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[Framework] Apply template method design pattern to BaseMapping #5466

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4234951
Apply template method pattern to the whole core + componenets
bakpaul May 13, 2025
6c3910d
Fix articulated sustem mapping + tests
bakpaul May 13, 2025
22f01ae
Merge branch 'master' into 2025_sprintsed_basemapping
bakpaul Jan 6, 2026
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6 changes: 4 additions & 2 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.h
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Expand Up @@ -75,8 +75,6 @@ class BarycentricMapping : public LinearMapping<TIn, TOut>
void applyJT(const core::MechanicalParams *mparams, Data< typename In::VecDeriv >& out, const Data< typename Out::VecDeriv >& in) override;
void applyJT(const core::ConstraintParams *cparams, Data< typename In::MatrixDeriv >& out, const Data< typename Out::MatrixDeriv >& in) override;

const sofa::linearalgebra::BaseMatrix* getJ() override;
virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
void draw(const core::visual::VisualParams* vparams) override;
void handleTopologyChange(core::topology::Topology* t) override;

Expand All @@ -94,6 +92,10 @@ class BarycentricMapping : public LinearMapping<TIn, TOut>

~BarycentricMapping() override;


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

linearalgebra::BaseMatrix *internalMatrix; ///< internally store a matrix for getJ/Compliant
type::vector< linearalgebra::BaseMatrix* > js;
private:
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6 changes: 3 additions & 3 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.inl
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Expand Up @@ -329,7 +329,7 @@ void BarycentricMapping<TIn, TOut>::applyJT (const core::MechanicalParams * mpar


template <class TIn, class TOut>
const sofa::linearalgebra::BaseMatrix* BarycentricMapping<TIn, TOut>::getJ()
const sofa::linearalgebra::BaseMatrix* BarycentricMapping<TIn, TOut>::doGetJ()
{
if (d_mapper!=nullptr )
{
Expand Down Expand Up @@ -473,10 +473,10 @@ void BarycentricMapperTriangleSetTopology<In,Out>::handleTopologyChange(core::to
#endif // BARYCENTRIC_MAPPER_TOPOCHANGE_REINIT

template<class TIn, class TOut>
const type::vector< linearalgebra::BaseMatrix*>* BarycentricMapping<TIn, TOut>::getJs()
const type::vector< linearalgebra::BaseMatrix*>* BarycentricMapping<TIn, TOut>::doGetJs()
{
typedef typename Mapper::MatrixType mat_type;
const sofa::linearalgebra::BaseMatrix* matJ = getJ();
const sofa::linearalgebra::BaseMatrix* matJ = core::BaseMapping::getJ();

const auto * mat = dynamic_cast<const mat_type*>(matJ);
if(mat==nullptr)
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6 changes: 4 additions & 2 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.h
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Expand Up @@ -105,9 +105,11 @@ class BeamLinearMapping : public LinearMapping<TIn, TOut>

void applyJT(const core::ConstraintParams *cparams, Data< typename In::MatrixDeriv >& out, const Data< typename Out::MatrixDeriv >& in) override;

const sofa::linearalgebra::BaseMatrix* getJ() override;

void draw(const core::visual::VisualParams* vparams) override;

protected:
const sofa::linearalgebra::BaseMatrix* doGetJ() override;

};


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2 changes: 1 addition & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.inl
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Expand Up @@ -278,7 +278,7 @@ void BeamLinearMapping<TIn, TOut>::draw(const core::visual::VisualParams* vparam


template <class TIn, class TOut>
const sofa::linearalgebra::BaseMatrix* BeamLinearMapping<TIn, TOut>::getJ()
const sofa::linearalgebra::BaseMatrix* BeamLinearMapping<TIn, TOut>::doGetJ()
{

const unsigned int inStateSize = this->fromModel->getSize();
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4 changes: 3 additions & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.h
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Expand Up @@ -100,7 +100,6 @@ class CenterOfMassMulti2Mapping : public LinearMulti2Mapping<TIn1, TIn2, TOut>
msg_warning() << "This object only support Direct Solving but an Indirect Solver in the scene is calling method applyJT(constraint) which is not implemented. This will produce un-expected behavior.";
}

void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}

void init() override;
void draw(const core::visual::VisualParams* vparams) override;
Expand All @@ -114,6 +113,9 @@ class CenterOfMassMulti2Mapping : public LinearMulti2Mapping<TIn1, TIn2, TOut>
virtual ~CenterOfMassMulti2Mapping()
{}

void doApplyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}


type::vector<const core::behavior::BaseMass*> inputBaseMass1;
type::vector<In1Coord> inputWeightedCOM1;
type::vector<In1Deriv> inputWeightedForce1;
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4 changes: 3 additions & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.h
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Expand Up @@ -84,7 +84,6 @@ class CenterOfMassMultiMapping : public LinearMultiMapping<TIn, TOut>
//virtual void applyJ(const type::vector< OutVecDeriv*>& outDeriv, const type::vector<const InVecDeriv*>& inDeriv);
//virtual void applyJT( const type::vector<InVecDeriv*>& outDeriv , const type::vector<const OutVecDeriv*>& inDeriv );

void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}

void init() override;
void draw(const core::visual::VisualParams* vparams) override;
Expand All @@ -98,6 +97,9 @@ class CenterOfMassMultiMapping : public LinearMultiMapping<TIn, TOut>

virtual ~CenterOfMassMultiMapping() {}

void doApplyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}


type::vector<const core::behavior::BaseMass*> inputBaseMass;
InVecCoord inputWeightedCOM;
InVecDeriv inputWeightedForce;
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2 changes: 1 addition & 1 deletion ...omponent/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h
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Expand Up @@ -139,7 +139,7 @@ class DeformableOnRigidFrameMapping : public LinearMulti2Mapping<TIn, TInRoot, T
const type::vector< InRootDataVecDeriv*>& dataVecOutRootForce,
const type::vector<const OutDataVecDeriv*>& dataVecInForce) override;

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


//ApplyJT Constraint
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6 changes: 3 additions & 3 deletions ...ponent/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.inl
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Expand Up @@ -385,7 +385,7 @@ void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::applyJT(
}

template <class TIn, class TInRoot, class TOut>
void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::applyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId inForce, core::ConstMultiVecDerivId outForce)
void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::doApplyDJT(const core::MechanicalParams* mparams, core::MultiVecDerivId inForce, core::ConstMultiVecDerivId outForce)
{
SOFA_UNUSED(mparams);
SOFA_UNUSED(inForce);
Expand Down Expand Up @@ -486,9 +486,9 @@ void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::handleTopologyChange(cor
{
case core::topology::TRIANGLESADDED: ///< To notify the end for the current sequence of topological change events
{
core::Multi2Mapping<TIn, TInRoot, TOut>::apply(core::mechanicalparams::defaultInstance(), core::vec_id::write_access::restPosition, core::vec_id::read_access::restPosition);
core::BaseMapping::apply(core::mechanicalparams::defaultInstance(), core::vec_id::write_access::restPosition, core::vec_id::read_access::restPosition);
if(this->f_applyRestPosition.getValue() )
core::Multi2Mapping<TIn, TInRoot, TOut>::apply(core::mechanicalparams::defaultInstance(), core::vec_id::write_access::position, core::vec_id::read_access::position);
core::BaseMapping::apply(core::mechanicalparams::defaultInstance(), core::vec_id::write_access::position, core::vec_id::read_access::position);
break;
}
default:
Expand Down
2 changes: 1 addition & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DistanceToPlaneMapping.h
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Expand Up @@ -52,7 +52,6 @@ class DistanceToPlaneMapping : public LinearMapping<TIn, defaulttype::Vec1dTypes

void applyJT(const core::ConstraintParams *cparams, Data<MatrixDeriv_t<TIn>>& out, const Data<MatrixDeriv_t<TOut>>& in) override;

const linearalgebra::BaseMatrix* getJ() override;

void handleTopologyChange() override;

Expand All @@ -64,6 +63,7 @@ class DistanceToPlaneMapping : public LinearMapping<TIn, defaulttype::Vec1dTypes

DistanceToPlaneMapping();
virtual ~DistanceToPlaneMapping() {};
const linearalgebra::BaseMatrix* doGetJ() override;

linearalgebra::EigenSparseMatrix<TIn, TOut> J;
};
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2 changes: 1 addition & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DistanceToPlaneMapping.inl
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Expand Up @@ -172,7 +172,7 @@ void DistanceToPlaneMapping<TIn>::applyJT(const core::ConstraintParams *cparams,
}

template <class TIn>
const linearalgebra::BaseMatrix* DistanceToPlaneMapping<TIn>::getJ()
const linearalgebra::BaseMatrix* DistanceToPlaneMapping<TIn>::doGetJ()
{
return &J;
}
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5 changes: 2 additions & 3 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.h
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Expand Up @@ -110,7 +110,6 @@ class IdentityMapping : public LinearMapping<TIn, TOut>

void applyJT(const core::ConstraintParams *cparams, Data<InMatrixDeriv>& out, const Data<MatrixDeriv>& in) override;

const sofa::linearalgebra::BaseMatrix* getJ() override;

void handleTopologyChange() override;

