Fix wires with 3+ sections: initTopology accumulation + chained-section rest frame#228
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April 29, 2026 16:34
…ons (sofa-framework#223) x_used is the global curvilinear abscissa; adding x_start again placed the rest node at 2*x_start + local_offset instead of x_used. For wires with two or more RodStraightSections this produced enormous elastic restoring forces at every timestep, causing simulation explosion. Fix: use x_used directly, consistent with RodSpireSection and RodMeshSection.
…logy Fixes sofa-framework#225. Both accumulators were reset via assignment instead of accumulation, corrupting point coordinates and edge indices for any wire with three or more sections.
BaseRodSectionMaterial::getRestTransformOnX previously received only (x_used, x_start) and reconstructed world rest positions by adding Vec3(x_start, 0, 0). That assumes every preceding section ran straight along world +X -- true for one Straight base + one curved tip, but wrong as soon as a non-straight section is chained after another non-straight section: the rest shape was placed along world +X at keyPts[i] instead of continuing tangent-continuous from the curved predecessor tip, producing persistent unbalanced elastic forces and a "floppy" terminal section. - BaseRodSectionMaterial::getRestTransformOnX gains a const Transform& predecessor_H_sectionStart parameter. - RodStraightSection / RodSpireSection / RodMeshSection compute their local rest geometry in the section's own frame (origin at section start, +X = predecessor tip tangent) and compose with the predecessor transform instead of adding Vec3(x_start, 0, 0). - WireRestShape::getRestTransformOnX walks preceding sections, querying each tip at keyPts[i] with its accumulated predecessor, then dispatches to the owning section with the composed frame. Backward-compatible for one-section wires (predecessor = identity, x_start = 0) and for Straight + curved-tip pairs (straight tip produces (keyPts[1], 0, 0) with identity, matching the old hardcoded form). Fixes chained non-straight sections.
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Hi @lkarstensen |
epernod
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Jun 3, 2026
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interesting, I'm not fully sure about the global fix, but the bug description makes sense.
An example not working that is fixed by this PR would be very useful as I never used multiple section not straights
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| prev_length += length; | ||
| prev_edges += nbrVisuEdges; |
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yes this is correct if we have more than 2 sections!
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| Transform predecessor = Transform::identity(); | ||
| for (sofa::Size i = 1; i < keyPts.size(); ++i) | ||
| { | ||
| if (x_used <= keyPts[i]) | ||
| { | ||
| return l_sectionMaterials.get(i - 1)->getRestTransformOnX(global_H_local, x_used, keyPts[i - 1]); | ||
| return l_sectionMaterials.get(i - 1)->getRestTransformOnX( | ||
| global_H_local, x_used, keyPts[i - 1], predecessor); | ||
| } | ||
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| Transform tip; | ||
| l_sectionMaterials.get(i - 1)->getRestTransformOnX( | ||
| tip, keyPts[i], keyPts[i - 1], predecessor); | ||
| predecessor = tip; |
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Suggested change
| Transform predecessor = Transform::identity(); | |
| for (sofa::Size i = 1; i < keyPts.size(); ++i) | |
| { | |
| if (x_used <= keyPts[i]) | |
| { | |
| return l_sectionMaterials.get(i - 1)->getRestTransformOnX(global_H_local, x_used, keyPts[i - 1]); | |
| return l_sectionMaterials.get(i - 1)->getRestTransformOnX( | |
| global_H_local, x_used, keyPts[i - 1], predecessor); | |
| } | |
| Transform tip; | |
| l_sectionMaterials.get(i - 1)->getRestTransformOnX( | |
| tip, keyPts[i], keyPts[i - 1], predecessor); | |
| predecessor = tip; | |
| Transform predecessor = Transform::identity(); | |
| for (sofa::Size i = 1; i < keyPts.size(); ++i) | |
| { | |
| l_sectionMaterials.get(i - 1)->getRestTransformOnX(global_H_local, x_used, keyPts[i - 1], predecessor); | |
| if (x_used <= keyPts[i]) | |
| { | |
| return; | |
| } | |
| predecessor = global_H_local; |
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Hi @hugtalbot Best Regards, |
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Great thanks a lot @lkarstensen 🙏 |
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Hey @lkarstensen |
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Fixes #227 (combined issue covering both bugs).
Two related bugs make any wire with three or more sections (or two chained non-straight sections) unusable. Both are fixed here.
Bug 1 —
WireRestShape::initTopologyaccumulationprev_length = lengthandprev_edges = nbrVisuEdgesdiscard the cumulative offset/edge count after section 0. Only N=2 wires happen to produce identical output. From iteration 2 onward, points are placed at non-monotonic abscissas, edges become degenerate, andWireBeamInterpolation/MultiAdaptiveBeamMappingbreak.Fix:
(Originally tackled in #226, closed when further testing exposed Bug 2.)
Bug 2 — Rod section rest shape ignores predecessor section frame
BaseRodSectionMaterial::getRestTransformOnX(global_H_local, x_used, x_start)carries no predecessor-tip transform.RodSpireSection/RodMeshSectionreconstruct world position with+ Vec3(x_start, 0, 0), which is correct only when the wire so far ran straight along world +X. As soon as a non-straight section follows another non-straight section, the rest pose sits in empty space,AdaptiveBeamForceFieldAndMassinjects unbalanced elastic forces, and the terminal section becomes "floppy".Fix:
const Transform& predecessor_H_sectionStart.RodStraightSection/RodSpireSection/RodMeshSectioncompute their local rest geometry in the section's own frame (origin at section start, +X = predecessor tip tangent) and compose with the predecessor transform instead of addingVec3(x_start, 0, 0).WireRestShape::getRestTransformOnXwalks preceding sections, queries each tip atkeyPts[i]with its accumulated predecessor, then dispatches to the owning section with the composed frame.Backward-compatible:
x_start = 0→ unchanged.(keyPts[1], 0, 0)with identity → matches old hardcoded form.Files changed
src/BeamAdapter/component/engine/WireRestShape.inlsrc/BeamAdapter/component/model/BaseRodSectionMaterial.hsrc/BeamAdapter/component/model/RodStraightSection.{h,inl}src/BeamAdapter/component/model/RodSpireSection.{h,inl}src/BeamAdapter/component/model/RodMeshSection.{h,inl}Test plan
Verified manually:
WireRestShape_test(Straight + Spire) still passes — backward-compat case: predecessor stays identity for the straight, then(95, 0, 0)identity for the spire dispatch, matching the oldVec3(x_start, 0, 0)form.EdgeSetTopologyContainerhas monotonic point coordinates and the expected total edge count, no overlap.Straight + Spire(+90°) + Spire(+90°): rest pose of the second spire continues tangent to the first spire's tip instead of being placed along world +X atkeyPts[2]; tip no longer drifts under no input.cmake --build . --target BeamAdapter.