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Fix compilation regarding SOFA PR 5466 #189

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Fix compilation regarding SOFA PR 5466 #189

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11 changes: 6 additions & 5 deletions src/BeamAdapter/component/mapping/BeamLengthMapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -156,11 +156,6 @@ class BeamLengthMapping : public Mapping<TIn, TOut>
virtual void applyJ(const MechanicalParams *mparams, Data<VecDeriv>& out, const Data<InVecDeriv>& in) override;
virtual void applyJT(const MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<VecDeriv>& in) override;
virtual void applyJT(const ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<OutMatrixDeriv>& in) override;
virtual void applyDJT(const MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId childDfId) override;

// interface of baseMapping.h
virtual void updateK( const MechanicalParams* /*mparams*/, core::ConstMultiVecDerivId /*outForce*/ ) override;
const linearalgebra::BaseMatrix* getK() override;



Expand All @@ -179,6 +174,12 @@ class BeamLengthMapping : public Mapping<TIn, TOut>
/* Vec3 F0_buf, F1_buf, F2_buf, F3_buf; // Used for debug */
SparseKMatrixEigen K_geom;

virtual void doApplyDJT(const MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId childDfId) override;

// interface of baseMapping.h
virtual void doUpdateK( const MechanicalParams* /*mparams*/, core::ConstMultiVecDerivId /*outForce*/ ) override;
const linearalgebra::BaseMatrix* doGetK() override;

// used for applyJ on one beam
void computeJSpline(Real &dlength, const Vec3& P0, const Vec3& P1, const Vec3& P2, const Vec3& P3,
const Vec3& dP0, const Vec3& dP1, const Vec3& dP2, const Vec3& dP3);
Expand Down
6 changes: 3 additions & 3 deletions src/BeamAdapter/component/mapping/BeamLengthMapping.inl
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Expand Up @@ -419,7 +419,7 @@ void BeamLengthMapping< TIn, TOut>::applyJT(const core::ConstraintParams* cparam
/// BeamLengthMapping::applyDJT(MultiVecDerivId parentDfId, const ConstMultiVecDerivId childDfId)
/// this function computes the additional stiffness force created on the parents by the force on the child (due to mapping non-linearity)
template <class TIn, class TOut>
void BeamLengthMapping< TIn, TOut>::applyDJT(const MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId childDfId)
void BeamLengthMapping< TIn, TOut>::doApplyDJT(const MechanicalParams* mparams, core::MultiVecDerivId parentDfId, core::ConstMultiVecDerivId childDfId)
{
const unsigned& geometricStiffness = d_geometricStiffness.getValue();
if( !geometricStiffness ) return;
Expand Down Expand Up @@ -579,7 +579,7 @@ void BeamLengthMapping< TIn, TOut>::applyDJT(const MechanicalParams* mparams, co
}

template <class TIn, class TOut>
void BeamLengthMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId )
void BeamLengthMapping<TIn, TOut>::doUpdateK(const core::MechanicalParams* mparams, core::ConstMultiVecDerivId childForceId )
{
SOFA_UNUSED(mparams);
const unsigned& geometricStiffness = d_geometricStiffness.getValue();
Expand Down Expand Up @@ -761,7 +761,7 @@ void BeamLengthMapping<TIn, TOut>::updateK(const core::MechanicalParams* mparams


template <class TIn, class TOut>
const sofa::linearalgebra::BaseMatrix* BeamLengthMapping<TIn, TOut>::getK()
const sofa::linearalgebra::BaseMatrix* BeamLengthMapping<TIn, TOut>::doGetK()
{
return &K_geom;
}
Expand Down
13 changes: 7 additions & 6 deletions src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.h
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Expand Up @@ -144,20 +144,14 @@ class SOFA_BEAMADAPTER_API BeamProjectionDifferenceMultiMapping : public sofa::c
const sofa::type::vector< In2DataVecDeriv*>& dataVecOut2RootForce,
const sofa::type::vector<const OutDataVecDeriv*>& dataVecInForce) override;

void applyDJT(const sofa::core::MechanicalParams* mparams,
sofa::core::MultiVecDerivId inForce,
sofa::core::ConstMultiVecDerivId outForce) override;

virtual void applyJT(
const sofa::core::ConstraintParams* cparams , const sofa::type::vector< In1DataMatrixDeriv*>& dataMatOut1Const ,
const sofa::type::vector< In2DataMatrixDeriv*>& dataMatOut2Const ,
const sofa::type::vector<const OutDataMatrixDeriv*>& dataMatInConst) override;

virtual const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;

void computeProjection(const In1VecCoord &xFrom, const In2VecCoord &xTo, const bool &updateOrientation);

public:
sofa::Data<vector<unsigned int>> d_indices;
sofa::Data<sofa::type::vector<bool>> d_directions;
sofa::Data<bool> d_updateProjectionPosition;
Expand All @@ -171,6 +165,13 @@ class SOFA_BEAMADAPTER_API BeamProjectionDifferenceMultiMapping : public sofa::c
using sofa::core::Multi2Mapping<TIn1, TIn2, TOut>::d_componentState ;

protected:

void doApplyDJT(const sofa::core::MechanicalParams* mparams,
sofa::core::MultiVecDerivId inForce,
sofa::core::ConstMultiVecDerivId outForce) override;
virtual const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* doGetJs() override;


sofa::core::State<In1>* m_fromModel1;
sofa::core::State<In2>* m_fromModel2;
sofa::core::State<Out>* m_toModel;
Expand Down
4 changes: 2 additions & 2 deletions src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
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Expand Up @@ -443,7 +443,7 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::applyJT( const sofa
}

template <class TIn1, class TIn2, class TOut>
void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::applyDJT(const sofa::core::MechanicalParams* mparams,
void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::doApplyDJT(const sofa::core::MechanicalParams* mparams,
sofa::core::MultiVecDerivId inForce,
sofa::core::ConstMultiVecDerivId outForce)
{
Expand All @@ -453,7 +453,7 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::applyDJT(const sofa
}

template <class TIn1, class TIn2, class TOut>
const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::getJs()
const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::doGetJs()
{
const OutVecCoord& out = m_toModel->read(sofa::core::vec_id::read_access::position)->getValue();
const In1VecCoord& in1 = m_fromModel1->read(sofa::core::vec_id::read_access::position)->getValue();
Expand Down
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