-// Copyright (C) 2014-20xx CEA/DEN, EDF R&D
-
-// File: PlaneGCSSolver_Solver.cpp
-// Created: 14 Dec 2014
-// Author: Artem ZHIDKOV
+// Copyright (C) 2014-2023 CEA, EDF
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; either
+// version 2.1 of the License, or (at your option) any later version.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public
+// License along with this library; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+//
+// See http://www.salome-platform.org/ or email : webmaster.salome@opencascade.com
+//
#include <PlaneGCSSolver_Solver.h>
#include <Events_LongOp.h>
+// Multiplier to correlate IDs of SketchPlugin constraint and primitive PlaneGCS constraints
+static const int THE_CONSTRAINT_MULT = 100;
+
PlaneGCSSolver_Solver::PlaneGCSSolver_Solver()
: myEquationSystem(new GCS::System),
myDiagnoseBeforeSolve(false),
myInitilized(false),
myConfCollected(false),
- myDOF(0)
+ myDOF(0),
+ myFictiveConstraint(0)
{
}
myConstraints.clear();
myConflictingIDs.clear();
myDOF = 0;
+
+ removeFictiveConstraint();
}
-void PlaneGCSSolver_Solver::addConstraint(GCSConstraintPtr theConstraint)
+void PlaneGCSSolver_Solver::addConstraint(const ConstraintID& theMultiConstraintID,
+ const std::list<GCSConstraintPtr>& theConstraints)
{
- myEquationSystem->addConstraint(theConstraint.get());
- myConstraints[theConstraint->getTag()].insert(theConstraint);
- if (theConstraint->getTag() >= 0)
+ int anID = theMultiConstraintID > CID_UNKNOWN ?
+ theMultiConstraintID * THE_CONSTRAINT_MULT :
+ theMultiConstraintID;
+
+ for (std::list<GCSConstraintPtr>::const_iterator anIt = theConstraints.begin();
+ anIt != theConstraints.end(); ++anIt) {
+ GCSConstraintPtr aConstraint = *anIt;
+ aConstraint->setTag(anID);
+ myEquationSystem->addConstraint(aConstraint.get());
+
+ if (anID > CID_UNKNOWN)
+ ++anID;
+ }
+ myConstraints[theMultiConstraintID] = theConstraints;
+
+ if (theMultiConstraintID >= CID_UNKNOWN)
myDOF = -1;
+ myInitilized = false;
}
-void PlaneGCSSolver_Solver::removeConstraint(ConstraintID theID)
+void PlaneGCSSolver_Solver::removeConstraint(const ConstraintID& theID)
{
- myConstraints.erase(theID);
+ ConstraintMap::iterator aFound = myConstraints.find(theID);
+ if (aFound != myConstraints.end()) {
+ for (std::list<GCSConstraintPtr>::iterator anIt = aFound->second.begin();
+ anIt != aFound->second.end(); ++anIt)
+ myEquationSystem->clearByTag((*anIt)->getTag());
+
+ myConstraints.erase(aFound);
+ }
+
if (myConstraints.empty()) {
myEquationSystem->clear();
myDOF = (int)myParameters.size();
- } else {
- myEquationSystem->clearByTag(theID);
- if (theID >= 0)
- myDOF = -1;
- }
+ } else if (theID >= CID_UNKNOWN)
+ myDOF = -1;
+
+ myInitilized = false;
}
double* PlaneGCSSolver_Solver::createParameter()
myParameters.insert(myParameters.end(), aParams.begin(), aParams.end());
if (myConstraints.empty() && myDOF >=0)
- myDOF += (int)aParams.size(); // calculate DoF by hand if and only if there is no constraints yet
+ myDOF += (int)aParams.size(); // calculate DoF by hand only if there is no constraints yet
else
myDiagnoseBeforeSolve = true;
}
void PlaneGCSSolver_Solver::initialize()
{
Events_LongOp::start(this);
+ addFictiveConstraintIfNecessary();
if (myDiagnoseBeforeSolve)
diagnose();
myEquationSystem->declareUnknowns(myParameters);
