#include <MappingGraph.h>

Represents the overall mechanical simulation graph structure (Mapping Graph). More...

Detailed Description

Represents the overall mechanical simulation graph structure (Mapping Graph).

This class builds and manages a dependency graph connecting all major components (MechanicalStates, Mappings, ForceFields, Masses) within an SOFA scene. It allows for systematic traversal (Top-down/Bottom-up) to determine the correct order of calculation required during simulation initialization or execution.

Classes
struct	InputLists
	Container struct holding lists of all potential input components collected from a scene context. More...

Public Attributes
MappingGraphAlgorithms	algorithms { this }

Public Member Functions
	MappingGraph ()=default
	Default constructor initializes an empty graph. More...

	MappingGraph (const InputLists &input)
	Constructs the graph using pre-collected input lists. More...

	MappingGraph (core::objectmodel::BaseContext *node)
	Constructs the graph by traversing a starting node in the SOFA object model context. More...

void	clear ()

core::objectmodel::BaseContext *	getRootNode () const
	Returns the root node used during the initial construction of the graph. More...

const sofa::type::vector< core::behavior::BaseMechanicalState * > &	getMainMechanicalStates () const
	Gets the list of all main mechanical states that are not used as outputs in any mapping (i.e., they are root inputs). More...

MappingInputs	getTopMostMechanicalStates (core::behavior::BaseMechanicalState *state) const
	Recursively finds top-most mechanical states that are unmapped but serve as inputs to a mapping involving the provided state. More...

MappingInputs	getTopMostMechanicalStates (core::behavior::StateAccessor *stateAccessor) const
	Recursively finds top-most mechanical states that are unmapped but serve as inputs to a mapping involving the mechanical states associated with a given accessor. More...

bool	hasAnyMapping () const
	Checks if any mapping exists anywhere in the graph structure. More...

bool	hasAnyMappingInput (core::behavior::BaseMechanicalState *mstate) const
	Determines if a specific mechanical state is an output of any mapping node connected to the graph. More...

bool	hasAnyMappingInput (core::behavior::StateAccessor *stateAccessor) const
	Determines if the mechanical states associated with a component are outputs of any mapping node connected to the graph. More...

sofa::Size	getTotalNbMainDofs () const
	Calculates the total number of degrees of freedom (DoF) contributed by all main mechanical states in the graph. More...

type::Vec2u	getPositionInGlobalMatrix (core::behavior::BaseMechanicalState *mstate) const
	Finds the global matrix indices (row/column) where a specific state contributes its degrees of freedom. More...

type::Vec2u	getPositionInGlobalMatrix (core::behavior::BaseMechanicalState a, core::behavior::BaseMechanicalState b) const
	Finds the global matrix indices where two specified states contribute their degrees of freedom. (Used for cross-axis checks). More...

sofa::type::vector< core::BaseMapping * >	getBottomUpMappingsFrom (core::behavior::BaseMechanicalState *) const
	Retrieves all mapping components that depend on (receive input from) the provided mechanical state. This is used for bottom-up dependency checks. More...

bool	isBuilt () const
	Checks if the graph has been successfully built and analyzed. More...

void	build (const InputLists &input)
	Builds the mapping graph using a provided set of input components. More...

void	build (core::objectmodel::BaseContext *rootNode)
	Builds the mapping graph by traversing and collecting components starting from a specific root node in the object model hierarchy. More...

const sofa::type::vector< BaseMappingGraphNode::SPtr > &	getAllNodes () const

Friends
struct	MappingGraphAlgorithms

Attribute details

◆ algorithms

MappingGraphAlgorithms sofa::simulation::MappingGraph::algorithms { this }

Constructor details

◆ MappingGraph() [1/3]

sofa::simulation::MappingGraph::MappingGraph ( )

default

Default constructor initializes an empty graph.

◆ MappingGraph() [2/3]

sofa::simulation::MappingGraph::MappingGraph ( const InputLists & input )

explicit

Constructs the graph using pre-collected input lists.

Parameters

input The list of all components found in the scene.

◆ MappingGraph() [3/3]

sofa::simulation::MappingGraph::MappingGraph ( core::objectmodel::BaseContext * node )

explicit

Constructs the graph by traversing a starting node in the SOFA object model context.

Parameters

node	The root context node from which to build the graph.

Function details

◆ build() [1/2]

void sofa::simulation::MappingGraph::build ( const InputLists & input )

Builds the mapping graph using a provided set of input components.

Parameters

input The collected list of all potential SOFA components.

◆ build() [2/2]

void sofa::simulation::MappingGraph::build ( core::objectmodel::BaseContext * rootNode )

Builds the mapping graph by traversing and collecting components starting from a specific root node in the object model hierarchy.

Parameters

rootNode The starting context node.

◆ clear()

void sofa::simulation::MappingGraph::clear ( )

◆ getAllNodes()

const sofa::type::vector<BaseMappingGraphNode::SPtr>& sofa::simulation::MappingGraph::getAllNodes ( ) const

inline

◆ getBottomUpMappingsFrom()

sofa::type::vector< core::BaseMapping * > sofa::simulation::MappingGraph::getBottomUpMappingsFrom ( core::behavior::BaseMechanicalState * state ) const

Retrieves all mapping components that depend on (receive input from) the provided mechanical state. This is used for bottom-up dependency checks.

