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Use constexpr VecIds #163

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Jan 6, 2025
Merged

Use constexpr VecIds #163

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c723b34
use constexpr vecids
fredroy Dec 30, 2024
953f55d
Update BaseBeamInterpolation.h
fredroy Jan 6, 2025
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5 changes: 2 additions & 3 deletions src/BeamAdapter/component/BaseBeamInterpolation.h
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Expand Up @@ -49,7 +49,6 @@ using sofa::type::Quat ;
using sofa::type::Vec ;
using sofa::type::Vec3d ;
using sofa::type::vector;
using sofa::core::ConstVecCoordId;
using sofa::core::behavior::MechanicalState;
using sofa::component::statecontainer::MechanicalObject;

Expand Down Expand Up @@ -170,11 +169,11 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject

/// spline base interpolation of points and transformation
void interpolatePointUsingSpline(unsigned int edgeInList, const Real& baryCoord, const Vec3& localPos, const VecCoord& x, Vec3& posResult) {
interpolatePointUsingSpline(edgeInList, baryCoord, localPos, x, posResult, true, ConstVecCoordId::position());
interpolatePointUsingSpline(edgeInList, baryCoord, localPos, x, posResult, true, sofa::core::vec_id::read_access::position);
}

void interpolatePointUsingSpline(unsigned int edgeInList, const Real& baryCoord, const Vec3& localPos,
const VecCoord& x, Vec3& posResult, bool recompute, const ConstVecCoordId& vecXId);
const VecCoord& x, Vec3& posResult, bool recompute, const sofa::core::ConstVecCoordId& vecXId);


void InterpolateTransformUsingSpline(unsigned int edgeInList, const Real& baryCoord, const Vec3& localPos,
Expand Down
2 changes: 1 addition & 1 deletion src/BeamAdapter/component/BaseBeamInterpolation.inl
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Expand Up @@ -619,7 +619,7 @@ void BaseBeamInterpolation<DataTypes>::interpolatePointUsingSpline(unsigned int
const VecCoord& x,
Vec3& posResult,
bool recompute,
const ConstVecCoordId& vecXId)
const sofa::core::ConstVecCoordId& vecXId)
{
if (recompute)
{
Expand Down
3 changes: 1 addition & 2 deletions src/BeamAdapter/component/BeamInterpolation.h
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Expand Up @@ -47,7 +47,6 @@ namespace _beaminterpolation_
using sofa::component::fem::BaseBeamInterpolation;
using sofa::helper::OptionsGroup;
using sofa::core::topology::BaseMeshTopology;
using sofa::core::ConstVecCoordId;
using sofa::core::behavior::MechanicalState;
using sofa::component::statecontainer::MechanicalObject;

Expand Down Expand Up @@ -148,7 +147,7 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
Real &_Asy, Real &_Asz, Real &J) override;
void getMechanicalParameters(sofa::Index beamId, Real& youngModulus, Real& cPoisson, Real& massDensity) override;

void getTangentUsingSplinePoints(unsigned int edgeInList, const Real& baryCoord, const ConstVecCoordId &vecXId, Vec3& t );
void getTangentUsingSplinePoints(unsigned int edgeInList, const Real& baryCoord, const sofa::core::ConstVecCoordId &vecXId, Vec3& t );


/// computeActualLength => given the 4 control points of the spline, it provides an estimate of the length (using gauss points integration)
Expand Down
17 changes: 8 additions & 9 deletions src/BeamAdapter/component/BeamInterpolation.inl
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Expand Up @@ -44,7 +44,6 @@ namespace sofa::component::fem::_beaminterpolation_
using sofa::core::topology::BaseMeshTopology ;
using sofa::core::objectmodel::ComponentState ;
using sofa::core::behavior::MechanicalState;
using sofa::core::ConstVecCoordId ;
using sofa::core::objectmodel::BaseContext ;
using sofa::helper::ReadAccessor ;

Expand Down Expand Up @@ -188,7 +187,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
DOF1TransformNode1.resize(edgeList.size());
}

ReadAccessor<Data<VecCoord> > statePos = this->m_mstate->read(ConstVecCoordId::position()) ;
ReadAccessor<Data<VecCoord> > statePos = this->m_mstate->read(sofa::core::vec_id::read_access::position) ;

auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
lengthList.clear();
Expand Down Expand Up @@ -478,8 +477,8 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis
unsigned int node0Id, node1Id;
this->getNodeIndices(edgeInList,node0Id,node1Id);

