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CMakeLists.txt

@@ -2,9 +2,16 @@ cmake_minimum_required(VERSION 3.12)
 project(Shell VERSION 1.0 LANGUAGES CXX)
 
 # Find and load CMake configuration of packages containing this plugin's dependencies
-find_package(Sofa.Component.Controller REQUIRED)
+find_package(Sofa.Config REQUIRED)
+sofa_find_package(Sofa.Component.Controller REQUIRED)
+sofa_find_package(Sofa.Component.Topology.Container.Dynamic REQUIRED)
 sofa_find_package(Sofa.Component.StateContainer REQUIRED)
+sofa_find_package(Sofa.Component.Mapping.Linear REQUIRED)
+sofa_find_package(Sofa.GL REQUIRED)
 
+set(README_FILE README.md)
+
+option(SOFA-PLUGIN_SHELLS_ADAPTIVITY "Enables shells adaptivity" OFF)
 
 # List all files
 set(SHELL_SRC_DIR src/Shell)
@@ -13,32 +20,102 @@ set(HEADER_FILES
     ${SHELL_SRC_DIR}/controller/MeshChangedEvent.h
     ${SHELL_SRC_DIR}/controller/MeshInterpolator.h
     ${SHELL_SRC_DIR}/controller/MeshInterpolator.inl
+    ${SHELL_SRC_DIR}/controller/TriangleSwitchExample.h
+    ${SHELL_SRC_DIR}/controller/TriangleSwitchExample.inl
     ${SHELL_SRC_DIR}/engine/JoinMeshPoints.h
     ${SHELL_SRC_DIR}/engine/JoinMeshPoints.inl
+    ${SHELL_SRC_DIR}/engine/FindClosePoints.h
+    ${SHELL_SRC_DIR}/engine/FindClosePoints.inl
+    ${SHELL_SRC_DIR}/forcefield/BezierTriangularBendingFEMForceField.h
+    ${SHELL_SRC_DIR}/forcefield/BezierTriangularBendingFEMForceField.inl
+    ${SHELL_SRC_DIR}/forcefield/CstFEMForceField.h
+    ${SHELL_SRC_DIR}/forcefield/CstFEMForceField.inl
     ${SHELL_SRC_DIR}/forcefield/TriangularBendingFEMForceField.h
     ${SHELL_SRC_DIR}/forcefield/TriangularBendingFEMForceField.inl
+    ${SHELL_SRC_DIR}/forcefield/TriangularShellForceField.h
+    ${SHELL_SRC_DIR}/forcefield/TriangularShellForceField.inl
+    ${SHELL_SRC_DIR}/mapping/BendingPlateMechanicalMapping.h
+    ${SHELL_SRC_DIR}/mapping/BendingPlateMechanicalMapping.inl
+    ${SHELL_SRC_DIR}/mapping/BezierTriangleMechanicalMapping.h
+    ${SHELL_SRC_DIR}/mapping/BezierTriangleMechanicalMapping.inl
+    ${SHELL_SRC_DIR}/misc/PointProjection.h
+    ${SHELL_SRC_DIR}/misc/PointProjection.inl
+    ${SHELL_SRC_DIR}/shells2/fem/BezierShellInterpolation.h
+    ${SHELL_SRC_DIR}/shells2/fem/BezierShellInterpolation.inl
+    ${SHELL_SRC_DIR}/shells2/fem/BezierShellInterpolationM.h
+    ${SHELL_SRC_DIR}/shells2/fem/BezierShellInterpolationM.inl
+    ${SHELL_SRC_DIR}/shells2/forcefield/BezierShellForceField.h
+    ${SHELL_SRC_DIR}/shells2/forcefield/BezierShellForceField.inl
+    ${SHELL_SRC_DIR}/shells2/mapping/BezierShellMechanicalMapping.h
+    ${SHELL_SRC_DIR}/shells2/mapping/BezierShellMechanicalMapping.inl
 )
+
 set(SOURCE_FILES
     ${SHELL_SRC_DIR}/initShell.cpp
     ${SHELL_SRC_DIR}/controller/MeshChangedEvent.cpp
     ${SHELL_SRC_DIR}/controller/MeshInterpolator.cpp
+    ${SHELL_SRC_DIR}/controller/TriangleSwitchExample.cpp
     ${SHELL_SRC_DIR}/engine/JoinMeshPoints.cpp
+    ${SHELL_SRC_DIR}/engine/FindClosePoints.cpp
+    ${SHELL_SRC_DIR}/forcefield/BezierTriangularBendingFEMForceField.cpp
+    ${SHELL_SRC_DIR}/forcefield/CstFEMForceField.cpp
     ${SHELL_SRC_DIR}/forcefield/TriangularBendingFEMForceField.cpp
+    ${SHELL_SRC_DIR}/forcefield/TriangularShellForceField.cpp
+    ${SHELL_SRC_DIR}/mapping/BendingPlateMechanicalMapping.cpp
+    ${SHELL_SRC_DIR}/mapping/BezierTriangleMechanicalMapping.cpp
+    ${SHELL_SRC_DIR}/misc/PointProjection.cpp
+    ${SHELL_SRC_DIR}/shells2/fem/BezierShellInterpolation.cpp
+    ${SHELL_SRC_DIR}/shells2/fem/BezierShellInterpolationM.cpp
+    ${SHELL_SRC_DIR}/shells2/forcefield/BezierShellForceField.cpp
+    ${SHELL_SRC_DIR}/shells2/mapping/BezierShellMechanicalMapping.cpp
 )
-set(README_FILES
-    README.md
-)
 
