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[Topology.Grid,Mapping.Linear] BarycentricMapperRegularGridTopology: grid resolution read once per loop #6427

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[Topology.Grid,Mapping.Linear] BarycentricMapperRegularGridTopology: grid resolution read once per loop #6427

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[Topology.Grid,Mapping.Linear] BarycentricMapperRegularGridTopology: …
fredroy Oct 21, 2026
f3411ec
add benchmark of the BarycentricMapping on a RegularGridTopology
fredroy Oct 21, 2026
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19 changes: 13 additions & 6 deletions ...sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperRegularGridTopology.inl
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Expand Up @@ -103,9 +103,11 @@ void BarycentricMapperRegularGridTopology<In,Out>::apply ( typename Out::VecCoor
{
out.resize( m_map.size() );

// the resolution of the grid read once (getHexaCopy(Index) reads the Data)
const auto& n = this->m_fromTopology->d_n.getValue();
for ( unsigned int i=0; i<m_map.size(); i++ )
{
const topology::container::grid::RegularGridTopology::Hexa cube = this->m_fromTopology->getHexaCopy ( this->m_map[i].in_index );
const topology::container::grid::RegularGridTopology::Hexa cube = RegularGridTopology::getHexaCopy ( n, this->m_map[i].in_index );

const Real fx = m_map[i].baryCoords[0];
const Real fy = m_map[i].baryCoords[1];
Expand All @@ -127,9 +129,10 @@ void BarycentricMapperRegularGridTopology<In,Out>::applyJ ( typename Out::VecDer
{
out.resize( m_map.size() );

const auto& n = this->m_fromTopology->d_n.getValue();
for( size_t index=0 ; index< out.size() ; ++index)
{
const topology::container::grid::RegularGridTopology::Hexa cube = this->m_fromTopology->getHexaCopy ( this->m_map[index].in_index );
const topology::container::grid::RegularGridTopology::Hexa cube = RegularGridTopology::getHexaCopy ( n, this->m_map[index].in_index );

const Real fx = m_map[index].baryCoords[0];
const Real fy = m_map[index].baryCoords[1];
Expand All @@ -148,10 +151,11 @@ void BarycentricMapperRegularGridTopology<In,Out>::applyJ ( typename Out::VecDer
template <class In, class Out>
void BarycentricMapperRegularGridTopology<In,Out>::applyJT ( typename In::VecDeriv& out, const typename Out::VecDeriv& in )
{
const auto& n = this->m_fromTopology->d_n.getValue();
for( size_t index=0 ; index<in.size() ; ++index)
{
const typename Out::DPos v = Out::getDPos(in[index]);
const topology::container::grid::RegularGridTopology::Hexa cube = this->m_fromTopology->getHexaCopy ( this->m_map[index].in_index );
const topology::container::grid::RegularGridTopology::Hexa cube = RegularGridTopology::getHexaCopy ( n, this->m_map[index].in_index );

const OutReal fx = ( OutReal ) m_map[index].baryCoords[0];
const OutReal fy = ( OutReal ) m_map[index].baryCoords[1];
Expand Down Expand Up @@ -185,11 +189,12 @@ const sofa::linearalgebra::BaseMatrix* BarycentricMapperRegularGridTopology<In,O
else
m_matrixJ->clear();

const auto& n = this->m_fromTopology->d_n.getValue();
for ( size_t i=0; i<m_map.size(); i++ )
{
const int out = int(i);

const topology::container::grid::RegularGridTopology::Hexa cube = this->m_fromTopology->getHexaCopy ( this->m_map[i].in_index );
const topology::container::grid::RegularGridTopology::Hexa cube = RegularGridTopology::getHexaCopy ( n, this->m_map[i].in_index );

const Real fx = ( Real ) m_map[i].baryCoords[0];
const Real fy = ( Real ) m_map[i].baryCoords[1];
Expand Down Expand Up @@ -219,10 +224,11 @@ void BarycentricMapperRegularGridTopology<In,Out>::draw (const core::visual::Vi
{
std::vector< Vec3 > points;

const auto& n = this->m_fromTopology->d_n.getValue();
for ( unsigned int i=0; i<m_map.size(); i++ )
{

const topology::container::grid::RegularGridTopology::Hexa cube = this->m_fromTopology->getHexaCopy ( this->m_map[i].in_index );
const topology::container::grid::RegularGridTopology::Hexa cube = RegularGridTopology::getHexaCopy ( n, this->m_map[i].in_index );

const Real fx = m_map[i].baryCoords[0];
const Real fy = m_map[i].baryCoords[1];
Expand Down Expand Up @@ -256,6 +262,7 @@ template <class In, class Out>
void BarycentricMapperRegularGridTopology<In,Out>::applyJT ( typename In::MatrixDeriv& out, const typename Out::MatrixDeriv& in )
{
typename Out::MatrixDeriv::RowConstIterator rowItEnd = in.end();
const auto& n = this->m_fromTopology->d_n.getValue();

for (typename Out::MatrixDeriv::RowConstIterator rowIt = in.begin(); rowIt != rowItEnd; ++rowIt)
{
Expand All @@ -271,7 +278,7 @@ void BarycentricMapperRegularGridTopology<In,Out>::applyJT ( typename In::Matrix
unsigned int indexIn = colIt.index();
InDeriv data = (InDeriv) Out::getDPos(colIt.val());

const topology::container::grid::RegularGridTopology::Hexa cube = this->m_fromTopology->getHexaCopy ( this->m_map[indexIn].in_index );
const topology::container::grid::RegularGridTopology::Hexa cube = RegularGridTopology::getHexaCopy ( n, this->m_map[indexIn].in_index );

const OutReal fx = (OutReal) m_map[indexIn].baryCoords[0];
const OutReal fy = (OutReal) m_map[indexIn].baryCoords[1];
Expand Down
26 changes: 16 additions & 10 deletions ...onent/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.cpp
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Expand Up @@ -351,8 +351,7 @@ void GridTopology::computePointList()