}
if (myParameters.empty())
- return STATUS_INCONSISTENT;
+ return myConstraints.empty() ? STATUS_OK : STATUS_INCONSISTENT;
GCS::SolveStatus aResult = GCS::Success;
Events_LongOp::start(this);
if (myInitilized) {
aResult = (GCS::SolveStatus)myEquationSystem->solve();
} else {
- if (myDiagnoseBeforeSolve)
- diagnose();
+ addFictiveConstraintIfNecessary();
+ diagnose();
aResult = (GCS::SolveStatus)myEquationSystem->solve(myParameters);
}
+
+ if (aResult == GCS::Failed) {
+ // DogLeg solver failed without conflicting constraints, try to use Levenberg-Marquardt solver
+ diagnose(GCS::LevenbergMarquardt);
+ aResult = (GCS::SolveStatus)myEquationSystem->solve(myParameters, true,
+ GCS::LevenbergMarquardt);
+ if (aResult == GCS::Failed) {
+ diagnose(GCS::BFGS);
+ aResult = (GCS::SolveStatus)myEquationSystem->solve(myParameters, true, GCS::BFGS);
+ }
+ }
Events_LongOp::end(this);
// collect information about conflicting constraints every time,
aStatus = STATUS_OK;
}
+ removeFictiveConstraint();
myInitilized = false;
return aStatus;
}
return myConflictingIDs.find((int)theConstraint) != myConflictingIDs.end();
}
-void PlaneGCSSolver_Solver::collectConflicting()
+void PlaneGCSSolver_Solver::collectConflicting(bool withRedundant)
{
GCS::VEC_I aConflict;
myEquationSystem->getConflicting(aConflict);
- myConflictingIDs.insert(aConflict.begin(), aConflict.end());
+ // convert PlaneGCS constraint IDs to SketchPlugin's ID
+ for (GCS::VEC_I::const_iterator anIt = aConflict.begin(); anIt != aConflict.end(); ++anIt)
+ myConflictingIDs.insert((*anIt) / THE_CONSTRAINT_MULT);
- myEquationSystem->getRedundant(aConflict);
- myConflictingIDs.insert(aConflict.begin(), aConflict.end());
+ if (withRedundant) {
+ myEquationSystem->getRedundant(aConflict);
+ // convert PlaneGCS constraint IDs to SketchPlugin's ID
+ for (GCS::VEC_I::const_iterator anIt = aConflict.begin(); anIt != aConflict.end(); ++anIt)
+ myConflictingIDs.insert((*anIt) / THE_CONSTRAINT_MULT);
+ }
myConfCollected = true;
}
return myDOF;
}
-void PlaneGCSSolver_Solver::diagnose()
+void PlaneGCSSolver_Solver::diagnose(const GCS::Algorithm& theAlgo)
{
myEquationSystem->declareUnknowns(myParameters);
- myDOF = myEquationSystem->diagnose();
+ myDOF = myEquationSystem->diagnose(theAlgo);
myDiagnoseBeforeSolve = false;
}
+
+void PlaneGCSSolver_Solver::getFreeParameters(GCS::SET_pD& theFreeParams)
+{
+ if (myConstraints.empty())
+ theFreeParams.insert(myParameters.begin(), myParameters.end());
+ else {
+ GCS::VEC_pD aParametersCopy = myParameters;
+ ConstraintMap aConstraintCopy = myConstraints;
+
+ // clear the set of equations
+ clear();
+ // reset constraints
+ myParameters = aParametersCopy;
+ for (ConstraintMap::iterator anIt = aConstraintCopy.begin();
+ anIt != aConstraintCopy.end(); ++anIt)
+ addConstraint(anIt->first, anIt->second);
+
+ // parameters detection works for Dense QR only
+ GCS::QRAlgorithm aQRAlgo = myEquationSystem->qrAlgorithm;
+ myEquationSystem->qrAlgorithm = GCS::EigenDenseQR;
+ diagnose();
+ GCS::VEC_pD aFreeParams;
+ myEquationSystem->getDependentParams(aFreeParams);
+ theFreeParams.insert(aFreeParams.begin(), aFreeParams.end());
+ // revert QR decomposition algorithm
+ myEquationSystem->qrAlgorithm = aQRAlgo;
+ }
+
+ if (theFreeParams.empty())
+ return;