Coord global_0 = state->read(core::VecCoordId::restPosition())->getValue()[node0Id];
Coord global_1 = state->read(core::VecCoordId::restPosition())->getValue()[node1Id];
Coord global_0 = state->read(sofa::core::vec_id::read_access::restPosition)->getValue()[node0Id];
Coord global_1 = state->read(sofa::core::vec_id::read_access::restPosition)->getValue()[node1Id];

Transform global_H_DOF0 = Transform(global_0.getCenter(),global_0.getOrientation());
Transform global_H_DOF1 = Transform(global_1.getCenter(),global_1.getOrientation());
Expand Down Expand Up @@ -508,7 +507,7 @@ void BeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeInLis

template<class DataTypes>
void BeamInterpolation<DataTypes>::getTangentUsingSplinePoints(unsigned int edgeInList, const Real& baryCoord,
const ConstVecCoordId &vecXId, Vec3& t )
const sofa::core::ConstVecCoordId &vecXId, Vec3& t )
{

const VectorVec3& splinePos = this->m_StateNodes->read(vecXId)->getValue();
Expand Down Expand Up @@ -563,16 +562,16 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){
if(d_vecID.getValue().getSelectedItem() == "current")
{
dmsg_info() <<" position " << msgendl
<< " ="<< this->m_mstate->read( core::ConstVecCoordId::position() )->getValue( ) ;
x=this->m_mstate->read( core::ConstVecCoordId::position() );
<< " ="<< this->m_mstate->read( sofa::core::vec_id::read_access::position )->getValue( ) ;
x=this->m_mstate->read( sofa::core::vec_id::read_access::position );
}
else if(d_vecID.getValue().getSelectedItem() == "free")
{
x=this->m_mstate->read( core::ConstVecCoordId::freePosition() ) ;
x=this->m_mstate->read( sofa::core::vec_id::read_access::freePosition ) ;
}
else /// rest position
{
x=this->m_mstate->read( core::ConstVecCoordId::restPosition() ) ;
x=this->m_mstate->read( sofa::core::vec_id::read_access::restPosition ) ;
computeVel = false;
}

Expand Down
5 changes: 2 additions & 3 deletions src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl
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Expand Up @@ -34,7 +34,6 @@ namespace sofa::component::constraintset::_adaptivebeamlengthconstraint_
{

using helper::ReadAccessor;
using sofa::core::ConstVecCoordId;
using std::stringstream;
using sofa::core::ConstraintParams;
using sofa::linearalgebra::BaseVector;
Expand Down Expand Up @@ -295,8 +294,8 @@ void AdaptiveBeamLengthConstraint<DataTypes>::buildConstraintMatrix(const Constr
m_nbConstraints = 0;
m_cid = constraintId;

ReadAccessor<Data<VecCoord> > x = this->mstate->read(ConstVecCoordId::position()) ;
ReadAccessor<Data<VecCoord> > xfree = this->mstate->read(ConstVecCoordId::freePosition()) ;
ReadAccessor<Data<VecCoord> > x = this->mstate->read(sofa::core::vec_id::read_access::position) ;
ReadAccessor<Data<VecCoord> > xfree = this->mstate->read(sofa::core::vec_id::read_access::freePosition) ;

auto c = sofa::helper::getWriteOnlyAccessor(c_d);

Expand Down
13 changes: 6 additions & 7 deletions src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl
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@@ -1,4 +1,4 @@
/******************************************************************************
/******************************************************************************
* BeamAdapter plugin *
* (c) 2006 Inria, University of Lille, CNRS *
* *
Expand Down Expand Up @@ -32,7 +32,6 @@ namespace sofa::component::constraintset::_adaptiveBeamSlidingConstraint_
{

using sofa::core::behavior::ConstraintResolution ;
using sofa::core::ConstVecCoordId;
using sofa::core::ConstraintParams;
using sofa::helper::ReadAccessor;

Expand Down Expand Up @@ -102,8 +101,8 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::internalInit()
// We search for the closest segment, on which to project each point
// Convention : object1 is the beam model, object2 is the list of point constraints

