From 7ec50b2dd98414ce87e030e7b481df34d2f59017 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Tue, 21 May 2024 17:30:19 +0200 Subject: [PATCH 01/14] Add fixed weak constraint and examples --- .../SolidMechanics/Spring/CMakeLists.txt | 3 + .../spring/FixedWeakConstraint.cpp | 53 +++ .../spring/FixedWeakConstraint.h | 116 +++++++ .../spring/FixedWeakConstraint.inl | 324 ++++++++++++++++++ .../Spring/FixedWeakConstaint_Rigid3.scn | 55 +++ .../Spring/FixedWeakConstaint_Vec3.scn | 70 ++++ 6 files changed, 621 insertions(+) create mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp create mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h create mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl create mode 100644 examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Rigid3.scn create mode 100644 examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Vec3.scn diff --git a/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt b/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt index 12dbde4f034..4cb8698c1fe 100644 --- a/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt +++ b/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt @@ -12,6 +12,8 @@ set(HEADER_FILES # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.h ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.inl + ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.h + ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FrameSpringForceField.h ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FrameSpringForceField.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/GearSpringForceField.h @@ -58,6 +60,7 @@ set(SOURCE_FILES ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/AngularSpringForceField.cpp # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.cpp ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.cpp + ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.cpp ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FrameSpringForceField.cpp ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/GearSpringForceField.cpp ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/JointSpring.cpp diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp new file mode 100644 index 00000000000..b67469aecd8 --- /dev/null +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp @@ -0,0 +1,53 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#define SOFA_COMPONENT_FORCEFIELD_RESTSHAPESPRINGSFORCEFIELD_CPP + +#include + +#include +#include +#include + + +namespace sofa::component::solidmechanics::spring +{ + +using namespace sofa::type; +using namespace sofa::defaulttype; + +int FixedWeakConstraintClass = core::RegisterObject("Elastic springs generating forces on degrees of freedom between their current and rest shape position") + .add< FixedWeakConstraint >() + .add< FixedWeakConstraint >() + .add< FixedWeakConstraint >() + .add< FixedWeakConstraint >() + .add< FixedWeakConstraint >() + + ; + +template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; + + +} // namespace sofa::component::solidmechanics::spring diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h new file mode 100644 index 00000000000..16aac5b5578 --- /dev/null +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -0,0 +1,116 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include + +#include +#include +#include +#include +#include + + +namespace sofa::core::behavior +{ + +template< class T > class MechanicalState; + +} // namespace sofa::core::behavior + +namespace sofa::component::solidmechanics::spring +{ + +/** +* @brief This class describes a simple elastic springs ForceField between DOFs positions and rest positions. +* +* Springs are applied to given degrees of freedom between their current positions and their rest shape positions. +* An external MechanicalState reference can also be passed to the ForceField as rest shape position. +*/ +template +class FixedWeakConstraint : public core::behavior::ForceField +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(FixedWeakConstraint, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)); + + typedef core::behavior::ForceField Inherit; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::CPos CPos; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef type::vector< sofa::Index > VecIndex; + typedef sofa::core::topology::TopologySubsetIndices DataSubsetIndex; + typedef type::vector< Real > VecReal; + + static constexpr sofa::Size spatial_dimensions = Coord::spatial_dimensions; + static constexpr sofa::Size coord_total_size = Coord::total_size; + + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + + SetIndex d_indices; + Data d_fixAll; + Data< Real > d_stiffness; ///< stiffness values between the actual position and the rest shape position + Data< Real > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points + Data< bool > d_drawSpring; ///< draw Spring + Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) + + linearalgebra::EigenBaseSparseMatrix matS; + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + +protected: + FixedWeakConstraint(); + bool checkOutOfBoundsIndices(); + +public: + virtual void init() override; + + /// Add the forces. + void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override; + void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) override; + SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override; + + /// Brings ForceField contribution to the global system stiffness matrix. + void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix ) override; + void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override; + void buildDampingMatrix(core::behavior::DampingMatrix* matrix) override; + + void draw(const core::visual::VisualParams* vparams) override; + + +}; + +#if !defined(SOFA_COMPONENT_FORCEFIELD_RESTSHAPESPRINGSFORCEFIELD_CPP) +extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +#endif + +} // namespace sofa::component::solidmechanics::spring diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl new file mode 100644 index 00000000000..5e5d3e4407b --- /dev/null +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -0,0 +1,324 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace sofa::component::solidmechanics::spring +{ + +using helper::WriteAccessor; +using helper::ReadAccessor; +using core::behavior::BaseMechanicalState; +using core::behavior::MultiMatrixAccessor; +using core::behavior::ForceField; +using linearalgebra::BaseMatrix; +using core::VecCoordId; +using core::MechanicalParams; +using type::Vec3; +using type::Vec4f; +using type::vector; +using core::visual::VisualParams; + +template +FixedWeakConstraint::FixedWeakConstraint() + : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) + , d_stiffness(initData(&d_stiffness, 1.0,"stiffness", "stiffness value between the actual position and the rest shape position")) + , d_angularStiffness(initData(&d_angularStiffness,1.0, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) + , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) + , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) + , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) +{ + this->addUpdateCallback("updateInputs", {&d_indices}, [this](const core::DataTracker& t) + { + SOFA_UNUSED(t); + if(checkOutOfBoundsIndices()) + { + msg_error() << "Input indices out of bound"; + return sofa::core::objectmodel::ComponentState::Invalid; + } + + return sofa::core::objectmodel::ComponentState::Valid; + }, {}); +} + +template +void FixedWeakConstraint::init() +{ + Inherit::init(); + if (l_topology.empty()) + { + msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; + l_topology.set(this->getContext()->getMeshTopologyLink()); + if(! l_topology.get()) + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + } + + if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get()) + { + msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'"; + + // Initialize topological changes support + d_indices.createTopologyHandler(_topology); + } + + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); +} + +template +bool FixedWeakConstraint::checkOutOfBoundsIndices() +{ + for(auto idx : d_indices.getValue()) + { + if(idx >= this->mstate->getSize()) + return true; + } + return false; +} + +template +SReal FixedWeakConstraint::getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const +{ + SOFA_UNUSED(mparams); + SOFA_UNUSED(x); + + msg_warning() << "Method getPotentialEnergy not implemented yet."; + return 0.0; +} + +template +void FixedWeakConstraint::addForce(const MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) +{ + SOFA_UNUSED(mparams); + SOFA_UNUSED(v); + + WriteAccessor< DataVecDeriv > f1 = f; + ReadAccessor< DataVecCoord > p1 = x; + + const DataVecCoord * restPosition = this->mstate->read(sofa::core::VecId::resetPosition()); + if (!restPosition) + { + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + return; + } + + ReadAccessor< DataVecCoord > p0 = *restPosition; + + const Real& stiffness = d_stiffness.getValue(); + const Real& angularStiffness = d_angularStiffness.getValue(); + + f1.resize(p1.size()); + + + for (sofa::Index i = 0; i < d_indices.getValue().size(); i++) + { + const sofa::Index index = d_indices.getValue()[i]; + + // rigid case + if constexpr (sofa::type::isRigidType()) + { + // translation + CPos dx = p1[index].getCenter() - p0[index].getCenter(); + getVCenter(f1[index]) -= dx * stiffness; + + // rotation + type::Quat dq = p1[index].getOrientation() * p0[index].getOrientation().inverse(); + dq.normalize(); + + type::Vec<3, Real> dir{type::NOINIT}; + Real angle = 0.; + + if (dq[3] < 0.) + { + dq = dq * -1.0; + } + + if (dq[3] < 1.0) + dq.quatToAxis(dir, angle); + + getVOrientation(f1[index]) -= dir * angle * angularStiffness; + } + else // non-rigid implementation + { + Deriv dx = p1[index] - p0[index]; + f1[index] -= dx * stiffness; + } + } +} + +template +void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) +{ + WriteAccessor< DataVecDeriv > df1 = df; + ReadAccessor< DataVecDeriv > dx1 = dx; + Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); + const Real& stiffness = d_stiffness.getValue(); + const Real& angularStiffness = d_angularStiffness.getValue(); + + for (unsigned int i = 0; i < d_indices.getValue().size(); i++) + { + const sofa::Index curIndex = d_indices.getValue()[i]; + + if constexpr (sofa::type::isRigidType()) + { + getVCenter(df1[curIndex]) -= getVCenter(dx1[curIndex]) * stiffness * kFactor; + getVOrientation(df1[curIndex]) -= getVOrientation(dx1[curIndex]) * angularStiffness * kFactor; + } + else + { + df1[d_indices.getValue()[i]] -= dx1[d_indices.getValue()[i]] * stiffness * kFactor; + } + } + + +} + +template +void FixedWeakConstraint::draw(const VisualParams *vparams) +{ + if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) + return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->setLightingEnabled(false); + + const DataVecCoord * restPosition = this->mstate->read(sofa::core::VecId::resetPosition()); + if (!restPosition) + { + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + return; + } + + + ReadAccessor< DataVecCoord > p0 = *restPosition; + ReadAccessor< DataVecCoord > p = this->mstate->read(VecCoordId::position()); + + const VecIndex& indices = d_indices.getValue(); + + std::vector vertices; + + for (sofa::Index i=0; i(3)) ; j++) + { + v0[j] = (DataTypes::getCPos(p[index]))[j]; + v1[j] = (DataTypes::getCPos(p0[index]))[j]; + } + + vertices.push_back(v0); + vertices.push_back(v1); + } + + vparams->drawTool()->drawLines(vertices,5, d_springColor.getValue()); +} + +template +void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix ) +{ + const MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); + BaseMatrix* mat = mref.matrix; + const unsigned int offset = mref.offset; + Real kFact = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); + + const Real& k = d_stiffness.getValue(); + const Real& k_a = d_angularStiffness.getValue(); + + constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes + constexpr sofa::Size total_size = Deriv::total_size; + + sofa::Index curIndex = 0; + + for (sofa::Index index = 0; index < d_indices.getValue().size(); index++) + { + curIndex = d_indices.getValue()[index]; + + // translation + const auto vt = -kFact * k; + for (sofa::Size i = 0; i < space_size; i++) + { + mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vt); + } + + // rotation (if applicable) + if constexpr (sofa::type::isRigidType()) + { + const auto vr = -kFact * k_a; + for (sofa::Size i = space_size; i < total_size; i++) + { + mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vr); + } + } + } +} + +template +void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) +{ + const Real& vt = -d_stiffness.getValue(); + const Real& vr = -d_angularStiffness.getValue(); + + constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes + constexpr sofa::Size total_size = Deriv::total_size; + + auto dfdx = matrix->getForceDerivativeIn(this->mstate) + .withRespectToPositionsIn(this->mstate); + + for (const auto index : d_indices.getValue()) + { + // translation + for(sofa::Index i = 0; i < space_size; i++) + { + dfdx(total_size * index + i, total_size * index + i) += vt; + } + + // rotation (if applicable) + if constexpr (sofa::type::isRigidType()) + { + for (sofa::Size i = space_size; i < total_size; ++i) + { + dfdx(total_size * index + i, total_size * index + i) += vr; + } + } + } +} + +template +void FixedWeakConstraint::buildDampingMatrix( + core::behavior::DampingMatrix* matrix) +{ + SOFA_UNUSED(matrix); +} +} // namespace sofa::component::solidmechanics::spring diff --git a/examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Rigid3.scn b/examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Rigid3.scn new file mode 100644 index 00000000000..af8009855fd --- /dev/null +++ b/examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Rigid3.scn @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Vec3.scn b/examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Vec3.scn new file mode 100644 index 00000000000..6787469b811 --- /dev/null +++ b/examples/Component/SolidMechanics/Spring/FixedWeakConstaint_Vec3.scn @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 01f9faf60e1afef459a59542095892c36f7fb912 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Tue, 21 May 2024 17:47:29 +0200 Subject: [PATCH 02/14] Remove nasty using --- .../spring/FixedWeakConstraint.h | 7 --- .../spring/FixedWeakConstraint.inl | 45 +++++++------------ 2 files changed, 16 insertions(+), 36 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index 16aac5b5578..c8bf8ef0f84 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -31,13 +31,6 @@ #include -namespace sofa::core::behavior -{ - -template< class T > class MechanicalState; - -} // namespace sofa::core::behavior - namespace sofa::component::solidmechanics::spring { diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index 5e5d3e4407b..07748e53308 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -36,19 +36,6 @@ namespace sofa::component::solidmechanics::spring { -using helper::WriteAccessor; -using helper::ReadAccessor; -using core::behavior::BaseMechanicalState; -using core::behavior::MultiMatrixAccessor; -using core::behavior::ForceField; -using linearalgebra::BaseMatrix; -using core::VecCoordId; -using core::MechanicalParams; -using type::Vec3; -using type::Vec4f; -using type::vector; -using core::visual::VisualParams; - template FixedWeakConstraint::FixedWeakConstraint() : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) @@ -116,13 +103,13 @@ SReal FixedWeakConstraint::getPotentialEnergy(const core::MechanicalP } template -void FixedWeakConstraint::addForce(const MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) +void FixedWeakConstraint::addForce(const core::MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) { SOFA_UNUSED(mparams); SOFA_UNUSED(v); - WriteAccessor< DataVecDeriv > f1 = f; - ReadAccessor< DataVecCoord > p1 = x; + helper::WriteAccessor< DataVecDeriv > f1 = f; + helper::ReadAccessor< DataVecCoord > p1 = x; const DataVecCoord * restPosition = this->mstate->read(sofa::core::VecId::resetPosition()); if (!restPosition) @@ -131,7 +118,7 @@ void FixedWeakConstraint::addForce(const MechanicalParams* mparams , return; } - ReadAccessor< DataVecCoord > p0 = *restPosition; + helper::ReadAccessor< DataVecCoord > p0 = *restPosition; const Real& stiffness = d_stiffness.getValue(); const Real& angularStiffness = d_angularStiffness.getValue(); @@ -176,10 +163,10 @@ void FixedWeakConstraint::addForce(const MechanicalParams* mparams , } template -void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) +void FixedWeakConstraint::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) { - WriteAccessor< DataVecDeriv > df1 = df; - ReadAccessor< DataVecDeriv > dx1 = dx; + helper::WriteAccessor< DataVecDeriv > df1 = df; + helper::ReadAccessor< DataVecDeriv > dx1 = dx; Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); const Real& stiffness = d_stiffness.getValue(); const Real& angularStiffness = d_angularStiffness.getValue(); @@ -203,7 +190,7 @@ void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, } template -void FixedWeakConstraint::draw(const VisualParams *vparams) +void FixedWeakConstraint::draw(const core::visual::VisualParams *vparams) { if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) return; @@ -219,19 +206,19 @@ void FixedWeakConstraint::draw(const VisualParams *vparams) } - ReadAccessor< DataVecCoord > p0 = *restPosition; - ReadAccessor< DataVecCoord > p = this->mstate->read(VecCoordId::position()); + helper::ReadAccessor< DataVecCoord > p0 = *restPosition; + helper::ReadAccessor< DataVecCoord > p = this->mstate->read(core::VecCoordId::position()); const VecIndex& indices = d_indices.getValue(); - std::vector vertices; + std::vector vertices; for (sofa::Index i=0; i(3)) ; j++) { v0[j] = (DataTypes::getCPos(p[index]))[j]; @@ -246,10 +233,10 @@ void FixedWeakConstraint::draw(const VisualParams *vparams) } template -void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix ) +void FixedWeakConstraint::addKToMatrix(const core::MechanicalParams* mparams, const core::behavior::MultiMatrixAccessor* matrix ) { - const MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); - BaseMatrix* mat = mref.matrix; + const core::behavior::MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); + linearalgebra::BaseMatrix* mat = mref.matrix; const unsigned int offset = mref.offset; Real kFact = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); From bc1916b8c58790dbebeeba125165226393940163 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 5 Jun 2024 11:50:28 +0200 Subject: [PATCH 03/14] WIP --- .../spring/FixedWeakConstraint.inl | 1 + .../Spring/tests/CMakeLists.txt | 1 + .../Spring/tests/FixedWeakConstraint_test.cpp | 131 ++++++++++++++++++ 3 files changed, 133 insertions(+) create mode 100644 Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index 07748e53308..ad17c811ca3 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -39,6 +39,7 @@ namespace sofa::component::solidmechanics::spring template FixedWeakConstraint::FixedWeakConstraint() : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) + , d_fixAll(initData(&d_fixAll, false,"fixAll", "stiffness value between the actual position and the rest shape position")) , d_stiffness(initData(&d_stiffness, 1.0,"stiffness", "stiffness value between the actual position and the rest shape position")) , d_angularStiffness(initData(&d_angularStiffness,1.0, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) diff --git a/Sofa/Component/SolidMechanics/Spring/tests/CMakeLists.txt b/Sofa/Component/SolidMechanics/Spring/tests/CMakeLists.txt index e474d48f5fa..d03f0f9ca5f 100644 --- a/Sofa/Component/SolidMechanics/Spring/tests/CMakeLists.txt +++ b/Sofa/Component/SolidMechanics/Spring/tests/CMakeLists.txt @@ -7,6 +7,7 @@ set(SOURCE_FILES RestShapeSpringsForceField_test.cpp StiffSpringForceField_test.cpp TriangularBendingSprings_test.cpp + FixedWeakConstraint_test.cpp ) add_executable(${PROJECT_NAME} ${SOURCE_FILES}) diff --git a/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp b/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp new file mode 100644 index 00000000000..af99a3e063a --- /dev/null +++ b/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp @@ -0,0 +1,131 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +using sofa::testing::BaseTest; + +#include +using namespace sofa::simpleapi; + +#include +#include + +#include +using sofa::component::statecontainer::MechanicalObject; + +using sofa::defaulttype::Vec3Types; +using sofa::defaulttype::Rigid3dTypes; +using sofa::helper::ReadAccessor; +using sofa::Data; + +/// Test suite for RestShapeSpringsForceField +class RestStiffSpringsForceField_test : public BaseTest +{ +public: + ~RestStiffSpringsForceField_test() override; + sofa::simulation::Node::SPtr createScene(const std::string& type); + + template + void testDefaultBehavior(sofa::simulation::Node::SPtr root); + + template + void checkDifference(MechanicalObject& mo); +}; + +RestStiffSpringsForceField_test::~RestStiffSpringsForceField_test() +{ +} + +sofa::simulation::Node::SPtr RestStiffSpringsForceField_test::createScene(const std::string& type) +{ + const auto theSimulation = createSimulation(); + auto theRoot = createRootNode(theSimulation, "root"); + sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); + sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); + sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + + createObject(theRoot, "DefaultAnimationLoop"); + createObject(theRoot, "EulerImplicitSolver"); + createObject(theRoot, "CGLinearSolver", {{ "iterations", "25" }, { "tolerance", "1e-5" }, {"threshold", "1e-5"}}); + + /// Create an object with a mass and use a rest shape spring ff so it stays + /// at the initial position + const auto fixedObject = createChild(theRoot, "fixedObject"); + auto fixedObject_dofs = createObject(fixedObject, "MechanicalObject", {{"name","dofs"}, + {"size","10"}, + {"template",type}}); + createObject(fixedObject, "UniformMass", {{"totalMass", "1"}}); + + createObject(fixedObject, "FixedWeakConstraint", {{"stiffness","1000"},{"fixAll","true"}}); + + const auto movingObject = createChild(theRoot, "movingObject"); + auto movingObject_dofs = createObject(movingObject, "MechanicalObject", {{"name","dofs"}, + {"size","10"}, + {"template",type}}); + createObject(movingObject, "UniformMass", {{"totalMass", "1"}}); + + sofa::simulation::node::initRoot(theRoot.get()); + for(unsigned int i=0;i<20;i++) + { + sofa::simulation::node::animate(theRoot.get(), 0.01_sreal); + } + return theRoot; +} + +template +void RestStiffSpringsForceField_test::checkDifference(MechanicalObject& mo) +{ + ReadAccessor< Data > positions = mo.x; + ReadAccessor< Data > rest_positions = mo.x0; + for(size_t i=0;i +void RestStiffSpringsForceField_test::testDefaultBehavior(sofa::simulation::Node::SPtr root) +{ + auto fixedDofs = dynamic_cast*>(root->getChild("fixedObject")->getObject("dofs")); + ASSERT_TRUE( fixedDofs != nullptr ); + + auto movingDofs = dynamic_cast*>(root->getChild("movingObject")->getObject("dofs")); + ASSERT_TRUE( movingDofs != nullptr ); + + checkDifference(*fixedDofs); +} + + +TEST_F(RestStiffSpringsForceField_test, defaultBehaviorVec3) +{ + this->testDefaultBehavior(this->createScene("Vec3")); +} + +TEST_F(RestStiffSpringsForceField_test, defaultBehaviorRigid3) +{ + this->testDefaultBehavior(this->createScene("Rigid3")); +} From 01dab0f544eb0efd6f225abb6b1b80219a04fd95 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Fri, 26 Jul 2024 16:59:35 +0200 Subject: [PATCH 04/14] Fix compilation --- .../Spring/tests/FixedWeakConstraint_test.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp b/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp index af99a3e063a..6362a67d214 100644 --- a/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp +++ b/Sofa/Component/SolidMechanics/Spring/tests/FixedWeakConstraint_test.cpp @@ -37,10 +37,10 @@ using sofa::helper::ReadAccessor; using sofa::Data; /// Test suite for RestShapeSpringsForceField -class RestStiffSpringsForceField_test : public BaseTest +class FixedWeakConstraint_test : public BaseTest { public: - ~RestStiffSpringsForceField_test() override; + ~FixedWeakConstraint_test() override; sofa::simulation::Node::SPtr createScene(const std::string& type); template @@ -50,11 +50,11 @@ class RestStiffSpringsForceField_test : public BaseTest void checkDifference(MechanicalObject& mo); }; -RestStiffSpringsForceField_test::~RestStiffSpringsForceField_test() +FixedWeakConstraint_test::~FixedWeakConstraint_test() { } -sofa::simulation::Node::SPtr RestStiffSpringsForceField_test::createScene(const std::string& type) +sofa::simulation::Node::SPtr FixedWeakConstraint_test::createScene(const std::string& type) { const auto theSimulation = createSimulation(); auto theRoot = createRootNode(theSimulation, "root"); @@ -92,7 +92,7 @@ sofa::simulation::Node::SPtr RestStiffSpringsForceField_test::createScene(const } template -void RestStiffSpringsForceField_test::checkDifference(MechanicalObject& mo) +void FixedWeakConstraint_test::checkDifference(MechanicalObject& mo) { ReadAccessor< Data > positions = mo.x; ReadAccessor< Data > rest_positions = mo.x0; @@ -108,7 +108,7 @@ void RestStiffSpringsForceField_test::checkDifference(MechanicalObject& mo } template -void RestStiffSpringsForceField_test::testDefaultBehavior(sofa::simulation::Node::SPtr root) +void FixedWeakConstraint_test::testDefaultBehavior(sofa::simulation::Node::SPtr root) { auto fixedDofs = dynamic_cast*>(root->getChild("fixedObject")->getObject("dofs")); ASSERT_TRUE( fixedDofs != nullptr ); @@ -120,12 +120,12 @@ void RestStiffSpringsForceField_test::testDefaultBehavior(sofa::simulation::Node } -TEST_F(RestStiffSpringsForceField_test, defaultBehaviorVec3) +TEST_F(FixedWeakConstraint_test, defaultBehaviorVec3) { this->testDefaultBehavior(this->createScene("Vec3")); } -TEST_F(RestStiffSpringsForceField_test, defaultBehaviorRigid3) +TEST_F(FixedWeakConstraint_test, defaultBehaviorRigid3) { this->testDefaultBehavior(this->createScene("Rigid3")); } From f6bb00b02afafaedda59ee8c0103ecafce1b360d Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Fri, 26 Jul 2024 18:26:37 +0200 Subject: [PATCH 05/14] Added base virtualization for restShape spring forcefield. Still need to add inline method to regroup addForce implementations and apply it to RestShapeSpringsFF --- .../SolidMechanics/Spring/CMakeLists.txt | 2 + .../spring/BaseRestShapeSpringsForceField.h | 75 ++++++++++++++ .../spring/BaseRestShapeSpringsForceField.inl | 81 ++++++++++++++++ .../spring/FixedWeakConstraint.cpp | 3 +- .../spring/FixedWeakConstraint.h | 16 +-- .../spring/FixedWeakConstraint.inl | 97 ++++++++----------- .../spring/RestShapeSpringsForceField.h | 3 +- .../spring/RestShapeSpringsForceField.inl | 2 - 8 files changed, 207 insertions(+), 72 deletions(-) create mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h create mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl diff --git a/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt b/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt index 4cb8698c1fe..2e947d48f65 100644 --- a/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt +++ b/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt @@ -10,6 +10,8 @@ set(HEADER_FILES ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/AngularSpringForceField.inl # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.h # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.inl + ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BaseRestShapeSpringsForceField.h + ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BaseRestShapeSpringsForceField.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.h ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.h diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h new file mode 100644 index 00000000000..293c182d324 --- /dev/null +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h @@ -0,0 +1,75 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include + +#include + +#include +#include +#include +#include +#include + +namespace sofa::component::solidmechanics::spring { + +template +class BaseRestShapeSpringsForceField : public core::behavior::ForceField +{ + typedef core::behavior::ForceField Inherit; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::CPos CPos; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::Real Real; + typedef type::vector< sofa::Index > VecIndex; + typedef sofa::core::topology::TopologySubsetIndices DataSubsetIndex; + typedef type::vector< Real > VecReal; +public: + + SOFA_CLASS(SOFA_TEMPLATE(BaseRestShapeSpringsForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)); + typedef sofa::core::topology::TopologySubsetIndices SetIndex; + + + SetIndex d_indices; + Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position + Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points + Data< bool > d_drawSpring; ///< draw Spring + Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) + + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + + BaseRestShapeSpringsForceField(); + + virtual void init() override; + + virtual bool checkOutOfBoundsIndices() = 0; + + + +}; + +} + diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl new file mode 100644 index 00000000000..fd60b042965 --- /dev/null +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl @@ -0,0 +1,81 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once + +#include +#include + +namespace sofa::component::solidmechanics::spring { + +template +BaseRestShapeSpringsForceField::BaseRestShapeSpringsForceField() + : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) + , d_stiffness(initData(&d_stiffness, {1.0},"stiffness", "stiffness value between the actual position and the rest shape position")) + , d_angularStiffness(initData(&d_angularStiffness,{1.0}, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) + , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) + , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) + , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) +{ + this->addUpdateCallback("updateInputs", {&d_indices}, [this](const core::DataTracker& t) + { + SOFA_UNUSED(t); + if(this->checkOutOfBoundsIndices()) + { + msg_error() << "Input indices out of bound"; + return sofa::core::objectmodel::ComponentState::Invalid; + } + + return sofa::core::objectmodel::ComponentState::Valid; + }, {}); +} + +template +void BaseRestShapeSpringsForceField::init() +{ + if(d_stiffness.getValue().size() != d_indices.getValue().size()) + { + msg_warning() << "Input stiffness isn't the same size as indices. Either shrinking it or copying the first value to match indices size."; + helper::WriteAccessor< Data > stiffness = d_stiffness; + const unsigned oldSize = stiffness.size(); + stiffness.resize(d_indices.getValue().size()); + for(unsigned i=oldSize; i< stiffness.size(); ++i) + { + stiffness[i] = stiffness[0]; + } + } + if constexpr (sofa::type::isRigidType()) + { + if (d_angularStiffness.getValue().size() != d_indices.getValue().size()) + { + msg_warning() << "Input angular stiffness isn't the same size as indices. Either shrinking it or copying the first value to match indices size."; + helper::WriteAccessor > stiffness = d_angularStiffness; + const unsigned oldSize = stiffness.size(); + stiffness.resize(d_indices.getValue().size()); + for(unsigned i=oldSize; i< stiffness.size(); ++i) + { + stiffness[i] = stiffness[0]; + } + } + } +} + +} \ No newline at end of file diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp index b67469aecd8..304992ce4b2 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp @@ -26,6 +26,7 @@ #include #include #include +#include namespace sofa::component::solidmechanics::spring @@ -34,7 +35,7 @@ namespace sofa::component::solidmechanics::spring using namespace sofa::type; using namespace sofa::defaulttype; -int FixedWeakConstraintClass = core::RegisterObject("Elastic springs generating forces on degrees of freedom between their current and rest shape position") +int FixedWeakConstraintClass = core::RegisterObject("Weak constraints fixing dofs at their rest shape using springs") .add< FixedWeakConstraint >() .add< FixedWeakConstraint >() .add< FixedWeakConstraint >() diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index c8bf8ef0f84..3b44cdb67fc 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -29,6 +29,7 @@ #include #include #include +#include namespace sofa::component::solidmechanics::spring @@ -41,10 +42,10 @@ namespace sofa::component::solidmechanics::spring * An external MechanicalState reference can also be passed to the ForceField as rest shape position. */ template -class FixedWeakConstraint : public core::behavior::ForceField +class FixedWeakConstraint : public BaseRestShapeSpringsForceField { public: - SOFA_CLASS(SOFA_TEMPLATE(FixedWeakConstraint, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)); + SOFA_CLASS(SOFA_TEMPLATE(FixedWeakConstraint, DataTypes), SOFA_TEMPLATE(BaseRestShapeSpringsForceField, DataTypes)); typedef core::behavior::ForceField Inherit; typedef typename DataTypes::VecCoord VecCoord; @@ -65,20 +66,11 @@ class FixedWeakConstraint : public core::behavior::ForceField typedef sofa::core::topology::TopologySubsetIndices SetIndex; - SetIndex d_indices; Data d_fixAll; - Data< Real > d_stiffness; ///< stiffness values between the actual position and the rest shape position - Data< Real > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points - Data< bool > d_drawSpring; ///< draw Spring - Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) - - linearalgebra::EigenBaseSparseMatrix matS; - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; protected: FixedWeakConstraint(); - bool checkOutOfBoundsIndices(); + virtual bool checkOutOfBoundsIndices() override; public: virtual void init() override; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index ad17c811ca3..053a9e0d6fd 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -38,54 +38,37 @@ namespace sofa::component::solidmechanics::spring template FixedWeakConstraint::FixedWeakConstraint() - : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) - , d_fixAll(initData(&d_fixAll, false,"fixAll", "stiffness value between the actual position and the rest shape position")) - , d_stiffness(initData(&d_stiffness, 1.0,"stiffness", "stiffness value between the actual position and the rest shape position")) - , d_angularStiffness(initData(&d_angularStiffness,1.0, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) - , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) - , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) - , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) -{ - this->addUpdateCallback("updateInputs", {&d_indices}, [this](const core::DataTracker& t) - { - SOFA_UNUSED(t); - if(checkOutOfBoundsIndices()) - { - msg_error() << "Input indices out of bound"; - return sofa::core::objectmodel::ComponentState::Invalid; - } - - return sofa::core::objectmodel::ComponentState::Valid; - }, {}); -} + : d_fixAll(initData(&d_fixAll, false,"fixAll", "stiffness value between the actual position and the rest shape position")) +{} template void FixedWeakConstraint::init() { Inherit::init(); - if (l_topology.empty()) + if (this->l_topology.empty()) { msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; - l_topology.set(this->getContext()->getMeshTopologyLink()); - if(! l_topology.get()) + this->l_topology.set(this->getContext()->getMeshTopologyLink()); + if(! this->l_topology.get()) this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); } - if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get()) + if (sofa::core::topology::BaseMeshTopology* _topology = this->l_topology.get()) { - msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'"; + msg_info() << "Topology path used: '" << this->l_topology.getLinkedPath() << "'"; // Initialize topological changes support - d_indices.createTopologyHandler(_topology); + this->d_indices.createTopologyHandler(_topology); } + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } template bool FixedWeakConstraint::checkOutOfBoundsIndices() { - for(auto idx : d_indices.getValue()) + for(auto idx : this->d_indices.getValue()) { if(idx >= this->mstate->getSize()) return true; @@ -121,22 +104,22 @@ void FixedWeakConstraint::addForce(const core::MechanicalParams* mpa helper::ReadAccessor< DataVecCoord > p0 = *restPosition; - const Real& stiffness = d_stiffness.getValue(); - const Real& angularStiffness = d_angularStiffness.getValue(); + const auto& stiffness = this->d_stiffness.getValue(); + const auto& angularStiffness = this->d_angularStiffness.getValue(); f1.resize(p1.size()); - for (sofa::Index i = 0; i < d_indices.getValue().size(); i++) + for (sofa::Index i = 0; i < this->d_indices.getValue().size(); i++) { - const sofa::Index index = d_indices.getValue()[i]; + const sofa::Index index = this->d_indices.getValue()[i]; // rigid case if constexpr (sofa::type::isRigidType()) { // translation CPos dx = p1[index].getCenter() - p0[index].getCenter(); - getVCenter(f1[index]) -= dx * stiffness; + getVCenter(f1[index]) -= dx * stiffness[i]; // rotation type::Quat dq = p1[index].getOrientation() * p0[index].getOrientation().inverse(); @@ -153,12 +136,12 @@ void FixedWeakConstraint::addForce(const core::MechanicalParams* mpa if (dq[3] < 1.0) dq.quatToAxis(dir, angle); - getVOrientation(f1[index]) -= dir * angle * angularStiffness; + getVOrientation(f1[index]) -= dir * angle * angularStiffness[i]; } else // non-rigid implementation { Deriv dx = p1[index] - p0[index]; - f1[index] -= dx * stiffness; + f1[index] -= dx * stiffness[i]; } } } @@ -169,21 +152,21 @@ void FixedWeakConstraint::addDForce(const core::MechanicalParams* mpa helper::WriteAccessor< DataVecDeriv > df1 = df; helper::ReadAccessor< DataVecDeriv > dx1 = dx; Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); - const Real& stiffness = d_stiffness.getValue(); - const Real& angularStiffness = d_angularStiffness.getValue(); + const auto& stiffness = this->d_stiffness.getValue(); + const auto& angularStiffness = this->d_angularStiffness.getValue(); - for (unsigned int i = 0; i < d_indices.getValue().size(); i++) + for (unsigned int i = 0; i < this->d_indices.getValue().size(); i++) { - const sofa::Index curIndex = d_indices.getValue()[i]; + const sofa::Index curIndex = this->d_indices.getValue()[i]; if constexpr (sofa::type::isRigidType()) { - getVCenter(df1[curIndex]) -= getVCenter(dx1[curIndex]) * stiffness * kFactor; - getVOrientation(df1[curIndex]) -= getVOrientation(dx1[curIndex]) * angularStiffness * kFactor; + getVCenter(df1[curIndex]) -= getVCenter(dx1[curIndex]) * stiffness[i] * kFactor; + getVOrientation(df1[curIndex]) -= getVOrientation(dx1[curIndex]) * angularStiffness[i] * kFactor; } else { - df1[d_indices.getValue()[i]] -= dx1[d_indices.getValue()[i]] * stiffness * kFactor; + df1[this->d_indices.getValue()[i]] -= dx1[this->d_indices.getValue()[i]] * stiffness[i] * kFactor; } } @@ -193,7 +176,7 @@ void FixedWeakConstraint::addDForce(const core::MechanicalParams* mpa template void FixedWeakConstraint::draw(const core::visual::VisualParams *vparams) { - if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) + if (!vparams->displayFlags().getShowForceFields() || !this->d_drawSpring.getValue()) return; const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); @@ -210,7 +193,7 @@ void FixedWeakConstraint::draw(const core::visual::VisualParams *vpa helper::ReadAccessor< DataVecCoord > p0 = *restPosition; helper::ReadAccessor< DataVecCoord > p = this->mstate->read(core::VecCoordId::position()); - const VecIndex& indices = d_indices.getValue(); + const VecIndex& indices = this->d_indices.getValue(); std::vector vertices; @@ -230,7 +213,7 @@ void FixedWeakConstraint::draw(const core::visual::VisualParams *vpa vertices.push_back(v1); } - vparams->drawTool()->drawLines(vertices,5, d_springColor.getValue()); + vparams->drawTool()->drawLines(vertices,5, this->d_springColor.getValue()); } template @@ -241,20 +224,20 @@ void FixedWeakConstraint::addKToMatrix(const core::MechanicalParams* const unsigned int offset = mref.offset; Real kFact = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); - const Real& k = d_stiffness.getValue(); - const Real& k_a = d_angularStiffness.getValue(); + const auto& k = this->d_stiffness.getValue(); + const auto& k_a = this->d_angularStiffness.getValue(); constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes constexpr sofa::Size total_size = Deriv::total_size; sofa::Index curIndex = 0; - for (sofa::Index index = 0; index < d_indices.getValue().size(); index++) + for (sofa::Index index = 0; index < this->d_indices.getValue().size(); index++) { - curIndex = d_indices.getValue()[index]; + curIndex = this->d_indices.getValue()[index]; // translation - const auto vt = -kFact * k; + const auto vt = -kFact * k[index]; for (sofa::Size i = 0; i < space_size; i++) { mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vt); @@ -263,7 +246,7 @@ void FixedWeakConstraint::addKToMatrix(const core::MechanicalParams* // rotation (if applicable) if constexpr (sofa::type::isRigidType()) { - const auto vr = -kFact * k_a; + const auto vr = -kFact * k_a[index]; for (sofa::Size i = space_size; i < total_size; i++) { mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vr); @@ -275,8 +258,8 @@ void FixedWeakConstraint::addKToMatrix(const core::MechanicalParams* template void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) { - const Real& vt = -d_stiffness.getValue(); - const Real& vr = -d_angularStiffness.getValue(); + const auto& vt = this->d_stiffness.getValue(); + const auto& vr = this->d_angularStiffness.getValue(); constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes constexpr sofa::Size total_size = Deriv::total_size; @@ -284,12 +267,16 @@ void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::Stiffn auto dfdx = matrix->getForceDerivativeIn(this->mstate) .withRespectToPositionsIn(this->mstate); - for (const auto index : d_indices.getValue()) + + const VecIndex& indices = this->d_indices.getValue(); + for (sofa::Index i=0; i::buildStiffnessMatrix(core::behavior::Stiffn { for (sofa::Size i = space_size; i < total_size; ++i) { - dfdx(total_size * index + i, total_size * index + i) += vr; + dfdx(total_size * index + i, total_size * index + i) += -vr[i]; } } } diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h index c08facb46d4..30236ea8f2e 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h @@ -128,12 +128,11 @@ protected : bool checkOutOfBoundsIndices(); bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension); + VecIndex m_indices; VecIndex m_ext_indices; type::vector m_pivots; - SReal lastUpdatedStep{}; - private : bool useRestMState{}; /// An external MechanicalState is used as rest reference. diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl index 2c677371551..0491a081417 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl @@ -167,8 +167,6 @@ void RestShapeSpringsForceField::bwdInit() } } - lastUpdatedStep = -1.0; - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } From 06090ff6297dd434a2a67a2b5fcb7a2d86a055b2 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Dec 2024 12:08:23 +0100 Subject: [PATCH 06/14] WIP: SQtill need to unify inint, reinit, bwdinint, enables fixAll and apply it to RestShape --- .../SolidMechanics/Spring/CMakeLists.txt | 2 - .../spring/BaseRestShapeSpringsForceField.h | 75 --- .../spring/BaseRestShapeSpringsForceField.inl | 81 --- .../spring/FixedWeakConstraint.cpp | 22 +- .../spring/FixedWeakConstraint.h | 64 ++- .../spring/FixedWeakConstraint.inl | 467 ++++++++++++++---- 6 files changed, 441 insertions(+), 270 deletions(-) delete mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h delete mode 100644 Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl diff --git a/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt b/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt index 586b615587c..42954ca0934 100644 --- a/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt +++ b/Sofa/Component/SolidMechanics/Spring/CMakeLists.txt @@ -10,8 +10,6 @@ set(HEADER_FILES ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/AngularSpringForceField.inl # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.h # ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BoxStiffSpringForceField.inl - ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BaseRestShapeSpringsForceField.h - ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/BaseRestShapeSpringsForceField.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.h ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FastTriangularBendingSprings.inl ${SOFACOMPONENTSOLIDMECHANICSSPRING_SOURCE_DIR}/FixedWeakConstraint.h diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h deleted file mode 100644 index 293c182d324..00000000000 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.h +++ /dev/null @@ -1,75 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#pragma once - -#include - -#include - -#include -#include -#include -#include -#include - -namespace sofa::component::solidmechanics::spring { - -template -class BaseRestShapeSpringsForceField : public core::behavior::ForceField -{ - typedef core::behavior::ForceField Inherit; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::CPos CPos; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::Real Real; - typedef type::vector< sofa::Index > VecIndex; - typedef sofa::core::topology::TopologySubsetIndices DataSubsetIndex; - typedef type::vector< Real > VecReal; -public: - - SOFA_CLASS(SOFA_TEMPLATE(BaseRestShapeSpringsForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)); - typedef sofa::core::topology::TopologySubsetIndices SetIndex; - - - SetIndex d_indices; - Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position - Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points - Data< bool > d_drawSpring; ///< draw Spring - Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) - - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - - BaseRestShapeSpringsForceField(); - - virtual void init() override; - - virtual bool checkOutOfBoundsIndices() = 0; - - - -}; - -} - diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl deleted file mode 100644 index fd60b042965..00000000000 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/BaseRestShapeSpringsForceField.inl +++ /dev/null @@ -1,81 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#pragma once - -#include -#include - -namespace sofa::component::solidmechanics::spring { - -template -BaseRestShapeSpringsForceField::BaseRestShapeSpringsForceField() - : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) - , d_stiffness(initData(&d_stiffness, {1.0},"stiffness", "stiffness value between the actual position and the rest shape position")) - , d_angularStiffness(initData(&d_angularStiffness,{1.0}, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) - , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) - , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) - , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) -{ - this->addUpdateCallback("updateInputs", {&d_indices}, [this](const core::DataTracker& t) - { - SOFA_UNUSED(t); - if(this->checkOutOfBoundsIndices()) - { - msg_error() << "Input indices out of bound"; - return sofa::core::objectmodel::ComponentState::Invalid; - } - - return sofa::core::objectmodel::ComponentState::Valid; - }, {}); -} - -template -void BaseRestShapeSpringsForceField::init() -{ - if(d_stiffness.getValue().size() != d_indices.getValue().size()) - { - msg_warning() << "Input stiffness isn't the same size as indices. Either shrinking it or copying the first value to match indices size."; - helper::WriteAccessor< Data > stiffness = d_stiffness; - const unsigned oldSize = stiffness.size(); - stiffness.resize(d_indices.getValue().size()); - for(unsigned i=oldSize; i< stiffness.size(); ++i) - { - stiffness[i] = stiffness[0]; - } - } - if constexpr (sofa::type::isRigidType()) - { - if (d_angularStiffness.getValue().size() != d_indices.getValue().size()) - { - msg_warning() << "Input angular stiffness isn't the same size as indices. Either shrinking it or copying the first value to match indices size."; - helper::WriteAccessor > stiffness = d_angularStiffness; - const unsigned oldSize = stiffness.size(); - stiffness.resize(d_indices.getValue().size()); - for(unsigned i=oldSize; i< stiffness.size(); ++i) - { - stiffness[i] = stiffness[0]; - } - } - } -} - -} \ No newline at end of file diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp index 304992ce4b2..7a2c57d84ba 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.cpp @@ -19,36 +19,30 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#define SOFA_COMPONENT_FORCEFIELD_RESTSHAPESPRINGSFORCEFIELD_CPP +#define SOFA_COMPONENT_FORCEFIELD_FixedWeakConstraint_CPP #include #include #include #include -#include namespace sofa::component::solidmechanics::spring { -using namespace sofa::type; using namespace sofa::defaulttype; -int FixedWeakConstraintClass = core::RegisterObject("Weak constraints fixing dofs at their rest shape using springs") - .add< FixedWeakConstraint >() - .add< FixedWeakConstraint >() - .add< FixedWeakConstraint >() - .add< FixedWeakConstraint >() - .add< FixedWeakConstraint >() - - ; +void registerFixedWeakConstraint(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Elastic springs generating forces on degrees of freedom between their current and rest shape position.") + .add< FixedWeakConstraint >() + .add< FixedWeakConstraint >() + .add< FixedWeakConstraint >()); +} -template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; -template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; - } // namespace sofa::component::solidmechanics::spring diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index 3b44cdb67fc..c94944d1894 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -29,9 +29,15 @@ #include #include #include -#include +namespace sofa::core::behavior +{ + +template< class T > class MechanicalState; + +} // namespace sofa::core::behavior + namespace sofa::component::solidmechanics::spring { @@ -40,12 +46,12 @@ namespace sofa::component::solidmechanics::spring * * Springs are applied to given degrees of freedom between their current positions and their rest shape positions. * An external MechanicalState reference can also be passed to the ForceField as rest shape position. -*/ + */ template -class FixedWeakConstraint : public BaseRestShapeSpringsForceField +class FixedWeakConstraint : public core::behavior::ForceField { -public: - SOFA_CLASS(SOFA_TEMPLATE(FixedWeakConstraint, DataTypes), SOFA_TEMPLATE(BaseRestShapeSpringsForceField, DataTypes)); + public: + SOFA_CLASS(SOFA_TEMPLATE(FixedWeakConstraint, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)); typedef core::behavior::ForceField Inherit; typedef typename DataTypes::VecCoord VecCoord; @@ -64,21 +70,39 @@ class FixedWeakConstraint : public BaseRestShapeSpringsForceField typedef core::objectmodel::Data DataVecCoord; typedef core::objectmodel::Data DataVecDeriv; - typedef sofa::core::topology::TopologySubsetIndices SetIndex; + DataSubsetIndex d_points; ///< points controlled by the rest shape springs + Data d_fixAll; ///< points controlled by the rest shape springs + Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position + Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points + Data< bool > d_drawSpring; ///< draw Spring + Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) - Data d_fixAll; -protected: + protected: FixedWeakConstraint(); - virtual bool checkOutOfBoundsIndices() override; -public: - virtual void init() override; + static constexpr type::fixed_array s_defaultActiveDirections = sofa::type::makeHomogeneousArray(true); + + public: + /// BaseObject initialization method. + void bwdInit() override ; + void reinit() override ; /// Add the forces. void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override; + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) override; - SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override; + + SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override + { + SOFA_UNUSED(mparams); + SOFA_UNUSED(x); + + msg_warning() << "Method getPotentialEnergy not implemented yet."; + return 0.0; + } /// Brings ForceField contribution to the global system stiffness matrix. void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix ) override; @@ -88,12 +112,22 @@ class FixedWeakConstraint : public BaseRestShapeSpringsForceField void draw(const core::visual::VisualParams* vparams) override; + virtual const DataVecCoord* getExtPosition() const; + virtual const VecIndex& getIndices() const; + virtual const VecIndex& getExtIndices() const; + virtual const type::fixed_array& getActiveDirections() const; + + protected : + + void recomputeIndices(); + virtual bool checkOutOfBoundsIndices(); + bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension); + + }; -#if !defined(SOFA_COMPONENT_FORCEFIELD_RESTSHAPESPRINGSFORCEFIELD_CPP) -extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; +#if !defined(SOFA_COMPONENT_FORCEFIELD_FixedWeakConstraint_CPP) extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; -extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; extern template class SOFA_COMPONENT_SOLIDMECHANICS_SPRING_API FixedWeakConstraint; #endif diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index 053a9e0d6fd..9453ba7222c 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -36,93 +36,325 @@ namespace sofa::component::solidmechanics::spring { +using helper::WriteAccessor; +using helper::ReadAccessor; +using core::behavior::BaseMechanicalState; +using core::behavior::MultiMatrixAccessor; +using core::behavior::ForceField; +using linearalgebra::BaseMatrix; +using core::VecCoordId; +using core::MechanicalParams; +using type::Vec3; +using type::Vec4f; +using type::vector; +using core::visual::VisualParams; + template FixedWeakConstraint::FixedWeakConstraint() - : d_fixAll(initData(&d_fixAll, false,"fixAll", "stiffness value between the actual position and the rest shape position")) -{} + : d_points(initData(&d_points, "points", "points controlled by the rest shape springs")) + , d_fixAll(initData(&d_fixAll, false, "fixAll", "Force to fix all points")) + , d_stiffness(initData(&d_stiffness, "stiffness", "stiffness values between the actual position and the rest shape position")) + , d_angularStiffness(initData(&d_angularStiffness, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) + , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) + , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) + , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) +{ + this->addUpdateCallback("updateIndices", {&d_points}, [this](const core::DataTracker& t) + { + SOFA_UNUSED(t); + this->recomputeIndices(); + return sofa::core::objectmodel::ComponentState::Valid; + }, {}); +} template -void FixedWeakConstraint::init() +void FixedWeakConstraint::bwdInit() { - Inherit::init(); - if (this->l_topology.empty()) + ForceField::init(); + + if (d_stiffness.getValue().empty()) + { + msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 "; + d_stiffness.setValue({static_cast(100)}); + } + + if (l_restMState.get() == nullptr) + { + useRestMState = false; + msg_info() << "no external rest shape used"; + + if(!l_restMState.empty()) + { + msg_warning() << "external_rest_shape in node " << this->getContext()->getName() << " not found"; + } + } + else + { + msg_info() << "external rest shape used"; + useRestMState = true; + } + + if (l_topology.empty()) { msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; - this->l_topology.set(this->getContext()->getMeshTopologyLink()); - if(! this->l_topology.get()) - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + l_topology.set(this->getContext()->getMeshTopologyLink()); } - if (sofa::core::topology::BaseMeshTopology* _topology = this->l_topology.get()) + if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get()) { - msg_info() << "Topology path used: '" << this->l_topology.getLinkedPath() << "'"; + msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'"; // Initialize topological changes support - this->d_indices.createTopologyHandler(_topology); + d_points.createTopologyHandler(_topology); + } + else + { + msg_info() << "Cannot find the topology: topological changes will not be supported"; } + recomputeIndices(); + if (this->d_componentState.getValue() == sofa::core::objectmodel::ComponentState::Invalid) + return; + + const BaseMechanicalState* state = this->getContext()->getMechanicalState(); + if(!state) + { + msg_warning() << "MechanicalState of the current context returns null pointer"; + } + else + { + assert(state); + matS.resize(state->getMatrixSize(),state->getMatrixSize()); + } + + /// Compile time condition to check if we are working with a Rigid3Types or a type that does not + /// need the Angular Stiffness parameters. + //if constexpr (isRigid()) + if constexpr (sofa::type::isRigidType()) + { + sofa::helper::ReadAccessor> s = d_stiffness; + sofa::helper::WriteOnlyAccessor> as = d_angularStiffness; + + if (as.size() < s.size()) + { + msg_info() << "'stiffness' is larger than 'angularStiffness', add the default value (100.0) to the missing entries."; + + for(size_t i = as.size();i s.size()) + { + msg_info() << "'stiffness' is smaller than 'angularStiffness', clamp the extra values in angularStiffness."; + as.resize(s.size()); + } + } this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } + +template +void FixedWeakConstraint::reinit() +{ + if (!checkOutOfBoundsIndices()) + { + m_indices.clear(); + } + else + { + msg_info() << "Indices successfully checked"; + } + + if (d_stiffness.getValue().empty()) + { + msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 " ; + + VecReal stiffs; + stiffs.push_back(100.0); + d_stiffness.setValue(stiffs); + } + else + { + const VecReal &k = d_stiffness.getValue(); + if ( k.size() != m_indices.size() ) + { + msg_warning() << "Size of stiffness vector is not correct (" << k.size() << "), should be either 1 or " << m_indices.size() << msgendl + << "First value of stiffness will be used"; + } + } + +} + +template +void FixedWeakConstraint::recomputeIndices() +{ + m_indices.clear(); + m_ext_indices.clear(); + + for (const sofa::Index i : d_points.getValue()) + { + m_indices.push_back(i); + } + + for (const sofa::Index i : d_external_points.getValue()) + { + m_ext_indices.push_back(i); + } + + if (m_indices.empty()) + { + // no point are defined, default case: points = all points + msg_info() << "No point are defined. Change to default case: points = all points"; + for (sofa::Index i = 0; i < this->mstate->getSize(); i++) + { + m_indices.push_back(i); + } + } + + if (m_ext_indices.empty()) + { + if (useRestMState) + { + if (const DataVecCoord* extPosition = getExtPosition()) + { + const auto& extPositionValue = extPosition->getValue(); + for (sofa::Index i = 0; i < extPositionValue.size(); i++) + { + m_ext_indices.push_back(i); + } + } + else + { + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + } + } + else + { + for (const sofa::Index i : m_indices) + { + m_ext_indices.push_back(i); + } + } + } + + if (!checkOutOfBoundsIndices()) + { + msg_error() << "The dimension of the source and the targeted points are different "; + m_indices.clear(); + } + else + { + msg_info() << "Indices successfully checked"; + } +} + template bool FixedWeakConstraint::checkOutOfBoundsIndices() { - for(auto idx : this->d_indices.getValue()) + if (!checkOutOfBoundsIndices(getIndices(), this->mstate->getSize())) { - if(idx >= this->mstate->getSize()) - return true; + msg_error() << "Out of Bounds d_indices detected. ForceField is not activated."; + return false; } - return false; + return true; } template -SReal FixedWeakConstraint::getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const +bool FixedWeakConstraint::checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension) { - SOFA_UNUSED(mparams); - SOFA_UNUSED(x); + for (sofa::Index i = 0; i < indices.size(); i++) + { + if (indices[i] >= dimension) + { + return false; + } + } + return true; +} - msg_warning() << "Method getPotentialEnergy not implemented yet."; - return 0.0; +template +const typename FixedWeakConstraint::DataVecCoord* FixedWeakConstraint::getExtPosition() const +{ + if (this->mstate) + { + return this->mstate->read(core::vec_id::write_access::restPosition); + } + return nullptr; +} + +template +const FixedWeakConstraint::VecIndex& FixedWeakConstraint::getIndices() const +{ + + return d_points.getValue(); +} + +template +const FixedWeakConstraint::VecIndex& FixedWeakConstraint::getExtIndices() const +{ + return d_points.getValue(); } template -void FixedWeakConstraint::addForce(const core::MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) +const type::fixed_array::coord_total_size>& FixedWeakConstraint::getActiveDirections() const +{ + return s_defaultActiveDirections; +} + +template +void FixedWeakConstraint::addForce(const MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) { SOFA_UNUSED(mparams); SOFA_UNUSED(v); - helper::WriteAccessor< DataVecDeriv > f1 = f; - helper::ReadAccessor< DataVecCoord > p1 = x; + WriteAccessor< DataVecDeriv > f1 = f; + ReadAccessor< DataVecCoord > p1 = x; - const DataVecCoord * restPosition = this->mstate->read(sofa::core::VecId::resetPosition()); - if (!restPosition) + const DataVecCoord* extPosition = getExtPosition(); + const auto & indices = getIndices(); + const auto & extIndices = getExtIndices(); + if (!extPosition) { this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } - helper::ReadAccessor< DataVecCoord > p0 = *restPosition; + ReadAccessor< DataVecCoord > p0 = *extPosition; - const auto& stiffness = this->d_stiffness.getValue(); - const auto& angularStiffness = this->d_angularStiffness.getValue(); + const VecReal& k = d_stiffness.getValue(); + const VecReal& k_a = d_angularStiffness.getValue(); - f1.resize(p1.size()); + f1.resize(p1.size()); - for (sofa::Index i = 0; i < this->d_indices.getValue().size(); i++) + for (sofa::Index i = 0; i < indices.size(); i++) { - const sofa::Index index = this->d_indices.getValue()[i]; + const sofa::Index index = indices[i]; + sofa::Index ext_index = extIndices[i]; + + const auto stiffness = k[static_cast(i < k.size()) * i]; + + const auto & activeDirections = getActiveDirections(); // rigid case if constexpr (sofa::type::isRigidType()) { - // translation - CPos dx = p1[index].getCenter() - p0[index].getCenter(); - getVCenter(f1[index]) -= dx * stiffness[i]; + + CPos dx = p1[index].getCenter() - p0[ext_index].getCenter(); + // We filter the difference dx by setting to 0 the entries corresponding + // to 0 values in d_activeDirections + for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) + { + if (!activeDirections[entryId]) + dx[entryId] = 0; + } + getVCenter(f1[index]) -= dx * stiffness; + + // rotation - type::Quat dq = p1[index].getOrientation() * p0[index].getOrientation().inverse(); + type::Quat dq = p1[index].getOrientation() * p0[ext_index].getOrientation().inverse(); dq.normalize(); type::Vec<3, Real> dir{type::NOINIT}; @@ -136,37 +368,90 @@ void FixedWeakConstraint::addForce(const core::MechanicalParams* mpa if (dq[3] < 1.0) dq.quatToAxis(dir, angle); - getVOrientation(f1[index]) -= dir * angle * angularStiffness[i]; + // We change the direction of the axis of rotation based on + // the 0 values in d_activeDirections. This is equivalent + // to senting to 0 the rotation axis components along x, y + // and/or z, depending on the rotations we want to take into + // account. + for (sofa::Size entryId = spatial_dimensions; entryId < coord_total_size; ++entryId) + { + if (!activeDirections[entryId]) + dir[entryId-spatial_dimensions] = 0; + } + + const auto angularStiffness = k_a[static_cast(i < k_a.size()) * i]; + getVOrientation(f1[index]) -= dir * angle * angularStiffness; } else // non-rigid implementation { - Deriv dx = p1[index] - p0[index]; - f1[index] -= dx * stiffness[i]; + Deriv dx = p1[index] - p0[ext_index]; + // We filter the difference dx by setting to 0 the entries corresponding + // to 0 values in d_activeDirections + for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) + { + if (!activeDirections[entryId]) + dx[entryId] = 0; + } + f1[index] -= dx * stiffness; } } } template -void FixedWeakConstraint::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) +void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) { - helper::WriteAccessor< DataVecDeriv > df1 = df; - helper::ReadAccessor< DataVecDeriv > dx1 = dx; + WriteAccessor< DataVecDeriv > df1 = df; + ReadAccessor< DataVecDeriv > dx1 = dx; Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); - const auto& stiffness = this->d_stiffness.getValue(); - const auto& angularStiffness = this->d_angularStiffness.getValue(); + const VecReal& k = d_stiffness.getValue(); + const VecReal& k_a = d_angularStiffness.getValue(); + const auto & activeDirections = getActiveDirections(); + + const auto & indices = getIndices(); - for (unsigned int i = 0; i < this->d_indices.getValue().size(); i++) + for (unsigned int i = 0; i < indices.size(); i++) { - const sofa::Index curIndex = this->d_indices.getValue()[i]; + const sofa::Index curIndex = indices[i]; + const auto stiffness = k[static_cast(i < k.size()) * i]; if constexpr (sofa::type::isRigidType()) { - getVCenter(df1[curIndex]) -= getVCenter(dx1[curIndex]) * stiffness[i] * kFactor; - getVOrientation(df1[curIndex]) -= getVOrientation(dx1[curIndex]) * angularStiffness[i] * kFactor; + const auto angularStiffness = k_a[static_cast(i < k_a.size()) * i]; + + // We filter the difference in translation by setting to 0 the entries corresponding + // to 0 values in d_activeDirections + auto currentSpringDx = getVCenter(dx1[curIndex]); + for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) + { + if (!activeDirections[entryId]) + currentSpringDx[entryId] = 0; + } + getVCenter(df1[curIndex]) -= currentSpringDx * stiffness * kFactor; + + auto currentSpringRotationalDx = getVOrientation(dx1[curIndex]); + // We change the direction of the axis of rotation based on + // the 0 values in d_activeDirections. This is equivalent + // to senting to 0 the rotation axis components along x, y + // and/or z, depending on the rotations we want to take into + // account. + for (sofa::Size entryId = spatial_dimensions; entryId < coord_total_size; ++entryId) + { + if (!activeDirections[entryId]) + currentSpringRotationalDx[entryId-spatial_dimensions] = 0; + } + getVOrientation(df1[curIndex]) -= currentSpringRotationalDx * angularStiffness * kFactor; } else { - df1[this->d_indices.getValue()[i]] -= dx1[this->d_indices.getValue()[i]] * stiffness[i] * kFactor; + // We filter the difference in translation by setting to 0 the entries corresponding + // to 0 values in d_activeDirections + auto currentSpringDx = dx1[indices[i]]; + for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) + { + if (!activeDirections[entryId]) + currentSpringDx[entryId] = 0; + } + df1[indices[i]] -= currentSpringDx * stiffness * kFactor; } } @@ -174,82 +459,93 @@ void FixedWeakConstraint::addDForce(const core::MechanicalParams* mpa } template -void FixedWeakConstraint::draw(const core::visual::VisualParams *vparams) +void FixedWeakConstraint::draw(const VisualParams *vparams) { - if (!vparams->displayFlags().getShowForceFields() || !this->d_drawSpring.getValue()) - return; + if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) + return; /// \todo put this in the parent class const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); vparams->drawTool()->setLightingEnabled(false); - const DataVecCoord * restPosition = this->mstate->read(sofa::core::VecId::resetPosition()); - if (!restPosition) + const DataVecCoord* extPosition = getExtPosition(); + if (!extPosition) { this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } + ReadAccessor< DataVecCoord > p0 = *extPosition; + ReadAccessor< DataVecCoord > p = this->mstate->read(sofa::core::vec_id::write_access::position); - helper::ReadAccessor< DataVecCoord > p0 = *restPosition; - helper::ReadAccessor< DataVecCoord > p = this->mstate->read(core::VecCoordId::position()); + const auto & indices = getIndices(); + const auto & extIndices = getExtIndices(); - const VecIndex& indices = this->d_indices.getValue(); - - std::vector vertices; + std::vector vertices; for (sofa::Index i=0; i(3)) ; j++) { v0[j] = (DataTypes::getCPos(p[index]))[j]; - v1[j] = (DataTypes::getCPos(p0[index]))[j]; + v1[j] = (DataTypes::getCPos(p0[ext_index]))[j]; } vertices.push_back(v0); vertices.push_back(v1); } - vparams->drawTool()->drawLines(vertices,5, this->d_springColor.getValue()); + //todo(dmarchal) because of https://github.com/sofa-framework/sofa/issues/64 + vparams->drawTool()->drawLines(vertices,5, d_springColor.getValue()); + } template -void FixedWeakConstraint::addKToMatrix(const core::MechanicalParams* mparams, const core::behavior::MultiMatrixAccessor* matrix ) +void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix ) { - const core::behavior::MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); - linearalgebra::BaseMatrix* mat = mref.matrix; + const MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); + BaseMatrix* mat = mref.matrix; const unsigned int offset = mref.offset; Real kFact = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); - const auto& k = this->d_stiffness.getValue(); - const auto& k_a = this->d_angularStiffness.getValue(); + const VecReal& k = d_stiffness.getValue(); + const VecReal& k_a = d_angularStiffness.getValue(); + const auto & activeDirections = getActiveDirections(); + const auto & indices = getIndices(); constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes constexpr sofa::Size total_size = Deriv::total_size; sofa::Index curIndex = 0; - for (sofa::Index index = 0; index < this->d_indices.getValue().size(); index++) + for (sofa::Index index = 0; index < indices.size(); index++) { - curIndex = this->d_indices.getValue()[index]; + curIndex = indices[index]; // translation - const auto vt = -kFact * k[index]; + const auto vt = -kFact * k[(index < k.size()) * index]; for (sofa::Size i = 0; i < space_size; i++) { - mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vt); + // Contribution to the stiffness matrix are only taken into + // account for 1 values in d_activeDirections + if (activeDirections[i]) + mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vt); } // rotation (if applicable) if constexpr (sofa::type::isRigidType()) { - const auto vr = -kFact * k_a[index]; + const auto vr = -kFact * k_a[(index < k_a.size()) * index]; for (sofa::Size i = space_size; i < total_size; i++) { - mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vr); + // Contribution to the stiffness matrix are only taken into + // account for 1 values in d_activeDirections + if (activeDirections[i]) + mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vr); } } } @@ -258,33 +554,38 @@ void FixedWeakConstraint::addKToMatrix(const core::MechanicalParams* template void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) { - const auto& vt = this->d_stiffness.getValue(); - const auto& vr = this->d_angularStiffness.getValue(); + const VecReal& k = d_stiffness.getValue(); + const VecReal& k_a = d_angularStiffness.getValue(); + const auto & activeDirections = getActiveDirections(); + const auto & indices = getIndices(); constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes constexpr sofa::Size total_size = Deriv::total_size; auto dfdx = matrix->getForceDerivativeIn(this->mstate) - .withRespectToPositionsIn(this->mstate); + .withRespectToPositionsIn(this->mstate); - - const VecIndex& indices = this->d_indices.getValue(); - for (sofa::Index i=0; i()) { + const auto vr = -k_a[(index < k_a.size()) * index]; for (sofa::Size i = space_size; i < total_size; ++i) { - dfdx(total_size * index + i, total_size * index + i) += -vr[i]; + // Contribution to the stiffness matrix are only taken into + // account for 1 values in d_activeDirections + if (activeDirections[i]) + { + dfdx(total_size * index + i, total_size * index + i) += vr; + } } } } From 909c760e1163551331beb1e4003b607a8753ab76 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Dec 2024 12:11:07 +0100 Subject: [PATCH 07/14] Factorise every method in the FixedWeakConstraint object. Need to specialize it inside the RestShapeSpringForcefield --- .../spring/FixedWeakConstraint.h | 13 +- .../spring/FixedWeakConstraint.inl | 311 ++++++++---------- .../component/solidmechanics/spring/init.cpp | 2 + 3 files changed, 146 insertions(+), 180 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index c94944d1894..28913e39618 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -70,7 +70,7 @@ class FixedWeakConstraint : public core::behavior::ForceField typedef core::objectmodel::Data DataVecCoord; typedef core::objectmodel::Data DataVecDeriv; - DataSubsetIndex d_points; ///< points controlled by the rest shape springs + DataSubsetIndex d_indices; ///< points controlled by the rest shape springs Data d_fixAll; ///< points controlled by the rest shape springs Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points @@ -80,9 +80,9 @@ class FixedWeakConstraint : public core::behavior::ForceField protected: FixedWeakConstraint(); - static constexpr type::fixed_array s_defaultActiveDirections = sofa::type::makeHomogeneousArray(true); + public: /// BaseObject initialization method. void bwdInit() override ; @@ -112,17 +112,16 @@ class FixedWeakConstraint : public core::behavior::ForceField void draw(const core::visual::VisualParams* vparams) override; + protected : + virtual const DataVecCoord* getExtPosition() const; virtual const VecIndex& getIndices() const; virtual const VecIndex& getExtIndices() const; virtual const type::fixed_array& getActiveDirections() const; + virtual const bool checkState(); - protected : - - void recomputeIndices(); - virtual bool checkOutOfBoundsIndices(); bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension); - + virtual bool checkOutOfBoundsIndices(); }; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index 9453ba7222c..bcfd747d507 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -49,9 +49,10 @@ using type::Vec4f; using type::vector; using core::visual::VisualParams; + template FixedWeakConstraint::FixedWeakConstraint() - : d_points(initData(&d_points, "points", "points controlled by the rest shape springs")) + : d_indices(initData(&d_indices, "indices", "points controlled by the rest shape springs")) , d_fixAll(initData(&d_fixAll, false, "fixAll", "Force to fix all points")) , d_stiffness(initData(&d_stiffness, "stiffness", "stiffness values between the actual position and the rest shape position")) , d_angularStiffness(initData(&d_angularStiffness, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) @@ -59,41 +60,31 @@ FixedWeakConstraint::FixedWeakConstraint() , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) { - this->addUpdateCallback("updateIndices", {&d_points}, [this](const core::DataTracker& t) + this->addUpdateCallback("updateIndices", {&d_indices}, [this](const core::DataTracker& t) { SOFA_UNUSED(t); - this->recomputeIndices(); - return sofa::core::objectmodel::ComponentState::Valid; + if (!checkOutOfBoundsIndices()) + { + msg_error(this) << "Some input indices are out of bound"; + return sofa::core::objectmodel::ComponentState::Invalid; + } + else + { + return sofa::core::objectmodel::ComponentState::Valid; + } }, {}); } + template -void FixedWeakConstraint::bwdInit() +const bool FixedWeakConstraint::checkState() { - ForceField::init(); - if (d_stiffness.getValue().empty()) { msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 "; d_stiffness.setValue({static_cast(100)}); } - if (l_restMState.get() == nullptr) - { - useRestMState = false; - msg_info() << "no external rest shape used"; - - if(!l_restMState.empty()) - { - msg_warning() << "external_rest_shape in node " << this->getContext()->getName() << " not found"; - } - } - else - { - msg_info() << "external rest shape used"; - useRestMState = true; - } - if (l_topology.empty()) { msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; @@ -105,27 +96,14 @@ void FixedWeakConstraint::bwdInit() msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'"; // Initialize topological changes support - d_points.createTopologyHandler(_topology); + d_indices.createTopologyHandler(_topology); } else { msg_info() << "Cannot find the topology: topological changes will not be supported"; } - recomputeIndices(); - if (this->d_componentState.getValue() == sofa::core::objectmodel::ComponentState::Invalid) - return; - const BaseMechanicalState* state = this->getContext()->getMechanicalState(); - if(!state) - { - msg_warning() << "MechanicalState of the current context returns null pointer"; - } - else - { - assert(state); - matS.resize(state->getMatrixSize(),state->getMatrixSize()); - } /// Compile time condition to check if we are working with a Rigid3Types or a type that does not /// need the Angular Stiffness parameters. @@ -150,111 +128,57 @@ void FixedWeakConstraint::bwdInit() } } - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); -} - - -template -void FixedWeakConstraint::reinit() -{ if (!checkOutOfBoundsIndices()) { - m_indices.clear(); - } - else - { - msg_info() << "Indices successfully checked"; - } - - if (d_stiffness.getValue().empty()) - { - msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 " ; - - VecReal stiffs; - stiffs.push_back(100.0); - d_stiffness.setValue(stiffs); + return false; } else { - const VecReal &k = d_stiffness.getValue(); - if ( k.size() != m_indices.size() ) - { - msg_warning() << "Size of stiffness vector is not correct (" << k.size() << "), should be either 1 or " << m_indices.size() << msgendl - << "First value of stiffness will be used"; - } + return true; } - } template -void FixedWeakConstraint::recomputeIndices() +void FixedWeakConstraint::bwdInit() { - m_indices.clear(); - m_ext_indices.clear(); + ForceField::init(); - for (const sofa::Index i : d_points.getValue()) + if (checkState()) { - m_indices.push_back(i); + this->d_componentState.setValue(core::objectmodel::ComponentState::Valid); } - - for (const sofa::Index i : d_external_points.getValue()) + else { - m_ext_indices.push_back(i); - } + this->d_componentState.setValue(core::objectmodel::ComponentState::Invalid); - if (m_indices.empty()) - { - // no point are defined, default case: points = all points - msg_info() << "No point are defined. Change to default case: points = all points"; - for (sofa::Index i = 0; i < this->mstate->getSize(); i++) - { - m_indices.push_back(i); - } } +} - if (m_ext_indices.empty()) - { - if (useRestMState) - { - if (const DataVecCoord* extPosition = getExtPosition()) - { - const auto& extPositionValue = extPosition->getValue(); - for (sofa::Index i = 0; i < extPositionValue.size(); i++) - { - m_ext_indices.push_back(i); - } - } - else - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - } - } - else - { - for (const sofa::Index i : m_indices) - { - m_ext_indices.push_back(i); - } - } - } - if (!checkOutOfBoundsIndices()) +template +void FixedWeakConstraint::reinit() +{ + ForceField::reinit(); + + if (checkState()) { - msg_error() << "The dimension of the source and the targeted points are different "; - m_indices.clear(); + this->d_componentState.setValue(core::objectmodel::ComponentState::Valid); } else { - msg_info() << "Indices successfully checked"; + this->d_componentState.setValue(core::objectmodel::ComponentState::Invalid); + } + } + + template bool FixedWeakConstraint::checkOutOfBoundsIndices() { if (!checkOutOfBoundsIndices(getIndices(), this->mstate->getSize())) { - msg_error() << "Out of Bounds d_indices detected. ForceField is not activated."; return false; } return true; @@ -284,22 +208,22 @@ const typename FixedWeakConstraint::DataVecCoord* FixedWeakConstraint } template -const FixedWeakConstraint::VecIndex& FixedWeakConstraint::getIndices() const +const typename FixedWeakConstraint::VecIndex& FixedWeakConstraint::getIndices() const { - return d_points.getValue(); + return d_indices.getValue(); } template -const FixedWeakConstraint::VecIndex& FixedWeakConstraint::getExtIndices() const +const typename FixedWeakConstraint::VecIndex& FixedWeakConstraint::getExtIndices() const { - return d_points.getValue(); + return d_indices.getValue(); } template const type::fixed_array::coord_total_size>& FixedWeakConstraint::getActiveDirections() const { - return s_defaultActiveDirections; + return FixedWeakConstraint::s_defaultActiveDirections; } template @@ -328,10 +252,19 @@ void FixedWeakConstraint::addForce(const MechanicalParams* mparams , f1.resize(p1.size()); - for (sofa::Index i = 0; i < indices.size(); i++) + const bool fixedAll = d_fixAll.getValue(); + const unsigned maxIt = fixedAll ? this->mstate->getSize() : indices.size(); + + for (sofa::Index i = 0; i < maxIt; i++) { - const sofa::Index index = indices[i]; - sofa::Index ext_index = extIndices[i]; + sofa::Index ext_index = i; + sofa::Index index = i; + + if (!fixedAll) + { + index = indices[i]; + ext_index = extIndices[i]; + } const auto stiffness = k[static_cast(i < k.size()) * i]; @@ -409,9 +342,18 @@ void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, const auto & indices = getIndices(); - for (unsigned int i = 0; i < indices.size(); i++) + const bool fixedAll = d_fixAll.getValue(); + const unsigned maxIt = fixedAll ? this->mstate->getSize() : indices.size(); + + for (sofa::Index i = 0; i < maxIt; i++) { - const sofa::Index curIndex = indices[i]; + sofa::Index curIndex = i; + + if (!fixedAll) + { + curIndex = indices[i]; + } + const auto stiffness = k[static_cast(i < k.size()) * i]; if constexpr (sofa::type::isRigidType()) @@ -445,64 +387,19 @@ void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, { // We filter the difference in translation by setting to 0 the entries corresponding // to 0 values in d_activeDirections - auto currentSpringDx = dx1[indices[i]]; + auto currentSpringDx = dx1[curIndex]; for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) { if (!activeDirections[entryId]) currentSpringDx[entryId] = 0; } - df1[indices[i]] -= currentSpringDx * stiffness * kFactor; + df1[curIndex] -= currentSpringDx * stiffness * kFactor; } } } -template -void FixedWeakConstraint::draw(const VisualParams *vparams) -{ - if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) - return; /// \todo put this in the parent class - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->setLightingEnabled(false); - - const DataVecCoord* extPosition = getExtPosition(); - if (!extPosition) - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - - ReadAccessor< DataVecCoord > p0 = *extPosition; - ReadAccessor< DataVecCoord > p = this->mstate->read(sofa::core::vec_id::write_access::position); - - const auto & indices = getIndices(); - const auto & extIndices = getExtIndices(); - - std::vector vertices; - - for (sofa::Index i=0; i(3)) ; j++) - { - v0[j] = (DataTypes::getCPos(p[index]))[j]; - v1[j] = (DataTypes::getCPos(p0[ext_index]))[j]; - } - - vertices.push_back(v0); - vertices.push_back(v1); - } - - //todo(dmarchal) because of https://github.com/sofa-framework/sofa/issues/64 - vparams->drawTool()->drawLines(vertices,5, d_springColor.getValue()); - -} template void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix ) @@ -520,11 +417,17 @@ void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparam constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes constexpr sofa::Size total_size = Deriv::total_size; - sofa::Index curIndex = 0; + const bool fixedAll = d_fixAll.getValue(); + const unsigned maxIt = fixedAll ? this->mstate->getSize() : indices.size(); - for (sofa::Index index = 0; index < indices.size(); index++) + for (sofa::Index index = 0; index < maxIt; index++) { - curIndex = indices[index]; + sofa::Index curIndex = index; + + if (!fixedAll) + { + curIndex = indices[index]; + } // translation const auto vt = -kFact * k[(index < k.size()) * index]; @@ -564,9 +467,17 @@ void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::Stiffn auto dfdx = matrix->getForceDerivativeIn(this->mstate) .withRespectToPositionsIn(this->mstate); + const bool fixedAll = d_fixAll.getValue(); + const unsigned maxIt = fixedAll ? this->mstate->getSize() : indices.size(); - for (const auto index : indices) + for (sofa::Index i = 0; i < maxIt; i++) { + sofa::Index index = i; + + if (!fixedAll) + { + index = indices[i]; + } // translation const auto vt = -k[(index < k.size()) * index]; for(sofa::Index i = 0; i < space_size; i++) @@ -597,4 +508,58 @@ void FixedWeakConstraint::buildDampingMatrix( { SOFA_UNUSED(matrix); } + +template +void FixedWeakConstraint::draw(const VisualParams *vparams) +{ + if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) + return; /// \todo put this in the parent class + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->setLightingEnabled(false); + + const DataVecCoord* extPosition = getExtPosition(); + if (!extPosition) + { + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + return; + } + + ReadAccessor< DataVecCoord > p0 = *extPosition; + ReadAccessor< DataVecCoord > p = this->mstate->read(sofa::core::vec_id::write_access::position); + std::vector vertices; + + + const auto & indices = getIndices(); + const auto & extIndices = getExtIndices(); + const bool fixedAll = d_fixAll.getValue(); + const unsigned maxIt = fixedAll ? this->mstate->getSize() : indices.size(); + + for (sofa::Index i = 0; i < maxIt; i++) + { + sofa::Index ext_index = i; + sofa::Index index = i; + + if (!fixedAll) + { + index = indices[i]; + ext_index = extIndices[i]; + } + + Vec3 v0(0.0, 0.0, 0.0); + Vec3 v1(0.0, 0.0, 0.0); + for(sofa::Index j=0 ; j< std::min(DataTypes::spatial_dimensions, static_cast(3)) ; j++) + { + v0[j] = (DataTypes::getCPos(p[index]))[j]; + v1[j] = (DataTypes::getCPos(p0[ext_index]))[j]; + } + + vertices.push_back(v0); + vertices.push_back(v1); + } + + //todo(dmarchal) because of https://github.com/sofa-framework/sofa/issues/64 + vparams->drawTool()->drawLines(vertices,5, d_springColor.getValue()); + +} } // namespace sofa::component::solidmechanics::spring diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp index 329e648e6b7..3d415081f78 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/init.cpp @@ -28,6 +28,7 @@ namespace sofa::component::solidmechanics::spring extern void registerAngularSpringForceField(sofa::core::ObjectFactory* factory); extern void registerFastTriangularBendingSprings(sofa::core::ObjectFactory* factory); +extern void registerFixedWeakConstraint(sofa::core::ObjectFactory* factory); extern void registerFrameSpringForceField(sofa::core::ObjectFactory* factory); extern void registerGearSpringForceField(sofa::core::ObjectFactory* factory); extern void registerNonUniformHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory); @@ -72,6 +73,7 @@ void registerObjects(sofa::core::ObjectFactory* factory) { registerAngularSpringForceField(factory); registerFastTriangularBendingSprings(factory); + registerFixedWeakConstraint(factory); registerFrameSpringForceField(factory); registerGearSpringForceField(factory); registerNonUniformHexahedronFEMForceFieldAndMass(factory); From 937acc8ad9f547c63e05e079bd41f2aaba0dcbff Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Dec 2024 14:51:19 +0100 Subject: [PATCH 08/14] Apply changes to RestShapeSpringForceField --- .../spring/FixedWeakConstraint.h | 26 +- .../spring/FixedWeakConstraint.inl | 36 +- .../spring/RestShapeSpringsForceField.h | 69 +-- .../spring/RestShapeSpringsForceField.inl | 534 ++---------------- 4 files changed, 90 insertions(+), 575 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index 28913e39618..d5ed13fe513 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -29,6 +29,7 @@ #include #include #include +#include namespace sofa::core::behavior @@ -71,38 +72,27 @@ class FixedWeakConstraint : public core::behavior::ForceField typedef core::objectmodel::Data DataVecDeriv; DataSubsetIndex d_indices; ///< points controlled by the rest shape springs + core::objectmodel::lifecycle::RemovedData d_points{this,"v24.12","v25.06","points","This data has been replaced by \'indices\'. Please update your scene."