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[StateContainer] Avoid many calls to getValue in MechanicalObject #6186

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Merged
fredroy merged 3 commits into from
Jul 15, 2026
+29 −12
Merged

[StateContainer] Avoid many calls to getValue in MechanicalObject #6186

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042e2f1
avoid many calls to getValue in drawIndices
alxbilger Jul 15, 2026
93bd303
avoid many calls to getValue in drawVectors
alxbilger Jul 15, 2026
166ff22
avoid many calls to getValue in draw
alxbilger Jul 15, 2026
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41 changes: 29 additions & 12 deletions Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -2632,8 +2632,12 @@ inline void MechanicalObject<DataTypes>::drawIndices(const core::visual::VisualP
{
std::vector<type::Vec3> positions;
positions.reserve(d_size.getValue());
for (int i = 0; i <d_size.getValue(); ++i)
positions.push_back(type::Vec3(getPX(i), getPY(i), getPZ(i)));

const auto positionData = this->readPositions();
std::transform(positionData.begin(), positionData.end(), std::back_inserter(positions), [](const auto& p)
{
return sofa::type::toVec3(DataTypes::getCPos(p));
});

vparams->drawTool()->draw3DText_Indices(positions, showIndicesScale.getValue(), d_color.getValue());
}
Expand All @@ -2642,18 +2646,25 @@ template <class DataTypes>
inline void MechanicalObject<DataTypes>::drawVectors(const core::visual::VisualParams* vparams)
{
float scale = showVectorsScale.getValue();
sofa::helper::ReadAccessor< Data<VecDeriv> > v_rA = *this->read(core::vec_id::read_access::velocity);

const auto v_rA = sofa::helper::getReadAccessor(*this->read(core::vec_id::read_access::velocity));
const auto x_rA = sofa::helper::getReadAccessor(*this->read(core::vec_id::read_access::position));

type::vector<type::Vec3> points;
points.resize(2);
for(Size i=0; i<v_rA.size(); ++i )

const auto mode = drawMode.getValue();

for (Size i = 0; i < v_rA.size(); ++i)
{
Real vx=0.0,vy=0.0,vz=0.0;
DataTypes::get(vx,vy,vz,v_rA[i]);
type::Vec3 p1 = type::Vec3(getPX(i), getPY(i), getPZ(i));
type::Vec3 p2 = type::Vec3(getPX(i)+scale*vx, getPY(i)+scale*vy, getPZ(i)+scale*vz);
sofa::type::Vec3 v3;
DataTypes::get(v3[0], v3[1], v3[2], v_rA[i]);

const type::Vec3 p1 = sofa::type::toVec3(DataTypes::getCPos(x_rA[i]));
type::Vec3 p2 = p1 + scale * v3;

const float rad = (float)( (p1-p2).norm()/20.0 );
switch (drawMode.getValue())
switch (mode)
{
case 0:
points[0] = p1;
Expand Down Expand Up @@ -2692,9 +2703,15 @@ inline void MechanicalObject<DataTypes>::draw(const core::visual::VisualParams*
if (showObject.getValue())
{
const float& scale = showObjectScale.getValue();
type::vector<type::Vec3> positions(d_size.getValue());
for (sofa::Index i = 0; i < Size(d_size.getValue()); ++i)
positions[i] = type::Vec3(getPX(i), getPY(i), getPZ(i));

std::vector<type::Vec3> positions;
positions.reserve(d_size.getValue());

const auto positionData = this->readPositions();
std::transform(positionData.begin(), positionData.end(), std::back_inserter(positions), [](const auto& p)
{
return sofa::type::toVec3(DataTypes::getCPos(p));
});

switch (drawMode.getValue())
{
Expand Down
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