-# Create the plugin library.
+if(SOFA-PLUGIN_SHELLS_ADAPTIVITY)
+    set(COMPILER_DEFINE "SOFA_BUILD_SHELLS_ADAPTIVITY")
+
+    list(APPEND HEADER_FILES
+        ${SHELL_SRC_DIR}/controller/AdaptiveCuttingController.h
+        ${SHELL_SRC_DIR}/controller/AdaptiveCuttingController.inl
+        ${SHELL_SRC_DIR}/controller/Test2DAdapter.h
+        ${SHELL_SRC_DIR}/controller/Test2DAdapter.inl
+        ${SHELL_SRC_DIR}/misc/Optimize2DSurface.h
+        ${SHELL_SRC_DIR}/misc/Optimize2DSurface.inl
+        ${SHELL_SRC_DIR}/misc/SurfaceParametrization.h
+        ${SHELL_SRC_DIR}/misc/SurfaceParametrization.inl
+    )
+
+    list(APPEND SOURCE_FILES
+        ${SHELL_SRC_DIR}/controller/AdaptiveCuttingController.cpp
+        ${SHELL_SRC_DIR}/controller/Test2DAdapter.cpp
+        ${SHELL_SRC_DIR}/misc/Optimize2DSurface.cpp
+        ${SHELL_SRC_DIR}/misc/SurfaceParametrization.cpp
+    )
+
+    if(SofaGui_FOUND AND SofaOpenglVisual_FOUND)
+        list(APPEND HEADER_FILES
+            ${SHELL_SRC_DIR}/cutting/AdaptiveCutting.h
+        )
+
+        list(APPEND SOURCE_FILES
+            ${SHELL_SRC_DIR}/cutting/AdaptiveCutting.cpp
+        )
+    endif()
+
+endif()
+
+
+# Create the plugin library
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${README_FILES})
 
 # Link the plugin library to its dependency(ies).
-target_link_libraries(${PROJECT_NAME} Sofa.Component.Controller Sofa.Component.StateContainer)
+target_link_libraries(${PROJECT_NAME}
+    Sofa.Component.Controller
+    Sofa.Component.Topology.Container.Dynamic
+    Sofa.Component.StateContainer
+    Sofa.Component.Mapping.Linear
+    Sofa.GL
+)
 
-# Create package Config, Version & Target files.
-# Deploy the headers, resources, scenes & examples.
-# Set the plugin 'relocatable' if built within SOFA.
-# --> see SofaMacros.cmake
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}
     PACKAGE_VERSION ${PROJECT_VERSION}

examples/xml/ShellTest.scn

@@ -27,11 +27,12 @@
         <SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
         <MeshOBJLoader name="loader" filename="mesh/square1.obj"/>
         <MeshTopology name="topology" src="@loader"/>
-        <MechanicalObject template="Rigid3"/>
+        <MechanicalObject template="Rigid3d"/>
         <UniformMass totalMass="0.005"/>
         <BoxROI name="box" box="0 0.9 -0.1 1 1 0.1" drawBoxes="1"/>
-        <FixedConstraint indices="@box.indices"/>
+        <FixedProjectiveConstraint indices="@box.indices"/>
         <TriangularBendingFEMForceField youngModulus="1.7e3" poissonRatio="0.3" thickness="0.01"/>
+
 