}; + Data d_fixAll; ///< points controlled by the rest shape springs Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points Data< bool > d_drawSpring; ///< draw Spring Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) - - protected: - FixedWeakConstraint(); - static constexpr type::fixed_array s_defaultActiveDirections = sofa::type::makeHomogeneousArray(true); + /// Link to be set to the topology container in the component graph. + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - public: /// BaseObject initialization method. void bwdInit() override ; void reinit() override ; /// Add the forces. void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override; - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) override; - - SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override - { - SOFA_UNUSED(mparams); - SOFA_UNUSED(x); - - msg_warning() << "Method getPotentialEnergy not implemented yet."; - return 0.0; - } + SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override; /// Brings ForceField contribution to the global system stiffness matrix. void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix ) override; @@ -113,6 +103,8 @@ class FixedWeakConstraint : public core::behavior::ForceField protected : + FixedWeakConstraint(); + static constexpr type::fixed_array s_defaultActiveDirections = sofa::type::makeHomogeneousArray(true); virtual const DataVecCoord* getExtPosition() const; virtual const VecIndex& getIndices() const; @@ -120,9 +112,9 @@ class FixedWeakConstraint : public core::behavior::ForceField virtual const type::fixed_array& getActiveDirections() const; virtual const bool checkState(); - bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension); virtual bool checkOutOfBoundsIndices(); + bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension); }; #if !defined(SOFA_COMPONENT_FORCEFIELD_FixedWeakConstraint_CPP) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index bcfd747d507..5ab787e4025 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -81,26 +81,26 @@ const bool FixedWeakConstraint::checkState() { if (d_stiffness.getValue().empty()) { - msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 "; + msg_info(this) << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 "; d_stiffness.setValue({static_cast(100)}); } if (l_topology.empty()) { - msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; + msg_info(this) << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; l_topology.set(this->getContext()->getMeshTopologyLink()); } if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get()) { - msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'"; + msg_info(this) << "Topology path used: '" << l_topology.getLinkedPath() << "'"; // Initialize topological changes support d_indices.createTopologyHandler(_topology); } else { - msg_info() << "Cannot find the topology: topological changes will not be supported"; + msg_info(this) << "Cannot find the topology: topological changes will not be supported"; } @@ -115,7 +115,7 @@ const bool FixedWeakConstraint::checkState() if (as.size() < s.size()) { - msg_info() << "'stiffness' is larger than 'angularStiffness', add the default value (100.0) to the missing entries."; + msg_info(this) << "'stiffness' is larger than 'angularStiffness', add the default value (100.0) to the missing entries."; for(size_t i = as.size();i::checkState() } }else if (as.size() > s.size()) { - msg_info() << "'stiffness' is smaller than 'angularStiffness', clamp the extra values in angularStiffness."; + msg_info(this) << "'stiffness' is smaller than 'angularStiffness', clamp the extra values in angularStiffness."; as.resize(s.size()); } } @@ -229,6 +229,9 @@ const type::fixed_array::coord_total_size>& template void FixedWeakConstraint::addForce(const MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) { + if (this->d_componentState.getValue() != core::objectmodel::ComponentState::Valid) + return; + SOFA_UNUSED(mparams); SOFA_UNUSED(v); @@ -333,6 +336,9 @@ void FixedWeakConstraint::addForce(const MechanicalParams* mparams , template void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) { + if (this->d_componentState.getValue() != core::objectmodel::ComponentState::Valid) + return; + WriteAccessor< DataVecDeriv > df1 = df; ReadAccessor< DataVecDeriv > dx1 = dx; Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); @@ -400,10 +406,22 @@ void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, } +template +SReal FixedWeakConstraint::getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const +{ + SOFA_UNUSED(mparams); + SOFA_UNUSED(x); + + msg_warning() << "Method getPotentialEnergy not implemented yet."; + return 0.0; +} template void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix ) { + if (this->d_componentState.getValue() != core::objectmodel::ComponentState::Valid) + return; + const MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); BaseMatrix* mat = mref.matrix; const unsigned int offset = mref.offset; @@ -457,6 +475,9 @@ void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparam template void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) { + if (this->d_componentState.getValue() != core::objectmodel::ComponentState::Valid) + return; + const VecReal& k = d_stiffness.getValue(); const VecReal& k_a = d_angularStiffness.getValue(); const auto & activeDirections = getActiveDirections(); @@ -512,6 +533,9 @@ void FixedWeakConstraint::buildDampingMatrix( template void FixedWeakConstraint::draw(const VisualParams *vparams) { + if (this->d_componentState.getValue() != core::objectmodel::ComponentState::Valid) + return; + if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) return; /// \todo put this in the parent class diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h index ea0972703e3..9860d236f94 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h @@ -29,6 +29,8 @@ #include #include #include +#include +#include namespace sofa::core::behavior @@ -48,12 +50,12 @@ namespace sofa::component::solidmechanics::spring * An external MechanicalState reference can also be passed to the ForceField as rest shape position. */ template -class RestShapeSpringsForceField : public core::behavior::ForceField +class RestShapeSpringsForceField : public FixedWeakConstraint { public: - SOFA_CLASS(SOFA_TEMPLATE(RestShapeSpringsForceField, DataTypes), SOFA_TEMPLATE(core::behavior::ForceField, DataTypes)); + SOFA_CLASS(SOFA_TEMPLATE(RestShapeSpringsForceField, DataTypes), SOFA_TEMPLATE(FixedWeakConstraint, DataTypes)); - typedef core::behavior::ForceField Inherit; + typedef FixedWeakConstraint Inherit; typedef typename DataTypes::VecCoord VecCoord; typedef typename DataTypes::VecDeriv VecDeriv; typedef typename DataTypes::Coord Coord; @@ -70,72 +72,31 @@ class RestShapeSpringsForceField : public core::behavior::ForceField typedef core::objectmodel::Data DataVecCoord; typedef core::objectmodel::Data DataVecDeriv; - DataSubsetIndex d_points; ///< points controlled by the rest shape springs - Data< VecReal > d_stiffness; ///< stiffness values between the actual position and the rest shape position - Data< VecReal > d_angularStiffness; ///< angularStiffness assigned when controlling the rotation of the points - Data< type::vector< CPos > > d_pivotPoints; ///< global pivot points used when translations instead of the rigid mass centers - Data< VecIndex > d_external_points; ///< points from the external Mechanical State that define the rest shape springs - Data< bool > d_recompute_indices; ///< Recompute indices (should be false for BBOX) - Data< bool > d_drawSpring; ///< draw Spring - Data< sofa::type::RGBAColor > d_springColor; ///< spring color. (default=[0.0,1.0,0.0,1.0]) Data< type::fixed_array > d_activeDirections; ///< directions (translation, and rotation in case of Rigids) in which the spring is active + Data< VecIndex > d_externalIndices; ///< points from the external Mechanical State that define the rest shape springs + core::objectmodel::lifecycle::RemovedData d_external_points{this,"v24.12","v25.06","external_points","This data has been replaced by \'externalIndices\'. Please update your scene."}; + core::objectmodel::DataCallback c_fixAllCallback; SingleLink, sofa::core::behavior::MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_restMState; - linearalgebra::EigenBaseSparseMatrix matS; - -protected: - RestShapeSpringsForceField(); - - static constexpr type::fixed_array s_defaultActiveDirections = sofa::type::makeHomogeneousArray(true); + SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; -public: /// BaseObject initialization method. void bwdInit() override ; - void parse(core::objectmodel::BaseObjectDescription *arg) override ; - void reinit() override ; - - /// Add the forces. - void addForce(const core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override; - /// Link to be set to the topology container in the component graph. - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; - void addDForce(const core::MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) override; - SReal getPotentialEnergy(const core::MechanicalParams* mparams, const DataVecCoord& x) const override - { - SOFA_UNUSED(mparams); - SOFA_UNUSED(x); - - msg_warning() << "Method getPotentialEnergy not implemented yet."; - return 0.0; - } - - /// Brings ForceField contribution to the global system stiffness matrix. - void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix ) override; - void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override; - void buildDampingMatrix(core::behavior::DampingMatrix* matrix) override; - - void draw(const core::visual::VisualParams* vparams) override; - - - const DataVecCoord* getExtPosition() const; - const VecIndex& getIndices() const { return m_indices; } - const VecIndex& getExtIndices() const { return (useRestMState ? m_ext_indices : m_indices); } protected : + RestShapeSpringsForceField(); - void recomputeIndices(); - bool checkOutOfBoundsIndices(); - bool checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension); - + virtual const DataVecCoord* getExtPosition() const override; + virtual const VecIndex& getExtIndices() const override; + virtual const type::fixed_array& getActiveDirections() const override; - VecIndex m_indices; - VecIndex m_ext_indices; - type::vector m_pivots; + virtual bool checkOutOfBoundsIndices(); private : - bool useRestMState{}; /// An external MechanicalState is used as rest reference. + bool m_useRestMState; /// An external MechanicalState is used as rest reference. }; #if !defined(SOFA_COMPONENT_FORCEFIELD_RESTSHAPESPRINGSFORCEFIELD_CPP) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl index 83cca22cf0a..eded05ba9ce 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl @@ -29,6 +29,7 @@ #include #include #include +#include #include #include @@ -51,54 +52,37 @@ using core::visual::VisualParams; template RestShapeSpringsForceField::RestShapeSpringsForceField() - : d_points(initData(&d_points, "points", "points controlled by the rest shape springs")) - , d_stiffness(initData(&d_stiffness, "stiffness", "stiffness values between the actual position and the rest shape position")) - , d_angularStiffness(initData(&d_angularStiffness, "angularStiffness", "angularStiffness assigned when controlling the rotation of the points")) - , d_pivotPoints(initData(&d_pivotPoints, "pivot_points", "global pivot points used when translations instead of the rigid mass centers")) - , d_external_points(initData(&d_external_points, "external_points", "points from the external Mechanical State that define the rest shape springs")) - , d_recompute_indices(initData(&d_recompute_indices, true, "recompute_indices", "Recompute indices (should be false for BBOX)")) - , d_drawSpring(initData(&d_drawSpring,false,"drawSpring","draw Spring")) - , d_springColor(initData(&d_springColor, sofa::type::RGBAColor::green(), "springColor","spring color. (default=[0.0,1.0,0.0,1.0])")) - , d_activeDirections(initData(&d_activeDirections, s_defaultActiveDirections, - "activeDirections", std::string("Directions in which the spring is active (default=[" + sofa::helper::join(s_defaultActiveDirections, ',') + "])").c_str())) + : d_activeDirections(initData(&d_activeDirections, FixedWeakConstraint::s_defaultActiveDirections, + "activeDirections", std::string("Directions in which the spring is active (default=[" + sofa::helper::join(FixedWeakConstraint::s_defaultActiveDirections, ',') + "])").c_str())) + , d_externalIndices(initData(&d_externalIndices, "externalIndices","Indices from the external Mechanical State that define the rest shape springs")) , l_restMState(initLink("external_rest_shape", "rest_shape can be defined by the position of an external Mechanical State")) , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) { - this->addUpdateCallback("updateIndices", {&d_points}, [this](const core::DataTracker& t) + c_fixAllCallback.addInput(&this->d_fixAll); + c_fixAllCallback.addCallback([this]() { - SOFA_UNUSED(t); - this->recomputeIndices(); - return sofa::core::objectmodel::ComponentState::Valid; - }, {}); -} - -template -void RestShapeSpringsForceField::parse(core::objectmodel::BaseObjectDescription *arg) -{ - const char* attr = arg->getAttribute("external_rest_shape") ; - if( attr != nullptr && attr[0] != '@') - { - msg_error() << "RestShapeSpringsForceField have changed since 17.06. The parameter 'external_rest_shape' is now a Link. To fix your scene you need to add and '@' in front of the provided path. See PR#315" ; - } - Inherit::parse(arg) ; + if (this->getMState()->getSize() != l_restMState->getSize()) + { + msg_error(this) <<"the fixAll option only works with either one mstate or when the two mstate have the same size."; + this->d_componentState.setValue(core::objectmodel::ComponentState::Invalid); + } + else + { + this->d_componentState.setValue(core::objectmodel::ComponentState::Valid); + } + }); } template void RestShapeSpringsForceField::bwdInit() { - ForceField::init(); - - if (d_stiffness.getValue().empty()) - { - msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 "; - d_stiffness.setValue({static_cast(100)}); - } + FixedWeakConstraint::bwdInit(); if (l_restMState.get() == nullptr) { - useRestMState = false; - msg_info() << "no external rest shape used"; + m_useRestMState = false; + msg_info(this) << "no external rest shape used"; if(!l_restMState.empty()) { @@ -107,176 +91,23 @@ void RestShapeSpringsForceField::bwdInit() } else { - msg_info() << "external rest shape used"; - useRestMState = true; - } - - if (l_topology.empty()) - { - msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used."; - l_topology.set(this->getContext()->getMeshTopologyLink()); - } - - if (sofa::core::topology::BaseMeshTopology* _topology = l_topology.get()) - { - msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'"; - - // Initialize topological changes support - d_points.createTopologyHandler(_topology); - } - else - { - msg_info() << "Cannot find the topology: topological changes will not be supported"; + msg_info(this) << "external rest shape used"; + m_useRestMState = true; } - - recomputeIndices(); - if (this->d_componentState.getValue() == sofa::core::objectmodel::ComponentState::Invalid) - return; - - const BaseMechanicalState* state = this->getContext()->getMechanicalState(); - if(!state) - { - msg_warning() << "MechanicalState of the current context returns null pointer"; - } - else - { - assert(state); - matS.resize(state->getMatrixSize(),state->getMatrixSize()); - } - - /// Compile time condition to check if we are working with a Rigid3Types or a type that does not - /// need the Angular Stiffness parameters. - //if constexpr (isRigid()) - if constexpr (sofa::type::isRigidType()) - { - sofa::helper::ReadAccessor> s = d_stiffness; - sofa::helper::WriteOnlyAccessor> as = d_angularStiffness; - - if (as.size() < s.size()) - { - msg_info() << "'stiffness' is larger than 'angularStiffness', add the default value (100.0) to the missing entries."; - - for(size_t i = as.size();i s.size()) - { - msg_info() << "'stiffness' is smaller than 'angularStiffness', clamp the extra values in angularStiffness."; - as.resize(s.size()); - } - } - - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } -template -void RestShapeSpringsForceField::reinit() -{ - if (!checkOutOfBoundsIndices()) - { - m_indices.clear(); - } - else - { - msg_info() << "Indices successfully checked"; - } - - if (d_stiffness.getValue().empty()) - { - msg_info() << "No stiffness is defined, assuming equal stiffness on each node, k = 100.0 " ; - - VecReal stiffs; - stiffs.push_back(100.0); - d_stiffness.setValue(stiffs); - } - else - { - const VecReal &k = d_stiffness.getValue(); - if ( k.size() != m_indices.size() ) - { - msg_warning() << "Size of stiffness vector is not correct (" << k.size() << "), should be either 1 or " << m_indices.size() << msgendl - << "First value of stiffness will be used"; - } - } - -} - -template -void RestShapeSpringsForceField::recomputeIndices() -{ - m_indices.clear(); - m_ext_indices.clear(); - - for (const sofa::Index i : d_points.getValue()) - { - m_indices.push_back(i); - } - - for (const sofa::Index i : d_external_points.getValue()) - { - m_ext_indices.push_back(i); - } - - if (m_indices.empty()) - { - // no point are defined, default case: points = all points - msg_info() << "No point are defined. Change to default case: points = all points"; - for (sofa::Index i = 0; i < this->mstate->getSize(); i++) - { - m_indices.push_back(i); - } - } - - if (m_ext_indices.empty()) - { - if (useRestMState) - { - if (const DataVecCoord* extPosition = getExtPosition()) - { - const auto& extPositionValue = extPosition->getValue(); - for (sofa::Index i = 0; i < extPositionValue.size(); i++) - { - m_ext_indices.push_back(i); - } - } - else - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - } - } - else - { - for (const sofa::Index i : m_indices) - { - m_ext_indices.push_back(i); - } - } - } - - if (!checkOutOfBoundsIndices()) - { - msg_error() << "The dimension of the source and the targeted points are different "; - m_indices.clear(); - } - else - { - msg_info() << "Indices successfully checked"; - } -} - template bool RestShapeSpringsForceField::checkOutOfBoundsIndices() { - if (!checkOutOfBoundsIndices(m_indices, this->mstate->getSize())) + if (!FixedWeakConstraint::checkOutOfBoundsIndices(this->getIndices(), this->mstate->getSize())) { msg_error() << "Out of Bounds d_indices detected. ForceField is not activated."; return false; } if (const DataVecCoord* extPosition = getExtPosition()) { - if (!checkOutOfBoundsIndices(m_ext_indices, sofa::Size(extPosition->getValue().size()))) + if (!FixedWeakConstraint::checkOutOfBoundsIndices(getExtIndices(), sofa::Size(extPosition->getValue().size()))) { msg_error() << "Out of Bounds m_ext_indices detected. ForceField is not activated."; return false; @@ -286,7 +117,7 @@ bool RestShapeSpringsForceField::checkOutOfBoundsIndices() { this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); } - if (m_indices.size() != m_ext_indices.size()) + if (this->getIndices().size() != getExtIndices().size()) { msg_error() << "Dimensions of the source and the targeted points are different. ForceField is not activated."; return false; @@ -294,28 +125,19 @@ bool RestShapeSpringsForceField::checkOutOfBoundsIndices() return true; } -template -bool RestShapeSpringsForceField::checkOutOfBoundsIndices(const VecIndex &indices, const sofa::Size dimension) -{ - for (sofa::Index i = 0; i < indices.size(); i++) - { - if (indices[i] >= dimension) - { - return false; - } - } - return true; -} - template const typename RestShapeSpringsForceField::DataVecCoord* RestShapeSpringsForceField::getExtPosition() const { - if(useRestMState) + if(m_useRestMState) { if (l_restMState) { return l_restMState->read(core::vec_id::write_access::position); } + else + { + msg_error(this)<<"The external rest shape is not set correctly."; + } } else { @@ -327,308 +149,24 @@ const typename RestShapeSpringsForceField::DataVecCoord* RestShapeSpr return nullptr; } -template -void RestShapeSpringsForceField::addForce(const MechanicalParams* mparams , DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v ) -{ - SOFA_UNUSED(mparams); - SOFA_UNUSED(v); - - WriteAccessor< DataVecDeriv > f1 = f; - ReadAccessor< DataVecCoord > p1 = x; - - const DataVecCoord* extPosition = getExtPosition(); - if (!extPosition) - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - - ReadAccessor< DataVecCoord > p0 = *extPosition; - - const VecReal& k = d_stiffness.getValue(); - const VecReal& k_a = d_angularStiffness.getValue(); - - f1.resize(p1.size()); - - if (d_recompute_indices.getValue()) - { - recomputeIndices(); - } - - for (sofa::Index i = 0; i < m_indices.size(); i++) - { - const sofa::Index index = m_indices[i]; - sofa::Index ext_index = m_indices[i]; - if (useRestMState) - ext_index = m_ext_indices[i]; - - const auto stiffness = k[static_cast(i < k.size()) * i]; - - const auto activeDirections = d_activeDirections.getValue(); - - // rigid case - if constexpr (sofa::type::isRigidType()) - { - // translation - if (i >= m_pivots.size()) - { - CPos dx = p1[index].getCenter() - p0[ext_index].getCenter(); - // We filter the difference dx by setting to 0 the entries corresponding - // to 0 values in d_activeDirections - for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) - { - if (!activeDirections[entryId]) - dx[entryId] = 0; - } - getVCenter(f1[index]) -= dx * stiffness; - } - else - { - CPos localPivot = p0[ext_index].getOrientation().inverseRotate(m_pivots[i] - p0[ext_index].getCenter()); - CPos rotatedPivot = p1[index].getOrientation().rotate(localPivot); - CPos pivot2 = p1[index].getCenter() + rotatedPivot; - CPos dx = pivot2 - m_pivots[i]; - getVCenter(f1[index]) -= dx * stiffness; - } - - // rotation - type::Quat dq = p1[index].getOrientation() * p0[ext_index].getOrientation().inverse(); - dq.normalize(); - - type::Vec<3, Real> dir{type::NOINIT}; - Real angle = 0.; - - if (dq[3] < 0.) - { - dq = dq * -1.0; - } - - if (dq[3] < 1.0) - dq.quatToAxis(dir, angle); - - // We change the direction of the axis of rotation based on - // the 0 values in d_activeDirections. This is equivalent - // to senting to 0 the rotation axis components along x, y - // and/or z, depending on the rotations we want to take into - // account. - for (sofa::Size entryId = spatial_dimensions; entryId < coord_total_size; ++entryId) - { - if (!activeDirections[entryId]) - dir[entryId-spatial_dimensions] = 0; - } - - const auto angularStiffness = k_a[static_cast(i < k_a.size()) * i]; - getVOrientation(f1[index]) -= dir * angle * angularStiffness; - } - else // non-rigid implementation - { - Deriv dx = p1[index] - p0[ext_index]; - // We filter the difference dx by setting to 0 the entries corresponding - // to 0 values in d_activeDirections - for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) - { - if (!activeDirections[entryId]) - dx[entryId] = 0; - } - f1[index] -= dx * stiffness; - } - } -} template -void RestShapeSpringsForceField::addDForce(const MechanicalParams* mparams, DataVecDeriv& df, const DataVecDeriv& dx) +const typename RestShapeSpringsForceField::VecIndex& RestShapeSpringsForceField::getExtIndices() const { - WriteAccessor< DataVecDeriv > df1 = df; - ReadAccessor< DataVecDeriv > dx1 = dx; - Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); - const VecReal& k = d_stiffness.getValue(); - const VecReal& k_a = d_angularStiffness.getValue(); - const auto activeDirections = d_activeDirections.getValue(); - - for (unsigned int i = 0; i < m_indices.size(); i++) + if (m_useRestMState ) { - const sofa::Index curIndex = m_indices[i]; - const auto stiffness = k[static_cast(i < k.size()) * i]; - - if constexpr (sofa::type::isRigidType()) - { - const auto angularStiffness = k_a[static_cast(i < k_a.size()) * i]; - - // We filter the difference in translation by setting to 0 the entries corresponding - // to 0 values in d_activeDirections - auto currentSpringDx = getVCenter(dx1[curIndex]); - for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) - { - if (!activeDirections[entryId]) - currentSpringDx[entryId] = 0; - } - getVCenter(df1[curIndex]) -= currentSpringDx * stiffness * kFactor; - - auto currentSpringRotationalDx = getVOrientation(dx1[curIndex]); - // We change the direction of the axis of rotation based on - // the 0 values in d_activeDirections. This is equivalent - // to senting to 0 the rotation axis components along x, y - // and/or z, depending on the rotations we want to take into - // account. - for (sofa::Size entryId = spatial_dimensions; entryId < coord_total_size; ++entryId) - { - if (!activeDirections[entryId]) - currentSpringRotationalDx[entryId-spatial_dimensions] = 0; - } - getVOrientation(df1[curIndex]) -= currentSpringRotationalDx * angularStiffness * kFactor; - } - else - { - // We filter the difference in translation by setting to 0 the entries corresponding - // to 0 values in d_activeDirections - auto currentSpringDx = dx1[m_indices[i]]; - for (sofa::Size entryId = 0; entryId < spatial_dimensions; ++entryId) - { - if (!activeDirections[entryId]) - currentSpringDx[entryId] = 0; - } - df1[m_indices[i]] -= currentSpringDx * stiffness * kFactor; - } + return d_externalIndices.getValue(); } - - -} - -template -void RestShapeSpringsForceField::draw(const VisualParams *vparams) -{ - if (!vparams->displayFlags().getShowForceFields() || !d_drawSpring.getValue()) - return; /// \todo put this in the parent class - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->setLightingEnabled(false); - - const DataVecCoord* extPosition = getExtPosition(); - if (!extPosition) - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - - ReadAccessor< DataVecCoord > p0 = *extPosition; - ReadAccessor< DataVecCoord > p = this->mstate->read(sofa::core::vec_id::write_access::position); - - const VecIndex& indices = m_indices; - const VecIndex& ext_indices = (useRestMState ? m_ext_indices : m_indices); - - std::vector vertices; - - for (sofa::Index i=0; i(3)) ; j++) - { - v0[j] = (DataTypes::getCPos(p[index]))[j]; - v1[j] = (DataTypes::getCPos(p0[ext_index]))[j]; - } - - vertices.push_back(v0); - vertices.push_back(v1); - } - - //todo(dmarchal) because of https://github.com/sofa-framework/sofa/issues/64 - vparams->drawTool()->drawLines(vertices,5, d_springColor.getValue()); - -} - -template -void RestShapeSpringsForceField::addKToMatrix(const MechanicalParams* mparams, const MultiMatrixAccessor* matrix ) -{ - const MultiMatrixAccessor::MatrixRef mref = matrix->getMatrix(this->mstate); - BaseMatrix* mat = mref.matrix; - const unsigned int offset = mref.offset; - Real kFact = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams, this->rayleighStiffness.getValue()); - - const VecReal& k = d_stiffness.getValue(); - const VecReal& k_a = d_angularStiffness.getValue(); - const auto activeDirections = d_activeDirections.getValue(); - - constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes - constexpr sofa::Size total_size = Deriv::total_size; - - sofa::Index curIndex = 0; - - for (sofa::Index index = 0; index < m_indices.size(); index++) + else { - curIndex = m_indices[index]; - - // translation - const auto vt = -kFact * k[(index < k.size()) * index]; - for (sofa::Size i = 0; i < space_size; i++) - { - // Contribution to the stiffness matrix are only taken into - // account for 1 values in d_activeDirections - if (activeDirections[i]) - mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vt); - } - - // rotation (if applicable) - if constexpr (sofa::type::isRigidType()) - { - const auto vr = -kFact * k_a[(index < k_a.size()) * index]; - for (sofa::Size i = space_size; i < total_size; i++) - { - // Contribution to the stiffness matrix are only taken into - // account for 1 values in d_activeDirections - if (activeDirections[i]) - mat->add(offset + total_size * curIndex + i, offset + total_size * curIndex + i, vr); - } - } + return this->d_indices.getValue(); } } template -void RestShapeSpringsForceField::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) +const type::fixed_array::coord_total_size>& RestShapeSpringsForceField::getActiveDirections() const { - const VecReal& k = d_stiffness.getValue(); - const VecReal& k_a = d_angularStiffness.getValue(); - const auto activeDirections = d_activeDirections.getValue(); - - constexpr sofa::Size space_size = Deriv::spatial_dimensions; // == total_size if DataTypes = VecTypes - constexpr sofa::Size total_size = Deriv::total_size; - - auto dfdx = matrix->getForceDerivativeIn(this->mstate) - .withRespectToPositionsIn(this->mstate); - - for (const auto index : m_indices) - { - // translation - const auto vt = -k[(index < k.size()) * index]; - for(sofa::Index i = 0; i < space_size; i++) - { - dfdx(total_size * index + i, total_size * index + i) += vt; - } - - // rotation (if applicable) - if constexpr (sofa::type::isRigidType()) - { - const auto vr = -k_a[(index < k_a.size()) * index]; - for (sofa::Size i = space_size; i < total_size; ++i) - { - // Contribution to the stiffness matrix are only taken into - // account for 1 values in d_activeDirections - if (activeDirections[i]) - { - dfdx(total_size * index + i, total_size * index + i) += vr; - } - } - } - } + return d_activeDirections.getValue(); } -template -void RestShapeSpringsForceField::buildDampingMatrix( - core::behavior::DampingMatrix* matrix) -{ - SOFA_UNUSED(matrix); -} } // namespace sofa::component::solidmechanics::spring From 0754eb8aaf58d1e4b42e1de44111051f004bcde2 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Dec 2024 15:20:42 +0100 Subject: [PATCH 09/14] apply changes to scenes --- .../examples/ArticulatedArm/robot.py | 2 +- .../Geomagic/scenes/Geomagic-DeformableCubes.scn | 2 +- .../Geomagic/scenes/Geomagic-DeformableSphere.scn | 2 +- .../plugins/Geomagic/scenes/Geomagic-RigidCubes.scn | 2 +- ...Geomagic-RigidSkull-restShapeSpringForceField.scn | 2 +- .../plugins/Geomagic/scenes/Geomagic-RigidSphere.scn | 2 +- .../Geomagic/scenes/GeomagicEmulator-RigidCubes.scn | 2 +- .../PersistentContact/examples/instrument.xml | 4 ++-- .../PersistentContact/examples/instrument2.xml | 4 ++-- .../plugins/Sensable/examples/Old Examples/omni1.scn | 2 +- .../plugins/Sensable/examples/Old Examples/omni2.scn | 2 +- applications/plugins/Xitact/examples/1xitact.scn | 2 +- applications/plugins/Xitact/examples/2xitact2.scn | 2 +- .../plugins/Xitact/examples/XitactGrasping.scn | 4 ++-- .../examples/XitactGraspingWithForceFeedBack.scn | 4 ++-- .../Xitact/examples/XitactGrasping_coupledModel.scn | 8 ++++---- .../examples/XitactGrasping_coupledModel_withITP.scn | 12 ++++++------ applications/plugins/Xitact/examples/xitactTest.scn | 4 ++-- .../Lagrangian/FixedLagrangianConstaint_Vec3.scn | 2 +- .../FEM/RestShapeSpringsForceField3.scn | 2 +- .../Spring/RestShapeSpringsForceField2.scn | 2 +- .../Spring/angularSpringForceField.scn | 2 +- 22 files changed, 35 insertions(+), 35 deletions(-) diff --git a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/robot.py b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/robot.py index a8e7179a80f..8b72a19be18 100644 --- a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/robot.py +++ b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/robot.py @@ -88,7 +88,7 @@ def addRobot(self, name='Robot', translation=[0,0,0]): articulations.addObject('MechanicalObject', name='dofs', template='Vec1', rest_position=robot.getData('angles').getLinkPath(), position=initAngles) articulations.addObject('ArticulatedHierarchyContainer') articulations.addObject('UniformMass', totalMass=1) - articulations.addObject('RestShapeSpringsForceField', stiffness=1e10, points=list(range(6))) + articulations.addObject('RestShapeSpringsForceField', stiffness=1e10, indices=list(range(6))) # Rigid rigid = articulations.addChild('Rigid') diff --git a/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn b/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn index 8447dc4d862..3295ff9ddcd 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn @@ -126,7 +126,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn b/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn index d3f88c411bb..a969ae31d7c 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn @@ -105,7 +105,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-RigidCubes.scn b/applications/plugins/Geomagic/scenes/Geomagic-RigidCubes.scn index b49b7dd575d..c667058822b 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-RigidCubes.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-RigidCubes.scn @@ -88,7 +88,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-RigidSkull-restShapeSpringForceField.scn b/applications/plugins/Geomagic/scenes/Geomagic-RigidSkull-restShapeSpringForceField.scn index 37ccac55ceb..7c956d6f764 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-RigidSkull-restShapeSpringForceField.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-RigidSkull-restShapeSpringForceField.scn @@ -59,7 +59,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/Geomagic-RigidSphere.scn b/applications/plugins/Geomagic/scenes/Geomagic-RigidSphere.scn index 880396565d4..fb730dd5bbc 100644 --- a/applications/plugins/Geomagic/scenes/Geomagic-RigidSphere.scn +++ b/applications/plugins/Geomagic/scenes/Geomagic-RigidSphere.scn @@ -76,7 +76,7 @@ - + diff --git a/applications/plugins/Geomagic/scenes/GeomagicEmulator-RigidCubes.scn b/applications/plugins/Geomagic/scenes/GeomagicEmulator-RigidCubes.scn index f950b7b60e1..f4d7be61acc 100644 --- a/applications/plugins/Geomagic/scenes/GeomagicEmulator-RigidCubes.scn +++ b/applications/plugins/Geomagic/scenes/GeomagicEmulator-RigidCubes.scn @@ -88,7 +88,7 @@ - + diff --git a/applications/plugins/PersistentContact/examples/instrument.xml b/applications/plugins/PersistentContact/examples/instrument.xml index fd67eb58411..551bf782cde 100644 --- a/applications/plugins/PersistentContact/examples/instrument.xml +++ b/applications/plugins/PersistentContact/examples/instrument.xml @@ -5,12 +5,12 @@ - + - + diff --git a/applications/plugins/PersistentContact/examples/instrument2.xml b/applications/plugins/PersistentContact/examples/instrument2.xml index f338f657865..f6a6e04273c 100644 --- a/applications/plugins/PersistentContact/examples/instrument2.xml +++ b/applications/plugins/PersistentContact/examples/instrument2.xml @@ -5,12 +5,12 @@ - + - + diff --git a/applications/plugins/Sensable/examples/Old Examples/omni1.scn b/applications/plugins/Sensable/examples/Old Examples/omni1.scn index b3978a75c3e..b635978b532 100644 --- a/applications/plugins/Sensable/examples/Old Examples/omni1.scn +++ b/applications/plugins/Sensable/examples/Old Examples/omni1.scn @@ -20,7 +20,7 @@ - + diff --git a/applications/plugins/Sensable/examples/Old Examples/omni2.scn b/applications/plugins/Sensable/examples/Old Examples/omni2.scn index 9d38b20cd1e..4e19ad2b2a7 100644 --- a/applications/plugins/Sensable/examples/Old Examples/omni2.scn +++ b/applications/plugins/Sensable/examples/Old Examples/omni2.scn @@ -15,7 +15,7 @@ - + diff --git a/applications/plugins/Xitact/examples/1xitact.scn b/applications/plugins/Xitact/examples/1xitact.scn index 66de05934b7..338be5d68d8 100644 --- a/applications/plugins/Xitact/examples/1xitact.scn +++ b/applications/plugins/Xitact/examples/1xitact.scn @@ -14,7 +14,7 @@ - + diff --git a/applications/plugins/Xitact/examples/2xitact2.scn b/applications/plugins/Xitact/examples/2xitact2.scn index e717de5cb74..4f62edbbb67 100644 --- a/applications/plugins/Xitact/examples/2xitact2.scn +++ b/applications/plugins/Xitact/examples/2xitact2.scn @@ -15,7 +15,7 @@ - + diff --git a/applications/plugins/Xitact/examples/XitactGrasping.scn b/applications/plugins/Xitact/examples/XitactGrasping.scn index a2b37a124ca..228bf45a0c6 100644 --- a/applications/plugins/Xitact/examples/XitactGrasping.scn +++ b/applications/plugins/Xitact/examples/XitactGrasping.scn @@ -85,7 +85,7 @@ - + @@ -104,7 +104,7 @@ - + diff --git a/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn b/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn index 3725346d2fe..7a15d6ce5ff 100644 --- a/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn +++ b/applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn @@ -85,7 +85,7 @@ - + @@ -104,7 +104,7 @@ - + diff --git a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn index 6431ef2d7d9..a08c6f561d8 100644 --- a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn +++ b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn @@ -85,7 +85,7 @@ - + @@ -104,7 +104,7 @@ - + @@ -202,7 +202,7 @@ - + @@ -221,7 +221,7 @@ - + diff --git a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn index c9c2a905e1f..bf57c1fb18c 100644 --- a/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn +++ b/applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn @@ -85,7 +85,7 @@ - + @@ -104,7 +104,7 @@ - + @@ -202,7 +202,7 @@ - + @@ -221,7 +221,7 @@ - + @@ -319,7 +319,7 @@ - + @@ -338,7 +338,7 @@ - + diff --git a/applications/plugins/Xitact/examples/xitactTest.scn b/applications/plugins/Xitact/examples/xitactTest.scn index 8b9ce1ecf9a..88bad4d4613 100644 --- a/applications/plugins/Xitact/examples/xitactTest.scn +++ b/applications/plugins/Xitact/examples/xitactTest.scn @@ -17,7 +17,7 @@ - + @@ -34,7 +34,7 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn index 8e4fe5d1f71..2b1705c4c29 100644 --- a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn +++ b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn @@ -46,7 +46,7 @@ - + diff --git a/examples/Component/SolidMechanics/FEM/RestShapeSpringsForceField3.scn b/examples/Component/SolidMechanics/FEM/RestShapeSpringsForceField3.scn index 07a305404bd..00ecee50be0 100644 --- a/examples/Component/SolidMechanics/FEM/RestShapeSpringsForceField3.scn +++ b/examples/Component/SolidMechanics/FEM/RestShapeSpringsForceField3.scn @@ -21,7 +21,7 @@ diff --git a/examples/Component/SolidMechanics/Spring/RestShapeSpringsForceField2.scn b/examples/Component/SolidMechanics/Spring/RestShapeSpringsForceField2.scn index 1bc4f821d8c..07d1c58f388 100644 --- a/examples/Component/SolidMechanics/Spring/RestShapeSpringsForceField2.scn +++ b/examples/Component/SolidMechanics/Spring/RestShapeSpringsForceField2.scn @@ -26,7 +26,7 @@ - + diff --git a/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn b/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn index 6befcf8641f..8567ed4afb9 100644 --- a/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn +++ b/examples/Component/SolidMechanics/Spring/angularSpringForceField.scn @@ -49,7 +49,7 @@ - + From a13b3ca8e5facfbb7dca114a165027d1e7040483 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 11 Dec 2024 11:52:11 +0100 Subject: [PATCH 10/14] Remove duplication of the topology link in RestShapeSpringForceField --- .../component/solidmechanics/spring/RestShapeSpringsForceField.h | 1 - .../solidmechanics/spring/RestShapeSpringsForceField.inl | 1 - 2 files changed, 2 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h index 9860d236f94..a073c3f1671 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.h @@ -78,7 +78,6 @@ class RestShapeSpringsForceField : public FixedWeakConstraint core::objectmodel::DataCallback c_fixAllCallback; SingleLink, sofa::core::behavior::MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_restMState; - SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; /// BaseObject initialization method. void bwdInit() override ; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl index eded05ba9ce..c3fc5d30191 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl @@ -56,7 +56,6 @@ RestShapeSpringsForceField::RestShapeSpringsForceField() "activeDirections", std::string("Directions in which the spring is active (default=[" + sofa::helper::join(FixedWeakConstraint::s_defaultActiveDirections, ',') + "])").c_str())) , d_externalIndices(initData(&d_externalIndices, "externalIndices","Indices from the external Mechanical State that define the rest shape springs")) , l_restMState(initLink("external_rest_shape", "rest_shape can be defined by the position of an external Mechanical State")) - , l_topology(initLink("topology", "Link to be set to the topology container in the component graph")) { c_fixAllCallback.addInput(&this->d_fixAll); c_fixAllCallback.addCallback([this]() From 885e98060dce9243d577fe1020e1984dfa4f6ec9 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Jan 2025 11:28:56 +0100 Subject: [PATCH 11/14] Squashed commit of the following: MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit commit f8ed001c4a939d63bf85445c479df63274838a3b Author: Alex Bilger Date: Wed Jan 22 14:24:35 2025 +0100 [tests] Template method design pattern from BaseTest in derived classes (#5162) * [tests] Template method design pattern from BaseTest in derived classes * rename * use the deprecated function * Make SetUp and TearDown final * fix SofaCarving test * missing override commit 41bac37fe9554189ac6a751ad2159832905021f0 Author: Frederick Roy Date: Tue Jan 21 16:21:12 2025 +0100 [Helper] XCode: run in Debug (and load debug plugins) (#5168) remove deprecated cmake statement Co-authored-by: Hugo commit 723420cf40b5e5c3a3a0c25f600be30b7be04ab5 Author: Hugo Date: Tue Jan 21 16:18:00 2025 +0100 [Project] Start dev phase v25.06 (#5218) * Add ChangeLog for v24.12 * Bump dev version to v25.06.99 commit b445f5768b0aa9b8fc740e5ad33437d67b962831 Author: Frederick Roy Date: Tue Jan 21 16:16:25 2025 +0100 [Helper] WriteAccessorVector: add resize method with default filler value (#5228) add resize with default filler value commit 4ba3bbee02a2af960ced06ad906896baa5843af1 Author: Hugo Date: Tue Jan 21 15:58:00 2025 +0100 [Core] Move all LifeCycle classes in a dedicated namespace (#5225) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit eb9fe59f4219a5757b780261f540ee1fd0c4ae56 Author: Alex Bilger Date: Mon Jan 20 05:45:39 2025 +0100 [Type] Support structured binding for tuple-like types (#5208) * [Type] Support structured binding for tuple-like types * fix redefinition * fix test commit aedc7ffea53e1a1b406b5e1c32b344cf53d9dbd1 Author: Alex Bilger Date: Mon Jan 20 00:10:57 2025 +0100 [Type] Simplification of the Rebind trait using concepts (#5200) * [Type] Simplification of the Rebind trait using concepts * fix * fix and test * parentheses commit 1f11bee4fd3d2611374a0766048f9ec18fbdf3dd Author: Alex Bilger Date: Fri Jan 17 12:39:13 2025 +0100 [Type] Deprecate is_container trait (#5210) commit 3635db7b3daa2d774719075032d45774474e1b04 Author: Alex Bilger Date: Fri Jan 17 08:19:18 2025 +0100 [Type] Convert enable_if to concepts in fixed_array (#5205) commit 107221785bcf8889e6ba48255de743824f94824e Author: Alex Bilger Date: Fri Jan 17 05:42:59 2025 +0100 [Type] Convert is_fixed_array trait to concept (#5209) Co-authored-by: Frederick Roy commit d83d7eda04ec21daf816280034a3631d076c0b9f Author: Alex Bilger Date: Fri Jan 17 01:46:10 2025 +0100 [Type] Convert is_vector trait to concept (#5201) * [Type] Concert is_vector trait to concept * fix * use the concept commit 84e79d16059e78b533486715646f781143c1ac2d Author: Alex Bilger Date: Thu Jan 16 02:48:10 2025 +0100 [Type] A concept for isRigidType (#5199) * [Type] A concept for isRigidType * fix commit f28c570df80c8c479126a6f84150eec2d33177f6 Author: Hugo Date: Wed Jan 15 14:29:40 2025 +0100 [Helper] Fix warning in SelectableItem (#5163) * [Helper] Fix warning in SelectableItem * simpler code * simplify trait using concept * remove unused include --------- Co-authored-by: Alex Bilger commit bf730d23c958a72d06b486164604ec2baafca9ad Author: Hugo Date: Wed Jan 15 05:48:20 2025 +0100 [SolidMechanics] Make Data innerRadius of BeamFEMFF not required (#5203) commit 964136a2c24ba73ac9c77d11da2f8bb8967a3f4f Author: Hugo Date: Thu Jan 9 16:37:53 2025 +0100 [Mapping] Fix draw in RigidMapping (#5204) * [Mapping] Fix draw in RigidMapping * Apply suggestions from code review Co-authored-by: Frederick Roy --------- Co-authored-by: Frederick Roy commit 61d4924ad8c4a35efd88b6d9d9375f2995abd15d Author: Hugo Date: Thu Jan 9 14:35:29 2025 +0100 [Engine] Fix drawLines from ValuesFromPositions (#5206) commit 88320b856fea453ee6311d922f888446acda8018 Author: Alex Bilger Date: Thu Jan 9 07:39:53 2025 +0100 [Config] Introduce SOFA modules data structure (#5148) * Introduce SOFA modules data structure * apply everywhere * don't shadow with unique name * try to fix * generate unit tests automatically * remove dependency to string and make modules constexpr * restore conversion to string * constexpr * remove ambiguity * include modules.h only when necessary commit 1cbfa0351a8518236cc4244a13caed30c71b5d79 Author: Alex Bilger Date: Thu Jan 9 06:09:39 2025 +0100 [DefaultType] Aliases defined twice (#5198) commit 589ea722a36426112f63de90f94ac0a55c8ef27d Author: Alex Bilger Date: Thu Jan 9 01:34:09 2025 +0100 [Core] Isolate the intrusive reference counting (#5149) * [Core] Isolate the intrusive reference counting * add unit tests commit 7b3729f1e1d0e073e64d916f003ef0a64dbcb7bc Author: erik pernod Date: Wed Jan 8 23:33:30 2025 +0100 [Topology] Add function in BaseMeshTopology to compute all topology containers (#3368) * [Topology] rename method initTpology into initContainers and provide access to it from BaseMeshTopology * [MultiThreading] Replace call to getter to init topology by call to initContainers * Fix MeshTopology initContainer * REname initContainers into computeCrossElementBuffers * restore comment * Fix compilation * Update MeshTopology.cpp * Update MeshTopology.cpp * Update applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBVHNarrowPhase.cpp Co-authored-by: Hugo * Update MeshTopology, Keep method ComputeCorssElementBuffer to be call only if needed. Not called at init * Update MeshTopology.h * Update MeshTopology.cpp * Update MeshTopology.h --------- Co-authored-by: Hugo commit 292f5bce9482ecf9632d0a6abe139447e5af3986 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Jan 8 23:32:44 2025 +0100 [tools] Update post-install fixup to fix rpath (#5197) Update post-install fixup to fix rpath commit 0bc3fb947d9e7b880d2dd863af0aff42e4ca94ee Author: Damien Marchal Date: Mon Jan 6 15:30:09 2025 +0100 [GUI.Qt] Fix invalid color of the warning sign on object (#5190) Fix invalid color of the warning sign on object. commit b5c1f179778b06d8017aa7d2ab394c30fe0a34c9 Author: Hugo Date: Mon Dec 30 12:28:46 2024 +0100 [all] Fix additional warnings (#5180) * [all] Fix additional warnings * Update Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp Co-authored-by: erik pernod * Update Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp --------- Co-authored-by: erik pernod commit 82c4ea2a35689fd14b893a330fd5f3920f69c95d Author: Frederick Roy Date: Sun Dec 29 04:08:56 2024 +0900 [Multithreading] Apply new factory registration mechanism (#5178) * apply new register mechanism to multithreading * fix test * Apply suggestions from code review (update descriptions) Co-authored-by: Hugo --------- Co-authored-by: Hugo commit bcc5a16dd65819649a137e13cba949310c23b65f Author: Frederick Roy Date: Sat Dec 28 00:26:20 2024 +0900 [Helper] PluginManager: support loading from Non-MSVC Multi-Configuration Build (#5133) * remove collections from searchable paths * cmake: pass config info and use it for search paths * remove typo in template parameters * add support for minsizerel * test existence of directory before browsing * just use the string commit 07ce419939a110e39573e3593f68c6d982fc7d05 Author: erik pernod Date: Fri Dec 27 10:57:04 2024 +0100 [Sofa.GL] Fix OglModel crash when texture file is not found (#5182) [OglModel] Backup fix on texture not found crash commit 3711b9e806b63fde2361ceba0298c8c0c3493028 Author: erik pernod Date: Fri Dec 27 10:56:45 2024 +0100 [Core] Fix VisualState.h compilation on windows (#5181) [Visual] Fix VisualState.h compilation commit 238851c9e97237c8a9d30a62277ca8b63be56600 Author: Alex Bilger Date: Thu Dec 26 22:01:07 2024 +0100 [SofaCUDA] Explicit the CUDA C++ standard version to 17 (#5165) commit 30844d0078e1d509b9555491bfe7a1e7aba0610a Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Dec 26 18:36:11 2024 +0100 [Plugins] Remove unsupported plugins: InvertibleFVM, SofaSimpleGUI and SensableEmulation (#5175) Remove unsupported plugins commit e2b94280b27e59533f1080d736fa93d66137a541 Author: Alex Bilger Date: Mon Dec 23 05:52:16 2024 +0100 [Testing] Mitigate plugin import leakage between tests (#5161) * [Testing] ScopedPlugin * add version with lists * unload plugins at tear down * use ScopedPlugin in a test as an example * support multiple calls to loadPlugins commit ca6655444308f62edc0573ba4a093a93271eae2b Author: Alex Bilger Date: Fri Dec 20 13:31:30 2024 +0100 [Config] Upgrade to C++20 (#5111) commit 642cdc6e3971d1d15e77c547f658e1339c0cd173 Author: Hugo Date: Fri Dec 20 04:54:50 2024 +0100 [Lagrangian] Remove unused data numericalTolerance in BLC (#5164) commit 3e508d34dabf30754009cbdb891f32136327ea07 Author: Alex Bilger Date: Fri Dec 20 04:53:09 2024 +0100 [Type] Test and clean BoundingBox (#5138) [Type] Test for BoundingBox commit 3ecd69c9374c47ef411e55072e5dc604bafe5134 Author: Alex Bilger Date: Wed Dec 18 17:24:59 2024 +0100 [SofaCUDA] Remove NO_CUDA condition (#5171) commit 4aca2680b8ace1c0504a0977343c89cbe1137fac Author: Frederick Roy Date: Wed Dec 18 21:28:35 2024 +0900 [Core, Simulation.Core] Registration: (re)enable deprecation warnings (#5155) * enable deprecation warnings for RegisterObject * enable runtime deprecation warnings * re enable disabled tests * fix typo * fix units tests * expect a warning when loading pluginA * load plugins once (avoiding registering several times) * add more info when warning the user of a deprecated registration * set warnings only if dev mode is enabled (SOFA_WITH_DEVTOOLS enabled) * apply new mechanism registration to AugmentedLagrangianConstraint commit 99df0a21e3764151270fe9f698387b599cb5618a Author: Alex Bilger Date: Tue Dec 17 15:26:53 2024 +0100 [Visual] Move, rename and clean OglCylinderModel (#5124) * move files * depreciation * rename * fix color management * remove string to color conversion and use the one from RGBAColor * remove unused private methods * cleaning * component change * remove Index alias * change the description * cache drawTool * remove calls to removed functions commit 02b33665a966ba1bee142e438fca937d21f62096 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Dec 17 02:06:24 2024 +0100 [All] Fix visualisation (#5152) * Fix visualisation * Remove inheritance from visual model; Remove the use of visitor for VisualStyle and instead call the fwdDraw directly in the two visualVisitor * Change methods name * Update Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h Co-authored-by: Alex Bilger --------- Co-authored-by: Alex Bilger commit 4eda9c72c7b16b665a02f0e8ff36d88d28e17f1f Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Dec 13 15:52:24 2024 +0100 [Constraint.Lagrangian] Add augmented lagrangians (#5003) * Add AugmentedLagrangianConstraint response * accelerate GS convergence * Added virtualization layer for constraints, but linker issue arise. Need to fix it then add virutalization in Contact response * FIX linking * Add virtualization layer for contact response * Fix OBBCapsule * Fix Distance grid and simplify fix for OBB * Fix default friction used by tests * Try fix macos compilation * Add tag for augmented lagrangian * add details to the description of epsilon data * remove multiple registration in factory * MAke parameters struct final * USe data accessor instead * fix compilation * Try fix scene tests * Apply suggestions from code review Co-authored-by: Hugo * Add reference --------- Co-authored-by: Hugo commit 8ba12f01996dcfe4c9d8a9a3230cf833a50a57ef Author: Hugo Date: Fri Dec 13 03:22:11 2024 +0100 [examples] Make symplectic option explicit (#5159) [Explicit] Make symplectic option explicit commit 6ae972f797baed60ee64337d6bee42813c04f640 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Dec 11 13:56:40 2024 +0100 [Constraint.Projective] Make LinearVelocityProjectiveConstraint work with FreeMotionAL (#5025) * Implement missing methods to work in FreeMotionAnimationLoop and add feature to keep the constraint applied after all the key event have passed * Apply suggestions from code review Co-authored-by: Hugo * Use constexpr when possible * Add example scene * Simplify the example and added the complete scene in the demo folder * Refactor finished mechanism and fix behavior when finished * Update scenes and regression tests * Put the boolean test on wether the constraint is still active or not inside a method --------- Co-authored-by: Hugo commit 6141aac9c1e59608cf1cde4f760f32a3af6bb67c Author: Frederick Roy Date: Wed Dec 11 18:29:09 2024 +0900 [All] Remove spam warnings (#5156) * fix duplicated macro * fix unused variables * use new vecids --- CHANGELOG.md | 229 + CMakeLists.txt | 4 +- .../animationloop/FreeMotionAnimationLoop.h | 4 +- .../animationloop/MultiStepAnimationLoop.h | 6 +- Sofa/Component/CMakeLists.txt | 7 + .../algorithm/BruteForceBroadPhase.h | 4 +- .../collision/detection/algorithm/IncrSAP.h | 4 +- .../tests/CollisionPipeline_test.cpp | 8 +- .../intersection/BaseProximityIntersection.h | 6 +- .../detection/intersection/LocalMinDistance.h | 10 +- .../intersection/MinProximityIntersection.h | 12 +- .../intersection/NewProximityIntersection.h | 4 +- .../tests/LocalMinDistance_test.cpp | 8 +- .../component/collision/detection/init.cpp | 5 +- .../component/collision/geometry/LineModel.h | 6 +- .../component/collision/geometry/PointModel.h | 8 +- .../component/collision/geometry/RayModel.h | 4 +- .../collision/geometry/SphereModel.h | 6 +- .../Collision/Geometry/tests/Sphere_test.cpp | 8 +- .../Geometry/tests/Triangle_test.cpp | 4 +- .../Collision/Response/Contact/CMakeLists.txt | 6 + .../contact/AugmentedLagrangianResponse.cpp | 85 + .../contact/AugmentedLagrangianResponse.h | 67 + .../contact/AugmentedLagrangianResponse.inl | 65 + .../contact/BarycentricStickContact.h | 4 +- .../contact/BaseUnilateralContactResponse.h | 101 + .../contact/BaseUnilateralContactResponse.inl | 271 + .../response/contact/CollisionResponse.h | 6 +- .../response/contact/FrictionContact.cpp | 22 + .../response/contact/FrictionContact.h | 65 +- .../response/contact/FrictionContact.inl | 223 +- .../contact/RuleBasedContactManager.h | 4 +- .../response/contact/StickContactConstraint.h | 4 +- .../TetrahedronAugmentedLagrangianContact.cpp | 60 + .../contact/TetrahedronFrictionContact.cpp | 7 + .../Response/Contact/tests/CMakeLists.txt | 3 +- .../collision/response/mapper/init.cpp | 1 + .../component/collision/response/init.cpp | 5 +- .../src/sofa/component/collision/init.cpp | 7 +- .../PrecomputedConstraintCorrection.h | 14 +- .../UncoupledConstraintCorrection.h | 8 +- .../UncoupledConstraintCorrection.inl | 2 +- .../Lagrangian/Model/CMakeLists.txt | 6 + .../model/AugmentedLagrangianConstraint.cpp | 109 + .../model/AugmentedLagrangianConstraint.h | 87 + .../model/AugmentedLagrangianConstraint.inl | 70 + .../model/AugmentedLagrangianResolution.h | 74 + .../model/BaseContactLagrangianConstraint.h | 160 + .../model/BaseContactLagrangianConstraint.inl | 386 + .../model/BilateralLagrangianConstraint.cpp | 6 +- .../model/BilateralLagrangianConstraint.h | 13 +- .../model/BilateralLagrangianConstraint.inl | 2 - .../model/StopperLagrangianConstraint.h | 8 +- .../model/UnilateralLagrangianConstraint.cpp | 7 + .../model/UnilateralLagrangianConstraint.h | 122 +- .../model/UnilateralLagrangianConstraint.inl | 373 +- .../constraint/lagrangian/model/config.h.in | 10 + .../constraint/lagrangian/model/init.cpp | 2 + .../solver/GenericConstraintSolver.h | 32 +- .../lagrangian/solver/LCPConstraintSolver.h | 40 +- .../component/constraint/lagrangian/init.cpp | 7 +- .../AffineMovementProjectiveConstraint.h | 18 +- .../DirectionProjectiveConstraint.h | 8 +- .../FixedRotationProjectiveConstraint.h | 8 +- .../FixedTranslationProjectiveConstraint.h | 10 +- .../HermiteSplineProjectiveConstraint.h | 20 +- .../projective/LineProjectiveConstraint.h | 10 +- .../LinearMovementProjectiveConstraint.h | 10 +- .../LinearVelocityProjectiveConstraint.h | 27 +- .../LinearVelocityProjectiveConstraint.inl | 226 +- .../OscillatorProjectiveConstraint.h | 4 +- .../ParabolicProjectiveConstraint.h | 14 +- ...artialLinearMovementProjectiveConstraint.h | 28 +- .../projective/PlaneProjectiveConstraint.h | 10 +- .../projective/PointProjectiveConstraint.h | 10 +- ...ositionBasedDynamicsProjectiveConstraint.h | 10 +- .../SkeletalMotionProjectiveConstraint.h | 10 +- ...ffineMovementProjectiveConstraint_test.cpp | 2 +- .../DirectionProjectiveConstraint_test.cpp | 4 +- .../tests/FixedProjectiveConstraint_test.cpp | 6 +- .../tests/LineProjectiveConstraint_test.cpp | 4 +- .../tests/PlaneProjectiveConstraint_test.cpp | 4 +- .../tests/PointProjectiveConstraint_test.cpp | 4 +- .../src/sofa/component/constraint/init.cpp | 5 +- .../sofa/component/controller/Controller.h | 4 +- .../controller/MechanicalStateController.h | 10 +- .../sofa/component/engine/analyze/Distances.h | 32 +- .../engine/analyze/HausdorffDistance.h | 14 +- .../component/engine/analyze/ShapeMatching.h | 18 +- .../Analyze/tests/AverageCoord_test.cpp | 2 +- .../Analyze/tests/ClusteringEngine_test.cpp | 2 +- .../engine/generate/MeshTetraStuffing.h | 26 +- .../ExtrudeEdgesAndGenerateQuads_test.cpp | 2 +- .../Generate/tests/MergePoints_test.cpp | 2 +- .../sofa/component/engine/select/BaseROI.h | 4 +- .../sofa/component/engine/select/MeshROI.h | 8 +- .../sofa/component/engine/select/MeshROI.inl | 4 +- .../engine/select/MeshSubsetEngine.h | 20 +- .../sofa/component/engine/select/SphereROI.h | 14 +- .../engine/select/ValuesFromPositions.inl | 3 +- .../Engine/Select/tests/BoxROI_test.cpp | 11 +- .../Select/tests/ComplementaryROI_test.cpp | 2 +- .../Engine/Select/tests/MeshROI_test.cpp | 10 +- .../Select/tests/MeshSubsetEngine_test.cpp | 6 +- .../Engine/Select/tests/PlaneROI_test.cpp | 2 +- .../Engine/Select/tests/SphereROI_test.cpp | 2 +- .../Transform/tests/DifferenceEngine_test.cpp | 2 +- .../Transform/tests/DilateEngine_test.cpp | 2 +- .../Transform/tests/SmoothMeshEngine_test.cpp | 2 +- .../Engine/src/sofa/component/engine/init.cpp | 9 +- .../sofa/component/haptics/LCPForceFeedback.h | 6 +- .../sofa/component/io/mesh/BlenderExporter.h | 12 +- .../sofa/component/io/mesh/GridMeshCreator.h | 6 +- .../sofa/component/io/mesh/MeshSTLLoader.h | 6 +- .../sofa/component/io/mesh/MeshTrianLoader.h | 10 +- .../component/io/mesh/OffSequenceLoader.h | 6 +- .../component/io/mesh/StringMeshCreator.h | 4 +- .../src/sofa/component/io/mesh/VTKExporter.h | 28 +- .../sofa/component/io/mesh/VoxelGridLoader.h | 20 +- .../IO/Mesh/tests/MeshExporter_test.cpp | 8 +- .../IO/Mesh/tests/MeshGmshLoader_test.cpp | 2 +- .../IO/Mesh/tests/MeshXspLoader_test.cpp | 2 +- .../IO/Mesh/tests/STLExporter_test.cpp | 10 +- .../tests/VisualModelOBJExporter_test.cpp | 4 +- .../IO/src/sofa/component/io/init.cpp | 3 +- .../direct/PrecomputedLinearSolver.h | 6 +- .../linearsolver/direct/SVDLinearSolver.h | 8 +- .../Direct/tests/SparseLDLSolver_test.cpp | 22 +- .../linearsolver/iterative/PCGLinearSolver.h | 14 +- .../PrecomputedWarpPreconditioner.h | 12 +- .../preconditioner/SSORPreconditioner.h | 4 +- .../src/sofa/component/linearsolver/init.cpp | 9 +- .../LinearSystem/tests/MappingGraph_test.cpp | 2 +- .../mapping/linear/BarycentricMappingRigid.h | 6 +- .../linear/DeformableOnRigidFrameMapping.h | 14 +- .../mapping/linear/SkinningMapping.h | 14 +- .../component/mapping/linear/SubsetMapping.h | 16 +- .../mapping/linear/SubsetMultiMapping.h | 4 +- .../component/mapping/linear/TubularMapping.h | 8 +- .../Linear/tests/BarycentricMapping_test.cpp | 2 +- .../nonlinear/DistanceFromTargetMapping.h | 8 +- .../mapping/nonlinear/DistanceMapping.h | 6 +- .../mapping/nonlinear/DistanceMultiMapping.h | 6 +- .../mapping/nonlinear/RigidMapping.inl | 5 +- .../NonLinear/tests/RigidMapping_test.cpp | 2 +- .../tests/SquareDistanceMapping_test.cpp | 4 +- .../src/sofa/component/mapping/init.cpp | 5 +- .../Mass/tests/DiagonalMass_test.cpp | 12 +- .../Mass/tests/MeshMatrixMass_test.cpp | 12 +- .../Component/Mass/tests/UniformMass_test.cpp | 8 +- .../mechanicalload/EdgePressureForceField.h | 24 +- .../OscillatingTorsionPressureForceField.h | 22 +- .../mechanicalload/QuadPressureForceField.h | 16 +- .../mechanicalload/SphereForceField.h | 18 +- .../SurfacePressureForceField.h | 28 +- .../TaitSurfacePressureForceField.h | 38 +- .../mechanicalload/TorsionForceField.h | 10 +- .../TrianglePressureForceField.h | 12 +- .../UniformVelocityDampingForceField.h | 4 +- .../tests/ConstantForceField_test.cpp | 14 +- .../tests/PlaneForceField_test.cpp | 8 +- .../tests/SkeletalMotionConstraint_test.cpp | 4 +- .../odesolver/backward/EulerImplicitSolver.h | 12 +- .../backward/VariationalSymplecticSolver.h | 22 +- .../tests/EulerImplicitSolverStatic_test.cpp | 24 +- .../EulerImplicitSolver_withDamping_test.cpp | 10 +- .../tests/SpringSolverDynamic_test.cpp | 2 +- .../Backward/tests/StaticSolver_test.cpp | 6 +- .../forward/CentralDifferenceSolver.h | 4 +- .../odesolver/forward/DampVelocitySolver.h | 6 +- .../odesolver/testing/ODESolverSpringTest.h | 13 +- .../src/sofa/component/odesolver/init.cpp | 5 +- .../component/playback/InputEventReader.h | 12 +- .../sofa/component/playback/ReadTopology.h | 8 +- .../sofa/component/playback/WriteTopology.h | 12 +- .../Playback/tests/ReadState_test.cpp | 8 +- .../Playback/tests/WriteState_test.cpp | 8 +- .../tests/AddResourceRepository_test.cpp | 4 +- .../tests/MakeAliasComponent_test.cpp | 2 +- .../tests/MakeDataAliasComponent_test.cpp | 4 +- .../tests/MessageHandlerComponent_test.cpp | 2 +- .../component/setting/BackgroundSetting.h | 4 +- .../component/setting/MouseButtonSetting.h | 4 +- .../setting/SofaDefaultPathSetting.h | 4 +- .../src/sofa/component/setting/StatsSetting.h | 8 +- .../sofa/component/setting/ViewerSetting.h | 10 +- .../fem/elastic/BeamFEMForceField.h | 4 +- .../fem/elastic/BeamFEMForceField.inl | 3 - .../FastTetrahedralCorotationalForceField.h | 22 +- .../fem/elastic/HexahedralFEMForceField.h | 8 +- .../elastic/HexahedralFEMForceFieldAndMass.h | 14 +- .../fem/elastic/HexahedronFEMForceField.h | 20 +- .../fem/elastic/QuadBendingFEMForceField.h | 16 +- .../TetrahedralCorotationalFEMForceField.h | 24 +- .../fem/elastic/TetrahedronFEMForceField.h | 46 +- .../fem/elastic/TriangleFEMForceField.h | 14 +- .../TriangularAnisotropicFEMForceField.h | 12 +- .../fem/elastic/TriangularFEMForceField.h | 28 +- .../tests/BaseTetrahedronFEMForceField_test.h | 44 +- .../Elastic/tests/BeamFEMForceField_test.cpp | 6 +- .../tests/TriangleFEMForceField_test.cpp | 42 +- ...perelasticityFEMForceField_params_test.cpp | 2 +- ...yperelasticityFEMForceField_scene_test.cpp | 2 +- .../component/solidmechanics/fem/init.cpp | 7 +- .../spring/AngularSpringForceField.h | 12 +- .../spring/FrameSpringForceField.h | 8 +- .../spring/GearSpringForceField.h | 10 +- .../spring/JointSpringForceField.h | 6 +- .../spring/QuadBendingSprings.h | 4 +- .../spring/RestShapeSpringsForceField.inl | 1 + .../spring/TriangularBendingSprings.h | 4 +- .../TriangularBiquadraticSpringsForceField.h | 20 +- .../TriangularQuadraticSpringsForceField.h | 16 +- .../spring/VectorSpringForceField.h | 10 +- ...ynomialRestShapeSpringsForceField_test.cpp | 6 +- .../tests/RestShapeSpringsForceField_test.cpp | 8 +- .../tests/TriangularBendingSprings_test.cpp | 8 +- .../TetrahedralTensorMassForceField.h | 8 +- .../TriangularTensorMassForceField.h | 8 +- .../simutests/AffinePatch_test.cpp | 2 +- .../simutests/LinearElasticity_test.cpp | 4 +- .../sofa/component/solidmechanics/init.cpp | 7 +- .../component/statecontainer/MappedObject.h | 6 +- .../container/constant/CubeTopology.h | 16 +- .../container/constant/MeshTopology.cpp | 75 +- .../container/constant/MeshTopology.h | 30 +- .../container/constant/SphereQuadTopology.h | 6 +- .../DynamicSparseGridTopologyContainer.h | 14 +- .../dynamic/EdgeSetTopologyContainer.cpp | 4 +- .../dynamic/EdgeSetTopologyContainer.h | 6 +- .../HexahedronSetTopologyContainer.cpp | 6 +- .../dynamic/HexahedronSetTopologyContainer.h | 4 +- .../dynamic/PointSetTopologyContainer.h | 4 +- .../dynamic/QuadSetTopologyContainer.cpp | 6 +- .../dynamic/QuadSetTopologyContainer.h | 4 +- .../TetrahedronSetTopologyContainer.cpp | 6 +- .../dynamic/TetrahedronSetTopologyContainer.h | 4 +- .../dynamic/TriangleSetTopologyContainer.cpp | 6 +- .../dynamic/TriangleSetTopologyContainer.h | 4 +- .../TetrahedronNumericalIntegration_test.cpp | 4 +- .../TriangleNumericalIntegration_test.cpp | 4 +- .../grid/SparseGridMultipleTopology.h | 12 +- .../grid/SparseGridRamificationTopology.h | 4 +- .../container/grid/SparseGridTopology.h | 28 +- .../Grid/tests/SparseGridTopology_test.cpp | 2 +- .../component/topology/container/init.cpp | 7 +- .../mapping/Hexa2QuadTopologicalMapping.h | 4 +- .../mapping/Hexa2TetraTopologicalMapping.h | 4 +- .../mapping/SubsetTopologicalMapping.h | 38 +- .../Tetra2TriangleTopologicalMapping.h | 8 +- .../topology/testing/fake_TopologyScene.h | 13 +- .../utility/TopologicalChangeProcessor.h | 34 +- .../tests/TopologicalChangeProcessor_test.cpp | 4 +- .../Utility/tests/TopologyChecker_test.cpp | 4 +- .../src/sofa/component/topology/init.cpp | 7 +- Sofa/Component/Visual/CMakeLists.txt | 2 + .../src/sofa/component/visual/BaseCamera.h | 36 +- .../component/visual/CylinderVisualModel.cpp | 94 + .../component/visual/CylinderVisualModel.h | 61 + .../sofa/component/visual/InteractiveCamera.h | 8 +- .../sofa/component/visual/RecordedCamera.h | 38 +- .../sofa/component/visual/VisualModelImpl.h | 56 +- .../src/sofa/component/visual/VisualStyle.cpp | 17 +- .../src/sofa/component/visual/VisualStyle.h | 17 +- .../sofa/component/visual/VisualTransform.h | 6 +- .../Visual/src/sofa/component/visual/init.cpp | 2 + Sofa/Component/src/sofa/component/init.cpp | 43 +- Sofa/Component/test/CMakeLists.txt | 37 + Sofa/Component/test/Modules_test.cpp | 25 + .../Component/test/Modules_test.h.in | 13 +- .../Rendering2D/tests/OglLabel_test.cpp | 4 +- Sofa/GL/Component/Rendering3D/CMakeLists.txt | 1 - .../rendering3d/OglCylinderModel.cpp | 163 - .../component/rendering3d/OglCylinderModel.h | 68 +- .../gl/component/rendering3d/OglModel.cpp | 39 +- .../sofa/gl/component/rendering3d/OglModel.h | 4 +- .../sofa/gl/component/rendering3d/init.cpp | 2 - .../Rendering3D/tests/ClipPlane_test.cpp | 6 +- .../Shader/tests/LightManager_test.cpp | 8 +- Sofa/GL/Component/Shader/tests/Light_test.cpp | 6 +- .../ConstraintAttachBodyPerformer.inl | 2 +- .../sofa/gui/qt/GraphListenerQListView.cpp | 7 +- .../Qt/src/sofa/gui/qt/SimpleDataWidget.cpp | 4 +- Sofa/framework/Config/CMakeLists.txt | 5 +- .../Config/cmake/SofaMacrosUtils.cmake | 8 +- Sofa/framework/Config/src/sofa/Modules.h | 179 + Sofa/framework/Core/CMakeLists.txt | 11 +- .../Core/src/sofa/core/IntrusiveObject.cpp | 26 +- .../Core/src/sofa/core/IntrusiveObject.h | 68 +- .../Core/src/sofa/core/ObjectFactory.cpp | 7 +- .../Core/src/sofa/core/ObjectFactory.h | 4 +- .../sofa/core/behavior/BaseConstraintSet.h | 4 +- .../sofa/core/behavior/BaseMechanicalState.h | 4 +- Sofa/framework/Core/src/sofa/core/config.h.in | 2 +- .../Core/src/sofa/core/objectmodel/Base.cpp | 15 +- .../Core/src/sofa/core/objectmodel/Base.h | 20 +- .../src/sofa/core/objectmodel/BaseContext.h | 2 +- .../Core/src/sofa/core/objectmodel/BaseNode.h | 2 + .../{ => lifecycle}/DeprecatedData.cpp | 2 +- .../{ => lifecycle}/DeprecatedData.h | 0 .../objectmodel/{ => lifecycle}/RemovedData.h | 2 +- .../objectmodel/{ => lifecycle}/RenamedData.h | 2 +- .../sofa/core/topology/BaseMeshTopology.cpp | 1 - .../src/sofa/core/topology/BaseMeshTopology.h | 3 + .../src/sofa/core/visual/BaseVisualStyle.h | 69 +- .../Core/src/sofa/core/visual/VisualState.h | 2 +- Sofa/framework/Core/test/DataEngine_test.cpp | 2 +- Sofa/framework/Core/test/Engine_test.cpp | 2 +- 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examples/Component/Visual/CylinderVisualModel.scn delete mode 100644 examples/Component/Visual/OglCylinderModel.scn create mode 100644 examples/Demos/SofaWasher.scn create mode 100644 examples/Demos/fallingBeamAugmentedLagrangianCollision.scn create mode 100644 share/mesh/SOFA_collision_center.obj create mode 100644 share/mesh/SOFA_collision_no_face.obj create mode 100644 share/mesh/SOFA_surface.obj create mode 100644 share/mesh/SOFA_volume.vtk diff --git a/CHANGELOG.md b/CHANGELOG.md index d9da7f731b5..f6dd626aab4 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,235 @@ # SOFA Changelog + +## [v24.12.00]( https://github.com/sofa-framework/sofa/tree/v24.12.00 ) + +[Full log]( https://github.com/sofa-framework/sofa/compare/v24.06..v24.12 ) + +### Highlighted contributions + +- [All] ObjectFactory: Explicit components registration [#4429](https://github.com/sofa-framework/sofa/pull/4429) +- [Mapping.NonLinear] Introduce AreaMapping [#4898](https://github.com/sofa-framework/sofa/pull/4898) +- [Mapping.NonLinear] Introduce VolumeMapping [#4906](https://github.com/sofa-framework/sofa/pull/4906) +- [Constraint.Lagrangian] Add augmented lagrangians [#5003](https://github.com/sofa-framework/sofa/pull/5003) +- [all] Various changes relative to the constraint matrix [#5017](https://github.com/sofa-framework/sofa/pull/5017) +- [workflow][Nix] initial packaging & flake [#5059](https://github.com/sofa-framework/sofa/pull/5059) + + +### Breaking + +- [Spring] Merging StiffSpringForceField and its parent [#4649](https://github.com/sofa-framework/sofa/pull/4649) +- [Core] Deprecate Compliant API in force fields [#4776](https://github.com/sofa-framework/sofa/pull/4776) +- [FEM.Elastic] Start unification of tetra FF and division of tests [#4778](https://github.com/sofa-framework/sofa/pull/4778) +- [Core] Factorize two variables with the same meaning (constraint id) [#4786](https://github.com/sofa-framework/sofa/pull/4786) +- [Core] Proposition to reduce the number of alias declarations [#4788](https://github.com/sofa-framework/sofa/pull/4788) +- [Sofa.GL] OglModel: Deprecate/Remove isEnabled Data [#4822](https://github.com/sofa-framework/sofa/pull/4822) +- [All] VisualModel: implement NVI for init/updateVisual() [#4827](https://github.com/sofa-framework/sofa/pull/4827) +- [FEM.Elastic] Hexa FEM inherits from BaseLinearElasticityFEMForceField [#4832](https://github.com/sofa-framework/sofa/pull/4832) +- [All] Reduce use of raw pointers [#4838](https://github.com/sofa-framework/sofa/pull/4838) +- [Component.Engine.Select] Refactoring of ROI classes [#4839](https://github.com/sofa-framework/sofa/pull/4839) +- [GUI.Qt] Add find or fetch for qgl viewer [#4840](https://github.com/sofa-framework/sofa/pull/4840) +- [All] Add way to disable windeppack [#4842](https://github.com/sofa-framework/sofa/pull/4842) +- [FEM.Elastic] Some FEM inherits from BaseLinearElasticityFEMForceField [#4852](https://github.com/sofa-framework/sofa/pull/4852) +- [Collision.Detection.Intersection] Delete compat layer for intersection [#4916](https://github.com/sofa-framework/sofa/pull/4916) +- [FEM] Components override the template API instead of the generic one [#4982](https://github.com/sofa-framework/sofa/pull/4982) +- [Mapping.Linear] Use links instead of raw pointers [#4996](https://github.com/sofa-framework/sofa/pull/4996) +- [Mapping.NonLinear] A base class for (almost) all non linear mappings [#5006](https://github.com/sofa-framework/sofa/pull/5006) +- [Core] Constexprification of VecId [#5082](https://github.com/sofa-framework/sofa/pull/5082) +- [Helper] Add Accessors for Array types [#5114](https://github.com/sofa-framework/sofa/pull/5114) + + +### Improvements + +- [Core] Dump ObjectFactory in json [#4775](https://github.com/sofa-framework/sofa/pull/4775) +- [Core] Introduce category for LinearSystem [#4784](https://github.com/sofa-framework/sofa/pull/4784) +- [GUI.Component] ConstraintAttachBodyPerformer: Add RigidType support [#4801](https://github.com/sofa-framework/sofa/pull/4801) +- [Config] Add CMake option for memory sanitizer [#4847](https://github.com/sofa-framework/sofa/pull/4847) +- [AnimationLoop] Apply new factory registration mechanism [#4858](https://github.com/sofa-framework/sofa/pull/4858) +- [Plugin] Add Cosserat as a fetchable plugin [#4859](https://github.com/sofa-framework/sofa/pull/4859) +- [SofaCUDA] Add constructor based on initializer_list [#4868](https://github.com/sofa-framework/sofa/pull/4868) +- [Helper] Retrieve the current user local configuration directory [#4875](https://github.com/sofa-framework/sofa/pull/4875) +- [GitHub] Update sofa-dev action to check timezone [#4877](https://github.com/sofa-framework/sofa/pull/4877) +- [GUI] Improve Error Handling in createPerformer [#4880](https://github.com/sofa-framework/sofa/pull/4880) +- [Core] Add filtering for unloaded plugins in ObjectFactory::getAllEntries [#4885](https://github.com/sofa-framework/sofa/pull/4885) +- [examples] Change rendering option in the TetrahedronFEMForceField.scn [#4922](https://github.com/sofa-framework/sofa/pull/4922) +- [Visual] Apply new factory registration mechanism [#4930](https://github.com/sofa-framework/sofa/pull/4930) +- [Setting] Apply new factory registration mechanism [#4931](https://github.com/sofa-framework/sofa/pull/4931) +- [SceneUtility] Apply new factory registration mechanism [#4932](https://github.com/sofa-framework/sofa/pull/4932) +- [Playback] Apply new factory registration mechanism [#4933](https://github.com/sofa-framework/sofa/pull/4933) +- [Engine] Add draw method in NearestPointROI [#4944](https://github.com/sofa-framework/sofa/pull/4944) +- [FEM] Add method computeVonMisesStress in TetrahedralCorotationalForceField and option to draw them [#4945](https://github.com/sofa-framework/sofa/pull/4945) +- [Engine.Select] Clean, extend and test MeshSubsetEngine [#4958](https://github.com/sofa-framework/sofa/pull/4958) +- [ODESolver] Apply new factory registration mechanism [#4975](https://github.com/sofa-framework/sofa/pull/4975) +- [IO] Apply new factory registration mechanism [#4976](https://github.com/sofa-framework/sofa/pull/4976) +- [Controller, Haptics, Diffusion] Apply new factory registration mechanism [#4977](https://github.com/sofa-framework/sofa/pull/4977) +- [LinearSystem] Apply new factory registration mechanism [#4981](https://github.com/sofa-framework/sofa/pull/4981) +- [MechanicalLoad] Apply new factory registration mechanism [#4983](https://github.com/sofa-framework/sofa/pull/4983) +- [Engine] Apply new factory registration mechanism [#5010](https://github.com/sofa-framework/sofa/pull/5010) +- [LinearSolver] Apply new factory registration mechanism [#5011](https://github.com/sofa-framework/sofa/pull/5011) +- [Topology] Apply new factory registration mechanism [#5012](https://github.com/sofa-framework/sofa/pull/5012) +- [SolidMechanics] Apply new factory registration mechanism [#5027](https://github.com/sofa-framework/sofa/pull/5027) +- [Collision] Apply new factory registration mechanism [#5033](https://github.com/sofa-framework/sofa/pull/5033) +- [examples] Update example scene of RungeKutta to make it stable [#5036](https://github.com/sofa-framework/sofa/pull/5036) +- [Constraint] Apply new factory registration mechanism [#5052](https://github.com/sofa-framework/sofa/pull/5052) +- [Mapping] Apply new factory registration mechanism [#5053](https://github.com/sofa-framework/sofa/pull/5053) +- [Mass] Apply new factory registration mechanism [#5055](https://github.com/sofa-framework/sofa/pull/5055) +- [all] Compatibility with C++20 [#5056](https://github.com/sofa-framework/sofa/pull/5056) +- [Helper] A static alternative to OptionsGroup: SelectableItem [#5062](https://github.com/sofa-framework/sofa/pull/5062) +- [Core] Support component included in multiple component change maps [#5074](https://github.com/sofa-framework/sofa/pull/5074) +- [runSofa] App name instead of empty string [#5076](https://github.com/sofa-framework/sofa/pull/5076) +- [GL, GUI] Apply new factory registration mechanism [#5097](https://github.com/sofa-framework/sofa/pull/5097) +- [Simulation.Core] Apply new factory registration mechanism [#5098](https://github.com/sofa-framework/sofa/pull/5098) +- [Core] Introduction of strong types [#5104](https://github.com/sofa-framework/sofa/pull/5104) +- [Type] Consistent string to color conversion [#5121](https://github.com/sofa-framework/sofa/pull/5121) +- [example] Update scene to display colors representing triangle areas [#5122](https://github.com/sofa-framework/sofa/pull/5122) + + +### Bug Fixes + +- [Core] Add topology subset indices test [#4738](https://github.com/sofa-framework/sofa/pull/4738) +- [MechanicalLoad] Update TrianglePressureForceField to remove plan selection and add callback on Data pressure and triangleList [#4743](https://github.com/sofa-framework/sofa/pull/4743) +- [FEM.Elastic] Fix small deformation in TriangleFEMForceField [#4780](https://github.com/sofa-framework/sofa/pull/4780) +- [Simulation.Core] Fix assert due to #4776 [#4792](https://github.com/sofa-framework/sofa/pull/4792) +- [GUI] initialize pointer to nullptr to avoid crash [#4793](https://github.com/sofa-framework/sofa/pull/4793) +- [SolidMechanics] Fix type declaration in deprecated data [#4807](https://github.com/sofa-framework/sofa/pull/4807) +- [Core] Add RenamedData component for data symbol renaming [#4814](https://github.com/sofa-framework/sofa/pull/4814) +- [Core] Explicit type instead of calling function with side effect [#4816](https://github.com/sofa-framework/sofa/pull/4816) +- [Collision] Secure pointers dereferences [#4819](https://github.com/sofa-framework/sofa/pull/4819) +- [FEM.Elastic] Fix dynamic symbols [#4831](https://github.com/sofa-framework/sofa/pull/4831) +- [CMake] Add QGLViewer2 name in FindQGLViewer.cmake [#4841](https://github.com/sofa-framework/sofa/pull/4841) +- [Topology.Dynamic] Fix wrong deprecation [#4843](https://github.com/sofa-framework/sofa/pull/4843) +- [CMake] Allow the out-of-tree for Sofa.GL Gui.Qt and runSofa [#4844](https://github.com/sofa-framework/sofa/pull/4844) +- [ODESOlver] Fix RHS computation of the backward Euler implicit solver [#4848](https://github.com/sofa-framework/sofa/pull/4848) +- [Core] Fix string comparison in factory [#4854](https://github.com/sofa-framework/sofa/pull/4854) +- [Helper] Fix deprecation warning for BackgroundSetting component [#4860](https://github.com/sofa-framework/sofa/pull/4860) +- [Constraint.Projective] Fix internal data allocation [#4865](https://github.com/sofa-framework/sofa/pull/4865) +- [SofaCUDA] Apply rename of some Data [#4866](https://github.com/sofa-framework/sofa/pull/4866) +- [all] Fix type of renamed Data [#4869](https://github.com/sofa-framework/sofa/pull/4869) +- [Qt] Register objects when loading from Qt [#4872](https://github.com/sofa-framework/sofa/pull/4872) +- [VolumetricRendering.CUDA] Fix compilation after SOFA changes [#4879](https://github.com/sofa-framework/sofa/pull/4879) +- [Mapping] Fix draw in DistanceMultiMapping [#4881](https://github.com/sofa-framework/sofa/pull/4881) +- [FEM.Elastic] remove static variable [#4883](https://github.com/sofa-framework/sofa/pull/4883) +- [Visual] BaseCamera: Fix return value when saving a view file [#4884](https://github.com/sofa-framework/sofa/pull/4884) +- [Topology.Dynamic] GeometryAlgoritims: disable lighting when drawing topologies [#4887](https://github.com/sofa-framework/sofa/pull/4887) +- [Visual] Camera: do not export/import lookat info [#4888](https://github.com/sofa-framework/sofa/pull/4888) +- [Core] Fix compilation warnings with addClambda [#4889](https://github.com/sofa-framework/sofa/pull/4889) +- [FEM] Remove duplicated Link to topology [#4890](https://github.com/sofa-framework/sofa/pull/4890) +- [Mapping.NonLinear] Fix rigid types in SquareDistanceMapping [#4891](https://github.com/sofa-framework/sofa/pull/4891) +- [VolumetricRendering] Fix target name in OglTetrahedralModel [#4893](https://github.com/sofa-framework/sofa/pull/4893) +- [Core] Secure json dump [#4894](https://github.com/sofa-framework/sofa/pull/4894) +- [SolidMechanics.FEM.Elastic] Fix compilation on clang{12, 13} [#4899](https://github.com/sofa-framework/sofa/pull/4899) +- [Core] Replace non-utf8 chars by special char with error message [#4900](https://github.com/sofa-framework/sofa/pull/4900) +- [image] convert unsigned char to int when streaming [#4901](https://github.com/sofa-framework/sofa/pull/4901) +- [Core] Revert thread local changes on exec params [#4902](https://github.com/sofa-framework/sofa/pull/4902) +- [Type] Fix wrong use of std::empty [#4903](https://github.com/sofa-framework/sofa/pull/4903) +- [Core] pointer checking [#4904](https://github.com/sofa-framework/sofa/pull/4904) +- [Core] Fix check and use of componentState in SingleStateAccessor [#4917](https://github.com/sofa-framework/sofa/pull/4917) +- [Playback] Fix WriteStateCreator to pass period only if it has a value. Because WriteState use isSet value... [#4919](https://github.com/sofa-framework/sofa/pull/4919) +- [Spring] Enable spring by default if Data enabled is not set [#4946](https://github.com/sofa-framework/sofa/pull/4946) +- [GUI.Common] ArgumentParser: catch exceptions when same options are added [#4947](https://github.com/sofa-framework/sofa/pull/4947) +- [Config] Use cmake-generator-expression to set cxx and c flags [#4990](https://github.com/sofa-framework/sofa/pull/4990) +- [LinearSolver.Direct] Fix packaging [#4999](https://github.com/sofa-framework/sofa/pull/4999) +- [FrameSpringForceField] Fix invalid data field's name [#5002](https://github.com/sofa-framework/sofa/pull/5002) +- [DefaultType] Fix RigidDeriv name [#5015](https://github.com/sofa-framework/sofa/pull/5015) +- [Constraint.Projective] Make LinearVelocityProjectiveConstraint work with FreeMotionAL [#5025](https://github.com/sofa-framework/sofa/pull/5025) +- [LinearAlgebra] Add CompressedRowSparseMatrixConstraint tests [#5037](https://github.com/sofa-framework/sofa/pull/5037) +- [tools] Deactivate all plugin containing CUDA in its name [#5044](https://github.com/sofa-framework/sofa/pull/5044) +- [Engine.Select] Fix MeshSubsetEngine compilation [#5046](https://github.com/sofa-framework/sofa/pull/5046) +- [Core.Collision] NarrowPhaseDetection: disable lighting when displaying detection outputs [#5048](https://github.com/sofa-framework/sofa/pull/5048) +- [Core] ForceField: print only once about missing kfactor usage [#5050](https://github.com/sofa-framework/sofa/pull/5050) +- [GitHub] Fix python dependencies in Actions [#5061](https://github.com/sofa-framework/sofa/pull/5061) +- [GitHub] Use python venv in Actions [#5066](https://github.com/sofa-framework/sofa/pull/5066) +- [Core] Test for nullptr in force field creation [#5075](https://github.com/sofa-framework/sofa/pull/5075) +- [Core] Fix isSet flag when setting a link to a not-yet created data [#5081](https://github.com/sofa-framework/sofa/pull/5081) +- [LinearAlgebra] CompressedRowSparseMatrixConstraint: make consistent the serialization/deserialization process [#5087](https://github.com/sofa-framework/sofa/pull/5087) +- [Gl.Component] Swap data description in OglColorMap [#5118](https://github.com/sofa-framework/sofa/pull/5118) +- [GL.Component] Fix min max computation in DataDisplay [#5120](https://github.com/sofa-framework/sofa/pull/5120) +- [Mapping] Fix debug compilation [#5134](https://github.com/sofa-framework/sofa/pull/5134) +- [Helper] Fix warning unexpected tokens following preprocessor directive [#5137](https://github.com/sofa-framework/sofa/pull/5137) +- [Backward] Fix typo [#5146](https://github.com/sofa-framework/sofa/pull/5146) +- [CollisionOBBCapsule] Fix Capsule destructor [#5147](https://github.com/sofa-framework/sofa/pull/5147) +- [All] Fix visualisation [#5152](https://github.com/sofa-framework/sofa/pull/5152) + + +### Cleaning + +- [Mass] Replace doUpdateInternal by callback: UniformMass [#3927](https://github.com/sofa-framework/sofa/pull/3927) +- [Core,Helper] Prevent to create objects from unloaded plugins [#4722](https://github.com/sofa-framework/sofa/pull/4722) +- [Topology.Container] Various clean in TriangleSetGeometryAlgorithms [#4746](https://github.com/sofa-framework/sofa/pull/4746) +- [all] Update data comments [#4751](https://github.com/sofa-framework/sofa/pull/4751) +- [Lagrangian.Model] Use base class Data instead of protected class member for constraint id [#4763](https://github.com/sofa-framework/sofa/pull/4763) +- [Mapping.NonLinear] Cleaning of DistanceMapping [#4777](https://github.com/sofa-framework/sofa/pull/4777) +- [FEM.Elastic] Remove addKToMatrix override as it is duplicated from base class [#4779](https://github.com/sofa-framework/sofa/pull/4779) +- [SofaAssump] Fix shadow variable in SceneColladaLoader [#4785](https://github.com/sofa-framework/sofa/pull/4785) +- [Project] Start dev phase v24.12 [#4787](https://github.com/sofa-framework/sofa/pull/4787) +- [All] Plugins: Deprecate entrypoint getModuleComponentList() [#4795](https://github.com/sofa-framework/sofa/pull/4795) +- [GUI] Fix typo in comments [#4797](https://github.com/sofa-framework/sofa/pull/4797) +- [All] Remove compat layer for Intersection methods [#4802](https://github.com/sofa-framework/sofa/pull/4802) +- [all] Clean some warnings [#4805](https://github.com/sofa-framework/sofa/pull/4805) +- [GUI] Clean warning from GUI at start [#4811](https://github.com/sofa-framework/sofa/pull/4811) +- [All] CMake: Remove deprecated settings [#4812](https://github.com/sofa-framework/sofa/pull/4812) +- [All] Remove SOFA_ENABLE_LEGACY_HEADERS usage [#4813](https://github.com/sofa-framework/sofa/pull/4813) +- [Core] Deprecate typeName with parameter [#4817](https://github.com/sofa-framework/sofa/pull/4817) +- [All] Reduce includes to helper/set.h [#4820](https://github.com/sofa-framework/sofa/pull/4820) +- [Projective] FixedProjectiveConstraint: Remove draw specializations and compute bbox [#4823](https://github.com/sofa-framework/sofa/pull/4823) +- [FEM.Elastic] Remove unused methods [#4824](https://github.com/sofa-framework/sofa/pull/4824) +- [Helper] Added cleanup callback [#4828](https://github.com/sofa-framework/sofa/pull/4828) +- [FEM.Elastic] Example of using structured binding [#4835](https://github.com/sofa-framework/sofa/pull/4835) +- [Helper] Move string utils from Utils to StringUtils [#4837](https://github.com/sofa-framework/sofa/pull/4837) +- [Core] Remove m_cId deprecation warning spam [#4846](https://github.com/sofa-framework/sofa/pull/4846) +- [CMake] Change CMake version in preset [#4849](https://github.com/sofa-framework/sofa/pull/4849) +- [Helper, AnimationLoop] ComponentChange: add Dealiased state [#4863](https://github.com/sofa-framework/sofa/pull/4863) +- [all] Rename lifecycle names for HEADER [#4882](https://github.com/sofa-framework/sofa/pull/4882) +- [CMake] Update all cmake_minimum_required in plugins [#4886](https://github.com/sofa-framework/sofa/pull/4886) +- [Core] ObjectFactory: fix typo when an object is not found [#4908](https://github.com/sofa-framework/sofa/pull/4908) +- [all] Fix various summer warnings [#4909](https://github.com/sofa-framework/sofa/pull/4909) +- [runSofa] Removed obsolete options [#4925](https://github.com/sofa-framework/sofa/pull/4925) +- [Sofa.GUI, Plugins] Pluginize HeadlessRecorder [#4928](https://github.com/sofa-framework/sofa/pull/4928) +- [All] Add scoped timers for tracy profiler [#4957](https://github.com/sofa-framework/sofa/pull/4957) +- [GUI] Minor cleaning in GUIManager [#4967](https://github.com/sofa-framework/sofa/pull/4967) +- [all] Cleanings on debug symbols [#4971](https://github.com/sofa-framework/sofa/pull/4971) +- [OpenCL] Update OpenCLProgram.cpp remove unused variable [#4973](https://github.com/sofa-framework/sofa/pull/4973) +- [FEM.Elastic] missing override keyword [#4980](https://github.com/sofa-framework/sofa/pull/4980) +- [Core] Move DevBaseMonitor in SofaValidation [#4985](https://github.com/sofa-framework/sofa/pull/4985) +- [all] Use isComponentStateValid [#4995](https://github.com/sofa-framework/sofa/pull/4995) +- [LinearAlgebra] Rename class MatrixSubstraction to MatrixSubtraction [#5016](https://github.com/sofa-framework/sofa/pull/5016) +- [ODESolver] Rename files to match class name [#5034](https://github.com/sofa-framework/sofa/pull/5034) +- [examples] Remove old tutorials [#5035](https://github.com/sofa-framework/sofa/pull/5035) +- [VolumetricRendering] Initialize SOFACuda [#5039](https://github.com/sofa-framework/sofa/pull/5039) +- [All] Clean collision detection in FreeMotionAnimationLoop [#5042](https://github.com/sofa-framework/sofa/pull/5042) +- [DefaultAnimationLoop] Add timer for collision begin and collision end [#5043](https://github.com/sofa-framework/sofa/pull/5043) +- [GenericConstraintSolver] FIX Generic constraint solver timer [#5045](https://github.com/sofa-framework/sofa/pull/5045) +- [all] Fix warnings [#5054](https://github.com/sofa-framework/sofa/pull/5054) +- [all] Run codespell on the code base + config file [#5064](https://github.com/sofa-framework/sofa/pull/5064) +- [Mapping] Deprecate module Sofa.Component.Mapping.MappedMatrix [#5070](https://github.com/sofa-framework/sofa/pull/5070) +- [examples] Run PluginFinder [#5072](https://github.com/sofa-framework/sofa/pull/5072) +- [Helper] Ensure exactly one directory separator [#5073](https://github.com/sofa-framework/sofa/pull/5073) +- [CUDA] Update CudaHexahedronTLEDForceField.cpp [#5085](https://github.com/sofa-framework/sofa/pull/5085) +- [Config] Minor cleaning of config.h [#5103](https://github.com/sofa-framework/sofa/pull/5103) +- [Constraint] Clean BilateralLagrangianConstraint [#5109](https://github.com/sofa-framework/sofa/pull/5109) +- [Mapping.Linear] Cleaning of SubsetMultiMapping [#5115](https://github.com/sofa-framework/sofa/pull/5115) +- [Visual] Move, rename and clean OglCylinderModel [#5124](https://github.com/sofa-framework/sofa/pull/5124) +- [all] Minor esthetic changes [#5129](https://github.com/sofa-framework/sofa/pull/5129) +- [Spring] Add warning when user tries to override MeshSpringForcefield indices [#5136](https://github.com/sofa-framework/sofa/pull/5136) +- [LinearSolver] Renamed ShewchuckPCGLinearSolver by removing the Shewchuck [#5139](https://github.com/sofa-framework/sofa/pull/5139) +- [Core, Simulation.Core] Registration: (re)enable deprecation warnings [#5155](https://github.com/sofa-framework/sofa/pull/5155) +- [All] Remove spam warnings [#5156](https://github.com/sofa-framework/sofa/pull/5156) + + +### Refactoring + +- [Component] Rename Data [#4771](https://github.com/sofa-framework/sofa/pull/4771) +- [SofaTest] Rename deprecated data [#4804](https://github.com/sofa-framework/sofa/pull/4804) +- [SofaCUDA] Simplify definition of CudaVector type [#4864](https://github.com/sofa-framework/sofa/pull/4864) +- [SofaCUDA,SofaDistanceGrid] Move DistanceGrid CUDA files in a SofaDistanceGrid extension [#4878](https://github.com/sofa-framework/sofa/pull/4878) +- [All] Apply renamed data on codebase [#4927](https://github.com/sofa-framework/sofa/pull/4927) +- [Test] Refactor Mapping_test [#5079](https://github.com/sofa-framework/sofa/pull/5079) +- [GitHub] Remove dev meeting action [#5107](https://github.com/sofa-framework/sofa/pull/5107) + + + + ## [v24.06.00]( https://github.com/sofa-framework/sofa/tree/v24.06.00 ) [Full log]( https://github.com/sofa-framework/sofa/compare/v23.12..v24.06 ) diff --git a/CMakeLists.txt b/CMakeLists.txt index 85160f7960f..3cf20738699 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -6,8 +6,8 @@ project(Sofa include(CMakeDependentOption) # Manually define VERSION -set(Sofa_VERSION_MAJOR 24) -set(Sofa_VERSION_MINOR 12) +set(Sofa_VERSION_MAJOR 25) +set(Sofa_VERSION_MINOR 06) set(Sofa_VERSION_PATCH 99) set(Sofa_VERSION ${Sofa_VERSION_MAJOR}.