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Removed a buggy loop in dispatching forces #339

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Nov 14, 2023
Merged

Removed a buggy loop in dispatching forces #339

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59 changes: 24 additions & 35 deletions src/RigidBody/ExternalForceSet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -252,31 +252,26 @@ void rigidbody::ExternalForceSet::combineTranslationalForces(
// Do not waste time computing forces on empty vector
if (m_translationalForces.size() == 0) return;

for (size_t i = 0; i <m_model.nbSegment(); ++i) {
const rigidbody::Segment& segment(m_model.segment(i));
// Add 1 to account for the undeclared root
for (auto& e : m_translationalForces) {
const rigidbody::NodeSegment& pointOfApplication = e.second;
const rigidbody::Segment& segment(m_model.segment(pointOfApplication.parent()));
size_t dofIndex = segment.getLastDofIndexInGeneralizedCoordinates(m_model) + 1;

for (auto& e : m_translationalForces) {
const rigidbody::NodeSegment& pointOfApplication = e.second;
if (pointOfApplication.parent().compare(segment.name())) continue;

const utils::Vector3d& force = e.first;
rigidbody::NodeSegment pointOfApplicationInGlobal(
RigidBodyDynamics::CalcBodyToBaseCoordinates(
m_model, Q, static_cast<unsigned int>(segment.id()), pointOfApplication, updateKin
),
pointOfApplication.Node::name(),
pointOfApplication.parent(),
pointOfApplication.isTechnical(),
pointOfApplication.isAnatomical(),
pointOfApplication.axesToRemove(),
pointOfApplication.parentId()
);

const utils::Vector3d& force = e.first;
rigidbody::NodeSegment pointOfApplicationInGlobal(
RigidBodyDynamics::CalcBodyToBaseCoordinates(
m_model, Q, static_cast<unsigned int>(segment.id()), pointOfApplication, updateKin
),
pointOfApplication.Node::name(),
pointOfApplication.parent(),
pointOfApplication.isTechnical(),
pointOfApplication.isAnatomical(),
pointOfApplication.axesToRemove(),
pointOfApplication.parentId()
);

// Add the force to the force vector (do not subtract 1 because 0 is the base)
out[dofIndex] += transportForceAtOrigin(force, pointOfApplicationInGlobal);
}
// Add the force to the force vector (do not subtract 1 because 0 is the base)
out[dofIndex] += transportForceAtOrigin(force, pointOfApplicationInGlobal);
}
}

Expand All @@ -296,20 +291,14 @@ void rigidbody::ExternalForceSet::combineSoftContactForces(

// Do not waste time computing forces on empty vector
if (m_model.nbSoftContacts() == 0) return;


for (size_t i = 0; i < m_model.nbSegment(); ++i) {
const rigidbody::Segment& segment(m_model.segment(i));
// Add 1 to account for the undeclared root
size_t dofIndex = segment.getLastDofIndexInGeneralizedCoordinates(m_model) + 1;

for (size_t j = 0; j < m_model.nbSoftContacts(); j++) {
rigidbody::SoftContactNode& contact(m_model.softContact(j));
if (contact.parent().compare(segment.name())) continue;
for (size_t j = 0; j < m_model.nbSoftContacts(); j++) {
rigidbody::SoftContactNode& contact(m_model.softContact(j));
const rigidbody::Segment& segment(m_model.segment(contact.parent()));
size_t dofIndex = segment.getLastDofIndexInGeneralizedCoordinates(m_model) + 1;

// Add the force to the force vector (do not subtract 1 because 0 is the base)
out[dofIndex] += contact.computeForceAtOrigin(m_model, Q, QDot, updateKin);
}
// Add the force to the force vector (do not subtract 1 because 0 is the base)
out[dofIndex] += contact.computeForceAtOrigin(m_model, Q, QDot, updateKin);
}
}

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