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AdaptiveBeamForceFieldAndMass:move step-constant things out of the loop in addForce #217

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Merged
hugtalbot merged 1 commit into from
Mar 20, 2026
Merged

AdaptiveBeamForceFieldAndMass:move step-constant things out of the loop in addForce #217

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27 changes: 16 additions & 11 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -492,15 +492,22 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const sofa::core::Mecha

auto f = sofa::helper::getWriteOnlyAccessor(dataf);
const VecCoord& x = datax.getValue();
const auto& massDensity = helper::getReadAccessor(d_massDensity);

f.resize(x.size()); // current content of the vector will remain the same (http://www.cplusplus.com/reference/vector/vector/resize/)

const auto numBeams = l_interpolation->getNumBeams();
m_localBeamMatrices.resize(numBeams);

if(d_computeMass.getValue())
const bool computeMass = d_computeMass.getValue();
const bool reinforceLength = d_reinforceLength.getValue();
const bool useShearStressComputation = d_useShearStressComputation.getValue();

if(computeMass)
{
computeGravityVector();

}

/// TODO:
///* Redimentionner _localBeamMatrices
///* Calculer les rotation et les transformations
Expand Down Expand Up @@ -560,11 +567,9 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const sofa::core::Mecha
/// Update Interpolation & geometrical parameters with current positions

/// material parameters
auto beamInterpolation = l_interpolation.get();
beamInterpolation->getInterpolationParameters(beamId, beamMatrices._L, beamMatrices._A, beamMatrices._Iy,
l_interpolation->getInterpolationParameters(beamId, beamMatrices._L, beamMatrices._A, beamMatrices._Iy,
beamMatrices._Iz, beamMatrices._Asy, beamMatrices._Asz, beamMatrices._J);

const auto& massDensity = helper::getReadAccessor(d_massDensity);
// for BeamInterpolation which is not overidding the _rho
if (beamId < static_cast<sofa::Index>(massDensity.size()))
{
Expand All @@ -574,12 +579,12 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const sofa::core::Mecha
{
beamMatrices._rho = m_defaultMassDensity;
}
beamInterpolation->getMechanicalParameters(beamId, beamMatrices._youngM, beamMatrices._cPoisson, beamMatrices._rho);
l_interpolation->getMechanicalParameters(beamId, beamMatrices._youngM, beamMatrices._cPoisson, beamMatrices._rho);

/// compute the local mass matrices
if(d_computeMass.getValue())
if(computeMass)
{
computeMass(beamId, beamMatrices);
this->computeMass(beamId, beamMatrices);
}

/// IF RIGIDIFICATION: no stiffness forces:
Expand Down Expand Up @@ -610,7 +615,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const sofa::core::Mecha
U1local[i+3] = u1.getAngularVelocity()[i];
}

if(d_reinforceLength.getValue())
if(reinforceLength)
{
Vec3 P0,P1,P2,P3;
Real length;
Expand All @@ -622,7 +627,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const sofa::core::Mecha
U1local[0]=( length-rest_length)/2;
}

if (!d_useShearStressComputation.getValue())
if (!useShearStressComputation)
{
/////////////////// TEST //////////////////////
/// test: correction due to spline computation;
Expand Down Expand Up @@ -657,7 +662,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::addForce (const sofa::core::Mecha
}
}

if(d_computeMass.getValue())
if(computeMass)
{
/// will add gravity directly using m_gravity:
DataVecDeriv emptyVec;
Expand Down
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