${Sofa_VERSION_MINOR}.${Sofa_VERSION_PATCH}) diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h index c377ece2a55..10347815e02 100644 --- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h +++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.h @@ -24,7 +24,7 @@ #include #include -#include +#include namespace sofa::core::behavior { @@ -45,7 +45,7 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API FreeMotionAnimationLoop : public sofa::si SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ANIMATIONLOOP() - sofa::core::objectmodel::RenamedData m_solveVelocityConstraintFirst; + sofa::core::objectmodel::lifecycle::RenamedData m_solveVelocityConstraintFirst; Data d_solveVelocityConstraintFirst; ///< solve separately velocity constraint violations before position constraint violations Data d_threadSafeVisitor; ///< If true, do not use realloc and free visitors in fwdInteractionForceField. diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h index 84545c3eeb1..62c2a5e6ad8 100644 --- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h +++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::animationloop { @@ -43,10 +43,10 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API MultiStepAnimationLoop : public sofa::sim void step (const sofa::core::ExecParams* params, SReal dt) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ANIMATIONLOOP() - sofa::core::objectmodel::RenamedData collisionSteps; + sofa::core::objectmodel::lifecycle::RenamedData collisionSteps; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ANIMATIONLOOP() - sofa::core::objectmodel::RenamedData integrationSteps; + sofa::core::objectmodel::lifecycle::RenamedData integrationSteps; Data d_collisionSteps; ///< number of collision steps between each frame rendering Data d_integrationSteps; ///< number of integration steps between each collision detection diff --git a/Sofa/Component/CMakeLists.txt b/Sofa/Component/CMakeLists.txt index 264fbcc8e2d..dbd5d4a4fb3 100644 --- a/Sofa/Component/CMakeLists.txt +++ b/Sofa/Component/CMakeLists.txt @@ -49,3 +49,10 @@ sofa_create_package_with_targets( INCLUDE_SOURCE_DIR "src" INCLUDE_INSTALL_DIR "${PROJECT_NAME}" ) + +# Tests +# If SOFA_BUILD_TESTS exists and is OFF, then these tests will be auto-disabled +cmake_dependent_option(SOFA_COMPONENT_BUILD_TESTS "Compile the automatic tests" ON "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF) +if(SOFA_COMPONENT_BUILD_TESTS) + add_subdirectory(test) +endif() diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.h index 9c1460d219f..ba8fe667fed 100644 --- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.h +++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.h @@ -24,7 +24,7 @@ #include #include #include -#include +#include namespace sofa::component::collision::detection::algorithm { @@ -51,7 +51,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API BruteForceBroadPhase : pu private: ///< if not empty, objects that do not intersect this bounding-box will be ignored SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_ALGORITHM() - sofa::core::objectmodel::RenamedData > box; + sofa::core::objectmodel::lifecycle::RenamedData > box; Data > d_box; ///< if not empty, objects that do not intersect this bounding-box will be ignored diff --git a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h index 3a787ff9059..aff6b8b8b6d 100644 --- a/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h +++ b/Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/IncrSAP.h @@ -42,7 +42,7 @@ #include #include -#include +#include namespace sofa::component::collision::detection::algorithm @@ -215,7 +215,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API IncrSAP : core::objectmodel::lifecycle::DeprecatedData bDraw {this, "v24.06", "v24.12", "draw", "This Data was not used"}; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_ALGORITHM() - sofa::core::objectmodel::RenamedData< type::fixed_array > box; ///< if not empty, objects that do not intersect this bounding-box will be ignored + sofa::core::objectmodel::lifecycle::RenamedData< type::fixed_array > box; ///< if not empty, objects that do not intersect this bounding-box will be ignored Data< type::fixed_array > d_box; ///< if not empty, objects that do not intersect this bounding-box will be ignored diff --git a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp index 0adc21e696f..e4f11276c8d 100644 --- a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp +++ b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp @@ -74,13 +74,13 @@ class TestCollisionPipeline : public BaseSimulationTest { void checkCollisionPipelineWithMissingContactManager(); int checkCollisionPipelineWithMonkeyValueForDepth(int value); - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Collision"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Collision); } - void TearDown() override + void doTearDown() override { if (root) sofa::simulation::node::unload(root); diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h index 8dbe24ea612..c7a336c1499 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::collision::detection::intersection @@ -41,10 +41,10 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API BaseProximityIntersect public: SOFA_ABSTRACT_CLASS(BaseProximityIntersection,DiscreteIntersection); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData alarmDistance; + sofa::core::objectmodel::lifecycle::RenamedData alarmDistance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData contactDistance; + sofa::core::objectmodel::lifecycle::RenamedData contactDistance; Data d_alarmDistance; ///< Distance above which the intersection computations ignores the proximity pair. This distance can also be used in some broad phase algorithms to reduce the search area diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.h index eb3bc43afac..38f5709cbac 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.h @@ -31,7 +31,7 @@ #include #include -#include +#include namespace sofa::component::collision::detection::intersection { @@ -64,16 +64,16 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API LocalMinDistance : pub typedef core::collision::IntersectorFactory IntersectorFactory; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData filterIntersection; + sofa::core::objectmodel::lifecycle::RenamedData filterIntersection; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData angleCone; + sofa::core::objectmodel::lifecycle::RenamedData angleCone; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData coneFactor; + sofa::core::objectmodel::lifecycle::RenamedData coneFactor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData useLMDFilters; + sofa::core::objectmodel::lifecycle::RenamedData useLMDFilters; Data d_filterIntersection; ///< Activate LMD filter diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h index 2aa9bfc3295..144587cde24 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MinProximityIntersection.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::collision::detection::intersection { @@ -57,19 +57,19 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MinProximityIntersecti public: SOFA_CLASS(MinProximityIntersection,BaseProximityIntersection); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData useSphereTriangle; + sofa::core::objectmodel::lifecycle::RenamedData useSphereTriangle; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData usePointPoint; + sofa::core::objectmodel::lifecycle::RenamedData usePointPoint; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData useSurfaceNormals; + sofa::core::objectmodel::lifecycle::RenamedData useSurfaceNormals; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData useLinePoint; + sofa::core::objectmodel::lifecycle::RenamedData useLinePoint; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData useLineLine; + sofa::core::objectmodel::lifecycle::RenamedData useLineLine; diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.h index 84e1f701fbe..3464e87c33b 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.h @@ -26,7 +26,7 @@ #include -#include +#include namespace sofa::component::collision::detection::intersection { @@ -58,7 +58,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API NewProximityIntersecti public: SOFA_CLASS(NewProximityIntersection,BaseProximityIntersection); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_DETECTION_INTERSECTION() - sofa::core::objectmodel::RenamedData useLineLine; + sofa::core::objectmodel::lifecycle::RenamedData useLineLine; Data d_useLineLine; ///< Line-line collision detection enabled diff --git a/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp b/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp index c432f420552..80fd33fa464 100644 --- a/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp @@ -54,12 +54,12 @@ namespace { struct TestLocalMinDistance : public BaseSimulationTest { - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Intersection"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Intersection); } - void TearDown() override + void doTearDown() override { } diff --git a/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp b/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp index 387d165aa7f..e7e10ae60ce 100644 --- a/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp +++ b/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp @@ -26,6 +26,7 @@ #include #include +#include namespace sofa::component::collision::detection { @@ -54,8 +55,8 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection.Algorithm"); - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection.Intersection"); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Detection.Algorithm); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Detection.Intersection); } void init() diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.h index 8b72e6d71ce..8b40670354a 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::collision::geometry @@ -145,7 +145,7 @@ public : int getLineFlags(sofa::Index i); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData bothSide; + sofa::core::objectmodel::lifecycle::RenamedData bothSide; Data d_bothSide; ///< activate collision on both side of the line model (when surface normals are defined on these lines) @@ -172,7 +172,7 @@ public : void computeBBox(const core::ExecParams* params, bool onlyVisible) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData m_displayFreePosition; + sofa::core::objectmodel::lifecycle::RenamedData m_displayFreePosition; Data d_displayFreePosition; ///< Display Collision Model Points free position(in green) diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.h index 84cbf118004..bd22bf85fb4 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::collision::geometry { @@ -104,7 +104,7 @@ class PointCollisionModel : public core::CollisionModel const Deriv& velocity(sofa::Index index) const; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData bothSide; + sofa::core::objectmodel::lifecycle::RenamedData bothSide; Data d_bothSide; ///< activate collision on both side of the point model (when surface normals are defined on these points) @@ -136,10 +136,10 @@ class PointCollisionModel : public core::CollisionModel core::behavior::MechanicalState* mstate; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData computeNormals; + sofa::core::objectmodel::lifecycle::RenamedData computeNormals; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData m_displayFreePosition; + sofa::core::objectmodel::lifecycle::RenamedData m_displayFreePosition; Data d_computeNormals; ///< activate computation of normal vectors (required for some collision detection algorithms) diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.h index a6a42b69339..75387b7df3c 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::collision::response::contact { @@ -96,7 +96,7 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API RayCollisionModel : public core::Col sofa::type::vector direction; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData defaultLength; + sofa::core::objectmodel::lifecycle::RenamedData defaultLength; diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.h index ef5b8031204..a5f54206f4b 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::collision::geometry { @@ -165,10 +165,10 @@ class SphereCollisionModel : public core::CollisionModel } SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData< VecReal > radius; + sofa::core::objectmodel::lifecycle::RenamedData< VecReal > radius; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_GEOMETRY() - sofa::core::objectmodel::RenamedData defaultRadius; + sofa::core::objectmodel::lifecycle::RenamedData defaultRadius; Data< VecReal > d_radius; ///< Radius of each sphere Data< SReal > d_defaultRadius; ///< Default radius diff --git a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp index 35f2199ebe8..03caeae5d99 100644 --- a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp +++ b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp @@ -70,16 +70,16 @@ namespace sofa { struct TestSphere : public BaseSimulationTest { - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Collision.Geometry"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Geometry); m_proxIntersection = sofa::core::objectmodel::New(); m_proxIntersection->setAlarmDistance(1.0); m_proxIntersection->setContactDistance(1.0); } - void TearDown() override + void doTearDown() override { } diff --git a/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp b/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp index 7355c123372..e6f8567a262 100644 --- a/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp +++ b/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp @@ -56,10 +56,10 @@ namespace sofa { struct TestTriangle : public BaseTest { - void SetUp() override + void doSetUp() override { } - void TearDown() override + void doTearDown() override { } diff --git a/Sofa/Component/Collision/Response/Contact/CMakeLists.txt b/Sofa/Component/Collision/Response/Contact/CMakeLists.txt index 3b6e2a38162..9ea5c096b4d 100644 --- a/Sofa/Component/Collision/Response/Contact/CMakeLists.txt +++ b/Sofa/Component/Collision/Response/Contact/CMakeLists.txt @@ -6,6 +6,10 @@ set(SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR "src/sofa/component/collisi set(HEADER_FILES ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/config.h.in ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/init.h + ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/AugmentedLagrangianResponse.h + ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/AugmentedLagrangianResponse.inl + ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BaseUnilateralContactResponse.h + ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BaseUnilateralContactResponse.inl ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricPenalityContact.h ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricPenalityContact.inl ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricStickContact.h @@ -26,6 +30,7 @@ set(HEADER_FILES set(SOURCE_FILES ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/init.cpp + ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/AugmentedLagrangianResponse.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricPenalityContact.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/BarycentricStickContact.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/CollisionResponse.cpp @@ -36,6 +41,7 @@ set(SOURCE_FILES ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/RayContact.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/RuleBasedContactManager.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/StickContactConstraint.cpp + ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronAugmentedLagrangianContact.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronBarycentricPenalityContact.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronFrictionContact.cpp ${SOFACOMPONENTCOLLISIONRESPONSECONTACT_SOURCE_DIR}/TetrahedronRayContact.cpp diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.cpp new file mode 100644 index 00000000000..18a25ba3871 --- /dev/null +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.cpp @@ -0,0 +1,85 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include +#include + +#include +#include + +namespace sofa::component::collision::response::contact +{ + +using namespace defaulttype; +using namespace sofa::helper; +using namespace sofa::component::collision::geometry; +using simulation::Node; + +Creator, PointCollisionModel> > PointPointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, SphereCollisionModel> > LineSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, PointCollisionModel> > LinePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, LineCollisionModel> > LineLineAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, SphereCollisionModel> > TriangleSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, PointCollisionModel> > TrianglePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, LineCollisionModel> > TriangleLineAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, TriangleCollisionModel> > TriangleTriangleAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, SphereCollisionModel> > SphereSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, PointCollisionModel> > SpherePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator > RigidSphereRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, RigidSphereModel> > SphereRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, RigidSphereModel> > LineRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator, RigidSphereModel> > TriangleRigidSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > RigidSpherePointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); + +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, SphereCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, LineCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, SphereCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, LineCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, TriangleCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, SphereCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, RigidSphereModel,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; + +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, PointCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, SphereCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, PointCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, LineCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, SphereCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, PointCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, LineCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, TriangleCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, SphereCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, PointCollisionModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, RigidSphereModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, RigidSphereModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse, RigidSphereModel>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API AugmentedLagrangianResponse>; + +} //namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h new file mode 100644 index 00000000000..0d5d96101d9 --- /dev/null +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h @@ -0,0 +1,67 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace sofa::component::collision::response::contact +{ +//Work inspired by: Zimmerman BK, Ateshian GA. "A Surface-to-Surface Finite Element Algorithm for Large Deformation Frictional Contact in febio." +// J Biomech Eng. 2018 Aug 1;140(8):0810131–08101315. doi: 10.1115/1.4040497. PMID: 30003262; PMCID: PMC6056201. +template +class AugmentedLagrangianResponse : public BaseUnilateralContactResponse +{ +public: + SOFA_CLASS(SOFA_TEMPLATE3(AugmentedLagrangianResponse, TCollisionModel1, TCollisionModel2, ResponseDataTypes), SOFA_TEMPLATE4(BaseUnilateralContactResponse, TCollisionModel1, TCollisionModel2,constraint::lagrangian::model::AugmentedLagrangianContactParameters, ResponseDataTypes)); + + typedef typename Inherit1::DataTypes1 DataTypes1; + typedef typename Inherit1::DataTypes2 DataTypes2; + typedef typename Inherit1::CollisionModel1 CollisionModel1; + typedef typename Inherit1::CollisionModel2 CollisionModel2; + typedef typename Inherit1::Intersection Intersection; + + typedef core::behavior::MechanicalState MechanicalState1; + typedef core::behavior::MechanicalState MechanicalState2; + + Data d_mu; ///< friction parameter + Data d_epsilon; ///< Penalty parameter + + AugmentedLagrangianResponse(); + AugmentedLagrangianResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod); + + virtual ~AugmentedLagrangianResponse() = default; + + virtual constraint::lagrangian::model::AugmentedLagrangianContactParameters getParameterFromDatas() const override; + virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) override; + +}; + +} // namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl new file mode 100644 index 00000000000..f49fedf5602 --- /dev/null +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl @@ -0,0 +1,65 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::collision::response::contact +{ + +template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > +AugmentedLagrangianResponse::AugmentedLagrangianResponse() + : AugmentedLagrangianResponse(nullptr, nullptr, nullptr) +{ +} + + +template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > +AugmentedLagrangianResponse::AugmentedLagrangianResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod) + : BaseUnilateralContactResponse(model1,model2,intersectionMethod) + , d_mu (initData(&d_mu, 0.0, "mu", "Friction coefficient (0 for frictionless contacts)")) + , d_epsilon (initData(&d_epsilon, 0.0, "epsilon", "Penalty parameter. It can be think of as a proportional controller, the Lagrange multiplier is augmented by the violation multiplied by this factor at each solving iteration.")) +{ + +} + +template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > +constraint::lagrangian::model::AugmentedLagrangianContactParameters AugmentedLagrangianResponse::getParameterFromDatas() const +{ + return {d_mu.getValue(),d_epsilon.getValue()}; +} + + +template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > +void AugmentedLagrangianResponse::setupConstraint(MechanicalState1 * mmodel1,MechanicalState2 * mmodel2) +{ + this->m_constraint = sofa::core::objectmodel::New >(mmodel1, mmodel2); +} + + +} //namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h index 3b101a9c160..cb1347fc327 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricStickContact.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::collision::response::contact { @@ -74,7 +74,7 @@ class BarycentricStickContact : public core::collision::Contact public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData f_keepAlive; + sofa::core::objectmodel::lifecycle::RenamedData f_keepAlive; Data d_keepAlive; ///< set to true to keep this contact alive even after collisions are no longer detected diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h new file mode 100644 index 00000000000..cc1fcefa01f --- /dev/null +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.h @@ -0,0 +1,101 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace sofa::component::collision::response::contact +{ +template +class BaseUnilateralContactResponse : public core::collision::Contact, public ContactIdentifier +{ +public: + SOFA_CLASS(SOFA_TEMPLATE4(BaseUnilateralContactResponse, TCollisionModel1, TCollisionModel2,ConstraintParameters, ResponseDataTypes), core::collision::Contact); + typedef TCollisionModel1 CollisionModel1; + typedef TCollisionModel2 CollisionModel2; + typedef core::collision::Intersection Intersection; + typedef typename TCollisionModel1::DataTypes::CPos TVec1; + typedef typename TCollisionModel1::DataTypes::CPos TVec2; + typedef sofa::defaulttype::StdVectorTypes DataTypes1; + typedef sofa::defaulttype::StdVectorTypes DataTypes2; + + typedef core::behavior::MechanicalState MechanicalState1; + typedef core::behavior::MechanicalState MechanicalState2; + typedef typename CollisionModel1::Element CollisionElement1; + typedef typename CollisionModel2::Element CollisionElement2; + typedef core::collision::DetectionOutputVector OutputVector; + typedef core::collision::TDetectionOutputVector TOutputVector; + +protected: + CollisionModel1* model1; + CollisionModel2* model2; + Intersection* intersectionMethod; + bool selfCollision; ///< true if model1==model2 (in this case, only mapper1 is used) + mapper::ContactMapper mapper1; + mapper::ContactMapper mapper2; + + typename constraint::lagrangian::model::BaseContactLagrangianConstraint::SPtr m_constraint; + core::objectmodel::BaseContext* parent; + + SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() + sofa::core::objectmodel::lifecycle::RenamedData mu; + + SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() + sofa::core::objectmodel::lifecycle::RenamedData tol; + + Data d_tol; ///< tolerance for the constraints resolution (0 for default tolerance) + std::vector< sofa::core::collision::DetectionOutput* > contacts; + std::vector< std::pair< std::pair, double > > mappedContacts; + + virtual void activateMappers(); + + void setInteractionTags(MechanicalState1* mstate1, MechanicalState2* mstate2); + + BaseUnilateralContactResponse(); + BaseUnilateralContactResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod); + + ~BaseUnilateralContactResponse() override; +public: + void cleanup() override; + + std::pair getCollisionModels() override { return std::make_pair(model1,model2); } + + void setDetectionOutputs(OutputVector* outputs) override; + + void createResponse(core::objectmodel::BaseContext* group) override; + + void removeResponse() override; + + virtual ConstraintParameters getParameterFromDatas() const = 0; + virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) = 0; +}; + +} // namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl new file mode 100644 index 00000000000..31b2199f8c0 --- /dev/null +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl @@ -0,0 +1,271 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::collision::response::contact +{ + +template +BaseUnilateralContactResponse::BaseUnilateralContactResponse() + : BaseUnilateralContactResponse(nullptr, nullptr, nullptr) +{ +} + + +template +BaseUnilateralContactResponse::BaseUnilateralContactResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod) + : model1(model1) + , model2(model2) + , intersectionMethod(intersectionMethod) + , m_constraint(nullptr) + , parent(nullptr) + , d_tol (initData(&d_tol, 0.0, "tol", "tolerance for the constraints resolution (0 for default tolerance)")) +{ + selfCollision = ((core::CollisionModel*)model1 == (core::CollisionModel*)model2); + mapper1.setCollisionModel(model1); + if (!selfCollision) mapper2.setCollisionModel(model2); + contacts.clear(); + mappedContacts.clear(); + + tol.setOriginalData(&d_tol); + +} + +template +BaseUnilateralContactResponse::~BaseUnilateralContactResponse() +{ +} + +template +void BaseUnilateralContactResponse::cleanup() +{ + if (m_constraint) + { + m_constraint->cleanup(); + + if (parent != nullptr) + parent->removeObject(m_constraint); + + parent = nullptr; + m_constraint.reset(); + + mapper1.cleanup(); + + if (!selfCollision) + mapper2.cleanup(); + } + + contacts.clear(); + mappedContacts.clear(); +} + + +template +void BaseUnilateralContactResponse::setDetectionOutputs(OutputVector* o) +{ + TOutputVector& outputs = *static_cast(o); + // We need to remove duplicate contacts + constexpr double minDist2 = 0.00000001f; + + contacts.clear(); + + if (model1->getContactStiffness(0) == 0 || model2->getContactStiffness(0) == 0) + { + msg_error() << "Disabled BaseUnilateralContactResponse with " << (outputs.size()) << " collision points."; + return; + } + + contacts.reserve(outputs.size()); + + const int SIZE = outputs.size(); + + // the following procedure cancels the duplicated detection outputs + for (int cpt=0; cptpoint[0]-p->point[0]).norm2()+(detectionOutput->point[1]-p->point[1]).norm2() < minDist2) + found = true; + } + + if (!found) + contacts.push_back(detectionOutput); + } + + // DUPLICATED CONTACTS FOUND + msg_info_when(contacts.size() +void BaseUnilateralContactResponse::activateMappers() +{ + if (!m_constraint) + { + // Get the mechanical model from mapper1 to fill the constraint vector + MechanicalState1* mmodel1 = mapper1.createMapping(getName().c_str()); + // Get the mechanical model from mapper2 to fill the constraints vector + MechanicalState2* mmodel2; + if (selfCollision) + { + mmodel2 = mmodel1; + } + else + { + mmodel2 = mapper2.createMapping(getName().c_str()); + } + setupConstraint(mmodel1,mmodel2); + m_constraint->setName( getName() ); + setInteractionTags(mmodel1, mmodel2); + m_constraint->setCustomTolerance(d_tol.getValue() ); + } + + int size = contacts.size(); + m_constraint->clear(size); + if (selfCollision) + mapper1.resize(2*size); + else + { + mapper1.resize(size); + mapper2.resize(size); + } + int i = 0; + const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; + + mappedContacts.resize(contacts.size()); + for (std::vector::const_iterator it = contacts.begin(); it!=contacts.end(); it++, i++) + { + sofa::core::collision::DetectionOutput* o = *it; + CollisionElement1 elem1(o->elem.first); + CollisionElement2 elem2(o->elem.second); + int index1 = elem1.getIndex(); + int index2 = elem2.getIndex(); + + typename DataTypes1::Real r1 = 0.; + typename DataTypes2::Real r2 = 0.; + + // Create mapping for first point + index1 = mapper1.addPointB(o->point[0], index1, r1); + // Create mapping for second point + if (selfCollision) + { + index2 = mapper1.addPointB(o->point[1], index2, r2); + } + else + { + index2 = mapper2.addPointB(o->point[1], index2, r2); + } + const double distance = d0 + r1 + r2; + + mappedContacts[i].first.first = index1; + mappedContacts[i].first.second = index2; + mappedContacts[i].second = distance; + } + + // Update mappings + mapper1.update(); + mapper1.updateXfree(); + if (!selfCollision) mapper2.update(); + if (!selfCollision) mapper2.updateXfree(); +} + +template +void BaseUnilateralContactResponse::createResponse(core::objectmodel::BaseContext* group) +{ + + activateMappers(); + + if (m_constraint) + { + int i=0; + for (std::vector::const_iterator it = contacts.begin(); it!=contacts.end(); it++, i++) + { + const sofa::core::collision::DetectionOutput* o = *it; + const int index1 = mappedContacts[i].first.first; + const int index2 = mappedContacts[i].first.second; + const double distance = mappedContacts[i].second; + + // Polynome de Cantor de NxN sur N bijectif f(x,y)=((x+y)^2+3x+y)/2 + const long index = cantorPolynomia(o->id /*cantorPolynomia(index1, index2)*/,id); + + const ConstraintParameters params = getParameterFromDatas(); + + // Add contact in unilateral constraint + m_constraint->addContact(params, o->normal, distance, index1, index2, index, o->id); + } + + if (parent!=nullptr) + { + parent->removeObject(this); + parent->removeObject(m_constraint); + } + + parent = group; + if (parent!=nullptr) + { + parent->addObject(this); + parent->addObject(m_constraint); + } + } +} + +template +void BaseUnilateralContactResponse::removeResponse() +{ + if (m_constraint) + { + mapper1.resize(0); + mapper2.resize(0); + if (parent!=nullptr) + { + parent->removeObject(this); + parent->removeObject(m_constraint); + } + parent = nullptr; + } +} + +template +void BaseUnilateralContactResponse::setInteractionTags(MechanicalState1* mstate1, MechanicalState2* mstate2) +{ + sofa::core::objectmodel::TagSet tagsm1 = mstate1->getTags(); + sofa::core::objectmodel::TagSet tagsm2 = mstate2->getTags(); + sofa::core::objectmodel::TagSet::iterator it; + for(it=tagsm1.begin(); it != tagsm1.end(); it++) + m_constraint->addTag(*it); + for(it=tagsm2.begin(); it!=tagsm2.end(); it++) + m_constraint->addTag(*it); +} + +} //namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h index 15780754ae8..3d86715d815 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::collision::response::contact { @@ -38,10 +38,10 @@ public : SOFA_CLASS(CollisionResponse,sofa::core::collision::ContactManager); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData response; + sofa::core::objectmodel::lifecycle::RenamedData response; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData responseParams; + sofa::core::objectmodel::lifecycle::RenamedData responseParams; Data d_response; ///< contact response class diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.cpp index e405e4ff362..a3734fd4d83 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.cpp +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.cpp @@ -19,8 +19,12 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ +#include +#include +#include #include + #include #include @@ -32,6 +36,7 @@ using namespace sofa::helper; using namespace sofa::component::collision::geometry; using simulation::Node; + Creator, PointCollisionModel> > PointPointFrictionContactClass("FrictionContactConstraint",true); Creator, SphereCollisionModel> > LineSphereFrictionContactClass("FrictionContactConstraint",true); Creator, PointCollisionModel> > LinePointFrictionContactClass("FrictionContactConstraint",true); @@ -48,6 +53,23 @@ Creator, RigidSphereModel> > TriangleRigidSphereFrictionContactClass("FrictionContactConstraint",true); Creator> > RigidSpherePointFrictionContactClass("FrictionContactConstraint",true); + +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, SphereCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, LineCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, SphereCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, LineCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, TriangleCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, SphereCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, PointCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, RigidSphereModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, RigidSphereModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse, RigidSphereModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API BaseUnilateralContactResponse,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; + template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API FrictionContact, PointCollisionModel>; template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API FrictionContact, SphereCollisionModel>; template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API FrictionContact, PointCollisionModel>; diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h index cebd6506a02..9c9869e53d5 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h @@ -27,73 +27,38 @@ #include #include #include -#include +#include #include -#include +#include namespace sofa::component::collision::response::contact { template -class FrictionContact : public core::collision::Contact, public ContactIdentifier +class FrictionContact : public BaseUnilateralContactResponse { -public: - SOFA_CLASS(SOFA_TEMPLATE3(FrictionContact, TCollisionModel1, TCollisionModel2, ResponseDataTypes), core::collision::Contact); - typedef TCollisionModel1 CollisionModel1; - typedef TCollisionModel2 CollisionModel2; - typedef core::collision::Intersection Intersection; - typedef typename TCollisionModel1::DataTypes::CPos TVec1; - typedef typename TCollisionModel1::DataTypes::CPos TVec2; - typedef sofa::defaulttype::StdVectorTypes DataTypes1; - typedef sofa::defaulttype::StdVectorTypes DataTypes2; + public: + SOFA_CLASS(SOFA_TEMPLATE3(FrictionContact, TCollisionModel1, TCollisionModel2, ResponseDataTypes), SOFA_TEMPLATE4(BaseUnilateralContactResponse, TCollisionModel1, TCollisionModel2,constraint::lagrangian::model::UnilateralLagrangianContactParameters, ResponseDataTypes)); + + typedef typename Inherit1::DataTypes1 DataTypes1; + typedef typename Inherit1::DataTypes2 DataTypes2; + typedef typename Inherit1::CollisionModel1 CollisionModel1; + typedef typename Inherit1::CollisionModel2 CollisionModel2; + typedef typename Inherit1::Intersection Intersection; typedef core::behavior::MechanicalState MechanicalState1; typedef core::behavior::MechanicalState MechanicalState2; - typedef typename CollisionModel1::Element CollisionElement1; - typedef typename CollisionModel2::Element CollisionElement2; - typedef core::collision::DetectionOutputVector OutputVector; - typedef core::collision::TDetectionOutputVector TOutputVector; - -protected: - CollisionModel1* model1; - CollisionModel2* model2; - Intersection* intersectionMethod; - bool selfCollision; ///< true if model1==model2 (in this case, only mapper1 is used) - mapper::ContactMapper mapper1; - mapper::ContactMapper mapper2; - - constraint::lagrangian::model::UnilateralLagrangianConstraint::SPtr m_constraint; - core::objectmodel::BaseContext* parent; - - SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData mu; - - SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData tol; - Data d_mu; ///< friction coefficient (0 for frictionless contacts) - Data d_tol; ///< tolerance for the constraints resolution (0 for default tolerance) - std::vector< sofa::core::collision::DetectionOutput* > contacts; - std::vector< std::pair< std::pair, double > > mappedContacts; - - virtual void activateMappers(); - - void setInteractionTags(MechanicalState1* mstate1, MechanicalState2* mstate2); + Data d_mu; ///< friction parameter FrictionContact(); FrictionContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod); - ~FrictionContact() override; -public: - void cleanup() override; - - std::pair getCollisionModels() override { return std::make_pair(model1,model2); } - - void setDetectionOutputs(OutputVector* outputs) override; + virtual ~FrictionContact() = default; - void createResponse(core::objectmodel::BaseContext* group) override; + virtual constraint::lagrangian::model::UnilateralLagrangianContactParameters getParameterFromDatas() const override; + virtual void setupConstraint(MechanicalState1 *,MechanicalState2 *) override; - void removeResponse() override; }; } // namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl index a7fdd1fcce1..0d2d1b43cb0 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl @@ -41,235 +41,24 @@ FrictionContact::FrictionCo template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > FrictionContact::FrictionContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod) - : model1(model1) - , model2(model2) - , intersectionMethod(intersectionMethod) - , m_constraint(nullptr) - , parent(nullptr) - , d_mu (initData(&d_mu, 0.8, "mu", "friction coefficient (0 for frictionless contacts)")) - , d_tol (initData(&d_tol, 0.0, "tol", "tolerance for the constraints resolution (0 for default tolerance)")) + : BaseUnilateralContactResponse(model1,model2,intersectionMethod) + , d_mu (initData(&d_mu, 0.8, "mu", "Friction coefficient (0 for frictionless contacts)")) { - selfCollision = ((core::CollisionModel*)model1 == (core::CollisionModel*)model2); - mapper1.setCollisionModel(model1); - if (!selfCollision) mapper2.setCollisionModel(model2); - contacts.clear(); - mappedContacts.clear(); - mu.setOriginalData(&d_mu); - tol.setOriginalData(&d_tol); - -} - -template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > -FrictionContact::~FrictionContact() -{ -} - -template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > -void FrictionContact::cleanup() -{ - if (m_constraint) - { - m_constraint->cleanup(); - - if (parent != nullptr) - parent->removeObject(m_constraint); - - parent = nullptr; - m_constraint.reset(); - - mapper1.cleanup(); - - if (!selfCollision) - mapper2.cleanup(); - } - - contacts.clear(); - mappedContacts.clear(); -} - - -template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > -void FrictionContact::setDetectionOutputs(OutputVector* o) -{ - TOutputVector& outputs = *static_cast(o); - // We need to remove duplicate contacts - constexpr double minDist2 = 0.00000001f; - - contacts.clear(); - - if (model1->getContactStiffness(0) == 0 || model2->getContactStiffness(0) == 0) - { - msg_error() << "Disabled FrictionContact with " << (outputs.size()) << " collision points."; - return; - } - - contacts.reserve(outputs.size()); - - const int SIZE = outputs.size(); - - // the following procedure cancels the duplicated detection outputs - for (int cpt=0; cptpoint[0]-p->point[0]).norm2()+(detectionOutput->point[1]-p->point[1]).norm2() < minDist2) - found = true; - } - - if (!found) - contacts.push_back(detectionOutput); - } - - // DUPLICATED CONTACTS FOUND - msg_info_when(contacts.size() -void FrictionContact::activateMappers() +constraint::lagrangian::model::UnilateralLagrangianContactParameters FrictionContact::getParameterFromDatas() const { - if (!m_constraint) - { - // Get the mechanical model from mapper1 to fill the constraint vector - MechanicalState1* mmodel1 = mapper1.createMapping(getName().c_str()); - // Get the mechanical model from mapper2 to fill the constraints vector - MechanicalState2* mmodel2; - if (selfCollision) - { - mmodel2 = mmodel1; - } - else - { - mmodel2 = mapper2.createMapping(getName().c_str()); - } - m_constraint = sofa::core::objectmodel::New >(mmodel1, mmodel2); - m_constraint->setName( getName() ); - setInteractionTags(mmodel1, mmodel2); - m_constraint->setCustomTolerance(d_tol.getValue() ); - } - - int size = contacts.size(); - m_constraint->clear(size); - if (selfCollision) - mapper1.resize(2*size); - else - { - mapper1.resize(size); - mapper2.resize(size); - } - int i = 0; - const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; - - mappedContacts.resize(contacts.size()); - for (std::vector::const_iterator it = contacts.begin(); it!=contacts.end(); it++, i++) - { - sofa::core::collision::DetectionOutput* o = *it; - CollisionElement1 elem1(o->elem.first); - CollisionElement2 elem2(o->elem.second); - int index1 = elem1.getIndex(); - int index2 = elem2.getIndex(); - - typename DataTypes1::Real r1 = 0.; - typename DataTypes2::Real r2 = 0.; - - // Create mapping for first point - index1 = mapper1.addPointB(o->point[0], index1, r1); - // Create mapping for second point - if (selfCollision) - { - index2 = mapper1.addPointB(o->point[1], index2, r2); - } - else - { - index2 = mapper2.addPointB(o->point[1], index2, r2); - } - const double distance = d0 + r1 + r2; - - mappedContacts[i].first.first = index1; - mappedContacts[i].first.second = index2; - mappedContacts[i].second = distance; - } - - // Update mappings - mapper1.update(); - mapper1.updateXfree(); - if (!selfCollision) mapper2.update(); - if (!selfCollision) mapper2.updateXfree(); + return {d_mu.getValue()}; } -template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > -void FrictionContact::createResponse(core::objectmodel::BaseContext* group) -{ - - activateMappers(); - const double mu_ = this->d_mu.getValue(); - // Checks if friction is considered - if ( mu_ < 0.0 ) - msg_error() << "mu has to take positive values"; - - if (m_constraint) - { - int i=0; - for (std::vector::const_iterator it = contacts.begin(); it!=contacts.end(); it++, i++) - { - const sofa::core::collision::DetectionOutput* o = *it; - const int index1 = mappedContacts[i].first.first; - const int index2 = mappedContacts[i].first.second; - const double distance = mappedContacts[i].second; - - // Polynome de Cantor de NxN sur N bijectif f(x,y)=((x+y)^2+3x+y)/2 - const long index = cantorPolynomia(o->id /*cantorPolynomia(index1, index2)*/,id); - - // Add contact in unilateral constraint - m_constraint->addContact(mu_, o->normal, distance, index1, index2, index, o->id); - } - - if (parent!=nullptr) - { - parent->removeObject(this); - parent->removeObject(m_constraint); - } - - parent = group; - if (parent!=nullptr) - { - parent->addObject(this); - parent->addObject(m_constraint); - } - } -} template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > -void FrictionContact::removeResponse() +void FrictionContact::setupConstraint(MechanicalState1 * mmodel1,MechanicalState2 * mmodel2) { - if (m_constraint) - { - mapper1.resize(0); - mapper2.resize(0); - if (parent!=nullptr) - { - parent->removeObject(this); - parent->removeObject(m_constraint); - } - parent = nullptr; - } + this->m_constraint = sofa::core::objectmodel::New >(mmodel1, mmodel2); } -template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes > -void FrictionContact::setInteractionTags(MechanicalState1* mstate1, MechanicalState2* mstate2) -{ - sofa::core::objectmodel::TagSet tagsm1 = mstate1->getTags(); - sofa::core::objectmodel::TagSet tagsm2 = mstate2->getTags(); - sofa::core::objectmodel::TagSet::iterator it; - for(it=tagsm1.begin(); it != tagsm1.end(); it++) - m_constraint->addTag(*it); - for(it=tagsm2.begin(); it!=tagsm2.end(); it++) - m_constraint->addTag(*it); -} } //namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.h index 76afa084d0d..c88b084da9b 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/RuleBasedContactManager.h @@ -23,7 +23,7 @@ #include #include -#include +#include namespace sofa::component::collision::response::contact { @@ -104,7 +104,7 @@ class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API RuleBasedContactManager : pu }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData< type::vector > rules; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > rules; diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h index d23b57efc94..cea3442ec71 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h @@ -31,7 +31,7 @@ #include #include -#include +#include namespace sofa::component::collision::response::contact { @@ -73,7 +73,7 @@ class StickContactConstraint : public core::collision::Contact, public ContactId ~StickContactConstraint() override; public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_COLLISION_RESPONSE_CONTACT() - sofa::core::objectmodel::RenamedData f_keepAlive; + sofa::core::objectmodel::lifecycle::RenamedData f_keepAlive; Data d_keepAlive; ///< set to true to keep this contact alive even after collisions are no longer detected diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronAugmentedLagrangianContact.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronAugmentedLagrangianContact.cpp new file mode 100644 index 00000000000..d5fe12ce865 --- /dev/null +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronAugmentedLagrangianContact.cpp @@ -0,0 +1,60 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include +#include +#include +#include +#include + +using namespace sofa::core::collision; + +namespace sofa::component::collision::response::contact +{ + +using namespace sofa::component::collision::geometry; + +Creator> > TetrahedronSphereAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > TetrahedronPointAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > TetrahedronLineAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > TetrahedronTriangleAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator > TetrahedronTetrahedronAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); + +Creator> > TetrahedronSpherePenalityAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > TetrahedronPointPenalityAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > TetrahedronLinePenalityAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator> > TetrahedronTrianglePenalityAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); +Creator > TetrahedronTetrahedronPenalityAugmentedLagrangianResponseClass("AugmentedLagrangianResponseConstraint",true); + +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::AugmentedLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse; + +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::AugmentedLagrangianResponse>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::AugmentedLagrangianResponse>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::AugmentedLagrangianResponse>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::AugmentedLagrangianResponse>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::AugmentedLagrangianResponse; + +} // namespace sofa::component::collision::response::contact diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronFrictionContact.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronFrictionContact.cpp index 3f20f87b676..53d5265d7bc 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronFrictionContact.cpp +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/TetrahedronFrictionContact.cpp @@ -24,6 +24,7 @@ #include #include #include +#include using namespace sofa::core::collision; @@ -44,6 +45,12 @@ Creator> > TetrahedronTrianglePenalityFrictionContactClass("FrictionContactConstraint",true); Creator > TetrahedronTetrahedronPenalityFrictionContactClass("FrictionContactConstraint",true); +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::BaseUnilateralContactResponse; + template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::FrictionContact>; template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::FrictionContact>; template class SOFA_COMPONENT_COLLISION_RESPONSE_CONTACT_API response::contact::FrictionContact>; diff --git a/Sofa/Component/Collision/Response/Contact/tests/CMakeLists.txt b/Sofa/Component/Collision/Response/Contact/tests/CMakeLists.txt index 73c983810c6..8da60705f95 100644 --- a/Sofa/Component/Collision/Response/Contact/tests/CMakeLists.txt +++ b/Sofa/Component/Collision/Response/Contact/tests/CMakeLists.txt @@ -6,7 +6,8 @@ set(SOURCE_FILES PenalityContactForceField_test.cpp ) + add_executable(${PROJECT_NAME} ${SOURCE_FILES}) target_link_libraries(${PROJECT_NAME} Sofa.Testing Sofa.Component.Collision.Testing Sofa.Component.SolidMechanics.Testing) -target_link_libraries(${PROJECT_NAME} Sofa.Component.Collision.Response.Contact) +target_link_libraries(${PROJECT_NAME} Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian) add_test(NAME ${PROJECT_NAME} COMMAND ${PROJECT_NAME}) diff --git a/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp b/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp index 562f561e99c..ae377f44842 100644 --- a/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp +++ b/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/init.cpp @@ -51,6 +51,7 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { // this library does not register any component in the Factory + SOFA_UNUSED(factory); } void init() diff --git a/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp b/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp index 1f530ac7e92..79fd36c7bd4 100644 --- a/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp +++ b/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp @@ -26,6 +26,7 @@ #include #include +#include namespace sofa::component::collision::response { @@ -54,8 +55,8 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response.Mapper"); - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response.Contact"); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Response.Mapper); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Response.Contact); } void init() diff --git a/Sofa/Component/Collision/src/sofa/component/collision/init.cpp b/Sofa/Component/Collision/src/sofa/component/collision/init.cpp index 7fa133efb29..1423e912ea0 100644 --- a/Sofa/Component/Collision/src/sofa/component/collision/init.cpp +++ b/Sofa/Component/Collision/src/sofa/component/collision/init.cpp @@ -27,6 +27,7 @@ #include #include +#include namespace sofa::component::collision { @@ -55,9 +56,9 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Geometry"); - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection"); - factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response"); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Geometry); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Detection); + factory->registerObjectsFromPlugin(Sofa.Component.Collision.Response); } void init() diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.h b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.h index 2a296bc9b8c..f075378651d 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.h +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.h @@ -30,7 +30,7 @@ #include #include -#include +#include namespace sofa::component::constraint::lagrangian::correction { @@ -61,22 +61,22 @@ class PrecomputedConstraintCorrection : public sofa::core::behavior::ConstraintC typedef sofa::type::MatNoInit<3, 3, Real> Transformation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData m_rotations; + sofa::core::objectmodel::lifecycle::RenamedData m_rotations; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData m_restRotations; + sofa::core::objectmodel::lifecycle::RenamedData m_restRotations; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData recompute; + sofa::core::objectmodel::lifecycle::RenamedData recompute; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData debugViewFrameScale; + sofa::core::objectmodel::lifecycle::RenamedData debugViewFrameScale; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData f_fileCompliance; + sofa::core::objectmodel::lifecycle::RenamedData f_fileCompliance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData fileDir; + sofa::core::objectmodel::lifecycle::RenamedData fileDir; Data d_rotations; Data d_restRotations; diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.h b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.h index 0954dbefcec..4ee8641eb7d 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.h +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::constraint::lagrangian::correction { @@ -113,13 +113,13 @@ class UncoupledConstraintCorrection : public sofa::core::behavior::ConstraintCor SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData< VecReal > compliance; + sofa::core::objectmodel::lifecycle::RenamedData< VecReal > compliance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData defaultCompliance; + sofa::core::objectmodel::lifecycle::RenamedData defaultCompliance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_CORRECTION() - sofa::core::objectmodel::RenamedData f_verbose; + sofa::core::objectmodel::lifecycle::RenamedData f_verbose; core::topology::PointData< VecReal > d_compliance; ///< Compliance value on each dof. If Rigid compliance (7 values): 1st value for translations, 6 others for upper-triangular part of symmetric 3x3 rotation compliance matrix diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.inl b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.inl index bffe28596b2..ebe49bd83c2 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.inl +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.inl @@ -128,7 +128,7 @@ UncoupledConstraintCorrection::UncoupledConstraintCorrection(sofa::co else { // Case: soft body - if constexpr (!sofa::type::isRigidType()) + if constexpr (!sofa::type::isRigidType) { const VecReal &comp = d_compliance.getValue(); if (std::any_of(comp.begin(), comp.end(), [](const Real c) { return c == 0; })) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt b/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt index 05559157449..07cfdad10db 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt +++ b/Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt @@ -19,6 +19,11 @@ set(HEADER_FILES ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.h ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/AugmentedLagrangianResolution.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/AugmentedLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/AugmentedLagrangianConstraint.inl + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BaseContactLagrangianConstraint.h + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BaseContactLagrangianConstraint.inl ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.h ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.inl ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/FixedLagrangianConstraint.h @@ -35,6 +40,7 @@ set(HEADER_FILES set(SOURCE_FILES ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/init.cpp + ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/AugmentedLagrangianConstraint.cpp ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.cpp ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/FixedLagrangianConstraint.cpp ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.cpp diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp new file mode 100644 index 00000000000..e3970402ce7 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp @@ -0,0 +1,109 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#define SOFA_COMPONENT_CONSTRAINTSET_AugmentedLagrangianConstraint_CPP +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +using namespace sofa::defaulttype; +using namespace sofa::helper; + +void registerAugmentedLagrangianConstraint(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("AugmentedLagrangianConstraint") + .add< AugmentedLagrangianConstraint >()); +} + +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BaseContactLagrangianConstraint; +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API AugmentedLagrangianConstraint; + + + +void AugmentedLagrangianResolutionWithFriction::init(int line, SReal** w, SReal* force) +{ + _W[0]=w[line ][line ]; + _W[1]=w[line ][line+1]; + _W[2]=w[line ][line+2]; + _W[3]=w[line+1][line+1]; + _W[4]=w[line+1][line+2]; + _W[5]=w[line+2][line+2]; + + ////////////////// christian : the following does not work ! ///////// + if(_prev) + { + force[line] = _prev->popForce(); + force[line+1] = _prev->popForce(); + force[line+2] = _prev->popForce(); + } + +} + +void AugmentedLagrangianResolutionWithFriction::resolution(int line, SReal** /*w*/, SReal* d, SReal* force, SReal * /*dfree*/) +{ + force[line] -= d[line] * _epsilon; + + if(force[line] < 0) + { + force[line]=0; force[line+1]=0; force[line+2]=0; + return; + } + + const SReal f_t_0 = force[line + 1] - d[line+ 1] * _epsilon; + const SReal f_t_1 = force[line + 2] - d[line+ 2] * _epsilon; + + const SReal criteria = sqrt(pow(f_t_0,2.0) + pow(f_t_1,2.0)) - _mu * fabs(force[line]); + + if(criteria<0) + { + force[line+1] = f_t_0 ; + force[line+2] = f_t_1 ; + } + else + { + const SReal norm_s = sqrt(pow(d[line+ 1],2.0) + pow(d[line+ 2],2.0)); + force[line+1] -= _mu * d[line] * _epsilon * d[line+ 1]/norm_s; + force[line+2] -= _mu * d[line] * _epsilon * d[line+ 2]/norm_s; + } +} + +void AugmentedLagrangianResolutionWithFriction::store(int line, SReal* force, bool /*convergence*/) +{ + if(_prev) + { + _prev->pushForce(force[line]); + _prev->pushForce(force[line+1]); + _prev->pushForce(force[line+2]); + } + + if(_active) + { + *_active = (force[line] != 0); + _active = nullptr; // Won't be used in the haptic thread + } +} + + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.h new file mode 100644 index 00000000000..46dab0e3a63 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.h @@ -0,0 +1,87 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +struct AugmentedLagrangianContactParameters final : public BaseContactParams +{ + AugmentedLagrangianContactParameters() : mu(0.0), epsilon(0.0) {}; + AugmentedLagrangianContactParameters(SReal _mu, SReal _epsilon) : mu(_mu), epsilon(_epsilon) {}; + + virtual bool hasTangentialComponent() const override + { + return mu>0.0; + } + + SReal mu; + SReal epsilon; +}; + +template +class AugmentedLagrangianConstraint : public BaseContactLagrangianConstraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(AugmentedLagrangianConstraint,DataTypes), SOFA_TEMPLATE2(BaseContactLagrangianConstraint,DataTypes,AugmentedLagrangianContactParameters)); + typedef BaseContactLagrangianConstraint Inherit; + typedef typename Inherit::MechanicalState MechanicalState; + typedef typename Inherit::Contact Contact; + +protected: + AugmentedLagrangianConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr); + virtual ~AugmentedLagrangianConstraint() = default; + +public: + virtual void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) override; + + virtual type::vector getUnilateralInteractionIdentifiers() override final + { + type::vector ids = getAugmentedLagrangianIdentifiers(); + ids.push_back("Augmented"); + return ids; + } + + virtual type::vector getAugmentedLagrangianIdentifiers() {return {};} + + +}; + + +#if !defined(SOFA_COMPONENT_CONSTRAINTSET_AugmentedLagrangianConstraint_CPP) + extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BaseContactLagrangianConstraint; + extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API AugmentedLagrangianConstraint; +#endif + + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl new file mode 100644 index 00000000000..914c64f6a3a --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl @@ -0,0 +1,70 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template +AugmentedLagrangianConstraint::AugmentedLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) + : Inherit(object1, object2) +{ +} + +template +void AugmentedLagrangianConstraint::getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) +{ + if(this->contactsStatus) + { + delete[] this->contactsStatus; + this->contactsStatus = nullptr; + } + + if (this->contacts.size() > 0) + { + this->contactsStatus = new bool[this->contacts.size()]; + memset(this->contactsStatus, 0, sizeof(bool)*this->contacts.size()); + } + + for(unsigned int i=0; icontacts.size(); i++) + { + Contact& c = this->contacts[i]; + if(c.parameters.hasTangentialComponent()) + { + AugmentedLagrangianResolutionWithFriction* ucrwf = new AugmentedLagrangianResolutionWithFriction(c.parameters.mu,c.parameters.epsilon, nullptr, &(this->contactsStatus[i])); + ucrwf->setTolerance(this->customTolerance); + resTab[offset] = ucrwf; + + // NOTE: this method of storing forces may not work well with 2 threads when using haptics + offset += 3; + } + else + resTab[offset++] = new AugmentedLagrangianResolution(c.parameters.epsilon); + } +} + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianResolution.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianResolution.h new file mode 100644 index 00000000000..78ff8d7bb73 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianResolution.h @@ -0,0 +1,74 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include + + +namespace sofa::component::constraint::lagrangian::model +{ + +class AugmentedLagrangianResolution : public core::behavior::ConstraintResolution +{ + public: + AugmentedLagrangianResolution(SReal epsilon) : core::behavior::ConstraintResolution(1), m_epsilon(epsilon) {} + + void resolution(int line, SReal** w, SReal* d, SReal* force, SReal* dfree) override + { + SOFA_UNUSED(dfree); + force[line] -= d[line] / w[line][line]; + if (force[line] < 0) force[line] = 0.0; + } +private: + SReal m_epsilon; +}; + + +class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API AugmentedLagrangianResolutionWithFriction + : public core::behavior::ConstraintResolution +{ + public: + AugmentedLagrangianResolutionWithFriction(SReal mu, SReal epsilon, PreviousForcesContainer* prev = nullptr, + bool* active = nullptr) + : core::behavior::ConstraintResolution(3), _mu(mu), _epsilon(epsilon), _prev(prev), _active(active) + { + } + + void init(int line, SReal** w, SReal* force) override; + void resolution(int line, SReal** w, SReal* d, SReal* force, SReal* dFree) override; + void store(int line, SReal* force, bool /*convergence*/) override; + + protected: + SReal _mu; + SReal _epsilon; + SReal _W[6]; + PreviousForcesContainer* _prev; + bool* _active; // Will set this after the resolution +}; + +} \ No newline at end of file diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.h new file mode 100644 index 00000000000..512a06ebd5b --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.h @@ -0,0 +1,160 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + + +//TODO(Paul) C++20: add concept for ContactParams +// Every ContactParams should implement hasTangentialComponent +struct BaseContactParams +{ + virtual bool hasTangentialComponent() const = 0; +}; + +template +class BaseContactLagrangianConstraint : public core::behavior::PairInteractionConstraint +{ +public: + SOFA_CLASS(SOFA_TEMPLATE2(BaseContactLagrangianConstraint,DataTypes,ContactParams), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint,DataTypes)); + + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + typedef typename DataTypes::MatrixDeriv::RowConstIterator MatrixDerivRowConstIterator; + typedef typename DataTypes::MatrixDeriv::ColConstIterator MatrixDerivColConstIterator; + typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; + typedef typename DataTypes::MatrixDeriv::ColIterator MatrixDerivColIterator; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename Coord::value_type Real; + typedef typename core::behavior::MechanicalState MechanicalState; + + typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo; + typedef core::behavior::BaseConstraint::PersistentID PersistentID; + typedef core::behavior::BaseConstraint::ConstCoord ConstCoord; + + typedef core::behavior::BaseConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; + typedef core::behavior::BaseConstraint::VecPersistentID VecPersistentID; + typedef core::behavior::BaseConstraint::VecConstCoord VecConstCoord; + typedef core::behavior::BaseConstraint::VecConstDeriv VecConstDeriv; + typedef core::behavior::BaseConstraint::VecConstArea VecConstArea; + + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; + + typedef typename core::behavior::PairInteractionConstraint Inherit; + +protected: + + struct Contact + { + int m1, m2; ///< the two extremities of the spring: masses m1 and m2 + Deriv norm; ///< contact normal, from m1 to m2 + Deriv t; ///< added for friction + Deriv s; ///< added for friction + Real contactDistance; + + unsigned int id; + long contactId; + PersistentID localId; + ContactParams parameters; + + Coord P, Q; + + mutable Real dfree; + }; + + sofa::type::vector contacts; + bool yetIntegrated; + SReal customTolerance; + + bool* contactsStatus; + + /// Computes constraint violation in position and stores it into resolution global vector + /// + /// @param v Global resolution vector + virtual void getPositionViolation(linearalgebra::BaseVector *v); + + ///Computes constraint violation in velocity and stores it into resolution global vector + /// + /// @param v Global resolution vector + virtual void getVelocityViolation(linearalgebra::BaseVector *v); + +public: + + unsigned int constraintId; +protected: + + virtual type::vector getUnilateralInteractionIdentifiers() {return {};} + + virtual type::vector getPairInteractionIdentifiers() override final + { + type::vector ids = getUnilateralInteractionIdentifiers(); + ids.push_back("Unilateral"); + return ids; + } + + + BaseContactLagrangianConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr); + virtual ~BaseContactLagrangianConstraint(); + +public: + void setCustomTolerance(SReal tol) { customTolerance = tol; } + + void clear(int reserve=0); + + + void addContact(const ContactParams& parameters, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id=0, PersistentID localid=0); + void addContact(const ContactParams& parameters, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); + void addContact(const ContactParams& parameters, Deriv norm, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); + + void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex + , const DataVecCoord &x1, const DataVecCoord &x2) override; + + void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2 + , const DataVecDeriv &v1, const DataVecDeriv &v2) override; + + + void getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) override; + + virtual void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) =0; + bool isActive() const override; + + void draw(const core::visual::VisualParams* vparams) override; +}; + + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.inl new file mode 100644 index 00000000000..27263e58dc1 --- /dev/null +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.inl @@ -0,0 +1,386 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include +#include +#include +#include + +namespace sofa::component::constraint::lagrangian::model +{ + +template +BaseContactLagrangianConstraint::BaseContactLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) + : Inherit(object1, object2) + , yetIntegrated(false) + , customTolerance(0.0) + , contactsStatus(nullptr) +{ +} + +template +BaseContactLagrangianConstraint::~BaseContactLagrangianConstraint() +{ + if(contactsStatus) + delete[] contactsStatus; +} + +template +void BaseContactLagrangianConstraint::clear(int reserve) +{ + contacts.clear(); + if (reserve) + contacts.reserve(reserve); +} + +template +void BaseContactLagrangianConstraint::addContact(const ContactParams& parameters, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id, PersistentID localid) +{ + addContact(parameters, norm, P, Q, contactDistance, m1, m2, + this->getMState2()->read(core::vec_id::read_access::freePosition)->getValue()[m2], + this->getMState1()->read(core::vec_id::read_access::freePosition)->getValue()[m1], + id, localid); +} + +template +void BaseContactLagrangianConstraint::addContact(const ContactParams& parameters, Deriv norm, Real contactDistance, int m1, int m2, long id, PersistentID localid) +{ + addContact(parameters, norm, + this->getMState2()->read(core::vec_id::read_access::position)->getValue()[m2], + this->getMState1()->read(core::vec_id::read_access::position)->getValue()[m1], + contactDistance, m1, m2, + this->getMState2()->read(core::vec_id::read_access::freePosition)->getValue()[m2], + this->getMState1()->read(core::vec_id::read_access::freePosition)->getValue()[m1], + id, localid); +} + +template +void BaseContactLagrangianConstraint::addContact(const ContactParams& parameters, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord /*Pfree*/, Coord /*Qfree*/, long id, PersistentID localid) +{ + contacts.resize(contacts.size() + 1); + Contact &c = contacts.back(); + + c.P = P; + c.Q = Q; + c.m1 = m1; + c.m2 = m2; + c.norm = norm; + c.t = Deriv(norm.z(), norm.x(), norm.y()); + c.s = cross(norm, c.t); + c.s = c.s / c.s.norm(); + c.t = cross((-norm), c.s); + c.parameters= parameters; + c.contactId = id; + c.localId = localid; + c.contactDistance = contactDistance; +} + + +template +void BaseContactLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams *, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &contactId + , const DataVecCoord &, const DataVecCoord &) +{ + assert(this->mstate1); + assert(this->mstate2); + + if (this->mstate1 == this->mstate2) + { + helper::WriteAccessor c1 = c1_d; + + + for (unsigned int i = 0; i < contacts.size(); i++) + { + Contact& c = contacts[i]; + + c.id = contactId++; + + MatrixDerivRowIterator c1_it = c1->writeLine(c.id); + + c1_it.addCol(c.m1, -c.norm); + c1_it.addCol(c.m2, c.norm); + + if (c.parameters.hasTangentialComponent()) + { + c1_it = c1->writeLine(c.id + 1); + c1_it.setCol(c.m1, -c.t); + c1_it.setCol(c.m2, c.t); + + c1_it = c1->writeLine(c.id + 2); + c1_it.setCol(c.m1, -c.s); + c1_it.setCol(c.m2, c.s); + + contactId += 2; + } + } + + } + else + { + helper::WriteAccessor c1 = c1_d; + helper::WriteAccessor c2 = c2_d; + + for (unsigned int i = 0; i < contacts.size(); i++) + { + Contact& c = contacts[i]; + + c.id = contactId++; + + MatrixDerivRowIterator c1_it = c1->writeLine(c.id); + c1_it.addCol(c.m1, -c.norm); + + MatrixDerivRowIterator c2_it = c2->writeLine(c.id); + c2_it.addCol(c.m2, c.norm); + + if (c.parameters.hasTangentialComponent()) + { + c1_it = c1->writeLine(c.id + 1); + c1_it.setCol(c.m1, -c.t); + + c1_it = c1->writeLine(c.id + 2); + c1_it.setCol(c.m1, -c.s); + + c2_it = c2->writeLine(c.id + 1); + c2_it.setCol(c.m2, c.t); + + c2_it = c2->writeLine(c.id + 2); + c2_it.setCol(c.m2, c.s); + + contactId += 2; + } + } + + } +} + + +template +void BaseContactLagrangianConstraint::getPositionViolation(linearalgebra::BaseVector *v) +{ + const VecCoord &PfreeVec = this->getMState2()->read(core::vec_id::read_access::freePosition)->getValue(); + const VecCoord &QfreeVec = this->getMState1()->read(core::vec_id::read_access::freePosition)->getValue(); + + Real dfree = (Real)0.0; + Real dfree_t = (Real)0.0; + Real dfree_s = (Real)0.0; + + const unsigned int cSize = contacts.size(); + + for (unsigned int i = 0; i < cSize; i++) + { + const Contact& c = contacts[i]; + + // Compute dfree, dfree_t and d_free_s + + const Coord &Pfree = PfreeVec[c.m2]; + const Coord &Qfree = QfreeVec[c.m1]; + + const Coord PPfree = Pfree - c.P; + const Coord QQfree = Qfree - c.Q; + + const Real ref_dist = PPfree.norm() + QQfree.norm(); + + dfree = dot(Pfree - Qfree, c.norm) - c.contactDistance; + const Real delta = dot(c.P - c.Q, c.norm) - c.contactDistance; + + if ((helper::rabs(delta) < 0.00001 * ref_dist) && (helper::rabs(dfree) < 0.00001 * ref_dist)) + { + dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); + dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); + } + else if (helper::rabs(delta - dfree) > 0.001 * delta) + { + const Real dt = delta / (delta - dfree); + + if (dt > 0.0 && dt < 1.0) + { + const Coord Pt = c.P * (1 - dt) + Pfree * dt; + const Coord Qt = c.Q * (1 - dt) + Qfree * dt; + const Coord PtPfree = Pfree - Pt; + const Coord QtQfree = Qfree - Qt; + + dfree_t = dot(PtPfree, c.t) - dot(QtQfree, c.t); + dfree_s = dot(PtPfree, c.s) - dot(QtQfree, c.s); + } + else if (dfree < 0.0) + { + dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); + dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); + } + else + { + dfree_t = 0; + dfree_s = 0; + } + } + else + { + dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); + dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); + } + + // Sets dfree in global violation vector + + v->set(c.id, dfree); + + c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still usefull. + + if (c.parameters.hasTangentialComponent()) + { + v->set(c.id + 1, dfree_t); + v->set(c.id + 2, dfree_s); + } + } +} + + +template +void BaseContactLagrangianConstraint::getVelocityViolation(linearalgebra::BaseVector *v) +{ + auto P = this->getMState2()->readPositions(); + auto Q = this->getMState1()->readPositions(); + + const SReal dt = this->getContext()->getDt(); + const SReal invDt = SReal(1.0) / dt; + + const VecDeriv &PvfreeVec = this->getMState2()->read(core::vec_id::read_access::freeVelocity)->getValue(); + const VecDeriv &QvfreeVec = this->getMState1()->read(core::vec_id::read_access::freeVelocity)->getValue(); + + const unsigned int cSize = contacts.size(); + + for (unsigned int i = 0; i < cSize; i++) + { + const Contact& c = contacts[i]; + + const Deriv QP_invDt = (P[c.m2] - Q[c.m1])*invDt; + const Deriv QP_vfree = PvfreeVec[c.m2] - QvfreeVec[c.m1]; + const Deriv dFreeVec = QP_vfree + QP_invDt; + + v->set(c.id, dot(dFreeVec, c.norm) - c.contactDistance*invDt ); // dvfree = 1/dt * [ dot ( P - Q, n) - contactDist ] + dot(v_P - v_Q , n ) ] + + if (c.parameters.hasTangentialComponent()) + { + v->set(c.id + 1, dot(QP_vfree, c.t)); // dfree_t + v->set(c.id + 2, dot(QP_vfree, c.s)); // dfree_s + } + } +} + + +template +void BaseContactLagrangianConstraint::getConstraintViolation(const core::ConstraintParams *cparams, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & + , const DataVecDeriv &, const DataVecDeriv &) +{ + switch (cparams->constOrder()) + { + case core::ConstraintOrder::POS_AND_VEL : + case core::ConstraintOrder::POS : + getPositionViolation(v); + break; + + case core::ConstraintOrder::ACC : + case core::ConstraintOrder::VEL : + getVelocityViolation(v); + break; + + default : + msg_error() << "BaseContactLagrangianConstraint doesn't implement " << cparams->getName() << " constraint violation\n"; + break; + } +} + + +template +void BaseContactLagrangianConstraint::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& /*positions*/, VecConstDeriv& directions, VecConstArea& /*areas*/) +{ + if (contacts.empty()) return; + const bool friction = (contacts[0].parameters.mu > 0.0); /// @todo: can there be both friction-less and friction contacts in the same BaseContactLagrangianConstraint ??? + ConstraintBlockInfo info; + info.parent = this; + info.const0 = contacts[0].id; + info.nbLines = friction ? 