ReadAccessor<Data<VecCoord> > x1 = mstate1->read(ConstVecCoordId::position()) ;
ReadAccessor<Data<VecCoord> > x2 = mstate2->read(ConstVecCoordId::position()) ;
ReadAccessor<Data<VecCoord> > x1 = mstate1->read(sofa::core::vec_id::read_access::position) ;
ReadAccessor<Data<VecCoord> > x2 = mstate2->read(sofa::core::vec_id::read_access::position) ;

unsigned int m2Size = x2.size();
m_previousPositions.clear();
Expand Down Expand Up @@ -154,8 +153,8 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::buildConstraintMatrix(const Const
Real baryCoord;
unsigned int beam = 0;

ReadAccessor<Data<VecCoord> > x1free=mstate1->read(ConstVecCoordId::freePosition()) ;
ReadAccessor<Data<VecCoord> > x2free=mstate2->read(ConstVecCoordId::freePosition()) ;
ReadAccessor<Data<VecCoord> > x1free=mstate1->read(sofa::core::vec_id::read_access::freePosition) ;
ReadAccessor<Data<VecCoord> > x2free=mstate2->read(sofa::core::vec_id::read_access::freePosition) ;

unsigned int m2 = x2free.size();
WireBeamInterpolation<DataTypes>* interpolation = m_interpolation.get();
Expand Down Expand Up @@ -274,7 +273,7 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::draw(const VisualParams* vparams)

vparams->drawTool()->saveLastState();

ReadAccessor<Data<VecCoord> > x = mstate2->read(ConstVecCoordId::position());
ReadAccessor<Data<VecCoord> > x = mstate2->read(sofa::core::vec_id::read_access::position);
sofa::type::Vec3 point;
std::vector< sofa::type::Vec3 > points;
std::vector< sofa::type::RGBAColor> colors;
Expand Down
6 changes: 2 additions & 4 deletions src/BeamAdapter/component/controller/AdaptiveBeamController.inl
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Expand Up @@ -48,8 +48,6 @@ namespace sofa::component::controller::_adaptivebeamcontroller_

using sofa::core::objectmodel::BaseContext ;
using std::string;
using sofa::core::VecCoordId;
using sofa::core::VecDerivId;

//TODO(dmarchal 2017-05-17) to christian & euallie.
// This component seems specific to radiology instrument... but its name suggest a very generic behavior
Expand Down Expand Up @@ -229,8 +227,8 @@ void AdaptiveBeamController<DataTypes>::onBeginAnimationStep(const double /*dt*/
template <class DataTypes>
void AdaptiveBeamController<DataTypes>::applyController()
{
Data<VecCoord>* datax = this->getMechanicalState()->write(VecCoordId::position());
Data<VecDeriv>* datav = this->getMechanicalState()->write(VecDerivId::velocity());
Data<VecCoord>* datax = this->getMechanicalState()->write(sofa::core::vec_id::write_access::position);
Data<VecDeriv>* datav = this->getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
auto x = sofa::helper::getWriteOnlyAccessor(*datax);
auto v = sofa::helper::getWriteOnlyAccessor(*datav);

Expand Down
8 changes: 4 additions & 4 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Expand Up @@ -211,7 +211,7 @@ void InterventionalRadiologyController<DataTypes>::bwdInit()
return;
}

WriteAccessor<Data<VecCoord> > x = *this->mState->write(core::VecCoordId::position());
WriteAccessor<Data<VecCoord> > x = *this->mState->write(sofa::core::vec_id::write_access::position);
for(unsigned int i=0; i<x.size(); i++)
x[i] = d_startingPos.getValue();
m_numControlledNodes = x.size();
Expand Down Expand Up @@ -773,7 +773,7 @@ void InterventionalRadiologyController<DataTypes>::applyInterventionalRadiologyC
totalLengthIsChanging(newCurvAbs, modifiedCurvAbs, idInstrumentTable);

// => Get write access to current nodes/dofs
Data<VecCoord>* datax = this->getMechanicalState()->write(core::VecCoordId::position());
Data<VecCoord>* datax = this->getMechanicalState()->write(sofa::core::vec_id::write_access::position);
auto x = sofa::helper::getWriteOnlyAccessor(*datax);
VecCoord xbuf = x.ref();

Expand Down Expand Up @@ -1036,8 +1036,8 @@ void InterventionalRadiologyController<DataTypes>::fillInstrumentCurvAbsTable(co
template <class DataTypes>
void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsigned int firstSimulatedNode)
{
WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(core::VecCoordId::position());
WriteAccessor<Data<VecDeriv> > vMstate = *getMechanicalState()->write(core::VecDerivId::velocity());
WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::position);
WriteAccessor<Data<VecDeriv> > vMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);

