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[Core] Simplify Data access from MultiVecId in Multi2Mapping #6374

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Merged
bakpaul merged 2 commits into from
Nov 5, 2026
Merged

[Core] Simplify Data access from MultiVecId in Multi2Mapping #6374

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c1d5739
[Core] Simplify Data access from MultiVecId in Multi2Mapping
alxbilger Oct 9, 2026
9930c5a
Fix missing parameter
alxbilger Oct 29, 2026
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37 changes: 19 additions & 18 deletions Sofa/framework/Core/src/sofa/core/Multi2Mapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -231,43 +231,44 @@ class Multi2Mapping : public BaseMapping
}

protected:
void getVecIn1Coord (const MultiVecCoordId id, type::vector< DataVecCoord_t<In1>*> &v) const

SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getVecIn1Coord (const MultiVecCoordId id, type::vector< DataVecCoord_t<In1>*> &v) const
{ for (unsigned int i=0; i<fromModels1.size(); ++i) v.push_back(id[fromModels1[i]].write()); }
void getConstVecIn1Coord(const ConstMultiVecCoordId id, type::vector<const DataVecCoord_t<In1>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstVecIn1Coord(const ConstMultiVecCoordId id, type::vector<const DataVecCoord_t<In1>*> &v) const
{ for (unsigned int i=0; i<fromModels1.size(); ++i) v.push_back(id[fromModels1[i]].read()); }
void getVecIn1Deriv (const MultiVecDerivId id, type::vector< DataVecDeriv_t<In1>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getVecIn1Deriv (const MultiVecDerivId id, type::vector< DataVecDeriv_t<In1>*> &v) const
{ for (unsigned int i=0; i<fromModels1.size(); ++i) v.push_back(id[fromModels1[i]].write()); }
void getConstVecIn1Deriv(const ConstMultiVecDerivId id, type::vector<const DataVecDeriv_t<In1>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstVecIn1Deriv(const ConstMultiVecDerivId id, type::vector<const DataVecDeriv_t<In1>*> &v) const
{ for (unsigned int i=0; i<fromModels1.size(); ++i) v.push_back(id[fromModels1[i]].read()); }
void getMatIn1Deriv (const MultiMatrixDerivId id, type::vector< DataMatrixDeriv_t<In1>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getMatIn1Deriv (const MultiMatrixDerivId id, type::vector< DataMatrixDeriv_t<In1>*> &v) const
{ for (unsigned int i=0; i<fromModels1.size(); ++i) v.push_back(id[fromModels1[i]].write()); }
void getConstMatIn1Deriv(const ConstMultiMatrixDerivId id, type::vector<const DataMatrixDeriv_t<In1>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstMatIn1Deriv(const ConstMultiMatrixDerivId id, type::vector<const DataMatrixDeriv_t<In1>*> &v) const
{ for (unsigned int i=0; i<fromModels1.size(); ++i) v.push_back(id[fromModels1[i]].read()); }

void getVecIn2Coord (const MultiVecCoordId id, type::vector< DataVecCoord_t<In2>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getVecIn2Coord (const MultiVecCoordId id, type::vector< DataVecCoord_t<In2>*> &v) const
{ for (unsigned int i=0; i<fromModels2.size(); ++i) v.push_back(id[fromModels2[i]].write()); }
void getConstVecIn2Coord(const ConstMultiVecCoordId id, type::vector<const DataVecCoord_t<In2>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstVecIn2Coord(const ConstMultiVecCoordId id, type::vector<const DataVecCoord_t<In2>*> &v) const
{ for (unsigned int i=0; i<fromModels2.size(); ++i) v.push_back(id[fromModels2[i]].read()); }
void getVecIn2Deriv (const MultiVecDerivId id, type::vector< DataVecDeriv_t<In2>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getVecIn2Deriv (const MultiVecDerivId id, type::vector< DataVecDeriv_t<In2>*> &v) const
{ for (unsigned int i=0; i<fromModels2.size(); ++i) v.push_back(id[fromModels2[i]].write()); }
void getConstVecIn2Deriv(const ConstMultiVecDerivId id, type::vector<const DataVecDeriv_t<In2>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstVecIn2Deriv(const ConstMultiVecDerivId id, type::vector<const DataVecDeriv_t<In2>*> &v) const
{ for (unsigned int i=0; i<fromModels2.size(); ++i) v.push_back(id[fromModels2[i]].read()); }
void getMatIn2Deriv (const MultiMatrixDerivId id, type::vector< DataMatrixDeriv_t<In2>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getMatIn2Deriv (const MultiMatrixDerivId id, type::vector< DataMatrixDeriv_t<In2>*> &v) const
{ for (unsigned int i=0; i<fromModels2.size(); ++i) v.push_back(id[fromModels2[i]].write()); }
void getConstMatIn2Deriv(const ConstMultiMatrixDerivId id, type::vector<const DataMatrixDeriv_t<In2>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstMatIn2Deriv(const ConstMultiMatrixDerivId id, type::vector<const DataMatrixDeriv_t<In2>*> &v) const
{ for (unsigned int i=0; i<fromModels2.size(); ++i) v.push_back(id[fromModels2[i]].read()); }

