[Spring] Add fixed weak constraint and examples

Sofa/Component/SolidMechanics/Spring/CMakeLists.txt

@@ -12,6 +12,8 @@ set(HEADER_FILES
     # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.inl
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.h
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.inl
+    ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.h
+    ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.inl
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FrameSpringForceField.h
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FrameSpringForceField.inl
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/GearSpringForceField.h
@@ -58,6 +60,7 @@ set(SOURCE_FILES
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/AngularSpringForceField.cpp
     # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.cpp
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.cpp
+    ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.cpp
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FrameSpringForceField.cpp
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/GearSpringForceField.cpp
     ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/JointSpring.cpp

Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp

@@ -0,0 +1,48 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#define SOFA_COMPONENT_FORCEFIELD_FixedWeakConstraint_CPP
+
+#include <sofa/component/solidmechanics/spring/FixedWeakConstraint.inl>
+
+#include <sofa/helper/visual/DrawTool.h>
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/core/behavior/MultiMatrixAccessor.h>
+
+
+namespace sofa::component::solidmechanics::spring
+{
+
+using namespace sofa::defaulttype;
+
+void registerFixedWeakConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Elastic springs generating forces on degrees of freedom between their current and rest shape position.")
+                                 .add< FixedWeakConstraint<Vec3Types> >()
+                                 .add< FixedWeakConstraint<Vec1Types> >()
+                                 .add< FixedWeakConstraint<Rigid3Types> >());
+}
+
+template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint<Vec3Types>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint<Vec1Types>;
+template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint<Rigid3Types>;
+
+} // namespace sofa::component::solidmechanics::spring

Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h

@@ -0,0 +1,126 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/component/solidmechanics/spring/config.h>
+
+#include <sofa/type/RGBAColor.h>
+
+#include <sofa/core/behavior/ForceField.h>
+#include <sofa/core/objectmodel/Data.h>
+#include <sofa/core/topology/TopologySubsetIndices.h>
+#include <sofa/type/vector.h>
+#include <sofa/linearalgebra/EigenSparseMatrix.h>
+#include <sofa/core/objectmodel/lifecycle/RenamedData.h>
+
+
+namespace sofa::core::behavior
+{
+
+template< class T > class MechanicalState;
+
+} // namespace sofa::core::behavior
+
+namespace sofa::component::solidmechanics::spring
+{
+
+/**
+* @brief This class describes a simple elastic springs ForceField between DOFs positions and rest positions.
+*
+* Springs are applied to given degrees of freedom between their current positions and their rest shape positions.
+* An external MechanicalState reference can also be passed to the ForceField as rest shape position.
+ */
+template<class DataTypes>
+class FixedWeakConstraint : public core::behavior::ForceField<DataTypes>
+{
+   public:
+    SOFA_CLASS(SOFA_TEMPLATE(FixedWeakConstraint, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes));
+
+    typedef core::behavior::ForceField<DataTypes> Inherit;
+    typedef typename DataTypes::VecCoord VecCoord;
+    typedef typename DataTypes::VecDeriv VecDeriv;
+    typedef typename DataTypes::Coord Coord;
+    typedef typename DataTypes::CPos CPos;
+    typedef typename DataTypes::Deriv Deriv;
+    typedef typename DataTypes::Real Real;
+    typedef type::vector< sofa::Index > VecIndex;
+    typedef sofa::core::topology::TopologySubsetIndices DataSubsetIndex;
+    typedef type::vector< Real >	 VecReal;
+
+    static constexpr sofa::Size spatial_dimensions = Coord::spatial_dimensions;
+    static constexpr sofa::Size coord_total_size = Coord::total_size;
+
+    typedef core::objectmodel::Data<VecCoord> DataVecCoord;
+    typedef core::objectmodel::Data<VecDeriv> DataVecDeriv;
+
+    DataSubsetIndex d_indices; ///< points controlled by the rest shape springs
+    core::objectmodel::lifecycle::RemovedData d_points{this,"v24.12","v25.06","points","This data has been replaced by \'indices\'. Please update your scene."};
+
+    Data<bool> d_fixAll; ///< points controlled by the rest shape springs
+    Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position
+    Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points
+    Data< bool > d_drawSpring; ///< draw Spring
+    Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0])
+
+    /// Link to be set to the topology container in the component graph.
+    SingleLink<FixedWeakConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
+
+
+    /// BaseObject initialization method.
+    void bwdInit() override ;
+    void reinit() override ;
+
+    /// Add the forces.
+    void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override;
+
+    void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) override;
+    SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override;
+
+    /// Brings ForceField contribution to the global system stiffness matrix.
+    void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix ) override;
+    void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
+    void buildDampingMatrix(core::behavior::DampingMatrix* matrix) override;
+
+    void draw(const core::visual::VisualParams* vparams) override;
+
+
+   protected :
+    FixedWeakConstraint();
+    static constexpr type::fixed_array<bool, FixedWeakConstraint<DataTypes>::coord_total_size> s_defaultActiveDirections = sofa::type::makeHomogeneousArray<bool, FixedWeakConstraint<DataTypes>::coord_total_size>(true);
+
+    virtual const DataVecCoord* getExtPosition() const;
+    virtual const VecIndex& getIndices() const;
+    virtual const VecIndex& getExtIndices() const;
+    virtual const type::fixed_array<bool, FixedWeakConstraint<DataTypes>::coord_total_size>& getActiveDirections() const;
+    virtual const bool checkState();
+
+    virtual bool checkOutOfBoundsIndices();
+
+    bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension);
+};
+
+#if !defined(SOFA_COMPONENT_FORCEFIELD_FixedWeakConstraint_CPP)
+extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint<sofa::defaulttype::Vec3Types>;
+extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint<sofa::defaulttype::Vec1Types>;
+extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint<sofa::defaulttype::Rigid3Types>;
+#endif
+
+} // namespace sofa::component::solidmechanics::spring