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[Constraint] Improve initialization and state validation in StopperLagrangianConstraint #5935

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[Constraint] Improve initialization and state validation in StopperLagrangianConstraint #5935

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20 changes: 12 additions & 8 deletions ...gian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -40,15 +40,19 @@ StopperLagrangianConstraint<DataTypes>::StopperLagrangianConstraint(MechanicalSt
template<class DataTypes>
void StopperLagrangianConstraint<DataTypes>::init()
{
this->mstate = dynamic_cast<MechanicalState*>(this->getContext()->getMechanicalState());
assert(this->mstate);
core::behavior::SingleStateAccessor<DataTypes>::init();

helper::WriteAccessor<Data<VecCoord> > xData = *this->mstate->write(core::vec_id::write_access::position);
VecCoord& x = xData.wref();
if (x[d_index.getValue()].x() < d_min.getValue())
x[d_index.getValue()].x() = (Real) d_min.getValue();
if (x[d_index.getValue()].x() > d_max.getValue())
x[d_index.getValue()].x() = (Real) d_max.getValue();
if (!this->isComponentStateInvalid())
{
helper::WriteAccessor<Data<VecCoord> > xData = *this->mstate->write(core::vec_id::write_access::position);
VecCoord& x = xData.wref();
if (x[d_index.getValue()].x() < d_min.getValue())
x[d_index.getValue()].x() = (Real) d_min.getValue();
if (x[d_index.getValue()].x() > d_max.getValue())
x[d_index.getValue()].x() = (Real) d_max.getValue();

Comment on lines +47 to +53
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@bakpaul bakpaul Feb 4, 2026

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I get that this is just the old code refactored. But I find it intriguing that a lagrangian constraint is performing a pure projection at init. Nobody asked for this. I would remove this because it might create very bad internal stress in some cases.

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@alxbilger alxbilger Feb 6, 2026

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This projection is here since the introduction of the component (9be66af)

If we remove the projection, we can remove the entire init method.

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@bakpaul bakpaul Feb 6, 2026

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I would advocate for it. Let the constraint solver do the work instead of doing something unrelated before the solving...

this->d_componentState.setValue(core::objectmodel::ComponentState::Valid);
}
}

template<class DataTypes>
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