         <Node name="Visu">
 

src/Shell/controller/AdaptiveCuttingController.cpp

@@ -0,0 +1,43 @@
+#include <SofaShells/config.h>
+#include <SofaShells/cutting/AdaptiveCuttingController.inl>
+#include <sofa/core/ObjectFactory.h>
+
+
+namespace sofa
+{
+
+namespace component
+{
+
+namespace controller
+{
+
+using namespace sofa::defaulttype;
+
+SOFA_DECL_CLASS(AdaptiveCuttingController)
+
+// Register in the Factory
+int AdaptiveCuttingControllerClass = core::RegisterObject(
+    "Controller that handles the cutting method based on mesh adaptivity.")
+#ifdef SOFA_FLOAT
+.add< AdaptiveCuttingController<type::Vec3fTypes> >(true) // default template
+#else
+.add< AdaptiveCuttingController<type::Vec3dTypes> >(true) // default template
+# ifndef SOFA_DOUBLE
+.add< AdaptiveCuttingController<type::Vec3fTypes> >()
+# endif
+#endif
+;
+
+#ifndef SOFA_FLOAT
+template class SOFA_SHELLS_API AdaptiveCuttingController<type::Vec3dTypes>;
+#endif //SOFA_FLOAT
+#ifndef SOFA_DOUBLE
+template class SOFA_SHELLS_API AdaptiveCuttingController<type::Vec3fTypes>;
+#endif //SOFA_DOUBLE
+
+} // namespace controller
+
+} // namespace component
+
+} // namespace sofa

