mparams,
const MultiMatrixAccessor* matrix)
void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix,
SReal kFact, unsigned int & offset)
{
MultiMatrixAccessor::MatrixRef matrixRef = matrix->getMatrix(mstate);
Real k = (Real)mparams->kFactor();

unsigned int numBeams = l_interpolation->getNumBeams();

for (unsigned int b=0; b<numBeams; b++)
Expand All @@ -699,18 +696,18 @@ void AdaptiveInflatableBeamForceField<DataTypes>::addKToMatrix(const MechanicalP

int index0[6], index1[6];
for (int i=0;i<6;i++)
index0[i] = matrixRef.offset+node0Idx*6+i;
index0[i] = offset+node0Idx*6+i;
for (int i=0;i<6;i++)
index1[i] = matrixRef.offset+node1Idx*6+i;
index1[i] = offset+node1Idx*6+i;

for (int i=0;i<6;i++)
{
for (int j=0;j<6;j++)
{
matrixRef.matrix->add(index0[i], index0[j], - K00(i,j)*k);
matrixRef.matrix->add(index0[i], index1[j], - K01(i,j)*k);
matrixRef.matrix->add(index1[i], index0[j], - K10(i,j)*k);
matrixRef.matrix->add(index1[i], index1[j], - K11(i,j)*k);
matrix->add(index0[i], index0[j], - K00(i,j)*kFact);
matrix->add(index0[i], index1[j], - K01(i,j)*kFact);
matrix->add(index1[i], index0[j], - K10(i,j)*kFact);
matrix->add(index1[i], index1[j], - K11(i,j)*kFact);
}
}
}
Expand Down
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