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Add RodSectionMaterial classes to be used in WireRestShape (#114)
* Add WireSectionMaterial component to store the material property of a wire section and delegate the interpolation param to this class * [src] Move numEdges and numEdgesCollision into WireSectionMaterial * Add float/double methods. * Update src/BeamAdapter/component/model/WireSectionMaterial.cpp Co-authored-by: Frederick Roy <[email protected]> * Turn severals methods into const * [WireSection] Update WireSectionMaterial to be templated * Fix compilation * backup work on moving loader to material * backup work on new RodSection classes architecture * Add RodSpire and RodStraight sections implementation * Add RodMeshSection implementation * Clean and doc Rod section classes and WireRestShape * Remove BaseRodSectionMaterial.cpp * Forgot to update cudaInstantiations * fix compilation * Fix Cuda instanciations --------- Co-authored-by: Frederick Roy <[email protected]> Co-authored-by: Frederick Roy <[email protected]>
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34 changes: 34 additions & 0 deletions
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src/BeamAdapter/component/model/BaseRodSectionMaterial.cpp
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| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * 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: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #define SOFA_PLUGIN_BEAMADAPTER_BASERODSECTIONMATERIAL_CPP | ||
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| #include <BeamAdapter/component/model/BaseRodSectionMaterial.inl> | ||
| #include <sofa/defaulttype/RigidTypes.h> | ||
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| namespace sofa::beamadapter | ||
| { | ||
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| using namespace sofa::defaulttype; | ||
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| template class SOFA_BEAMADAPTER_API BaseRodSectionMaterial<Rigid3Types>; | ||
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| }// namespace sofa::beamadapter |
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src/BeamAdapter/component/model/BaseRodSectionMaterial.h
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| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * 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: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
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| #include <BeamAdapter/config.h> | ||
| #include <BeamAdapter/utils/BeamSection.h> | ||
| #include <sofa/defaulttype/SolidTypes.h> | ||
| #include <sofa/core/objectmodel/BaseObject.h> | ||
| #include <sofa/component/topology/container/dynamic/EdgeSetTopologyModifier.h> | ||
| #include <sofa/core/loader/MeshLoader.h> | ||
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| namespace sofa::beamadapter | ||
| { | ||
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| using sofa::core::loader::MeshLoader; | ||
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| /** | ||
| * \class BaseRodSectionMaterial | ||
| * \brief Base class describing a Rod section which will define a set of beam elements. | ||
| * | ||
| * This class provide an api to define a rod/wire section using physical and geometry parameters. | ||
| * The section will then be modellized by a set of beam elements. Inheriting class should provide the geometry structure: | ||
| * @sa RodMeshSection to define a rod using a mesh file, @sa RodSpireSection or @sa RodStraightSection to define procedural shapes. | ||
| * Method @sa initSection and @sa getRestTransformOnX should be overriden to provide the correct creation and interpolation. | ||
| * | ||
| * The rod section is described by: | ||
| * - Topology parameters: vertices and edges @sa d_nbEdgesVisu and @sa d_nbEdgesCollis | ||
| * - Geometry parameters: radius @sa d_radius, @sa d_innerRadius and length @sa d_length | ||
| * - Mechanical parameters: @sa d_poissonRatio and @sa d_youngModulus | ||
| */ | ||
| template <class DataTypes> | ||
| class BaseRodSectionMaterial : public core::objectmodel::BaseObject | ||
| { | ||
| public: | ||
| SOFA_CLASS(SOFA_TEMPLATE(BaseRodSectionMaterial, DataTypes), core::objectmodel::BaseObject); | ||
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| using Coord = typename DataTypes::Coord; | ||
| using Real = typename Coord::value_type; | ||
| using Transform = typename sofa::defaulttype::SolidTypes<Real>::Transform; | ||
| using Vec3 = sofa::type::Vec<3, Real>; | ||
| using Quat = sofa::type::Quat<Real>; | ||