src/Shell/controller/AdaptiveCuttingController.h

@@ -0,0 +1,169 @@
+#ifndef SOFA_COMPONENT_CONTROLLER_ADAPTIVECUTTINGCONTROLLER_H
+#define SOFA_COMPONENT_CONTROLLER_ADAPTIVECUTTINGCONTROLLER_H
+
+#include <SofaUserInteraction/Controller.h>
+
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/type/Vec.h>
+
+#include <sofa/core/behavior/MechanicalState.h>
+#include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/gui/component/performer/MouseInteractor.h>
+#include <sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h>
+#include <sofa/component/topology/container/dynamic/TriangleSetTopologyModifier.h>
+#include <sofa/component/topology/container/dynamic/TriangleSetTopologyAlgorithms.h>
+#include <sofa/component/topology/container/dynamic/TriangleSetGeometryAlgorithms.h>
+#include <sofa/core/topology/TopologyData.h>
+
+#include <sofa/helper/map.h>
+#include <sofa/type/vector.h>
+
+#include <SofaShells/controller/Test2DAdapter.h>
+
+namespace sofa
+{
+
+namespace component
+{
+
+namespace controller
+{
+
+/// Class to shield the data type
+class CuttingAdapter
+{
+public:
+    virtual void setTrackedPoint(const collision::BodyPicked &picked) = 0;
+    virtual void freeTrackedPoint() = 0;
+    virtual void addCuttingPoint() = 0;
+};
+
+template<class DataTypes>
+class AdaptiveCuttingController : public Controller, public CuttingAdapter
+{
+public:
+    SOFA_CLASS(SOFA_TEMPLATE(AdaptiveCuttingController,DataTypes),Controller);
+
+    typedef typename DataTypes::Coord Coord;
+    typedef typename DataTypes::VecCoord VecCoord;
+    //typedef typename DataTypes::Deriv Deriv;
+    //typedef typename DataTypes::VecDeriv VecDeriv;
+    typedef typename Coord::value_type Real;
+
+    typedef sofa::type::Vec<2, Real> Vec2;
+    typedef sofa::type::Vec<3, Real> Vec3;
+    //typedef sofa::type::Mat<2,2,Real> Mat22;
+    //typedef sofa::type::Mat<3,3,Real> Mat33;
+    //typedef type::vector<Vec2> VecVec2;
+    //typedef type::vector<Vec3> VecVec3;
+
+
+    typedef sofa::core::topology::BaseMeshTopology::Edge               Edge;
+    typedef sofa::core::topology::BaseMeshTopology::EdgesAroundVertex  EdgesAroundVertex;
+    typedef sofa::component::topology::TriangleSetTopologyContainer::TriangleID     Index;
+    typedef sofa::component::topology::TriangleSetTopologyContainer::Triangle       Triangle;
+    typedef sofa::component::topology::TriangleSetTopologyContainer::TrianglesAroundVertex  TrianglesAroundVertex;
+    typedef sofa::component::topology::TriangleSetTopologyContainer::TrianglesAroundEdge    TrianglesAroundEdge;
+    typedef sofa::component::topology::TriangleSetTopologyContainer::EdgesInTriangle        EdgesInTriangle;
+    typedef sofa::type::vector<Index> VecIndex;
+
+    enum { InvalidID = sofa::core::topology::Topology::InvalidID };
+
+    /// @brief If geometric functinal drops below this value the attached node
+    /// is dropped.
+    Data<Real> m_affinity;
+
+    virtual void init();
+    virtual void reinit();
+
+    virtual std::string getTemplateName() const
+    {
+        return templateName(this);
+    }
+
+    static std::string templateName(const AdaptiveCuttingController<DataTypes>* = NULL)
+    {
+        return DataTypes::Name();
+    }
+
+    void onEndAnimationStep(const double dt);
+    //void onKeyPressedEvent(core::objectmodel::KeypressedEvent *key);
+
+    void draw(const core::visual::VisualParams* vparams);
+
+
+    void setTrackedPoint(const collision::BodyPicked &picked);
+    void freeTrackedPoint() {
+        // Detach the point
+        m_pointId = InvalidID;
+        // Stop cutting
+        m_cutPoints = 0;
+        m_cutEdge = InvalidID;
+    }
+    void addCuttingPoint();
+
+    /// Whether the cutting is in progress or not.
+    bool cutting() { return m_cutPoints > 0; }
+
+protected:
+
+    AdaptiveCuttingController();
+
+
+private:
+
+    Test2DAdapter<DataTypes>* m_adapter;
+    sofa::component::topology::TriangleSetTopologyContainer*  m_container;
+    sofa::component::topology::TriangleSetGeometryAlgorithms<DataTypes> *m_algoGeom;
+    sofa::component::topology::TriangleSetTopologyAlgorithms<DataTypes> *m_algoTopo;
+    sofa::core::behavior::MechanicalState<DataTypes>* m_state;
+
+    // TODO: This should go to cutting config (maybe?)
+    bool autoCutting;
+
+
+    /// Closest point in the mstate.
+    Index m_pointId;
+    /// A point on a surface to attract to (valid only if m_pointId != InvalidID).
+    Vec3 m_point;
+    /// Position of m_point projected into rest shape.
+    Vec3 m_pointRest;
+    /// @brief Triangle ID inside which m_point is located (valid only if
+    ///m_pointId != InvalidID).
+    Index m_pointTriId;
+    /// @brief Number of iterations during which the attached node will not be
+    /// reattached.
+    unsigned int m_gracePeriod;
+
+    /// @brief Stored index of the first edge to cut when the first cut has
+    /// been delayed.
+    Index m_cutEdge;
+    /// Last cutting point.
+    Index m_cutLastPoint;
+    /// Cutting operation to perform in this step.
+    VecIndex m_cutList;
+    /// Number of cut points defined.
+    int m_cutPoints;
+
+    void switchPoint(const Vec3 &newPoint, const Index newPointTri,
+        const Index newID, const Index newCutEdge);
+
+    /**
+     * Set edge planned for the next cut.
+     *
+     * @param newCutEdge        Index of new edge to use.
+     * @param bKeepProtection   Whether to keep edge protection for previous
+     *                          edge.
+     */
+    void setCutEdge(const Index newCutEdge, const bool bKeepProtection=false);
+
+};
+
+
+} // namespace controller
+
+} // namespace component
+
+} // namespace sofa
+
+#endif // #ifndef SOFA_COMPONENT_CONTROLLER_ADAPTIVECUTTINGCONTROLLER_H