void getVecOutCoord (const MultiVecCoordId id, type::vector< DataVecCoord_t<Out>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getVecOutCoord (const MultiVecCoordId id, type::vector< DataVecCoord_t<Out>*> &v) const
{ for (unsigned int i=0; i<toModels.size(); ++i) v.push_back(id[toModels[i]].write()); }
void getConstVecOutCoord(const ConstMultiVecCoordId id, type::vector<const DataVecCoord_t<Out>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstVecOutCoord(const ConstMultiVecCoordId id, type::vector<const DataVecCoord_t<Out>*> &v) const
{ for (unsigned int i=0; i<toModels.size(); ++i) v.push_back(id[toModels[i]].read()); }
void getVecOutDeriv (const MultiVecDerivId id, type::vector< DataVecDeriv_t<Out>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getVecOutDeriv (const MultiVecDerivId id, type::vector< DataVecDeriv_t<Out>*> &v) const
{ for (unsigned int i=0; i<toModels.size(); ++i) v.push_back(id[toModels[i]].write()); }
void getConstVecOutDeriv(const ConstMultiVecDerivId id, type::vector<const DataVecDeriv_t<Out>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstVecOutDeriv(const ConstMultiVecDerivId id, type::vector<const DataVecDeriv_t<Out>*> &v) const
{ for (unsigned int i=0; i<toModels.size(); ++i) v.push_back(id[toModels[i]].read()); }
void getMatOutDeriv (const MultiMatrixDerivId id, type::vector< DataMatrixDeriv_t<Out>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getMatOutDeriv (const MultiMatrixDerivId id, type::vector< DataMatrixDeriv_t<Out>*> &v) const
{ for (unsigned int i=0; i<toModels.size(); ++i) v.push_back(id[toModels[i]].write()); }
void getConstMatOutDeriv(const ConstMultiMatrixDerivId id, type::vector<const DataMatrixDeriv_t<Out>*> &v) const
SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() void getConstMatOutDeriv(const ConstMultiMatrixDerivId id, type::vector<const DataMatrixDeriv_t<Out>*> &v) const
{ for (unsigned int i=0; i<toModels.size(); ++i) v.push_back(id[toModels[i]].read()); }

};
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75 changes: 57 additions & 18 deletions Sofa/framework/Core/src/sofa/core/Multi2Mapping.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -138,15 +138,45 @@ type::vector<behavior::BaseMechanicalState*> Multi2Mapping<In1,In2,Out>::getMech
return mechToVec;
}

template<class DataTypes, VecType vtype, VecAccess vaccess>
auto* GetData(const StateVecAccessor<DataTypes, vtype, vaccess>& stateVecAccessor)
{
if constexpr (vaccess == VecAccess::V_READ)
{
return stateVecAccessor.read();
}
else
{
return stateVecAccessor.write();
}
}

template <VecType vtype, VecAccess vaccess>
void getDataVecFromMultiVecId(auto* self, const auto& links, const TMultiVecId<vtype, vaccess> &id, auto &v)
{
v.reserve(links.size());
for (unsigned int i = 0; i < links.size(); ++i)
{
auto* data = GetData(id[links[i]]);
if (data == nullptr)
{
msg_error(self) << "Cannot find a Data in '" << links[i]->getPathName() << "' associated to the id " << id;
}
v.push_back(data);
}
}

template < class In1, class In2,class Out>
void Multi2Mapping<In1,In2,Out>::apply (const MechanicalParams* mparams, MultiVecCoordId outPos, ConstMultiVecCoordId inPos )
{
type::vector<DataVecCoord_t<Out>*> vecOutPos;
getVecOutCoord(outPos, vecOutPos);
getDataVecFromMultiVecId(this, toModels, outPos, vecOutPos);

type::vector<const DataVecCoord_t<In1>*> vecIn1Pos;
getConstVecIn1Coord(inPos, vecIn1Pos);
getDataVecFromMultiVecId(this, fromModels1, inPos, vecIn1Pos);

type::vector<const DataVecCoord_t<In2>*> vecIn2Pos;
getConstVecIn2Coord(inPos, vecIn2Pos);
getDataVecFromMultiVecId(this, fromModels2, inPos, vecIn2Pos);

this->apply(mparams, vecOutPos, vecIn1Pos, vecIn2Pos);
}
Expand All @@ -155,55 +185,64 @@ template < class In1, class In2,class Out>
void Multi2Mapping<In1,In2,Out>::applyJ (const MechanicalParams* mparams, MultiVecDerivId outVel, ConstMultiVecDerivId inVel )
{
type::vector<DataVecDeriv_t<Out>*> vecOutVel;
getVecOutDeriv(outVel, vecOutVel);
getDataVecFromMultiVecId(this, toModels, outVel, vecOutVel);