| using Size = sofa::Size; | ||
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| /////////////////////////// Inherited from BaseObject ////////////////////////////////////////// | ||
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| /// Default Constructor | ||
| BaseRodSectionMaterial(); | ||
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| /// init method from BaseObject API. Will call internal @see initSection to be overriden by children | ||
| void init() override; | ||
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| /////////////////////////// Geometry and physics Getter ////////////////////////////////////////// | ||
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| /// Returns the number of visual edges of this section. To be set or computed by child. | ||
| [[nodiscard]] int getNbVisualEdges() const { return d_nbEdgesVisu.getValue(); } | ||
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| /// Returns the number of collision edges of this section. To be set or computed by child. | ||
| [[nodiscard]] int getNbCollisionEdges() const { return d_nbEdgesCollis.getValue(); } | ||
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| /// Returns the total length of this section. To be set or computed by child. | ||
| [[nodiscard]] Real getLength() const { return d_length.getValue(); } | ||
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| /// Returns the Young modulus and Poisson's coefficient of this section | ||
| void getYoungModulusAtX(Real& youngModulus, Real& cPoisson) const; | ||
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| /// Returns the mass density and the BeamSection of this section | ||
| void getInterpolationParam(Real& _rho, Real& _A, Real& _Iy, Real& _Iz, Real& _Asy, Real& _Asz, Real& _J) const; | ||
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| /// This function is called to get the rest position of the beam depending on the current curved abscisse given in parameter | ||
| virtual void getRestTransformOnX(Transform& global_H_local, const Real& x_used, const Real& x_start) | ||
| { | ||
| SOFA_UNUSED(global_H_local); | ||
| SOFA_UNUSED(x_used); | ||
| SOFA_UNUSED(x_start); | ||
| } | ||
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| protected: | ||
| /// Internal method to init the section. to be overidden by child. | ||
| virtual bool initSection() { return false; } | ||
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| public: | ||
| Data<Real> d_poissonRatio; ///< Data defining the mehcanical Poisson ratio of this section | ||
| Data<Real> d_youngModulus; ///< Data defining the mehcanical Young Modulus of this section | ||
| Data<Real> d_massDensity; ///< Data defining the mehcanical mass density of this section | ||
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| Data<Real> d_radius; ///< Data defining the geometry radius of this section | ||
| Data<Real> d_innerRadius; ///< Data defining the geometry internal radius of this section is hollow | ||
| Data<Real> d_length; ///< Data defining the geometry length of this section | ||
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| Data<Size> d_nbEdgesVisu; ///< Data defining the number of visual edges composing this section | ||
| Data<Size> d_nbEdgesCollis; ///< Data defining the number of collision edges composing this section | ||
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| private: | ||
| /// Internal structure to store physical parameter of the a beam section | ||
| BeamSection beamSection; | ||
| }; | ||
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| #if !defined(SOFA_PLUGIN_BEAMADAPTER_BASERODSECTIONMATERIAL_CPP) | ||
| extern template class SOFA_BEAMADAPTER_API BaseRodSectionMaterial<sofa::defaulttype::Rigid3Types>; | ||
| #endif | ||
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| } // namespace sofa::beamadapter |
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src/BeamAdapter/component/model/BaseRodSectionMaterial.inl
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| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * 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: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
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| #include <BeamAdapter/component/model/BaseRodSectionMaterial.h> | ||
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| namespace sofa::beamadapter | ||
| { | ||
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| template <class DataTypes> | ||
| BaseRodSectionMaterial<DataTypes>::BaseRodSectionMaterial() | ||
