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[mapping] BeamProjectionDifferenceMultiMapping: new feature and refactoring #212

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[mapping] BeamProjectionDifferenceMultiMapping: new feature and refactoring #212

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[mapping] BeamProjectionDifferenceMultiMapping: add projections outpu…
EulalieCoevoet Jan 21, 2026
0ca0f9a
Merge branch 'master' into pr_beamprojectiondifference
EulalieCoevoet Jan 21, 2026
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2 changes: 2 additions & 0 deletions src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,8 @@ class SOFA_BEAMADAPTER_API BeamProjectionDifferenceMultiMapping : public sofa::c
sofa::Data<bool> d_updateProjectionOrientation;
sofa::Data<bool> d_draw;
sofa::Data<Real> d_drawSize;
sofa::Data<vector<In1Coord>> d_projections;
sofa::Data<SReal> d_filter;

sofa::SingleLink<BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>, sofa::core::topology::BaseMeshTopology, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK> l_in2Topology;
sofa::SingleLink<BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>, BeamInterpolation<TIn2>, sofa::BaseLink::FLAG_STOREPATH | sofa::BaseLink::FLAG_STRONGLINK> l_interpolation;
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53 changes: 31 additions & 22 deletions src/BeamAdapter/component/mapping/BeamProjectionDifferenceMultiMapping.inl
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Expand Up @@ -55,6 +55,9 @@ BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::BeamProjectionDifference
, d_updateProjectionOrientation(initData(&d_updateProjectionOrientation, false, "updateProjectionOrientation", "Update the projection on the beam at each time step even when direction[0]=1."))
, d_draw(initData(&d_draw, "draw", "Draw projection points and directions"))
, d_drawSize(initData(&d_drawSize, Real(3), "drawSize", ""))
, d_projections(initData(&d_projections, "projections", ""))
, d_filter(initData(&d_filter, Real(1e-2), "filter", "When updating the projection at each time step, use this parameter to filter small changes: "
"If the projection is on the same edge as the previous step, and the weight (in [0, 1]) is smaller than the value of 'filter', skip."))
, l_in2Topology(initLink("topologyInput2", "link to input2's topology container (beams to project on)"))
, l_interpolation(initLink("interpolationInput2", "link to input2's interpolation component (BeamInterpolation)"))
, m_fromModel1(NULL)
Expand Down Expand Up @@ -124,6 +127,10 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::init()
msg_warning() << "Wrong size for directions, [" << directions << "]. The size should be " << OutCoord::total_size << ".";
directions.resize(OutCoord::total_size);
}

auto projections = sofa::helper::getWriteAccessor(d_projections);
const auto& indices = sofa::helper::getReadAccessor(d_indices);
projections.resize(indices.size());
}


Expand All @@ -134,8 +141,9 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::computeProjection(c
auto interpolation = l_interpolation.get();
auto edges = l_in2Topology.get()->getEdges();

// for each point of P of xFrom
// for each point P of xFrom
const auto& indices = sofa::helper::getReadAccessor(d_indices);
const auto& filter = sofa::helper::getReadAccessor(d_filter);
m_mappedPoints.resize(indices.size());

for (unsigned int i=0; i<indices.size(); i++)
Expand All @@ -155,16 +163,17 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::computeProjection(c
OutDeriv dirAxe = Out::coordDifference(Q2, Q1);
Real normAxe = In1::getDPos(dirAxe).norm();

if (std::abs(normAxe)<std::numeric_limits<SReal>::epsilon()) // edge is degenerated, continue with next edge
SReal epsilon = std::numeric_limits<SReal>::epsilon();
if (std::abs(normAxe)<epsilon) // edge is degenerated, continue with next edge
continue;

dirAxe /= normAxe;

Real r = In1::getDPos(In1::coordDifference(P, Q1)) * In1::getDPos(dirAxe);
Real alpha = r / normAxe;
alpha = (std::abs(alpha)<1e-2)? std::abs(alpha): alpha;
alpha = (std::abs(alpha)<1e-2)? std::abs(alpha): alpha; // avoid jumps between two edges when the projection is near the boundary

if (alpha < 0 || alpha > 1) // not on the edge, continue with next edge
if (alpha < 0 - epsilon || alpha > 1 + epsilon) // not on the edge, continue with next edge
continue;

In1Coord proj;
Expand Down Expand Up @@ -198,16 +207,19 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::computeProjection(c
{
mp.interpolatedTransform = m_mappedPoints[i].interpolatedTransform;
}
m_mappedPoints[i] = mp;

// When updating the projection at each time step, filter small changes
if (m_mappedPoints[i].edgeIndex != mp.edgeIndex || std::abs(m_mappedPoints[i].alpha - mp.alpha) > filter)
m_mappedPoints[i] = mp;
}
}


template <class TIn1, class TIn2, class TOut>
void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::apply( const sofa::core::MechanicalParams* mparams,
const sofa::type::vector<OutDataVecCoord*>& dataVecOutPos,
const sofa::type::vector<const In1DataVecCoord*>& dataVecIn1Pos ,
const sofa::type::vector<const In2DataVecCoord*>& dataVecIn2Pos)
void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::apply(const sofa::core::MechanicalParams* mparams,
const sofa::type::vector<OutDataVecCoord*>& dataVecOutPos,
const sofa::type::vector<const In1DataVecCoord*>& dataVecIn1Pos,
const sofa::type::vector<const In2DataVecCoord*>& dataVecIn2Pos)
{
SOFA_UNUSED(mparams);

Expand All @@ -222,6 +234,7 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::apply( const sofa::
OutVecCoord& out = *dataVecOutPos[0]->beginEdit();
const auto& directions = sofa::helper::getReadAccessor(d_directions);
auto interpolation = l_interpolation.get();
auto projections = sofa::helper::getWriteAccessor(d_projections);

if (m_mappedPoints.empty() || !directions[0])
{
Expand All @@ -243,26 +256,22 @@ void BeamProjectionDifferenceMultiMapping<TIn1, TIn2, TOut>::apply( const sofa::
MappedPoint& mp = m_mappedPoints[i];
if (mp.onBeam)
{
Transform interpolatedTransform;
interpolation->InterpolateTransformUsingSpline(interpolatedTransform,
Transform R0_H_projection; // projection of the constraint on the beam
interpolation->InterpolateTransformUsingSpline(R0_H_projection,
mp.alpha,
Transform(in2[mp.pi1].getCenter(), in2[mp.pi1].getOrientation()),
Transform(in2[mp.pi2].getCenter(), in2[mp.pi2].getOrientation()),
interpolation->getLength(mp.edgeIndex));

In1Coord projection;
projection.getCenter() = interpolatedTransform.getOrigin();
projection.getOrientation() = interpolatedTransform.getOrientation();

In1Coord p;
for (size_t j=0; j<In1Coord::total_size; j++)
{
p[j] = in1[indices[i]][j] - projection[j];
}
Transform R0_H_constraint(in1[indices[i]].getCenter(), in1[indices[i]].getOrientation());
In1Coord projection(R0_H_projection.getOrigin(), R0_H_projection.getOrientation());
projections[i] = projection;

Transform constraint_H_projection;
constraint_H_projection = R0_H_projection.inversed() * R0_H_constraint;
In1Coord v;
v.getCenter() = mp.interpolatedTransform.getRotationMatrix().transposed() * Out::getCPos(p);
v.getOrientation() = p.getOrientation() * Out::getCRot(p);
v.getCenter() = constraint_H_projection.getOrigin();
v.getOrientation() = constraint_H_projection.getOrientation();

for (size_t j=0; j<In1Coord::total_size; j++)
{
Expand Down
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