PR: sofa-framework#288 add d_projectVelocity data in PartialFixedCons…

…traint component
mimesis-inria · Aug 23, 2017 · 77341bb · 77341bb
1 parent 6c58d66
commit 77341bb
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Showing 4 changed files with 11 additions and 10 deletions.
diff --git a/applications/plugins/SofaTest/Elasticity_test.inl b/applications/plugins/SofaTest/Elasticity_test.inl
@@ -210,7 +210,7 @@ CylinderTractionStruct<DataTypes>  Elasticity_test<DataTypes>::createCylinderTra
     // FixedConstraint
     typename component::projectiveconstraintset::FixedConstraint<DataTypes>::SPtr fc=
         modeling::addNew<typename component::projectiveconstraintset::FixedConstraint<DataTypes> >(root);
-    sofa::modeling::setDataLink(&boxRoi1->d_indices,&fc->f_indices);
+    sofa::modeling::setDataLink(&boxRoi1->d_indices,&fc->d_indices);
     // FixedPlaneConstraint
     typename component::projectiveconstraintset::FixedPlaneConstraint<DataTypes>::SPtr fpc=
         modeling::addNew<typename component::projectiveconstraintset::FixedPlaneConstraint<DataTypes> >(root);

diff --git a/modules/SofaBoundaryCondition/FixedConstraint.inl b/modules/SofaBoundaryCondition/FixedConstraint.inl
@@ -74,7 +74,7 @@ FixedConstraint<DataTypes>::FixedConstraint()
     , d_fixAll( initData(&d_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") )
     , d_showObject(initData(&d_showObject,true,"showObject","draw or not the fixed constraints"))
     , d_drawSize( initData(&d_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") )
-    , d_projectVelocity( initData(&d_projectVelocity,false,"activate_projectVelocity","activate project velocity to set velocity and free velocity to zero") )
+    , d_projectVelocity( initData(&d_projectVelocity,false,"activate_projectVelocity","activate project velocity to set velocity") )
     , data(new FixedConstraintInternalData<DataTypes>())
 {
     // default to indice 0
@@ -251,7 +251,6 @@ void FixedConstraint<DataTypes>::projectVelocity(const core::MechanicalParams* m
     if(!d_projectVelocity.getValue()) return;
     const SetIndexArray & indices = this->d_indices.getValue();
     helper::WriteAccessor<DataVecDeriv> res ( mparams, vData );
-    helper::WriteAccessor<DataVecDeriv> resFree ( mparams, vData );
 
     if( this->d_fixAll.getValue()==true )    // fix everyting
     {

diff --git a/modules/SofaBoundaryCondition/PartialFixedConstraint.h b/modules/SofaBoundaryCondition/PartialFixedConstraint.h
@@ -86,6 +86,7 @@ class PartialFixedConstraint : public core::behavior::ProjectiveConstraintSet<Da
     enum { NumDimensions = Deriv::total_size };
     typedef sofa::helper::fixed_array<bool,NumDimensions> VecBool;
     Data<VecBool> fixedDirections;  ///< Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free.
+    Data<bool> d_projectVelocity;
 protected:
     PartialFixedConstraint();
 

diff --git a/modules/SofaBoundaryCondition/PartialFixedConstraint.inl b/modules/SofaBoundaryCondition/PartialFixedConstraint.inl
@@ -68,6 +68,7 @@ PartialFixedConstraint<DataTypes>::PartialFixedConstraint()
     , d_fixAll( initData(&d_fixAll,false,"fixAll","filter all the DOF to implement a fixed object") )
     , d_drawSize( initData(&d_drawSize,(SReal)0.0,"drawSize","0 -> point based rendering, >0 -> radius of spheres") )
     , fixedDirections( initData(&fixedDirections,"fixedDirections","for each direction, 1 if fixed, 0 if free") )
+    , d_projectVelocity( initData(&d_projectVelocity,false,"activate_projectVelocity","activate project velocity to set velocity") )
 {
     // default to indice 0
     d_indices.beginEdit()->push_back(0);
@@ -172,7 +173,7 @@ void PartialFixedConstraint<DataTypes>::projectResponseT(const core::MechanicalP
             }
         }
     }
-//    cerr<<"PartialFixedConstraint<DataTypes>::projectResponse is called  res = "<<endl<<res<<endl;
+    //    cerr<<"PartialFixedConstraint<DataTypes>::projectResponse is called  res = "<<endl<<res<<endl;
 }
 
 template <class DataTypes>
@@ -187,12 +188,13 @@ void PartialFixedConstraint<DataTypes>::projectResponse(const core::MechanicalPa
 // When a new fixed point is added while its velocity vector is already null, projectVelocity is not usefull.
 // But when a new fixed point is added while its velocity vector is not null, it's necessary to fix it to null. If not, the fixed point is going to drift.
 template <class DataTypes>
-void PartialFixedConstraint<DataTypes>::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& /*vData*/)
+void PartialFixedConstraint<DataTypes>::projectVelocity(const core::MechanicalParams* mparams, DataVecDeriv& vData)
 {
-#if 0 /// @TODO ADD A FLAG FOR THIS
-    helper::WriteAccessor<DataVecDeriv> res = vData;
+    if(!d_projectVelocity.getValue()) return;
+    helper::WriteAccessor<DataVecDeriv> res ( mparams, vData );
+
     //serr<<"PartialFixedConstraint<DataTypes>::projectVelocity, res.size()="<<res.size()<<sendl;
-    if( f_fixAll.getValue()==true )
+    if( d_fixAll.getValue()==true )
     {
         // fix everyting
         for( unsigned i=0; i<res.size(); i++ )
@@ -202,14 +204,13 @@ void PartialFixedConstraint<DataTypes>::projectVelocity(const core::MechanicalPa
     }
     else
     {
-        const SetIndexArray & indices = f_indices.getValue();
+        const SetIndexArray & indices = d_indices.getValue();
         unsigned i=0;
         for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end() && i<res.size(); ++it, ++i)
         {
             res[*it] = Deriv();
         }
     }
-#endif
 }
 
 template <class DataTypes>