// set the position to startingPos for all the nodes that are not simulated
// and add a fixedConstraint
Expand Down
14 changes: 7 additions & 7 deletions src/BeamAdapter/component/controller/SutureController.inl
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Expand Up @@ -137,8 +137,8 @@ void SutureController<DataTypes>::initWireModel()

Real x_curv = 0.0;

Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::VecCoordId::position());
Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::VecDerivId::velocity());
Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::vec_id::write_access::position);
Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
auto x = sofa::helper::getWriteOnlyAccessor(*datax);
auto v = sofa::helper::getWriteOnlyAccessor(*datav);

Expand Down Expand Up @@ -323,8 +323,8 @@ void SutureController<DataTypes>::onBeginAnimationStep(const double dt)
applyController();

// Propagate modifications
MechanicalProjectPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(), sofa::core::VecCoordId::position(),sofa::core::VecDerivId::velocity()); // apply projective constraints
MechanicalPropagateOnlyPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(),sofa::core::VecCoordId::position(),sofa::core::VecDerivId::velocity()).execute( getContext() );
MechanicalProjectPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(), sofa::core::vec_id::write_access::position,sofa::core::vec_id::write_access::velocity); // apply projective constraints
MechanicalPropagateOnlyPositionAndVelocityVisitor(core::MechanicalParams::defaultInstance(), getContext()->getTime(),sofa::core::vec_id::write_access::position,sofa::core::vec_id::write_access::velocity).execute( getContext() );
simulation::UpdateMappingVisitor(core::ExecParams::defaultInstance()).execute(getContext());
}

Expand Down Expand Up @@ -503,8 +503,8 @@ void SutureController<DataTypes>::addImposedCurvAbs(type::vector<Real> &newCurvA
template <class DataTypes>
void SutureController<DataTypes>::applyController()
{
Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::VecCoordId::position());
Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::VecDerivId::velocity());
Data<VecCoord>* datax = getMechanicalState()->write(sofa::core::vec_id::write_access::position);
Data<VecDeriv>* datav = getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);
auto x = sofa::helper::getWriteOnlyAccessor(*datax);
auto v = sofa::helper::getWriteOnlyAccessor(*datav);
type::vector<Real> newCurvAbs;
Expand Down Expand Up @@ -1171,7 +1171,7 @@ void SutureController<DataTypes>::updateControlPointsPositions()

unsigned int numBeams = l_adaptiveInterpolation->getNumBeams();
Transform global_H0_local, global_H1_local;
const VecCoord& x = getMechanicalState()->write(sofa::core::VecCoordId::position())->getValue();
const VecCoord& x = getMechanicalState()->read(sofa::core::vec_id::read_access::position)->getValue();
for (unsigned int b = 0; b < numBeams; b++)
{
l_adaptiveInterpolation->computeTransform(b, global_H0_local, global_H1_local, x);
Expand Down
3 changes: 1 addition & 2 deletions src/BeamAdapter/component/forcefield/AdaptiveBeamForceFieldAndMass.inl
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Expand Up @@ -54,7 +54,6 @@ using sofa::core::objectmodel::BaseContext ;
using sofa::type::Vec3 ;
using sofa::type::Quat ;
using sofa::helper::ReadAccessor ;
using sofa::core::ConstVecCoordId ;
using std::set ;
using sofa::helper::ScopedAdvancedTimer;

Expand Down Expand Up @@ -746,7 +745,7 @@ void AdaptiveBeamForceFieldAndMass<DataTypes>::draw(const VisualParams *vparams)

vparams->drawTool()->saveLastState();

ReadAccessor<Data<VecCoord> > x = mstate->read(ConstVecCoordId::position()) ;
ReadAccessor<Data<VecCoord> > x = mstate->read(sofa::core::vec_id::read_access::position) ;

unsigned int numBeams = l_interpolation->getNumBeams();

Expand Down
3 changes: 1 addition & 2 deletions src/BeamAdapter/component/forcefield/AdaptiveInflatableBeamForceField.inl
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Expand Up @@ -57,7 +57,6 @@ using sofa::core::objectmodel::BaseContext ;
using sofa::type::Vec3 ;
using sofa::type::Quat ;
using sofa::helper::ReadAccessor ;
using sofa::core::ConstVecCoordId ;
using std::set ;

template <class DataTypes>
Expand Down Expand Up @@ -730,7 +729,7 @@ void AdaptiveInflatableBeamForceField<DataTypes>::draw(const VisualParams *vpara
if (!vparams->displayFlags().getShowForceFields() && !vparams->displayFlags().getShowBehaviorModels()) return;
if (!mstate) return;