Expand All @@ -123,9 +122,9 @@ class IdentityMapping : public LinearMapping<TIn, TOut>
typedef type::vector< linearalgebra::BaseMatrix* > js_type;
js_type Js;

public:
const sofa::linearalgebra::BaseMatrix* doGetJ() override;

const js_type* getJs() override;
const js_type* doGetJs() override;

};

Expand Down
4 changes: 2 additions & 2 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.inl
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Expand Up @@ -136,13 +136,13 @@ void IdentityMapping<TIn, TOut>::handleTopologyChange()
}

template <class TIn, class TOut>
const sofa::linearalgebra::BaseMatrix* IdentityMapping<TIn, TOut>::getJ()
const sofa::linearalgebra::BaseMatrix* IdentityMapping<TIn, TOut>::doGetJ()
{
return &J;
}

template <class TIn, class TOut>
const typename IdentityMapping<TIn, TOut>::js_type* IdentityMapping<TIn, TOut>::getJs()
const typename IdentityMapping<TIn, TOut>::js_type* IdentityMapping<TIn, TOut>::doGetJs()
{
return &Js;
}
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4 changes: 2 additions & 2 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.h
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Expand Up @@ -70,15 +70,15 @@ class IdentityMultiMapping : public LinearMultiMapping<TIn, TOut>
void apply(const core::MechanicalParams* mparams, const type::vector<OutDataVecCoord*>& dataVecOutPos, const type::vector<const InDataVecCoord*>& dataVecInPos) override;
void applyJ(const core::MechanicalParams* mparams, const type::vector<OutDataVecDeriv*>& dataVecOutVel, const type::vector<const InDataVecDeriv*>& dataVecInVel) override;
void applyJT(const core::MechanicalParams* mparams, const type::vector<InDataVecDeriv*>& dataVecOutForce, const type::vector<const OutDataVecDeriv*>& dataVecInForce) override;
void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*enforce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
void applyJT( const core::ConstraintParams* cparams, const type::vector< InDataMatrixDeriv* >& dataMatOutConst, const type::vector< const OutDataMatrixDeriv* >& dataMatInConst ) override;

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

protected :

IdentityMultiMapping();
virtual ~IdentityMultiMapping();
void doApplyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*enforce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* doGetJs() override;

type::vector<linearalgebra::BaseMatrix*> baseMatrices; ///< Jacobian of the mapping, in a vector

Expand Down
2 changes: 1 addition & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMultiMapping.inl
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Expand Up @@ -169,7 +169,7 @@ void IdentityMultiMapping<TIn, TOut>::applyJT( const core::ConstraintParams* /*c


template <class TIn, class TOut>
const type::vector<sofa::linearalgebra::BaseMatrix*>* IdentityMultiMapping<TIn, TOut>::getJs()
const type::vector<sofa::linearalgebra::BaseMatrix*>* IdentityMultiMapping<TIn, TOut>::doGetJs()
{
return &baseMatrices;
}
Expand Down
9 changes: 5 additions & 4 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.h
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Expand Up @@ -97,7 +97,11 @@ class SkinningMapping : public LinearMapping<TIn, TOut>
protected:
SkinningMapping ();
virtual ~SkinningMapping();


// additional Compliant methods
const type::vector<sofa::linearalgebra::BaseMatrix*>* doGetJs() override;
const sofa::linearalgebra::BaseMatrix* doGetJ() override;

public:
void init() override;
void reinit() override;
Expand All @@ -114,9 +118,6 @@ class SkinningMapping : public LinearMapping<TIn, TOut>
void applyJT( const sofa::core::ConstraintParams* cparams, InDataMatrixDeriv& out, const OutDataMatrixDeriv& in) override;
//void applyJT( typename In::MatrixDeriv& out, const typename Out::MatrixDeriv& in );

// additional Compliant methods
const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
const sofa::linearalgebra::BaseMatrix* getJ() override;