3 : 1; + info.hasId = true; + info.offsetId = ids.size(); + info.hasDirection = true; + info.offsetDirection = directions.size(); + info.nbGroups = contacts.size(); + + for (unsigned int i=0; i +bool BaseContactLagrangianConstraint::isActive() const +{ + for(unsigned int i = 0; i < contacts.size(); i++) + if(contacts[i].dfree < 0) + return true; + + return false; +} + +template +void BaseContactLagrangianConstraint::draw(const core::visual::VisualParams* vparams) +{ + if (!vparams->displayFlags().getShowInteractionForceFields()) return; + + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + vparams->drawTool()->disableLighting(); + + std::vector redVertices; + std::vector otherVertices; + std::vector otherColors; + + for (unsigned int i=0; idrawTool()->drawLines(otherVertices, 3, otherColors); + + + + +} + +} //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp index a1f07d3db8c..5ba36d4df61 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp @@ -90,7 +90,7 @@ class BilateralLagrangianConstraintSpecialization static void getConstraintResolution(BilateralLagrangianConstraint& self, const ConstraintParams* cParams, std::vector& resTab, - unsigned int& offset, SReal tolerance) + unsigned int& offset) { SOFA_UNUSED(cParams); const unsigned minp = std::min(self.d_m1.getValue().size(), @@ -100,7 +100,6 @@ class BilateralLagrangianConstraintSpecialization resTab[offset] = new BilateralConstraintResolution3Dof(); offset += 3; BilateralConstraintResolution3Dof* temp = new BilateralConstraintResolution3Dof(); - temp->setTolerance(tolerance); // specific (smaller) tolerance for the rotation resTab[offset] = temp; offset += 3; } @@ -276,8 +275,7 @@ void BilateralLagrangianConstraint::getConstraintResolution( unsigned int& offset) { RigidBilateralLagrangianConstraint::getConstraintResolution(*this, - cParams, resTab, offset, - d_numericalTolerance.getValue()); + cParams, resTab, offset); } template <> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h index abc001ded95..9b693e076e3 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h @@ -35,7 +35,7 @@ #include -#include +#include namespace sofa::component::constraint::lagrangian::model { @@ -98,23 +98,24 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint cid; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData > m1; + sofa::core::objectmodel::lifecycle::RenamedData > m1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData > m2; + sofa::core::objectmodel::lifecycle::RenamedData > m2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData restVector; + sofa::core::objectmodel::lifecycle::RenamedData restVector; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData keepOrientDiff; + sofa::core::objectmodel::lifecycle::RenamedData keepOrientDiff; DataSubsetIndices d_m1; ///< index of the constraint on the first model DataSubsetIndices d_m2; ///< index of the constraint on the second model Data d_restVector; ///< Relative position to maintain between attached points (optional) VecCoord initialDifference; - Data d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001 + SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() DeprecatedAndRemoved d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001 + Data d_activate; ///< control constraint activation (true by default) Data d_keepOrientDiff; ///< keep the initial difference in orientation (only for rigids) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl index 28e5ddd9d19..18a56f733cd 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl @@ -44,8 +44,6 @@ BilateralLagrangianConstraint::BilateralLagrangianConstraint(Mechanic , d_m1(initData(&d_m1, "first_point","index of the constraint on the first model (object1)")) , d_m2(initData(&d_m2, "second_point","index of the constraint on the second model (object2)")) , d_restVector(initData(&d_restVector, "rest_vector","Relative position to maintain between attached points (optional)")) - , d_numericalTolerance(initData(&d_numericalTolerance, 1e-4_sreal, "numericalTolerance", - "a real value specifying the tolerance during the constraint solving.") ) , d_activate( initData(&d_activate, true, "activate", "control constraint activation (true by default)")) , d_keepOrientDiff(initData(&d_keepOrientDiff, false, "keepOrientationDifference", "keep the initial difference in orientation (only for rigids)")) , l_topology1(initLink("topology1", "link to the first topology container")) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h index aeebd35cf94..2b7b3413745 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::constraint::lagrangian::model { @@ -89,13 +89,13 @@ class StopperLagrangianConstraint : public core::behavior::Constraint protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData index; + sofa::core::objectmodel::lifecycle::RenamedData index; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData min; + sofa::core::objectmodel::lifecycle::RenamedData min; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_MODEL() - sofa::core::objectmodel::RenamedData max; + sofa::core::objectmodel::lifecycle::RenamedData max; Data d_index; ///< index of the stop constraint diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp index ab1fa1724c8..5e477574304 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.cpp @@ -20,6 +20,9 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #define SOFA_COMPONENT_CONSTRAINTSET_UNILATERALLAGRANGIANCONSTRAINT_CPP +#include +#include +#include #include #include #include @@ -28,6 +31,8 @@ namespace sofa::component::constraint::lagrangian::model { using namespace sofa::defaulttype; +using namespace sofa::helper; + void registerUnilateralLagrangianConstraint(sofa::core::ObjectFactory* factory) { @@ -35,6 +40,8 @@ void registerUnilateralLagrangianConstraint(sofa::core::ObjectFactory* factory) .add< UnilateralLagrangianConstraint >()); } + +template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BaseContactLagrangianConstraint; template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h index f58a0ac1b72..1c888ee0bdd 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h @@ -26,6 +26,7 @@ #include #include #include +#include #include #include #include @@ -34,124 +35,41 @@ namespace sofa::component::constraint::lagrangian::model { -template -class UnilateralLagrangianConstraint : public core::behavior::PairInteractionConstraint +struct UnilateralLagrangianContactParameters final : public BaseContactParams { -public: - SOFA_CLASS(SOFA_TEMPLATE(UnilateralLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint,DataTypes)); - - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - typedef typename DataTypes::MatrixDeriv::RowConstIterator MatrixDerivRowConstIterator; - typedef typename DataTypes::MatrixDeriv::ColConstIterator MatrixDerivColConstIterator; - typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; - typedef typename DataTypes::MatrixDeriv::ColIterator MatrixDerivColIterator; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename Coord::value_type Real; - typedef typename core::behavior::MechanicalState MechanicalState; - - typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo; - typedef core::behavior::BaseConstraint::PersistentID PersistentID; - typedef core::behavior::BaseConstraint::ConstCoord ConstCoord; + UnilateralLagrangianContactParameters() : mu(0.0) {}; + UnilateralLagrangianContactParameters(SReal _mu) : mu(_mu) {}; - typedef core::behavior::BaseConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; - typedef core::behavior::BaseConstraint::VecPersistentID VecPersistentID; - typedef core::behavior::BaseConstraint::VecConstCoord VecConstCoord; - typedef core::behavior::BaseConstraint::VecConstDeriv VecConstDeriv; - typedef core::behavior::BaseConstraint::VecConstArea VecConstArea; - - typedef core::objectmodel::Data DataVecCoord; - typedef core::objectmodel::Data DataVecDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; - - typedef typename core::behavior::PairInteractionConstraint Inherit; - -protected: - - struct Contact + virtual bool hasTangentialComponent() const override { - int m1, m2; ///< the two extremities of the spring: masses m1 and m2 - Deriv norm; ///< contact normal, from m1 to m2 - Deriv t; ///< added for friction - Deriv s; ///< added for friction - Real contactDistance; - - unsigned int id; - long contactId; - PersistentID localId; - SReal mu; ///< angle for friction - - Coord P, Q; - - mutable Real dfree; - }; - - sofa::type::vector contacts; - Real epsilon; - bool yetIntegrated; - SReal customTolerance; - - PreviousForcesContainer prevForces; - bool* contactsStatus; - - /// Computes constraint violation in position and stores it into resolution global vector - /// - /// @param v Global resolution vector - virtual void getPositionViolation(linearalgebra::BaseVector *v); + return mu>0.0; + } - ///Computes constraint violation in velocity and stores it into resolution global vector - /// - /// @param v Global resolution vector - virtual void getVelocityViolation(linearalgebra::BaseVector *v); + SReal mu; +}; +template +class UnilateralLagrangianConstraint : public BaseContactLagrangianConstraint +{ public: + SOFA_CLASS(SOFA_TEMPLATE(UnilateralLagrangianConstraint,DataTypes), SOFA_TEMPLATE2(BaseContactLagrangianConstraint,DataTypes,UnilateralLagrangianContactParameters)); + typedef BaseContactLagrangianConstraint Inherit; + typedef typename Inherit::MechanicalState MechanicalState; + typedef typename Inherit::Contact Contact; - unsigned int constraintId; protected: - - virtual type::vector getUnilateralInteractionIdentifiers() {return {};} - - virtual type::vector getPairInteractionIdentifiers() override final - { - type::vector ids = getUnilateralInteractionIdentifiers(); - ids.push_back("Unilateral"); - return ids; - } - - UnilateralLagrangianConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr); - virtual ~UnilateralLagrangianConstraint(); + virtual ~UnilateralLagrangianConstraint() = default; public: - void setCustomTolerance(SReal tol) { customTolerance = tol; } - - void clear(int reserve = 0); - - virtual void addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id=0, PersistentID localid=0); - - void addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); - void addContact(SReal mu, Deriv norm, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0); - - void buildConstraintMatrix(const core::ConstraintParams* cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex - , const DataVecCoord &x1, const DataVecCoord &x2) override; - - void getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2 - , const DataVecDeriv &v1, const DataVecDeriv &v2) override; - - - void getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) override; - - void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) override; - bool isActive() const override; + virtual void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) override; - void draw(const core::visual::VisualParams* vparams) override; }; #if !defined(SOFA_COMPONENT_CONSTRAINTSET_UNILATERALLAGRANGIANCONSTRAINT_CPP) -extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint; + extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BaseContactLagrangianConstraint; + extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralLagrangianConstraint; #endif diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl index a24d49ce910..f4b4d92ac6e 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl @@ -32,340 +32,31 @@ namespace sofa::component::constraint::lagrangian::model template UnilateralLagrangianConstraint::UnilateralLagrangianConstraint(MechanicalState* object1, MechanicalState* object2) : Inherit(object1, object2) - , epsilon(Real(0.001)) - , yetIntegrated(false) - , customTolerance(0.0) - , contactsStatus(nullptr) { } -template -UnilateralLagrangianConstraint::~UnilateralLagrangianConstraint() -{ - if(contactsStatus) - delete[] contactsStatus; -} - -template -void UnilateralLagrangianConstraint::clear(int reserve) -{ - contacts.clear(); - if (reserve) - contacts.reserve(reserve); -} - -template -void UnilateralLagrangianConstraint::addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id, PersistentID localid) -{ - addContact(mu, norm, P, Q, contactDistance, m1, m2, - this->getMState2()->read(core::vec_id::read_access::freePosition)->getValue()[m2], - this->getMState1()->read(core::vec_id::read_access::freePosition)->getValue()[m1], - id, localid); -} - -template -void UnilateralLagrangianConstraint::addContact(SReal mu, Deriv norm, Real contactDistance, int m1, int m2, long id, PersistentID localid) -{ - addContact(mu, norm, - this->getMState2()->read(core::vec_id::read_access::position)->getValue()[m2], - this->getMState1()->read(core::vec_id::read_access::position)->getValue()[m1], - contactDistance, m1, m2, - this->getMState2()->read(core::vec_id::read_access::freePosition)->getValue()[m2], - this->getMState1()->read(core::vec_id::read_access::freePosition)->getValue()[m1], - id, localid); -} - -template -void UnilateralLagrangianConstraint::addContact(SReal mu, Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord /*Pfree*/, Coord /*Qfree*/, long id, PersistentID localid) -{ - contacts.resize(contacts.size() + 1); - Contact &c = contacts.back(); - - c.P = P; - c.Q = Q; - c.m1 = m1; - c.m2 = m2; - c.norm = norm; - c.t = Deriv(norm.z(), norm.x(), norm.y()); - c.s = cross(norm, c.t); - c.s = c.s / c.s.norm(); - c.t = cross((-norm), c.s); - c.mu = mu; - c.contactId = id; - c.localId = localid; - c.contactDistance = contactDistance; -} - - -template -void UnilateralLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams *, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &contactId - , const DataVecCoord &, const DataVecCoord &) -{ - assert(this->mstate1); - assert(this->mstate2); - - if (this->mstate1 == this->mstate2) - { - MatrixDeriv& c1 = *c1_d.beginEdit(); - - for (unsigned int i = 0; i < contacts.size(); i++) - { - Contact& c = contacts[i]; - - c.id = contactId++; - - MatrixDerivRowIterator c1_it = c1.writeLine(c.id); - - c1_it.addCol(c.m1, -c.norm); - c1_it.addCol(c.m2, c.norm); - - if (c.mu > 0.0) - { - c1_it = c1.writeLine(c.id + 1); - c1_it.setCol(c.m1, -c.t); - c1_it.setCol(c.m2, c.t); - - c1_it = c1.writeLine(c.id + 2); - c1_it.setCol(c.m1, -c.s); - c1_it.setCol(c.m2, c.s); - - contactId += 2; - } - } - - c1_d.endEdit(); - } - else - { - MatrixDeriv& c1 = *c1_d.beginEdit(); - MatrixDeriv& c2 = *c2_d.beginEdit(); - - for (unsigned int i = 0; i < contacts.size(); i++) - { - Contact& c = contacts[i]; - - c.id = contactId++; - - MatrixDerivRowIterator c1_it = c1.writeLine(c.id); - c1_it.addCol(c.m1, -c.norm); - - MatrixDerivRowIterator c2_it = c2.writeLine(c.id); - c2_it.addCol(c.m2, c.norm); - - if (c.mu > 0.0) - { - c1_it = c1.writeLine(c.id + 1); - c1_it.setCol(c.m1, -c.t); - - c1_it = c1.writeLine(c.id + 2); - c1_it.setCol(c.m1, -c.s); - - c2_it = c2.writeLine(c.id + 1); - c2_it.setCol(c.m2, c.t); - - c2_it = c2.writeLine(c.id + 2); - c2_it.setCol(c.m2, c.s); - - contactId += 2; - } - } - - c1_d.endEdit(); - c2_d.endEdit(); - } -} - - -template -void UnilateralLagrangianConstraint::getPositionViolation(linearalgebra::BaseVector *v) -{ - const VecCoord &PfreeVec = this->getMState2()->read(core::vec_id::read_access::freePosition)->getValue(); - const VecCoord &QfreeVec = this->getMState1()->read(core::vec_id::read_access::freePosition)->getValue(); - - Real dfree = (Real)0.0; - Real dfree_t = (Real)0.0; - Real dfree_s = (Real)0.0; - - const unsigned int cSize = contacts.size(); - - for (unsigned int i = 0; i < cSize; i++) - { - const Contact& c = contacts[i]; - - // Compute dfree, dfree_t and d_free_s - - const Coord &Pfree = PfreeVec[c.m2]; - const Coord &Qfree = QfreeVec[c.m1]; - - const Coord PPfree = Pfree - c.P; - const Coord QQfree = Qfree - c.Q; - - const Real ref_dist = PPfree.norm() + QQfree.norm(); - - dfree = dot(Pfree - Qfree, c.norm) - c.contactDistance; - const Real delta = dot(c.P - c.Q, c.norm) - c.contactDistance; - - if ((helper::rabs(delta) < 0.00001 * ref_dist) && (helper::rabs(dfree) < 0.00001 * ref_dist)) - { - dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); - dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); - } - else if (helper::rabs(delta - dfree) > 0.001 * delta) - { - const Real dt = delta / (delta - dfree); - - if (dt > 0.0 && dt < 1.0) - { - const Coord Pt = c.P * (1 - dt) + Pfree * dt; - const Coord Qt = c.Q * (1 - dt) + Qfree * dt; - const Coord PtPfree = Pfree - Pt; - const Coord QtQfree = Qfree - Qt; - - dfree_t = dot(PtPfree, c.t) - dot(QtQfree, c.t); - dfree_s = dot(PtPfree, c.s) - dot(QtQfree, c.s); - } - else if (dfree < 0.0) - { - dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); - dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); - } - else - { - dfree_t = 0; - dfree_s = 0; - } - } - else - { - dfree_t = dot(PPfree, c.t) - dot(QQfree, c.t); - dfree_s = dot(PPfree, c.s) - dot(QQfree, c.s); - } - - // Sets dfree in global violation vector - - v->set(c.id, dfree); - - c.dfree = dfree; // PJ : For isActive() method. Don't know if it's still useful. - - if (c.mu > 0.0) - { - v->set(c.id + 1, dfree_t); - v->set(c.id + 2, dfree_s); - } - } -} - - -template -void UnilateralLagrangianConstraint::getVelocityViolation(linearalgebra::BaseVector *v) -{ - auto P = this->getMState2()->readPositions(); - auto Q = this->getMState1()->readPositions(); - - const SReal dt = this->getContext()->getDt(); - const SReal invDt = SReal(1.0) / dt; - - const VecDeriv &PvfreeVec = this->getMState2()->read(core::vec_id::read_access::freeVelocity)->getValue(); - const VecDeriv &QvfreeVec = this->getMState1()->read(core::vec_id::read_access::freeVelocity)->getValue(); - - const unsigned int cSize = contacts.size(); - - for (unsigned int i = 0; i < cSize; i++) - { - const Contact& c = contacts[i]; - - const Deriv QP_invDt = (P[c.m2] - Q[c.m1])*invDt; - const Deriv QP_vfree = PvfreeVec[c.m2] - QvfreeVec[c.m1]; - const Deriv dFreeVec = QP_vfree + QP_invDt; - - v->set(c.id, dot(dFreeVec, c.norm) - c.contactDistance*invDt ); // dvfree = 1/dt * [ dot ( P - Q, n) - contactDist ] + dot(v_P - v_Q , n ) ] - - if (c.mu > 0.0) - { - v->set(c.id + 1, dot(QP_vfree, c.t)); // dfree_t - v->set(c.id + 2, dot(QP_vfree, c.s)); // dfree_s - } - } -} - - -template -void UnilateralLagrangianConstraint::getConstraintViolation(const core::ConstraintParams *cparams, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & - , const DataVecDeriv &, const DataVecDeriv &) -{ - switch (cparams->constOrder()) - { - case core::ConstraintOrder::POS_AND_VEL : - case core::ConstraintOrder::POS : - getPositionViolation(v); - break; - - case core::ConstraintOrder::ACC : - case core::ConstraintOrder::VEL : - getVelocityViolation(v); - break; - - default : - msg_error() << "UnilateralLagrangianConstraint doesn't implement " << cparams->getName() << " constraint violation\n"; - break; - } -} - - -template -void UnilateralLagrangianConstraint::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& /*positions*/, VecConstDeriv& directions, VecConstArea& /*areas*/) -{ - if (contacts.empty()) return; - const bool friction = (contacts[0].mu > 0.0); /// @todo: can there be both friction-less and friction contacts in the same UnilateralLagrangianConstraint ??? - ConstraintBlockInfo info; - info.parent = this; - info.const0 = contacts[0].id; - info.nbLines = friction ? 3 : 1; - info.hasId = true; - info.offsetId = ids.size(); - info.hasDirection = true; - info.offsetDirection = directions.size(); - info.nbGroups = contacts.size(); - - for (unsigned int i=0; i void UnilateralLagrangianConstraint::getConstraintResolution(const core::ConstraintParams *, std::vector& resTab, unsigned int& offset) { - if(contactsStatus) + if(this->contactsStatus) { - delete[] contactsStatus; - contactsStatus = nullptr; + delete[] this->contactsStatus; + this->contactsStatus = nullptr; } - if (contacts.size() > 0) + if (this->contacts.size() > 0) { - contactsStatus = new bool[contacts.size()]; - memset(contactsStatus, 0, sizeof(bool)*contacts.size()); + this->contactsStatus = new bool[this->contacts.size()]; + memset(this->contactsStatus, 0, sizeof(bool)*this->contacts.size()); } - for(unsigned int i=0; icontacts.size(); i++) { - Contact& c = contacts[i]; - if(c.mu > 0.0) + Contact& c = this->contacts[i]; + if(c.parameters.hasTangentialComponent()) { - UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.mu, nullptr, &contactsStatus[i]); - ucrwf->setTolerance(customTolerance); + UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.parameters.mu, nullptr, &this->contactsStatus[i]); + ucrwf->setTolerance(this->customTolerance); resTab[offset] = ucrwf; // TODO : cette méthode de stockage des forces peu mal fonctionner avec 2 threads quand on utilise l'haptique @@ -374,48 +65,6 @@ void UnilateralLagrangianConstraint::getConstraintResolution(const co else resTab[offset++] = new UnilateralConstraintResolution(); } -} - -template -bool UnilateralLagrangianConstraint::isActive() const -{ - for(unsigned int i = 0; i < contacts.size(); i++) - if(contacts[i].dfree < 0) - return true; - - return false; -} - -template -void UnilateralLagrangianConstraint::draw(const core::visual::VisualParams* vparams) -{ - if (!vparams->displayFlags().getShowInteractionForceFields()) return; - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - vparams->drawTool()->disableLighting(); - - std::vector redVertices; - std::vector otherVertices; - std::vector otherColors; - - for (unsigned int i=0; idrawTool()->drawLines(otherVertices, 3, otherColors); - - - - } } //namespace sofa::component::constraint::lagrangian::model diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in index 06c71b9df5f..8d0b5acc531 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in @@ -44,4 +44,14 @@ namespace sofa::component::constraint::lagrangian::model SOFA_ATTRIBUTE_DEPRECATED( \ "v24.06", "v24.12", \ "Data renamed according to the guidelines") +#endif + + +#ifdef SOFA_BUILD_SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL +#define SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() \ + SOFA_ATTRIBUTE_DEPRECATED( \ + "v25.06", "v25.12", \ + "Data \'d_numericalTolerance\' has been removed since it was actually not taken into account") #endif \ No newline at end of file diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp index de09f9f65d9..ba40a5df106 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp @@ -26,6 +26,7 @@ namespace sofa::component::constraint::lagrangian::model { +extern void registerAugmentedLagrangianConstraint(sofa::core::ObjectFactory* factory); extern void registerBilateralLagrangianConstraint(sofa::core::ObjectFactory* factory); extern void registerFixedLagrangianConstraint(sofa::core::ObjectFactory* factory); extern void registerSlidingLagrangianConstraint(sofa::core::ObjectFactory* factory); @@ -57,6 +58,7 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { + registerAugmentedLagrangianConstraint(factory); registerBilateralLagrangianConstraint(factory); registerFixedLagrangianConstraint(factory); registerSlidingLagrangianConstraint(factory); diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h index cd3c770fd97..f7d35b82e92 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h @@ -32,7 +32,7 @@ #include #include -#include +#include #include @@ -71,49 +71,49 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API GenericConstraintSolver : Data< ResolutionMethod > d_resolutionMethod; ///< Method used to solve the constraint problem, among: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "for NonsmoothNonlinearConjugateGradient" SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData maxIt; + sofa::core::objectmodel::lifecycle::RenamedData maxIt; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData tolerance; + sofa::core::objectmodel::lifecycle::RenamedData tolerance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData sor; + sofa::core::objectmodel::lifecycle::RenamedData sor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData scaleTolerance; + sofa::core::objectmodel::lifecycle::RenamedData scaleTolerance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData allVerified; + sofa::core::objectmodel::lifecycle::RenamedData allVerified; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData computeGraphs; + sofa::core::objectmodel::lifecycle::RenamedData computeGraphs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData > > graphErrors; + sofa::core::objectmodel::lifecycle::RenamedData > > graphErrors; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData > > graphConstraints; + sofa::core::objectmodel::lifecycle::RenamedData > > graphConstraints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData > > graphForces; + sofa::core::objectmodel::lifecycle::RenamedData > > graphForces; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData > > graphViolations; + sofa::core::objectmodel::lifecycle::RenamedData > > graphViolations; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData currentNumConstraints; + sofa::core::objectmodel::lifecycle::RenamedData currentNumConstraints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData currentNumConstraintGroups; + sofa::core::objectmodel::lifecycle::RenamedData currentNumConstraintGroups; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData currentIterations; + sofa::core::objectmodel::lifecycle::RenamedData currentIterations; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData currentError; + sofa::core::objectmodel::lifecycle::RenamedData currentError; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData reverseAccumulateOrder; + sofa::core::objectmodel::lifecycle::RenamedData reverseAccumulateOrder; Data d_maxIt; ///< maximal number of iterations of the Gauss-Seidel algorithm Data d_tolerance; ///< residual error threshold for termination of the Gauss-Seidel algorithm diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h index d4ba0ee2681..80603d91185 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h @@ -35,7 +35,7 @@ #include #include -#include +#include namespace sofa::component::constraint::lagrangian::solver { @@ -75,61 +75,61 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ void draw(const core::visual::VisualParams* vparams) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData displayDebug; + sofa::core::objectmodel::lifecycle::RenamedData displayDebug; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData initial_guess; + sofa::core::objectmodel::lifecycle::RenamedData initial_guess; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData build_lcp; + sofa::core::objectmodel::lifecycle::RenamedData build_lcp; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData tol; + sofa::core::objectmodel::lifecycle::RenamedData tol; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData< int> maxIt; + sofa::core::objectmodel::lifecycle::RenamedData< int> maxIt; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData mu; + sofa::core::objectmodel::lifecycle::RenamedData mu; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData minW; + sofa::core::objectmodel::lifecycle::RenamedData minW; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData maxF; + sofa::core::objectmodel::lifecycle::RenamedData maxF; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData multi_grid; + sofa::core::objectmodel::lifecycle::RenamedData multi_grid; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData< int> multi_grid_levels; + sofa::core::objectmodel::lifecycle::RenamedData< int> multi_grid_levels; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData< int> merge_method; + sofa::core::objectmodel::lifecycle::RenamedData< int> merge_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData< int> merge_spatial_step; + sofa::core::objectmodel::lifecycle::RenamedData< int> merge_spatial_step; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData< int> merge_local_levels; + sofa::core::objectmodel::lifecycle::RenamedData< int> merge_local_levels; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData < std::set > constraintGroups; + sofa::core::objectmodel::lifecycle::RenamedData < std::set > constraintGroups; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData > > f_graph; + sofa::core::objectmodel::lifecycle::RenamedData > > f_graph; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData< int> showLevels; + sofa::core::objectmodel::lifecycle::RenamedData< int> showLevels; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData showCellWidth; + sofa::core::objectmodel::lifecycle::RenamedData showCellWidth; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData showTranslation; + sofa::core::objectmodel::lifecycle::RenamedData showTranslation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER() - sofa::core::objectmodel::RenamedData showLevelTranslation; + sofa::core::objectmodel::lifecycle::RenamedData showLevelTranslation; Data d_displayDebug; ///< Display debug information. diff --git a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp index b0f8cbd6009..e7adc9e8fe9 100644 --- a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp +++ b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp @@ -27,6 +27,7 @@ #include #include +#include namespace sofa::component::constraint::lagrangian { @@ -55,9 +56,9 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Correction"); - factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Model"); - factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Solver"); + factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian.Correction); + factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian.Model); + factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian.Solver); } void init() diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h index a35f21fd8f9..6b8ee71a66e 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/AffineMovementProjectiveConstraint.h @@ -34,7 +34,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -82,28 +82,28 @@ class AffineMovementProjectiveConstraint : public core::behavior::ProjectiveCons public : SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > m_meshIndices; + sofa::core::objectmodel::lifecycle::RenamedData > m_meshIndices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > m_indices; + sofa::core::objectmodel::lifecycle::RenamedData > m_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_beginConstraintTime; + sofa::core::objectmodel::lifecycle::RenamedData m_beginConstraintTime; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_endConstraintTime; + sofa::core::objectmodel::lifecycle::RenamedData m_endConstraintTime; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_rotation; + sofa::core::objectmodel::lifecycle::RenamedData m_rotation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_quaternion; + sofa::core::objectmodel::lifecycle::RenamedData m_quaternion; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_translation; + sofa::core::objectmodel::lifecycle::RenamedData m_translation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_drawConstrainedPoints; + sofa::core::objectmodel::lifecycle::RenamedData m_drawConstrainedPoints; /// indices of the DOFs of the mesh diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h index 872ae61a5af..a4d357e85ae 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.h @@ -36,7 +36,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -85,13 +85,13 @@ class DirectionProjectiveConstraint : public core::behavior::ProjectiveConstrain public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > f_indices; + sofa::core::objectmodel::lifecycle::RenamedData > f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_drawSize; + sofa::core::objectmodel::lifecycle::RenamedData f_drawSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedDataf_direction; + sofa::core::objectmodel::lifecycle::RenamedDataf_direction; IndexSubsetData d_indices; ///< Indices the particles to project Data d_drawSize; ///< Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h index 827c65ac1fd..16f09ef7e35 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedRotationProjectiveConstraint.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -68,13 +68,13 @@ class FixedRotationProjectiveConstraint : public core::behavior::ProjectiveConst protected : SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< bool > FixedXRotation; + sofa::core::objectmodel::lifecycle::RenamedData< bool > FixedXRotation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< bool > FixedYRotation; + sofa::core::objectmodel::lifecycle::RenamedData< bool > FixedYRotation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< bool > FixedZRotation; + sofa::core::objectmodel::lifecycle::RenamedData< bool > FixedZRotation; Data< bool > d_fixedXRotation; ///< Prevent Rotation around X axis Data< bool > d_fixedYRotation; ///< Prevent Rotation around Y axis diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h index 2176f0d9d9c..ff9eae16e54 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/FixedTranslationProjectiveConstraint.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -65,16 +65,16 @@ class FixedTranslationProjectiveConstraint : public core::behavior::ProjectiveCo public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector > f_indices; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_fixAll; + sofa::core::objectmodel::lifecycle::RenamedData f_fixAll; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData _drawSize; + sofa::core::objectmodel::lifecycle::RenamedData _drawSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector > f_coordinates; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > f_coordinates; SetIndex d_indices; ///< Indices of the fixed points Data d_fixAll; ///< filter all the DOF to implement a fixed object diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h index 6a3f327bc29..3e5e08fcefd 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/HermiteSplineProjectiveConstraint.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -65,31 +65,31 @@ class HermiteSplineProjectiveConstraint : public core::behavior::ProjectiveConst public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector > m_indices; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > m_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_tBegin; + sofa::core::objectmodel::lifecycle::RenamedData m_tBegin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_tEnd; + sofa::core::objectmodel::lifecycle::RenamedData m_tEnd; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_x0; + sofa::core::objectmodel::lifecycle::RenamedData m_x0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_dx0; + sofa::core::objectmodel::lifecycle::RenamedData m_dx0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_x1; + sofa::core::objectmodel::lifecycle::RenamedData m_x1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_dx1; + sofa::core::objectmodel::lifecycle::RenamedData m_dx1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_sx0; + sofa::core::objectmodel::lifecycle::RenamedData m_sx0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_sx1; + sofa::core::objectmodel::lifecycle::RenamedData m_sx1; ///indices of the DOFs constraints SetIndex d_indices; diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h index 0475832b1bb..3cdcedd43f0 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LineProjectiveConstraint.h @@ -35,7 +35,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -86,16 +86,16 @@ class LineProjectiveConstraint : public core::behavior::ProjectiveConstraintSet< public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector< sofa::Index > > f_indices; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector< sofa::Index > > f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_drawSize; + sofa::core::objectmodel::lifecycle::RenamedData f_drawSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_origin; + sofa::core::objectmodel::lifecycle::RenamedData f_origin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_direction; + sofa::core::objectmodel::lifecycle::RenamedData f_direction; IndexSubsetData d_indices; ///< the particles to project Data d_drawSize; ///< Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h index c6434edab57..7a86baae012 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearMovementProjectiveConstraint.h @@ -35,7 +35,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -78,16 +78,16 @@ class LinearMovementProjectiveConstraint : public core::behavior::ProjectiveCons public : SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector< sofa::Index> > m_indices; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector< sofa::Index> > m_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > m_keyTimes; + sofa::core::objectmodel::lifecycle::RenamedData > m_keyTimes; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_keyMovements; + sofa::core::objectmodel::lifecycle::RenamedData m_keyMovements; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData showMovement; + sofa::core::objectmodel::lifecycle::RenamedData showMovement; /// indices of the DOFs the constraint is applied to SetIndex d_indices; diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h index 6e3a71e9329..c75c97db7f1 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.h @@ -71,14 +71,17 @@ public : /// the coordinates on which to apply velocities SetIndex d_coordinates; + /// If set to true then the last velocity will still be applied after all the key events + Data d_continueAfterEnd; + /// the key times surrounding the current simulation time (for interpolation) - Real prevT, nextT; + Real m_prevT, m_nextT; ///the velocities corresponding to the surrounding key times - Deriv prevV, nextV; + Deriv m_prevV, m_nextV; ///position at the initial step for constrained DOFs position - VecCoord x0; + VecCoord m_x0; ///position at the previous step for constrained DOFs position - VecCoord xP; + VecCoord m_xP; /// Link to be set to the topology container in the component graph. SingleLink, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; @@ -109,18 +112,24 @@ public : void projectPosition(const core::MechanicalParams* mparams, DataVecCoord& xData) override; void projectJacobianMatrix(const core::MechanicalParams* mparams, DataMatrixDeriv& cData) override; + void applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + void applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override; + + void projectMatrix( sofa::linearalgebra::BaseMatrix* /*M*/, unsigned /*offset*/ ) override; + + void applyConstraint(sofa::core::behavior::ZeroDirichletCondition* matrix) override; + void draw(const core::visual::VisualParams* vparams) override; private: - - /// to keep the time corresponding to the key times - Real currentTime; + /// Check if the constraint is still active regarding the current time and the continueAfterEnd data + bool isConstraintActive() const; /// to know if we found the key times - bool finished; + bool m_finished; /// find previous and next time keys - void findKeyTimes(); + bool findKeyTimes(); }; #if !defined(SOFA_COMPONENT_PROJECTIVECONSTRAINTSET_LINEARVELOCITYPROJECTIVECONSTRAINT_CPP) diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl index 80ff4e51937..c1cdacc363a 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/LinearVelocityProjectiveConstraint.inl @@ -23,6 +23,8 @@ #include #include +#include + #include #include #include @@ -40,8 +42,9 @@ LinearVelocityProjectiveConstraint::LinearVelocityProjectiveConstrai , d_keyTimes( initData(&d_keyTimes,"keyTimes","key times for the movements") ) , d_keyVelocities( initData(&d_keyVelocities,"velocities","velocities corresponding to the key times") ) , d_coordinates( initData(&d_coordinates, "coordinates", "coordinates on which to apply velocities") ) + , d_continueAfterEnd( initData(&d_continueAfterEnd, false, "continueAfterEnd", "If set to true then the last velocity will still be applied after all the key events") ) , l_topology(initLink("topology", "link to the topology container")) - , finished(false) + , m_finished(false) { d_indices.beginEdit()->push_back(0); d_indices.endEdit(); @@ -125,39 +128,36 @@ void LinearVelocityProjectiveConstraint::init() msg_info() << "No topology component found at path: " << l_topology.getLinkedPath() << ", nor in current context: " << this->getContext()->name; } - x0.resize(0); - xP.resize(0); - nextV = prevV = Deriv(); + m_x0.resize(0); + m_xP.resize(0); + m_nextV = m_prevV = Deriv(); - currentTime = -1.0; - finished = false; + m_finished = false; } template void LinearVelocityProjectiveConstraint::reset() { - nextT = prevT = 0.0; - nextV = prevV = Deriv(); + m_nextT = m_prevT = 0.0; + m_nextV = m_prevV = Deriv(); - currentTime = -1.0; - finished = false; + m_finished = false; } template void LinearVelocityProjectiveConstraint::projectResponse(const core::MechanicalParams* /*mparams*/, DataVecDeriv& resData) { - helper::WriteAccessor res = resData; - VecDeriv& dx = res.wref(); - - Real cT = (Real) this->getContext()->getTime(); - if ((cT != currentTime) || !finished) + if(!m_finished) { - findKeyTimes(); + m_finished = findKeyTimes(); } - if (finished && nextT != prevT) + if (isConstraintActive()) { + helper::WriteAccessor res = resData; + VecDeriv& dx = res.wref(); + const SetIndexArray & indices = d_indices.getValue(); //set the motion to the Dofs @@ -172,18 +172,24 @@ void LinearVelocityProjectiveConstraint::projectResponse(const core: template void LinearVelocityProjectiveConstraint::projectVelocity(const core::MechanicalParams* /*mparams*/, DataVecDeriv& vData) { - helper::WriteAccessor dx = vData; - Real cT = (Real) this->getContext()->getTime(); - - if ((cT != currentTime) || !finished) + if(!m_finished) { - findKeyTimes(); + m_finished = findKeyTimes(); } - if (finished && nextT != prevT) + if (isConstraintActive()) { + helper::WriteAccessor dx = vData; + Real cT = (Real) this->getContext()->getTime(); + //if we found 2 keyTimes, we have to interpolate a velocity (linear interpolation) - Deriv v = ((nextV - prevV)*((cT - prevT)/(nextT - prevT))) + prevV; + Deriv v = ((m_nextV - m_prevV)*((cT - m_prevT)/(m_nextT - m_prevT))) + m_prevV; + + //If we finished the key times but continue after end is on + if(m_finished) + { + v = m_prevV; + } const SetIndexArray & indices = d_indices.getValue(); const SetIndexArray & coordinates = d_coordinates.getValue(); @@ -213,36 +219,40 @@ void LinearVelocityProjectiveConstraint::projectVelocity(const core: template void LinearVelocityProjectiveConstraint::projectPosition(const core::MechanicalParams* /*mparams*/, DataVecCoord& xData) { + helper::WriteAccessor x = xData; //initialize initial Dofs positions, if it's not done - if (x0.size() == 0) + if (m_x0.size() == 0) { const SetIndexArray & indices = d_indices.getValue(); - x0.resize( x.size() ); - xP.resize( x.size() ); + m_x0.resize( x.size() ); + m_xP.resize( x.size() ); for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) { - x0[*it] = x[*it]; - xP[*it] = x0[*it]; + m_x0[*it] = x[*it]; + m_xP[*it] = m_x0[*it]; } } - Real cT = (Real) this->getContext()->getTime(); - if ((cT != currentTime) || !finished) + if(!m_finished) { - findKeyTimes(); + m_finished = findKeyTimes(); } - - Real dTsimu = (Real) this->getContext()->getDt(); - - - if(finished) + if(isConstraintActive()) { - Real dt = (cT - prevT) / (nextT - prevT); - Deriv m = (nextV-prevV)*dt + prevV; + const Real cT = (Real) this->getContext()->getTime(); + const Real dTsimu = (Real) this->getContext()->getDt(); + const Real dt = (cT - m_prevT) / (m_nextT - m_prevT); + Deriv m = (m_nextV-m_prevV)*dt + m_prevV; + + //If we finished the key times but continue after end is on + if(m_finished) + { + m = m_prevV; + } const SetIndexArray & indices = d_indices.getValue(); const SetIndexArray & coordinates = d_coordinates.getValue(); @@ -252,8 +262,8 @@ void LinearVelocityProjectiveConstraint::projectPosition(const core: //set the motion to the Dofs for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) { - x[*it] = xP[*it] + m*dTsimu; - xP[*it] = x[*it]; + x[*it] = m_xP[*it] + m*dTsimu; + m_xP[*it] = x[*it]; } } else @@ -262,8 +272,8 @@ void LinearVelocityProjectiveConstraint::projectPosition(const core: { for(SetIndexArray::const_iterator itInd = coordinates.begin(); itInd != coordinates.end(); ++itInd) { - x[*it][*itInd] = xP[*it][*itInd] + m[*itInd]*dTsimu; - xP[*it] = x[*it]; + x[*it][*itInd] = m_xP[*it][*itInd] + m[*itInd]*dTsimu; + m_xP[*it] = x[*it]; } } } @@ -271,38 +281,51 @@ void LinearVelocityProjectiveConstraint::projectPosition(const core: } template -void LinearVelocityProjectiveConstraint::findKeyTimes() +bool LinearVelocityProjectiveConstraint::isConstraintActive() const +{ + return (!m_finished || d_continueAfterEnd.getValue()) && (m_nextT != m_prevT); +} + +template +bool LinearVelocityProjectiveConstraint::findKeyTimes() { - Real cT = (Real) this->getContext()->getTime(); - finished = false; + const Real cT = (Real) this->getContext()->getTime(); + + if(cT > *d_keyTimes.getValue().rbegin()) + { + m_prevV = m_nextV; + m_nextT = INFINITY; + return true; + } if(d_keyTimes.getValue().size() != 0 && cT >= *d_keyTimes.getValue().begin() && cT <= *d_keyTimes.getValue().rbegin()) { - nextT = *d_keyTimes.getValue().begin(); - prevT = nextT; + m_nextT = *d_keyTimes.getValue().begin(); + m_prevT = m_nextT; typename type::vector::const_iterator it_t = d_keyTimes.getValue().begin(); typename VecDeriv::const_iterator it_v = d_keyVelocities.getValue().begin(); //WARNING : we consider that the key-events are in chronological order //here we search between which keyTimes we are, to know which are the motion to interpolate - while( it_t != d_keyTimes.getValue().end() && !finished) + while( it_t != d_keyTimes.getValue().end()) { if( *it_t <= cT) { - prevT = *it_t; - prevV = *it_v; + m_prevT = *it_t; + m_prevV = *it_v; } else { - nextT = *it_t; - nextV = *it_v; - finished = true; + m_nextT = *it_t; + m_nextV = *it_v; + return false; } ++it_t; ++it_v; } } + return false; }// LinearVelocityProjectiveConstraint::findKeyTimes template @@ -311,6 +334,97 @@ void LinearVelocityProjectiveConstraint::projectJacobianMatrix(const } +template +void LinearVelocityProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, linearalgebra::BaseVector* vector, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + + if(isConstraintActive()) + { + const int o = matrix->getGlobalOffset(this->mstate.get()); + if (o >= 0) + { + unsigned int offset = (unsigned int)o; + constexpr unsigned int N = Deriv::size(); + + const SetIndexArray& indices = this->d_indices.getValue(); + for (const unsigned int index : indices) + { + for (unsigned int c = 0; c < N; ++c) + { + vector->clear(offset + N * index + c); + } + } + } + } +} + +template +void LinearVelocityProjectiveConstraint::applyConstraint(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) +{ + SOFA_UNUSED(mparams); + if(isConstraintActive()) + { + if (const core::behavior::MultiMatrixAccessor::MatrixRef r = + matrix->getMatrix(this->mstate.get())) + { + constexpr unsigned int N = Deriv::size(); + const SetIndexArray& indices = this->d_indices.getValue(); + + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + // Reset Fixed Row and Col + for (unsigned int c = 0; c < N; ++c) + { + r.matrix->clearRowCol(r.offset + N * (*it) + c); + } + // Set Fixed Vertex + for (unsigned int c = 0; c < N; ++c) + { + r.matrix->set(r.offset + N * (*it) + c, r.offset + N * (*it) + c, 1.0); + } + } + } + } +} + +template +void LinearVelocityProjectiveConstraint::projectMatrix( sofa::linearalgebra::BaseMatrix* M, unsigned offset ) +{ + static const unsigned blockSize = DataTypes::deriv_total_size; + + if(isConstraintActive()) + { + const SetIndexArray & indices = this->d_indices.getValue(); + for (SetIndexArray::const_iterator it = indices.begin(); it != indices.end(); ++it) + { + for (unsigned int c = 0; c < blockSize; ++c) + { + M->clearRowCol( offset + (*it) * blockSize + c); + } + } + } +} + +template +void LinearVelocityProjectiveConstraint::applyConstraint( + sofa::core::behavior::ZeroDirichletCondition* matrix) +{ + static constexpr unsigned int N = Deriv::size(); + if(isConstraintActive()) + { + const SetIndexArray& indices = this->d_indices.getValue(); + + for (const auto index : indices) + { + for (unsigned int c = 0; c < N; ++c) + { + matrix->discardRowCol(N * index + c, N * index + c); + } + } + } +} + //display the path the constrained dofs will go through template void LinearVelocityProjectiveConstraint::draw(const core::visual::VisualParams* vparams) @@ -328,8 +442,8 @@ void LinearVelocityProjectiveConstraint::draw(const core::visual::Vi { for(const auto index : indices) { - const auto p0 = x0[index]+keyVelocities[i]; - const auto p1 = x0[index]+keyVelocities[i+1]; + const auto p0 = m_x0[index]+keyVelocities[i]; + const auto p1 = m_x0[index]+keyVelocities[i+1]; const typename DataTypes::CPos& cpos0 = DataTypes::getCPos(p0); const typename DataTypes::CPos& cpos1 = DataTypes::getCPos(p1); diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h index 5114ce41668..124e97dbcec 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/OscillatorProjectiveConstraint.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -83,7 +83,7 @@ class OscillatorProjectiveConstraint : public core::behavior::ProjectiveConstrai }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< type::vector< Oscillator > > constraints; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector< Oscillator > > constraints; Data< type::vector< Oscillator > > d_constraints; ///< Define a sequence of oscillating particules: [index, Mean(x,y,z), amplitude(x,y,z), pulsation, phase] diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h index 8c079c99960..6ed3727da2e 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/ParabolicProjectiveConstraint.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -60,22 +60,22 @@ class ParabolicProjectiveConstraint : public core::behavior::ProjectiveConstrain protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector > m_indices; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > m_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_P1; + sofa::core::objectmodel::lifecycle::RenamedData m_P1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_P2; + sofa::core::objectmodel::lifecycle::RenamedData m_P2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_P3; + sofa::core::objectmodel::lifecycle::RenamedData m_P3; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_tBegin; + sofa::core::objectmodel::lifecycle::RenamedData m_tBegin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_tEnd; + sofa::core::objectmodel::lifecycle::RenamedData m_tEnd; ///indices of the DOFs constraints SetIndex d_indices; diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h index a2eb576ae4e..cb765b14317 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PartialLinearMovementProjectiveConstraint.h @@ -35,7 +35,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -77,40 +77,40 @@ class PartialLinearMovementProjectiveConstraint : public core::behavior::Project public : SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > m_indices; + sofa::core::objectmodel::lifecycle::RenamedData > m_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData >m_keyTimes; + sofa::core::objectmodel::lifecycle::RenamedData >m_keyTimes; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData m_keyMovements; + sofa::core::objectmodel::lifecycle::RenamedData m_keyMovements; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< bool > showMovement; + sofa::core::objectmodel::lifecycle::RenamedData< bool > showMovement; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData linearMovementBetweenNodesInIndices; + sofa::core::objectmodel::lifecycle::RenamedData linearMovementBetweenNodesInIndices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData mainIndice; + sofa::core::objectmodel::lifecycle::RenamedData mainIndice; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData minDepIndice; + sofa::core::objectmodel::lifecycle::RenamedData minDepIndice; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData maxDepIndice; + sofa::core::objectmodel::lifecycle::RenamedData maxDepIndice; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > m_imposedDisplacmentOnMacroNodes; + sofa::core::objectmodel::lifecycle::RenamedData > m_imposedDisplacmentOnMacroNodes; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData X0; + sofa::core::objectmodel::lifecycle::RenamedData X0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData Y0; + sofa::core::objectmodel::lifecycle::RenamedData Y0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData Z0; + sofa::core::objectmodel::lifecycle::RenamedData Z0; /// indices of the DOFs the constraint is applied to @@ -146,7 +146,7 @@ public : typedef sofa::type::fixed_array VecBool; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData movedDirections; + sofa::core::objectmodel::lifecycle::RenamedData movedDirections; core::objectmodel::Data d_movedDirections; ///< Defines the directions in which the particles are moved: true (or 1) for fixed, false (or 0) for free diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h index e7311abd86a..740ef0e65c5 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.h @@ -35,7 +35,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -85,16 +85,16 @@ class PlaneProjectiveConstraint : public core::behavior::ProjectiveConstraintSet public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< sofa::type::vector< sofa::Index > > f_indices; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector< sofa::Index > > f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_origin; + sofa::core::objectmodel::lifecycle::RenamedData f_origin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_normal; + sofa::core::objectmodel::lifecycle::RenamedData f_normal; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_drawSize; + sofa::core::objectmodel::lifecycle::RenamedData f_drawSize; IndexSubsetData d_indices; ///< the particles to project Data d_origin; ///< A point in the plane diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h index a843bc0f1fa..3289f2a4762 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PointProjectiveConstraint.h @@ -33,7 +33,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -79,16 +79,16 @@ class PointProjectiveConstraint : public core::behavior::ProjectiveConstraintSet public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData> f_indices; + sofa::core::objectmodel::lifecycle::RenamedData> f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_point; + sofa::core::objectmodel::lifecycle::RenamedData f_point; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_fixAll; + sofa::core::objectmodel::lifecycle::RenamedData f_fixAll; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData f_drawSize; + sofa::core::objectmodel::lifecycle::RenamedData f_drawSize; SetIndex d_indices; ///< the indices of the points to project to the target diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h index 7f350a7c256..302f762a888 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PositionBasedDynamicsProjectiveConstraint.h @@ -33,7 +33,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -75,16 +75,16 @@ class PositionBasedDynamicsProjectiveConstraint : public core::behavior::Project public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData stiffness; + sofa::core::objectmodel::lifecycle::RenamedData stiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< VecCoord > position; + sofa::core::objectmodel::lifecycle::RenamedData< VecCoord > position; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< VecDeriv > velocity; + sofa::core::objectmodel::lifecycle::RenamedData< VecDeriv > velocity; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData< VecCoord > old_position; + sofa::core::objectmodel::lifecycle::RenamedData< VecCoord > old_position; Data< Real > d_stiffness; ///< Blending between current pos and target pos. Data< VecCoord > d_position; ///< Target positions. diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h index 61ed359d467..f214bcbf850 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::constraint::projective { @@ -106,16 +106,16 @@ class SkeletalMotionProjectiveConstraint : public core::behavior::ProjectiveCons protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > > skeletonJoints; + sofa::core::objectmodel::lifecycle::RenamedData > > skeletonJoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData > skeletonBones; + sofa::core::objectmodel::lifecycle::RenamedData > skeletonBones; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData animationSpeed; + sofa::core::objectmodel::lifecycle::RenamedData animationSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_PROJECTIVE() - sofa::core::objectmodel::RenamedData active; + sofa::core::objectmodel::lifecycle::RenamedData active; // every nodes needed in the animation chain diff --git a/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp index d32ea2d552f..4b4f258cb12 100644 --- a/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/AffineMovementProjectiveConstraint_test.cpp @@ -70,7 +70,7 @@ struct AffineMovementProjectiveConstraint_test : public BaseSimulationTest, Nume sofa::helper::RandomGenerator randomGenerator; // Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation simulation = sofa::simulation::getSimulation(); diff --git a/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp index 39e6f6b3ee3..d599139cb25 100644 --- a/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/DirectionProjectiveConstraint_test.cpp @@ -69,7 +69,7 @@ struct DirectionProjectiveConstraint_test : public BaseSimulationTest, NumericTe typename MechanicalObject::SPtr dofs; /// Create the context for the tests. - void SetUp() override + void doSetUp() override { //Init simulation = sofa::simulation::getSimulation(); @@ -219,7 +219,7 @@ struct DirectionProjectiveConstraint_test : public BaseSimulationTest, NumericTe return succeed; } - void TearDown() override + void doTearDown() override { if (root!=nullptr) sofa::simulation::node::unload(root); diff --git a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp index adee116e4ec..638b23878cc 100644 --- a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp @@ -81,9 +81,9 @@ struct FixedProjectiveConstraint_test : public BaseTest const simulation::Node::SPtr root = simulation->createNewGraph("root"); root->setGravity( type::Vec3(0,0,0) ); - simpleapi::createObject(root , "RequiredPlugin", {{"name", "Sofa.Component.LinearSolver.Direct"}}) ; - simpleapi::createObject(root , "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Forward"}}) ; - simpleapi::createObject(root , "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Backward"}}) ; + simpleapi::createObject(root , "RequiredPlugin", {{"name", Sofa.Component.LinearSolver.Direct}}) ; + simpleapi::createObject(root , "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Forward}}) ; + simpleapi::createObject(root , "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Backward}}) ; simulation::Node::SPtr node = createEulerSolverNode(root,"test", integrationScheme); diff --git a/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp index 37f7d55f030..07e2dc61dc7 100644 --- a/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/LineProjectiveConstraint_test.cpp @@ -68,7 +68,7 @@ struct LineProjectiveConstraint_test : public BaseSimulationTest, NumericTest #include +#include namespace sofa::component::constraint { @@ -54,8 +55,8 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian"); - factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Projective"); + factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian); + factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Projective); } void init() diff --git a/Sofa/Component/Controller/src/sofa/component/controller/Controller.h b/Sofa/Component/Controller/src/sofa/component/controller/Controller.h index cd4b786665b..65e42a030e6 100644 --- a/Sofa/Component/Controller/src/sofa/component/controller/Controller.h +++ b/Sofa/Component/Controller/src/sofa/component/controller/Controller.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::core::objectmodel { @@ -111,7 +111,7 @@ class SOFA_COMPONENT_CONTROLLER_API Controller : public core::behavior::BaseCont protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONTROLLER() - sofa::core::objectmodel::RenamedData < bool > handleEventTriggersUpdate; + sofa::core::objectmodel::lifecycle::RenamedData < bool > handleEventTriggersUpdate; Data< bool > d_handleEventTriggersUpdate; ///< Event handling frequency controls the controller update frequency diff --git a/Sofa/Component/Controller/src/sofa/component/controller/MechanicalStateController.h b/Sofa/Component/Controller/src/sofa/component/controller/MechanicalStateController.h index 9913eaeb098..aae4eff9d21 100644 --- a/Sofa/Component/Controller/src/sofa/component/controller/MechanicalStateController.h +++ b/Sofa/Component/Controller/src/sofa/component/controller/MechanicalStateController.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::controller { @@ -131,16 +131,16 @@ class MechanicalStateController : public Controller void applyController(void); protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONTROLLER() - sofa::core::objectmodel::RenamedData< unsigned int > index; + sofa::core::objectmodel::lifecycle::RenamedData< unsigned int > index; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONTROLLER() - sofa::core::objectmodel::RenamedData< bool > onlyTranslation; + sofa::core::objectmodel::lifecycle::RenamedData< bool > onlyTranslation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONTROLLER() - sofa::core::objectmodel::RenamedData< bool > buttonDeviceState; + sofa::core::objectmodel::lifecycle::RenamedData< bool > buttonDeviceState; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONTROLLER() - sofa::core::objectmodel::RenamedData< sofa::type::Vec<3,Real> > mainDirection; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::Vec<3,Real> > mainDirection; Data< unsigned int > d_index; ///< Index of the controlled DOF Data< bool > d_onlyTranslation; ///< Controlling the DOF only in translation diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h index d0159ca3e35..2b542f34e16 100644 --- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h +++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h @@ -40,7 +40,7 @@ #define TYPE_VORONOI 3 #define TYPE_HARMONIC_STIFFNESS 4 -#include +#include namespace sofa::component::engine::analyze { @@ -79,40 +79,40 @@ class Distances : public core::DataEngine public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData showMapIndex; + sofa::core::objectmodel::lifecycle::RenamedData showMapIndex; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData showDistanceMap; + sofa::core::objectmodel::lifecycle::RenamedData showDistanceMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData showGoalDistanceMap; + sofa::core::objectmodel::lifecycle::RenamedData showGoalDistanceMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData showTextScaleFactor; + sofa::core::objectmodel::lifecycle::RenamedData showTextScaleFactor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData showGradientMap; + sofa::core::objectmodel::lifecycle::RenamedData showGradientMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData showGradientsScaleFactor; + sofa::core::objectmodel::lifecycle::RenamedData showGradientsScaleFactor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData offset; + sofa::core::objectmodel::lifecycle::RenamedData offset; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData distanceType; + sofa::core::objectmodel::lifecycle::RenamedData distanceType; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData initTarget; + sofa::core::objectmodel::lifecycle::RenamedData initTarget; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData initTargetStep; + sofa::core::objectmodel::lifecycle::RenamedData initTargetStep; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData > zonesFramePair; + sofa::core::objectmodel::lifecycle::RenamedData > zonesFramePair; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData harmonicMaxValue; + sofa::core::objectmodel::lifecycle::RenamedData harmonicMaxValue; Data d_showMapIndex; ///< Frame DOF index on which display values. @@ -227,13 +227,13 @@ class Distances : public core::DataEngine private: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData fileDistance; + sofa::core::objectmodel::lifecycle::RenamedData fileDistance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData targetPath; + sofa::core::objectmodel::lifecycle::RenamedData targetPath; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData hexaContainerPath; + sofa::core::objectmodel::lifecycle::RenamedData hexaContainerPath; Data d_fileDistance; ///< file containing the result of the computation of the distances diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.h b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.h index 9631705ffcb..6f7187b4829 100644 --- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.h +++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/HausdorffDistance.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::engine::analyze { @@ -62,22 +62,22 @@ class HausdorffDistance : public core::DataEngine void doUpdate() override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData f_points_1; + sofa::core::objectmodel::lifecycle::RenamedData f_points_1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData f_points_2; + sofa::core::objectmodel::lifecycle::RenamedData f_points_2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData d12; + sofa::core::objectmodel::lifecycle::RenamedData d12; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData d21; + sofa::core::objectmodel::lifecycle::RenamedData d21; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData max; + sofa::core::objectmodel::lifecycle::RenamedData max; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData f_update; + sofa::core::objectmodel::lifecycle::RenamedData f_update; //Input Data d_points_1; ///< Points belonging to the first point cloud diff --git a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.h b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.h index 6261365b93c..f11328a5b4f 100644 --- a/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.h +++ b/Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/ShapeMatching.h @@ -34,7 +34,7 @@ #include #include -#include +#include namespace sofa::component::engine::analyze { @@ -72,28 +72,28 @@ class ShapeMatching : public core::DataEngine, public core::behavior::SingleStat void draw(const core::visual::VisualParams* vparams) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData iterations; + sofa::core::objectmodel::lifecycle::RenamedData iterations; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData affineRatio; + sofa::core::objectmodel::lifecycle::RenamedData affineRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData fixedweight; + sofa::core::objectmodel::lifecycle::RenamedData fixedweight; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData fixedPosition0; + sofa::core::objectmodel::lifecycle::RenamedData fixedPosition0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData fixedPosition; + sofa::core::objectmodel::lifecycle::RenamedData fixedPosition; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData position; + sofa::core::objectmodel::lifecycle::RenamedData position; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData< VVI > cluster; + sofa::core::objectmodel::lifecycle::RenamedData< VVI > cluster; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_ANALYZE() - sofa::core::objectmodel::RenamedData targetPosition; + sofa::core::objectmodel::lifecycle::RenamedData targetPosition; Data d_iterations; ///< Number of iterations. diff --git a/Sofa/Component/Engine/Analyze/tests/AverageCoord_test.cpp b/Sofa/Component/Engine/Analyze/tests/AverageCoord_test.cpp index 64d6951acd8..96d9416c4f6 100644 --- a/Sofa/Component/Engine/Analyze/tests/AverageCoord_test.cpp +++ b/Sofa/Component/Engine/Analyze/tests/AverageCoord_test.cpp @@ -57,7 +57,7 @@ struct AverageCoord_test : public BaseSimulationTest, typename MechanicalObject::SPtr m_mecaobject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Analyze/tests/ClusteringEngine_test.cpp b/Sofa/Component/Engine/Analyze/tests/ClusteringEngine_test.cpp index 6e109a7ae48..b57ca438e54 100644 --- a/Sofa/Component/Engine/Analyze/tests/ClusteringEngine_test.cpp +++ b/Sofa/Component/Engine/Analyze/tests/ClusteringEngine_test.cpp @@ -57,7 +57,7 @@ struct ClusteringEngine_test : public BaseSimulationTest, typename MechanicalObject::SPtr m_mecaobject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.h b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.h index f67ba6166d3..0b1b8805424 100644 --- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.h +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/MeshTetraStuffing.h @@ -32,7 +32,7 @@ #include -#include +#include namespace sofa::component::engine::generate { @@ -72,40 +72,40 @@ class SOFA_COMPONENT_ENGINE_GENERATE_API MeshTetraStuffing : public core::DataEn SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData< type::fixed_array > vbbox; + sofa::core::objectmodel::lifecycle::RenamedData< type::fixed_array > vbbox; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData inputPoints; + sofa::core::objectmodel::lifecycle::RenamedData inputPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData inputTriangles; + sofa::core::objectmodel::lifecycle::RenamedData inputTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData inputQuads; + sofa::core::objectmodel::lifecycle::RenamedData inputQuads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData outputPoints; + sofa::core::objectmodel::lifecycle::RenamedData outputPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData outputTetrahedra; + sofa::core::objectmodel::lifecycle::RenamedData outputTetrahedra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData< Real > alphaLong; + sofa::core::objectmodel::lifecycle::RenamedData< Real > alphaLong; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData alphaShort; + sofa::core::objectmodel::lifecycle::RenamedData alphaShort; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData bSnapPoints; + sofa::core::objectmodel::lifecycle::RenamedData bSnapPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData< bool > bSplitTetrahedra; + sofa::core::objectmodel::lifecycle::RenamedData< bool > bSplitTetrahedra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData< bool > bDraw; + sofa::core::objectmodel::lifecycle::RenamedData< bool > bDraw; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_GENERATE() - sofa::core::objectmodel::RenamedData< Real > size; + sofa::core::objectmodel::lifecycle::RenamedData< Real > size; diff --git a/Sofa/Component/Engine/Generate/tests/ExtrudeEdgesAndGenerateQuads_test.cpp b/Sofa/Component/Engine/Generate/tests/ExtrudeEdgesAndGenerateQuads_test.cpp index be297368933..c7a2fdd853c 100644 --- a/Sofa/Component/Engine/Generate/tests/ExtrudeEdgesAndGenerateQuads_test.cpp +++ b/Sofa/Component/Engine/Generate/tests/ExtrudeEdgesAndGenerateQuads_test.cpp @@ -55,7 +55,7 @@ struct ExtrudeEdgesAndGenerateQuads_test : public BaseSimulationTest, Node::SPtr m_node; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Generate/tests/MergePoints_test.cpp b/Sofa/Component/Engine/Generate/tests/MergePoints_test.cpp index 0e101c6440f..5f50d949e1f 100644 --- a/Sofa/Component/Engine/Generate/tests/MergePoints_test.cpp +++ b/Sofa/Component/Engine/Generate/tests/MergePoints_test.cpp @@ -49,7 +49,7 @@ struct MergePoints_test : public BaseSimulationTest, Simulation* m_simu; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.h index c9c84070c0f..ba9ad625162 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.h +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::engine::select { @@ -128,7 +128,7 @@ class BaseROI : public core::DataEngine Data d_doUpdate; ///< If true, updates the selection at the beginning of simulation steps. (default = true) SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData d_X0; + sofa::core::objectmodel::lifecycle::RenamedData d_X0; protected: BaseROI(); ~BaseROI() override = default; diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.h index 491a0cabd9a..2544903fc1a 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.h +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.h @@ -34,7 +34,7 @@ #include -#include +#include namespace sofa::component::engine::select { @@ -109,11 +109,11 @@ class MeshROI : public BaseROI static bool isPointInIndices(const unsigned int i, const SetIndex& indices); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData d_X0_i; + sofa::core::objectmodel::lifecycle::RenamedData d_X0_i; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData > d_edges_i;; + sofa::core::objectmodel::lifecycle::RenamedData > d_edges_i;; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData > d_triangles_i; + sofa::core::objectmodel::lifecycle::RenamedData > d_triangles_i; }; #if !defined(SOFA_COMPONENT_ENGINE_MESHROI_CPP) diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl index 1121b696f00..679a9259e20 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl @@ -501,7 +501,9 @@ void MeshROI::roiComputeBBox(const core::ExecParams* params, type::Bo for (const auto& p : roiPositions) { - bbox.include(DataTypes::getCPos(p)); + Real x, y, z; + DataTypes::get(x, y, z, p); + bbox.include({x, y, z}); } } diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.h index 1ebefc40368..94786a04422 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.h +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshSubsetEngine.h @@ -24,7 +24,7 @@ #include #include -#include +#include #include #include #include @@ -72,23 +72,23 @@ class MeshSubsetEngine : public core::DataEngine Data< SeqHexahedra > d_hexahedra; ///< Hexahedra of mesh subset SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData inputPosition; + core::objectmodel::lifecycle::RenamedData inputPosition; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData inputEdges; + core::objectmodel::lifecycle::RenamedData inputEdges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData inputTriangles; + core::objectmodel::lifecycle::RenamedData inputTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData inputQuads; + core::objectmodel::lifecycle::RenamedData inputQuads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData indices; + core::objectmodel::lifecycle::RenamedData indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData position; + core::objectmodel::lifecycle::RenamedData position; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData edges; + core::objectmodel::lifecycle::RenamedData edges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData triangles; + core::objectmodel::lifecycle::RenamedData triangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - core::objectmodel::RenamedData quads; + core::objectmodel::lifecycle::RenamedData quads; protected: MeshSubsetEngine(); diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.h b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.h index 488aaebcc54..68804f9e49c 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.h +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/SphereROI.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::engine::select { @@ -81,17 +81,17 @@ class SphereROI : public BaseROI Data< Real > d_triAngle; ///< Max angle between the normal of the selected triangle and the specified normal direction SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData< type::vector > centers; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > centers; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData< type::vector > radii; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > radii; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData< type::Vec3 > direction; + sofa::core::objectmodel::lifecycle::RenamedData< type::Vec3 > direction; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData< type::Vec3 > normal; + sofa::core::objectmodel::lifecycle::RenamedData< type::Vec3 > normal; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData< Real > edgeAngle; + sofa::core::objectmodel::lifecycle::RenamedData< Real > edgeAngle; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ENGINE_SELECT() - sofa::core::objectmodel::RenamedData< Real > triAngle; + sofa::core::objectmodel::lifecycle::RenamedData< Real > triAngle; }; #if !defined(SOFA_COMPONENT_ENGINE_SPHEREROI_CPP) diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.inl index be9c929108a..d88b40ed666 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.inl +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/ValuesFromPositions.inl @@ -430,8 +430,7 @@ void ValuesFromPositions::draw(const core::visual::VisualParams* vpar color[j] = (float)fabs (tetrahedronVectors[i][j]); colors.push_back(color); - colors.push_back(color); - + vertices.push_back(point1); vertices.push_back(point2); } diff --git a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp index 6b0d14609ae..08425f2c4cb 100644 --- a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp +++ b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp @@ -70,11 +70,12 @@ struct BoxROITest : public sofa::testing::BaseTest Node::SPtr m_node; typename TheBoxROI::SPtr m_boxroi; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Engine.Select"); + this->loadPlugins({ + Sofa.Component.StateContainer, + Sofa.Component.Topology.Container.Dynamic, + Sofa.Component.Engine.Select}); m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); @@ -86,7 +87,7 @@ struct BoxROITest : public sofa::testing::BaseTest m_node->addObject(m_boxroi); } - void TearDown() override + void doTearDown() override { if (m_root != nullptr){ sofa::simulation::node::unload(m_root); diff --git a/Sofa/Component/Engine/Select/tests/ComplementaryROI_test.cpp b/Sofa/Component/Engine/Select/tests/ComplementaryROI_test.cpp index 38b1dcc0057..ec055b0321a 100644 --- a/Sofa/Component/Engine/Select/tests/ComplementaryROI_test.cpp +++ b/Sofa/Component/Engine/Select/tests/ComplementaryROI_test.cpp @@ -55,7 +55,7 @@ struct ComplementaryROI_test : public BaseSimulationTest, typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp b/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp index aa3e96d8ab6..1ebd9f92505 100644 --- a/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp +++ b/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp @@ -61,11 +61,11 @@ struct MeshROI_test : public BaseSimulationTest, Node::SPtr m_root; ThisClass* m_thisObject; - void SetUp() override + void doSetUp() override { - simpleapi::importPlugin("Sofa.Component.Engine.Select"); - simpleapi::importPlugin("Sofa.Component.Topology.Container.Constant"); - simpleapi::importPlugin("Sofa.Component.IO.Mesh"); + simpleapi::importPlugin(Sofa.Component.Engine.Select); + simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant); + simpleapi::importPlugin(Sofa.Component.IO.Mesh); // SetUp3 const string scene2 = @@ -86,7 +86,7 @@ struct MeshROI_test : public BaseSimulationTest, ASSERT_NE(m_thisObject, nullptr) ; } - void TearDown() override + void doTearDown() override { sofa::simulation::node::unload(m_root) ; } diff --git a/Sofa/Component/Engine/Select/tests/MeshSubsetEngine_test.cpp b/Sofa/Component/Engine/Select/tests/MeshSubsetEngine_test.cpp index 17ed3e5d1ca..4ce112798ff 100644 --- a/Sofa/Component/Engine/Select/tests/MeshSubsetEngine_test.cpp +++ b/Sofa/Component/Engine/Select/tests/MeshSubsetEngine_test.cpp @@ -31,9 +31,9 @@ struct MeshSubsetEngine_test : public testing::BaseSimulationTest sofa::simulation::Node::SPtr m_root; typename component::engine::select::MeshSubsetEngine<_DataTypes>::SPtr m_engine; - void SetUp() override + void doSetUp() override { - simpleapi::importPlugin("Sofa.Component.Engine.Select"); + simpleapi::importPlugin(Sofa.Component.Engine.Select); m_root = simulation::getSimulation()->createNewNode("root"); ASSERT_NE(nullptr, m_root); @@ -44,7 +44,7 @@ struct MeshSubsetEngine_test : public testing::BaseSimulationTest m_root->addObject(m_engine); } - void TearDown() override + void doTearDown() override { sofa::simulation::node::unload(m_root) ; } diff --git a/Sofa/Component/Engine/Select/tests/PlaneROI_test.cpp b/Sofa/Component/Engine/Select/tests/PlaneROI_test.cpp index 8ed1acd210f..628d8b97771 100644 --- a/Sofa/Component/Engine/Select/tests/PlaneROI_test.cpp +++ b/Sofa/Component/Engine/Select/tests/PlaneROI_test.cpp @@ -61,7 +61,7 @@ struct PlaneROI_test : public BaseSimulationTest, Node::SPtr m_node1, m_node2; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { // SetUp1 m_simu = sofa::simulation::getSimulation(); diff --git a/Sofa/Component/Engine/Select/tests/SphereROI_test.cpp b/Sofa/Component/Engine/Select/tests/SphereROI_test.cpp index 3033378429f..0bfb8a12387 100644 --- a/Sofa/Component/Engine/Select/tests/SphereROI_test.cpp +++ b/Sofa/Component/Engine/Select/tests/SphereROI_test.cpp @@ -61,7 +61,7 @@ struct SphereROI_test : public BaseSimulationTest, Node::SPtr m_node; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Transform/tests/DifferenceEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/DifferenceEngine_test.cpp index caf5d3c7bdd..d2f7ecddbbd 100644 --- a/Sofa/Component/Engine/Transform/tests/DifferenceEngine_test.cpp +++ b/Sofa/Component/Engine/Transform/tests/DifferenceEngine_test.cpp @@ -54,7 +54,7 @@ struct DifferenceEngine_test : public BaseSimulationTest, Node::SPtr m_node; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Transform/tests/DilateEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/DilateEngine_test.cpp index f24b09c827c..bbed29b8fa5 100644 --- a/Sofa/Component/Engine/Transform/tests/DilateEngine_test.cpp +++ b/Sofa/Component/Engine/Transform/tests/DilateEngine_test.cpp @@ -52,7 +52,7 @@ struct DilateEngine_test : public BaseSimulationTest, Node::SPtr m_node; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/Transform/tests/SmoothMeshEngine_test.cpp b/Sofa/Component/Engine/Transform/tests/SmoothMeshEngine_test.cpp index 4d05f03fba7..d28d41321e9 100644 --- a/Sofa/Component/Engine/Transform/tests/SmoothMeshEngine_test.cpp +++ b/Sofa/Component/Engine/Transform/tests/SmoothMeshEngine_test.cpp @@ -53,7 +53,7 @@ struct SmoothMeshEngine_test : public BaseSimulationTest, Node::SPtr m_node; typename ThisClass::SPtr m_thisObject; - void SetUp() override + void doSetUp() override { m_simu = sofa::simulation::getSimulation(); ASSERT_NE(m_simu, nullptr); diff --git a/Sofa/Component/Engine/src/sofa/component/engine/init.cpp b/Sofa/Component/Engine/src/sofa/component/engine/init.cpp index 05eeff6cc2b..4ffe472034e 100644 --- a/Sofa/Component/Engine/src/sofa/component/engine/init.cpp +++ b/Sofa/Component/Engine/src/sofa/component/engine/init.cpp @@ -28,6 +28,7 @@ #include #include +#include namespace sofa::component::engine { @@ -56,10 +57,10 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Engine.Analyze"); - factory->registerObjectsFromPlugin("Sofa.Component.Engine.Generate"); - factory->registerObjectsFromPlugin("Sofa.Component.Engine.Select"); - factory->registerObjectsFromPlugin("Sofa.Component.Engine.Transform"); + factory->registerObjectsFromPlugin(Sofa.Component.Engine.Analyze); + factory->registerObjectsFromPlugin(Sofa.Component.Engine.Generate); + factory->registerObjectsFromPlugin(Sofa.Component.Engine.Select); + factory->registerObjectsFromPlugin(Sofa.Component.Engine.Transform); } void init() diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h index 3b8494339b8..f6559fef3f7 100644 --- a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h +++ b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h @@ -29,7 +29,7 @@ #include -#include +#include namespace sofa::component::haptics { @@ -63,10 +63,10 @@ class LCPForceFeedback : public MechanicalStateForceFeedback } SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_HAPTICS() - sofa::core::objectmodel::RenamedData forceCoef; + sofa::core::objectmodel::lifecycle::RenamedData forceCoef; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_HAPTICS() - sofa::core::objectmodel::RenamedData solverTimeout; + sofa::core::objectmodel::lifecycle::RenamedData solverTimeout; Data< double > d_forceCoef; ///< multiply haptic force by this coef. diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h index d6d9e614a59..d69c27e7806 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/BlenderExporter.h @@ -38,7 +38,7 @@ #include -#include +#include namespace sofa::component { @@ -73,19 +73,19 @@ class SOFA_COMPONENT_IO_MESH_API BlenderExporter: public core::objectmodel::Base SOFA_CLASS(SOFA_TEMPLATE(BlenderExporter,T),core::objectmodel::BaseObject); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData path; + sofa::core::objectmodel::lifecycle::RenamedData path; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData baseName; + sofa::core::objectmodel::lifecycle::RenamedData baseName; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData simulationType; + sofa::core::objectmodel::lifecycle::RenamedData simulationType; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData simulationStep; + sofa::core::objectmodel::lifecycle::RenamedData simulationStep; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData nbPtsByHair; + sofa::core::objectmodel::lifecycle::RenamedData nbPtsByHair; Data < std::string > d_path; ///< output path diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.h index 91a6a0370b4..f0018ed751a 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GridMeshCreator.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::io::mesh { @@ -44,10 +44,10 @@ class SOFA_COMPONENT_IO_MESH_API GridMeshCreator : public sofa::core::loader::Me bool canLoad() override { return true; } bool doLoad() override; ///< create the grid SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< type::Vec2i > resolution; + sofa::core::objectmodel::lifecycle::RenamedData< type::Vec2i > resolution; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< int > trianglePattern; + sofa::core::objectmodel::lifecycle::RenamedData< int > trianglePattern; diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.h index 066b26113f1..f896ba79700 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.h @@ -23,7 +23,7 @@ #include #include -#include +#include namespace sofa::component::io::mesh { @@ -51,10 +51,10 @@ class SOFA_COMPONENT_IO_MESH_API MeshSTLLoader : public sofa::core::loader::Mesh public: //Add Data here SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData _forceBinary; + sofa::core::objectmodel::lifecycle::RenamedData _forceBinary; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData _headerSize; + sofa::core::objectmodel::lifecycle::RenamedData _headerSize; diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.h index 92bd4e6124c..7a9aae5e63f 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::io::mesh { @@ -56,16 +56,16 @@ class SOFA_COMPONENT_IO_MESH_API MeshTrianLoader : public sofa::core::loader::Me public: //Add specific Data here: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData p_trian2; + sofa::core::objectmodel::lifecycle::RenamedData p_trian2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData > > neighborTable; + sofa::core::objectmodel::lifecycle::RenamedData > > neighborTable; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData > > edgesOnBorder; + sofa::core::objectmodel::lifecycle::RenamedData > > edgesOnBorder; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData > trianglesOnBorderList; + sofa::core::objectmodel::lifecycle::RenamedData > trianglesOnBorderList; Data d_trian2; ///< Set to true if the mesh is a trian2 format. Data > > d_neighborTable; ///< Table of neighborhood triangle indices for each triangle. diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/OffSequenceLoader.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/OffSequenceLoader.h index aa8e4d25172..84bda24944a 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/OffSequenceLoader.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/OffSequenceLoader.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::io::mesh { @@ -51,9 +51,9 @@ class SOFA_COMPONENT_IO_MESH_API OffSequenceLoader : public MeshOffLoader private: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData nbFiles; + sofa::core::objectmodel::lifecycle::RenamedData nbFiles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData stepDuration; + sofa::core::objectmodel::lifecycle::RenamedData stepDuration; /// the number of files in the sequences diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/StringMeshCreator.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/StringMeshCreator.h index 8077b3587e2..166bf418493 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/StringMeshCreator.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/StringMeshCreator.