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feat(constraint): Improve SurfacePressureConstraint logic and fix bug #340

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Merged
EulalieCoevoet merged 6 commits into from
Feb 4, 2026
Merged

feat(constraint): Improve SurfacePressureConstraint logic and fix bug #340

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99de79c
feat(constraint): Improve SurfacePressureConstraint logic and fix bug
adagolodjo Oct 31, 2025
55e58da
refactor(model): Improve clarity of volume computation
adagolodjo Nov 1, 2025
093d29b
Merge branch 'master' into feature/surface-pressure-fix
EulalieCoevoet Nov 5, 2025
0c8c683
Apply suggestions from code review
EulalieCoevoet Feb 4, 2026
a19d5e6
Merge branch 'master' into feature/surface-pressure-fix
EulalieCoevoet Feb 4, 2026
f7e2a9c
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EulalieCoevoet Feb 4, 2026
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20 changes: 7 additions & 13 deletions src/SoftRobots/component/constraint/SurfacePressureConstraint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include <SoftRobots/component/constraint/SurfacePressureConstraint.inl>

#include <sofa/core/ObjectFactory.h>
#include <algorithm>

namespace softrobots::constraint
{
Expand Down Expand Up @@ -56,26 +57,21 @@ void SurfacePressureConstraintResolution::init(int line, SReal**w, SReal*force)
void SurfacePressureConstraintResolution::resolution(int line, SReal** w, SReal* d, SReal* force, SReal* dfree)
{
SOFA_UNUSED(w);
SOFA_UNUSED(d);
SOFA_UNUSED(dfree);


double volumeGrowth = m_wActuatorActuator*m_imposedPressure + d[line];
const double volumeGrowth = m_wActuatorActuator*m_imposedPressure + d[line];

if(volumeGrowth<m_minVolumeGrowth)
{
volumeGrowth = m_minVolumeGrowth;
force[line] -= (d[line]-volumeGrowth) / m_wActuatorActuator ;
force[line] -= (d[line] - m_minVolumeGrowth) / m_wActuatorActuator ;
}
if(volumeGrowth>m_maxVolumeGrowth)
else if(volumeGrowth>m_maxVolumeGrowth)
{
volumeGrowth = m_maxVolumeGrowth;
force[line] -= (d[line]-volumeGrowth) / m_wActuatorActuator ;
force[line] -= (d[line] - m_maxVolumeGrowth) / m_wActuatorActuator ;
}
else
force[line] = m_imposedPressure ;


}

/////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -106,10 +102,8 @@ void VolumeGrowthConstraintResolution::resolution(int line, SReal** w, SReal* d,
// da=Waa*(lambda_a) + Sum Wai * lambda_i = m_imposedVolumeGrowth
lambda[line] -= (d[line]-m_imposedVolumeGrowth) / m_wActuatorActuator ;

if(lambda[line]<m_minPressure)
lambda[line] = m_minPressure;
if(lambda[line]>m_maxPressure)
lambda[line] = m_maxPressure;
lambda[line] = std::max(m_minPressure, lambda[line]);
lambda[line] = std::min(m_maxPressure, lambda[line]);
}

/////////////////////////////////////////////////////////////////////////////////////////////////////
Expand Down
1 change: 1 addition & 0 deletions src/SoftRobots/component/constraint/model/SurfacePressureModel.h
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Expand Up @@ -150,6 +150,7 @@ class SOFA_SOFTROBOTS_API SurfacePressureModel : virtual public SoftRobotsConstr

void drawValue(const sofa::core::visual::VisualParams* vparams);
void computeEdges();
Real getTriangleContributionToVolume(const Coord& p0, const Coord& p1, const Coord& p2);
};

extern template class SurfacePressureModel<sofa::defaulttype::Vec3Types>;
Expand Down
26 changes: 9 additions & 17 deletions src/SoftRobots/component/constraint/model/SurfacePressureModel.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,12 @@ void SurfacePressureModel<DataTypes>::internalInit()
}


template<class DataTypes>
typename SurfacePressureModel<DataTypes>::Real SurfacePressureModel<DataTypes>::getTriangleContributionToVolume(const Coord& p0, const Coord& p1, const Coord& p2)
{
return ((p1[1]-p0[1])*(p2[2]-p0[2])-(p2[1]-p0[1])*(p1[2]-p0[2]))*(p0[0]+p1[0]+p2[0])/6;
}

template<class DataTypes>
SReal SurfacePressureModel<DataTypes>::getCavityVolume(const VecCoord& positions)
{
Expand All @@ -272,31 +278,17 @@ SReal SurfacePressureModel<DataTypes>::getCavityVolume(const VecCoord& positions
ReadAccessor<Data<vector<Triangle>>> triangles = d_triangles;
ReadAccessor<Data<vector<Quad>>> quads = d_quads;

Coord p0, p1, p2;
Real volume = 0;

for (unsigned int t=0; t<triangles.size(); t++)
{
p0 = positions[triangles[t][0]];
p1 = positions[triangles[t][1]];
p2 = positions[triangles[t][2]];

volume += ((p1[1]-p0[1])*(p2[2]-p0[2])-(p2[1]-p0[1])*(p1[2]-p0[2]))*(p0[0]+p1[0]+p2[0])/6;
volume += getTriangleContributionToVolume(positions[triangles[t][0]], positions[triangles[t][1]], positions[triangles[t][2]]);
}

for (unsigned int q=0; q<quads.size(); q++)
{
p0 = positions[quads[q][0]];
p1 = positions[quads[q][1]];
p2 = positions[quads[q][2]];

volume += ((p1[1]-p0[1])*(p2[2]-p0[2])-(p2[1]-p0[1])*(p1[2]-p0[2]))*(p0[0]+p1[0]+p2[0])/6;

p0 = positions[quads[q][0]];
p1 = positions[quads[q][2]];
p2 = positions[quads[q][3]];

volume += ((p1[1]-p0[1])*(p2[2]-p0[2])-(p2[1]-p0[1])*(p1[2]-p0[2]))*(p0[0]+p1[0]+p2[0])/6;
volume += getTriangleContributionToVolume(positions[quads[q][0]], positions[quads[q][1]], positions[quads[q][2]]);
volume += getTriangleContributionToVolume(positions[quads[q][0]], positions[quads[q][2]], positions[quads[q][3]]);
}

if(volume<0)
Expand Down
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