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Apply template method on BaseForceField: ClosestPointRFF IntensityPro… #27

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Apply template method on BaseForceField: ClosestPointRFF IntensityPro… #27

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2 changes: 1 addition & 1 deletion src/Registration/ClosestPointRegistrationForceField.h
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Expand Up @@ -96,7 +96,7 @@ class SOFA_REGISTRATION_API ClosestPointRegistrationForceField : public core::be
void addForce(const core::MechanicalParams* /*mparams*/,DataVecDeriv& f , const DataVecCoord& x , const DataVecDeriv& v) override;
void addDForce(const core::MechanicalParams* mparams ,DataVecDeriv& df , const DataVecDeriv& dx) override;
SReal getPotentialEnergy(const core::MechanicalParams* ,const DataVecCoord&) const override { return m_potentialEnergy; }
void addKToMatrix( const core::MechanicalParams* mparams,const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int & offset) override;

Real getStiffness() const{ return ks.getValue(); }
Real getDamping() const{ return kd.getValue(); }
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11 changes: 4 additions & 7 deletions src/Registration/ClosestPointRegistrationForceField.inl
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Expand Up @@ -387,18 +387,15 @@ void ClosestPointRegistrationForceField<DataTypes>::addDForce(const core::Mechan
}

template<class DataTypes>
void ClosestPointRegistrationForceField<DataTypes>::addKToMatrix(const core::MechanicalParams* mparams,const sofa::core::behavior::MultiMatrixAccessor* matrix)
void ClosestPointRegistrationForceField<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int & offset)
{
Real k = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()) * this->ks.getValue();
if(!k) return;
sofa::core::behavior::MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate);
sofa::linearalgebra::BaseMatrix *mat = mref.matrix;
const int offset = (int)mref.offset;
if(!kFact)
return;
const int N = Coord::total_size;
const int nb = this->closestPos.size();
for (int index = 0; index < nb; index++)
for(int i = 0; i < N; i++)
mat->add(offset + N * index + i, offset + N * index + i, -k);
matrix->add(offset + N * index + i, offset + N * index + i, -kFact);
}

template<class DataTypes>
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2 changes: 1 addition & 1 deletion src/Registration/IntensityProfileRegistrationForceField.h
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Expand Up @@ -139,7 +139,7 @@ class IntensityProfileRegistrationForceField : public core::behavior::ForceField
void addForce(const core::MechanicalParams* /*mparams*/,DataVecDeriv& f , const DataVecCoord& x , const DataVecDeriv& v) override;
void addDForce(const core::MechanicalParams* mparams ,DataVecDeriv& df , const DataVecDeriv& dx) override;
SReal getPotentialEnergy(const core::MechanicalParams* ,const DataVecCoord&) const override { return m_potentialEnergy; }
void addKToMatrix( const core::MechanicalParams* mparams,const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset) override;

Real getStiffness() const{ return ks.getValue(); }
Real getDamping() const{ return kd.getValue(); }
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14 changes: 6 additions & 8 deletions src/Registration/IntensityProfileRegistrationForceField.inl
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Expand Up @@ -438,13 +438,11 @@ void IntensityProfileRegistrationForceField<DataTypes,ImageTypes>::addDForce(con


template<class DataTypes,class ImageTypes>
void IntensityProfileRegistrationForceField<DataTypes,ImageTypes>::addKToMatrix(const core::MechanicalParams* mparams,const sofa::core::behavior::MultiMatrixAccessor* matrix)
void IntensityProfileRegistrationForceField<DataTypes,ImageTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFactor, unsigned int &offset)
{
Real k = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()) * this->ks.getValue();
if(!k) return;
sofa::core::behavior::MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate);
sofa::linearalgebra::BaseMatrix *mat = mref.matrix;
const int offset = (int)mref.offset;
if(!kFactor)
return;

const int N = Coord::total_size;
const int nb = this->targetPos.size();

Expand All @@ -453,13 +451,13 @@ void IntensityProfileRegistrationForceField<DataTypes,ImageTypes>::addKToMatrix(
for (int index = 0; index <nb; index++)
for(int i = 0; i < N; i++)
for(int j = 0; j < N; j++)
mat->add(offset + N * index + i, offset + N * index + j, -k*this->dfdx[index][i][j]);
matrix->add(offset + N * index + i, offset + N * index + j, -kFactor*this->dfdx[index][i][j]);
}
else
{
for (int index = 0; index <nb; index++)
for(int i = 0; i < N; i++)
mat->add(offset + N * index + i, offset + N * index + i, -k);
matrix->add(offset + N * index + i, offset + N * index + i, -kFactor);
}

}
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