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[src] Update Grasper Jaw to link with an existing SpringFF instead of creating it. Seems not to well handle topological changes #36

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Merged
epernod merged 1 commit into from
Oct 16, 2025
Merged

[src] Update Grasper Jaw to link with an existing SpringFF instead of creating it. Seems not to well handle topological changes #36

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36 changes: 29 additions & 7 deletions src/InfinyToolkit/InteractionTools/GrasperJawModel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ typedef sofa::core::behavior::MechanicalState< sofa::defaulttype::Vec3Types > me
GrasperJawModel::GrasperJawModel()
: BaseJawModel()
, d_stiffness(initData(&d_stiffness, SReal(100.0), "stiffness", "jaw speed factor."))
, l_springFF(initLink("springFF", "link to the spring forcefield used to mimic grasping interaction."))
{
}

Expand Down Expand Up @@ -87,7 +88,9 @@ void GrasperJawModel::performAction()
void GrasperJawModel::stopAction()
{
// clean springs
m_forcefield->clear();
if (l_springFF.get())
l_springFF.get()->clear();

m_rawIds.clear();
//activateImpl();
}
Expand Down Expand Up @@ -115,20 +118,39 @@ void GrasperJawModel::stopSecondaryAction()

int GrasperJawModel::createStiffSpringFF()
{
std::cout << this->getName() << " + createStiffSpringFF()" << std::endl;
if (m_jaw == nullptr)
{
msg_error() << " Error createStiffSpringFF, no jaw model";
return 0;
}

if (m_target == nullptr)
{
msg_error() << " Error createStiffSpringFF, no valid m_target";
return 0;
}

SpringFF* stiffspringforcefield = l_springFF.get();
if (stiffspringforcefield == nullptr)
{
msg_error() << " Error createStiffSpringFF, no valid spring force field";
return 0;
}

m_forcefield = sofa::core::objectmodel::New<SpringFF>(dynamic_cast<mechaState*>(m_jaw), dynamic_cast<mechaState*>(m_target));
SpringFF* stiffspringforcefield = static_cast<SpringFF*>(m_forcefield.get());
stiffspringforcefield->setName(this->getName() + "_SpringFF");
m_target->getContext()->addObject(stiffspringforcefield);

return 1;
}


void GrasperJawModel::addJawSprings()
{
SpringFF* stiffspringforcefield = static_cast<SpringFF*>(m_forcefield.get());
SpringFF* stiffspringforcefield = l_springFF.get();
if (stiffspringforcefield == nullptr)
{
msg_error() << " Error addJawSprings, no valid spring force field";
return;
}

SReal stiffness = d_stiffness.getValue();

for (GrabContactInfo* cInfo : m_contactInfos)
Expand Down
5 changes: 2 additions & 3 deletions src/InfinyToolkit/InteractionTools/GrasperJawModel.h
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Expand Up @@ -54,16 +54,15 @@ class SOFA_INFINYTOOLKIT_API GrasperJawModel : public BaseJawModel
void performSecondaryAction() override;
/// Main API public method to stop the action of the Jaw
void stopSecondaryAction() override;

Data<SReal> d_stiffness;
SingleLink<GrasperJawModel, SpringFF, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_springFF;

protected:
bool initImpl() override;
int createStiffSpringFF();
void addJawSprings();

private:
SpringFF::SPtr m_forcefield = nullptr;
};

} // namespace sofa::infinytoolkit
Expand Down
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