+
+ // find all equal parameters too
+ struct EqualParameters
+ {
+ typedef std::map<double*, std::list<GCS::SET_pD>::iterator> MapParamGroup;
+
+ std::list<GCS::SET_pD> myEqualParams;
+ MapParamGroup myGroups;
+
+ void add(double* theParam1, double* theParam2)
+ {
+ MapParamGroup::iterator aFound1 = myGroups.find(theParam1);
+ MapParamGroup::iterator aFound2 = myGroups.find(theParam2);
+
+ if (aFound1 == myGroups.end()) {
+ if (aFound2 == myGroups.end()) {
+ // create new group
+ myEqualParams.push_back(GCS::SET_pD());
+ std::list<GCS::SET_pD>::iterator aGroup = --myEqualParams.end();
+ aGroup->insert(theParam1);
+ aGroup->insert(theParam2);
+ myGroups[theParam1] = aGroup;
+ myGroups[theParam2] = aGroup;
+ }
+ else {
+ // add first parameter to the second group
+ aFound2->second->insert(theParam1);
+ myGroups[theParam1] = aFound2->second;
+ }
+ }
+ else {
+ if (aFound2 == myGroups.end()) {
+ // add second parameter to the first group
+ aFound1->second->insert(theParam2);
+ myGroups[theParam2] = aFound1->second;
+ }
+ else if (aFound1 != aFound2) {
+ // merge two groups
+ GCS::SET_pD aCopy = *(aFound2->second);
+ myEqualParams.erase(aFound2->second);
+ for (GCS::SET_pD::iterator anIt = aCopy.begin(); anIt != aCopy.end(); ++anIt)
+ myGroups[*anIt] = aFound1->second;
+ aFound1->second->insert(aCopy.begin(), aCopy.end());
+ }
+ }
+ }
+ } anEqualParams;
+
+ for (ConstraintMap::iterator anIt = myConstraints.begin(); anIt != myConstraints.end(); ++anIt)
+ for (std::list<GCSConstraintPtr>::iterator aCIt = anIt->second.begin();
+ aCIt != anIt->second.end(); ++aCIt) {
+ if ((*aCIt)->getTypeId() == GCS::Equal)
+ anEqualParams.add((*aCIt)->params()[0], (*aCIt)->params()[1]);
+ }
+
+ GCS::SET_pD aFreeParamsCopy = theFreeParams;
+ for (GCS::SET_pD::iterator anIt = aFreeParamsCopy.begin();
+ anIt != aFreeParamsCopy.end(); ++anIt) {
+ EqualParameters::MapParamGroup::iterator aFound = anEqualParams.myGroups.find(*anIt);
+ if (aFound != anEqualParams.myGroups.end())
+ theFreeParams.insert(aFound->second->begin(), aFound->second->end());
+ }
+}
+
+void PlaneGCSSolver_Solver::addFictiveConstraintIfNecessary()
+{
+ bool hasOnlyMovement = true;
+ for (ConstraintMap::iterator anIt = myConstraints.begin();
+ anIt != myConstraints.end() && hasOnlyMovement; ++anIt)
+ hasOnlyMovement = anIt->first == CID_MOVEMENT;
+ if (!hasOnlyMovement)
+ return; // regular constraints are available too
+
+ if (myFictiveConstraint)
+ return; // no need several fictive constraints
+
+ int aDOF = myDOF;
+ double* aParam = createParameter();
+ double* aFictiveParameter = new double(0.0);
+
+ myFictiveConstraint = new GCS::ConstraintEqual(aFictiveParameter, aParam);
+ myFictiveConstraint->setTag(CID_FICTIVE);
+ myEquationSystem->addConstraint(myFictiveConstraint);
+ // DoF should not be changed when adding fictive constraint
+ myDOF = aDOF;
+}
+
+void PlaneGCSSolver_Solver::removeFictiveConstraint()
+{
+ if (myFictiveConstraint) {
+ myEquationSystem->clearByTag(myFictiveConstraint->getTag());
+ myParameters.pop_back();
+
+ GCS::VEC_pD aParams = myFictiveConstraint->params();
+ for (GCS::VEC_pD::iterator anIt = aParams.begin(); anIt != aParams.end(); ++anIt) {
+ double* aPar = *anIt;
+ delete aPar;
+ }
+ delete myFictiveConstraint;
+ myFictiveConstraint = 0;
+ }
+}