Parameters

mstate The mechanical state acting as an input source.

Returns: A vector of shared pointers to dependent BaseMapping nodes.

◆ getMainMechanicalStates()

const sofa::type::vector< core::behavior::BaseMechanicalState * > & sofa::simulation::MappingGraph::getMainMechanicalStates ( ) const

Gets the list of all main mechanical states that are not used as outputs in any mapping (i.e., they are root inputs).

Returns: Const reference to the vector of non-mapped mechanical state pointers.

◆ getPositionInGlobalMatrix() [1/2]

type::Vec2u sofa::simulation::MappingGraph::getPositionInGlobalMatrix	(	core::behavior::BaseMechanicalState *	a,
		core::behavior::BaseMechanicalState *	b
	)		const

Finds the global matrix indices where two specified states contribute their degrees of freedom. (Used for cross-axis checks).

Parameters

a	The first mechanical state.
b	The second mechanical state.

Returns: A pair representing (global row index, global column index) for the combined contribution.

◆ getPositionInGlobalMatrix() [2/2]

type::Vec2u sofa::simulation::MappingGraph::getPositionInGlobalMatrix ( core::behavior::BaseMechanicalState * mstate ) const

Finds the global matrix indices (row/column) where a specific state contributes its degrees of freedom.

Parameters

mstate The mechanical state.

Returns: A pair representing (global row index, global column index).

◆ getRootNode()

core::objectmodel::BaseContext * sofa::simulation::MappingGraph::getRootNode ( ) const

Returns the root node used during the initial construction of the graph.

Returns: A pointer to the root object model context.

◆ getTopMostMechanicalStates() [1/2]

MappingGraph::MappingInputs sofa::simulation::MappingGraph::getTopMostMechanicalStates ( core::behavior::BaseMechanicalState * state ) const

Recursively finds top-most mechanical states that are unmapped but serve as inputs to a mapping involving the provided state.

This search is recursive, handling multiple levels of dependencies.

Parameters

state The starting mechanical state for dependency checking.

Returns: A list of top-most unmapped mechanical states required by state.

◆ getTopMostMechanicalStates() [2/2]

MappingGraph::MappingInputs sofa::simulation::MappingGraph::getTopMostMechanicalStates ( core::behavior::StateAccessor * stateAccessor ) const

Recursively finds top-most mechanical states that are unmapped but serve as inputs to a mapping involving the mechanical states associated with a given accessor.

This search is recursive, handling multiple levels of dependencies.

Parameters

stateAccessor The starting state accessor for dependency checking.

Returns: A list of top-most unmapped mechanical states required by stateAccessor.

◆ getTotalNbMainDofs()

sofa::Size sofa::simulation::MappingGraph::getTotalNbMainDofs ( ) const

Calculates the total number of degrees of freedom (DoF) contributed by all main mechanical states in the graph.

Returns: The sum of DoFs across all primary states.

◆ hasAnyMapping()

bool sofa::simulation::MappingGraph::hasAnyMapping ( ) const

Checks if any mapping exists anywhere in the graph structure.

Returns: True if at least one mapping is present, false otherwise.

◆ hasAnyMappingInput() [1/2]

bool sofa::simulation::MappingGraph::hasAnyMappingInput ( core::behavior::BaseMechanicalState * mstate ) const

Determines if a specific mechanical state is an output of any mapping node connected to the graph.

Parameters

mstate The mechanical state to check.

Returns: True if mstate is an output, false otherwise.

◆ hasAnyMappingInput() [2/2]

bool sofa::simulation::MappingGraph::hasAnyMappingInput ( core::behavior::StateAccessor * stateAccessor ) const

Determines if the mechanical states associated with a component are outputs of any mapping node connected to the graph.

Parameters

stateAccessor The state accessor for the component to check.

Returns: True if the associated states are mapped output, false otherwise.

◆ isBuilt()

bool sofa::simulation::MappingGraph::isBuilt ( ) const

Checks if the graph has been successfully built and analyzed.

Returns: True if building is complete, false otherwise.

Related details

◆ MappingGraphAlgorithms

friend struct MappingGraphAlgorithms

friend

Detailed Description

Classes

Public Attributes

Public Member Functions

Friends

Attribute details

◆ algorithms

Constructor details

◆ MappingGraph() [1/3]

◆ MappingGraph() [2/3]

◆ MappingGraph() [3/3]

Function details

◆ build() [1/2]

◆ build() [2/2]

◆ clear()

◆ getAllNodes()

◆ getBottomUpMappingsFrom()

◆ getMainMechanicalStates()

◆ getPositionInGlobalMatrix() [1/2]

◆ getPositionInGlobalMatrix() [2/2]

◆ getRootNode()

◆ getTopMostMechanicalStates() [1/2]

◆ getTopMostMechanicalStates() [2/2]

◆ getTotalNbMainDofs()

◆ hasAnyMapping()

◆ hasAnyMappingInput() [1/2]

◆ hasAnyMappingInput() [2/2]

◆ isBuilt()

Related details

◆ MappingGraphAlgorithms