GridTopology::Index GridTopology::getIndex( int i, int j, int k ) const
{
const auto& n = d_n.getValue();
return Index(n[0]* ( n[1]*k + j ) + i);
return getIndex(d_n.getValue(), i, j, k);
}


Expand Down Expand Up @@ -380,21 +379,28 @@ sofa::type::Vec3 GridTopology::getPointInGrid(int i, int j, int k) const

GridTopology::Hexa GridTopology::getHexaCopy(Index i)
{
const auto& n = d_n.getValue();
return getHexaCopy(d_n.getValue(), i);
}

GridTopology::Hexa GridTopology::getHexahedron(int x, int y, int z)
{
return getHexahedron(d_n.getValue(), x, y, z);
}

GridTopology::Hexa GridTopology::getHexaCopy(const type::Vec3i& n, Index i)
{
const int x = i%(n[0]-1); i/=(n[0]-1);
const int y = i%(n[1]-1); i/=(n[1]-1);
const int z = int(i);
return getHexahedron(x,y,z);
return getHexahedron(n, x, y, z);
}

GridTopology::Hexa GridTopology::getHexahedron(int x, int y, int z)
GridTopology::Hexa GridTopology::getHexahedron(const type::Vec3i& n, int x, int y, int z)
{

return Hexa(point(x ,y ,z ),point(x+1,y ,z ),
point(x+1,y+1,z ),point(x ,y+1,z ),
point(x ,y ,z+1),point(x+1,y ,z+1),
point(x+1,y+1,z+1),point(x ,y+1,z+1));
return Hexa(getIndex(n, x ,y ,z ),getIndex(n, x+1,y ,z ),
getIndex(n, x+1,y+1,z ),getIndex(n, x ,y+1,z ),
getIndex(n, x ,y ,z+1),getIndex(n, x+1,y ,z+1),
getIndex(n, x+1,y+1,z+1),getIndex(n, x ,y+1,z+1));
}

GridTopology::Quad GridTopology::getQuadCopy(Index i)
Expand Down
6 changes: 6 additions & 0 deletions ...mponent/Topology/Container/Grid/src/sofa/component/topology/container/grid/GridTopology.h
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Expand Up @@ -141,6 +141,8 @@ using MeshTopology::getHexahedron;

/// Get the one-dimensional index of a grid point given its @param i @param j @param k indices
Index getIndex( int i, int j, int k ) const;
/// Get the one-dimensional index of the point @param i @param j @param k of a grid of resolution @param n
static Index getIndex( const type::Vec3i& n, int i, int j, int k ) { return Index(n[0]* ( n[1]*k + j ) + i); }

/// Overwrite from @sa MeshTopology::hasPos always @return bool true
bool hasPos() const override { return true; }
Expand Down Expand Up @@ -170,6 +172,10 @@ using MeshTopology::getHexahedron;

Hexa getHexahedron(int x, int y, int z);
Hexa getHexaCopy(Index i);
/// Get the hexahedron of the cell @param x @param y @param z of a grid of resolution @param n
static Hexa getHexahedron(const type::Vec3i& n, int x, int y, int z);
/// Get the hexahedron of index @param i of a grid of resolution @param n
static Hexa getHexaCopy(const type::Vec3i& n, Index i);
Quad getQuadCopy(Index i);

/// Get Point index in Grid, will call method @sa getIndex
Expand Down
29 changes: 29 additions & 0 deletions examples/Benchmark/Performance/BarycentricMapping_regulargrid.scn
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@@ -0,0 +1,29 @@
<?xml version="1.0"?>
<Node name="root" gravity="0 0 0" dt="0.01">

<Node name="plugins">
<RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin pluginName="Sofa.Component.IntegrationScheme.Forward"/> <!-- Needed to use components [EulerExplicitIntegrationScheme] -->
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
</Node>

<DefaultAnimationLoop computeBoundingBox="false" />
<MeshOBJLoader name="meshLoader" triangulate="true" filename="mesh/raptor_35kp.obj" />

<Node name="grid">
<EulerExplicitIntegrationScheme />
<RegularGridTopology name="topology" n="22 38 82" min="-2.1 -0.3 -9.2" max="2.1 7.1 7.0" />
<MechanicalObject name="DOFs" template="Vec3" />
<UniformMass totalMass="1.0" />

<Node name="Visualization">
<OglModel name="VisualModel" src="@../../meshLoader" />
<BarycentricMapping input="@../DOFs" output="@VisualModel" />
</Node>
</Node>

</Node>
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