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::io::mesh { @@ -39,7 +39,7 @@ class SOFA_COMPONENT_IO_MESH_API StringMeshCreator : public sofa::core::loader:: { public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< unsigned > resolution; + sofa::core::objectmodel::lifecycle::RenamedData< unsigned > resolution; SOFA_CLASS(StringMeshCreator,sofa::core::loader::MeshLoader); virtual std::string type() { return "This object is procedurally created"; } diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h index 2d2c872068d..cc333ca90b5 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.h @@ -30,7 +30,7 @@ #include -#include +#include namespace sofa::component::_vtkexporter_ { @@ -60,43 +60,43 @@ class SOFA_COMPONENT_IO_MESH_API VTKExporter : public core::objectmodel::BaseObj sofa::core::objectmodel::DataFileName vtkFilename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > fileFormat; + sofa::core::objectmodel::lifecycle::RenamedData< bool > fileFormat; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData position; + sofa::core::objectmodel::lifecycle::RenamedData position; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > writeEdges; + sofa::core::objectmodel::lifecycle::RenamedData< bool > writeEdges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > writeTriangles; + sofa::core::objectmodel::lifecycle::RenamedData< bool > writeTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > writeQuads; + sofa::core::objectmodel::lifecycle::RenamedData< bool > writeQuads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > writeTetras; + sofa::core::objectmodel::lifecycle::RenamedData< bool > writeTetras; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > writeHexas; + sofa::core::objectmodel::lifecycle::RenamedData< bool > writeHexas; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData > dPointsDataFields; + sofa::core::objectmodel::lifecycle::RenamedData > dPointsDataFields; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData > dCellsDataFields; + sofa::core::objectmodel::lifecycle::RenamedData > dCellsDataFields; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< unsigned int > exportEveryNbSteps; + sofa::core::objectmodel::lifecycle::RenamedData< unsigned int > exportEveryNbSteps; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > exportAtBegin; + sofa::core::objectmodel::lifecycle::RenamedData< bool > exportAtBegin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > exportAtEnd; + sofa::core::objectmodel::lifecycle::RenamedData< bool > exportAtEnd; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< bool > overwrite; + sofa::core::objectmodel::lifecycle::RenamedData< bool > overwrite; diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.h index 0b3e9255038..0921f06daf6 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VoxelGridLoader.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::io::mesh { @@ -74,31 +74,31 @@ class SOFA_COMPONENT_IO_MESH_API VoxelGridLoader : public sofa::core::loader::Vo // fill the texture by 'image' only where there is the 'segmentation' of 'd_activeValue' and give the 3D texture sizes void createSegmentation3DTexture( unsigned char **textureData, int& width, int& height, int& depth) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< type::Vec3 > voxelSize; + sofa::core::objectmodel::lifecycle::RenamedData< type::Vec3 > voxelSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< Vec3i > dataResolution; + sofa::core::objectmodel::lifecycle::RenamedData< Vec3i > dataResolution; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< Vec6i > roi; + sofa::core::objectmodel::lifecycle::RenamedData< Vec6i > roi; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< int > headerSize; + sofa::core::objectmodel::lifecycle::RenamedData< int > headerSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< int > segmentationHeaderSize; + sofa::core::objectmodel::lifecycle::RenamedData< int > segmentationHeaderSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< type::vector > idxInRegularGrid; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > idxInRegularGrid; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< type::vector > backgroundValue; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > backgroundValue; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData< type::vector > activeValue; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > activeValue; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_IO_MESH() - sofa::core::objectmodel::RenamedData generateHexa; + sofa::core::objectmodel::lifecycle::RenamedData generateHexa; diff --git a/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp index 9c5996dee24..eb0282269cd 100644 --- a/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp +++ b/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp @@ -75,13 +75,13 @@ class MeshExporter_test /// remove the file created... std::vector dataPath; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid); } - void TearDown() override + void doTearDown() override { for (const auto& pathToRemove : dataPath) { diff --git a/Sofa/Component/IO/Mesh/tests/MeshGmshLoader_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshGmshLoader_test.cpp index 93a26d24592..38534751514 100644 --- a/Sofa/Component/IO/Mesh/tests/MeshGmshLoader_test.cpp +++ b/Sofa/Component/IO/Mesh/tests/MeshGmshLoader_test.cpp @@ -51,7 +51,7 @@ namespace meshgmshloader_test /** * Constructor call for each test */ - void SetUp() override {} + void doSetUp() override {} /** * Helper function to check mesh loading. diff --git a/Sofa/Component/IO/Mesh/tests/MeshXspLoader_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshXspLoader_test.cpp index df20ce772a6..3a167422840 100644 --- a/Sofa/Component/IO/Mesh/tests/MeshXspLoader_test.cpp +++ b/Sofa/Component/IO/Mesh/tests/MeshXspLoader_test.cpp @@ -35,7 +35,7 @@ class MeshXspLoader_test : public BaseSimulationTest const Node::SPtr root = sofa::simpleapi::createRootNode(simulation, "root"); sofa::simpleapi::createObject(root, "DefaultAnimationLoop"); - sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name","Sofa.Component.IO.Mesh" } }); + sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name",Sofa.Component.IO.Mesh } }); auto loader = sofa::simpleapi::createObject(root, "MeshXspLoader", {{"filename", std::string(SOFA_COMPONENT_IO_MESH_TEST_FILES_DIR)+"test.xs3"}}); sofa::simulation::node::initRoot(root.get()); diff --git a/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp index 55b6be2b8b8..1f8429d1224 100644 --- a/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp +++ b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp @@ -65,13 +65,14 @@ class STLExporter_test : public BaseSimulationTest { /// remove the file created... std::vector dataPath ; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Visual"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Visual); + sofa::simpleapi::importPlugin(Sofa.Component.IO.Mesh); } - void TearDown() override + void doTearDown() override { for (const auto& pathToRemove : dataPath) { @@ -98,7 +99,6 @@ class STLExporter_test : public BaseSimulationTest { " \n" " \n" " \n" - " \n" " \n" " \n" " \n" diff --git a/Sofa/Component/IO/Mesh/tests/VisualModelOBJExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/VisualModelOBJExporter_test.cpp index 1010d487118..eeb1810bcd0 100644 --- a/Sofa/Component/IO/Mesh/tests/VisualModelOBJExporter_test.cpp +++ b/Sofa/Component/IO/Mesh/tests/VisualModelOBJExporter_test.cpp @@ -62,11 +62,11 @@ class VisualModelOBJExporter_test : public BaseSimulationTest { /// remove the file created... std::vector dataPath ; - void SetUp() override + void doSetUp() override { } - void TearDown() override + void doTearDown() override { for (const auto& pathToRemove : dataPath) { diff --git a/Sofa/Component/IO/src/sofa/component/io/init.cpp b/Sofa/Component/IO/src/sofa/component/io/init.cpp index 45cfe4d1971..cf13bfd0001 100644 --- a/Sofa/Component/IO/src/sofa/component/io/init.cpp +++ b/Sofa/Component/IO/src/sofa/component/io/init.cpp @@ -25,6 +25,7 @@ #include #include +#include namespace sofa::component::io { @@ -53,7 +54,7 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.IO.Mesh"); + factory->registerObjectsFromPlugin(Sofa.Component.IO.Mesh); } void init() diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.h index 7c8573a083f..118f170edc3 100644 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.h +++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/PrecomputedLinearSolver.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::component::linearsolver::direct { @@ -83,10 +83,10 @@ class PrecomputedLinearSolver : public sofa::component::linearsolver::MatrixLine typedef typename PrecomputedLinearSolverInternalData::TBaseMatrix TBaseMatrix; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_DIRECT() - sofa::core::objectmodel::RenamedData jmjt_twostep; + sofa::core::objectmodel::lifecycle::RenamedData jmjt_twostep; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_DIRECT() - sofa::core::objectmodel::RenamedData use_file; + sofa::core::objectmodel::lifecycle::RenamedData use_file; Data d_jmjt_twostep; ///< Use two step algorithm to compute JMinvJt diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.h index 36a91409e55..f0d619e5467 100644 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.h +++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SVDLinearSolver.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::linearsolver::direct { @@ -51,13 +51,13 @@ class SVDLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver typedef sofa::component::linearsolver::MatrixLinearSolver Inherit; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_DIRECT() - sofa::core::objectmodel::RenamedData f_verbose; + sofa::core::objectmodel::lifecycle::RenamedData f_verbose; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_DIRECT() - sofa::core::objectmodel::RenamedData f_minSingularValue; + sofa::core::objectmodel::lifecycle::RenamedData f_minSingularValue; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_DIRECT() - sofa::core::objectmodel::RenamedData f_conditionNumber; + sofa::core::objectmodel::lifecycle::RenamedData f_conditionNumber; Data d_verbose; ///< Dump system state at each iteration diff --git a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp index 6dd556f57b6..3d72df3da06 100644 --- a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp +++ b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp @@ -57,9 +57,10 @@ TEST(SparseLDLSolver, EmptyMState) const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Direct"); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + const auto plugins = sofa::testing::makeScopedPlugin({ + Sofa.Component.LinearSolver.Direct, + Sofa.Component.ODESolver.Backward, + Sofa.Component.StateContainer}); sofa::simpleapi::createObject(root, "DefaultAnimationLoop"); sofa::simpleapi::createObject(root, "EulerImplicitSolver"); @@ -83,14 +84,15 @@ TEST(SparseLDLSolver, TopologyChangeEmptyMState) // required to be able to use EXPECT_MSG_NOEMIT and EXPECT_MSG_EMIT sofa::helper::logging::MessageDispatcher::addHandler(sofa::testing::MainGtestMessageHandler::getInstance() ) ; - const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root"); + const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Direct"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Utility"); + const auto plugins = sofa::testing::makeScopedPlugin({ + Sofa.Component.LinearSolver.Direct, + Sofa.Component.Mass, + Sofa.Component.ODESolver.Backward, + Sofa.Component.StateContainer, + Sofa.Component.Topology.Container.Dynamic, + Sofa.Component.Topology.Utility}); sofa::simpleapi::createObject(root, "DefaultAnimationLoop"); sofa::simpleapi::createObject(root, "EulerImplicitSolver"); diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h index 1506256becd..50dd8f112fc 100644 --- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h +++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/PCGLinearSolver.h @@ -28,7 +28,7 @@ #include -#include +#include namespace sofa::component::linearsolver::iterative { @@ -45,22 +45,22 @@ class PCGLinearSolver : public sofa::component::linearsolver::MatrixLinearSolver typedef sofa::component::linearsolver::MatrixLinearSolver Inherit; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE() - sofa::core::objectmodel::RenamedData f_maxIter; + sofa::core::objectmodel::lifecycle::RenamedData f_maxIter; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE() - sofa::core::objectmodel::RenamedData f_tolerance; + sofa::core::objectmodel::lifecycle::RenamedData f_tolerance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE() - sofa::core::objectmodel::RenamedData f_use_precond; + sofa::core::objectmodel::lifecycle::RenamedData f_use_precond; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE() - sofa::core::objectmodel::RenamedData f_update_step; + sofa::core::objectmodel::lifecycle::RenamedData f_update_step; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE() - sofa::core::objectmodel::RenamedData f_build_precond; + sofa::core::objectmodel::lifecycle::RenamedData f_build_precond; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_ITERATIVE() - sofa::core::objectmodel::RenamedData > > f_graph; + sofa::core::objectmodel::lifecycle::RenamedData > > f_graph; Data d_maxIter; ///< Maximum number of iterations after which the iterative descent of the Conjugate Gradient must stop diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.h b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.h index 0c92b8e28ad..f3b2bfa187b 100644 --- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.h +++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::component::linearsolver::preconditioner { @@ -113,19 +113,19 @@ class PrecomputedWarpPreconditioner : public sofa::component::linearsolver::Matr sofa::core::objectmodel::lifecycle::RemovedData f_verbose{this, "v23.12", "v24.06", "verbose", "This Data is no longer used"}; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_PRECONDITIONER() - sofa::core::objectmodel::RenamedData jmjt_twostep; + sofa::core::objectmodel::lifecycle::RenamedData jmjt_twostep; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_PRECONDITIONER() - sofa::core::objectmodel::RenamedData use_file; + sofa::core::objectmodel::lifecycle::RenamedData use_file; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_PRECONDITIONER() - sofa::core::objectmodel::RenamedData share_matrix; + sofa::core::objectmodel::lifecycle::RenamedData share_matrix; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_PRECONDITIONER() - sofa::core::objectmodel::RenamedData use_rotations; + sofa::core::objectmodel::lifecycle::RenamedData use_rotations; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_PRECONDITIONER() - sofa::core::objectmodel::RenamedData draw_rotations_scale; + sofa::core::objectmodel::lifecycle::RenamedData draw_rotations_scale; Data d_use_file; ///< Dump system matrix in a file diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.h b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.h index 2e83259bd01..2dfceedf0e0 100644 --- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.h +++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.h @@ -30,7 +30,7 @@ #include -#include +#include namespace sofa::component::linearsolver::preconditioner { @@ -57,7 +57,7 @@ class SSORPreconditioner : public sofa::component::linearsolver::MatrixLinearSol sofa::core::objectmodel::lifecycle::RemovedData f_verbose{this, "v23.12", "v24.06", "verbose", "This Data is no longer used"}; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_LINEARSOLVER_PRECONDITIONER() - sofa::core::objectmodel::RenamedData f_omega; + sofa::core::objectmodel::lifecycle::RenamedData f_omega; Data d_omega; ///< Omega coefficient protected: diff --git a/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp b/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp index 3e4a9c37cee..e4f74f3fe12 100644 --- a/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp +++ b/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp @@ -28,6 +28,7 @@ #include #include +#include namespace sofa::component::linearsolver { @@ -56,10 +57,10 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Direct"); - factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Iterative"); - factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Ordering"); - factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Preconditioner"); + factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Direct); + factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Iterative); + factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Ordering); + factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Preconditioner); } void init() diff --git a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp index a8af9b59030..6595defef3a 100644 --- a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp +++ b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp @@ -176,7 +176,7 @@ TEST(MappingGraph, diamondMapping) sofa::simulation::Node::SPtr root = simulation->createNewGraph("root"); EXPECT_EQ(root->getName(), "root"); - sofa::simpleapi::importPlugin("Sofa.Component.Mapping.Linear"); + sofa::simpleapi::importPlugin(Sofa.Component.Mapping.Linear); const auto top = sofa::core::objectmodel::New >(); root->addObject(top); diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h index 857303b7686..3db305f50d9 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.h @@ -37,7 +37,7 @@ #include #include -#include +#include namespace sofa::component::mapping::linear { @@ -70,10 +70,10 @@ class BarycentricMapperTetrahedronSetTopologyRigid : public TopologyBarycentricM protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData> map; + sofa::core::objectmodel::lifecycle::RenamedData> map; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData> mapOrient; + sofa::core::objectmodel::lifecycle::RenamedData> mapOrient; core::topology::PointData< sofa::type::vector > d_map; ///< mapper data core::topology::PointData< sofa::type::vector > d_mapOrient; ///< mapper data for mapped frames diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h index aa4fb521355..ba1b963ae58 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h @@ -26,7 +26,7 @@ #include -#include +#include namespace sofa::component::mapping::linear { @@ -96,22 +96,22 @@ class DeformableOnRigidFrameMapping : public LinearMulti2Mapping data; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData index; + sofa::core::objectmodel::lifecycle::RenamedData index; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData indexFromEnd; + sofa::core::objectmodel::lifecycle::RenamedData indexFromEnd; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData > repartition; + sofa::core::objectmodel::lifecycle::RenamedData > repartition; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData globalToLocalCoords; + sofa::core::objectmodel::lifecycle::RenamedData globalToLocalCoords; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData m_rootAngularForceScaleFactor; + sofa::core::objectmodel::lifecycle::RenamedData m_rootAngularForceScaleFactor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData m_rootLinearForceScaleFactor; + sofa::core::objectmodel::lifecycle::RenamedData m_rootLinearForceScaleFactor; Data d_index; ///< input DOF index diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.h index 99090b31c8c..156ffe4f6b3 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::component::mapping::linear { @@ -78,22 +78,22 @@ class SkinningMapping : public LinearMapping protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_initPos; + sofa::core::objectmodel::lifecycle::RenamedData f_initPos; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData< type::vector > nbRef; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > nbRef; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData > > f_index; + sofa::core::objectmodel::lifecycle::RenamedData > > f_index; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData > > weight; + sofa::core::objectmodel::lifecycle::RenamedData > > weight; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData showFromIndex; + sofa::core::objectmodel::lifecycle::RenamedData showFromIndex; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData showWeights; + sofa::core::objectmodel::lifecycle::RenamedData showWeights; Data d_initPos; ///< initial child coordinates in the world reference frame. diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h index 21d97b01071..3a7d32b9a8e 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMapping.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::component::mapping::linear { @@ -87,25 +87,25 @@ class SubsetMapping : public LinearMapping typedef sofa::core::topology::PointSubsetData< IndexArray > SetIndex; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_indices; + sofa::core::objectmodel::lifecycle::RenamedData f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_first; + sofa::core::objectmodel::lifecycle::RenamedData f_first; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_last; + sofa::core::objectmodel::lifecycle::RenamedData f_last; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_radius; + sofa::core::objectmodel::lifecycle::RenamedData f_radius; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_handleTopologyChange; + sofa::core::objectmodel::lifecycle::RenamedData f_handleTopologyChange; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_ignoreNotFound; + sofa::core::objectmodel::lifecycle::RenamedData f_ignoreNotFound; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData f_resizeToModel; + sofa::core::objectmodel::lifecycle::RenamedData f_resizeToModel; SetIndex d_indices; diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h index 75fe2fe440c..d80e95eb0ab 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::mapping::linear { @@ -66,7 +66,7 @@ class SubsetMultiMapping : public LinearMultiMapping virtual const type::vector* getJs() override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData< type::vector > indexPairs; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > indexPairs; Data< type::vector > d_indexPairs; ///< list of couples (parent index + index in the parent) diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.h index 3802eb53063..a834febedfc 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/TubularMapping.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::mapping::linear { @@ -89,13 +89,13 @@ class TubularMapping : public LinearMapping void applyJT ( const core::ConstraintParams* /*cparams*/, InDataMatrixDeriv& dOut, const OutDataMatrixDeriv& dIn ) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData m_nbPointsOnEachCircle; + sofa::core::objectmodel::lifecycle::RenamedData m_nbPointsOnEachCircle; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData m_radius; + sofa::core::objectmodel::lifecycle::RenamedData m_radius; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_LINEAR() - sofa::core::objectmodel::RenamedData m_peak; + sofa::core::objectmodel::lifecycle::RenamedData m_peak; Data d_nbPointsOnEachCircle; ///< Discretization of created circles Data d_radius; ///< Radius of created circles diff --git a/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp b/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp index 668d3719f58..2f923ea9221 100644 --- a/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp +++ b/Sofa/Component/Mapping/Linear/tests/BarycentricMapping_test.cpp @@ -74,7 +74,7 @@ struct BarycentricMapperTriangleSetTopologyTest : public BaseTest, public Baryc typename Out::VecCoord m_out; TriangleSetTopologyContainer::SPtr m_topology; - void SetUp() override + void doSetUp() override { m_in.push_back(Vec3(0.5, 1.5, 0.0)); m_in.push_back(Vec3(1.5, 0.0, 2.5)); diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h index 3731851cd3a..615537ab7c4 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.h @@ -30,7 +30,7 @@ #include #include -#include +#include namespace sofa::component::mapping::nonlinear { @@ -77,13 +77,13 @@ class DistanceFromTargetMapping : public BaseNonLinearMapping, typedef type::Vec Direction; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData> f_indices; + sofa::core::objectmodel::lifecycle::RenamedData> f_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData f_targetPositions; + sofa::core::objectmodel::lifecycle::RenamedData f_targetPositions; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData> f_restDistances; + sofa::core::objectmodel::lifecycle::RenamedData> f_restDistances; // d_showObjectScale and d_color are already up-to-date with the new naming convention, so they do not require deprecation notices. diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h index df197ab65d9..7f2296efb23 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::mapping::nonlinear { @@ -62,10 +62,10 @@ class DistanceMapping : public BaseNonLinearMapping typedef type::Vec Direction; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData f_computeDistance; + sofa::core::objectmodel::lifecycle::RenamedData f_computeDistance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData> f_restLengths; + sofa::core::objectmodel::lifecycle::RenamedData> f_restLengths; Data d_computeDistance; ///< if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h index fed60bcd234..1f78b1868e2 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::mapping::nonlinear { @@ -77,10 +77,10 @@ class DistanceMultiMapping : public core::MultiMapping, public Stabil typedef type::Vec Direction; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData f_computeDistance; + sofa::core::objectmodel::lifecycle::RenamedData f_computeDistance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MAPPING_NONLINEAR() - sofa::core::objectmodel::RenamedData> f_restLengths; + sofa::core::objectmodel::lifecycle::RenamedData> f_restLengths; Data d_computeDistance; ///< if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them Data> d_restLengths; ///< Rest lengths of the connections diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.inl index fa2d0f1911c..195d6803c96 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.inl +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/RigidMapping.inl @@ -772,8 +772,11 @@ void RigidMapping::setJMatrixBlock(unsigned outIdx, unsigned inIdx) template void RigidMapping::draw(const core::visual::VisualParams* vparams) { - if (!vparams->displayFlags().getShowMappings() || this->toModel==nullptr ) + if (!vparams->displayFlags().getShowMappings() || !this->toModel ) return; + + [[maybe_unused]] const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + std::vector points; type::Vec3 point; diff --git a/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp index 630add17ad0..d18e3bbf623 100644 --- a/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp +++ b/Sofa/Component/Mapping/NonLinear/tests/RigidMapping_test.cpp @@ -74,7 +74,7 @@ struct RigidMappingTest : public sofa::mapping_test::Mapping_test<_RigidMapping> typedef typename OutMechanicalObject::ReadVecCoord ReadOutVecCoord; typedef typename OutMechanicalObject::ReadVecDeriv ReadOutVecDeriv; - void SetUp() override + void doSetUp() override { } diff --git a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp index a837a54366f..f62537fceb7 100644 --- a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp +++ b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp @@ -150,11 +150,11 @@ struct SquareDistanceMappingCompare_test : NumericTest simulation::Node::SPtr oneMapping; simulation::Node::SPtr twoMappings; - void onSetUp() override + void doSetUp() override { root = simulation::getSimulation()->createNewNode("root"); - simpleapi::createObject(root, "RequiredPlugin", {{"pluginName", "Sofa.Component"}}); + simpleapi::createObject(root, "RequiredPlugin", {{"pluginName", Sofa.Component}}); simpleapi::createObject(root, "DefaultAnimationLoop"); simpleapi::createObject(root, "StringMeshCreator", {{"name", "loader"}, {"resolution", "3"}}); diff --git a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp index c3587764b84..82a3fa98dab 100644 --- a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp +++ b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp @@ -25,6 +25,7 @@ #include #include +#include namespace sofa::component::mapping { @@ -53,8 +54,8 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Mapping.Linear"); - factory->registerObjectsFromPlugin("Sofa.Component.Mapping.NonLinear"); + factory->registerObjectsFromPlugin(Sofa.Component.Mapping.Linear); + factory->registerObjectsFromPlugin(Sofa.Component.Mapping.NonLinear); } void init() diff --git a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp index 2fa55643d95..ca3393caa9c 100644 --- a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp +++ b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp @@ -96,18 +96,18 @@ class DiagonalMass_test : public BaseTest typename MechanicalObject::SPtr mstate; typename DiagonalMass::SPtr mass; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); simulation = simulation::getSimulation(); root = simulation::getSimulation()->createNewGraph("root"); } - void TearDown() override + void doTearDown() override { if (root!=nullptr) sofa::simulation::node::unload(root); diff --git a/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp b/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp index 024bf21dd13..5084b7eb1b2 100644 --- a/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp +++ b/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp @@ -99,18 +99,18 @@ class MeshMatrixMass_test : public BaseTest typename MechanicalObject::SPtr mstate; typename MeshMatrixMass::SPtr mass; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); simulation = simulation::getSimulation(); root = simulation::getSimulation()->createNewGraph("root"); } - void TearDown() override + void doTearDown() override { if (root!=nullptr) sofa::simulation::node::unload(root); diff --git a/Sofa/Component/Mass/tests/UniformMass_test.cpp b/Sofa/Component/Mass/tests/UniformMass_test.cpp index ddfa5c0eabb..42243593dca 100644 --- a/Sofa/Component/Mass/tests/UniformMass_test.cpp +++ b/Sofa/Component/Mass/tests/UniformMass_test.cpp @@ -77,17 +77,17 @@ struct UniformMassTest : public BaseTest typename MechanicalObject::SPtr m_mecaobject; bool todo {true} ; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); todo = true ; m_simu = sofa::simulation::getSimulation(); m_root = m_simu->createNewGraph("root"); } - void TearDown() override + void doTearDown() override { if (m_root != nullptr){ sofa::simulation::node::unload(m_root); diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EdgePressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EdgePressureForceField.h index 95b8792aced..e6243016b1e 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EdgePressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EdgePressureForceField.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::mechanicalload { @@ -83,37 +83,37 @@ class EdgePressureForceField : public core::behavior::ForceField sofa::core::topology::BaseMeshTopology* _completeTopology{nullptr}; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData > edgePressureMap; + sofa::core::objectmodel::lifecycle::RenamedData > edgePressureMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData pressure; + sofa::core::objectmodel::lifecycle::RenamedData pressure; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData >edgeIndices; + sofa::core::objectmodel::lifecycle::RenamedData >edgeIndices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData > edges; + sofa::core::objectmodel::lifecycle::RenamedData > edges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData normal; + sofa::core::objectmodel::lifecycle::RenamedData normal; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData dmin; + sofa::core::objectmodel::lifecycle::RenamedData dmin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData dmax; + sofa::core::objectmodel::lifecycle::RenamedData dmax; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData arrowSizeCoef; + sofa::core::objectmodel::lifecycle::RenamedData arrowSizeCoef; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData< type::vector > p_intensity; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > p_intensity; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData p_binormal; + sofa::core::objectmodel::lifecycle::RenamedData p_binormal; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData p_showForces; + sofa::core::objectmodel::lifecycle::RenamedData p_showForces; Data d_pressure; ///< Pressure force per unit area Data > d_edgeIndices; ///< Indices of edges separated with commas where a pressure is applied diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/OscillatingTorsionPressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/OscillatingTorsionPressureForceField.h index 79d1d44fbe6..6328bec72d1 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/OscillatingTorsionPressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/OscillatingTorsionPressureForceField.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::mechanicalload { @@ -84,34 +84,34 @@ class OscillatingTorsionPressureForceField : public core::behavior::ForceField > trianglePressureMap; + sofa::core::objectmodel::lifecycle::RenamedData > trianglePressureMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData moment; + sofa::core::objectmodel::lifecycle::RenamedData moment; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData > triangleList; + sofa::core::objectmodel::lifecycle::RenamedData > triangleList; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData axis; + sofa::core::objectmodel::lifecycle::RenamedData axis; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData center; + sofa::core::objectmodel::lifecycle::RenamedData center; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData penalty; + sofa::core::objectmodel::lifecycle::RenamedData penalty; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData frequency; + sofa::core::objectmodel::lifecycle::RenamedData frequency; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData dmin; + sofa::core::objectmodel::lifecycle::RenamedData dmin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData dmax; + sofa::core::objectmodel::lifecycle::RenamedData dmax; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData p_showForces; + sofa::core::objectmodel::lifecycle::RenamedData p_showForces; sofa::core::topology::TriangleSubsetData > d_trianglePressureMap; ///< Map between triangle indices and their pressure diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/QuadPressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/QuadPressureForceField.h index dbd9bb1acb9..39e42d3c37b 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/QuadPressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/QuadPressureForceField.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::mechanicalload { @@ -55,22 +55,22 @@ class QuadPressureForceField : public core::behavior::ForceField using Index = sofa::Index; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData pressure; + sofa::core::objectmodel::lifecycle::RenamedData pressure; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData> quadList; + sofa::core::objectmodel::lifecycle::RenamedData> quadList; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData normal; + sofa::core::objectmodel::lifecycle::RenamedData normal; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData dmin; + sofa::core::objectmodel::lifecycle::RenamedData dmin; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData dmax; + sofa::core::objectmodel::lifecycle::RenamedData dmax; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData p_showForces; + sofa::core::objectmodel::lifecycle::RenamedData p_showForces; Data d_pressure; ///< Pressure force per unit area @@ -119,7 +119,7 @@ class QuadPressureForceField : public core::behavior::ForceField } }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData > quadPressureMap; + sofa::core::objectmodel::lifecycle::RenamedData > quadPressureMap; sofa::core::topology::QuadSubsetData > d_quadPressureMap; ///< Map between quad indices and their pressure diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h index 91ab0c73428..993afb57855 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SphereForceField.h @@ -29,7 +29,7 @@ #include -#include +#include namespace sofa::component::mechanicalload { @@ -84,7 +84,7 @@ class SphereForceField : public core::behavior::ForceField }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData > contacts; + sofa::core::objectmodel::lifecycle::RenamedData > contacts; Data > d_contacts; ///< Contacts @@ -94,25 +94,25 @@ class SphereForceField : public core::behavior::ForceField SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData sphereCenter; + sofa::core::objectmodel::lifecycle::RenamedData sphereCenter; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData sphereRadius; + sofa::core::objectmodel::lifecycle::RenamedData sphereRadius; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData stiffness; + sofa::core::objectmodel::lifecycle::RenamedData stiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData damping; + sofa::core::objectmodel::lifecycle::RenamedData damping; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData color; + sofa::core::objectmodel::lifecycle::RenamedData color; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData> localRange; + sofa::core::objectmodel::lifecycle::RenamedData> localRange; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData bilateral; + sofa::core::objectmodel::lifecycle::RenamedData bilateral; Data d_sphereCenter; ///< sphere center diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.h index 5678ad7474d..b8a17afd690 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::core::topology { @@ -71,43 +71,43 @@ class SurfacePressureForceField : public core::behavior::ForceField enum State { INCREASE, DECREASE }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_pressure; + sofa::core::objectmodel::lifecycle::RenamedData m_pressure; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_min; + sofa::core::objectmodel::lifecycle::RenamedData m_min; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_max; + sofa::core::objectmodel::lifecycle::RenamedData m_max; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_triangleIndices; + sofa::core::objectmodel::lifecycle::RenamedData m_triangleIndices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_quadIndices; + sofa::core::objectmodel::lifecycle::RenamedData m_quadIndices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_pulseMode; + sofa::core::objectmodel::lifecycle::RenamedData m_pulseMode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_pressureLowerBound; + sofa::core::objectmodel::lifecycle::RenamedData m_pressureLowerBound; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_pressureSpeed; + sofa::core::objectmodel::lifecycle::RenamedData m_pressureSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_volumeConservationMode; + sofa::core::objectmodel::lifecycle::RenamedData m_volumeConservationMode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_useTangentStiffness; + sofa::core::objectmodel::lifecycle::RenamedData m_useTangentStiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_defaultVolume; + sofa::core::objectmodel::lifecycle::RenamedData m_defaultVolume; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_mainDirection; + sofa::core::objectmodel::lifecycle::RenamedData m_mainDirection; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_drawForceScale; + sofa::core::objectmodel::lifecycle::RenamedData m_drawForceScale; Data d_pressure; ///< Pressure force per unit area Data d_min; ///< Lower bound of the selection box diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h index dc41b36c794..98b4cb8ed60 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::mechanicalload { @@ -74,58 +74,58 @@ class TaitSurfacePressureForceField : public core::behavior::ForceField m_p0; + sofa::core::objectmodel::lifecycle::RenamedData m_p0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_B; + sofa::core::objectmodel::lifecycle::RenamedData m_B; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_gamma; + sofa::core::objectmodel::lifecycle::RenamedData m_gamma; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_injectedVolume; + sofa::core::objectmodel::lifecycle::RenamedData m_injectedVolume; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_maxInjectionRate; + sofa::core::objectmodel::lifecycle::RenamedData m_maxInjectionRate; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_initialVolume; + sofa::core::objectmodel::lifecycle::RenamedData m_initialVolume; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_currentInjectedVolume; + sofa::core::objectmodel::lifecycle::RenamedData m_currentInjectedVolume; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_v0; + sofa::core::objectmodel::lifecycle::RenamedData m_v0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_currentVolume; + sofa::core::objectmodel::lifecycle::RenamedData m_currentVolume; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_currentPressure; + sofa::core::objectmodel::lifecycle::RenamedData m_currentPressure; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_currentStiffness; + sofa::core::objectmodel::lifecycle::RenamedData m_currentStiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_pressureTriangles; + sofa::core::objectmodel::lifecycle::RenamedData m_pressureTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_initialSurfaceArea; + sofa::core::objectmodel::lifecycle::RenamedData m_initialSurfaceArea; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_currentSurfaceArea; + sofa::core::objectmodel::lifecycle::RenamedData m_currentSurfaceArea; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_drawForceScale; + sofa::core::objectmodel::lifecycle::RenamedData m_drawForceScale; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_drawForceColor; + sofa::core::objectmodel::lifecycle::RenamedData m_drawForceColor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_volumeAfterTC; + sofa::core::objectmodel::lifecycle::RenamedData m_volumeAfterTC; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_surfaceAreaAfterTC; + sofa::core::objectmodel::lifecycle::RenamedData m_surfaceAreaAfterTC; Data< Real > d_p0; ///< IN: Rest pressure when V = V0 diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TorsionForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TorsionForceField.h index d21708b69eb..d727c51636d 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TorsionForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TorsionForceField.h @@ -30,7 +30,7 @@ #include #include -#include +#include namespace sofa::component::mechanicalload { @@ -86,16 +86,16 @@ class TorsionForceField : public ForceField public : SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_indices; + sofa::core::objectmodel::lifecycle::RenamedData m_indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_torque; + sofa::core::objectmodel::lifecycle::RenamedData m_torque; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_axis; + sofa::core::objectmodel::lifecycle::RenamedData m_axis; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData m_origin; + sofa::core::objectmodel::lifecycle::RenamedData m_origin; Data d_indices; ///< indices of the selected points Data d_torque; ///< torque to apply diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h index 15dc6cebe69..348503e847c 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::mechanicalload { @@ -52,19 +52,19 @@ class TrianglePressureForceField : public core::behavior::ForceField using Index = sofa::Index; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData pressure; + sofa::core::objectmodel::lifecycle::RenamedData pressure; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData cauchyStress; + sofa::core::objectmodel::lifecycle::RenamedData cauchyStress; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData > triangleList; + sofa::core::objectmodel::lifecycle::RenamedData > triangleList; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData p_showForces; + sofa::core::objectmodel::lifecycle::RenamedData p_showForces; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData p_useConstantForce; + sofa::core::objectmodel::lifecycle::RenamedData p_useConstantForce; Data d_pressure; ///< Pressure force per unit area diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/UniformVelocityDampingForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/UniformVelocityDampingForceField.h index dc0fdcef2ea..f297f3916c7 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/UniformVelocityDampingForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/UniformVelocityDampingForceField.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::mechanicalload { @@ -49,7 +49,7 @@ class UniformVelocityDampingForceField : public core::behavior::ForceField DataVecDeriv; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_MECHANICALLOAD() - sofa::core::objectmodel::RenamedData< Real > dampingCoefficient; + sofa::core::objectmodel::lifecycle::RenamedData< Real > dampingCoefficient; /// air drag coefficient. Data< Real > d_dampingCoefficient; diff --git a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp index a901c1ec931..8785f12c84b 100644 --- a/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp +++ b/Sofa/Component/MechanicalLoad/tests/ConstantForceField_test.cpp @@ -72,16 +72,16 @@ struct ConstantForceField_test : public BaseSimulationTest, NumericTest TheMechanicalObject; using Real = typename DataTypes::Coord::value_type; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.MechanicalLoad"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.MechanicalLoad); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); } - void TearDown() override {} + void doTearDown() override {} void testSimpleBehavior() { diff --git a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp index 5459c9291a9..2cad132b962 100644 --- a/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp +++ b/Sofa/Component/MechanicalLoad/tests/PlaneForceField_test.cpp @@ -116,13 +116,13 @@ struct PlaneForceField_test : public BaseSimulationTest * by the plane force field. * In the special case where : stiffness = 500, damping = 5 and maxForce = 0 (default values) */ - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.MechanicalLoad"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.MechanicalLoad); } - void TearDown() override {} + void doTearDown() override {} void setupDefaultScene() { diff --git a/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp b/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp index 51c8db83051..b91c76a8d01 100644 --- a/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp +++ b/Sofa/Component/MechanicalLoad/tests/SkeletalMotionConstraint_test.cpp @@ -67,7 +67,7 @@ struct SkeletalMotionProjectiveConstraint_test : public BaseSimulationTest, Nume typename MechanicalObject::SPtr dofs; /// Create the context for the tests. - void SetUp() override + void doSetUp() override { simulation = sofa::simulation::getSimulation(); @@ -167,7 +167,7 @@ struct SkeletalMotionProjectiveConstraint_test : public BaseSimulationTest, Nume return succeed; } - void TearDown() override + void doTearDown() override { if (root!=nullptr) sofa::simulation::node::unload(root); diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.h b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.h index 3dbece65c3b..ccebff28494 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.h +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/EulerImplicitSolver.h @@ -25,7 +25,7 @@ #include -#include +#include namespace sofa::component::odesolver::backward { @@ -104,20 +104,20 @@ class SOFA_COMPONENT_ODESOLVER_BACKWARD_API EulerImplicitSolver : SOFA_CLASS2(EulerImplicitSolver, sofa::core::behavior::OdeSolver, sofa::core::behavior::LinearSolverAccessor); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_rayleighStiffness; + sofa::core::objectmodel::lifecycle::RenamedData f_rayleighStiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_rayleighMass; + sofa::core::objectmodel::lifecycle::RenamedData f_rayleighMass; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_velocityDamping; + sofa::core::objectmodel::lifecycle::RenamedData f_velocityDamping; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_firstOrder; + sofa::core::objectmodel::lifecycle::RenamedData f_firstOrder; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_solveConstraint; + sofa::core::objectmodel::lifecycle::RenamedData f_solveConstraint; diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.h b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.h index 8e46bb57664..37e2a66ee6b 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.h +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/VariationalSymplecticSolver.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::odesolver::backward { @@ -46,34 +46,34 @@ class SOFA_COMPONENT_ODESOLVER_BACKWARD_API VariationalSymplecticSolver SOFA_CLASS2(VariationalSymplecticSolver, sofa::core::behavior::OdeSolver, sofa::core::behavior::LinearSolverAccessor); SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_newtonError; + sofa::core::objectmodel::lifecycle::RenamedData f_newtonError; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_newtonSteps; + sofa::core::objectmodel::lifecycle::RenamedData f_newtonSteps; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_rayleighStiffness; + sofa::core::objectmodel::lifecycle::RenamedData f_rayleighStiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_rayleighMass; + sofa::core::objectmodel::lifecycle::RenamedData f_rayleighMass; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_saveEnergyInFile; + sofa::core::objectmodel::lifecycle::RenamedData f_saveEnergyInFile; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_explicit; + sofa::core::objectmodel::lifecycle::RenamedData f_explicit; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_fileName; + sofa::core::objectmodel::lifecycle::RenamedData f_fileName; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_computeHamiltonian; + sofa::core::objectmodel::lifecycle::RenamedData f_computeHamiltonian; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_hamiltonianEnergy; + sofa::core::objectmodel::lifecycle::RenamedData f_hamiltonianEnergy; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_BACKWARD() - sofa::core::objectmodel::RenamedData f_useIncrementalPotentialEnergy; + sofa::core::objectmodel::lifecycle::RenamedData f_useIncrementalPotentialEnergy; Data d_newtonError; ///< Error tolerance for Newton iterations Data d_newtonSteps; ///< Maximum number of Newton steps diff --git a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp index 6d6a88d522d..30c8c945c9d 100644 --- a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolverStatic_test.cpp @@ -103,12 +103,12 @@ struct EulerImplicit_test_2_particles_to_equilibrium : public BaseSimulationTest const simulation::Node::SPtr root = simpleapi::createRootNode(simu, "root"); //******* // begin create scene under the root node - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.Spring"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Projective); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.Spring); // remove warnings simpleapi::createObject(root, "DefaultAnimationLoop", {}); @@ -201,12 +201,12 @@ struct EulerImplicit_test_2_particles_in_different_nodes_to_equilibrium : publi // create scene root->setGravity(Vec3(0,0,0)); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.Spring"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Projective); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.Spring); // remove warnings simpleapi::createObject(root, "DefaultAnimationLoop", {}); simpleapi::createObject(root, "DefaultVisualManagerLoop", {}); diff --git a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolver_withDamping_test.cpp b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolver_withDamping_test.cpp index dc1089ed0a7..25f18328d7c 100644 --- a/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolver_withDamping_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/EulerImplicitSolver_withDamping_test.cpp @@ -57,11 +57,11 @@ struct EulerImplicit_with_damping_forcefield : public BaseSimulationTest, Numeri //******* // load appropriate modules - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.MechanicalLoad"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.MechanicalLoad); // avoid warnings simpleapi::createObject(root, "DefaultAnimationLoop", {}); diff --git a/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp b/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp index 1425fb39be1..4a7ae8a587b 100644 --- a/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/SpringSolverDynamic_test.cpp @@ -60,7 +60,7 @@ struct SpringSolverDynamic_test : public NumericTest /// Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation simulation = sofa::simulation::getSimulation(); diff --git a/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp b/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp index 510b11bf89a..868b862de62 100644 --- a/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/StaticSolver_test.cpp @@ -51,11 +51,11 @@ static constexpr SReal l = youngModulus * poissonRatio / ((1.0 + poissonRatio) * class StaticSolverTest : public sofa::testing::BaseTest { public: - void onSetUp() override { + void doSetUp() override { root = getSimulation()->createNewNode("root"); - createObject(root, "RequiredPlugin", {{"pluginName", "Sofa.Component"}}); + createObject(root, "RequiredPlugin", {{"pluginName", Sofa.Component}}); createObject(root, "DefaultAnimationLoop"); createObject(root, "RegularGridTopology", {{"name", "grid"}, {"min", "-7.5 -7.5 0"}, {"max", "7.5 7.5 80"}, {"n", "3 3 9"}}); const auto s = createObject(root, "StaticSolver", {{"newton_iterations", "10"}}); @@ -83,7 +83,7 @@ class StaticSolverTest : public sofa::testing::BaseTest solver = dynamic_cast (s.get()); } - void onTearDown() override { + void doTearDown() override { sofa::simulation::node::unload(root); } diff --git a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/CentralDifferenceSolver.h b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/CentralDifferenceSolver.h index 62416f6a63d..592bbb2c960 100644 --- a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/CentralDifferenceSolver.h +++ b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/CentralDifferenceSolver.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::odesolver::forward { @@ -44,7 +44,7 @@ class SOFA_COMPONENT_ODESOLVER_FORWARD_API CentralDifferenceSolver : public sofa public: void solve (const core::ExecParams* params, SReal dt, sofa::core::MultiVecCoordId xResult, sofa::core::MultiVecDerivId vResult) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_FORWARD() - sofa::core::objectmodel::RenamedData f_rayleighMass; + sofa::core::objectmodel::lifecycle::RenamedData f_rayleighMass; Data d_rayleighMass; ///< Rayleigh damping coefficient related to mass Data d_threadSafeVisitor; ///< If true, do not use realloc and free visitors in fwdInteractionForceField. diff --git a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/DampVelocitySolver.h b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/DampVelocitySolver.h index de737b83789..ddfe643f313 100644 --- a/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/DampVelocitySolver.h +++ b/Sofa/Component/ODESolver/Forward/src/sofa/component/odesolver/forward/DampVelocitySolver.h @@ -25,7 +25,7 @@ #include -#include +#include namespace sofa::component::odesolver::forward { @@ -37,10 +37,10 @@ class SOFA_COMPONENT_ODESOLVER_FORWARD_API DampVelocitySolver : public sofa::cor { public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_FORWARD() - sofa::core::objectmodel::RenamedData rate; + sofa::core::objectmodel::lifecycle::RenamedData rate; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_ODESOLVER_FORWARD() - sofa::core::objectmodel::RenamedData threshold; + sofa::core::objectmodel::lifecycle::RenamedData threshold; SOFA_CLASS(DampVelocitySolver, sofa::core::behavior::OdeSolver); diff --git a/Sofa/Component/ODESolver/Testing/src/sofa/component/odesolver/testing/ODESolverSpringTest.h b/Sofa/Component/ODESolver/Testing/src/sofa/component/odesolver/testing/ODESolverSpringTest.h index 8d1cd2c5ad0..d86e90e1d09 100644 --- a/Sofa/Component/ODESolver/Testing/src/sofa/component/odesolver/testing/ODESolverSpringTest.h +++ b/Sofa/Component/ODESolver/Testing/src/sofa/component/odesolver/testing/ODESolverSpringTest.h @@ -21,6 +21,7 @@ ******************************************************************************/ #pragma once +#include #include using sofa::testing::BaseSimulationTest; @@ -43,12 +44,12 @@ struct ODESolverSpringTest : public BaseSimulationTest // Create the scene m_si.root->setGravity({ 0, -10, 0 }); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.Spring"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Projective); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.Spring); // remove warnings simpleapi::createObject(m_si.root, "DefaultAnimationLoop", {}); diff --git a/Sofa/Component/ODESolver/src/sofa/component/odesolver/init.cpp b/Sofa/Component/ODESolver/src/sofa/component/odesolver/init.cpp index 7f06baa6206..4c86bf81b18 100644 --- a/Sofa/Component/ODESolver/src/sofa/component/odesolver/init.cpp +++ b/Sofa/Component/ODESolver/src/sofa/component/odesolver/init.cpp @@ -26,6 +26,7 @@ #include #include +#include namespace sofa::component::odesolver { @@ -54,8 +55,8 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.ODESolver.Backward"); - factory->registerObjectsFromPlugin("Sofa.Component.ODESolver.Forward"); + factory->registerObjectsFromPlugin(Sofa.Component.ODESolver.Backward); + factory->registerObjectsFromPlugin(Sofa.Component.ODESolver.Forward); } void init() diff --git a/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h b/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h index 6eb0e713c4f..3487ea8ee02 100644 --- a/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h +++ b/Sofa/Component/Playback/src/sofa/component/playback/InputEventReader.h @@ -32,7 +32,7 @@ #include #endif -#include +#include namespace sofa::component::playback { @@ -78,19 +78,19 @@ class InputEventReader : public core::objectmodel::BaseObject sofa::core::objectmodel::DataFileName filename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData inverseSense; + sofa::core::objectmodel::lifecycle::RenamedData inverseSense; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData p_printEvent; + sofa::core::objectmodel::lifecycle::RenamedData p_printEvent; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData p_key1; + sofa::core::objectmodel::lifecycle::RenamedData p_key1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData p_key2; + sofa::core::objectmodel::lifecycle::RenamedData p_key2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData p_writeEvents; + sofa::core::objectmodel::lifecycle::RenamedData p_writeEvents; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() sofa::core::objectmodel::DataFileName p_outputFilename; diff --git a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h index abd7f4e23f4..f3ab73eca18 100644 --- a/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h +++ b/Sofa/Component/Playback/src/sofa/component/playback/ReadTopology.h @@ -34,7 +34,7 @@ #include #include -#include +#include namespace sofa::component::playback { @@ -50,13 +50,13 @@ class SOFA_COMPONENT_PLAYBACK_API ReadTopology: public core::objectmodel::BaseOb sofa::core::objectmodel::DataFileName f_filename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < double > f_interval; + sofa::core::objectmodel::lifecycle::RenamedData < double > f_interval; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < double > f_shift; + sofa::core::objectmodel::lifecycle::RenamedData < double > f_shift; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < bool > f_loop; + sofa::core::objectmodel::lifecycle::RenamedData < bool > f_loop; sofa::core::objectmodel::DataFileName d_filename; Data < double > d_interval; ///< time duration between inputs diff --git a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h index 77706b00a7a..623d33ac0c6 100644 --- a/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h +++ b/Sofa/Component/Playback/src/sofa/component/playback/WriteTopology.h @@ -38,7 +38,7 @@ #include -#include +#include namespace sofa::component::playback { @@ -61,19 +61,19 @@ class SOFA_COMPONENT_PLAYBACK_API WriteTopology: public core::objectmodel::BaseO sofa::core::objectmodel::DataFileName f_filename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < bool > f_writeContainers; + sofa::core::objectmodel::lifecycle::RenamedData < bool > f_writeContainers; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < bool > f_writeShellContainers; + sofa::core::objectmodel::lifecycle::RenamedData < bool > f_writeShellContainers; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < double > f_interval; + sofa::core::objectmodel::lifecycle::RenamedData < double > f_interval; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < type::vector > f_time; + sofa::core::objectmodel::lifecycle::RenamedData < type::vector > f_time; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_PLAYBACK() - sofa::core::objectmodel::RenamedData < double > f_period; + sofa::core::objectmodel::lifecycle::RenamedData < double > f_period; sofa::core::objectmodel::DataFileName d_filename; diff --git a/Sofa/Component/Playback/tests/ReadState_test.cpp b/Sofa/Component/Playback/tests/ReadState_test.cpp index 67f543ea851..967d7a7579d 100644 --- a/Sofa/Component/Playback/tests/ReadState_test.cpp +++ b/Sofa/Component/Playback/tests/ReadState_test.cpp @@ -37,8 +37,8 @@ class ReadState_test : public BaseSimulationTest const double dt = 0.01; const auto simulation = sofa::simpleapi::createSimulation(); const Node::SPtr root = sofa::simpleapi::createRootNode(simulation, "root"); - sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name","Sofa.Component.Playback" } }); - sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name","Sofa.Component.StateContainer" } }); + sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name",Sofa.Component.Playback } }); + sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name",Sofa.Component.StateContainer } }); /// no need of gravity, the file .data is just read root->setGravity(Vec3(0.0,0.0,0.0)); @@ -68,8 +68,8 @@ class ReadState_test : public BaseSimulationTest { const auto simulation = sofa::simpleapi::createSimulation(); const Node::SPtr root = sofa::simpleapi::createRootNode(simulation, "root"); - sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name","Sofa.Component.Playback" } }); - sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name","Sofa.Component.StateContainer" } }); + sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name",Sofa.Component.Playback } }); + sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name",Sofa.Component.StateContainer } }); auto meca = sofa::simpleapi::createObject(root, "MechanicalObject", {{"size", "1"}}); diff --git a/Sofa/Component/Playback/tests/WriteState_test.cpp b/Sofa/Component/Playback/tests/WriteState_test.cpp index 909a091c983..d0b92f7f4e8 100644 --- a/Sofa/Component/Playback/tests/WriteState_test.cpp +++ b/Sofa/Component/Playback/tests/WriteState_test.cpp @@ -71,7 +71,7 @@ namespace sofa { double final_expected_value=0.0; /// Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation root = simulation::getSimulation()->createNewGraph("root"); @@ -220,7 +220,7 @@ namespace sofa { /// Unload the scene - void TearDown() override + void doTearDown() override { if (root!=nullptr) sofa::simulation::node::unload(root); @@ -237,26 +237,22 @@ namespace sofa { // Test 1 : write position of a particle falling under gravity (required to use SymplecticSolver TYPED_TEST( WriteState_test , test_write_position) { - this->SetUp(); this->createScene(true); this->initScene(); this->runScene(); ASSERT_TRUE( this->simulation_result_test(true) ); ASSERT_TRUE( this->test_export(true) ); - this->TearDown(); } // Test 2 : write velocity of a particle falling under gravity TYPED_TEST( WriteState_test , test_write_velocity) { - this->SetUp(); this->createScene(false); this->initScene(); this->runScene(); ASSERT_TRUE( this->simulation_result_test(false) ); ASSERT_TRUE( this->test_export(false) ); - this->TearDown(); } } diff --git a/Sofa/Component/SceneUtility/tests/AddResourceRepository_test.cpp b/Sofa/Component/SceneUtility/tests/AddResourceRepository_test.cpp index c7bebda42a6..5d8a3d596af 100644 --- a/Sofa/Component/SceneUtility/tests/AddResourceRepository_test.cpp +++ b/Sofa/Component/SceneUtility/tests/AddResourceRepository_test.cpp @@ -44,9 +44,9 @@ struct AddResourceRepository_test : public BaseSimulationTest sofa::simulation::Node::SPtr m_root; std::string m_testRepoDir; - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); + sofa::simpleapi::importPlugin(Sofa.Component.SceneUtility); m_testRepoDir = std::string(SOFA_COMPONENT_SCENEUTILITY_TEST_RESOURCES_DIR) + std::string("/repo"); } diff --git a/Sofa/Component/SceneUtility/tests/MakeAliasComponent_test.cpp b/Sofa/Component/SceneUtility/tests/MakeAliasComponent_test.cpp index e442de84203..552ad09b95a 100644 --- a/Sofa/Component/SceneUtility/tests/MakeAliasComponent_test.cpp +++ b/Sofa/Component/SceneUtility/tests/MakeAliasComponent_test.cpp @@ -72,7 +72,7 @@ bool inited = doInit(); void perTestInit() { - sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); + sofa::simpleapi::importPlugin(Sofa.Component.SceneUtility); theSimulation = sofa::simulation::getSimulation(); diff --git a/Sofa/Component/SceneUtility/tests/MakeDataAliasComponent_test.cpp b/Sofa/Component/SceneUtility/tests/MakeDataAliasComponent_test.cpp index 15aaa483a2f..7a36ee55625 100644 --- a/Sofa/Component/SceneUtility/tests/MakeDataAliasComponent_test.cpp +++ b/Sofa/Component/SceneUtility/tests/MakeDataAliasComponent_test.cpp @@ -72,8 +72,8 @@ bool inited = doInit(); void perTestInit() { - sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin(Sofa.Component.SceneUtility); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); if(defaultHandler==nullptr) defaultHandler=new ConsoleMessageHandler(&RichConsoleStyleMessageFormatter::getInstance()) ; diff --git a/Sofa/Component/SceneUtility/tests/MessageHandlerComponent_test.cpp b/Sofa/Component/SceneUtility/tests/MessageHandlerComponent_test.cpp index 6cf6bbd792f..542ebc512b8 100644 --- a/Sofa/Component/SceneUtility/tests/MessageHandlerComponent_test.cpp +++ b/Sofa/Component/SceneUtility/tests/MessageHandlerComponent_test.cpp @@ -45,7 +45,7 @@ using sofa::helper::logging::MessageDispatcher ; bool perTestInit() { - sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); + sofa::simpleapi::importPlugin(Sofa.Component.SceneUtility); /// THE TESTS HERE ARE NOT INHERITING FROM SOFA TEST SO WE NEED TO MANUALLY INSTALL THE HANDLER /// DO NO REMOVE diff --git a/Sofa/Component/Setting/src/sofa/component/setting/BackgroundSetting.h b/Sofa/Component/Setting/src/sofa/component/setting/BackgroundSetting.h index 7a6e255b84e..f59bbb24dbc 100644 --- a/Sofa/Component/Setting/src/sofa/component/setting/BackgroundSetting.h +++ b/Sofa/Component/Setting/src/sofa/component/setting/BackgroundSetting.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::setting { @@ -42,7 +42,7 @@ class SOFA_COMPONENT_SETTING_API BackgroundSetting: public core::objectmodel::Co public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData color; + sofa::core::objectmodel::lifecycle::RenamedData color; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() sofa::core::objectmodel::DataFileName image; ///< Image to be used as background of the viewer. diff --git a/Sofa/Component/Setting/src/sofa/component/setting/MouseButtonSetting.h b/Sofa/Component/Setting/src/sofa/component/setting/MouseButtonSetting.h index 90c6cafb22b..e7df8c36482 100644 --- a/Sofa/Component/Setting/src/sofa/component/setting/MouseButtonSetting.h +++ b/Sofa/Component/Setting/src/sofa/component/setting/MouseButtonSetting.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::setting { @@ -41,7 +41,7 @@ class SOFA_COMPONENT_SETTING_API MouseButtonSetting: public core::objectmodel::C virtual std::string getOperationType()=0; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData button; + sofa::core::objectmodel::lifecycle::RenamedData button; core::objectmodel::Data d_button; ///< Mouse button used diff --git a/Sofa/Component/Setting/src/sofa/component/setting/SofaDefaultPathSetting.h b/Sofa/Component/Setting/src/sofa/component/setting/SofaDefaultPathSetting.h index 363375bd021..83a5e92abaa 100644 --- a/Sofa/Component/Setting/src/sofa/component/setting/SofaDefaultPathSetting.h +++ b/Sofa/Component/Setting/src/sofa/component/setting/SofaDefaultPathSetting.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::setting { @@ -40,7 +40,7 @@ class SOFA_COMPONENT_SETTING_API SofaDefaultPathSetting: public core::objectmode SofaDefaultPathSetting(); /// gnuplotPath; + sofa::core::objectmodel::lifecycle::RenamedData gnuplotPath; sofa::core::objectmodel::Data d_gnuplotPath; ///< Path where will be saved the gnuplot files }; diff --git a/Sofa/Component/Setting/src/sofa/component/setting/StatsSetting.h b/Sofa/Component/Setting/src/sofa/component/setting/StatsSetting.h index 00eaad3abd3..4be75cf01ac 100644 --- a/Sofa/Component/Setting/src/sofa/component/setting/StatsSetting.h +++ b/Sofa/Component/Setting/src/sofa/component/setting/StatsSetting.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::setting { @@ -49,13 +49,13 @@ class SOFA_COMPONENT_SETTING_API StatsSetting: public core::objectmodel::Configu public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData dumpState; + sofa::core::objectmodel::lifecycle::RenamedData dumpState; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData logTime; + sofa::core::objectmodel::lifecycle::RenamedData logTime; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData exportState; + sofa::core::objectmodel::lifecycle::RenamedData exportState; Data d_dumpState; ///< Dump state vectors at each time step of the simulation diff --git a/Sofa/Component/Setting/src/sofa/component/setting/ViewerSetting.h b/Sofa/Component/Setting/src/sofa/component/setting/ViewerSetting.h index b98967183e8..28625d1742d 100644 --- a/Sofa/Component/Setting/src/sofa/component/setting/ViewerSetting.h +++ b/Sofa/Component/Setting/src/sofa/component/setting/ViewerSetting.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::setting { @@ -52,16 +52,16 @@ class SOFA_COMPONENT_SETTING_API ViewerSetting: public sofa::core::objectmodel:: public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData > resolution; + sofa::core::objectmodel::lifecycle::RenamedData > resolution; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData fullscreen; + sofa::core::objectmodel::lifecycle::RenamedData fullscreen; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData cameraMode; + sofa::core::objectmodel::lifecycle::RenamedData cameraMode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SETTING() - sofa::core::objectmodel::RenamedData objectPickingMethod; + sofa::core::objectmodel::lifecycle::RenamedData objectPickingMethod; Data > d_resolution; ///< resolution of the Viewer Data d_fullscreen; ///< Fullscreen mode diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.h index 6eba2d3fc3e..29b3f8144cb 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -132,7 +132,7 @@ class BeamFEMForceField : public BaseLinearElasticityFEMForceField }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData> m_beamsData; + sofa::core::objectmodel::lifecycle::RenamedData> m_beamsData; EdgeData > d_beamsData; ///< Internal element data diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl index d7aa2c49ebc..10e7cb5e22e 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl @@ -60,10 +60,7 @@ BeamFEMForceField::BeamFEMForceField(Real poissonRatio, Real youngMod , m_updateStiffnessMatrix(true) { d_radius.setRequired(true); - d_radiusInner.setRequired(true); - m_beamsData.setOriginalData(&d_beamsData); - this->setPoissonRatio(poissonRatio); this->setYoungModulus(youngModulus); } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h index cc68dbf18a5..0f5fb51e58f 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.h @@ -31,7 +31,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -117,37 +117,37 @@ class FastTetrahedralCorotationalForceField : public BaseLinearElasticityFEMForc using VecMat3x3 = type::rebind_to; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData pointInfo; + sofa::core::objectmodel::lifecycle::RenamedData pointInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData edgeInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData tetrahedronInfo; + sofa::core::objectmodel::lifecycle::RenamedData tetrahedronInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() SOFA_ATTRIBUTE_DISABLED("", "v24.12", "Use d_youngModulus instead") DeprecatedAndRemoved f_youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_drawing; + sofa::core::objectmodel::lifecycle::RenamedData f_drawing; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor1; + sofa::core::objectmodel::lifecycle::RenamedData drawColor1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor2; + sofa::core::objectmodel::lifecycle::RenamedData drawColor2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor3; + sofa::core::objectmodel::lifecycle::RenamedData drawColor3; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor4; + sofa::core::objectmodel::lifecycle::RenamedData drawColor4; core::topology::PointData d_pointInfo; ///< Internal point data diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h index 8375c646bf4..49ae29b2640 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.h @@ -30,7 +30,7 @@ #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -186,15 +186,15 @@ class HexahedralFEMForceField : virtual public BaseLinearElasticityFEMForceField int method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DISABLED("", "v24.12", "Use d_youngModulus instead") DeprecatedAndRemoved f_youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > hexahedronInfo; + sofa::core::objectmodel::lifecycle::RenamedData > hexahedronInfo; Data d_method; ///< "large" or "polar" displacements diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.h index 012ce1f3433..f436dfd65c0 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.h @@ -28,7 +28,7 @@ #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -128,22 +128,22 @@ class HexahedralFEMForceFieldAndMass : virtual public sofa::core::behavior::Mass protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _density; + sofa::core::objectmodel::lifecycle::RenamedData _density; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _useLumpedMass; + sofa::core::objectmodel::lifecycle::RenamedData _useLumpedMass; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData> _elementMasses; + sofa::core::objectmodel::lifecycle::RenamedData> _elementMasses; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > _elementTotalMass; + sofa::core::objectmodel::lifecycle::RenamedData > _elementTotalMass; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > _particleMasses; + sofa::core::objectmodel::lifecycle::RenamedData > _particleMasses; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > _lumpedMasses; + sofa::core::objectmodel::lifecycle::RenamedData > _lumpedMasses; Data d_density; ///< density == volumetric mass in english (kg.m-3) Data d_useLumpedMass; ///< Does it use lumped masses? diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h index 082f2ee9d76..92b4462cf3c 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -117,27 +117,27 @@ class HexahedronFEMForceField : virtual public BaseLinearElasticityFEMForceField int method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DISABLED("", "v24.12", "Use d_youngModulus instead") DeprecatedAndRemoved f_youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_updateStiffnessMatrix; + sofa::core::objectmodel::lifecycle::RenamedData f_updateStiffnessMatrix; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData< sofa::helper::OptionsGroup > _gatherPt; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::helper::OptionsGroup > _gatherPt; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData< sofa::helper::OptionsGroup > _gatherBsize; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::helper::OptionsGroup > _gatherBsize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_drawing; + sofa::core::objectmodel::lifecycle::RenamedData f_drawing; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_drawPercentageOffset; + sofa::core::objectmodel::lifecycle::RenamedData f_drawPercentageOffset; @@ -194,7 +194,7 @@ class HexahedronFEMForceField : virtual public BaseLinearElasticityFEMForceField typedef type::vector VecElementStiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _elementStiffnesses; + sofa::core::objectmodel::lifecycle::RenamedData _elementStiffnesses; Data d_elementStiffnesses; ///< Stiffness matrices per element (K_i) @@ -207,7 +207,7 @@ class HexahedronFEMForceField : virtual public BaseLinearElasticityFEMForceField topology::container::grid::SparseGridTopology* _sparseGrid; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _initialPoints; + sofa::core::objectmodel::lifecycle::RenamedData _initialPoints; Data< VecCoord > d_initialPoints; ///< Initial Position diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h index 0c26029c00d..2e537911626 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.h @@ -36,7 +36,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -170,13 +170,13 @@ class QuadBendingFEMForceField : public core::behavior::ForceField }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > quadInfo; + sofa::core::objectmodel::lifecycle::RenamedData > quadInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > vertexInfo; + sofa::core::objectmodel::lifecycle::RenamedData > vertexInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData > edgeInfo; /// Topology Data core::topology::QuadData > d_quadInfo; core::topology::PointData > d_vertexInfo; ///< Internal point data @@ -233,16 +233,16 @@ protected : int method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData> f_poisson; + sofa::core::objectmodel::lifecycle::RenamedData> f_poisson; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData> f_young; + sofa::core::objectmodel::lifecycle::RenamedData> f_young; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_thickness; + sofa::core::objectmodel::lifecycle::RenamedData f_thickness; Data d_method; ///< large: large displacements, small: small displacements Data > d_poisson; ///< Poisson ratio in Hooke's law (vector) diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h index ff6292fed70..49bbc29ccf0 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.h @@ -31,7 +31,7 @@ #include #include -#include +#include // corotational tetrahedron from // @InProceedings{NPF05, @@ -128,7 +128,7 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > tetrahedronInfo; + sofa::core::objectmodel::lifecycle::RenamedData > tetrahedronInfo; /// container that stotes all requires information for each tetrahedron core::topology::TetrahedronData > d_tetrahedronInfo; @@ -151,37 +151,37 @@ class TetrahedralCorotationalFEMForceField : public BaseLinearElasticityFEMForce int method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData _poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() SOFA_ATTRIBUTE_DISABLED("", "v24.12", "Use d_youngModulus instead") DeprecatedAndRemoved _youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _localStiffnessFactor; + sofa::core::objectmodel::lifecycle::RenamedData _localStiffnessFactor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _updateStiffnessMatrix; + sofa::core::objectmodel::lifecycle::RenamedData _updateStiffnessMatrix; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData _assembling; + sofa::core::objectmodel::lifecycle::RenamedData _assembling; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_drawing; + sofa::core::objectmodel::lifecycle::RenamedData f_drawing; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor1; + sofa::core::objectmodel::lifecycle::RenamedData drawColor1; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor2; + sofa::core::objectmodel::lifecycle::RenamedData drawColor2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor3; + sofa::core::objectmodel::lifecycle::RenamedData drawColor3; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData drawColor4; + sofa::core::objectmodel::lifecycle::RenamedData drawColor4; Data d_method; ///< "small", "large" (by QR) or "polar" displacements Data d_localStiffnessFactor; ///< Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N] diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h index 10652e50b37..f5e28dabc83 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h @@ -33,7 +33,7 @@ #include #include -#include +#include // corotational tetrahedron from // @InProceedings{NPF05, @@ -189,28 +189,28 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField& getRotations() override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _initialPoints; + core::objectmodel::lifecycle::RenamedData _initialPoints; Data< VecCoord > d_initialPoints; ///< Initial Position int method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData f_method; + core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() DeprecatedAndRemoved _poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _youngModulus; + core::objectmodel::lifecycle::RenamedData _youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _localStiffnessFactor; + core::objectmodel::lifecycle::RenamedData _localStiffnessFactor; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _updateStiffnessMatrix; + core::objectmodel::lifecycle::RenamedData _updateStiffnessMatrix; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _assembling; + core::objectmodel::lifecycle::RenamedData _assembling; Data d_method; ///< "small", "large" (by QR), "polar" or "svd" displacements @@ -219,13 +219,13 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField d_assembling; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _plasticMaxThreshold; + core::objectmodel::lifecycle::RenamedData _plasticMaxThreshold; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _plasticYieldThreshold; + core::objectmodel::lifecycle::RenamedData _plasticYieldThreshold; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _plasticCreep; + core::objectmodel::lifecycle::RenamedData _plasticCreep; /// @name Plasticity such as "Interactive Virtual Materials", Muller & Gross, GI 2004 /// @{ @@ -235,13 +235,13 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField _gatherPt; + core::objectmodel::lifecycle::RenamedData _gatherPt; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _gatherBsize; + core::objectmodel::lifecycle::RenamedData _gatherBsize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData drawHeterogeneousTetra; + core::objectmodel::lifecycle::RenamedData drawHeterogeneousTetra; Data< sofa::helper::OptionsGroup > d_gatherPt; ///< number of dof accumulated per threads during the gather operation (Only use in GPU version) Data< sofa::helper::OptionsGroup > d_gatherBsize; ///< number of dof accumulated per threads during the gather operation (Only use in GPU version) @@ -259,16 +259,16 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField _computeVonMisesStress; + core::objectmodel::lifecycle::RenamedData _computeVonMisesStress; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData > _vonMisesPerElement; + core::objectmodel::lifecycle::RenamedData > _vonMisesPerElement; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData > _vonMisesPerNode; + core::objectmodel::lifecycle::RenamedData > _vonMisesPerNode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData > _vonMisesStressColors; + core::objectmodel::lifecycle::RenamedData > _vonMisesStressColors; Data d_computeVonMisesStress; ///< compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain. Set listening=1 Data > d_vonMisesPerElement; ///< von Mises Stress per element @@ -279,22 +279,22 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField _showStressColorMap; + core::objectmodel::lifecycle::RenamedData _showStressColorMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _showStressAlpha; + core::objectmodel::lifecycle::RenamedData _showStressAlpha; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _showVonMisesStressPerNode; + core::objectmodel::lifecycle::RenamedData _showVonMisesStressPerNode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _showVonMisesStressPerNodeColorMap; + core::objectmodel::lifecycle::RenamedData _showVonMisesStressPerNodeColorMap; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _showVonMisesStressPerElement; + core::objectmodel::lifecycle::RenamedData _showVonMisesStressPerElement; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - core::objectmodel::RenamedData _updateStiffness; + core::objectmodel::lifecycle::RenamedData _updateStiffness; Data d_showStressColorMap; ///< Color map used to show stress values Data d_showStressAlpha; ///< Alpha for vonMises visualisation diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h index 725c4158037..4815eec396f 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h @@ -28,7 +28,7 @@ #include #include -#include +#include // corotational triangle from // @InProceedings{NPF05, @@ -92,7 +92,7 @@ class TriangleFEMForceField : public BaseLinearElasticityFEMForceField _initialPoints; + sofa::core::objectmodel::lifecycle::RenamedData _initialPoints; Data< VecCoord > d_initialPoints; ///< Initial Position @@ -120,19 +120,19 @@ class TriangleFEMForceField : public BaseLinearElasticityFEMForceField f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_poisson; + sofa::core::objectmodel::lifecycle::RenamedData f_poisson; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_young; + sofa::core::objectmodel::lifecycle::RenamedData f_young; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_thickness; + sofa::core::objectmodel::lifecycle::RenamedData f_thickness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_planeStrain; + sofa::core::objectmodel::lifecycle::RenamedData f_planeStrain; Data d_method; ///< large: large displacements, small: small displacements Data d_thickness; ///< Thickness of the elements diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.h index 9c13be03ecb..27231b69eba 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::fem::elastic { @@ -77,19 +77,19 @@ class TriangularAnisotropicFEMForceField : public TriangularFEMForceField> f_young2; + sofa::core::objectmodel::lifecycle::RenamedData> f_young2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_theta; + sofa::core::objectmodel::lifecycle::RenamedData f_theta; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_fiberCenter; + sofa::core::objectmodel::lifecycle::RenamedData f_fiberCenter; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData showFiber; + sofa::core::objectmodel::lifecycle::RenamedData showFiber; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > localFiberDirection; + sofa::core::objectmodel::lifecycle::RenamedData > localFiberDirection; Data > f_poisson2; diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h index 4a178998e1f..67273d2f9e5 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.h @@ -33,7 +33,7 @@ #include #endif -#include +#include namespace sofa::helper { @@ -187,10 +187,10 @@ class TriangularFEMForceField : public BaseLinearElasticityFEMForceField> triangleInfo; + sofa::core::objectmodel::lifecycle::RenamedData> triangleInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > vertexInfo; + sofa::core::objectmodel::lifecycle::RenamedData > vertexInfo; /// Topology Data core::topology::TriangleData > d_triangleInfo; @@ -256,37 +256,37 @@ protected : int method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_method; + sofa::core::objectmodel::lifecycle::RenamedData f_method; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData> f_poisson; + sofa::core::objectmodel::lifecycle::RenamedData> f_poisson; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData> f_young; + sofa::core::objectmodel::lifecycle::RenamedData> f_young; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > > m_rotatedInitialElements; + sofa::core::objectmodel::lifecycle::RenamedData > > m_rotatedInitialElements; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData > m_initialTransformation; + sofa::core::objectmodel::lifecycle::RenamedData > m_initialTransformation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData hosfordExponant; + sofa::core::objectmodel::lifecycle::RenamedData hosfordExponant; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData criteriaValue; + sofa::core::objectmodel::lifecycle::RenamedData criteriaValue; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData showStressValue; + sofa::core::objectmodel::lifecycle::RenamedData showStressValue; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData showStressVector; + sofa::core::objectmodel::lifecycle::RenamedData showStressVector; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData showFracturableTriangles; + sofa::core::objectmodel::lifecycle::RenamedData showFracturableTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_FEM_ELASTIC() - sofa::core::objectmodel::RenamedData f_computePrincipalStress; + sofa::core::objectmodel::lifecycle::RenamedData f_computePrincipalStress; Data d_method; ///< large: large displacements, small: small displacements diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BaseTetrahedronFEMForceField_test.h b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BaseTetrahedronFEMForceField_test.h index 7fbb0d13749..c5ed72d676e 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BaseTetrahedronFEMForceField_test.h +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BaseTetrahedronFEMForceField_test.h @@ -64,12 +64,12 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest public: - void SetUp() override + void doSetUp() override { m_simulation = sofa::simulation::getSimulation(); } - void TearDown() override + void doTearDown() override { if (m_root != nullptr) sofa::simulation::node::unload(m_root); @@ -93,10 +93,10 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest simpleapi::createObject(m_root, "DefaultAnimationLoop"); simpleapi::createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); simpleapi::createObject(m_root, "MechanicalObject", { {"template", dataTypeName}, {"position", "0 0 0 1 0 0 0 1 0 0 0 1"} }); simpleapi::createObject(m_root, "TetrahedronSetTopologyContainer", { {"tetrahedra","2 3 1 0"} }); @@ -122,16 +122,16 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest simpleapi::createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Direct"); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); - sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Lagrangian"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Mapping"); - sofa::simpleapi::importPlugin("Sofa.Component.Engine.Select"); - sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Direct); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Lagrangian); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Mapping); + sofa::simpleapi::importPlugin(Sofa.Component.Engine.Select); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Projective); simpleapi::createObject(m_root, "GenericConstraintSolver", { {"tolerance", "1e-3"}, {"maxIt", "1000"} }); @@ -195,7 +195,7 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest simpleapi::createObject(m_root, "DefaultAnimationLoop"); simpleapi::createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); simpleapi::createObject(m_root, "MechanicalObject", { {"template","Vec3"}, {"position", "0 0 0 1 0 0 0 1 0 0 0 1"} }); addTetraFEMForceField(m_root, 100, 0.3, "large"); @@ -214,8 +214,8 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest simpleapi::createObject(m_root, "DefaultAnimationLoop"); simpleapi::createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); simpleapi::createObject(m_root, "MechanicalObject", { {"template","Vec3"} }); simpleapi::createObject(m_root, "TetrahedronSetTopologyContainer"); @@ -234,9 +234,9 @@ class BaseTetrahedronFEMForceField_test : public sofa::testing::BaseTest simpleapi::createObject(m_root, "DefaultAnimationLoop"); simpleapi::createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); simpleapi::createObject(m_root, "MechanicalObject", { {"template", dataTypeName}, {"position", "0 0 0 1 0 0 0 1 0 0 0 1"} }); simpleapi::createObject(m_root, "TetrahedronSetTopologyContainer", { {"tetrahedra","2 3 1 0"} }); diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BeamFEMForceField_test.