type::vector<const DataVecDeriv_t<In1>*> vecIn1Vel;
getConstVecIn1Deriv(inVel, vecIn1Vel);
getDataVecFromMultiVecId(this, fromModels1, inVel, vecIn1Vel);

type::vector<const DataVecDeriv_t<In2>*> vecIn2Vel;
getConstVecIn2Deriv(inVel, vecIn2Vel);
getDataVecFromMultiVecId(this, fromModels2, inVel, vecIn2Vel);

this->applyJ(mparams, vecOutVel, vecIn1Vel, vecIn2Vel);
}

template < class In1, class In2,class Out>
void Multi2Mapping<In1,In2,Out>::applyJT (const MechanicalParams* mparams, MultiVecDerivId inForce, ConstMultiVecDerivId outForce )
{
type::vector<DataVecDeriv_t<In1>*> vecOut1Force;
getVecIn1Deriv(inForce, vecOut1Force);
getDataVecFromMultiVecId(this, fromModels1, inForce, vecOut1Force);

type::vector<DataVecDeriv_t<In2>*> vecOut2Force;
getVecIn2Deriv(inForce, vecOut2Force);
getDataVecFromMultiVecId(this, fromModels2, inForce, vecOut2Force);

type::vector<const DataVecDeriv_t<Out>*> vecInForce;
getConstVecOutDeriv(outForce, vecInForce);
getDataVecFromMultiVecId(this, toModels, outForce, vecInForce);

this->applyJT(mparams, vecOut1Force, vecOut2Force, vecInForce);
}

template < class In1, class In2,class Out>
void Multi2Mapping<In1,In2,Out>::applyJT(const ConstraintParams* cparams, MultiMatrixDerivId inConst, ConstMultiMatrixDerivId outConst )
{
type::vector<DataMatrixDeriv_t<In1>*> matOut1Const;
getMatIn1Deriv(inConst, matOut1Const);
getDataVecFromMultiVecId(this, fromModels1, inConst, matOut1Const);

type::vector<DataMatrixDeriv_t<In2>*> matOut2Const;
getMatIn2Deriv(inConst, matOut2Const);
getDataVecFromMultiVecId(this, fromModels2, inConst, matOut2Const);

type::vector<const DataMatrixDeriv_t<Out>*> matInConst;
getConstMatOutDeriv(outConst, matInConst);
getDataVecFromMultiVecId(this, toModels, outConst, matInConst);

this->applyJT(cparams, matOut1Const, matOut2Const, matInConst);
}

template < class In1, class In2,class Out>
void Multi2Mapping<In1,In2,Out>::computeAccFromMapping(const MechanicalParams* mparams, MultiVecDerivId outAcc, ConstMultiVecDerivId inVel, ConstMultiVecDerivId inAcc )
{
type::vector<DataVecDeriv_t<Out>*> vecOutAcc;
getVecOutDeriv(outAcc, vecOutAcc);
getDataVecFromMultiVecId(this, toModels, outAcc, vecOutAcc);

type::vector<const DataVecDeriv_t<In1>*> vecIn1Vel;
getConstVecIn1Deriv(inVel, vecIn1Vel);
getDataVecFromMultiVecId(this, fromModels1, inVel, vecIn1Vel);

type::vector<const DataVecDeriv_t<In1>*> vecIn1Acc;
getConstVecIn1Deriv(inAcc, vecIn1Acc);
getDataVecFromMultiVecId(this, fromModels1, inAcc, vecIn1Acc);

type::vector<const DataVecDeriv_t<In2>*> vecIn2Vel;
getDataVecFromMultiVecId(this, fromModels2, inVel, vecIn2Vel);

type::vector<const DataVecDeriv_t<In2>*> vecIn2Vel;
getConstVecIn2Deriv(inVel, vecIn2Vel);
type::vector<const DataVecDeriv_t<In2>*> vecIn2Acc;
getConstVecIn2Deriv(inAcc, vecIn2Acc);
getDataVecFromMultiVecId(this, fromModels2, inAcc, vecIn2Acc);

this->computeAccFromMapping(mparams, vecOutAcc, vecIn1Vel, vecIn2Vel,vecIn1Acc, vecIn2Acc);
}
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7 changes: 7 additions & 0 deletions Sofa/framework/Core/src/sofa/core/config.h.in
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Original file line number Diff line number Diff line change
Expand Up @@ -181,3 +181,10 @@ SOFA_ATTRIBUTE_DEPRECATED("v26.12", "v27.12", "Use BaseContext instead of Contex
#define SOFA_CORE_DEPRECATED_ACCFROMF() \
SOFA_ATTRIBUTE_DISABLED("v26.12", "v27.06", "Use solveLinearSystem instead of accFromF.")
#endif

#ifdef SOFA_BUILD_SOFA_CORE
#define SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID()
#else
#define SOFA_CORE_DEPRECATED_GETDATAVECFROMMULTIVECID() \
SOFA_ATTRIBUTE_DEPRECATED("v26.12", "v27.12", "")
#endif
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