ReadAccessor<Data<VecCoord> > x = mstate->read(ConstVecCoordId::position()) ;
ReadAccessor<Data<VecCoord> > x = mstate->read(sofa::core::vec_id::read_access::position) ;

unsigned int numBeams = l_interpolation->getNumBeams();

Expand Down
19 changes: 9 additions & 10 deletions src/BeamAdapter/component/mapping/AdaptiveBeamMapping.inl
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Expand Up @@ -56,7 +56,6 @@ namespace _adaptivebeammapping_
using sofa::core::State;
using helper::ReadAccessor;
using helper::WriteAccessor;
using sofa::core::ConstVecCoordId;
using sofa::helper::AdvancedTimer;
using sofa::helper::ScopedAdvancedTimer;
using sofa::core::MultiVecCoordId;
Expand Down Expand Up @@ -233,20 +232,20 @@ void AdaptiveBeamMapping< TIn, TOut>::apply(const MechanicalParams* mparams, Dat
}
}

MultiVecCoordId x = VecCoordId::position();
MultiVecCoordId xfree = VecCoordId::freePosition();
MultiVecCoordId x = sofa::core::vec_id::write_access::position;
MultiVecCoordId xfree = sofa::core::vec_id::write_access::freePosition;

const ConstMultiVecCoordId &xId = mparams->x();
ConstVecCoordId xtest = xId.getId(this->fromModel);
sofa::core::ConstVecCoordId xtest = xId.getId(this->fromModel);

if(xtest == xfree.getId(this->fromModel))
{
VecCoordId xfreeIn = VecCoordId::freePosition();
VecCoordId xfreeIn = sofa::core::vec_id::write_access::freePosition;
l_adaptativebeamInterpolation->updateBezierPoints(in, xfreeIn);
}
else if(xtest == x.getId(this->fromModel))
{
VecCoordId positionIn = VecCoordId::position();
VecCoordId positionIn = sofa::core::vec_id::write_access::position;
l_adaptativebeamInterpolation->updateBezierPoints(in, positionIn);
}

Expand Down Expand Up @@ -307,7 +306,7 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJ(const core::MechanicalParams* mpara
auto out = sofa::helper::getWriteOnlyAccessor(dOut);
const InVecDeriv& in= dIn.getValue();

Data<InVecCoord>& dataInX = *this->getFromModel()->write(VecCoordId::position());
Data<InVecCoord>& dataInX = *this->getFromModel()->write(sofa::core::vec_id::write_access::position);
auto x = sofa::helper::getWriteOnlyAccessor(dataInX);

if (d_useCurvAbs.getValue() && !d_contactDuplicate.getValue())
Expand Down Expand Up @@ -392,7 +391,7 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJT(const core::MechanicalParams* mpar
auto out = sofa::helper::getWriteOnlyAccessor(dOut);
const VecDeriv& in= dIn.getValue();

const Data<InVecCoord>& dataInX = *this->getFromModel()->read(ConstVecCoordId::position());
const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
const InVecCoord& x = dataInX.getValue();

for (unsigned int i=0; i<m_pointBeamDistribution.size(); i++)
Expand Down Expand Up @@ -434,7 +433,7 @@ void AdaptiveBeamMapping< TIn, TOut>::applyJT(const core::ConstraintParams* cpar
SCOPED_TIMER("AdaptiveBeamMapping_ApplyJT");
auto out = sofa::helper::getWriteOnlyAccessor(dOut);
const OutMatrixDeriv& in = dIn.getValue();
const Data<InVecCoord>& dataInX = *this->getFromModel()->read(ConstVecCoordId::position());
const Data<InVecCoord>& dataInX = *this->getFromModel()->read(sofa::core::vec_id::read_access::position);
const InVecCoord& x = dataInX.getValue();

m_isXBufferUsed = false;
Expand Down Expand Up @@ -512,7 +511,7 @@ void AdaptiveBeamMapping< TIn, TOut>::bwdInit()

if (ptsSize == 0)
{
helper::ReadAccessor<Data<VecCoord> > xTo = this->toModel->read(sofa::core::ConstVecCoordId::position()) ;
helper::ReadAccessor<Data<VecCoord> > xTo = this->toModel->read(sofa::core::vec_id::read_access::position) ;

if(xTo.size()==0)
{
Expand Down
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