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BeamFEMForceField_test.cpp index 78292aa26f6..7edff8e465e 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BeamFEMForceField_test.cpp +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/BeamFEMForceField_test.cpp @@ -66,13 +66,13 @@ class BeamFEMForceField_test : public BaseTest public: - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component"); + sofa::simpleapi::importPlugin(Sofa.Component); m_simulation = sofa::simulation::getSimulation(); } - void TearDown() override + void doTearDown() override { if (m_root != nullptr) sofa::simulation::node::unload(m_root); diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_test.cpp b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_test.cpp index 9ec55cb14cb..2440c772962 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_test.cpp +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/tests/TriangleFEMForceField_test.cpp @@ -79,12 +79,12 @@ class TriangleFEMForceField_test : public BaseTest public: - void SetUp() override + void doSetUp() override { m_simulation = sofa::simulation::getSimulation(); } - void TearDown() override + void doTearDown() override { if (m_root != nullptr) sofa::simulation::node::unload(m_root); @@ -97,10 +97,10 @@ class TriangleFEMForceField_test : public BaseTest createObject(m_root, "DefaultAnimationLoop"); createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); createObject(m_root, "MechanicalObject", {{"template",dataTypeName}, {"position", "0 0 0 1 0 0 0 1 0 1 1 1"} }); createObject(m_root, "TriangleSetTopologyContainer", { {"triangles","0 1 2 1 3 2"} }); @@ -138,7 +138,7 @@ class TriangleFEMForceField_test : public BaseTest createObject(m_root, "DefaultAnimationLoop"); createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid"); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid); createObject(m_root, "RegularGridTopology", { {"name", "grid"}, {"n", str(type::Vec3(nbrGrid, nbrGrid, 1))}, {"min", "0 0 0"}, {"max", "10 10 0"} }); @@ -175,12 +175,12 @@ class TriangleFEMForceField_test : public BaseTest { const Node::SPtr FEMNode = sofa::simpleapi::createChild(m_root, nodeName); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); - sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Projective); createObject(FEMNode, "EulerImplicitSolver"); createObject(FEMNode, "CGLinearSolver", {{ "iterations", "20" }, { "tolerance", "1e-5" }, {"threshold", "1e-6"}}); @@ -259,8 +259,8 @@ class TriangleFEMForceField_test : public BaseTest createObject(m_root, "DefaultAnimationLoop"); createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); createObject(m_root, "MechanicalObject", { {"template",dataTypeName}, {"position", "0 0 0 1 0 0 0 1 0"} }); if (FEMType == 0) // TriangleModel @@ -291,9 +291,9 @@ class TriangleFEMForceField_test : public BaseTest createObject(m_root, "DefaultAnimationLoop"); createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); createObject(m_root, "MechanicalObject", { {"template",dataTypeName} }); createObject(m_root, "TriangleSetTopologyContainer"); @@ -326,9 +326,9 @@ class TriangleFEMForceField_test : public BaseTest createObject(m_root, "DefaultAnimationLoop"); createObject(m_root, "DefaultVisualManagerLoop"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); createObject(m_root, "MechanicalObject", { {"template",dataTypeName}, {"position", "0 0 0 1 0 0 0 1 0"} }); createObject(m_root, "TriangleSetTopologyContainer", { {"triangles","0 1 2"} }); diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp index 7845bbe38e8..055fb1a9279 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_params_test.cpp @@ -74,7 +74,7 @@ struct TetrahedronHyperelasticityFEMForceField_params_test : public BaseSimulati unsigned char flags; ///< testing options. (all by default). To be used with precaution. /// } - void SetUp() override + void doSetUp() override { } diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp index f68e680790f..5fa2c6b37e2 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/TetrahedronHyperelasticityFEMForceField_scene_test.cpp @@ -74,7 +74,7 @@ struct TetrahedronHyperelasticityFEMForceField_scene_test : public BaseSimulatio unsigned char flags; ///< testing options. (all by default). To be used with precaution. /// } - void SetUp() override + void doSetUp() override { } diff --git a/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp b/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp index 06c8c86b4fd..9e60a6ad828 100644 --- a/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp +++ b/Sofa/Component/SolidMechanics/FEM/src/sofa/component/solidmechanics/fem/init.cpp @@ -27,6 +27,7 @@ #include #include +#include namespace sofa::component::solidmechanics::fem { @@ -55,9 +56,9 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM.HyperElastic"); - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM.NonUniform"); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics.FEM.HyperElastic); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics.FEM.NonUniform); } void init() diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.h index cd5e969b749..54c20464e36 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/AngularSpringForceField.h @@ -28,7 +28,7 @@ #include #include -#include +#include namespace sofa::core::behavior @@ -67,19 +67,19 @@ class AngularSpringForceField : public core::behavior::ForceField typedef core::objectmodel::Data DataVecDeriv; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData< type::vector< sofa::Index > > indices; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector< sofa::Index > > indices; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData angularStiffness; + sofa::core::objectmodel::lifecycle::RenamedData angularStiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData angularLimit; + sofa::core::objectmodel::lifecycle::RenamedData angularLimit; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData drawSpring; + sofa::core::objectmodel::lifecycle::RenamedData drawSpring; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData springColor; + sofa::core::objectmodel::lifecycle::RenamedData springColor; Data< type::vector< sofa::Index > > d_indices; ///< index of nodes controlled by the angular springs Data< VecReal > d_angularStiffness; ///< angular stiffness for the controlled nodes diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h index 3677cf59b68..2e29259fc59 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FrameSpringForceField.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -156,13 +156,13 @@ class FrameSpringForceField : public core::behavior::PairInteractionForceField > springs; + sofa::core::objectmodel::lifecycle::RenamedData > springs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData showLawfulTorsion; + sofa::core::objectmodel::lifecycle::RenamedData showLawfulTorsion; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData showExtraTorsion; + sofa::core::objectmodel::lifecycle::RenamedData showExtraTorsion; SReal m_potentialEnergy; /// the list of the springs diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.h index de953fedabb..c555fc89d15 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/GearSpringForceField.h @@ -31,7 +31,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -289,19 +289,19 @@ class GearSpringForceField : public core::behavior::PairInteractionForceField > springs; + sofa::core::objectmodel::lifecycle::RenamedData > springs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() sofa::core::objectmodel::DataFileName f_filename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_period; + sofa::core::objectmodel::lifecycle::RenamedData f_period; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_reinit; + sofa::core::objectmodel::lifecycle::RenamedData f_reinit; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData showFactorSize; + sofa::core::objectmodel::lifecycle::RenamedData showFactorSize; /// the list of the springs Data > d_springs; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.h index c45e5fb5106..535bc3df98d 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -141,10 +141,10 @@ class JointSpringForceField : public core::behavior::PairInteractionForceField f_period; + sofa::core::objectmodel::lifecycle::RenamedData f_period; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_reinit; + sofa::core::objectmodel::lifecycle::RenamedData f_reinit; sofa::core::objectmodel::DataFileName d_outfilename; ///< output file name sofa::core::objectmodel::DataFileName d_infilename; ///< input file containing constant joint force diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h index aa121a98879..21059847a7c 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadBendingSprings.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -47,7 +47,7 @@ class QuadBendingSprings : public SpringForceField typedef core::behavior::MechanicalState MechanicalState; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData> localRange; + sofa::core::objectmodel::lifecycle::RenamedData> localRange; /// optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitioning) Data< type::Vec<2,int> > d_localRange; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl index c3fc5d30191..dd046de4d8c 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl @@ -159,6 +159,7 @@ const typename RestShapeSpringsForceField::VecIndex& RestShapeSprings else { return this->d_indices.getValue(); + } } diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h index b57362f1233..9940fd7add4 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBendingSprings.h @@ -28,7 +28,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -98,7 +98,7 @@ class TriangularBendingSprings : public core::behavior::ForceField } }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData> edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData> edgeInfo; sofa::core::topology::EdgeData > d_edgeInfo; ///< Internal edge data diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.h index b60ef5199cd..28fc16c2501 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularBiquadraticSpringsForceField.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -124,31 +124,31 @@ class TriangularBiquadraticSpringsForceField : public core::behavior::ForceField }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData > triangleInfo; + sofa::core::objectmodel::lifecycle::RenamedData > triangleInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData > edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData > edgeInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData _initialPoints; + sofa::core::objectmodel::lifecycle::RenamedData _initialPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_youngModulus; + sofa::core::objectmodel::lifecycle::RenamedData f_youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_dampingRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_dampingRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_useAngularSprings; + sofa::core::objectmodel::lifecycle::RenamedData f_useAngularSprings; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_compressible; + sofa::core::objectmodel::lifecycle::RenamedData f_compressible; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_stiffnessMatrixRegularizationWeight; + sofa::core::objectmodel::lifecycle::RenamedData f_stiffnessMatrixRegularizationWeight; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.h index 998784e9994..9697d00e39b 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangularQuadraticSpringsForceField.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -116,19 +116,19 @@ class TriangularQuadraticSpringsForceField : public core::behavior::ForceField _initialPoints; + sofa::core::objectmodel::lifecycle::RenamedData _initialPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_youngModulus; + sofa::core::objectmodel::lifecycle::RenamedData f_youngModulus; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_dampingRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_dampingRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData f_useAngularSprings; + sofa::core::objectmodel::lifecycle::RenamedData f_useAngularSprings; Data< VecCoord > d_initialPoints; ///< Initial Position @@ -205,10 +205,10 @@ class TriangularQuadraticSpringsForceField : public core::behavior::ForceField> triangleInfo; + sofa::core::objectmodel::lifecycle::RenamedData> triangleInfo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData > edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData > edgeInfo; sofa::core::topology::TriangleData > d_triangleInfo; ///< Internal triangle data sofa::core::topology::EdgeData > d_edgeInfo; ///< Internal edge data diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h index c8f7660ca1e..03680f095eb 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/VectorSpringForceField.h @@ -31,7 +31,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::spring { @@ -96,19 +96,19 @@ class VectorSpringForceField: public core::behavior::PairInteractionForceField > springArray; + sofa::core::objectmodel::lifecycle::RenamedData > springArray; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() sofa::core::objectmodel::DataFileName m_filename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData m_stiffness; + sofa::core::objectmodel::lifecycle::RenamedData m_stiffness; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData m_viscosity; + sofa::core::objectmodel::lifecycle::RenamedData m_viscosity; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_SPRING() - sofa::core::objectmodel::RenamedData m_useTopology; + sofa::core::objectmodel::lifecycle::RenamedData m_useTopology; /// where the springs information are stored diff --git a/Sofa/Component/SolidMechanics/Spring/tests/PolynomialRestShapeSpringsForceField_test.cpp b/Sofa/Component/SolidMechanics/Spring/tests/PolynomialRestShapeSpringsForceField_test.cpp index 0af527cfba3..3d987884321 100644 --- a/Sofa/Component/SolidMechanics/Spring/tests/PolynomialRestShapeSpringsForceField_test.cpp +++ b/Sofa/Component/SolidMechanics/Spring/tests/PolynomialRestShapeSpringsForceField_test.cpp @@ -42,9 +42,9 @@ class PolynomialRestShapeSpringsForceField_test : public BaseSimulationTest root->setGravity(Vec3(0.0,0.0,0.0)); root->setDt(dt); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Forward"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.Spring"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Forward); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.Spring); const Node::SPtr childNode = sofa::simpleapi::createChild(root, "Particle"); sofa::simpleapi::createObject(childNode, "EulerExplicitSolver"); diff --git a/Sofa/Component/SolidMechanics/Spring/tests/RestShapeSpringsForceField_test.cpp b/Sofa/Component/SolidMechanics/Spring/tests/RestShapeSpringsForceField_test.cpp index 0a9c1f3bfe4..cc6d7bf5d39 100644 --- a/Sofa/Component/SolidMechanics/Spring/tests/RestShapeSpringsForceField_test.cpp +++ b/Sofa/Component/SolidMechanics/Spring/tests/RestShapeSpringsForceField_test.cpp @@ -58,10 +58,10 @@ sofa::simulation::Node::SPtr RestSpringsForceField_test::createScene(const std:: { const auto theSimulation = createSimulation(); auto theRoot = createRootNode(theSimulation, "root"); - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); createObject(theRoot, "DefaultAnimationLoop"); createObject(theRoot, "EulerImplicitSolver"); diff --git a/Sofa/Component/SolidMechanics/Spring/tests/TriangularBendingSprings_test.cpp b/Sofa/Component/SolidMechanics/Spring/tests/TriangularBendingSprings_test.cpp index 0149f6d8c1c..5288e64ee48 100644 --- a/Sofa/Component/SolidMechanics/Spring/tests/TriangularBendingSprings_test.cpp +++ b/Sofa/Component/SolidMechanics/Spring/tests/TriangularBendingSprings_test.cpp @@ -67,14 +67,14 @@ class TriangularBendingSprings_test : public BaseTest public: - void SetUp() override + void doSetUp() override { m_simulation = sofa::simulation::getSimulation(); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid"); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid); } - void TearDown() override + void doTearDown() override { if (m_root != nullptr) sofa::simulation::node::unload(m_root); diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h index 4734b3db415..32b23bff853 100644 --- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h +++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TetrahedralTensorMassForceField.h @@ -33,7 +33,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::tensormass { @@ -89,10 +89,10 @@ class TetrahedralTensorMassForceField : public core::behavior::ForceField f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_TENSORMASS() - sofa::core::objectmodel::RenamedData f_youngModulus; + sofa::core::objectmodel::lifecycle::RenamedData f_youngModulus; Data d_poissonRatio; ///< Poisson ratio in Hooke's law Data d_youngModulus; ///< Young's modulus in Hooke's law @@ -166,7 +166,7 @@ class TetrahedralTensorMassForceField : public core::behavior::ForceField edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData edgeInfo; core::topology::EdgeData < edgeRestInfoVector > d_edgeInfo; ///< Internal edge data diff --git a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h index 8593d337670..7612409982e 100644 --- a/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h +++ b/Sofa/Component/SolidMechanics/TensorMass/src/sofa/component/solidmechanics/tensormass/TriangularTensorMassForceField.h @@ -29,7 +29,7 @@ #include #include -#include +#include namespace sofa::component::solidmechanics::tensormass { @@ -91,7 +91,7 @@ class TriangularTensorMassForceField : public core::behavior::ForceField> edgeInfo; + sofa::core::objectmodel::lifecycle::RenamedData > edgeInfo; sofa::core::topology::EdgeData > d_edgeInfo; ///< Internal edge data @@ -124,10 +124,10 @@ class TriangularTensorMassForceField : public core::behavior::ForceField f_poissonRatio; + sofa::core::objectmodel::lifecycle::RenamedData f_poissonRatio; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_SOLIDMECHANICS_TENSORMASS() - sofa::core::objectmodel::RenamedData f_youngModulus; + sofa::core::objectmodel::lifecycle::RenamedData f_youngModulus; Data d_poissonRatio; ///< Poisson ratio in Hooke's law Data d_youngModulus; ///< Young's modulus in Hooke's law diff --git a/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp b/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp index 270088dbaca..baa7a16efde 100644 --- a/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp +++ b/Sofa/Component/SolidMechanics/simutests/AffinePatch_test.cpp @@ -80,7 +80,7 @@ struct AffinePatch_sofa_test : public sofa::testing::BaseSimulationTest, sofa::t Coord testedTranslation; /// Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation simulation = sofa::simulation::getSimulation(); diff --git a/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp b/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp index 6202204e7e1..3db4e9cc08c 100644 --- a/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp +++ b/Sofa/Component/SolidMechanics/simutests/LinearElasticity_test.cpp @@ -196,7 +196,7 @@ struct LinearElasticity_test : public sofa::testing::BaseSimulationTest, sofa::t // Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation simulation = sofa::simulation::getSimulation(); @@ -281,7 +281,7 @@ struct LinearElasticity_test : public sofa::testing::BaseSimulationTest, sofa::t } return true; } - void TearDown() override + void doTearDown() override { if (tractionStruct.root!=nullptr) sofa::simulation::node::unload(tractionStruct.root); diff --git a/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp b/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp index a35ec25d9d9..8638bbdb020 100644 --- a/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp +++ b/Sofa/Component/SolidMechanics/src/sofa/component/solidmechanics/init.cpp @@ -27,6 +27,7 @@ #include #include +#include namespace sofa::component::solidmechanics { @@ -55,9 +56,9 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.FEM"); - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.Spring"); - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics.TensorMass"); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics.FEM); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics.Spring); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics.TensorMass); } void init() diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h index 1d96f21d115..c9de6e7431e 100644 --- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h +++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MappedObject.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::statecontainer { @@ -65,10 +65,10 @@ class MappedObject : public core::State void init() override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_STATECONTAINER() - sofa::core::objectmodel::RenamedData f_X; + sofa::core::objectmodel::lifecycle::RenamedData f_X; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_STATECONTAINER() - sofa::core::objectmodel::RenamedData f_V; + sofa::core::objectmodel::lifecycle::RenamedData f_V; Data d_X; ///< position vector Data d_V; ///< velocity vector diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.h b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.h index ebfc4f3b25c..8a9d87bf9eb 100644 --- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.h +++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/CubeTopology.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::topology::container::constant { @@ -97,25 +97,25 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API CubeTopology : public MeshT protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData nx; + sofa::core::objectmodel::lifecycle::RenamedData nx; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData ny; + sofa::core::objectmodel::lifecycle::RenamedData ny; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData nz; + sofa::core::objectmodel::lifecycle::RenamedData nz; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData internalPoints; + sofa::core::objectmodel::lifecycle::RenamedData internalPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData splitNormals; + sofa::core::objectmodel::lifecycle::RenamedData splitNormals; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData min; + sofa::core::objectmodel::lifecycle::RenamedData min; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData max; + sofa::core::objectmodel::lifecycle::RenamedData max; Data d_nx; ///< x grid resolution diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp index 5ae461075e0..d41efbaed97 100644 --- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp +++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp @@ -492,6 +492,7 @@ MeshTopology::MeshTopology() , d_seqTetrahedra(initData(&d_seqTetrahedra, "tetrahedra", "List of tetrahedron indices")) , d_seqHexahedra(initData(&d_seqHexahedra, "hexahedra", "List of hexahedron indices")) , d_seqUVs(initData(&d_seqUVs, "uv", "List of uv coordinates")) + , d_computeAllBuffers(initData(&d_computeAllBuffers, false, "computeAllBuffers", "Option to compute all crossed topology buffers at init. False by default")) , nbPoints(0) , validTetrahedra(false), validHexahedra(false) , revision(0) @@ -524,7 +525,6 @@ MeshTopology::MeshTopology() void MeshTopology::init() { - BaseMeshTopology::init(); const auto hexahedra = sofa::helper::getReadAccessor(d_seqHexahedra); @@ -533,7 +533,6 @@ void MeshTopology::init() const auto triangles = sofa::helper::getReadAccessor(d_seqTriangles); const auto edges = sofa::helper::getReadAccessor(d_seqEdges); - // looking for upper topology if (!hexahedra.empty()) m_upperElementType = geometry::ElementType::HEXAHEDRON; @@ -548,6 +547,11 @@ void MeshTopology::init() else m_upperElementType = sofa::geometry::ElementType::POINT; + // If true, will compute all crossed element buffers such as triangleAroundEdges, EdgesIntriangle, etc. + if (d_computeAllBuffers.getValue()) + { + computeCrossElementBuffers(); + } // compute the number of points, if the topology is charged from the scene or if it was loaded from a MeshLoader without any points data. if (nbPoints==0) @@ -576,6 +580,7 @@ void MeshTopology::init() nbPoints = n; } + if(edges.empty() ) { if(d_seqEdges.getParent() != nullptr ) @@ -608,6 +613,72 @@ void MeshTopology::init() } } +void MeshTopology::computeCrossElementBuffers() +{ + const auto hexahedra = sofa::helper::getReadAccessor(d_seqHexahedra); + const auto tetrahedra = sofa::helper::getReadAccessor(d_seqTetrahedra); + const auto quads = sofa::helper::getReadAccessor(d_seqQuads); + const auto triangles = sofa::helper::getReadAccessor(d_seqTriangles); + const auto edges = sofa::helper::getReadAccessor(d_seqEdges); + + if (!hexahedra.empty()) // Create hexahedron cross element buffers. + { + createHexahedraAroundVertexArray(); + + if (!quads.empty()) + { + createQuadsInHexahedronArray(); + createHexahedraAroundQuadArray(); + } + + if (!edges.empty()) + { + createEdgesInHexahedronArray(); + createHexahedraAroundEdgeArray(); + } + } + if (!tetrahedra.empty()) // Create tetrahedron cross element buffers. + { + createTetrahedraAroundVertexArray(); + + if (!triangles.empty()) + { + createTrianglesInTetrahedronArray(); + createTetrahedraAroundTriangleArray(); + } + + if (!edges.empty()) + { + createEdgesInTetrahedronArray(); + createTetrahedraAroundEdgeArray(); + } + } + if (!quads.empty()) // Create triangle cross element buffers. + { + createQuadsAroundVertexArray(); + + if (!edges.empty()) + { + createEdgesInQuadArray(); + createQuadsAroundEdgeArray(); + } + } + if (!triangles.empty()) // Create triangle cross element buffers. + { + createTrianglesAroundVertexArray(); + + if (!edges.empty()) + { + createEdgesInTriangleArray(); + createTrianglesAroundEdgeArray(); + } + } + if (!edges.empty()) + { + createEdgesAroundVertexArray(); + } +} + void MeshTopology::clear() { nbPoints = 0; diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h index d4b0d37e717..ffab38c37f3 100644 --- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h +++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::component::topology::container::constant { @@ -86,6 +86,9 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API MeshTopology : public core: public: void init() override; + /// Method called by component Init method. Will create all the topology buffers + void computeCrossElementBuffers() override; + Size getNbPoints() const override; void setNbPoints(Size n) override; @@ -306,40 +309,40 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API MeshTopology : public core: typedef type::vector SeqPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData< SeqPoints > seqPoints; + sofa::core::objectmodel::lifecycle::RenamedData< SeqPoints > seqPoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData seqEdges; + sofa::core::objectmodel::lifecycle::RenamedData seqEdges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData seqTriangles; + sofa::core::objectmodel::lifecycle::RenamedData seqTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData seqQuads; + sofa::core::objectmodel::lifecycle::RenamedData seqQuads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData seqTetrahedra; + sofa::core::objectmodel::lifecycle::RenamedData seqTetrahedra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData seqHexahedra; + sofa::core::objectmodel::lifecycle::RenamedData seqHexahedra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData seqUVs; + sofa::core::objectmodel::lifecycle::RenamedData seqUVs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData _drawEdges; + sofa::core::objectmodel::lifecycle::RenamedData _drawEdges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData _drawTriangles; + sofa::core::objectmodel::lifecycle::RenamedData _drawTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData _drawQuads; + sofa::core::objectmodel::lifecycle::RenamedData _drawQuads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData _drawTetra; + sofa::core::objectmodel::lifecycle::RenamedData _drawTetra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData _drawHexa; + sofa::core::objectmodel::lifecycle::RenamedData _drawHexa; Data< SeqPoints > d_seqPoints; ///< List of point positions Data d_seqEdges; ///< List of edge indices @@ -348,6 +351,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API MeshTopology : public core: Data d_seqTetrahedra; ///< List of tetrahedron indices Data d_seqHexahedra; ///< List of hexahedron indices Data d_seqUVs; ///< List of uv coordinates + Data d_computeAllBuffers; ///< Option to call method computeCrossElementBuffers. False by default protected: Size nbPoints; diff --git a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.h b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.h index d8521b50088..aef14d72cb9 100644 --- a/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.h +++ b/Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/SphereQuadTopology.h @@ -22,7 +22,7 @@ #pragma once #include -#include +#include namespace sofa::component::topology::container::constant { @@ -42,10 +42,10 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API SphereQuadTopology : public protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData< Vec3 > center; + sofa::core::objectmodel::lifecycle::RenamedData< Vec3 > center; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_CONSTANT() - sofa::core::objectmodel::RenamedData< SReal > radius; + sofa::core::objectmodel::lifecycle::RenamedData< SReal > radius; Data< Vec3 > d_center; ///< Center of the sphere diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.h index 6c3fdd28a7f..2c8ad019160 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/DynamicSparseGridTopologyContainer.h @@ -28,7 +28,7 @@ #include #include -#include +#include namespace sofa::component::topology::container::dynamic { @@ -46,22 +46,22 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API DynamicSparseGridTopologyCon typedef QuadsInHexahedron QuadsInHexahedron; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData resolution; + sofa::core::objectmodel::lifecycle::RenamedData resolution; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData< sofa::type::vector > valuesIndexedInRegularGrid; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > valuesIndexedInRegularGrid; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData< sofa::type::vector > valuesIndexedInTopology; ///< values indexed in the topology + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > valuesIndexedInTopology; ///< values indexed in the topology SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData< sofa::type::vector > idxInRegularGrid; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::vector > idxInRegularGrid; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData< std::map< unsigned int, BaseMeshTopology::HexaID> > idInRegularGrid2IndexInTopo; + sofa::core::objectmodel::lifecycle::RenamedData< std::map< unsigned int, BaseMeshTopology::HexaID> > idInRegularGrid2IndexInTopo; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData< type::Vec3 > voxelSize; + sofa::core::objectmodel::lifecycle::RenamedData< type::Vec3 > voxelSize; Data d_resolution; ///< voxel grid resolution diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp index 15ddadbc529..4e212ff7696 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.cpp @@ -77,10 +77,10 @@ void EdgeSetTopologyContainer::init() // only init if edges are present at init. if (!m_edge.empty()) - initTopology(); + computeCrossElementBuffers(); } -void EdgeSetTopologyContainer::initTopology() +void EdgeSetTopologyContainer::computeCrossElementBuffers() { // force computation of neighborhood elements createEdgesAroundVertexArray(); diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h index 2cf809bbe3a..7749c66f00d 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetTopologyContainer.h @@ -24,7 +24,7 @@ #include -#include +#include namespace sofa::component::topology::container::dynamic { @@ -100,7 +100,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetTopologyContainer : p /// Dynamic Topology API /// @{ /// Method called by component Init method. Will create all the topology neighborhood buffers. - void initTopology(); + void computeCrossElementBuffers() override; /** \brief Checks if the topology is coherent * @@ -228,7 +228,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API EdgeSetTopologyContainer : p public: /** The array that stores the set of edges in the edge set */ SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData m_checkConnexity; + sofa::core::objectmodel::lifecycle::RenamedData m_checkConnexity; Data< sofa::type::vector > d_edge; ///< List of edge indices diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp index b8fb2b1c268..554a87f9352 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.cpp @@ -83,12 +83,12 @@ void HexahedronSetTopologyContainer::init() } if (!m_hexahedron.empty()) - initTopology(); + computeCrossElementBuffers(); } -void HexahedronSetTopologyContainer::initTopology() +void HexahedronSetTopologyContainer::computeCrossElementBuffers() { - QuadSetTopologyContainer::initTopology(); + QuadSetTopologyContainer::computeCrossElementBuffers(); // Create tetrahedron cross element buffers. createQuadsInHexahedronArray(); diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h index 65238e957a2..9bb8f012910 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/HexahedronSetTopologyContainer.h @@ -222,8 +222,8 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API HexahedronSetTopologyContain /// Dynamic Topology API /// @{ - /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see TriangleSetTopologyContainer::initTopology() - void initTopology(); + /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see QuadSetTopologyContainer::computeCrossElementBuffers() + void computeCrossElementBuffers() override; /** \brief Checks if the topology is coherent * diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.h index 6ffe3fa0952..f5c28d9b37c 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/PointSetTopologyContainer.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::topology::container::dynamic { @@ -160,7 +160,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API PointSetTopologyContainer : private: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_DYNAMIC() - sofa::core::objectmodel::RenamedData nbPoints; + sofa::core::objectmodel::lifecycle::RenamedData nbPoints; Data d_nbPoints; ///< Number of points }; diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp index b9434772f7f..d861dfc5ea2 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.cpp @@ -72,13 +72,13 @@ void QuadSetTopologyContainer::init() // only init if triangles are present at init. if (!m_quads.empty()) - initTopology(); + computeCrossElementBuffers(); } -void QuadSetTopologyContainer::initTopology() +void QuadSetTopologyContainer::computeCrossElementBuffers() { // Force creation of Edge Neighborhood buffers. - EdgeSetTopologyContainer::initTopology(); + EdgeSetTopologyContainer::computeCrossElementBuffers(); // Create triangle cross element buffers. createEdgesInQuadArray(); diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h index 54a78981e3a..58efedcc105 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/QuadSetTopologyContainer.h @@ -144,8 +144,8 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API QuadSetTopologyContainer : p /// Dynamic Topology API /// @{ - /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see EdgeSetTopologyContainer::initTopology() - void initTopology(); + /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see EdgeSetTopologyContainer::computeCrossElementBuffers() + void computeCrossElementBuffers() override; /** \brief Checks if the topology is coherent * diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp index d8fbe58adcd..5ad91e53519 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.cpp @@ -79,12 +79,12 @@ void TetrahedronSetTopologyContainer::init() } if (!m_tetrahedron.empty()) - initTopology(); + computeCrossElementBuffers(); } -void TetrahedronSetTopologyContainer::initTopology() +void TetrahedronSetTopologyContainer::computeCrossElementBuffers() { - TriangleSetTopologyContainer::initTopology(); + TriangleSetTopologyContainer::computeCrossElementBuffers(); // Create tetrahedron cross element buffers. createTrianglesInTetrahedronArray(); diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h index 089d3e6f7f2..2376324fbb2 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TetrahedronSetTopologyContainer.h @@ -193,8 +193,8 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TetrahedronSetTopologyContai /// Dynamic Topology API /// @{ - /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see TriangleSetTopologyContainer::initTopology() - void initTopology(); + /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see TriangleSetTopologyContainer::computeCrossElementBuffers() + void computeCrossElementBuffers() override; /** \brief Checks if the topology is coherent * diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp index cfc69119e8c..577727a1c01 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.cpp @@ -73,13 +73,13 @@ void TriangleSetTopologyContainer::init() // only init if triangles are present at init. if (!m_triangle.empty()) - initTopology(); + computeCrossElementBuffers(); } -void TriangleSetTopologyContainer::initTopology() +void TriangleSetTopologyContainer::computeCrossElementBuffers() { // Force creation of Edge Neighborhood buffers. - EdgeSetTopologyContainer::initTopology(); + EdgeSetTopologyContainer::computeCrossElementBuffers(); // Create triangle cross element buffers. createEdgesInTriangleArray(); diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h index 8c41f4a5ecd..ba0bfa3c8f9 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/TriangleSetTopologyContainer.h @@ -151,8 +151,8 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_DYNAMIC_API TriangleSetTopologyContainer /// Dynamic Topology API /// @{ - /// Method called by component Init method. Will create all the topology neighborhood buffers and call @see EdgeSetTopologyContainer::initTopology() - void initTopology(); + /// Method called by component Init method. Will create all the topology neighboorhood buffers and call @see EdgeSetTopologyContainer::computeCrossElementBuffers() + void computeCrossElementBuffers() override; /** \brief Checks if the topology is coherent * diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp index 19c4cde4a41..c172e8c740e 100644 --- a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronNumericalIntegration_test.cpp @@ -63,7 +63,7 @@ struct TetrahedronNumericalIntegration_test : public NumericTest::SPtr geo; // Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation simulation = sofa::simulation::getSimulation(); @@ -135,7 +135,7 @@ struct TetrahedronNumericalIntegration_test : public NumericTest::SPtr geo; // Create the context for the scene - void SetUp() override + void doSetUp() override { // Init simulation simulation = sofa::simulation::getSimulation(); @@ -135,7 +135,7 @@ struct TriangleNumericalIntegration_test : public NumericTest -#include +#include namespace sofa::component::topology::container::grid { @@ -82,19 +82,19 @@ public : protected : SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData> _fileTopologies; + sofa::core::objectmodel::lifecycle::RenamedData> _fileTopologies; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData> _dataStiffnessCoefs; + sofa::core::objectmodel::lifecycle::RenamedData> _dataStiffnessCoefs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData> _dataMassCoefs; + sofa::core::objectmodel::lifecycle::RenamedData> _dataMassCoefs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _computeRamifications; + sofa::core::objectmodel::lifecycle::RenamedData _computeRamifications; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _erasePreviousCoef; + sofa::core::objectmodel::lifecycle::RenamedData _erasePreviousCoef; Data< type::vector< std::string > > d_fileTopologies; ///< All topology filenames diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h index 560cd3867f6..923960b7bca 100644 --- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h +++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridRamificationTopology.h @@ -25,7 +25,7 @@ #include -#include +#include namespace sofa::component::topology::container::grid { @@ -78,7 +78,7 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridRamificationTopology enum {UP,DOWN,RIGHT,LEFT,BEFORE,BEHIND,NUM_CONNECTED_NODES}; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _finestConnectivity; + sofa::core::objectmodel::lifecycle::RenamedData _finestConnectivity; // Does the connectivity test have to be done at the finest level? (more precise but slow) diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h index 52f204d08ad..7ec17f8c093 100644 --- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h +++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.h @@ -32,7 +32,7 @@ #include #include -#include +#include namespace sofa::core::loader { @@ -192,13 +192,13 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public con return d_dataVoxels.getValue()[index] == 1; } SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _fillWeighted; + sofa::core::objectmodel::lifecycle::RenamedData _fillWeighted; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData bOnlyInsideCells; + sofa::core::objectmodel::lifecycle::RenamedData bOnlyInsideCells; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData< type::vector< unsigned char > > dataVoxels; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector< unsigned char > > dataVoxels; Data< type::vector< unsigned char > > d_dataVoxels; @@ -212,19 +212,19 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public con SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData< sofa::type::Vec< 3, int > > n; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::Vec< 3, int > > n; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _min; + sofa::core::objectmodel::lifecycle::RenamedData _min; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _max; + sofa::core::objectmodel::lifecycle::RenamedData _max; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _cellWidth; + sofa::core::objectmodel::lifecycle::RenamedData _cellWidth; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData _nbVirtualFinerLevels; + sofa::core::objectmodel::lifecycle::RenamedData _nbVirtualFinerLevels; bool isVirtual; @@ -238,19 +238,19 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_GRID_API SparseGridTopology : public con public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData dataResolution; + sofa::core::objectmodel::lifecycle::RenamedData dataResolution; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData voxelSize; + sofa::core::objectmodel::lifecycle::RenamedData voxelSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData marchingCubeStep; + sofa::core::objectmodel::lifecycle::RenamedData marchingCubeStep; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData convolutionSize; + sofa::core::objectmodel::lifecycle::RenamedData convolutionSize; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID()SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_CONTAINER_GRID() - sofa::core::objectmodel::RenamedData< type::vector< type::vector > > facets; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector< type::vector > > facets; Data< type::Vec3i > d_dataResolution; ///< Dimension of the voxel File Data< type::Vec3 > d_voxelSize; ///< Dimension of one voxel diff --git a/Sofa/Component/Topology/Container/Grid/tests/SparseGridTopology_test.cpp b/Sofa/Component/Topology/Container/Grid/tests/SparseGridTopology_test.cpp index a10918d8f78..80ca289b559 100644 --- a/Sofa/Component/Topology/Container/Grid/tests/SparseGridTopology_test.cpp +++ b/Sofa/Component/Topology/Container/Grid/tests/SparseGridTopology_test.cpp @@ -40,7 +40,7 @@ using namespace sofa::testing; struct SparseGridTopology_test : public BaseTest { - void SetUp() override + void doSetUp() override { DataRepository.addFirstPath(SOFA_TESTING_RESOURCES_DIR); } diff --git a/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp b/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp index 99b3ffeac8d..bd43c782876 100644 --- a/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp +++ b/Sofa/Component/Topology/Container/src/sofa/component/topology/container/init.cpp @@ -27,6 +27,7 @@ #include #include +#include namespace sofa::component::topology::container { @@ -55,9 +56,9 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container.Constant"); - factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container.Dynamic"); - factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container.Grid"); + factory->registerObjectsFromPlugin(Sofa.Component.Topology.Container.Constant); + factory->registerObjectsFromPlugin(Sofa.Component.Topology.Container.Dynamic); + factory->registerObjectsFromPlugin(Sofa.Component.Topology.Container.Grid); } void init() diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.h b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.h index 5d2d6d70e5e..234ba72670a 100644 --- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.h +++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2QuadTopologicalMapping.h @@ -29,7 +29,7 @@ #include -#include +#include namespace sofa::component::topology::mapping { @@ -78,7 +78,7 @@ class SOFA_COMPONENT_TOPOLOGY_MAPPING_API Hexa2QuadTopologicalMapping : public s protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData flipNormals; + sofa::core::objectmodel::lifecycle::RenamedData flipNormals; Data d_flipNormals; ///< Flip Normal ? (Inverse point order when creating triangle) diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.h b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.h index f13d26e77ea..53e04c13fb8 100644 --- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.h +++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.h @@ -29,7 +29,7 @@ #include -#include +#include namespace sofa::component::topology::mapping @@ -77,7 +77,7 @@ class SOFA_COMPONENT_TOPOLOGY_MAPPING_API Hexa2TetraTopologicalMapping : public Index getFromIndex(Index ind) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData swapping; + sofa::core::objectmodel::lifecycle::RenamedData swapping; sofa::core::objectmodel::Data d_swapping; ///< Boolean enabling to swapp hexa-edges in order to avoid bias effect diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.h b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.h index 12c080e3d8e..b083a5442cd 100644 --- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.h +++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/SubsetTopologicalMapping.h @@ -29,7 +29,7 @@ #include -#include +#include namespace sofa::component::topology::mapping { @@ -53,58 +53,58 @@ class SOFA_COMPONENT_TOPOLOGY_MAPPING_API SubsetTopologicalMapping : public sofa public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData samePoints; + sofa::core::objectmodel::lifecycle::RenamedData samePoints; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData handleEdges; + sofa::core::objectmodel::lifecycle::RenamedData handleEdges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData handleTriangles; + sofa::core::objectmodel::lifecycle::RenamedData handleTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData handleQuads; + sofa::core::objectmodel::lifecycle::RenamedData handleQuads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData handleTetrahedra; + sofa::core::objectmodel::lifecycle::RenamedData handleTetrahedra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData handleHexahedra; + sofa::core::objectmodel::lifecycle::RenamedData handleHexahedra; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData pointS2D; + sofa::core::objectmodel::lifecycle::RenamedData pointS2D; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData pointD2S; + sofa::core::objectmodel::lifecycle::RenamedData pointD2S; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData edgeS2D; + sofa::core::objectmodel::lifecycle::RenamedData edgeS2D; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData edgeD2S; + sofa::core::objectmodel::lifecycle::RenamedData edgeD2S; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData triangleS2D; + sofa::core::objectmodel::lifecycle::RenamedData triangleS2D; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData triangleD2S; + sofa::core::objectmodel::lifecycle::RenamedData triangleD2S; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData quadS2D; + sofa::core::objectmodel::lifecycle::RenamedData quadS2D; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData quadD2S; + sofa::core::objectmodel::lifecycle::RenamedData quadD2S; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData tetrahedronS2D; + sofa::core::objectmodel::lifecycle::RenamedData tetrahedronS2D; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData tetrahedronD2S; + sofa::core::objectmodel::lifecycle::RenamedData tetrahedronD2S; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData hexahedronS2D; + sofa::core::objectmodel::lifecycle::RenamedData hexahedronS2D; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData hexahedronD2S; + sofa::core::objectmodel::lifecycle::RenamedData hexahedronD2S; Data d_samePoints; ///< True if the same set of points is used in both topologies Data d_handleEdges; ///< True if edges events and mapping should be handled diff --git a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.h b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.h index d6c599932dd..c38d8c0858b 100644 --- a/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.h +++ b/Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Tetra2TriangleTopologicalMapping.h @@ -29,7 +29,7 @@ #include -#include +#include namespace sofa::component::topology::container::dynamic { @@ -84,13 +84,13 @@ class SOFA_COMPONENT_TOPOLOGY_MAPPING_API Tetra2TriangleTopologicalMapping : pub protected: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData flipNormals; + sofa::core::objectmodel::lifecycle::RenamedData flipNormals; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData noNewTriangles; + sofa::core::objectmodel::lifecycle::RenamedData noNewTriangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA() - sofa::core::objectmodel::RenamedData noInitialTriangles; + sofa::core::objectmodel::lifecycle::RenamedData noInitialTriangles; Data d_flipNormals; ///< Flip Normal ? (Inverse point order when creating triangle) diff --git a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h index bdd5bf4c915..fe2283294da 100644 --- a/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h +++ b/Sofa/Component/Topology/Testing/src/sofa/component/topology/testing/fake_TopologyScene.h @@ -25,6 +25,7 @@ #include #include #include +#include class fake_TopologyScene { @@ -52,11 +53,11 @@ class fake_TopologyScene m_simu = createSimulation("DAG"); m_root = createRootNode(m_simu, "root"); - sofa::simpleapi::importPlugin("Sofa.Component.IO.Mesh"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Constant"); - sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); - sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin(Sofa.Component.IO.Mesh); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); createObject(m_root, "DefaultAnimationLoop"); @@ -110,7 +111,7 @@ class fake_TopologyScene createObject(m_root, "MeshMatrixMass"); if (m_topoType == sofa::geometry::ElementType::EDGE) { - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.Spring"); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.Spring); createObject(m_root, "VectorSpringForceField", { {"useTopology", "true"} }); } diff --git a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.h b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.h index 8b9d51ed1c5..9fa48c8277d 100644 --- a/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.h +++ b/Sofa/Component/Topology/Utility/src/sofa/component/topology/utility/TopologicalChangeProcessor.h @@ -29,7 +29,7 @@ #include -#include +#include #if SOFAMISCTOPOLOGY_HAVE_ZLIB @@ -58,52 +58,52 @@ class SOFA_COMPONENT_TOPOLOGY_UTILITY_API TopologicalChangeProcessor: public cor sofa::core::objectmodel::DataFileName m_filename; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData < type::vector< type::vector > > m_listChanges; + sofa::core::objectmodel::lifecycle::RenamedData < type::vector< type::vector > > m_listChanges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_interval; + sofa::core::objectmodel::lifecycle::RenamedData m_interval; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_shift; + sofa::core::objectmodel::lifecycle::RenamedData m_shift; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_loop; + sofa::core::objectmodel::lifecycle::RenamedData m_loop; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_useDataInputs; + sofa::core::objectmodel::lifecycle::RenamedData m_useDataInputs; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_timeToRemove; + sofa::core::objectmodel::lifecycle::RenamedData m_timeToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData >m_pointsToRemove; + sofa::core::objectmodel::lifecycle::RenamedData >m_pointsToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData > m_edgesToRemove; + sofa::core::objectmodel::lifecycle::RenamedData > m_edgesToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData > m_trianglesToRemove; + sofa::core::objectmodel::lifecycle::RenamedData > m_trianglesToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData > m_quadsToRemove; + sofa::core::objectmodel::lifecycle::RenamedData > m_quadsToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData > m_tetrahedraToRemove; + sofa::core::objectmodel::lifecycle::RenamedData > m_tetrahedraToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData > m_hexahedraToRemove; + sofa::core::objectmodel::lifecycle::RenamedData > m_hexahedraToRemove; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_saveIndicesAtInit; + sofa::core::objectmodel::lifecycle::RenamedData m_saveIndicesAtInit; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_epsilonSnapPath; + sofa::core::objectmodel::lifecycle::RenamedData m_epsilonSnapPath; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_epsilonSnapBorder; + sofa::core::objectmodel::lifecycle::RenamedData m_epsilonSnapBorder; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_TOPOLOGY_UTILITY() - sofa::core::objectmodel::RenamedData m_draw; + sofa::core::objectmodel::lifecycle::RenamedData m_draw; sofa::core::objectmodel::DataFileName d_filename; Data < type::vector< type::vector > > d_listChanges; ///< 0 for adding, 1 for removing, 2 for cutting and associated indices. diff --git a/Sofa/Component/Topology/Utility/tests/TopologicalChangeProcessor_test.cpp b/Sofa/Component/Topology/Utility/tests/TopologicalChangeProcessor_test.cpp index 2114477f075..4bda2e56669 100644 --- a/Sofa/Component/Topology/Utility/tests/TopologicalChangeProcessor_test.cpp +++ b/Sofa/Component/Topology/Utility/tests/TopologicalChangeProcessor_test.cpp @@ -46,7 +46,7 @@ struct TopologicalChangeProcessor_test: public BaseSimulationTest std::string m_fileName = ""; /// Method use at start to load the scene file - void SetUp() override + void doSetUp() override { // Load the scene from the xml file const std::string filePath = std::string(SOFA_COMPONENT_TOPOLOGY_UTILITY_TEST_SCENES_DIR) + "/" + m_fileName; @@ -68,7 +68,7 @@ struct TopologicalChangeProcessor_test: public BaseSimulationTest virtual bool testTopologyChanges() = 0; /// Unload the scene - void TearDown() override + void doTearDown() override { if (m_instance.root !=nullptr) sofa::simulation::node::unload(m_instance.root); diff --git a/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp b/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp index 2bc9934cb6f..e35ebdb0332 100644 --- a/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp +++ b/Sofa/Component/Topology/Utility/tests/TopologyChecker_test.cpp @@ -56,7 +56,7 @@ struct TopologyChecker_test: public BaseSimulationTest Node::SPtr m_topoNode = nullptr; /// Method use at start to load the scene file - void SetUp() override + void doSetUp() override { // Load the scene from the xml file const std::string filePath = std::string(SOFA_COMPONENT_TOPOLOGY_UTILITY_TEST_SCENES_DIR) + "/" + m_fileName; @@ -81,7 +81,7 @@ struct TopologyChecker_test: public BaseSimulationTest virtual bool testInvalidContainer() = 0; /// Unload the scene - void TearDown() override + void doTearDown() override { if (m_instance.root !=nullptr) sofa::simulation::node::unload(m_instance.root); diff --git a/Sofa/Component/Topology/src/sofa/component/topology/init.cpp b/Sofa/Component/Topology/src/sofa/component/topology/init.cpp index 145ed36c9ec..550085ae7c1 100644 --- a/Sofa/Component/Topology/src/sofa/component/topology/init.cpp +++ b/Sofa/Component/Topology/src/sofa/component/topology/init.cpp @@ -27,6 +27,7 @@ #include #include +#include namespace sofa::component::topology { @@ -55,9 +56,9 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.Topology.Container"); - factory->registerObjectsFromPlugin("Sofa.Component.Topology.Mapping"); - factory->registerObjectsFromPlugin("Sofa.Component.Topology.Utility"); + factory->registerObjectsFromPlugin(Sofa.Component.Topology.Container); + factory->registerObjectsFromPlugin(Sofa.Component.Topology.Mapping); + factory->registerObjectsFromPlugin(Sofa.Component.Topology.Utility); } void init() diff --git a/Sofa/Component/Visual/CMakeLists.txt b/Sofa/Component/Visual/CMakeLists.txt index 8dd7b074047..d1a525f0c29 100644 --- a/Sofa/Component/Visual/CMakeLists.txt +++ b/Sofa/Component/Visual/CMakeLists.txt @@ -8,6 +8,7 @@ set(HEADER_FILES ${SOFACOMPONENTVISUAL_SOURCE_DIR}/init.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/BaseCamera.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/Camera.h + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/CylinderVisualModel.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/InteractiveCamera.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/LineAxis.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/RecordedCamera.h @@ -24,6 +25,7 @@ set(SOURCE_FILES ${SOFACOMPONENTVISUAL_SOURCE_DIR}/init.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/BaseCamera.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/Camera.cpp + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/CylinderVisualModel.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/InteractiveCamera.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/LineAxis.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/RecordedCamera.cpp diff --git a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h index 5512f37e7ed..0e9e82b9d99 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h @@ -30,7 +30,7 @@ #include #include -#include +#include namespace sofa::component::visual { @@ -68,55 +68,55 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseObjec }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_position; + sofa::core::objectmodel::lifecycle::RenamedData p_position; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_orientation; + sofa::core::objectmodel::lifecycle::RenamedData p_orientation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_lookAt; + sofa::core::objectmodel::lifecycle::RenamedData p_lookAt; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_distance; + sofa::core::objectmodel::lifecycle::RenamedData p_distance; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_fieldOfView; + sofa::core::objectmodel::lifecycle::RenamedData p_fieldOfView; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_zNear; + sofa::core::objectmodel::lifecycle::RenamedData p_zNear; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_zFar; + sofa::core::objectmodel::lifecycle::RenamedData p_zFar; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_computeZClip; + sofa::core::objectmodel::lifecycle::RenamedData p_computeZClip; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_minBBox; + sofa::core::objectmodel::lifecycle::RenamedData p_minBBox; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_maxBBox; + sofa::core::objectmodel::lifecycle::RenamedData p_maxBBox; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_widthViewport; + sofa::core::objectmodel::lifecycle::RenamedData p_widthViewport; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_heightViewport; + sofa::core::objectmodel::lifecycle::RenamedData p_heightViewport; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_type; + sofa::core::objectmodel::lifecycle::RenamedData p_type; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_activated; + sofa::core::objectmodel::lifecycle::RenamedData p_activated; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_fixedLookAtPoint; + sofa::core::objectmodel::lifecycle::RenamedData p_fixedLookAtPoint; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData > p_modelViewMatrix; + sofa::core::objectmodel::lifecycle::RenamedData > p_modelViewMatrix; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData > p_projectionMatrix; + sofa::core::objectmodel::lifecycle::RenamedData > p_projectionMatrix; Data d_position; ///< Camera's position diff --git a/Sofa/Component/Visual/src/sofa/component/visual/CylinderVisualModel.cpp b/Sofa/Component/Visual/src/sofa/component/visual/CylinderVisualModel.cpp new file mode 100644 index 00000000000..98d778731bd --- /dev/null +++ b/Sofa/Component/Visual/src/sofa/component/visual/CylinderVisualModel.cpp @@ -0,0 +1,94 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include +#include +#include + +namespace sofa::component::visual +{ + +void registerCylinderVisualModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Visualize a set of cylinders.") + .add< CylinderVisualModel >()); +} + +CylinderVisualModel::CylinderVisualModel() + : radius(initData(&radius, 1.0f, "radius", "Radius of the cylinder.")), + color(initData(&color, sofa::type::RGBAColor::white(), "color", "Color of the cylinders.")) + , d_edges(initData(&d_edges,"edges","List of edge indices")) +{ +} + +CylinderVisualModel::~CylinderVisualModel() = default; + +void CylinderVisualModel::init() +{ + VisualModel::init(); + + reinit(); +} + +void CylinderVisualModel::doDrawVisual(const core::visual::VisualParams* vparams) +{ + const VecCoord& pos = this->read( core::vec_id::read_access::position )->getValue(); + + auto* drawTool = vparams->drawTool(); + + drawTool->setLightingEnabled(true); + + const float _radius = radius.getValue(); + const sofa::type::RGBAColor& col = color.getValue(); + + const SeqEdges& edges = d_edges.getValue(); + + for(const auto& edge : edges) + { + const Coord& p1 = pos[edge[0]]; + const Coord& p2 = pos[edge[1]]; + + drawTool->drawCylinder(p1, p2, _radius, col); + } +} + +void CylinderVisualModel::exportOBJ(std::string name, std::ostream* out, std::ostream* /*mtl*/, Index& vindex, Index& /*nindex*/, Index& /*tindex*/, int& /*count*/) +{ + const VecCoord& x = this->read( core::vec_id::read_access::position )->getValue(); + const SeqEdges& edges = d_edges.getValue(); + + const int nbv = int(x.size()); + + *out << "g "<. * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +#include +#include +#include + +namespace sofa::component::visual +{ + +class SOFA_COMPONENT_VISUAL_API CylinderVisualModel : + public core::visual::VisualModel, public sofa::core::visual::VisualState +{ +public: + using Vec3State = sofa::core::visual::VisualState; + SOFA_CLASS2(CylinderVisualModel,core::visual::VisualModel, Vec3State); + +protected: + CylinderVisualModel(); + ~CylinderVisualModel() override; +public: + void init() override; + + void doDrawVisual(const core::visual::VisualParams* vparams) override; + + void exportOBJ(std::string /*name*/, std::ostream* /*out*/, std::ostream* /*mtl*/, Index& /*vindex*/, Index& /*nindex*/, Index& /*tindex*/, int& /*count*/) override; + +private: + Data radius; ///< Radius of the cylinder. + Data color; ///< Color of the cylinders. + + typedef sofa::type::vector SeqEdges; + Data d_edges; ///< List of edge indices + +public: + bool insertInNode( core::objectmodel::BaseNode* node ) override { Inherit1::insertInNode(node); Inherit2::insertInNode(node); return true; } + bool removeInNode( core::objectmodel::BaseNode* node ) override { Inherit1::removeInNode(node); Inherit2::removeInNode(node); return true; } +}; + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h b/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h index b8fc38d4913..35cf08acd05 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::core::objectmodel { @@ -46,13 +46,13 @@ class SOFA_COMPONENT_VISUAL_API InteractiveCamera : public BaseCamera enum { CAMERA_LOOKAT_PIVOT = 0, CAMERA_POSITION_PIVOT = 1, SCENE_CENTER_PIVOT = 2, WORLD_CENTER_PIVOT = 3}; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_zoomSpeed; + sofa::core::objectmodel::lifecycle::RenamedData p_zoomSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_panSpeed; + sofa::core::objectmodel::lifecycle::RenamedData p_panSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_pivot; + sofa::core::objectmodel::lifecycle::RenamedData p_pivot; Data d_zoomSpeed; ///< Zoom Speed Data d_panSpeed; ///< Pan Speed diff --git a/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h b/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h index 6c1f6f9591f..4675f3a40f0 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/RecordedCamera.h @@ -26,7 +26,7 @@ #include #include -#include +#include namespace sofa::component::visual { @@ -81,58 +81,58 @@ class SOFA_COMPONENT_VISUAL_API RecordedCamera : public BaseCamera public: SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_zoomSpeed; + sofa::core::objectmodel::lifecycle::RenamedData p_zoomSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_panSpeed; + sofa::core::objectmodel::lifecycle::RenamedData p_panSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_pivot; + sofa::core::objectmodel::lifecycle::RenamedData p_pivot; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_startTime; + sofa::core::objectmodel::lifecycle::RenamedData m_startTime; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_endTime; + sofa::core::objectmodel::lifecycle::RenamedData m_endTime; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_rotationMode; + sofa::core::objectmodel::lifecycle::RenamedData m_rotationMode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_translationMode; + sofa::core::objectmodel::lifecycle::RenamedData m_translationMode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_navigationMode; + sofa::core::objectmodel::lifecycle::RenamedData m_navigationMode; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_rotationSpeed; + sofa::core::objectmodel::lifecycle::RenamedData m_rotationSpeed; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_rotationCenter; + sofa::core::objectmodel::lifecycle::RenamedData m_rotationCenter; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_rotationStartPoint; + sofa::core::objectmodel::lifecycle::RenamedData m_rotationStartPoint; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_rotationLookAt; + sofa::core::objectmodel::lifecycle::RenamedData m_rotationLookAt; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_rotationAxis; + sofa::core::objectmodel::lifecycle::RenamedData m_rotationAxis; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_cameraUp; + sofa::core::objectmodel::lifecycle::RenamedData m_cameraUp; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_drawRotation; + sofa::core::objectmodel::lifecycle::RenamedData p_drawRotation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData p_drawTranslation; + sofa::core::objectmodel::lifecycle::RenamedData p_drawTranslation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData> m_translationPositions; + sofa::core::objectmodel::lifecycle::RenamedData> m_translationPositions; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData > m_translationOrientations; + sofa::core::objectmodel::lifecycle::RenamedData > m_translationOrientations; Data d_startTime; ///< Time when the camera moves will start Data d_endTime; ///< Time when the camera moves will end (or loop) diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h index a225821b27d..2760ecc16ef 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h @@ -32,7 +32,7 @@ #include -#include +#include namespace sofa::component::visual { @@ -85,55 +85,55 @@ class SOFA_COMPONENT_VISUAL_API VisualModelImpl : public core::visual::VisualMod sofa::core::topology::BaseMeshTopology* m_topology; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_initRestPositions; + sofa::core::objectmodel::lifecycle::RenamedData m_initRestPositions; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_useNormals; + sofa::core::objectmodel::lifecycle::RenamedData m_useNormals; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_updateNormals; + sofa::core::objectmodel::lifecycle::RenamedData m_updateNormals; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_computeTangents; + sofa::core::objectmodel::lifecycle::RenamedData m_computeTangents; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_updateTangents; + sofa::core::objectmodel::lifecycle::RenamedData m_updateTangents; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_handleDynamicTopology; + sofa::core::objectmodel::lifecycle::RenamedData m_handleDynamicTopology; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_fixMergedUVSeams; + sofa::core::objectmodel::lifecycle::RenamedData m_fixMergedUVSeams; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_keepLines; + sofa::core::objectmodel::lifecycle::RenamedData m_keepLines; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData m_vertices2; + sofa::core::objectmodel::lifecycle::RenamedData m_vertices2; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< VecTexCoord > m_vtexcoords; + sofa::core::objectmodel::lifecycle::RenamedData< VecTexCoord > m_vtexcoords; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< VecCoord > m_vtangents; + sofa::core::objectmodel::lifecycle::RenamedData< VecCoord > m_vtangents; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< VecCoord > m_vbitangents; + sofa::core::objectmodel::lifecycle::RenamedData< VecCoord > m_vbitangents; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< VecVisualEdge > m_edges; + sofa::core::objectmodel::lifecycle::RenamedData< VecVisualEdge > m_edges; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< VecVisualTriangle > m_triangles; + sofa::core::objectmodel::lifecycle::RenamedData< VecVisualTriangle > m_triangles; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< VecVisualQuad > m_quads; + sofa::core::objectmodel::lifecycle::RenamedData< VecVisualQuad > m_quads; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< type::vector > m_vertPosIdx; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > m_vertPosIdx; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< type::vector > m_vertNormIdx; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > m_vertNormIdx; Data d_initRestPositions; ///< True if rest positions must be initialized with initial positions @@ -182,19 +182,19 @@ class SOFA_COMPONENT_VISUAL_API VisualModelImpl : public core::visual::VisualMod typedef sofa::type::Vec<3,Real> Vec3Real; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< Vec3Real >m_translation; + sofa::core::objectmodel::lifecycle::RenamedData< Vec3Real >m_translation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< Vec3Real > m_rotation; + sofa::core::objectmodel::lifecycle::RenamedData< Vec3Real > m_rotation; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< Vec3Real >m_scale; + sofa::core::objectmodel::lifecycle::RenamedData< Vec3Real >m_scale; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< TexCoord > m_scaleTex; + sofa::core::objectmodel::lifecycle::RenamedData< TexCoord > m_scaleTex; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< TexCoord > m_translationTex; + sofa::core::objectmodel::lifecycle::RenamedData< TexCoord > m_translationTex; Data< Vec3Real > d_translation; ///< Initial Translation of the object Data< Vec3Real > d_rotation; ///< Initial Rotation of the object @@ -237,13 +237,13 @@ class SOFA_COMPONENT_VISUAL_API VisualModelImpl : public core::visual::VisualMod sofa::type::Vec3f bbox[2]; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< sofa::type::Material >material; + sofa::core::objectmodel::lifecycle::RenamedData< sofa::type::Material >material; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData putOnlyTexCoords; + sofa::core::objectmodel::lifecycle::RenamedData putOnlyTexCoords; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData srgbTexturing; + sofa::core::objectmodel::lifecycle::RenamedData srgbTexturing; Data< sofa::type::Material > d_material; Data< bool > d_putOnlyTexCoords; @@ -283,10 +283,10 @@ class SOFA_COMPONENT_VISUAL_API VisualModelImpl : public core::visual::VisualMod } }; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< type::vector > materials; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > materials; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData< type::vector > groups; + sofa::core::objectmodel::lifecycle::RenamedData< type::vector > groups; Data< type::vector > d_materials; Data< type::vector > d_groups; diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp index 54931804369..0e50ca0d8f2 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp @@ -62,17 +62,30 @@ VisualStyle::VisualStyle() displayFlags.setOriginalData(&d_displayFlags); } -void VisualStyle::fwdDraw(VisualParams* vparams) +void VisualStyle::updateVisualFlags(VisualParams* vparams) { backupFlags = vparams->displayFlags(); vparams->displayFlags() = sofa::core::visual::merge_displayFlags(backupFlags, d_displayFlags.getValue()); } -void VisualStyle::bwdDraw(VisualParams* vparams) +void VisualStyle::applyBackupFlags(VisualParams* vparams) { vparams->displayFlags() = backupFlags; } + +bool VisualStyle::insertInNode( sofa::core::objectmodel::BaseNode* node ) +{ + node->addVisualStyle(this); + return true; +} + +bool VisualStyle::removeInNode( sofa::core::objectmodel::BaseNode* node ) +{ + node->removeVisualStyle(this); + return true; +} + helper::WriteAccessor addVisualStyle( simulation::Node::SPtr node ) { const VisualStyle::SPtr visualStyle = New(); diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h index eb43f2f5ebf..7d647960592 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h @@ -21,12 +21,14 @@ ******************************************************************************/ #pragma once #include +#include #include +#include #include #include -#include +#include namespace sofa::component::visual { @@ -56,21 +58,24 @@ namespace sofa::component::visual * showNormals hideNormals * showWireframe hideWireframe */ -class SOFA_COMPONENT_VISUAL_API VisualStyle : public sofa::core::visual::VisualModel +class SOFA_COMPONENT_VISUAL_API VisualStyle : public sofa::core::visual::BaseVisualStyle { public: - SOFA_CLASS(VisualStyle,sofa::core::visual::VisualModel); + SOFA_CLASS(VisualStyle,sofa::core::visual::BaseVisualStyle); typedef sofa::core::visual::VisualParams VisualParams; typedef sofa::core::visual::DisplayFlags DisplayFlags; protected: VisualStyle(); public: - void fwdDraw(VisualParams* ) override; - void bwdDraw(VisualParams* ) override; + void updateVisualFlags(VisualParams* ) override; + void applyBackupFlags(VisualParams* ) override; + + bool insertInNode(sofa::core::objectmodel::BaseNode* node) override; + bool removeInNode(sofa::core::objectmodel::BaseNode* node) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData displayFlags; + sofa::core::objectmodel::lifecycle::RenamedData displayFlags; Data d_displayFlags; ///< Display Flags diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualTransform.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualTransform.h index 9fe684a9f5a..ae9d6842d1f 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualTransform.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualTransform.h @@ -25,7 +25,7 @@ #include #include -#include +#include namespace sofa::component::visual { @@ -53,10 +53,10 @@ class SOFA_COMPONENT_VISUAL_API VisualTransform : public sofa::core::visual::Vis void drawTransparent(const sofa::core::visual::VisualParams* vparams) override; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData transform; + sofa::core::objectmodel::lifecycle::RenamedData transform; SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_VISUAL() - sofa::core::objectmodel::RenamedData recursive; + sofa::core::objectmodel::lifecycle::RenamedData recursive; Data d_transform; ///< Transformation to apply Data d_recursive; ///< True to apply transform to all nodes below diff --git a/Sofa/Component/Visual/src/sofa/component/visual/init.cpp b/Sofa/Component/Visual/src/sofa/component/visual/init.cpp index b2f8a2c08eb..c4060d561ac 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/init.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/init.cpp @@ -27,6 +27,7 @@ namespace sofa::component::visual { extern void registerCamera(sofa::core::ObjectFactory* factory); +extern void registerCylinderVisualModel(sofa::core::ObjectFactory* factory); extern void registerInteractiveCamera(sofa::core::ObjectFactory* factory); extern void registerLineAxis(sofa::core::ObjectFactory* factory); extern void registerRecordedCamera(sofa::core::ObjectFactory* factory); @@ -63,6 +64,7 @@ void registerObjects(sofa::core::ObjectFactory* factory) { registerCamera(factory); registerInteractiveCamera(factory); + registerCylinderVisualModel(factory); registerLineAxis(factory); registerRecordedCamera(factory); registerTrailRenderer(factory); diff --git a/Sofa/Component/src/sofa/component/init.cpp b/Sofa/Component/src/sofa/component/init.cpp index 00f7034fde6..6e1494deb84 100644 --- a/Sofa/Component/src/sofa/component/init.cpp +++ b/Sofa/Component/src/sofa/component/init.cpp @@ -45,6 +45,7 @@ #include #include +#include namespace sofa::component { @@ -73,27 +74,27 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { - factory->registerObjectsFromPlugin("Sofa.Component.AnimationLoop"); - factory->registerObjectsFromPlugin("Sofa.Component.Collision"); - factory->registerObjectsFromPlugin("Sofa.Component.Constraint"); - factory->registerObjectsFromPlugin("Sofa.Component.Controller"); - factory->registerObjectsFromPlugin("Sofa.Component.Diffusion"); - factory->registerObjectsFromPlugin("Sofa.Component.Engine"); - factory->registerObjectsFromPlugin("Sofa.Component.Haptics"); - factory->registerObjectsFromPlugin("Sofa.Component.IO"); - factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver"); - factory->registerObjectsFromPlugin("Sofa.Component.LinearSystem"); - factory->registerObjectsFromPlugin("Sofa.Component.Mapping"); - factory->registerObjectsFromPlugin("Sofa.Component.Mass"); - factory->registerObjectsFromPlugin("Sofa.Component.MechanicalLoad"); - factory->registerObjectsFromPlugin("Sofa.Component.ODESolver"); - factory->registerObjectsFromPlugin("Sofa.Component.Playback"); - factory->registerObjectsFromPlugin("Sofa.Component.SceneUtility"); - factory->registerObjectsFromPlugin("Sofa.Component.Setting"); - factory->registerObjectsFromPlugin("Sofa.Component.SolidMechanics"); - factory->registerObjectsFromPlugin("Sofa.Component.StateContainer"); - factory->registerObjectsFromPlugin("Sofa.Component.Topology"); - factory->registerObjectsFromPlugin("Sofa.Component.Visual"); + factory->registerObjectsFromPlugin(Sofa.Component.AnimationLoop); + factory->registerObjectsFromPlugin(Sofa.Component.Collision); + factory->registerObjectsFromPlugin(Sofa.Component.Constraint); + factory->registerObjectsFromPlugin(Sofa.Component.Controller); + factory->registerObjectsFromPlugin(Sofa.Component.Diffusion); + factory->registerObjectsFromPlugin(Sofa.Component.Engine); + factory->registerObjectsFromPlugin(Sofa.Component.Haptics); + factory->registerObjectsFromPlugin(Sofa.Component.IO); + factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver); + factory->registerObjectsFromPlugin(Sofa.Component.LinearSystem); + factory->registerObjectsFromPlugin(Sofa.Component.Mapping); + factory->registerObjectsFromPlugin(Sofa.Component.Mass); + factory->registerObjectsFromPlugin(Sofa.Component.MechanicalLoad); + factory->registerObjectsFromPlugin(Sofa.Component.ODESolver); + factory->registerObjectsFromPlugin(Sofa.Component.Playback); + factory->registerObjectsFromPlugin(Sofa.Component.SceneUtility); + factory->registerObjectsFromPlugin(Sofa.Component.Setting); + factory->registerObjectsFromPlugin(Sofa.Component.SolidMechanics); + factory->registerObjectsFromPlugin(Sofa.Component.StateContainer); + factory->registerObjectsFromPlugin(Sofa.Component.Topology); + factory->registerObjectsFromPlugin(Sofa.Component.Visual); } void init() diff --git a/Sofa/Component/test/CMakeLists.txt b/Sofa/Component/test/CMakeLists.txt new file mode 100644 index 00000000000..ae42441ddc2 --- /dev/null +++ b/Sofa/Component/test/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.22) + +project(Sofa.Component_test) + +set(SOURCE_FILES + Modules_test.cpp +) + +set(HEADER_FILES + Modules_test.h.in +) + +# The following block of code will generate a unit test for each of the target starting with Sofa.Component.