/// After simulation compare the positions of points to the theoretical positions.
bool runTest(double /*convergenceAccuracy*/)
{
// Init simulation
sofa::simulation::getSimulation()->init(this->root.get());
// xin
typename InDOFs::ReadVecCoord x = this->inDofs->readPositions();
InVecCoord xin(x.size());
copyFromData(xin,x);
// xout
typename OutDOFs::ReadVecCoord xelasticityDofs = this->outDofs->readPositions();
OutVecCoord xout(xelasticityDofs.size());
copyFromData(xout,xelasticityDofs);
// Apply affine transform to each dof
InVecCoord parentNew(xin.size());
this->applyAffineTransform(xin,parentNew);
// Expected children positions: rotation from affine constraint
OutVecCoord expectedChildCoords(xout.size());
for(size_t i=0;i<xout.size();++i)
{
OutFrame &f = expectedChildCoords[i].getF();
f = testedRotation;
}
// run the mapping test
return Inherited::runTest(xin,xout,parentNew,expectedChildCoords);
}
/// After simulation compare the positions of deformation gradients to the theoretical positions.
bool runTest(double convergenceAccuracy)
{
// Init simulation
sofa::simulation::getSimulation()->init(this->root.get());
// Get dofs positions
typename InDOFs::ReadVecCoord x = this->inDofs->readPositions();
// xin
InVecCoord xin(x.size());
copyFromData(xin,x);
// xout
typename OutDOFs::ReadVecCoord xelasticityDofs = this->outDofs->readPositions();
OutVecCoord xout(xelasticityDofs.size());
copyFromData(xout,xelasticityDofs);
// Initialize parameters to test convergence
size_t numNodes = xin.size();
InVecCoord xPrev(numNodes);
InVecCoord dx(numNodes);
bool hasConverged = true;
for (size_t i=0; i<numNodes; i++)
{
xPrev[i] = CPos(0,0,0);
}
// Animate
do
{
hasConverged = true;
sofa::simulation::getSimulation()->animate(this->root.get(),0.05);
typename InDOFs::ReadVecCoord xCurrent = this->inDofs->readPositions();
// Compute dx
for (size_t i=0; i<xCurrent.size(); i++)
{
// Translation
dx[i].getCenter() = xCurrent[i].getCenter()-xPrev[i].getCenter();
//Rotation
dx[i].getOrientation() = xCurrent[i].getOrientation().inverse()*xPrev[i].getOrientation();
// Test convergence
if(dx[i].norm()>convergenceAccuracy) hasConverged = false;
}
// xprev = xCurrent
for (size_t i=0; i<numNodes; i++)
{
xPrev[i]=xCurrent[i];
}
}
while(!hasConverged); // not converged
// Parent new : Get simulated positions
typename InDOFs::WriteVecCoord xinNew = this->inDofs->writePositions();
// New position of parents
InVecCoord parentNew(xinNew.size());
for(size_t i=0; i<xinNew.size();++i)
{
parentNew[i] = xinNew[i];
}
// Expected children positions: rotation from affine constraint
typename OutDOFs::WriteVecCoord xoutNew = this->outDofs->writePositions();
OutVecCoord expectedChildCoords(xoutNew.size());
for(size_t i=0;i<xoutNew.size();++i)
{
OutFrame &f = expectedChildCoords[i].getF();
f = testedRotation;
}
// run the mapping test
return Inherited::runTest(xin,xout,parentNew,expectedChildCoords);
}