SeqTriangles triangles; // Topology of toModel (used for weight display)
void draw(const core::visual::VisualParams* vparams) override;
Expand Down
4 changes: 2 additions & 2 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.inl
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Expand Up @@ -328,13 +328,13 @@ void SkinningMapping<TIn, TOut>::applyJT ( const sofa::core::ConstraintParams* c
}

template <class TIn, class TOut>
const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* SkinningMapping<TIn, TOut>::getJs()
const sofa::type::vector<sofa::linearalgebra::BaseMatrix*>* SkinningMapping<TIn, TOut>::doGetJs()
{
return new sofa::type::vector<sofa::linearalgebra::BaseMatrix*>(1, (sofa::linearalgebra::BaseMatrix*)&_J);
}

template <class TIn, class TOut>
const sofa::linearalgebra::BaseMatrix* SkinningMapping<TIn, TOut>::getJ()
const sofa::linearalgebra::BaseMatrix* SkinningMapping<TIn, TOut>::doGetJ()
{
return (sofa::linearalgebra::BaseMatrix*)&_J;
}
Expand Down
7 changes: 3 additions & 4 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h
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Expand Up @@ -116,13 +116,12 @@ class SubsetMapping : public LinearMapping<TIn, TOut>

void applyJT ( const core::ConstraintParams* /*cparams*/, InDataMatrixDeriv& dOut, const OutDataMatrixDeriv& dIn) override;

const sofa::linearalgebra::BaseMatrix* getJ() override;

public:
typedef type::vector< linearalgebra::BaseMatrix* > js_type;
const js_type* getJs() override;

protected:

const sofa::linearalgebra::BaseMatrix* doGetJ() override;
const js_type* doGetJs() override;
typedef linearalgebra::EigenSparseMatrix<In, Out> eigen_type;
eigen_type eigen;
js_type js;
Expand Down
4 changes: 2 additions & 2 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.inl
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Expand Up @@ -286,7 +286,7 @@ void SubsetMapping<TIn, TOut>::applyJT ( const core::ConstraintParams * /*cparam
}

template<class TIn, class TOut>
const sofa::linearalgebra::BaseMatrix* SubsetMapping<TIn, TOut>::getJ()
const sofa::linearalgebra::BaseMatrix* SubsetMapping<TIn, TOut>::doGetJ()
{
if (matrixJ.get() == 0 || updateJ)
{
Expand Down Expand Up @@ -322,7 +322,7 @@ const sofa::linearalgebra::BaseMatrix* SubsetMapping<TIn, TOut>::getJ()


template <class TIn, class TOut>
const typename SubsetMapping<TIn, TOut>::js_type* SubsetMapping<TIn, TOut>::getJs()
const typename SubsetMapping<TIn, TOut>::js_type* SubsetMapping<TIn, TOut>::doGetJs()
{
using MatrixIndex = typename MatrixType::Index;
if( !eigen.compressedMatrix.nonZeros() || updateJ ) {
Expand Down
9 changes: 4 additions & 5 deletions Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h
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Expand Up @@ -56,20 +56,19 @@ class SubsetMultiMapping : public LinearMultiMapping<TIn, TOut>
void apply(const core::MechanicalParams* mparams, const type::vector<DataVecCoord_t<Out>*>& dataVecOutPos, const type::vector<const DataVecCoord_t<In>*>& dataVecInPos) override;
void applyJ(const core::MechanicalParams* mparams, const type::vector<DataVecDeriv_t<Out>*>& dataVecOutVel, const type::vector<const DataVecDeriv_t<In>*>& dataVecInVel) override;
void applyJT(const core::MechanicalParams* mparams, const type::vector<DataVecDeriv_t<In>*>& dataVecOutForce, const type::vector<const DataVecDeriv_t<Out>*>& dataVecInForce) override;
void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}

void applyJT( const core::ConstraintParams* cparams, const type::vector< DataMatrixDeriv_t<In>* >& dataMatOutConst, const type::vector< const DataMatrixDeriv_t<Out>* >& dataMatInConst ) override;

/// Experimental API used to handle multimappings in matrix assembly. Returns pointers to matrices associated with parent states, consistently with getFrom().
virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;

Data< type::vector<unsigned> > d_indexPairs; ///< list of couples (parent index + index in the parent)

protected :

SubsetMultiMapping();
virtual ~SubsetMultiMapping() override;

void doApplyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
/// Experimental API used to handle multimappings in matrix assembly. Returns pointers to matrices associated with parent states, consistently with getFrom().
virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* doGetJs() override;

type::vector<linearalgebra::BaseMatrix*> baseMatrices; ///< Jacobian of the mapping, in a vector

};
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2 changes: 1 addition & 1 deletion Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.inl
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Expand Up @@ -97,7 +97,7 @@ SubsetMultiMapping<TIn, TOut>::~SubsetMultiMapping()
}

template <class TIn, class TOut>
const type::vector<sofa::linearalgebra::BaseMatrix*>* SubsetMultiMapping<TIn, TOut>::getJs()
const type::vector<sofa::linearalgebra::BaseMatrix*>* SubsetMultiMapping<TIn, TOut>::doGetJs()
{
return &baseMatrices;
}
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