Add MatrixProjectionMethod in an example

sofa-framework · Feb 21, 2024 · a3f276c · a3f276c
1 parent a9a1dd7
commit a3f276c
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl
@@ -1007,7 +1007,7 @@ void MatrixLinearSystem<TMatrix, TVector>::projectMappedMatrices(const core::Mec
             {
                 if (m->hasPairStates(pair))
                 {
-                    msg_info() << "Found a MatrixMapping for pair " << pair[0]->getPathName() << " and " << pair[1]->getPathName() << ": " << m->getPathName();
+                    msg_info() << "Found a matrix projection method for pair " << pair[0]->getPathName() << " and " << pair[1]->getPathName() << ": " << m->getPathName();
                     const auto [insert_it, success] = m_matrixMappings.insert({pair, m});
                     it = insert_it;
                     break;
@@ -1016,7 +1016,7 @@ void MatrixLinearSystem<TMatrix, TVector>::projectMappedMatrices(const core::Mec
 
             if (it == m_matrixMappings.end()) //it has not been found in the scene graph
             {
-                msg_info() << "Cannot find a MatrixMapping for pair " << pair[0]->getPathName() << " and " << pair[1]->getPathName() << ": create one";
+                msg_info() << "Cannot find a matrix projection method for pair " << pair[0]->getPathName() << " and " << pair[1]->getPathName() << ": create one";
                 const auto createdMatrixMapping = createMatrixMapping(pair);
                 const auto resolvedName = this->getContext()->getNameHelper().resolveName(createdMatrixMapping->getClassName(), sofa::core::ComponentNameHelper::Convention::xml);
                 createdMatrixMapping->setName(resolvedName);

diff --git a/examples/Component/LinearSystem/MatrixLinearSystem.scn b/examples/Component/LinearSystem/MatrixLinearSystem.scn
@@ -29,7 +29,7 @@
         <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
 
         <Node name="matrices">
-            <MatrixLinearSystem template="CompressedRowSparseMatrixd" name="system" checkIndices="true"/>
+            <MatrixLinearSystem template="CompressedRowSparseMatrixd" name="system" checkIndices="true" printLog="true"/>
             <MatrixLinearSystem template="CompressedRowSparseMatrixd" name="GS" assembleStiffness="false" assembleMass="false" assembleDamping="false" assembleGeometricStiffness="true" applyProjectiveConstraints="false"/>
             <GlobalSystemMatrixImage name="imageA" linearSystem="@system"/>
             <GlobalSystemMatrixImage name="imageGS" linearSystem="@GS"/>
@@ -80,6 +80,10 @@
                 <MechanicalObject template="Vec3d" name="DOFs"/>
                 <SubsetMapping input="@../DOFs" output="@DOFs" indices="@box.indices"/>
             </Node>
+            <MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/a/DOFs @/rigidSections/green/a/DOFs"/>
+            <MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/a/DOFs @/rigidSections/green/b/DOFs"/>
+            <MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/b/DOFs @/rigidSections/green/a/DOFs"/>
+            <MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/b/DOFs @/rigidSections/green/b/DOFs"/>
             <StiffSpringForceField object1="@a/DOFs" object2="@b/DOFs" spring="0 0 100 1 1" showArrowSize="0.05" drawMode="2"/>
 
             <Node name="Visual">