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[Mapping] Fix rigid mapping init #5943

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[Mapping] Fix rigid mapping init #5943

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2 changes: 1 addition & 1 deletion Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.h
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Original file line number Diff line number Diff line change
Expand Up @@ -152,7 +152,7 @@ class RigidMapping : public core::Mapping<TIn, TOut>, public NonLinearMappingDat
class Loader;

void load(const char* filename);
const OutVecCoord& getPoints();
const OutVecCoord& getPoints() const;
void setJMatrixBlock(sofa::Index outIdx, sofa::Index inIdx);

std::unique_ptr<MatrixType> m_matrixJ;
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6 changes: 4 additions & 2 deletions Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.inl
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Expand Up @@ -135,7 +135,8 @@ template <class TIn, class TOut>
sofa::Index RigidMapping<TIn, TOut>::getRigidIndex(sofa::Index pointIndex ) const
{
// do we really need this crap?
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@hugtalbot hugtalbot Feb 6, 2026

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Possibly ... no?

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// do we really need this crap?

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@bakpaul bakpaul Feb 6, 2026

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This comment is from 2015 and the following code has been modified multiple times afterwards. So I would say that we might need it.

if( d_points.getValue().size() == d_rigidIndexPerPoint.getValue().size() ) return d_rigidIndexPerPoint.getValue()[pointIndex];
if( getPoints().size() == d_rigidIndexPerPoint.getValue().size() )
return d_rigidIndexPerPoint.getValue()[pointIndex];
else
{
if( !d_indexFromEnd.getValue() ) return d_index.getValue();
Expand Down Expand Up @@ -225,6 +226,7 @@ void RigidMapping<TIn, TOut>::init()
this->reinit();

this->Inherit::init();

}

template <class TIn, class TOut>
Expand Down Expand Up @@ -286,7 +288,7 @@ void RigidMapping<TIn, TOut>::setRepartition(sofa::type::vector<sofa::Size> valu
}

template <class TIn, class TOut>
const typename RigidMapping<TIn, TOut>::OutVecCoord & RigidMapping<TIn, TOut>::getPoints()
const typename RigidMapping<TIn, TOut>::OutVecCoord & RigidMapping<TIn, TOut>::getPoints() const
{
if (d_useX0.getValue())
{
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