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[Mass] Fix kinetic energy in MeshMatrixMass when lumped #5925

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[Mass] Fix kinetic energy in MeshMatrixMass when lumped #5925

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20 changes: 10 additions & 10 deletions Sofa/Component/Mass/src/sofa/component/mass/MeshMatrixMass.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -2100,23 +2100,23 @@ SReal MeshMatrixMass<DataTypes, GeometricalTypes>::getKineticEnergy( const core:

helper::ReadAccessor< DataVecDeriv > v = vv;

const unsigned int nbEdges=l_topology->getNbEdges();
unsigned int v0,v1;
const sofa::Size nbEdges = l_topology->getNbEdges();

SReal e = 0;
const auto lumpingCoef = isLumped() ? m_massLumpingCoeff : static_cast<Real>(1.0);

for (unsigned int i=0; i<v.size(); i++)
for (unsigned int i = 0; i < v.size(); i++)
{
e += dot(v[i],v[i]) * vertexMass[i]; // v[i]*v[i]*masses[i] would be more efficient but less generic
e += dot(v[i],v[i]) * vertexMass[i] * lumpingCoef; // v[i]*v[i]*masses[i] would be more efficient but less generic
}

for (unsigned int i = 0; i < nbEdges; ++i)
if (!isLumped())
{
v0 = l_topology->getEdge(i)[0];
v1 = l_topology->getEdge(i)[1];

e += 2 * dot(v[v0], v[v1])*edgeMass[i];

for (unsigned int i = 0; i < nbEdges; ++i)
{
const auto& [v0, v1] = l_topology->getEdge(i).array();
e += 2 * dot(v[v0], v[v1]) * edgeMass[i];
}
}

return e/2;
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