| : d_poissonRatio(initData(&d_poissonRatio, (Real)0.49, "poissonRatio", "Poisson Ratio of this section")) | ||
| , d_youngModulus(initData(&d_youngModulus, (Real)5000, "youngModulus", "Young Modulus of this section")) | ||
| , d_massDensity(initData(&d_massDensity, (Real)1.0, "massDensity", "Density of the mass (usually in kg/m^3)")) | ||
| , d_radius(initData(&d_radius, (Real)1.0, "radius", "Full radius of this section")) | ||
| , d_innerRadius(initData(&d_innerRadius, (Real)0.0, "innerRadius", "Inner radius of this section if hollow")) | ||
| , d_length(initData(&d_length, (Real)1.0, "length", "Total length of this section")) | ||
| , d_nbEdgesVisu(initData(&d_nbEdgesVisu, (Size)10, "nbEdgesVisu", "number of Edges for the visual model")) | ||
| , d_nbEdgesCollis(initData(&d_nbEdgesCollis, (Size)20, "nbEdgesCollis", "number of Edges for the collision model")) | ||
| { | ||
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| } | ||
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| template <class DataTypes> | ||
| void BaseRodSectionMaterial<DataTypes>::init() | ||
| { | ||
| this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Loading); | ||
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| // Prepare beam sections | ||
| double r = this->d_radius.getValue(); | ||
| double rInner = this->d_innerRadius.getValue(); | ||
| this->beamSection._r = r; | ||
| this->beamSection._rInner = rInner; | ||
| this->beamSection._Iz = M_PI * (r * r * r * r - rInner * rInner * rInner * rInner) / 4.0; | ||
| this->beamSection._Iy = this->beamSection._Iz; | ||
| this->beamSection._J = this->beamSection._Iz + this->beamSection._Iy; | ||
| this->beamSection._A = M_PI * (r * r - rInner * rInner); | ||
| this->beamSection._Asy = 0.0; | ||
| this->beamSection._Asz = 0.0; | ||
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| // call delegate method to init the section | ||
| bool res = initSection(); | ||
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| if (res) | ||
| this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); | ||
| else | ||
| this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); | ||
| } | ||
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| template <class DataTypes> | ||
| void BaseRodSectionMaterial<DataTypes>::getYoungModulusAtX(Real& youngModulus, Real& cPoisson) const | ||
| { | ||
| youngModulus = this->d_youngModulus.getValue(); | ||
| cPoisson = this->d_poissonRatio.getValue(); | ||
| } | ||
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| template <class DataTypes> | ||
| void BaseRodSectionMaterial<DataTypes>::getInterpolationParam(Real& _rho, Real& _A, Real& _Iy, Real& _Iz, Real& _Asy, Real& _Asz, Real& _J) const | ||
| { | ||
| if (d_massDensity.isSet()) | ||
| _rho = d_massDensity.getValue(); | ||
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| if (d_radius.isSet()) | ||
| { | ||
| _A = beamSection._A; | ||
| _Iy = beamSection._Iy; | ||
| _Iz = beamSection._Iz; | ||
| _Asy = beamSection._Asy; | ||
| _Asz = beamSection._Asz; | ||
| _J = beamSection._J; | ||
| } | ||
| } | ||
|
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| } // namespace sofa::beamadapter |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| /****************************************************************************** | ||
| * BeamAdapter plugin * | ||
| * (c) 2006 Inria, University of Lille, CNRS * | ||
| * * | ||
| * 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: see Authors.md * | ||
| * * | ||
| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #define SOFA_PLUGIN_BEAMADAPTER_RODMESHSECTION_CPP | ||
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| #include <BeamAdapter/component/model/RodMeshSection.inl> | ||
| #include <BeamAdapter/component/model/BaseRodSectionMaterial.inl> | ||
| #include <sofa/core/ObjectFactory.h> | ||
| #include <sofa/defaulttype/RigidTypes.h> | ||
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| namespace sofa::beamadapter | ||
| { | ||
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| using namespace sofa::defaulttype; | ||
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| const int RodMeshSectionClass = core::RegisterObject("Class defining a Rod Section using a MeshLoader and material parameters.") | ||
| .add< RodMeshSection<Rigid3Types> >(true); | ||
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| template class SOFA_BEAMADAPTER_API RodMeshSection<Rigid3Types>; | ||
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| }// namespace sofa::beamadapter |
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