* +# It checks that there is a corresponding data structure in Sofa.Config (otherwise it does not compile), and that the +# data structure converts to a string matching the target name. +set(ALL_SOFA_MODULES) +sofa_get_all_targets(all_targets "${CMAKE_SOURCE_DIR}") +foreach(target ${all_targets}) + if(target MATCHES "Sofa.Component.*" + AND NOT target MATCHES ".*_relocatable_install" + AND NOT target MATCHES ".*_test" + AND NOT target MATCHES ".*_simutest" + AND NOT target MATCHES ".*Testing") + string(REPLACE "." "" noDotTarget ${target}) #gtest does not like dots in test names + set(ALL_SOFA_MODULES "${ALL_SOFA_MODULES}\\\nTEST(SofaComponent, ${noDotTarget}){EXPECT_EQ(static_cast(${target}), \"${target}\");}") + endif() +endforeach() + +configure_file( + ${CMAKE_CURRENT_SOURCE_DIR}/Modules_test.h.in + ${CMAKE_CURRENT_BINARY_DIR}/Modules_test.h) + +add_executable(${PROJECT_NAME} ${SOURCE_FILES} ${HEADER_FILES}) +target_link_libraries(${PROJECT_NAME} Sofa.Testing) +target_include_directories(${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_BINARY_DIR}") + +add_test(NAME ${PROJECT_NAME} COMMAND ${PROJECT_NAME}) diff --git a/Sofa/Component/test/Modules_test.cpp b/Sofa/Component/test/Modules_test.cpp new file mode 100644 index 00000000000..389379fef85 --- /dev/null +++ b/Sofa/Component/test/Modules_test.cpp @@ -0,0 +1,25 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +ALL_SOFA_MODULES diff --git a/applications/plugins/SofaSimpleGUI/config.h.in b/Sofa/Component/test/Modules_test.h.in similarity index 86% rename from applications/plugins/SofaSimpleGUI/config.h.in rename to Sofa/Component/test/Modules_test.h.in index 5b9af608bb5..85dd4b6b3bf 100644 --- a/applications/plugins/SofaSimpleGUI/config.h.in +++ b/Sofa/Component/test/Modules_test.h.in @@ -19,16 +19,7 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#ifndef SOFASIMPLEGUI_CONFIG_H -#define SOFASIMPLEGUI_CONFIG_H - #include +#include -#ifdef SOFA_BUILD_SOFASIMPLEGUI -# define SOFA_TARGET SofaSimpleGUI -# define SOFA_SOFASIMPLEGUI_API SOFA_EXPORT_DYNAMIC_LIBRARY -#else -# define SOFA_SOFASIMPLEGUI_API SOFA_IMPORT_DYNAMIC_LIBRARY -#endif - -#endif +#cmakedefine ALL_SOFA_MODULES @ALL_SOFA_MODULES@ diff --git a/Sofa/GL/Component/Rendering2D/tests/OglLabel_test.cpp b/Sofa/GL/Component/Rendering2D/tests/OglLabel_test.cpp index 384a424251b..72092164165 100644 --- a/Sofa/GL/Component/Rendering2D/tests/OglLabel_test.cpp +++ b/Sofa/GL/Component/Rendering2D/tests/OglLabel_test.cpp @@ -53,9 +53,9 @@ using sofa::type::RGBAColor ; class OglLabelTest : public BaseTest { public: - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.GL.Component.Rendering2D"); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Rendering2D); } void checkExcludingAttributes() diff --git a/Sofa/GL/Component/Rendering3D/CMakeLists.txt b/Sofa/GL/Component/Rendering3D/CMakeLists.txt index 112674f2623..948bc3ac2b8 100644 --- a/Sofa/GL/Component/Rendering3D/CMakeLists.txt +++ b/Sofa/GL/Component/Rendering3D/CMakeLists.txt @@ -21,7 +21,6 @@ set(SOURCE_FILES ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/ClipPlane.cpp ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/DataDisplay.cpp ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/MergeVisualModels.cpp - ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/OglCylinderModel.cpp ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/OglModel.cpp ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/OglSceneFrame.cpp ${SOFAGLCOMPONENTRENDERING3D_SOURCE_DIR}/PointSplatModel.cpp diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglCylinderModel.cpp b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglCylinderModel.cpp deleted file mode 100644 index 9067ba2522b..00000000000 --- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglCylinderModel.cpp +++ /dev/null @@ -1,163 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include -#include -#include -#include -#include -#include -#include -#include - -namespace sofa::gl::component::rendering3d -{ - -void registerOglCylinderModel(sofa::core::ObjectFactory* factory) -{ - factory->registerObjects(core::ObjectRegistrationData("OpenGL-based visualization for a cylinders over edges.") - .add< OglCylinderModel >()); -} - -using namespace sofa::defaulttype; -using namespace sofa::core::topology; - -OglCylinderModel::OglCylinderModel() - : radius(initData(&radius, 1.0f, "radius", "Radius of the cylinder.")), - color(initData(&color, sofa::type::RGBAColor(1.0,1.0,1.0,1.0), "color", "Color of the cylinders.")) - , d_edges(initData(&d_edges,"edges","List of edge indices")) - // , pointData(initData(&pointData, "pointData", "scalar field modulating point colors")) -{ -} - -OglCylinderModel::~OglCylinderModel() -{ -} - -void OglCylinderModel::init() -{ - VisualModel::init(); - - reinit(); -} - -void OglCylinderModel::doDrawVisual(const core::visual::VisualParams* vparams) -{ - const VecCoord& pos = this->read( core::vec_id::read_access::position )->getValue(); - - vparams->drawTool()->setLightingEnabled(true); - const float _radius = radius.getValue(); - - const sofa::type::RGBAColor col( r, g, b, a ); - - const SeqEdges& edges = d_edges.getValue(); - - for(auto edge : edges) - { - const Coord& p1 = pos[edge[0]]; - const Coord& p2 = pos[edge[1]]; - - vparams->drawTool()->drawCylinder(p1,p2,_radius,col); - } -} - - -void OglCylinderModel::setColor(float r, float g, float b, float a) -{ - this->r = r; - this->g = g; - this->b = b; - this->a = a; -} - -static int hexval(char c) -{ - if (c>='0' && c<='9') return c-'0'; - else if (c>='a' && c<='f') return (c-'a')+10; - else if (c>='A' && c<='F') return (c-'A')+10; - else return 0; -} - -void OglCylinderModel::setColor(std::string color) -{ - if (color.empty()) return; - float r = 1.0f; - float g = 1.0f; - float b = 1.0f; - float a = 1.0f; - if (color[0]>='0' && color[0]<='9') - { - sscanf(color.c_str(),"%f %f %f %f", &r, &g, &b, &a); - } - else if (color[0]=='#' && color.length()>=7) - { - r = (hexval(color[1])*16+hexval(color[2]))/255.0f; - g = (hexval(color[3])*16+hexval(color[4]))/255.0f; - b = (hexval(color[5])*16+hexval(color[6]))/255.0f; - if (color.length()>=9) - a = (hexval(color[7])*16+hexval(color[8]))/255.0f; - } - else if (color[0]=='#' && color.length()>=4) - { - r = (hexval(color[1])*17)/255.0f; - g = (hexval(color[2])*17)/255.0f; - b = (hexval(color[3])*17)/255.0f; - if (color.length()>=5) - a = (hexval(color[4])*17)/255.0f; - } - else if (color == "white") { r = 1.0f; g = 1.0f; b = 1.0f; } - else if (color == "black") { r = 0.0f; g = 0.0f; b = 0.0f; } - else if (color == "red") { r = 1.0f; g = 0.0f; b = 0.0f; } - else if (color == "green") { r = 0.0f; g = 1.0f; b = 0.0f; } - else if (color == "blue") { r = 0.0f; g = 0.0f; b = 1.0f; } - else if (color == "cyan") { r = 0.0f; g = 1.0f; b = 1.0f; } - else if (color == "magenta") { r = 1.0f; g = 0.0f; b = 1.0f; } - else if (color == "yellow") { r = 1.0f; g = 1.0f; b = 0.0f; } - else if (color == "gray") { r = 0.5f; g = 0.5f; b = 0.5f; } - else - { - msg_error() << "Unknown color " << color; - return; - } - setColor(r,g,b,a); -} - -void OglCylinderModel::exportOBJ(std::string name, std::ostream* out, std::ostream* /*mtl*/, Index& vindex, Index& /*nindex*/, Index& /*tindex*/, int& /*count*/) -{ - const VecCoord& x = this->read( core::vec_id::read_access::position )->getValue(); - const SeqEdges& edges = d_edges.getValue(); - - const int nbv = int(x.size()); - - *out << "g "< +#include -#include -#include -#include -#include -#include -#include +SOFA_HEADER_DEPRECATED("v24.12", "v25.06", "sofa/component/visual/CylinderVisualModel.h") -namespace sofa::core::topology -{ - class BaseMeshTopology; -} // namespace sofa::core::topology - -namespace sofa::core::behavior -{ - class BaseMechanicalState; -} // namespace sofa::core::behavior +#include namespace sofa::gl::component::rendering3d { - -// I have no idea what is Ogl in this component ?... -class SOFA_GL_COMPONENT_RENDERING3D_API OglCylinderModel : public core::visual::VisualModel, public sofa::core::visual::VisualState -{ -public: - using Vec3State = sofa::core::visual::VisualState; - SOFA_CLASS2(OglCylinderModel,core::visual::VisualModel, Vec3State); - - using Index = sofa::Index; -protected: - OglCylinderModel(); - ~OglCylinderModel() override; -public: - void init() override; - - void doDrawVisual(const core::visual::VisualParams* vparams) override; - - void exportOBJ(std::string /*name*/, std::ostream* /*out*/, std::ostream* /*mtl*/, Index& /*vindex*/, Index& /*nindex*/, Index& /*tindex*/, int& /*count*/) override; - -private: - void setColor(float r, float g, float b, float a); - void setColor(std::string color); - -private: - Data radius; ///< Radius of the cylinder. - // Data alpha; - Data color; ///< Color of the cylinders. - - typedef sofa::type::vector SeqEdges; - Data d_edges; ///< List of edge indices - - - float r,g,b,a; - // sofa::core::topology::PointData > pointData; - - typedef Vec3State::Coord Coord; - typedef Vec3State::VecCoord VecCoord; - typedef Vec3State::Real Real; - -public: - bool insertInNode( core::objectmodel::BaseNode* node ) override { Inherit1::insertInNode(node); Inherit2::insertInNode(node); return true; } - bool removeInNode( core::objectmodel::BaseNode* node ) override { Inherit1::removeInNode(node); Inherit2::removeInNode(node); return true; } -}; - -} // namespace sofa::gl::component::rendering3d +using OglCylinderModel = sofa::component::visual::CylinderVisualModel; +} diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp index 1f88ebc2905..1e6341d4f12 100644 --- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp +++ b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.cpp @@ -59,7 +59,7 @@ OglModel::OglModel() , blendEquation( initData(&blendEquation, "blendEquation", "if alpha blending is enabled this specifies how source and destination colors are combined") ) , sourceFactor( initData(&sourceFactor, "sfactor", "if alpha blending is enabled this specifies how the red, green, blue, and alpha source blending factors are computed") ) , destFactor( initData(&destFactor, "dfactor", "if alpha blending is enabled this specifies how the red, green, blue, and alpha destination blending factors are computed") ) - , tex(nullptr) + , m_tex(nullptr) , vbo(0), iboEdges(0), iboTriangles(0), iboQuads(0) , VBOGenDone(false), initDone(false), useEdges(false), useTriangles(false), useQuads(false), canUsePatches(false) , oldVerticesSize(0), oldNormalsSize(0), oldTexCoordsSize(0), oldTangentsSize(0), oldBitangentsSize(0), oldEdgesSize(0), oldTrianglesSize(0), oldQuadsSize(0) @@ -88,11 +88,16 @@ void OglModel::parse(core::objectmodel::BaseObjectDescription* arg) void OglModel::deleteTextures() { - if (tex!=nullptr) delete tex; + if (m_tex != nullptr) + { + delete m_tex; + m_tex = nullptr; + } for (unsigned int i = 0 ; i < textures.size() ; i++) { delete textures[i]; + textures[i] = nullptr; } } @@ -162,7 +167,7 @@ void OglModel::drawGroup(int ig, bool transparent) if (transparent ^ isTransparent) return; - if (!tex && m.useTexture && m.activated) + if (!m_tex && m.useTexture && m.activated) { //get the texture id corresponding to the current material size_t indexInTextureArray = size_t(materialTextureIdMap[g.materialId]); @@ -288,7 +293,7 @@ void OglModel::drawGroup(int ig, bool transparent) glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); } - if (!tex && m.useTexture && m.activated) + if (!m_tex && m.useTexture && m.activated) { int indexInTextureArray = materialTextureIdMap[g.materialId]; if (indexInTextureArray < int(textures.size()) && textures[size_t(indexInTextureArray)]) @@ -379,12 +384,12 @@ void OglModel::internalDraw(const core::visual::VisualParams* vparams, bool tran glEnableClientState(GL_NORMAL_ARRAY); glEnableClientState(GL_VERTEX_ARRAY); - if ((tex || d_putOnlyTexCoords.getValue()) ) + if ((m_tex || d_putOnlyTexCoords.getValue()) ) { - if(tex) + if(m_tex) { glEnable(GL_TEXTURE_2D); - tex->bind(); + m_tex->bind(); } const size_t textureArrayByteSize = vtexcoords.size()*sizeof(vtexcoords[0]); @@ -522,11 +527,11 @@ void OglModel::internalDraw(const core::visual::VisualParams* vparams, bool tran glDepthMask(GL_TRUE); } - if ( (tex || d_putOnlyTexCoords.getValue()) ) + if ( (m_tex || d_putOnlyTexCoords.getValue()) ) { - if (tex) + if (m_tex) { - tex->unbind(); + m_tex->unbind(); glDisable(GL_TEXTURE_2D); } glDisableClientState(GL_TEXTURE_COORD_ARRAY); @@ -582,7 +587,7 @@ bool OglModel::hasTransparent() bool OglModel::hasTexture() { - return !textures.empty() || tex; + return !textures.empty() || m_tex; } bool OglModel::loadTexture(const std::string& filename) @@ -590,7 +595,7 @@ bool OglModel::loadTexture(const std::string& filename) helper::io::Image *img = helper::io::Image::Create(filename); if (!img) return false; - tex = new sofa::gl::Texture(img, true, true, false, d_srgbTexturing.getValue()); + m_tex = new sofa::gl::Texture(img, true, true, false, d_srgbTexturing.getValue()); return true; } @@ -696,9 +701,9 @@ void OglModel::doInitVisual(const core::visual::VisualParams*) void OglModel::initTextures() { - if (tex) + if (m_tex) { - tex->init(); + m_tex->init(); } else { @@ -755,7 +760,7 @@ void OglModel::initVertexBuffer() positionsBufferSize = (vertices.size()*sizeof(Vec3f)); normalsBufferSize = (vnormals.size()*sizeof(Vec3f)); - if (tex || d_putOnlyTexCoords.getValue() || !textures.empty()) + if (m_tex || d_putOnlyTexCoords.getValue() || !textures.empty()) { textureCoordsBufferSize = vtexcoords.size() * sizeof(vtexcoords[0]); @@ -847,7 +852,7 @@ void OglModel::updateVertexBuffer() positionsBufferSize = (vertices.size()*sizeof(Vec3f)); normalsBufferSize = (vnormals.size()*sizeof(Vec3f)); - if (tex || d_putOnlyTexCoords.getValue() || !textures.empty()) + if (m_tex || d_putOnlyTexCoords.getValue() || !textures.empty()) { textureCoordsBufferSize = (vtexcoords.size() * sizeof(vtexcoords[0])); @@ -873,7 +878,7 @@ void OglModel::updateVertexBuffer() normalBuffer); ////Texture coords - if (tex || d_putOnlyTexCoords.getValue() || !textures.empty()) + if (m_tex || d_putOnlyTexCoords.getValue() || !textures.empty()) { glBufferSubData(GL_ARRAY_BUFFER, positionsBufferSize + normalsBufferSize, diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h index d5ff3338b15..672710715ec 100644 --- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h +++ b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/OglModel.h @@ -74,7 +74,7 @@ class SOFA_GL_COMPONENT_RENDERING3D_API OglModel : public sofa::component::visua Data destFactor; ///< if alpha blending is enabled this specifies how the red, green, blue, and alpha destination blending factors are computed GLenum blendEq, sfactor, dfactor; - sofa::gl::Texture *tex; //this texture is used only if a texture name is specified in the scn + sofa::gl::Texture *m_tex; //this texture is used only if a texture name is specified in the scn GLuint vbo, iboEdges, iboTriangles, iboQuads; bool VBOGenDone, initDone, useEdges, useTriangles, useQuads, canUsePatches; size_t oldVerticesSize, oldNormalsSize, oldTexCoordsSize, oldTangentsSize, oldBitangentsSize, oldEdgesSize, oldTrianglesSize, oldQuadsSize; @@ -126,7 +126,7 @@ class SOFA_GL_COMPONENT_RENDERING3D_API OglModel : public sofa::component::visua bool isUseTriangles() { return useTriangles; } bool isUseQuads() { return useQuads; } - sofa::gl::Texture* getTex() const { return tex; } + sofa::gl::Texture* getTex() const { return m_tex; } GLuint getVbo() { return vbo; } GLuint getIboEdges() { return iboEdges; } GLuint getIboTriangles() { return iboTriangles; } diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/init.cpp b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/init.cpp index a4096afa836..61a827c7dea 100644 --- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/init.cpp +++ b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/init.cpp @@ -29,7 +29,6 @@ namespace sofa::gl::component::rendering3d extern void registerClipPlane(sofa::core::ObjectFactory* factory); extern void registerDataDisplay(sofa::core::ObjectFactory* factory); extern void registerMergeVisualModels(sofa::core::ObjectFactory* factory); -extern void registerOglCylinderModel(sofa::core::ObjectFactory* factory); extern void registerOglModel(sofa::core::ObjectFactory* factory); extern void registerOglSceneFrame(sofa::core::ObjectFactory* factory); extern void registerPointSplatModel(sofa::core::ObjectFactory* factory); @@ -62,7 +61,6 @@ void registerObjects(sofa::core::ObjectFactory* factory) registerClipPlane(factory); registerDataDisplay(factory); registerMergeVisualModels(factory); - registerOglCylinderModel(factory); registerOglModel(factory); registerOglSceneFrame(factory); registerPointSplatModel(factory); diff --git a/Sofa/GL/Component/Rendering3D/tests/ClipPlane_test.cpp b/Sofa/GL/Component/Rendering3D/tests/ClipPlane_test.cpp index f596ef6ebe9..ea821661307 100644 --- a/Sofa/GL/Component/Rendering3D/tests/ClipPlane_test.cpp +++ b/Sofa/GL/Component/Rendering3D/tests/ClipPlane_test.cpp @@ -60,10 +60,10 @@ int messageInited = initMessage(); class TestClipPlane : public BaseTest { public: - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.GL.Component.Rendering3D"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Rendering3D); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); } void checkClipPlaneValidAttributes(); diff --git a/Sofa/GL/Component/Shader/tests/LightManager_test.cpp b/Sofa/GL/Component/Shader/tests/LightManager_test.cpp index cde4ddc5a17..21da2ac3c47 100644 --- a/Sofa/GL/Component/Shader/tests/LightManager_test.cpp +++ b/Sofa/GL/Component/Shader/tests/LightManager_test.cpp @@ -53,10 +53,10 @@ namespace sofa { struct TestLightManager : public BaseTest { - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.GL.Component.Shader"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Shader); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); } }; @@ -94,7 +94,7 @@ void checkAttributes() TEST_F(TestLightManager, checkAttributes) { - sofa::simpleapi::importPlugin("Sofa.GL.Component.Shader"); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Shader); checkAttributes(); } diff --git a/Sofa/GL/Component/Shader/tests/Light_test.cpp b/Sofa/GL/Component/Shader/tests/Light_test.cpp index 29fbf100cf3..2a83d5535a5 100644 --- a/Sofa/GL/Component/Shader/tests/Light_test.cpp +++ b/Sofa/GL/Component/Shader/tests/Light_test.cpp @@ -48,10 +48,10 @@ int messageInited = initMessage(); class TestLight : public BaseTest { public: - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.GL.Component.Shader"); - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Shader); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); } void checkSpotLightValidAttributes(); diff --git a/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl b/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl index a64f733f7d2..fad3af6dc4b 100644 --- a/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl +++ b/Sofa/GUI/Component/src/sofa/gui/component/performer/ConstraintAttachBodyPerformer.inl @@ -97,7 +97,7 @@ bool ConstraintAttachBodyPerformer::startPartial(const BodyPicked& pi this->m_interactionObject = sofa::core::objectmodel::New >(m_mstate1, m_mstate2); auto* bconstraint = dynamic_cast< BilateralLagrangianConstraint< DataTypes >* >(this->m_interactionObject.get()); - if constexpr (sofa::type::isRigidType()) + if constexpr (sofa::type::isRigidType) { // BilateralLagrangianConstraint::d_keepOrientDiff is protected auto* keepOrientDiffBaseData = bconstraint->findData("keepOrientationDifference"); diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/GraphListenerQListView.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/GraphListenerQListView.cpp index 2b529ba25fa..0a57b822880 100644 --- a/Sofa/GUI/Qt/src/sofa/gui/qt/GraphListenerQListView.cpp +++ b/Sofa/GUI/Qt/src/sofa/gui/qt/GraphListenerQListView.cpp @@ -154,7 +154,6 @@ QPixmap* getPixmap(core::objectmodel::Base* obj, bool haveInfo, bool haveWarning if(haveErrors) flags |= 1 << (4) ; - static std::map pixmaps; if (!pixmaps.count(flags)) { @@ -236,10 +235,10 @@ QPixmap* getPixmap(core::objectmodel::Base* obj, bool haveInfo, bool haveWarning flags |= 1 << (ALLCOLORS+1) ; if(haveWarning) - flags |= 1 << (ALLCOLORS+1) ; + flags |= 1 << (ALLCOLORS+2) ; if(haveErrors) - flags |= 1 << (ALLCOLORS+1) ; + flags |= 1 << (ALLCOLORS+3) ; static std::map pixmaps; if (!pixmaps.count(flags)) @@ -249,10 +248,8 @@ QPixmap* getPixmap(core::objectmodel::Base* obj, bool haveInfo, bool haveWarning if (flags & (1<setAlphaBuffer(true); img->fill(qRgba(0,0,0,0)); // Workaround for qt 3.x where fill() does not set the alpha channel for (int y=0 ; y < iconHeight ; y++) diff --git a/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.cpp b/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.cpp index 7942456a333..0cca21cc8c3 100644 --- a/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.cpp +++ b/Sofa/GUI/Qt/src/sofa/gui/qt/SimpleDataWidget.cpp @@ -241,8 +241,8 @@ SelectableItemWidget::SelectableItemWidget(QWidget* parent, const char* name, bool SelectableItemWidget::createWidgets() { - if (Tdata && Tdata->getValueTypeString() != "SelectableItem" || - baseData && baseData->getValueTypeString() != "SelectableItem") + if ((Tdata && Tdata->getValueTypeString() != "SelectableItem") || + (baseData && baseData->getValueTypeString() != "SelectableItem")) { return false; } diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt index 4683959c252..e1374daf83c 100644 --- a/Sofa/framework/Config/CMakeLists.txt +++ b/Sofa/framework/Config/CMakeLists.txt @@ -85,6 +85,7 @@ set(HEADER_FILES ${SOFACONFIGSRC_ROOT}/config.h.in ${SOFACONFIGSRC_ROOT}/version.h.in ${SOFACONFIGSRC_ROOT}/url.h.in + ${SOFACONFIGSRC_ROOT}/Modules.h ) set(SOURCE_FILES ${SOFACONFIGSRC_ROOT}/initSofaConfig.cpp # necessary to build a library @@ -105,8 +106,8 @@ if((CMAKE_SYSTEM_NAME STREQUAL Windows) AND SOFA_USE_DEPENDENCY_PACK) endif() # Compile options -# Set C++17 -target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17) +# Set C++20 +target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_20) set(SOFACONFIG_COMPILE_OPTIONS_DEBUG "") set(SOFACONFIG_COMPILE_OPTIONS_RELEASE "") diff --git a/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake b/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake index bff05bcce1f..bb4aa5490cc 100644 --- a/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake +++ b/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake @@ -42,6 +42,12 @@ endmacro() function(sofa_get_all_targets var) set(targets) - __get_all_targets_recursive(targets ${CMAKE_CURRENT_SOURCE_DIR}) + + set(source_dir ${ARGV1}) #optional argument to define the source directory + if(NOT DEFINED source_dir) + set(source_dir "${CMAKE_CURRENT_SOURCE_DIR}") # Set a default value + endif() + + __get_all_targets_recursive(targets ${source_dir}) set(${var} ${targets} PARENT_SCOPE) endfunction() diff --git a/Sofa/framework/Config/src/sofa/Modules.h b/Sofa/framework/Config/src/sofa/Modules.h new file mode 100644 index 00000000000..a02c7962c1e --- /dev/null +++ b/Sofa/framework/Config/src/sofa/Modules.h @@ -0,0 +1,179 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include + +/** + * The macro allows a simpler definition and maintenance of the module data + * structure + * @param name Module name + */ +#define START_MODULE(name, fullModuleName)\ + private:\ + struct Module ## name\ + {\ + private:\ + static constexpr const char* moduleName = fullModuleName;\ + public:\ + Module ## name() = default;\ + Module ## name(const Module ## name&) = delete;\ + Module ## name& operator=(const Module ## name&) = delete;\ + operator std::string() const { return moduleName; } + +#define END_MODULE(name)\ + };\ + public:\ + Module ## name name; + +#define MODULE(name, fullModuleName) \ + START_MODULE(name, fullModuleName) END_MODULE(name) + +inline struct ModuleSofa +{ +private: + static constexpr const char* moduleName = "Sofa"; +public: + ModuleSofa() = default; + ModuleSofa(const ModuleSofa&) = delete; + ModuleSofa& operator=(const ModuleSofa&) = delete; + operator std::string() const { return moduleName; } + + START_MODULE(Component, "Sofa.Component") + MODULE(AnimationLoop, "Sofa.Component.AnimationLoop") + START_MODULE(Collision, "Sofa.Component.Collision") + START_MODULE(Detection, "Sofa.Component.Collision.Detection") + MODULE(Algorithm, "Sofa.Component.Collision.Detection.Algorithm") + MODULE(Intersection, "Sofa.Component.Collision.Detection.Intersection") + END_MODULE(Detection) + MODULE(Geometry, "Sofa.Component.Collision.Geometry") + START_MODULE(Response, "Sofa.Component.Collision.Response") + MODULE(Contact, "Sofa.Component.Collision.Response.Contact") + MODULE(Mapper, "Sofa.Component.Collision.Response.Mapper") + END_MODULE(Response) + END_MODULE(Collision) + + START_MODULE(Constraint, "Sofa.Component.Constraint") + START_MODULE(Lagrangian, "Sofa.Component.Constraint.Lagrangian") + MODULE(Correction, "Sofa.Component.Constraint.Lagrangian.Correction") + MODULE(Model, "Sofa.Component.Constraint.Lagrangian.Model") + MODULE(Solver, "Sofa.Component.Constraint.Lagrangian.Solver") + END_MODULE(Lagrangian) + + MODULE(Projective, "Sofa.Component.Constraint.Projective") + END_MODULE(Constraint) + + MODULE(Controller, "Sofa.Component.Controller") + MODULE(Diffusion, "Sofa.Component.Diffusion") + + START_MODULE(Engine, "Sofa.Component.Engine") + MODULE(Analyze, "Sofa.Component.Engine.Analyze") + MODULE(Generate, "Sofa.Component.Engine.Generate") + MODULE(Select, "Sofa.Component.Engine.Select") + MODULE(Transform, "Sofa.Component.Engine.Transform") + END_MODULE(Engine) + + MODULE(Haptics, "Sofa.Component.Haptics") + + START_MODULE(IO, "Sofa.Component.IO") + MODULE(Mesh, "Sofa.Component.IO.Mesh") + END_MODULE(IO) + + START_MODULE(LinearSolver, "Sofa.Component.LinearSolver") + MODULE(Direct, "Sofa.Component.LinearSolver.Direct") + MODULE(Iterative, "Sofa.Component.LinearSolver.Iterative") + MODULE(Ordering, "Sofa.Component.LinearSolver.Ordering") + MODULE(Preconditioner, "Sofa.Component.LinearSolver.Preconditioner") + END_MODULE(LinearSolver) + + MODULE(LinearSystem, "Sofa.Component.LinearSystem") + + START_MODULE(Mapping, "Sofa.Component.Mapping") + MODULE(Linear, "Sofa.Component.Mapping.Linear") + MODULE(MappedMatrix, "Sofa.Component.Mapping.MappedMatrix") + MODULE(NonLinear, "Sofa.Component.Mapping.NonLinear") + END_MODULE(Mapping) + + MODULE(Mass, "Sofa.Component.Mass") + MODULE(MechanicalLoad, "Sofa.Component.MechanicalLoad") + + START_MODULE(ODESolver, "Sofa.Component.ODESolver") + MODULE(Backward, "Sofa.Component.ODESolver.Backward") + MODULE(Forward, "Sofa.Component.ODESolver.Forward") + END_MODULE(ODESolver) + + MODULE(Playback, "Sofa.Component.Playback") + MODULE(SceneUtility, "Sofa.Component.SceneUtility") + MODULE(Setting, "Sofa.Component.Setting") + + START_MODULE(SolidMechanics, "Sofa.Component.SolidMechanics") + START_MODULE(FEM, "Sofa.Component.SolidMechanics.FEM") + MODULE(Elastic, "Sofa.Component.SolidMechanics.FEM.Elastic") + MODULE(HyperElastic, "Sofa.Component.SolidMechanics.FEM.HyperElastic") + MODULE(NonUniform, "Sofa.Component.SolidMechanics.FEM.NonUniform") + END_MODULE(FEM) + + MODULE(Spring, "Sofa.Component.SolidMechanics.Spring") + MODULE(TensorMass, "Sofa.Component.SolidMechanics.TensorMass") + END_MODULE(SolidMechanics) + + MODULE(StateContainer, "Sofa.Component.StateContainer") + + START_MODULE(Topology, "Sofa.Component.Topology") + START_MODULE(Container, "Sofa.Component.Topology.Container") + MODULE(Constant, "Sofa.Component.Topology.Container.Constant") + MODULE(Dynamic, "Sofa.Component.Topology.Container.Dynamic") + MODULE(Grid, "Sofa.Component.Topology.Container.Grid") + END_MODULE(Container) + MODULE(Mapping, "Sofa.Component.Topology.Mapping") + MODULE(Utility, "Sofa.Component.Topology.Utility") + END_MODULE(Topology) + + MODULE(Visual, "Sofa.Component.Visual") + END_MODULE(Component) + + START_MODULE(GL, "Sofa.GL") + START_MODULE(Component, "Sofa.GL.Component") + MODULE(Engine, "Sofa.GL.Component.Engine") + MODULE(Rendering2D, "Sofa.GL.Component.Rendering2D") + MODULE(Rendering3D, "Sofa.GL.Component.Rendering3D") + MODULE(Shader, "Sofa.GL.Component.Shader") + END_MODULE(Component) + END_MODULE(GL) + + START_MODULE(GUI, "Sofa.GUI") + MODULE(Component, "Sofa.GUI.Component") + END_MODULE(GUI) + +} +/** + * Nested data structure reproducing the architecture of SOFA modules (tree-like + * structure). All modules and submodules can convert implicitly to std::string. + * This allows to use this structure as a string in functions accepting a module + * name as a string. From the developer point of view, the use of this data + * structure is less error-prone compared to any string and the auto-completion + * allows faster developments. + */ +Sofa; + +#undef START_MODULE +#undef END_MODULE +#undef MODULE diff --git a/Sofa/framework/Core/CMakeLists.txt b/Sofa/framework/Core/CMakeLists.txt index 4910d364c28..35669bcbb87 100644 --- a/Sofa/framework/Core/CMakeLists.txt +++ b/Sofa/framework/Core/CMakeLists.txt @@ -28,6 +28,7 @@ set(HEADER_FILES ${SRC_ROOT}/ExecParams.h ${SRC_ROOT}/fwd.h ${SRC_ROOT}/init.h + ${SRC_ROOT}/IntrusiveObject.h ${SRC_ROOT}/Mapping.h ${SRC_ROOT}/Mapping.inl ${SRC_ROOT}/MappingHelper.h @@ -150,8 +151,6 @@ set(HEADER_FILES ${SRC_ROOT}/objectmodel/DataFileName.h ${SRC_ROOT}/objectmodel/DataFileNameVector.h ${SRC_ROOT}/objectmodel/DataLink.h - ${SRC_ROOT}/objectmodel/DeprecatedData.h - ${SRC_ROOT}/objectmodel/RemovedData.h ${SRC_ROOT}/objectmodel/DetachNodeEvent.h ${SRC_ROOT}/objectmodel/Event.h ${SRC_ROOT}/objectmodel/GUIEvent.h @@ -160,9 +159,11 @@ set(HEADER_FILES ${SRC_ROOT}/objectmodel/JoystickEvent.h ${SRC_ROOT}/objectmodel/KeypressedEvent.h ${SRC_ROOT}/objectmodel/KeyreleasedEvent.h + ${SRC_ROOT}/objectmodel/lifecycle/DeprecatedData.h + ${SRC_ROOT}/objectmodel/lifecycle/RemovedData.h + ${SRC_ROOT}/objectmodel/lifecycle/RenamedData.h ${SRC_ROOT}/objectmodel/Link.h ${SRC_ROOT}/objectmodel/MouseEvent.h - ${SRC_ROOT}/objectmodel/RenamedData.h ${SRC_ROOT}/objectmodel/SPtr.h ${SRC_ROOT}/objectmodel/ScriptEvent.h ${SRC_ROOT}/objectmodel/TypeOfInsertion.h @@ -187,6 +188,7 @@ set(HEADER_FILES ${SRC_ROOT}/topology/TopologySubsetData.cpp ${SRC_ROOT}/topology/TopologySubsetIndices.h ${SRC_ROOT}/trait/DataTypes.h + ${SRC_ROOT}/visual/BaseVisualStyle.h ${SRC_ROOT}/visual/Data[DisplayFlags].h ${SRC_ROOT}/visual/DisplayFlags.h ${SRC_ROOT}/visual/FlagTreeItem.h @@ -216,6 +218,7 @@ set(SOURCE_FILES ${SRC_ROOT}/DataTrackerCallback.cpp ${SRC_ROOT}/DataTrackerFunctor.cpp ${SRC_ROOT}/ExecParams.cpp + ${SRC_ROOT}/IntrusiveObject.cpp ${SRC_ROOT}/fwd.cpp ${SRC_ROOT}/init.cpp ${SRC_ROOT}/Mapping.cpp @@ -296,7 +299,6 @@ set(SOURCE_FILES ${SRC_ROOT}/objectmodel/DataFileNameVector.cpp ${SRC_ROOT}/objectmodel/DataLink.cpp ${SRC_ROOT}/objectmodel/DetachNodeEvent.cpp - ${SRC_ROOT}/objectmodel/DeprecatedData.cpp ${SRC_ROOT}/objectmodel/Event.cpp ${SRC_ROOT}/objectmodel/GUIEvent.cpp ${SRC_ROOT}/objectmodel/HapticDeviceEvent.cpp @@ -304,6 +306,7 @@ set(SOURCE_FILES ${SRC_ROOT}/objectmodel/JoystickEvent.cpp ${SRC_ROOT}/objectmodel/KeypressedEvent.cpp ${SRC_ROOT}/objectmodel/KeyreleasedEvent.cpp + ${SRC_ROOT}/objectmodel/lifecycle/DeprecatedData.cpp ${SRC_ROOT}/objectmodel/MouseEvent.cpp ${SRC_ROOT}/objectmodel/ScriptEvent.cpp ${SRC_ROOT}/objectmodel/Tag.cpp diff --git a/applications/plugins/SensableEmulation/config.h b/Sofa/framework/Core/src/sofa/core/IntrusiveObject.cpp similarity index 83% rename from applications/plugins/SensableEmulation/config.h rename to Sofa/framework/Core/src/sofa/core/IntrusiveObject.cpp index fbe888819f0..9b4325340f4 100644 --- a/applications/plugins/SensableEmulation/config.h +++ b/Sofa/framework/Core/src/sofa/core/IntrusiveObject.cpp @@ -19,16 +19,20 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#ifndef SENSABLEEMULATION_CONFIG_H -#define SENSABLEEMULATION_CONFIG_H +#include -#include +namespace sofa::core +{ +void IntrusiveObject::addRef() +{ + ++ref_counter; +} -#ifdef SOFA_BUILD_SENSABLEEMULATIONPLUGIN -# define SOFA_TARGET SensableEmulation -# define SOFA_SENSABLEEMUPLUGIN_API SOFA_EXPORT_DYNAMIC_LIBRARY -#else -# define SOFA_SENSABLEEMUPLUGIN_API SOFA_IMPORT_DYNAMIC_LIBRARY -#endif - -#endif +void IntrusiveObject::release() +{ + if (ref_counter.fetch_sub(1) == 1) + { + delete this; + } +} +} diff --git a/applications/plugins/SensableEmulation/initSensableEmulation.cpp b/Sofa/framework/Core/src/sofa/core/IntrusiveObject.h similarity index 61% rename from applications/plugins/SensableEmulation/initSensableEmulation.cpp rename to Sofa/framework/Core/src/sofa/core/IntrusiveObject.h index 1c218b3ab77..0b6ed680520 100644 --- a/applications/plugins/SensableEmulation/initSensableEmulation.cpp +++ b/Sofa/framework/Core/src/sofa/core/IntrusiveObject.h @@ -19,61 +19,37 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#pragma once +#include +#include -namespace sofa +namespace sofa::core { -namespace component +/** + * The `IntrusiveObject` class implements an internal reference counting mechanism + * to manage its lifetime. It is intended to work with intrusive smart pointers like + * `boost::intrusive_ptr`. + */ +class SOFA_CORE_API IntrusiveObject { + std::atomic ref_counter { 0 }; -//Here are just several convenient functions to help user to know what contains the plugin + void addRef(); + void release(); -extern "C" { - SOFA_SENSABLEEMUPLUGIN_API void initExternalModule(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleName(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleVersion(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleLicense(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleDescription(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleComponentList(); -} - -void initExternalModule() -{ - static bool first = true; - if (first) + friend inline void intrusive_ptr_add_ref(IntrusiveObject* p) { - first = false; + p->addRef(); } -} -const char* getModuleName() -{ - return "SensableEmulation"; -} - -const char* getModuleVersion() -{ - return "beta 1.0"; -} - -const char* getModuleLicense() -{ - return "LGPL"; -} + friend inline void intrusive_ptr_release(IntrusiveObject* p) + { + p->release(); + } -const char* getModuleDescription() -{ - return "Force feedback with sensable devices into SOFA Framework"; -} +protected: + virtual ~IntrusiveObject() = default; +}; -const char* getModuleComponentList() -{ - return "OmniDriverEmu"; } - -} // namespace component - -} // namespace sofa - - diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp index 6f9d02cf2c8..20402e7c25f 100644 --- a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp +++ b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp @@ -775,7 +775,8 @@ bool ObjectFactory::registerObjectsFromPlugin(const std::string& pluginName) // do not register if it was already done before if(m_registeredPluginSet.count(pluginName) > 0) { - // msg_warning("ObjectFactory") << pluginName << " has already registered its components."; + // This warning should be generalized (i.e not only in dev mode) when runSofa will not auto-load modules/plugins by default anymore + dmsg_warning("ObjectFactory") << pluginName << " has already registered its components."; return false; } @@ -837,8 +838,8 @@ RegisterObject& RegisterObject::addCreator(std::string classname, std::string te RegisterObject::operator int() const { - //std::cout << "Implicit object registration is deprecrated since v24.06. Check #4429 for more information." << std::endl; - // msg_warning("RegisterObject") << "Implicit object registration is deprecrated since v24.06. Check #4429 for more information."; + dmsg_warning("RegisterObject") << m_objectRegistrationdata.entry.className + << ": Implicit object registration is deprecated since v24.12. Check #4429 for more information."; return commitTo(ObjectFactory::getInstance()); } diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h index 302c70f3590..2126496ac8e 100644 --- a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h +++ b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h @@ -377,12 +377,14 @@ class SOFA_CORE_API ObjectRegistrationData /// This is the final operation that will actually commit the additions to the ObjectFactory. bool commitTo(sofa::core::ObjectFactory* objectFactory) const; + + friend class RegisterObject; }; // Legacy structure, to keep compatibility with olden code // using the singleton to get the instance of ObjectFactory -class /* SOFA_ATTRIBUTE_DEPRECATED__REGISTEROBJECT() */ SOFA_CORE_API RegisterObject +class SOFA_ATTRIBUTE_DEPRECATED__REGISTEROBJECT() SOFA_CORE_API RegisterObject { private: ObjectRegistrationData m_objectRegistrationdata; diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h index 8e0d839fcba..896e7641675 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintSet.h @@ -27,7 +27,7 @@ #include #include -#include +#include namespace sofa::core::behavior { @@ -94,7 +94,7 @@ class SOFA_CORE_API BaseConstraintSet : public virtual objectmodel::BaseObject Data< sofa::Index > d_constraintIndex; ///< Constraint index (first index in the right hand term resolution vector) SOFA_ATTRIBUTE_DEPRECATED__CORE_RENAME_DATA_IN_CORE() - sofa::core::objectmodel::RenamedData< unsigned int > m_constraintIndex; + sofa::core::objectmodel::lifecycle::RenamedData< unsigned int > m_constraintIndex; bool insertInNode( objectmodel::BaseNode* node ) override; bool removeInNode( objectmodel::BaseNode* node ) override; diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h index d761f405d40..9344498e63f 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h @@ -188,7 +188,7 @@ class SOFA_CORE_API BaseMechanicalState : public virtual BaseState /// Called at the end of each integration step. virtual void endIntegration(const ExecParams* params, SReal /*dt*/) { - vOp(params, VecId::externalForce(), ConstVecId::null(), ConstVecId::null(), 1.0); // externalForce = 0 + vOp(params, sofa::core::vec_id::write_access::externalForce, ConstVecId::null(), ConstVecId::null(), 1.0); // externalForce = 0 } /// Set F = 0 @@ -202,7 +202,7 @@ class SOFA_CORE_API BaseMechanicalState : public virtual BaseState /// Add stored external forces to F virtual void accumulateForce( const ExecParams* params, VecDerivId f = vec_id::write_access::force ) { - vOp( params, f, f, ConstVecId::externalForce(), 1.0 ); // f += externalForce + vOp( params, f, f, sofa::core::vec_id::read_access::externalForce, 1.0 ); // f += externalForce } /// @} diff --git a/Sofa/framework/Core/src/sofa/core/config.h.in b/Sofa/framework/Core/src/sofa/core/config.h.in index 3742a00dc3f..a30bd9f6493 100644 --- a/Sofa/framework/Core/src/sofa/core/config.h.in +++ b/Sofa/framework/Core/src/sofa/core/config.h.in @@ -143,7 +143,7 @@ #define SOFA_ATTRIBUTE_DEPRECATED__FREE_POSITION() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::freePosition or sofa::core::vec_id::write_access::freePosition instead") #define SOFA_ATTRIBUTE_DEPRECATED__RESET_POSITION() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::resetPosition or sofa::core::vec_id::write_access::resetPosition instead") - #define SOFA_ATTRIBUTE_DEPRECATED__VELOCITY() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::velocity or sofa::core::vec_id::write_access::position velocity") + #define SOFA_ATTRIBUTE_DEPRECATED__VELOCITY() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::velocity or sofa::core::vec_id::write_access::velocity instead") #define SOFA_ATTRIBUTE_DEPRECATED__RESET_VELOCITY() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::resetVelocity or sofa::core::vec_id::write_access::resetVelocity instead") #define SOFA_ATTRIBUTE_DEPRECATED__FREE_VELOCITY() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::freeVelocity or sofa::core::vec_id::write_access::freeVelocity instead") #define SOFA_ATTRIBUTE_DEPRECATED__NORMAL() SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::normal or sofa::core::vec_id::write_access::normal instead") diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp index 1888327ab0d..6234a73b390 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.cpp @@ -51,8 +51,7 @@ using std::string; static const std::string unnamed_label=std::string("unnamed"); Base::Base() - : ref_counter(0) - , name(initData(&name,unnamed_label,"name","object name")) + : name(initData(&name,unnamed_label,"name","object name")) , f_printLog(initData(&f_printLog, false, "printLog", "if true, emits extra messages at runtime.")) , f_tags(initData( &f_tags, "tags", "list of the subsets the object belongs to")) , f_bbox(initData( &f_bbox, "bbox", "this object bounding box")) @@ -78,18 +77,6 @@ Base::~Base() { } -void Base::addRef() -{ - ++ref_counter; -} - -void Base::release() -{ - if (ref_counter.fetch_sub(1) == 1) - { - delete this; - } -} void Base::addUpdateCallback(const std::string& name, diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h index 74948aa9674..81202a77fc3 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h @@ -23,7 +23,7 @@ #include #include -#include +#include #include #include #include @@ -33,11 +33,11 @@ #include #include -#include #include #include #include +#include #include #define SOFA_BASE_CAST_IMPLEMENTATION(CLASSNAME) \ @@ -55,7 +55,7 @@ namespace sofa::core::objectmodel * All classes deriving from Base should use the SOFA_CLASS macro within their declaration (see BaseClass.h). * */ -class SOFA_CORE_API Base +class SOFA_CORE_API Base : public IntrusiveObject { public: typedef Base* Ptr; @@ -86,20 +86,6 @@ class SOFA_CORE_API Base Base(const Base& b); Base& operator=(const Base& b); - std::atomic ref_counter; - void addRef(); - void release(); - - friend inline void intrusive_ptr_add_ref(Base* p) - { - p->addRef(); - } - - friend inline void intrusive_ptr_release(Base* p) - { - p->release(); - } - protected: std::map m_internalEngine; diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h index 6163cb1a95e..e0ae2ddc670 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.h @@ -413,7 +413,7 @@ class BaseContext::GetObjectsCallBackT : public BaseContext::GetObjectsCallBack GetObjectsCallBackT(Container* d) : dest(d) {} void operator()(void* ptr) override { - if constexpr (sofa::type::trait::is_vector::value) + if constexpr (sofa::type::trait::is_vector) { dest->push_back(reinterpret_cast(ptr)); } diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h index 79cbe8e255b..16d8e21ee3f 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseNode.h @@ -23,6 +23,7 @@ #include #include +#include namespace sofa::core::objectmodel { @@ -172,6 +173,7 @@ class SOFA_CORE_API BaseNode : public virtual Base BASENODE_ADD_SPECIAL_COMPONENT( core::objectmodel::ConfigurationSetting, ConfigurationSetting, configurationSetting ) BASENODE_ADD_SPECIAL_COMPONENT( core::visual::Shader, Shader, shaders ) BASENODE_ADD_SPECIAL_COMPONENT( core::visual::VisualModel, VisualModel, visualModel ) + BASENODE_ADD_SPECIAL_COMPONENT( core::visual::BaseVisualStyle, VisualStyle, visualStyle ) BASENODE_ADD_SPECIAL_COMPONENT( core::visual::VisualManager, VisualManager, visualManager ) BASENODE_ADD_SPECIAL_COMPONENT( core::CollisionModel, CollisionModel, collisionModel ) BASENODE_ADD_SPECIAL_COMPONENT( core::collision::Pipeline, CollisionPipeline, collisionPipeline ) diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/DeprecatedData.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/DeprecatedData.cpp similarity index 97% rename from Sofa/framework/Core/src/sofa/core/objectmodel/DeprecatedData.cpp rename to Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/DeprecatedData.cpp index 5b1f42517be..b31e699fa5a 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/DeprecatedData.cpp +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/DeprecatedData.cpp @@ -23,7 +23,7 @@ #include #include #include -#include +#include namespace sofa::core::objectmodel::lifecycle { diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/DeprecatedData.h b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/DeprecatedData.h similarity index 100% rename from Sofa/framework/Core/src/sofa/core/objectmodel/DeprecatedData.h rename to Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/DeprecatedData.h diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/RemovedData.h b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/RemovedData.h similarity index 97% rename from Sofa/framework/Core/src/sofa/core/objectmodel/RemovedData.h rename to Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/RemovedData.h index 43e501af011..78c6fffcf1e 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/RemovedData.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/RemovedData.h @@ -23,7 +23,7 @@ #include #include -#include +#include namespace sofa::core::objectmodel::lifecycle { diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/RenamedData.h b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/RenamedData.h similarity index 99% rename from Sofa/framework/Core/src/sofa/core/objectmodel/RenamedData.h rename to Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/RenamedData.h index 47b4933a87c..f22e7149b7e 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/RenamedData.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/lifecycle/RenamedData.h @@ -6,7 +6,7 @@ namespace sofa { -namespace core::objectmodel +namespace core::objectmodel::lifecycle { diff --git a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp index f1fbc45235f..7eb1494c17d 100644 --- a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp +++ b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.cpp @@ -23,7 +23,6 @@ #include #include #include - namespace sofa::core::topology { diff --git a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h index 2a5348f3eb3..b8b36581ab4 100644 --- a/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h +++ b/Sofa/framework/Core/src/sofa/core/topology/BaseMeshTopology.h @@ -85,6 +85,9 @@ class SOFA_CORE_API BaseMeshTopology : public core::topology::Topology public: void init() override; + /// Method to be overriden by child class to create all the topology buffers + virtual void computeCrossElementBuffers() {} + /// Load the topology from a file. /// /// The default implementation supports the following formats: obj, gmsh, mesh (custom simple text file), xs3 (deprecated description of mass-springs networks). diff --git a/applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp b/Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h similarity index 58% rename from applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp rename to Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h index 7cdc42b84c1..bfeb50bdd67 100644 --- a/applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp +++ b/Sofa/framework/Core/src/sofa/core/visual/BaseVisualStyle.h @@ -19,62 +19,33 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#pragma once +#include +#include +#include +#include -namespace sofa::component +namespace sofa::core::visual { - //Here are just several convenient functions to help user to know what contains the plugin - - extern "C" { - SOFA_SOFASIMPLEGUI_API void initExternalModule(); - SOFA_SOFASIMPLEGUI_API const char* getModuleName(); - SOFA_SOFASIMPLEGUI_API const char* getModuleVersion(); - SOFA_SOFASIMPLEGUI_API const char* getModuleLicense(); - SOFA_SOFASIMPLEGUI_API const char* getModuleDescription(); - SOFA_SOFASIMPLEGUI_API const char* getModuleComponentList(); - } - - void initExternalModule() - { - static bool first = true; - if (first) - { - first = false; - } - } - - const char* getModuleName() - { - return "SimpleGUI"; - } - - const char* getModuleVersion() - { - return "0.2"; - } - - const char* getModuleLicense() - { - return "LGPL"; - } - - - const char* getModuleDescription() - { - return "TODO: replace this with the description of your plugin"; - } +class SOFA_CORE_API BaseVisualStyle : public sofa::core::objectmodel::BaseObject +{ +public: + SOFA_CLASS(BaseVisualStyle,sofa::core::objectmodel::BaseObject); - const char* getModuleComponentList() - { - /// string containing the names of the classes provided by the plugin - return ""; - //return "MyMappingPendulumInPlane, MyBehaviorModel, MyProjectiveConstraintSet"; - } + typedef sofa::core::visual::VisualParams VisualParams; + typedef sofa::core::visual::DisplayFlags DisplayFlags; +protected: + BaseVisualStyle() { } + ~BaseVisualStyle() override { } +public: + virtual void updateVisualFlags(VisualParams* ) { }; + virtual void applyBackupFlags(VisualParams* ) { }; -} +}; +} // namespace sofa::simulation::graph diff --git a/Sofa/framework/Core/src/sofa/core/visual/VisualState.h b/Sofa/framework/Core/src/sofa/core/visual/VisualState.h index c1a4cd4c231..4790d948149 100644 --- a/Sofa/framework/Core/src/sofa/core/visual/VisualState.h +++ b/Sofa/framework/Core/src/sofa/core/visual/VisualState.h @@ -33,7 +33,7 @@ template< typename DataTypes > class VisualState : public core::State< DataTypes > { public: - SOFA_CLASS(VisualState, SOFA_TEMPLATE(core::State, defaulttype::Vec3Types)); + SOFA_CLASS(SOFA_TEMPLATE(VisualState, DataTypes), SOFA_TEMPLATE(core::State, DataTypes)); using VecCoord = typename DataTypes::VecCoord; using VecDeriv = typename DataTypes::VecCoord; diff --git a/Sofa/framework/Core/test/DataEngine_test.cpp b/Sofa/framework/Core/test/DataEngine_test.cpp index 55f80bad61d..47b68aa5378 100644 --- a/Sofa/framework/Core/test/DataEngine_test.cpp +++ b/Sofa/framework/Core/test/DataEngine_test.cpp @@ -81,7 +81,7 @@ struct DataEngine_test: public BaseTest { TestEngine engine; - void SetUp() override + void doSetUp() override { engine.init(); } diff --git a/Sofa/framework/Core/test/Engine_test.cpp b/Sofa/framework/Core/test/Engine_test.cpp index 938a70aa950..0f872d3e7f1 100644 --- a/Sofa/framework/Core/test/Engine_test.cpp +++ b/Sofa/framework/Core/test/Engine_test.cpp @@ -47,7 +47,7 @@ struct Engine_test : public BaseTest TestEngine::SPtr engine3; /// Create the engines - void SetUp() override + void doSetUp() override { // Engine 1 engine1 = sofa::core::objectmodel::New(); diff --git a/Sofa/framework/Core/test/IntrusiveObject_test.cpp b/Sofa/framework/Core/test/IntrusiveObject_test.cpp new file mode 100644 index 00000000000..e1b38345c39 --- /dev/null +++ b/Sofa/framework/Core/test/IntrusiveObject_test.cpp @@ -0,0 +1,73 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include +#include + + +class DummyIntrusiveObject : public sofa::core::IntrusiveObject +{ +public: + DummyIntrusiveObject() = default; + explicit DummyIntrusiveObject(const std::function& _destructorCallback) + : destructorCallback(_destructorCallback) {} + + ~DummyIntrusiveObject() override + { + destructorCallback(); + } + +private: + std::function destructorCallback; +}; + + + +TEST(IntrusiveObject, IsDestructorCalled) +{ + std::size_t nbTimesDestructorCalled = 0; + { + sofa::core::sptr dummy(new DummyIntrusiveObject([&nbTimesDestructorCalled]() + { + nbTimesDestructorCalled++; + })); + } + EXPECT_EQ(1, nbTimesDestructorCalled); +} + + +TEST(IntrusiveObject, Copy) +{ + std::size_t nbTimesDestructorCalled = 0; + { + sofa::core::sptr dummy0; + { + sofa::core::sptr dummy(new DummyIntrusiveObject([&nbTimesDestructorCalled]() + { + nbTimesDestructorCalled++; + })); + + dummy0 = dummy; + } + } + EXPECT_EQ(1, nbTimesDestructorCalled); +} diff --git a/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp b/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp index 1306c64b794..ce051811eb5 100644 --- a/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp +++ b/Sofa/framework/Core/test/ObjectFactoryJson_test.cpp @@ -25,6 +25,7 @@ #include #include #include +#include namespace sofa @@ -70,7 +71,7 @@ TEST(ObjectFactoryJson, oneTemplatedObject) TEST(ObjectFactoryJson, mainInstance) { - EXPECT_TRUE(sofa::simpleapi::importPlugin("Sofa.Component")); + EXPECT_TRUE(sofa::simpleapi::importPlugin(Sofa.Component)); const auto dump = core::ObjectFactoryJson::dump(core::ObjectFactory::getInstance()); EXPECT_NE(dump.find("MechanicalObject"), std::string::npos); } diff --git a/Sofa/framework/Core/test/TrackedData_test.cpp b/Sofa/framework/Core/test/TrackedData_test.cpp index 39780a56921..91ecdca13e8 100644 --- a/Sofa/framework/Core/test/TrackedData_test.cpp +++ b/Sofa/framework/Core/test/TrackedData_test.cpp @@ -215,7 +215,7 @@ struct DataTrackerEngine_test: public BaseTest static unsigned updateCounter; core::DataTrackerCallback dataTracker; - void SetUp() override + void doSetUp() override { updateCounter = 0; } diff --git a/Sofa/framework/Core/test/VecId_test.cpp b/Sofa/framework/Core/test/VecId_test.cpp index 00833a8a72f..ed15bbb961f 100644 --- a/Sofa/framework/Core/test/VecId_test.cpp +++ b/Sofa/framework/Core/test/VecId_test.cpp @@ -21,6 +21,7 @@ ******************************************************************************/ #include #include +#include class DerivedBaseVecId : public sofa::core::BaseVecId { @@ -98,4 +99,7 @@ TEST(VecId, name) EXPECT_EQ(sofa::core::vec_id::read_access::dforce.getName(), "dforce(V_DERIV)"); EXPECT_EQ(sofa::core::vec_id::write_access::dforce.getName(), "dforce(V_DERIV)"); + const std::string s = Sofa.Component.Collision; + EXPECT_EQ(s, std::string("Sofa.Component.Collision")); + } diff --git a/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp b/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp index 702eb1f077a..ba7c858d238 100644 --- a/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp +++ b/Sofa/framework/Core/test/objectmodel/BaseObjectDescription_test.cpp @@ -29,11 +29,11 @@ using sofa::testing::BaseTest ; struct BaseObjectDescription_test: public BaseTest { - void SetUp() override + void doSetUp() override { } - void TearDown() override + void doTearDown() override { } diff --git a/Sofa/framework/Core/test/objectmodel/DataFileName_test.cpp b/Sofa/framework/Core/test/objectmodel/DataFileName_test.cpp index 29d14e833c3..f37aa678b24 100644 --- a/Sofa/framework/Core/test/objectmodel/DataFileName_test.cpp +++ b/Sofa/framework/Core/test/objectmodel/DataFileName_test.cpp @@ -43,7 +43,7 @@ class DataFileName_test: public BaseTest { DataFileName d_filename; public: - void SetUp() override + void doSetUp() override { DataRepository.addFirstPath( SOFA_TESTING_RESOURCES_DIR ); } diff --git a/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp b/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp index 34cd074c650..f6b020030bf 100644 --- a/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp +++ b/Sofa/framework/Core/test/objectmodel/DataLink_test.cpp @@ -40,7 +40,7 @@ struct DataLink_test: public BaseTest Data dataVec3f; Data dataVec3d; - void SetUp() override + void doSetUp() override { /// Setup the data and create a link between the two data data1.setName("data1"); @@ -50,7 +50,7 @@ struct DataLink_test: public BaseTest data2.setName("dataVec3d"); } - void TearDown() override + void doTearDown() override { data1.unset(); data2.unset(); diff --git a/Sofa/framework/Core/test/objectmodel/RemovedData_test.cpp b/Sofa/framework/Core/test/objectmodel/RemovedData_test.cpp index e06de833344..9ee53e0530b 100644 --- a/Sofa/framework/Core/test/objectmodel/RemovedData_test.cpp +++ b/Sofa/framework/Core/test/objectmodel/RemovedData_test.cpp @@ -25,7 +25,7 @@ using sofa::core::objectmodel::BaseObject ; #include using sofa::testing::BaseTest; -#include +#include using sofa::core::objectmodel::lifecycle::DeprecatedData; using sofa::core::objectmodel::lifecycle::RemovedData; diff --git a/Sofa/framework/Core/test/objectmodel/SingleLink_test.cpp b/Sofa/framework/Core/test/objectmodel/SingleLink_test.cpp index 1e741f7b646..7ad36dabcd0 100644 --- a/Sofa/framework/Core/test/objectmodel/SingleLink_test.cpp +++ b/Sofa/framework/Core/test/objectmodel/SingleLink_test.cpp @@ -47,7 +47,7 @@ class SingleLink_test: public BaseTest BaseObject::SPtr m_src ; /// Create a link to an object. - void SetUp() override + void doSetUp() override { m_dst = sofa::core::objectmodel::New() ; m_src = sofa::core::objectmodel::New() ; diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h index e14165269ef..164249bab08 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidTypes.h @@ -33,6 +33,7 @@ #include #include #include +#include namespace sofa::defaulttype @@ -251,6 +252,9 @@ template<> constexpr const char* Rigid3fTypes::Name() { return "Rigid3f"; } typedef StdRigidTypes<3,SReal> Rigid3Types; ///< un-defined precision type typedef StdRigidTypes<3,SReal> RigidTypes; ///< alias (beurk) +static_assert(type::isRigidType); +static_assert(type::isRigidType); + //============================================================================= // 2D Rigids //============================================================================= @@ -413,6 +417,9 @@ class StdRigidTypes<2, real> template<> constexpr const char* Rigid2dTypes::Name() { return "Rigid2d"; } template<> constexpr const char* Rigid2fTypes::Name() { return "Rigid2f"; } +static_assert(type::isRigidType); +static_assert(type::isRigidType); + /// \endcond diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h index 7fbb70e7c44..789ab1ca252 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/VecTypes.h @@ -30,6 +30,8 @@ #include #include #include +#include + namespace sofa:: defaulttype { @@ -236,4 +238,15 @@ typedef StdVectorTypes Vec2Types typedef StdVectorTypes Vec1Types; +static_assert(!type::isRigidType); +static_assert(!type::isRigidType); +static_assert(!type::isRigidType); +static_assert(!type::isRigidType); + +static_assert(!type::isRigidType); +static_assert(!type::isRigidType); +static_assert(!type::isRigidType); +static_assert(!type::isRigidType); + + } // namespace sofa:: defaulttype diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/fwd.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/fwd.h index 715d3c4a01f..fa22f6cc457 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/fwd.h +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/fwd.h @@ -57,15 +57,6 @@ typedef RigidMass<3,float> Rigid3fMass; typedef StdRigidTypes<3,SReal> Rigid3Types; ///< un-defined precision type typedef RigidMass<3,SReal> Rigid3Mass; ///< un-defined precision type -typedef StdRigidTypes<2,double> Rigid2dTypes; -typedef RigidMass<2,double> Rigid2dMass; - -typedef StdRigidTypes<2,float> Rigid2fTypes; -typedef RigidMass<2,float> Rigid2fMass; - -typedef StdRigidTypes<2,SReal> Rigid2Types; -typedef RigidMass<2,SReal> Rigid2Mass; - template class StdVectorTypes; diff --git a/Sofa/framework/Helper/CMakeLists.txt b/Sofa/framework/Helper/CMakeLists.txt index 0fc3c9d2650..b1e84de9954 100644 --- a/Sofa/framework/Helper/CMakeLists.txt +++ b/Sofa/framework/Helper/CMakeLists.txt @@ -216,11 +216,6 @@ add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES}) if((CMAKE_SYSTEM_NAME STREQUAL Windows) AND SOFA_USE_DEPENDENCY_PACK) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "$") endif() -# The default binary suffix for libraries/plugins is "_d" when using a debug build. -# since this is configuration specific it is a bit more convenient to put it as a debug compile definition for -# PluginManager.cpp, at the expense of being much less visible compare to having it in the generated -# SofaFramework/config.h -set_property(SOURCE ${SRC_ROOT}/system/PluginManager.cpp APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG "SOFA_LIBSUFFIX=_d" ) # DEPENDENCY LINKS AND INCLUDE DIRS target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Config ) @@ -263,6 +258,23 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "$") +set(is_release "$") +set(is_debug "$") +set(is_relwithdebinfo "$") +set(is_minsizerel "$") +# set the type of build as preprocessor value +target_compile_definitions(${PROJECT_NAME} PRIVATE "$<${is_release}:SOFA_BUILD_CONFIGURATION=Release>") +target_compile_definitions(${PROJECT_NAME} PRIVATE "$<${is_debug}:SOFA_BUILD_CONFIGURATION=Debug>") +target_compile_definitions(${PROJECT_NAME} PRIVATE "$<${is_relwithdebinfo}:SOFA_BUILD_CONFIGURATION=RelWithDebInfo>") +target_compile_definitions(${PROJECT_NAME} PRIVATE "$<${is_minsizerel}:SOFA_BUILD_CONFIGURATION=MinSizeRel>") +## if the type of build is something else (not supported), then SOFA_BUILD_CONFIGURATION wont be defined +# it could be also useful to know if we are using a multi-config generator +if(CMAKE_CONFIGURATION_TYPES) + target_compile_definitions(${PROJECT_NAME} PRIVATE "SOFA_BUILD_MULTI_CONFIGURATION=1") +else() + target_compile_definitions(${PROJECT_NAME} PRIVATE "SOFA_BUILD_MULTI_CONFIGURATION=0") +endif() + set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER Sofa.Framework) # IDE folder sofa_create_package_with_targets( diff --git a/Sofa/framework/Helper/simutest/AdvancedTimer_test.cpp b/Sofa/framework/Helper/simutest/AdvancedTimer_test.cpp index a92b7440451..a7dc021fb53 100644 --- a/Sofa/framework/Helper/simutest/AdvancedTimer_test.cpp +++ b/Sofa/framework/Helper/simutest/AdvancedTimer_test.cpp @@ -40,7 +40,7 @@ namespace sofa { struct AdvancedTimerTest: public BaseSimulationTest { protected: - void onSetUp() override + void doSetUp() override { using namespace sofa::helper; diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp index fa6c8375885..29d9abf57d8 100644 --- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #include - +#include namespace sofa::helper::lifecycle { @@ -78,551 +78,553 @@ const std::map > movedComponents = { { "GlobalSystemMatrixExporter", Moved("v22.06", "SofaBaseLinearSolver", "SofaMatrix") }, // SofaMiscSolver was deprecated in #2571 - { "DampVelocitySolver", Moved("v22.06", "SofaMiscSolver", "Sofa.Component.ODESolver.Forward") }, - { "NewmarkImplicitSolver", Moved("v22.06", "SofaMiscSolver", "Sofa.Component.ODESolver.Backward") }, + { "DampVelocitySolver", Moved("v22.06", "SofaMiscSolver", Sofa.Component.ODESolver.Forward) }, + { "NewmarkImplicitSolver", Moved("v22.06", "SofaMiscSolver", Sofa.Component.ODESolver.Backward) }, // SofaExplicitOdeSolver was deprecated in #2571 - { "EulerExplicitSolver", Moved("v22.06", "SofaExplicitOdeSolver", "Sofa.Component.ODESolver.Forward") }, + { "EulerExplicitSolver", Moved("v22.06", "SofaExplicitOdeSolver", Sofa.Component.ODESolver.Forward) }, // SofaImplicitOdeSolver was deprecated in #2571 - { "EulerImplicitSolver", Moved("v22.06", "SofaImplicitOdeSolver", "Sofa.Component.ODESolver.Backward") }, - { "StaticSolver", Moved("v22.06", "SofaImplicitOdeSolver", "Sofa.Component.ODESolver.Backward") }, + { "EulerImplicitSolver", Moved("v22.06", "SofaImplicitOdeSolver", Sofa.Component.ODESolver.Backward) }, + { "StaticSolver", Moved("v22.06", "SofaImplicitOdeSolver", Sofa.Component.ODESolver.Backward) }, // SofaGeneralExplicitOdeSolver was deprecated in #2571 - { "CentralDifferenceSolver", Moved("v22.06", "SofaGeneralExplicitOdeSolver", "Sofa.Component.ODESolver.Forward") }, - { "RungeKutta2Solver", Moved("v22.06", "SofaGeneralExplicitOdeSolver", "Sofa.Component.ODESolver.Forward") }, - { "RungeKutta4Solver", Moved("v22.06", "SofaGeneralExplicitOdeSolver", "Sofa.Component.ODESolver.Forward") }, + { "CentralDifferenceSolver", Moved("v22.06", "SofaGeneralExplicitOdeSolver", Sofa.Component.ODESolver.Forward) }, + { "RungeKutta2Solver", Moved("v22.06", "SofaGeneralExplicitOdeSolver", Sofa.Component.ODESolver.Forward) }, + { "RungeKutta4Solver", Moved("v22.06", "SofaGeneralExplicitOdeSolver", Sofa.Component.ODESolver.Forward) }, // SofaGeneralImplicitOdeSolver was deprecated in #2571 - { "VariationalSymplecticSolver", Moved("v22.06", "SofaGeneralImplicitOdeSolver", "Sofa.Component.ODESolver.Backward") }, + { "VariationalSymplecticSolver", Moved("v22.06", "SofaGeneralImplicitOdeSolver", Sofa.Component.ODESolver.Backward) }, // SofaLoader was deprecated in #2582 - { "MeshOBJLoader", Moved("v22.06", "SofaLoader", "Sofa.Component.IO.Mesh") }, - { "MeshVTKLoader", Moved("v22.06", "SofaLoader", "Sofa.Component.IO.Mesh") }, + { "MeshOBJLoader", Moved("v22.06", "SofaLoader", Sofa.Component.IO.Mesh) }, + { "MeshVTKLoader", Moved("v22.06", "SofaLoader", Sofa.Component.IO.Mesh) }, // SofaGeneralLoader was deprecated in #2582 - { "MeshGmshLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "GIDMeshLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "GridMeshCreator", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "MeshOffLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "MeshSTLLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "MeshTrianLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "MeshXspLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "OffSequenceLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "SphereLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "StringMeshCreator", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "VoxelGridLoader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.IO.Mesh") }, - { "ReadState", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.Playback") }, - { "ReadTopology", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.Playback") }, - { "InputEventReader", Moved("v22.06", "SofaGeneralLoader", "Sofa.Component.Playback") }, + { "MeshGmshLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "GIDMeshLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "GridMeshCreator", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "MeshOffLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "MeshSTLLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "MeshTrianLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "MeshXspLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "OffSequenceLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "SphereLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "StringMeshCreator", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "VoxelGridLoader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.IO.Mesh) }, + { "ReadState", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.Playback) }, + { "ReadTopology", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.Playback) }, + { "InputEventReader", Moved("v22.06", "SofaGeneralLoader", Sofa.Component.Playback) }, // SofaExporter was deprecated in #2582 - { "BlenderExporter", Moved("v22.06", "SofaExporter", "Sofa.Component.IO.Mesh") }, - { "MeshExporter", Moved("v22.06", "SofaExporter", "Sofa.Component.IO.Mesh") }, - { "STLExporter", Moved("v22.06", "SofaExporter", "Sofa.Component.IO.Mesh") }, - { "VisualModelOBJExporter", Moved("v22.06", "SofaExporter", "Sofa.Component.IO.Mesh") }, - { "VTKExporter", Moved("v22.06", "SofaExporter", "Sofa.Component.IO.Mesh") }, - { "WriteState", Moved("v22.06", "SofaExporter", "Sofa.Component.Playback") }, - { "WriteTopology", Moved("v22.06", "SofaExporter", "Sofa.Component.Playback") }, + { "BlenderExporter", Moved("v22.06", "SofaExporter", Sofa.Component.IO.Mesh) }, + { "MeshExporter", Moved("v22.06", "SofaExporter", Sofa.Component.IO.Mesh) }, + { "STLExporter", Moved("v22.06", "SofaExporter", Sofa.Component.IO.Mesh) }, + { "VisualModelOBJExporter", Moved("v22.06", "SofaExporter", Sofa.Component.IO.Mesh) }, + { "VTKExporter", Moved("v22.06", "SofaExporter", Sofa.Component.IO.Mesh) }, + { "WriteState", Moved("v22.06", "SofaExporter", Sofa.Component.Playback) }, + { "WriteTopology", Moved("v22.06", "SofaExporter", Sofa.Component.Playback) }, // SofaBaseUtils was deprecated in #2605 - { "AddResourceRepository", Moved("v22.06", "SofaBaseUtils", "Sofa.Component.SceneUtility") }, - { "MakeAliasComponent", Moved("v22.06", "SofaBaseUtils", "Sofa.Component.SceneUtility") }, - { "MakeDataAliasComponent", Moved("v22.06", "SofaBaseUtils", "Sofa.Component.SceneUtility") }, - { "MessageHandlerComponent", Moved("v22.06", "SofaBaseUtils", "Sofa.Component.SceneUtility") }, - { "FileMessageHandlerComponent", Moved("v22.06", "SofaBaseUtils", "Sofa.Component.SceneUtility") }, - { "InfoComponent", Moved("v22.06", "SofaBaseUtils", "Sofa.Component.SceneUtility") }, + { "AddResourceRepository", Moved("v22.06", "SofaBaseUtils", Sofa.Component.SceneUtility) }, + { "MakeAliasComponent", Moved("v22.06", "SofaBaseUtils", Sofa.Component.SceneUtility) }, + { "MakeDataAliasComponent", Moved("v22.06", "SofaBaseUtils", Sofa.Component.SceneUtility) }, + { "MessageHandlerComponent", Moved("v22.06", "SofaBaseUtils", Sofa.Component.SceneUtility) }, + { "FileMessageHandlerComponent", Moved("v22.06", "SofaBaseUtils", Sofa.Component.SceneUtility) }, + { "InfoComponent", Moved("v22.06", "SofaBaseUtils", Sofa.Component.SceneUtility) }, { "RequiredPlugin", Moved("v22.06", "SofaBaseUtils", "Sofa.Core") }, // SofaGraphComponent was deprecated in #2605, #2843 and #2895 - { "AddFrameButtonSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.GUI.Component") }, - { "AddRecordedCameraButtonSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.GUI.Component") }, - { "StartNavigationButtonSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.Component.Setting") }, - { "AttachBodyButtonSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.GUI.Component") }, - { "FixPickedParticleButtonSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.GUI.Component") }, - { "SofaDefaultPathSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.Component.Setting") }, - { "StatsSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.Component.Setting") }, - { "ViewerSetting", Moved("v22.06", "SofaGraphComponent", "Sofa.Component.Setting") }, - { "APIVersion", Moved("v22.06", "SofaGraphComponent", "Sofa.Component.Setting") }, + { "AddFrameButtonSetting", Moved("v22.06", "SofaGraphComponent", Sofa.GUI.Component) }, + { "AddRecordedCameraButtonSetting", Moved("v22.06", "SofaGraphComponent", Sofa.GUI.Component) }, + { "StartNavigationButtonSetting", Moved("v22.06", "SofaGraphComponent", Sofa.Component.Setting) }, + { "AttachBodyButtonSetting", Moved("v22.06", "SofaGraphComponent", Sofa.GUI.Component) }, + { "FixPickedParticleButtonSetting", Moved("v22.06", "SofaGraphComponent", Sofa.GUI.Component) }, + { "SofaDefaultPathSetting", Moved("v22.06", "SofaGraphComponent", Sofa.Component.Setting) }, + { "StatsSetting", Moved("v22.06", "SofaGraphComponent", Sofa.Component.Setting) }, + { "ViewerSetting", Moved("v22.06", "SofaGraphComponent", Sofa.Component.Setting) }, + { "APIVersion", Moved("v22.06", "SofaGraphComponent", Sofa.Component.Setting) }, // SofaBaseTopology was deprecated in #2612 - { "EdgeSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "EdgeSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "EdgeSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "EdgeSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "HexahedronSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "HexahedronSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "HexahedronSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "HexahedronSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "PointSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "PointSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "PointSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "PointSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "QuadSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "QuadSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "QuadSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "QuadSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TetrahedronSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TetrahedronSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TetrahedronSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TetrahedronSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TriangleSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TriangleSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TriangleSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "TriangleSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Dynamic") }, - { "MeshTopology", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Constant") }, - { "GridTopology", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Grid") }, - { "RegularGridTopology", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Grid") }, - { "SparseGridTopology", Moved("v22.06", "SofaBaseTopology", "Sofa.Component.Topology.Container.Grid") }, + { "EdgeSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "EdgeSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "EdgeSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "EdgeSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "HexahedronSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "HexahedronSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "HexahedronSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "HexahedronSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "PointSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "PointSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "PointSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "PointSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "QuadSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "QuadSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "QuadSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "QuadSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TetrahedronSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TetrahedronSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TetrahedronSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TetrahedronSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TriangleSetGeometryAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TriangleSetTopologyAlgorithms", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TriangleSetTopologyContainer", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "TriangleSetTopologyModifier", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Dynamic) }, + { "MeshTopology", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Constant) }, + { "GridTopology", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Grid) }, + { "RegularGridTopology", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Grid) }, + { "SparseGridTopology", Moved("v22.06", "SofaBaseTopology", Sofa.Component.Topology.Container.Grid) }, // SofaGeneralTopology was deprecated in #2612 - { "CubeTopology", Moved("v22.06", "SofaGeneralTopology", "Sofa.Component.Topology.Container.Constant") }, - { "SphereQuadTopology", Moved("v22.06", "SofaGeneralTopology", "Sofa.Component.Topology.Container.Constant") }, - { "CylinderGridTopology", Moved("v22.06", "SofaGeneralTopology", "Sofa.Component.Topology.Container.Grid") }, - { "SphereGridTopology", Moved("v22.06", "SofaGeneralTopology", "Sofa.Component.Topology.Container.Grid") }, + { "CubeTopology", Moved("v22.06", "SofaGeneralTopology", Sofa.Component.Topology.Container.Constant) }, + { "SphereQuadTopology", Moved("v22.06", "SofaGeneralTopology", Sofa.Component.Topology.Container.Constant) }, + { "CylinderGridTopology", Moved("v22.06", "SofaGeneralTopology", Sofa.Component.Topology.Container.Grid) }, + { "SphereGridTopology", Moved("v22.06", "SofaGeneralTopology", Sofa.Component.Topology.Container.Grid) }, // SofaNonUniformFem was deprecated in #2612 and #2759 - { "DynamicSparseGridGeometryAlgorithms", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Dynamic") }, - { "DynamicSparseGridTopologyAlgorithms", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Dynamic") }, - { "DynamicSparseGridTopologyContainer", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Dynamic") }, - { "DynamicSparseGridTopologyModifier", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Dynamic") }, - { "MultilevelHexahedronSetTopologyContainer", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Dynamic") }, - { "SparseGridMultipleTopology", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Grid") }, - { "SparseGridRamificationTopology", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.Topology.Container.Grid") }, - { "NonUniformHexahedralFEMForceFieldAndMass", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.SolidMechanics.FEM.NonUniform") }, - { "NonUniformHexahedronFEMForceFieldAndMass", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.SolidMechanics.FEM.NonUniform") }, - { "HexahedronCompositeFEMForceFieldAndMass", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.SolidMechanics.FEM.NonUniform") }, - { "HexahedronCompositeFEMMapping", Moved("v22.06", "SofaNonUniformFem", "Sofa.Component.SolidMechanics.FEM.NonUniform") }, + { "DynamicSparseGridGeometryAlgorithms", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Dynamic) }, + { "DynamicSparseGridTopologyAlgorithms", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Dynamic) }, + { "DynamicSparseGridTopologyContainer", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Dynamic) }, + { "DynamicSparseGridTopologyModifier", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Dynamic) }, + { "MultilevelHexahedronSetTopologyContainer", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Dynamic) }, + { "SparseGridMultipleTopology", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Grid) }, + { "SparseGridRamificationTopology", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.Topology.Container.Grid) }, + { "NonUniformHexahedralFEMForceFieldAndMass", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.SolidMechanics.FEM.NonUniform) }, + { "NonUniformHexahedronFEMForceFieldAndMass", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.SolidMechanics.FEM.NonUniform) }, + { "HexahedronCompositeFEMForceFieldAndMass", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.SolidMechanics.FEM.NonUniform) }, + { "HexahedronCompositeFEMMapping", Moved("v22.06", "SofaNonUniformFem", Sofa.Component.SolidMechanics.FEM.NonUniform) }, // SofaTopologicalMapping was deprecated in #2612 and #XXXX - { "CenterPointTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Edge2QuadTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Hexa2QuadTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Hexa2TetraTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "IdentityTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Mesh2PointTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Quad2TriangleTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "SimpleTesselatedHexaTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "SimpleTesselatedTetraTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "SubsetTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Tetra2TriangleTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Triangle2EdgeTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Topology.Mapping") }, - { "Mesh2PointMechanicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Mapping.Linear") }, - { "SimpleTesselatedTetraMechanicalMapping", Moved("v22.06", "SofaTopologicalMapping", "Sofa.Component.Mapping.Linear") }, + { "CenterPointTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Edge2QuadTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Hexa2QuadTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Hexa2TetraTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "IdentityTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Mesh2PointTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Quad2TriangleTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "SimpleTesselatedHexaTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "SimpleTesselatedTetraTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "SubsetTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Tetra2TriangleTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Triangle2EdgeTopologicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Topology.Mapping) }, + { "Mesh2PointMechanicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Mapping.Linear) }, + { "SimpleTesselatedTetraMechanicalMapping", Moved("v22.06", "SofaTopologicalMapping", Sofa.Component.Mapping.Linear) }, // SofaMiscTopology was deprecated in #2612 - { "TopologicalChangeProcessor", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Topology.Utility") }, - { "TopologyBoundingTrasher", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Topology.Utility") }, - { "TopologyChecker", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Topology.Utility") }, + { "TopologicalChangeProcessor", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Topology.Utility) }, + { "TopologyBoundingTrasher", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Topology.Utility) }, + { "TopologyChecker", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Topology.Utility) }, // SofaBaseVisual was deprecated in #2679 and #XXXX - { "Camera", Moved("v22.06", "SofaBaseVisual", "Sofa.Component.Visual") }, - { "InteractiveCamera", Moved("v22.06", "SofaBaseVisual", "Sofa.Component.Visual") }, - { "VisualModelImpl", Moved("v22.06", "SofaBaseVisual", "Sofa.Component.Visual") }, - { "VisualStyle", Moved("v22.06", "SofaBaseVisual", "Sofa.Component.Visual") }, - { "BackgroundSetting", Moved("v22.06", "SofaBaseVisual", "Sofa.Component.Setting") }, + { "Camera", Moved("v22.06", "SofaBaseVisual", Sofa.Component.Visual) }, + { "InteractiveCamera", Moved("v22.06", "SofaBaseVisual", Sofa.Component.Visual) }, + { "VisualModelImpl", Moved("v22.06", "SofaBaseVisual", Sofa.Component.Visual) }, + { "VisualStyle", Moved("v22.06", "SofaBaseVisual", Sofa.Component.Visual) }, + { "BackgroundSetting", Moved("v22.06", "SofaBaseVisual", Sofa.Component.Setting) }, // SofaGeneralVisual was deprecated in #2679 - { "RecordedCamera", Moved("v22.06", "SofaGeneralVisual", "Sofa.Component.Visual") }, - { "Visual3DText", Moved("v22.06", "SofaGeneralVisual", "Sofa.Component.Visual") }, - { "VisualTransform", Moved("v22.06", "SofaGeneralVisual", "Sofa.Component.Visual") }, + { "RecordedCamera", Moved("v22.06", "SofaGeneralVisual", Sofa.Component.Visual) }, + { "Visual3DText", Moved("v22.06", "SofaGeneralVisual", Sofa.Component.Visual) }, + { "VisualTransform", Moved("v22.06", "SofaGeneralVisual", Sofa.Component.Visual) }, // SofaSimpleFem was deprecated in #2753 and .... - { "TetrahedronDiffusionFEMForceField", Moved("v22.06", "SofaSimpleFem", "Sofa.Component.Diffusion") }, + { "TetrahedronDiffusionFEMForceField", Moved("v22.06", "SofaSimpleFem", Sofa.Component.Diffusion) }, // SofaOpenglVisual was deprecated in #2709 - { "OglSceneFrame", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "DataDisplay", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "MergeVisualModels", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "OglCylinderModel", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "OglModel", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "PointSplatModel", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "SlicedVolumetricModel", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering3D") }, - { "OglColorMap", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering2D") }, - { "OglLabel", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering2D") }, - { "OglViewport", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Rendering2D") }, - { "ClipPlane", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "CompositingVisualLoop", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "DirectionalLight", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "PositionalLight", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "SpotLight", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "LightManager", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloatAttribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat2Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat3Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat4Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglIntAttribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt2Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt3Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt4Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglUIntAttribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglUInt2Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglUInt3Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglUInt4Attribute", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglOITShader", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglRenderingSRGB", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglShader", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglShaderMacro", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglShaderVisualModel", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglShadowShader", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglTexture", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglTexture2D", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglIntVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt2Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt3Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt4Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloatVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat2Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat3Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat4Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglIntVectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt2VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt3VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglInt4VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloatVectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat2VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat3VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglFloat4VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix2Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix3Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix4Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix2x3Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix3x2Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix2x4Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix4x2Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix3x4Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix4x3Variable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OglMatrix4VectorVariable", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "OrderIndependentTransparencyManager", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "PostProcessManager", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "VisualManagerPass", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "VisualManagerSecondaryPass", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Shader") }, - { "TextureInterpolation", Moved("v22.06", "SofaOpenglVisual", "Sofa.GL.Component.Engine") }, + { "OglSceneFrame", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "DataDisplay", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "MergeVisualModels", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "OglCylinderModel", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "OglModel", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "PointSplatModel", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "SlicedVolumetricModel", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering3D) }, + { "OglColorMap", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering2D) }, + { "OglLabel", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering2D) }, + { "OglViewport", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Rendering2D) }, + { "ClipPlane", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "CompositingVisualLoop", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "DirectionalLight", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "PositionalLight", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "SpotLight", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "LightManager", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloatAttribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat2Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat3Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat4Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglIntAttribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt2Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt3Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt4Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglUIntAttribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglUInt2Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglUInt3Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglUInt4Attribute", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglOITShader", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglRenderingSRGB", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglShader", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglShaderMacro", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglShaderVisualModel", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglShadowShader", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglTexture", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglTexture2D", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglIntVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt2Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt3Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt4Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloatVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat2Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat3Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat4Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglIntVectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt2VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt3VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglInt4VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloatVectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat2VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat3VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglFloat4VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix2Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix3Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix4Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix2x3Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix3x2Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix2x4Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix4x2Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix3x4Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix4x3Variable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OglMatrix4VectorVariable", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "OrderIndependentTransparencyManager", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "PostProcessManager", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "VisualManagerPass", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "VisualManagerSecondaryPass", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Shader) }, + { "TextureInterpolation", Moved("v22.06", "SofaOpenglVisual", Sofa.GL.Component.Engine) }, // SofaBaseLinearSolver was deprecated in #2717 - { "CGLinearSolver", Moved("v22.06", "SofaBaseLinearSolver", "Sofa.Component.LinearSolver.Iterative") }, + { "CGLinearSolver", Moved("v22.06", "SofaBaseLinearSolver", Sofa.Component.LinearSolver.Iterative) }, // SofaGeneralLinearSolver was deprecated in #2717 - { "MinResLinearSolver", Moved("v22.06", "SofaGeneralLinearSolver", "Sofa.Component.LinearSolver.Iterative") }, - { "BTDLinearSolver", Moved("v22.06", "SofaGeneralLinearSolver", "Sofa.Component.LinearSolver.Direct") }, - { "CholeskySolver", Moved("v22.06", "SofaGeneralLinearSolver", "Sofa.Component.LinearSolver.Direct") }, + { "MinResLinearSolver", Moved("v22.06", "SofaGeneralLinearSolver", Sofa.Component.LinearSolver.Iterative) }, + { "BTDLinearSolver", Moved("v22.06", "SofaGeneralLinearSolver", Sofa.Component.LinearSolver.Direct) }, + { "CholeskySolver", Moved("v22.06", "SofaGeneralLinearSolver", Sofa.Component.LinearSolver.Direct) }, // SofaSparseSolver was deprecated in #2717 - { "FillReducingOrdering", Moved("v22.06", "SofaGeneralLinearSolver", "Sofa.Component.LinearSolver.Direct") }, - { "PrecomputedLinearSolver", Moved("v22.06", "SofaGeneralLinearSolver", "Sofa.Component.LinearSolver.Direct") }, - { "SparseLDLSolver", Moved("v22.06", "SofaSparseSolver", "Sofa.Component.LinearSolver.Direct") }, + { "FillReducingOrdering", Moved("v22.06", "SofaGeneralLinearSolver", Sofa.Component.LinearSolver.Direct) }, + { "PrecomputedLinearSolver", Moved("v22.06", "SofaGeneralLinearSolver", Sofa.Component.LinearSolver.Direct) }, + { "SparseLDLSolver", Moved("v22.06", "SofaSparseSolver", Sofa.Component.LinearSolver.Direct) }, // SofaDenseSolver was deprecated in #2717 - { "SVDLinearSolver", Moved("v22.06", "SofaDenseSolver", "Sofa.Component.LinearSolver.Direct") }, + { "SVDLinearSolver", Moved("v22.06", "SofaDenseSolver", Sofa.Component.LinearSolver.Direct) }, // SofaPreconditioner was deprecated in #2717 - { "ShewchukPCGLinearSolver", Moved("v22.06", "SofaPreconditioner", "Sofa.Component.LinearSolver.Iterative") }, - { "JacobiPreconditioner", Moved("v22.06", "SofaPreconditioner", "Sofa.Component.LinearSolver.Preconditioner") }, - { "BlockJacobiPreconditioner", Moved("v22.06", "SofaPreconditioner", "Sofa.Component.LinearSolver.Preconditioner") }, - { "PrecomputedWarpPreconditioner", Moved("v22.06", "SofaPreconditioner", "Sofa.Component.LinearSolver.Preconditioner") }, - { "SSORPreconditioner", Moved("v22.06", "SofaPreconditioner", "Sofa.Component.LinearSolver.Preconditioner") }, - { "WarpPreconditioner", Moved("v22.06", "SofaPreconditioner", "Sofa.Component.LinearSolver.Preconditioner") }, + { "ShewchukPCGLinearSolver", Moved("v22.06", "SofaPreconditioner", Sofa.Component.LinearSolver.Iterative) }, + { "JacobiPreconditioner", Moved("v22.06", "SofaPreconditioner", Sofa.Component.LinearSolver.Preconditioner) }, + { "BlockJacobiPreconditioner", Moved("v22.06", "SofaPreconditioner", Sofa.Component.LinearSolver.Preconditioner) }, + { "PrecomputedWarpPreconditioner", Moved("v22.06", "SofaPreconditioner", Sofa.Component.LinearSolver.Preconditioner) }, + { "SSORPreconditioner", Moved("v22.06", "SofaPreconditioner", Sofa.Component.LinearSolver.Preconditioner) }, + { "WarpPreconditioner", Moved("v22.06", "SofaPreconditioner", Sofa.Component.LinearSolver.Preconditioner) }, // SofaBaseMechanics was deprecated in #2752, #2635 and #2766 - { "DiagonalMass", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.Mass") }, - { "UniformMass", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.Mass") }, - { "BarycentricMapping", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.Mapping.Linear") }, - { "IdentityMapping", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.Mapping.Linear") }, - { "SubsetMapping", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.Mapping.Linear") }, - { "MechanicalObject", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.StateContainer") }, - { "MappedObject", Moved("v22.06", "SofaBaseMechanics", "Sofa.Component.StateContainer") }, + { "DiagonalMass", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.Mass) }, + { "UniformMass", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.Mass) }, + { "BarycentricMapping", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.Mapping.Linear) }, + { "IdentityMapping", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.Mapping.Linear) }, + { "SubsetMapping", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.Mapping.Linear) }, + { "MechanicalObject", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.StateContainer) }, + { "MappedObject", Moved("v22.06", "SofaBaseMechanics", Sofa.Component.StateContainer) }, // SofaMiscForceField was deprecated in #2752 and ... - { "MeshMatrixMass", Moved("v22.06", "SofaMiscForceField", "Sofa.Component.Mass") }, - { "GearSpringForceField", Moved("v22.06", "SofaMiscForceField", "Sofa.Component.SolidMechanics.Spring") }, + { "MeshMatrixMass", Moved("v22.06", "SofaMiscForceField", Sofa.Component.Mass) }, + { "GearSpringForceField", Moved("v22.06", "SofaMiscForceField", Sofa.Component.SolidMechanics.Spring) }, // SofaRigid was deprecated in #2635 and #2759 - { "RigidMapping", Moved("v22.06", "SofaRigid", "Sofa.Component.Mapping.NonLinear") }, - { "RigidRigidMapping", Moved("v22.06", "SofaRigid", "Sofa.Component.Mapping.NonLinear") }, - { "JointSpringForceField", Moved("v22.06", "SofaRigid", "Sofa.Component.SolidMechanics.Spring") }, + { "RigidMapping", Moved("v22.06", "SofaRigid", Sofa.Component.Mapping.NonLinear) }, + { "RigidRigidMapping", Moved("v22.06", "SofaRigid", Sofa.Component.Mapping.NonLinear) }, + { "JointSpringForceField", Moved("v22.06", "SofaRigid", Sofa.Component.SolidMechanics.Spring) }, // Movedgid was deprecated in #2635 and ... - { "LineSetSkinningMapping", Moved("v22.06", "Movedgid", "Sofa.Component.Mapping.Linear") }, - { "SkinningMapping", Moved("v22.06", "Movedgid", "Sofa.Component.Mapping.Linear") }, + { "LineSetSkinningMapping", Moved("v22.06", "Movedgid", Sofa.Component.Mapping.Linear) }, + { "SkinningMapping", Moved("v22.06", "Movedgid", Sofa.Component.Mapping.Linear) }, { "ArticulatedHierarchyContainer", Moved("v22.06", "Movedgid", "ArticulatedSystemPlugin") }, { "ArticulationCenter", Moved("v22.06", "Movedgid", "ArticulatedSystemPlugin") }, { "Articulation", Moved("v22.06", "Movedgid", "ArticulatedSystemPlugin") }, { "ArticulatedSystemMapping", Moved("v22.06", "Movedgid", "ArticulatedSystemPlugin") }, // SofaMiscMapping was deprecated in #2635 - { "BeamLinearMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "CenterOfMassMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "CenterOfMassMulti2Mapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "CenterOfMassMultiMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "DeformableOnRigidFrameMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "DistanceFromTargetMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.NonLinear") }, - { "DistanceMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.NonLinear") }, - { "IdentityMultiMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "SquareMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.NonLinear") }, - { "SquareDistanceMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.NonLinear") }, - { "SubsetMultiMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "TubularMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, - { "VoidMapping", Moved("v22.06", "SofaMiscMapping", "Sofa.Component.Mapping.Linear") }, + { "BeamLinearMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "CenterOfMassMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "CenterOfMassMulti2Mapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "CenterOfMassMultiMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "DeformableOnRigidFrameMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "DistanceFromTargetMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.NonLinear) }, + { "DistanceMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.NonLinear) }, + { "IdentityMultiMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "SquareMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.NonLinear) }, + { "SquareDistanceMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.NonLinear) }, + { "SubsetMultiMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "TubularMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, + { "VoidMapping", Moved("v22.06", "SofaMiscMapping", Sofa.Component.Mapping.Linear) }, // SofaConstraint was deprecated in #2635, #2790, #2796, #2813 and ... - { "BilateralInteractionConstraint", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Model") }, - { "GenericConstraintCorrection", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Correction") }, - { "GenericConstraintSolver", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Solver") }, - { "LCPConstraintSolver", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Solver") }, - { "LinearSolverConstraintCorrection", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Correction") }, - { "PrecomputedConstraintCorrection", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Correction") }, - { "SlidingConstraint", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Model") }, - { "StopperConstraint", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Model") }, - { "UncoupledConstraintCorrection", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Correction") }, - { "UniformConstraint", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Model") }, - { "UnilateralInteractionConstraint", Moved("v22.06", "SofaConstraint", "Sofa.Component.Constraint.Lagrangian.Model") }, - { "ConstraintAnimationLoop", Moved("v22.06", "SofaConstraint", "Sofa.Component.AnimationLoop") }, - { "FreeMotionAnimationLoop", Moved("v22.06", "SofaConstraint", "Sofa.Component.AnimationLoop") }, - { "LocalMinDistance", Moved("v22.06", "SofaConstraint", "Sofa.Component.Collision.Detection.Intersection") }, + { "BilateralInteractionConstraint", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Model) }, + { "GenericConstraintCorrection", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Correction) }, + { "GenericConstraintSolver", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Solver) }, + { "LCPConstraintSolver", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Solver) }, + { "LinearSolverConstraintCorrection", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Correction) }, + { "PrecomputedConstraintCorrection", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Correction) }, + { "SlidingConstraint", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Model) }, + { "StopperConstraint", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Model) }, + { "UncoupledConstraintCorrection", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Correction) }, + { "UniformConstraint", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Model) }, + { "UnilateralInteractionConstraint", Moved("v22.06", "SofaConstraint", Sofa.Component.Constraint.Lagrangian.Model) }, + { "ConstraintAnimationLoop", Moved("v22.06", "SofaConstraint", Sofa.Component.AnimationLoop) }, + { "FreeMotionAnimationLoop", Moved("v22.06", "SofaConstraint", Sofa.Component.AnimationLoop) }, + { "LocalMinDistance", Moved("v22.06", "SofaConstraint", Sofa.Component.Collision.Detection.Intersection) }, // SofaGeneralAnimationLoop was deprecated in #2635 and #2796 - { "MultiStepAnimationLoop", Moved("v22.06", "SofaGeneralAnimationLoop", "Sofa.Component.AnimationLoop") }, - { "MultiTagAnimationLoop", Moved("v22.06", "SofaGeneralAnimationLoop", "Sofa.Component.AnimationLoop") }, + { "MultiStepAnimationLoop", Moved("v22.06", "SofaGeneralAnimationLoop", Sofa.Component.AnimationLoop) }, + { "MultiTagAnimationLoop", Moved("v22.06", "SofaGeneralAnimationLoop", Sofa.Component.AnimationLoop) }, // SofaSimpleFem was deprecated in #2759 - { "HexahedronFEMForceField", Moved("v22.06", "SofaSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "TetrahedronFEMForceField", Moved("v22.06", "SofaSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, + { "HexahedronFEMForceField", Moved("v22.06", "SofaSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "TetrahedronFEMForceField", Moved("v22.06", "SofaSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, // SofaGeneralSimpleFem was deprecated in #2759 - { "BeamFEMForceField", Moved("v22.06", "SofaGeneralSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "HexahedralFEMForceField", Moved("v22.06", "SofaGeneralSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "HexahedralFEMForceFieldAndMass", Moved("v22.06", "SofaGeneralSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "HexahedronFEMForceFieldAndMass", Moved("v22.06", "SofaGeneralSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "TetrahedralCorotationalFEMForceField", Moved("v22.06", "SofaGeneralSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "TriangularFEMForceFieldOptim", Moved("v22.06", "SofaGeneralSimpleFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, + { "BeamFEMForceField", Moved("v22.06", "SofaGeneralSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "HexahedralFEMForceField", Moved("v22.06", "SofaGeneralSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "HexahedralFEMForceFieldAndMass", Moved("v22.06", "SofaGeneralSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "HexahedronFEMForceFieldAndMass", Moved("v22.06", "SofaGeneralSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "TetrahedralCorotationalFEMForceField", Moved("v22.06", "SofaGeneralSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "TriangularFEMForceFieldOptim", Moved("v22.06", "SofaGeneralSimpleFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, // SofaMiscFem was deprecated in #2759 - { "FastTetrahedralCorotationalForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "StandardTetrahedralFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "TriangleFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "TriangularAnisotropicFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "TriangularFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "QuadBendingFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.Elastic") }, - { "BoyceAndArruda", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "Costa", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "HyperelasticMaterial", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "MooneyRivlin", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "NeoHookean", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "Ogden", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "PlasticMaterial", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "StandardTetrahedralFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "STVenantKirchhoff", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "TetrahedronHyperelasticityFEMForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "VerondaWestman", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.HyperElastic") }, - { "TetrahedralTensorMassForceField", Moved("v22.06", "SofaMiscFem", "Sofa.Component.SolidMechanics.FEM.TensorMass") }, + { "FastTetrahedralCorotationalForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "StandardTetrahedralFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "TriangleFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "TriangularAnisotropicFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "TriangularFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "QuadBendingFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.Elastic) }, + { "BoyceAndArruda", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "Costa", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "HyperelasticMaterial", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "MooneyRivlin", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "NeoHookean", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "Ogden", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "PlasticMaterial", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "StandardTetrahedralFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "STVenantKirchhoff", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "TetrahedronHyperelasticityFEMForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "VerondaWestman", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.FEM.HyperElastic) }, + { "TetrahedralTensorMassForceField", Moved("v22.06", "SofaMiscFem", Sofa.Component.SolidMechanics.TensorMass) }, // SofaDeformable was deprecated in #2759 - { "AngularSpringForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "MeshSpringForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "RestShapeSpringsForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "PolynomialRestShapeSpringsForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "SpringForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "StiffSpringForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "PolynomialSpringsForceField", Moved("v22.06", "SofaDeformable", "Sofa.Component.SolidMechanics.Spring") }, + { "AngularSpringForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "MeshSpringForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "RestShapeSpringsForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "PolynomialRestShapeSpringsForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "SpringForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "StiffSpringForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "PolynomialSpringsForceField", Moved("v22.06", "SofaDeformable", Sofa.Component.SolidMechanics.Spring) }, // SofaGeneralDeformable was deprecated in #2759 - { "FastTriangularBendingSprings", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "FrameSpringForceField", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "QuadBendingSprings", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "QuadularBendingSprings", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "RegularGridSpringForceField", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "TriangleBendingSprings", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "TriangularBendingSprings", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "TriangleBendingSprings", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "TriangularBiquadraticSpringsForceField", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "TriangularQuadraticSpringsForceField", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "VectorSpringForceField", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.Spring") }, - { "TriangularTensorMassForceField", Moved("v22.06", "SofaGeneralDeformable", "Sofa.Component.SolidMechanics.TensorMass") }, + { "FastTriangularBendingSprings", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "FrameSpringForceField", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "QuadBendingSprings", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "QuadularBendingSprings", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "RegularGridSpringForceField", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "TriangleBendingSprings", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "TriangularBendingSprings", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "TriangleBendingSprings", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "TriangularBiquadraticSpringsForceField", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "TriangularQuadraticSpringsForceField", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "VectorSpringForceField", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.Spring) }, + { "TriangularTensorMassForceField", Moved("v22.06", "SofaGeneralDeformable", Sofa.Component.SolidMechanics.TensorMass) }, // SofaGeneralObjectInteraction was deprecated in #2759 and #3039 - { "RepulsiveSpringForceField", Moved("v22.06", "SofaGeneralObjectInteraction", "Sofa.Component.SolidMechanics.Spring") }, - { "InteractionEllipsoidForceField", Moved("v22.06", "SofaGeneralObjectInteraction", "Sofa.Component.MechanicalLoad") }, + { "RepulsiveSpringForceField", Moved("v22.06", "SofaGeneralObjectInteraction", Sofa.Component.SolidMechanics.Spring) }, + { "InteractionEllipsoidForceField", Moved("v22.06", "SofaGeneralObjectInteraction", Sofa.Component.MechanicalLoad) }, // SofaGeneralObjectInteraction was deprecated in #2790 and ... - { "AttachConstraint", Moved("v22.06", "SofaGeneralObjectInteraction", "Sofa.Component.Constraint.Projective") }, + { "AttachConstraint", Moved("v22.06", "SofaGeneralObjectInteraction", Sofa.Component.Constraint.Projective) }, // SofaBoundaryCondition was deprecated in #2790 and #2759 - { "AffineMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "FixedConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "FixedPlaneConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "FixedRotationConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "FixedTranslationConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "HermiteSplineConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "LinearMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "LinearVelocityConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "OscillatorConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "ParabolicConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "PartialFixedConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "PartialLinearMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "PatchTestMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "PointConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "PositionBasedDynamicsConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "ProjectDirectionConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "ProjectToLineConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "ProjectToPlaneConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "ProjectToPointConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "AttachConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "SkeletalMotionConstraint", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.Constraint.Projective") }, - { "ConicalForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "ConstantForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "DiagonalVelocityDampingForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "EdgePressureForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "EllipsoidForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "LinearForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "OscillatingTorsionPressureForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "PlaneForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "QuadPressureForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "SphereForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "SurfacePressureForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "TaitSurfacePressureForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "TorsionForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "TrianglePressureForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, - { "UniformVelocityDampingForceField", Moved("v22.06", "SofaBoundaryCondition", "Sofa.Component.MechanicalLoad") }, + { "AffineMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "FixedConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "FixedPlaneConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "FixedRotationConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "FixedTranslationConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "HermiteSplineConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "LinearMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "LinearVelocityConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "OscillatorConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "ParabolicConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "PartialFixedConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "PartialLinearMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "PatchTestMovementConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "PointConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "PositionBasedDynamicsConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "ProjectDirectionConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "ProjectToLineConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "ProjectToPlaneConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "ProjectToPointConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "AttachConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "SkeletalMotionConstraint", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.Constraint.Projective) }, + { "ConicalForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "ConstantForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "DiagonalVelocityDampingForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "EdgePressureForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "EllipsoidForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "LinearForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "OscillatingTorsionPressureForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "PlaneForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "QuadPressureForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "SphereForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "SurfacePressureForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "TaitSurfacePressureForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "TorsionForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "TrianglePressureForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, + { "UniformVelocityDampingForceField", Moved("v22.06", "SofaBoundaryCondition", Sofa.Component.MechanicalLoad) }, // SofaBaseCollision was deprecated in #2813 - { "BruteForceBroadPhase", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "BruteForceDetection", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "BVHNarrowPhase", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "DefaultPipeline", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "DiscreteIntersection", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Intersection") }, - { "MinProximityIntersection", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Intersection") }, - { "NewProximityIntersection", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Detection.Intersection") }, - { "CubeCollisionModel", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Geometry") }, - { "SphereCollisionModel", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Geometry") }, - { "CylinderCollisionModel", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Geometry") }, - { "DefaultContactManager", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Response.Contact") }, - { "ContactListener", Moved("v22.06", "SofaBaseCollision", "Sofa.Component.Collision.Response.Contact") }, + { "BruteForceBroadPhase", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "BruteForceDetection", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "BVHNarrowPhase", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "DefaultPipeline", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "DiscreteIntersection", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Intersection) }, + { "MinProximityIntersection", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Intersection) }, + { "NewProximityIntersection", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Detection.Intersection) }, + { "CubeCollisionModel", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Geometry) }, + { "SphereCollisionModel", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Geometry) }, + { "CylinderCollisionModel", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Geometry) }, + { "DefaultContactManager", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Response.Contact) }, + { "ContactListener", Moved("v22.06", "SofaBaseCollision", Sofa.Component.Collision.Response.Contact) }, // SofaMeshCollision was deprecated in #2813 - { "PointCollisionModel", Moved("v22.06", "SofaMeshCollision", "Sofa.Component.Collision.Geometry") }, - { "LineCollisionModel", Moved("v22.06", "SofaMeshCollision", "Sofa.Component.Collision.Geometry") }, - { "TriangleCollisionModel", Moved("v22.06", "SofaMeshCollision", "Sofa.Component.Collision.Geometry") }, + { "PointCollisionModel", Moved("v22.06", "SofaMeshCollision", Sofa.Component.Collision.Geometry) }, + { "LineCollisionModel", Moved("v22.06", "SofaMeshCollision", Sofa.Component.Collision.Geometry) }, + { "TriangleCollisionModel", Moved("v22.06", "SofaMeshCollision", Sofa.Component.Collision.Geometry) }, // SofaGeneralMeshCollision was deprecated in #2813 - { "DirectSAP", Moved("v22.06", "SofaGeneralMeshCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "DirectSAPNarrowPhase", Moved("v22.06", "SofaGeneralMeshCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "IncrSAPClassSofaVector", Moved("v22.06", "SofaGeneralMeshCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "RayTraceNarrowPhase", Moved("v22.06", "SofaGeneralMeshCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "RayTraceDetection", Moved("v22.06", "SofaGeneralMeshCollision", "Sofa.Component.Collision.Detection.Algorithm") }, - { "TriangleOctreeModel", Moved("v22.06", "SofaGeneralMeshCollision", "Sofa.Component.Collision.Geometry") }, + { "DirectSAP", Moved("v22.06", "SofaGeneralMeshCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "DirectSAPNarrowPhase", Moved("v22.06", "SofaGeneralMeshCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "IncrSAPClassSofaVector", Moved("v22.06", "SofaGeneralMeshCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "RayTraceNarrowPhase", Moved("v22.06", "SofaGeneralMeshCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "RayTraceDetection", Moved("v22.06", "SofaGeneralMeshCollision", Sofa.Component.Collision.Detection.Algorithm) }, + { "TriangleOctreeModel", Moved("v22.06", "SofaGeneralMeshCollision", Sofa.Component.Collision.Geometry) }, // SofaUserInteraction was deprecated in #2813 - { "RayCollisionModel", Moved("v22.06", "SofaUserInteraction", "Sofa.Component.Collision.Geometry") }, - { "Controller", Moved("v22.06", "SofaUserInteraction", "Sofa.Component.Controller") }, - { "MechanicalStateController", Moved("v22.06", "SofaUserInteraction", "Sofa.Component.Controller") }, + { "RayCollisionModel", Moved("v22.06", "SofaUserInteraction", Sofa.Component.Collision.Geometry) }, + { "Controller", Moved("v22.06", "SofaUserInteraction", Sofa.Component.Controller) }, + { "MechanicalStateController", Moved("v22.06", "SofaUserInteraction", Sofa.Component.Controller) }, // SofaObjectInteraction was deprecated in #2813 - { "PenalityContactForceField", Moved("v22.06", "SofaObjectInteraction", "Sofa.Component.Collision.Response.Contact") }, + { "PenalityContactForceField", Moved("v22.06", "SofaObjectInteraction", Sofa.Component.Collision.Response.Contact) }, // SofaEngine was deprecated in #2812 - { "BoxROI", Moved("v22.06", "SofaEngine", "Sofa.Component.Engine.Select") }, + { "BoxROI", Moved("v22.06", "SofaEngine", Sofa.Component.Engine.Select) }, // SofaGeneralEngine was deprecated in #2812 - { "AverageCoord", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Analyze") }, - { "BoxROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "ClusteringEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Analyze") }, - { "ComplementaryROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "DifferenceEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "DilateEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "DisplacementTransformEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "ExtrudeEdgesAndGenerateQuads", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "ExtrudeQuadsAndGenerateHexas", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "ExtrudeSurface", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "GenerateCylinder", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "GenerateGrid", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "GenerateRigidMass", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "GenerateSphere", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "GroupFilterYoungModulus", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "HausdorffDistance", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Analyze") }, - { "IndexValueMapper", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "Indices2ValuesMapper", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "IndicesFromValues", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "InvertTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "JoinPoints", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MapIndices", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "MathOp", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "MergeMeshes", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MergePoints", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MergeROIs", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "MergeSets", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MergeVectors", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MeshBarycentricMapperEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MeshBoundaryROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "MeshClosingEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "MeshROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "MeshSampler", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "MeshSplittingEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "MeshSubsetEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "NearestPointROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "NormEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "NormalsFromPoints", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "PairBoxROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "PlaneROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "PointsFromIndices", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "ProximityROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "QuatToRigidEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "ROIValueMapper", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "RandomPointDistributionInSurface", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "RigidToQuatEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "RotateTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "ScaleTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "SelectConnectedLabelsROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "SelectLabelROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "ShapeMatching", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Analyze") }, - { "SmoothMeshEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "SphereROI", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "Spiral", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Generate") }, - { "SubsetTopology", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "SumEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Analyze") }, - { "TransformEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "TransformPosition", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "TranslateTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "ValuesFromIndices", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "ValuesFromPositions", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Select") }, - { "Vertex2Frame", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, + { "AverageCoord", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Analyze) }, + { "BoxROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "ClusteringEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Analyze) }, + { "ComplementaryROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "DifferenceEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "DilateEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "DisplacementTransformEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "ExtrudeEdgesAndGenerateQuads", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "ExtrudeQuadsAndGenerateHexas", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "ExtrudeSurface", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "GenerateCylinder", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "GenerateGrid", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "GenerateRigidMass", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "GenerateSphere", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "GroupFilterYoungModulus", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "HausdorffDistance", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Analyze) }, + { "IndexValueMapper", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "Indices2ValuesMapper", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "IndicesFromValues", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "InvertTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "JoinPoints", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MapIndices", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "MathOp", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "MergeMeshes", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MergePoints", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MergeROIs", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "MergeSets", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MergeVectors", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MeshBarycentricMapperEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MeshBoundaryROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "MeshClosingEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "MeshROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "MeshSampler", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "MeshSplittingEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "MeshSubsetEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "NearestPointROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "NormEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "NormalsFromPoints", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "PairBoxROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "PlaneROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "PointsFromIndices", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "ProximityROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "QuatToRigidEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "ROIValueMapper", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "RandomPointDistributionInSurface", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "RigidToQuatEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "RotateTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "ScaleTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "SelectConnectedLabelsROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "SelectLabelROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "ShapeMatching", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Analyze) }, + { "SmoothMeshEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "SphereROI", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "Spiral", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Generate) }, + { "SubsetTopology", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "SumEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Analyze) }, + { "TransformEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "TransformPosition", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "TranslateTransformMatrixEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "ValuesFromIndices", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "ValuesFromPositions", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Select) }, + { "Vertex2Frame", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, // SofaMiscEngine was deprecated in #2812 - { "Distances", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Analyze") }, - { "DisplacementMatrixEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, - { "ProjectiveTransformEngine", Moved("v22.06", "SofaGeneralEngine", "Sofa.Component.Engine.Transform") }, + { "Distances", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Analyze) }, + { "DisplacementMatrixEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, + { "ProjectiveTransformEngine", Moved("v22.06", "SofaGeneralEngine", Sofa.Component.Engine.Transform) }, // SofaMiscExtra was deprecated in #2917 - { "MeshTetraStuffing", Moved("v22.06", "SofaMiscExtra", "Sofa.Component.Engine.Generate") }, + { "MeshTetraStuffing", Moved("v22.06", "SofaMiscExtra", Sofa.Component.Engine.Generate) }, // SofaMiscCollision was deprecated in #2813 and #2820 { "OBBModel", Moved("v22.06", "SofaMiscCollision", "CollisionOBBCapsule") }, { "RigidCapsuleCollisionModel", Moved("v22.06", "SofaMiscCollision", "CollisionOBBCapsule") }, { "CapsuleCollisionModel", Moved("v22.06", "SofaMiscCollision", "CollisionOBBCapsule") }, - { "TriangleModelInRegularGrid", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collision.Geometry") }, - { "TetrahedronCollisionModel", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collision.Geometry") }, - { "RuleBasedContactManager", Moved("v22.06", "SofaMiscCollision", "Sofa.Component.Collision.Response.Contact") }, + { "TriangleModelInRegularGrid", Moved("v22.06", "SofaMiscCollision", Sofa.Component.Collision.Geometry) }, + { "TetrahedronCollisionModel", Moved("v22.06", "SofaMiscCollision", Sofa.Component.Collision.Geometry) }, + { "RuleBasedContactManager", Moved("v22.06", "SofaMiscCollision", Sofa.Component.Collision.Response.Contact) }, // SofaHaptics was deprecated in #3039 - { "ForceFeedback", Moved("v22.06", "SofaHaptics", "Sofa.Component.Haptics") }, - { "LCPForceFeedback", Moved("v22.06", "SofaHaptics", "Sofa.Component.Haptics") }, - { "MechanicalStateForceFeedback", Moved("v22.06", "SofaHaptics", "Sofa.Component.Haptics") }, - { "NullForceFeedback", Moved("v22.06", "SofaHaptics", "Sofa.Component.Haptics") }, + { "ForceFeedback", Moved("v22.06", "SofaHaptics", Sofa.Component.Haptics) }, + { "LCPForceFeedback", Moved("v22.06", "SofaHaptics", Sofa.Component.Haptics) }, + { "MechanicalStateForceFeedback", Moved("v22.06", "SofaHaptics", Sofa.Component.Haptics) }, + { "NullForceFeedback", Moved("v22.06", "SofaHaptics", Sofa.Component.Haptics) }, // SofaValidation was deprecated in #3039 - { "CompareState", Moved("v22.06", "SofaValidation", "Sofa.Component.Playback") }, - { "CompareTopology", Moved("v22.06", "SofaValidation", "Sofa.Component.Playback") }, + { "CompareState", Moved("v22.06", "SofaValidation", Sofa.Component.Playback) }, + { "CompareTopology", Moved("v22.06", "SofaValidation", Sofa.Component.Playback) }, // Removed in #4040, deprecated in #2777 { "MechanicalMatrixMapper", Removed("v23.06", "v23.12") }, { "MappingGeometricStiffnessForceField", Removed("v23.06", "v23.12") }, // Moved to CSparseSolvers - { "SparseCholeskySolver", Moved("v23.12", "Sofa.Component.LinearSolver.Direct", "CSparseSolvers") }, - { "SparseLUSolver", Moved("v23.12", "Sofa.Component.LinearSolver.Direct", "CSparseSolvers") }, + { "SparseCholeskySolver", Moved("v23.12", Sofa.Component.LinearSolver.Direct, "CSparseSolvers") }, + { "SparseLUSolver", Moved("v23.12", Sofa.Component.LinearSolver.Direct, "CSparseSolvers") }, // Moved to Sofa.Component.MechanicalLoad - { "Gravity", Moved("v24.12", "SofaGraphComponent", "Sofa.Component.Mechanicalload") } + { "Gravity", Moved("v24.12", "SofaGraphComponent", Sofa.Component.MechanicalLoad) }, + + { "OglCylinderModel", Moved("v24.12", "Sofa.GL.Component.Rendering3D", "Sofa.Component.Visual")} }; const std::map > uncreatableComponents = { @@ -760,8 +762,8 @@ const std::map< std::string, Renamed, std::less<> > renamedComponents = { {"UnilateralInteractionConstraint", Renamed("v24.06","v25.06","UnilateralLagrangianConstraint")}, {"StiffSpringForceField", Renamed("v24.06","v25.06","SpringForceField")}, {"ParallelStiffSpringForceField", Renamed("v24.06","v25.06","ParallelSpringForceField")}, - {"ShewchukPCGLinearSolver", Renamed("v24.12","v25.12","PCGLinearSolver")} - + {"ShewchukPCGLinearSolver", Renamed("v24.12","v25.12","PCGLinearSolver")}, + {"OglCylinderModel", Renamed("v24.12", "v25.06", "CylinderVisualModel")} }; diff --git a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h index a6fa39ac04b..d53707e4e9a 100644 --- a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h +++ b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h @@ -28,7 +28,6 @@ #include #include -#include namespace sofa::helper { @@ -58,7 +57,7 @@ public : explicit OptionsGroup(int nbofRadioButton,...); ///generic constructor taking other string container like list, set, vector - template ::value> > + template explicit OptionsGroup(const T& list); template OptionsGroup(const std::initializer_list& list); @@ -114,7 +113,7 @@ public : type::vector textItems ; unsigned int selectedItem ; - template void buildFromContainer(const T& list); + template void buildFromContainer(const T& list); public: @@ -137,7 +136,7 @@ inline std::istream & operator >>(std::istream& in, OptionsGroup& m_trick) return in; } -template +template OptionsGroup::OptionsGroup(const T& list) { buildFromContainer(list); @@ -159,7 +158,7 @@ void OptionsGroup::setNames(const std::initializer_list& list) selectedItem=0; } -template +template void OptionsGroup::buildFromContainer(const T& list) { textItems.reserve(list.size()); diff --git a/Sofa/framework/Helper/src/sofa/helper/SelectableItem.h b/Sofa/framework/Helper/src/sofa/helper/SelectableItem.h index 87a32ecedd9..06a86c4cc9b 100644 --- a/Sofa/framework/Helper/src/sofa/helper/SelectableItem.h +++ b/Sofa/framework/Helper/src/sofa/helper/SelectableItem.h @@ -1,4 +1,4 @@ -/****************************************************************************** +/****************************************************************************** * SOFA, Simulation Open-Framework Architecture * * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * * * @@ -87,9 +87,9 @@ struct BaseSelectableItem [[nodiscard]] virtual std::size_t getNumberOfItems() const { return 0; } [[nodiscard]] virtual const Item* getItemsData() const { return nullptr; } [[nodiscard]] virtual std::size_t getSelectedId() const { return 0; } - virtual void setSelectedId(std::size_t id) {} - virtual void print(std::ostream& out) const {} - virtual void readFromStream(std::istream& stream) {} + virtual void setSelectedId(std::size_t /* id */) {} + virtual void print(std::ostream& /* out */) const {} + virtual void readFromStream(std::istream& /* stream */) {} }; inline std::ostream& operator<<(std::ostream& out, const BaseSelectableItem& selectableItem) @@ -240,27 +240,20 @@ class SelectableItem : public BaseSelectableItem static constexpr id_type findId(const std::string_view key) { - return findId_impl(key, std::make_index_sequence{}); - } - - template - static constexpr id_type findId_impl(const std::string_view key, std::index_sequence) - { - id_type result = static_cast(-1); - ((Derived::s_items[Is].key == key ? (result = Is, true) : false) || ...); - return result; + //use std::ranges::enumerate in C++23 + for (id_type i = 0; i < numberOfItems(); ++i) + { + if (key == Derived::s_items[i].key) + { + return i; + } + } + return static_cast(-1); } - template > - struct has_deprecation_map : std::false_type {}; - - // Specialization when T has a static member s_foo - template - struct has_deprecation_map> : std::true_type {}; - void keyError(const std::string_view key) { - if constexpr (has_deprecation_map::value) + if constexpr (requires {Derived::s_deprecationMap;}) { static_assert(std::is_same_v, std::map>); const auto it = Derived::s_deprecationMap.find(key); diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h index 624990800b3..fdf801a9ed6 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h @@ -72,8 +72,8 @@ class ReadAccessor const_reference operator* () const { return *vref; } }; -template -class ReadAccessor::value>> +template +class ReadAccessor : public ReadAccessorFixedArray< FixedArrayLikeType > { public: @@ -82,9 +82,8 @@ class ReadAccessor -class ReadAccessor::value> > +template +class ReadAccessor : public ReadAccessorVector< VectorLikeType > { public: diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h index 62e493e45eb..71cf83fac57 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h @@ -28,7 +28,7 @@ namespace sofa::helper { ////////////////////////// ReadAccessor for wrapping around fixed array like object ////////////////////// /// ReadAccessor implementation class for fixed array types -template +template class ReadAccessorFixedArray { public: diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorVector.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorVector.h index 7e41acfd7c5..1563e8af637 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorVector.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorVector.h @@ -28,7 +28,7 @@ namespace sofa::helper { ////////////////////////// ReadAccessor for wrapping around vector like object ////////////////////// /// ReadAccessor implementation class for vector types -template +template class ReadAccessorVector { public: diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h index e1abe8b7442..23b4695b7ef 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h @@ -83,8 +83,8 @@ class WriteAccessor } }; -template -class WriteAccessor::value>> +template +class WriteAccessor : public WriteAccessorFixedArray< FixedArrayLikeType > { public: @@ -93,9 +93,8 @@ class WriteAccessor -class WriteAccessor::value>> +template +class WriteAccessor : public WriteAccessorVector< VectorLikeType > { public: diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h index 0953e07da48..5f6cc826d3c 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h @@ -27,7 +27,7 @@ namespace sofa::helper { /// WriteAccessor implementation class for fixed array types -template +template class WriteAccessorFixedArray { public: diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorVector.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorVector.h index a1036e867b6..0b699c93a01 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorVector.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorVector.h @@ -27,7 +27,7 @@ namespace sofa::helper { /// WriteAccessor implementation class for vector types -template +template class WriteAccessorVector { public: @@ -72,6 +72,7 @@ class WriteAccessorVector ////// Modifiers ////// void clear() { vref->clear(); } void resize(Size s) { vref->resize(s); } + void resize(Size s, const value_type& value) { vref->resize(s, value); } iterator insert(const_iterator pos, const T& value) { return vref->insert(pos, value); } iterator erase(iterator pos) { return vref->erase(pos); } diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteOnlyAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteOnlyAccessor.h index c333ef19b21..9004581c784 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteOnlyAccessor.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteOnlyAccessor.h @@ -39,9 +39,8 @@ class WriteOnlyAccessor : public WriteAccessor explicit WriteOnlyAccessor(container_type& container) : WriteAccessor(container) {} }; -template -class WriteOnlyAccessor::value> > +template +class WriteOnlyAccessor : public WriteAccessorVector< VectorLikeType > { public: diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp index 9fbef88b423..dfd888f7de4 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp @@ -86,7 +86,6 @@ FileRepository PluginRepository( { Utils::getSofaPathTo("bin"), Utils::getSofaPathTo("plugins"), - Utils::getSofaPathTo("collections"), Utils::getExecutableDirectory(), } ); @@ -94,9 +93,8 @@ FileRepository PluginRepository( FileRepository PluginRepository( "SOFA_PLUGIN_PATH", { - Utils::getSofaPathTo("plugins"), - Utils::getSofaPathTo("collections"), Utils::getSofaPathTo("lib"), + Utils::getSofaPathTo("plugins"), } ); #endif diff --git a/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp b/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp index bf4df3e3c7b..35ec52d97b1 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/PluginManager.cpp @@ -40,6 +40,48 @@ using sofa::helper::system::FileSystem; #include #include +#ifdef SOFA_BUILD_CONFIGURATION +constexpr std::string_view SOFA_BUILD_CONFIGURATION_STR = sofa_tostring(SOFA_BUILD_CONFIGURATION); +#else +constexpr std::string_view SOFA_BUILD_CONFIGURATION_STR = "NONE"; +#endif + +constexpr std::string_view GetSofaBuildConfigurationString() +{ + return SOFA_BUILD_CONFIGURATION_STR; +} + +enum class SofaBuildConfiguration +{ + Release, + RelWithDebInfo, + Debug, + MinSizeRel, + NonStandard +}; + +constexpr SofaBuildConfiguration GetSofaBuildConfiguration() +{ + if constexpr (GetSofaBuildConfigurationString() == "Release") + { + return SofaBuildConfiguration::Release; + } + if constexpr (GetSofaBuildConfigurationString() == "RelWithDebInfo") + { + return SofaBuildConfiguration::RelWithDebInfo; + } + if constexpr (GetSofaBuildConfigurationString() == "Debug") + { + return SofaBuildConfiguration::Debug; + } + if constexpr (GetSofaBuildConfigurationString() == "MinSizeRel") + { + return SofaBuildConfiguration::MinSizeRel; + } + + return SofaBuildConfiguration::NonStandard; +} + namespace sofa::helper::system { @@ -146,11 +188,14 @@ void PluginManager::writeToIniFile(const std::string& path) /// (depends on platform, version, debug/release build) std::string PluginManager::getDefaultSuffix() { -#ifdef SOFA_LIBSUFFIX - return sofa_tostring(SOFA_LIBSUFFIX); -#else - return std::string(); -#endif + if constexpr(GetSofaBuildConfiguration() == SofaBuildConfiguration::Debug) + { + return "_d"; + } + else + { + return ""; + } } PluginManager::PluginLoadStatus PluginManager::loadPluginByPath(const std::string& pluginPath, std::ostream* errlog) @@ -469,17 +514,46 @@ std::string PluginManager::findPlugin(const std::string& pluginName, const std:: } } } - - // Second try: case-insensitive and recursive + + // Second try: case-insensitive and non-recursive + if (ignoreCase) + { + const std::string downcaseLibName = helper::downcaseString(libName); + + for (const auto & dir : searchPaths) + { + const std::array paths = + { + dir, // Non-Multi-Config build, install + FileSystem::append(dir, GetSofaBuildConfigurationString()) // Multi-Config build + }; + + for (const auto & path : paths) + { + if ( fs::exists(path) ) + { + for (auto const& dirEntry : std::filesystem::directory_iterator{path}) + { + const std::string filename = dirEntry.path().filename().string(); + const std::string downcaseFilename = helper::downcaseString(filename); + if (downcaseFilename == downcaseLibName) + { + return FileSystem::cleanPath(dirEntry.path().string()); + } + } + } + } + } + } + + // Last try: case-insensitive and recursive if (ignoreCase) { if(!recursive) maxRecursiveDepth = 0; const std::string downcaseLibName = helper::downcaseString(libName); - - for (std::vector::iterator i = searchPaths.begin(); i!=searchPaths.end(); i++) + + for (const auto & dir : searchPaths) { - const std::string& dir = *i; - fs::recursive_directory_iterator iter(dir); fs::recursive_directory_iterator end; diff --git a/Sofa/framework/Helper/test/io/MeshOBJ_test.cpp b/Sofa/framework/Helper/test/io/MeshOBJ_test.cpp index 8f785fe1706..b673a6e933f 100644 --- a/Sofa/framework/Helper/test/io/MeshOBJ_test.cpp +++ b/Sofa/framework/Helper/test/io/MeshOBJ_test.cpp @@ -32,11 +32,11 @@ namespace sofa { class MeshOBJ_test : public BaseTest { protected: - void SetUp() override + void doSetUp() override { sofa::helper::system::DataRepository.addFirstPath(SOFA_TESTING_RESOURCES_DIR); } - void TearDown() override + void doTearDown() override { sofa::helper::system::DataRepository.removePath(SOFA_TESTING_RESOURCES_DIR); } diff --git a/Sofa/framework/Helper/test/io/STBImage_test.cpp b/Sofa/framework/Helper/test/io/STBImage_test.cpp index df88da8b06a..cd05d8dbc99 100644 --- a/Sofa/framework/Helper/test/io/STBImage_test.cpp +++ b/Sofa/framework/Helper/test/io/STBImage_test.cpp @@ -43,11 +43,11 @@ class STBImage_test : public BaseTest } - void SetUp() override + void doSetUp() override { sofa::helper::system::DataRepository.addFirstPath(STBIMAGETEST_RESOURCES_DIR); } - void TearDown() override + void doTearDown() override { sofa::helper::system::DataRepository.removePath(STBIMAGETEST_RESOURCES_DIR); } diff --git a/Sofa/framework/Helper/test/io/XspLoader_test.cpp b/Sofa/framework/Helper/test/io/XspLoader_test.cpp index c7d1476d54e..eb3acc1574c 100644 --- a/Sofa/framework/Helper/test/io/XspLoader_test.cpp +++ b/Sofa/framework/Helper/test/io/XspLoader_test.cpp @@ -85,11 +85,11 @@ class XspLoader_test : public BaseTest } }; - void SetUp() override + void doSetUp() override { sofa::helper::system::DataRepository.addFirstPath(SOFA_TESTING_RESOURCES_DIR); } - void TearDown() override + void doTearDown() override { sofa::helper::system::DataRepository.removePath(SOFA_TESTING_RESOURCES_DIR); } diff --git a/Sofa/framework/Helper/test/system/PluginManager_test.cpp b/Sofa/framework/Helper/test/system/PluginManager_test.cpp index ec780e35207..7d9ebf95dad 100644 --- a/Sofa/framework/Helper/test/system/PluginManager_test.cpp +++ b/Sofa/framework/Helper/test/system/PluginManager_test.cpp @@ -64,7 +64,7 @@ struct PluginManager_test: public BaseTest // This list of paths will be deleted when cleaning-up the test sofa::type::vector createdFilesToDelete; - void SetUp() override + void doSetUp() override { // Set pluginDir by searching pluginFileName in the PluginRepository for ( std::string path : sofa::helper::system::PluginRepository.getPaths() ) @@ -83,7 +83,7 @@ struct PluginManager_test: public BaseTest << std::endl; } - void TearDown() override + void doTearDown() override { for (const auto& file : createdFilesToDelete) { @@ -122,12 +122,22 @@ TEST_F(PluginManager_test, loadTestPluginAByPath) /// Check that existing plugins are correctly handled and returns no /// error/warning message. { - EXPECT_MSG_NOEMIT(Warning, Error); - + EXPECT_MSG_NOEMIT(Error, Warning); + std::cout << "PluginManager_test.loadTestPluginAByPath: " - << "pm.getPluginMap().size() = " << pm.getPluginMap().size() - << std::endl; + << "pm.getPluginMap().size() = " << pm.getPluginMap().size() + << std::endl; + } + { + EXPECT_MSG_NOEMIT(Error); + // Plugin A still uses the deprecated registration mechanism + // and is expected to throw a warning when loaded + EXPECT_MSG_EMIT(Warning); + ASSERT_EQ(pm.loadPluginByPath(pluginPath), PluginManager::PluginLoadStatus::SUCCESS); + } + { + EXPECT_MSG_NOEMIT(Error, Warning); ASSERT_GT(pm.findPlugin(pluginAName).size(), 0u); } diff --git a/Sofa/framework/LinearAlgebra/Testing/src/Sofa.LinearAlgebra.Testing/BaseMatrix_test.h b/Sofa/framework/LinearAlgebra/Testing/src/Sofa.LinearAlgebra.Testing/BaseMatrix_test.h index c092397e04d..4767da3fe64 100644 --- a/Sofa/framework/LinearAlgebra/Testing/src/Sofa.LinearAlgebra.Testing/BaseMatrix_test.h +++ b/Sofa/framework/LinearAlgebra/Testing/src/Sofa.LinearAlgebra.Testing/BaseMatrix_test.h @@ -47,7 +47,7 @@ class TestBaseMatrix : public sofa::testing::NumericTest static constexpr sofa::Index NbRows = T::NbRows; static constexpr sofa::Index NbCols = T::NbCols; - void onSetUp() override + void doSetUp() override { m_testedMatrix = std::make_unique(); m_testedMatrix->resize(NbRows, NbCols); @@ -55,7 +55,7 @@ class TestBaseMatrix : public sofa::testing::NumericTest m_modelMatrix.clear(); } - void onTearDown() override + void doTearDown() override { m_testedMatrix.reset(); } diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h index 434d8758e37..3096d8d1c49 100644 --- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h +++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h @@ -68,7 +68,7 @@ struct CompressedRowSparseMatrixToEigenSparseVec if (row.index() < eigenMat.rows()) { const auto colInsertion = colIndex + i; - if (colInsertion < eigenMat.cols()) + if (colInsertion < (std::size_t)eigenMat.cols()) { triplets.emplace_back(row.index(), colInsertion, vec[i]); } diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h index 37784038f99..5dd349255a6 100644 --- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h +++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/CompressedRowSparseMatrixMechanical.h @@ -1199,7 +1199,7 @@ class CompressedRowSparseMatrixMechanical final // final is used to allow the co /// equal result = this * v /// @warning The block sizes must be compatible ie v.size() must be a multiple of block size. - template< typename V1, typename V2, std::enable_if_t::value && sofa::type::trait::is_vector::value, int> = 0 > + template< sofa::type::trait::is_vector V1, sofa::type::trait::is_vector V2> void mul( V2& result, const V1& v ) const { this-> template tmul< Real, V2, V1 >(result, v); diff --git a/Sofa/framework/SimpleApi/test/SimpleApi_test.cpp b/Sofa/framework/SimpleApi/test/SimpleApi_test.cpp index f9c26dfccd7..2ce3a2cbb08 100644 --- a/Sofa/framework/SimpleApi/test/SimpleApi_test.cpp +++ b/Sofa/framework/SimpleApi/test/SimpleApi_test.cpp @@ -38,7 +38,7 @@ bool SimpleApi_test::testParamAPI() const Simulation::SPtr simu = createSimulation("DAG") ; const Node::SPtr root = createRootNode(simu, "root") ; - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); const auto meca1 = createObject(root, "MechanicalObject", { {"name", "aMechanicalObject1"}, @@ -62,7 +62,7 @@ bool SimpleApi_test::testParamString() const Simulation::SPtr simu = createSimulation("DAG") ; const Node::SPtr root = createRootNode(simu, "root") ; - simpleapi::importPlugin("Sofa.Component.StateContainer"); + simpleapi::importPlugin(Sofa.Component.StateContainer); const auto meca1 = createObject(root, "MechanicalObject", { {"name", "aMechanicalObject1"}, diff --git a/Sofa/framework/Simulation/Core/simutest/NodeContext_test.cpp b/Sofa/framework/Simulation/Core/simutest/NodeContext_test.cpp index 188d5daa5cd..0ee595d2963 100644 --- a/Sofa/framework/Simulation/Core/simutest/NodeContext_test.cpp +++ b/Sofa/framework/Simulation/Core/simutest/NodeContext_test.cpp @@ -41,8 +41,8 @@ class NodeContext_test: public BaseSimulationTest NodeContext_test() { - sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); - sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.SceneUtility); } void testGetNodeObjects() diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h index 0a52f314f56..0bf43392655 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h @@ -156,7 +156,7 @@ class SOFA_SIMULATION_CORE_API MechanicalOperations void addMBKdx(core::MultiVecDerivId df, SReal m, SReal b, SReal k, bool clear = true, bool accumulate = true); SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_ADDMBKV() void addMBKv(core::MultiVecDerivId df, SReal m, SReal b, SReal k, bool clear = true, bool accumulate = true); - SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX() + SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX_OTHER() void setSystemMBKMatrix(SReal mFact, SReal bFact, SReal kFact, core::behavior::LinearSolver* linearSolver); protected: diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp index f3c4f3d34ec..f4f2ce91e80 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp @@ -100,6 +100,7 @@ Node::Node(const std::string& name) , animationManager(initLink("animationLoop","The AnimationLoop attached to this node (only valid for root node)")) , visualLoop(initLink("visualLoop", "The VisualLoop attached to this node (only valid for root node)")) + , visualStyle(initLink("visualStyle", "The VisualStyle(s) attached to this node")) , topology(initLink("topology", "The Topology attached to this node")) , meshTopology(initLink("meshTopology", "The MeshTopology / TopologyContainer attached to this node")) , state(initLink("state", "The State attached to this node (storing vectors such as position, velocity)")) @@ -930,6 +931,7 @@ void Node::printComponents() using core::objectmodel::ContextObject; using core::collision::Pipeline; using core::BaseState; + using core::visual::BaseVisualStyle; std::stringstream sstream; @@ -987,6 +989,9 @@ void Node::printComponents() sstream << "\n" << "VisualModel: "; for (NodeSequence::iterator i = visualModel.begin(), iend = visualModel.end(); i != iend; ++i) sstream << (*i)->getName() << " "; + sstream << "\n" << "BaseVisualStyle: "; + for (NodeSingle::iterator i = visualStyle.begin(), iend = visualStyle.end(); i != iend; ++i) + sstream << (*i)->getName() << " "; sstream << "\n" << "CollisionModel: "; for (NodeSequence::iterator i = collisionModel.begin(), iend = collisionModel.end(); i != iend; ++i) sstream << (*i)->getName() << " "; @@ -1045,6 +1050,7 @@ NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::objectmodel::ContextObject, ContextOb NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::objectmodel::ConfigurationSetting, ConfigurationSetting, configurationSetting ) NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::visual::Shader, Shader, shaders ) NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::visual::VisualModel, VisualModel, visualModel ) +NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::visual::BaseVisualStyle, VisualStyle, visualStyle ) NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::visual::VisualManager, VisualManager, visualManager ) NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::CollisionModel, CollisionModel, collisionModel ) NODE_DEFINE_SEQUENCE_ACCESSOR( sofa::core::collision::Pipeline, CollisionPipeline, collisionPipeline ) @@ -1071,6 +1077,7 @@ template class NodeSequence; template class NodeSingle; template class NodeSingle; +template class NodeSingle; template class NodeSingle; template class NodeSingle; template class NodeSingle; diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h index 0f6d4aa7d54..2318c243d9f 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.h @@ -127,6 +127,7 @@ extern template class NodeSequence; extern template class NodeSingle; extern template class NodeSingle; +extern template class NodeSingle; extern template class NodeSingle; extern template class NodeSingle; extern template class NodeSingle; @@ -255,6 +256,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, NodeSingle animationManager; NodeSingle visualLoop; + NodeSingle visualStyle; NodeSingle topology; NodeSingle meshTopology; NodeSingle state; @@ -599,6 +601,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::objectmodel::ConfigurationSetting, ConfigurationSetting, configurationSetting ) NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::visual::Shader, Shader, shaders ) NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::visual::VisualModel, VisualModel, visualModel ) + NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::visual::BaseVisualStyle, VisualStyle, visualStyle ) NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::visual::VisualManager, VisualManager, visualManager ) NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::CollisionModel, CollisionModel, collisionModel ) NODE_DECLARE_SEQUENCE_ACCESSOR( sofa::core::collision::Pipeline, CollisionPipeline, collisionPipeline ) diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp index 088e72f3251..32e49c43ebe 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp @@ -136,17 +136,16 @@ bool RequiredPlugin::loadPlugin() objectFactory->registerObjectsFromPlugin(name); // fail-safe to check if potential components have been registered (implicitly or explicitly) - // SOFA_ATTRIBUTE_DEPRECATED__REGISTEROBJECT() std::vector entries; objectFactory->getEntriesFromTarget(entries, name); if (entries.empty()) { -// msg_warning() << "No component has been registered from " << name << ".\n" -// << "It could be because: \n" -// << " - the entrypoint registerObjects() has not been implemented;\n" -// << " - (deprecated) no sofa::core::RegisterObject() has been called;\n" -// << " - your plugin does not add any component (i.e BaseObject) into the factory. In that case, RequiredPlugin is not useful for this kind of plugin."; + msg_warning() << "No component has been registered from " << name << ".\n" + << "It could be because: \n" + << " - the entrypoint registerObjects() has not been implemented;\n" + << " - (deprecated since v24.12) no sofa::core::RegisterObject() has been called;\n" + << " - your plugin does not add any component (i.e BaseObject) into the factory. In that case, RequiredPlugin is not useful for this kind of plugin."; } if (d_stopAfterFirstSuffixFound.getValue()) break; diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp index 337ac2008ce..79579eae660 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp @@ -230,7 +230,8 @@ void animate(Node* root, SReal dt) void updateVisual(Node* root) { SCOPED_TIMER("Simulation::updateVisual"); - + + sofa::core::visual::VisualParams* vparams = sofa::core::visual::visualparams::defaultInstance(); if (sofa::core::visual::VisualLoop* vloop = root->getVisualLoop()) diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.cpp index cde01030ab4..3c048b2568f 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.cpp @@ -46,14 +46,34 @@ Visitor::Result VisualVisitor::processNodeTopDown(simulation::Node* node) } -Visitor::Result VisualDrawVisitor::processNodeTopDown(simulation::Node* node) +void VisualVisitor::fwdProcessVisualStyle(simulation::Node* node, core::visual::BaseVisualStyle* vm) { + SOFA_UNUSED(node); + vm-> updateVisualFlags(vparams); +} + + +void VisualVisitor::bwdProcessVisualStyle(simulation::Node* node, core::visual::BaseVisualStyle* vm) +{ + SOFA_UNUSED(node); + vm-> applyBackupFlags(vparams); +} + +Visitor::Result VisualDrawVisitor::processNodeTopDown(simulation::Node* node) +{ // NB: hasShader is only used when there are visual models and getShader does a graph search when there is no shader, // which will most probably be the case when there are no visual models, so we skip the search unless we have visual models. hasShader = !node->visualModel.empty() && (node->getShader()!=nullptr); + if(node->visualStyle.get()) + { + fwdProcessVisualStyle(node,node->visualStyle.get()); + } + + for_each(this, node, node->visualModel, &VisualDrawVisitor::fwdVisualModel); + this->VisualVisitor::processNodeTopDown(node); return RESULT_CONTINUE; @@ -65,6 +85,12 @@ void VisualDrawVisitor::processNodeBottomUp(simulation::Node* node) if (!vparams->displayFlags().getShowVisualModels()) return; + if(node->visualStyle.get()) + { + bwdProcessVisualStyle(node,node->visualStyle.get()); + } + + for_each(this, node, node->visualModel, &VisualDrawVisitor::bwdVisualModel); } @@ -149,11 +175,27 @@ void VisualDrawVisitor::processVisualModel(simulation::Node* node, core::visual: Visitor::Result VisualUpdateVisitor::processNodeTopDown(simulation::Node* node) { - for_each(this, node, node->visualModel, &VisualUpdateVisitor::processVisualModel); + //Necessary check for first draw + if(node->visualStyle.get()) + { + fwdProcessVisualStyle(node,node->visualStyle.get()); + } + + for_each(this, node, node->visualModel, &VisualUpdateVisitor::processVisualModel); return RESULT_CONTINUE; } +void VisualUpdateVisitor::processNodeBottomUp(simulation::Node* node) +{ + //Necessary check for first draw + if(node->visualStyle.get()) + { + bwdProcessVisualStyle(node,node->visualStyle.get()); + } +} + + void VisualUpdateVisitor::processVisualModel(simulation::Node*, core::visual::VisualModel* vm) { helper::ScopedAdvancedTimer timer("VisualUpdateVisitor process: " + vm->getName()); diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.h index 44ca10602b6..f44a98cef82 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/VisualVisitor.h @@ -24,6 +24,7 @@ #include #include +#include namespace sofa::simulation @@ -38,6 +39,8 @@ class SOFA_SIMULATION_CORE_API VisualVisitor : public Visitor {} virtual void processVisualModel(simulation::Node* node, core::visual::VisualModel* vm) = 0; + virtual void fwdProcessVisualStyle(simulation::Node* node, core::visual::BaseVisualStyle* vm); + virtual void bwdProcessVisualStyle(simulation::Node* node, core::visual::BaseVisualStyle* vm); virtual void processObject(simulation::Node* /*node*/, core::objectmodel::BaseObject* /*o*/) {} Result processNodeTopDown(simulation::Node* node) override; @@ -54,14 +57,14 @@ class SOFA_SIMULATION_CORE_API VisualVisitor : public Visitor core::visual::VisualParams* vparams; }; + class SOFA_SIMULATION_CORE_API VisualDrawVisitor : public VisualVisitor { public: bool hasShader; VisualDrawVisitor(core::visual::VisualParams* params) - : VisualVisitor(params) - { - } + : VisualVisitor(params) + {}; Result processNodeTopDown(simulation::Node* node) override; void processNodeBottomUp(simulation::Node* node) override; virtual void fwdVisualModel(simulation::Node* node, core::visual::VisualModel* vm); @@ -83,11 +86,10 @@ class SOFA_SIMULATION_CORE_API VisualUpdateVisitor : public VisualVisitor virtual void processVisualModel(simulation::Node*, core::visual::VisualModel* vm) override; Result processNodeTopDown(simulation::Node* node) override; + void processNodeBottomUp(simulation::Node* node) override; const char* getClassName() const override { return "VisualUpdateVisitor"; } -protected: - core::visual::VisualParams* m_vparams; }; class SOFA_SIMULATION_CORE_API VisualInitVisitor : public VisualVisitor diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/config.h.in b/Sofa/framework/Simulation/Core/src/sofa/simulation/config.h.in index 0497c54b26d..53ed3e67af5 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/config.h.in +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/config.h.in @@ -296,9 +296,9 @@ SOFA_ATTRIBUTE_DISABLED("v23.12", "v24.06", "rootdata/nodedata feature was never #endif // SOFA_BUILD_SOFA_SIMULATION_CORE #ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX() +#define SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX_OTHER() #else -#define SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX() \ +#define SOFA_ATTRIBUTE_DEPRECATED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX_OTHER() \ SOFA_ATTRIBUTE_DEPRECATED( \ "v24.12", "v25.06", "Use the other setSystemMBKMatrix overload instead.") #endif // SOFA_BUILD_SOFA_SIMULATION_CORE diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyPositionAndVelocityVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyPositionAndVelocityVisitor.h index 96e8060eaf6..a037c9d18b7 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyPositionAndVelocityVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyPositionAndVelocityVisitor.h @@ -45,7 +45,7 @@ class SOFA_SIMULATION_CORE_API MechanicalPropagateOnlyPositionAndVelocityVisitor sofa::core::MultiVecDerivId v; MechanicalPropagateOnlyPositionAndVelocityVisitor(const sofa::core::MechanicalParams* mparams, SReal time=0, - sofa::core::MultiVecCoordId x = sofa::core::VecId::position(), sofa::core::MultiVecDerivId v = sofa::core::VecId::velocity()); + sofa::core::MultiVecCoordId x = sofa::core::vec_id::write_access::position, sofa::core::MultiVecDerivId v = sofa::core::vec_id::write_access::velocity); Result fwdMechanicalState(simulation::Node* /*node*/,sofa::core::behavior::BaseMechanicalState* mm) override; Result fwdMechanicalMapping(simulation::Node* /*node*/, sofa::core::BaseMapping* map) override; diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyVelocityVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyVelocityVisitor.h index 330a457fa48..dbdcf3d6d08 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyVelocityVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyVelocityVisitor.h @@ -43,7 +43,7 @@ class SOFA_SIMULATION_CORE_API MechanicalPropagateOnlyVelocityVisitor : public M sofa::core::MultiVecDerivId v; MechanicalPropagateOnlyVelocityVisitor(const sofa::core::MechanicalParams* mparams, SReal time=0, - sofa::core::MultiVecDerivId v = sofa::core::VecId::velocity()); + sofa::core::MultiVecDerivId v = sofa::core::vec_id::write_access::velocity); Result fwdMechanicalState(simulation::Node* /*node*/,sofa::core::behavior::BaseMechanicalState* mm) override; Result fwdMechanicalMapping(simulation::Node* /*node*/, sofa::core::BaseMapping* map) override; diff --git a/Sofa/framework/Simulation/Core/test/RequiredPlugin_test.cpp b/Sofa/framework/Simulation/Core/test/RequiredPlugin_test.cpp index c9349748989..1013581b97a 100644 --- a/Sofa/framework/Simulation/Core/test/RequiredPlugin_test.cpp +++ b/Sofa/framework/Simulation/Core/test/RequiredPlugin_test.cpp @@ -85,7 +85,7 @@ struct RequiredPlugin_test : public BaseSimulationTest void testLoadPluginB() { - EXPECT_MSG_EMIT(Warning); // // TestPluginB does not register any component + EXPECT_MSG_EMIT(Warning); // TestPluginB does not register any component std::stringstream scene; scene << "" @@ -101,7 +101,7 @@ struct RequiredPlugin_test : public BaseSimulationTest void testLoadPluginC() { - EXPECT_MSG_NOEMIT(Warning); // // TestPluginC registers its component explicitly + EXPECT_MSG_NOEMIT(Warning); // TestPluginC registers its component explicitly std::stringstream scene; scene << "" @@ -118,8 +118,8 @@ struct RequiredPlugin_test : public BaseSimulationTest TEST_F(RequiredPlugin_test, testNotExistingPlugin ) { testNotExistingPlugin(); } TEST_F(RequiredPlugin_test, testNoParameter ) { testNoParameter(); } -TEST_F(RequiredPlugin_test, DISABLED_testLoadPluginA) { testLoadPluginA(); } // disabled because testLoadPluginA() should throw a warning (but this warning is commented for the moment) -TEST_F(RequiredPlugin_test, DISABLED_testLoadPluginB) { testLoadPluginB(); }// disabled because testLoadPluginB() should throw a warning (but this warning is commented for the moment) +TEST_F(RequiredPlugin_test, testLoadPluginA) { testLoadPluginA(); } +TEST_F(RequiredPlugin_test, testLoadPluginB) { testLoadPluginB(); } TEST_F(RequiredPlugin_test, testLoadPluginC) { testLoadPluginC(); } } diff --git a/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp b/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp index 1ffcafa8813..c2d20e7bc9c 100644 --- a/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp +++ b/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp @@ -411,14 +411,14 @@ struct MutationListener_test : public BaseTest listener.log); } - void SetUp() override + void doSetUp() override { sofa::simulation::Simulation* simu = sofa::simulation::getSimulation(); root = simu->createNewGraph("root"); root->addListener(&listener); } - void TearDown() override + void doTearDown() override { } }; diff --git a/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp b/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp index 8ed14089499..5bb847fea9e 100644 --- a/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp +++ b/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp @@ -29,9 +29,6 @@ using sofa::simulation::Node ; #include using sofa::component::sceneutility::InfoComponent; -#include -using sofa::helper::system::PluginManager ; - #include using sofa::simulation::SceneLoaderXML ; @@ -47,10 +44,36 @@ class ParallelScenesTest : public virtual sofa::testing::BaseTest { } + void doSetUp() override + { + EXPECT_MSG_NOEMIT(Error, Warning); + + sofa::simpleapi::importPlugin(Sofa.Component.AnimationLoop); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Algorithm); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Intersection); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Geometry); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Response.Contact); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Lagrangian.Correction); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Lagrangian.Solver); + sofa::simpleapi::importPlugin(Sofa.Component.Constraint.Projective); + sofa::simpleapi::importPlugin(Sofa.Component.IO.Mesh); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.Mapping.Linear); + sofa::simpleapi::importPlugin(Sofa.Component.Mass); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Backward); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); + sofa::simpleapi::importPlugin(Sofa.Component.StateContainer); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic); + sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid); + sofa::simpleapi::importPlugin(Sofa.Component.Visual); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Rendering3D); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSystem); + } + void executeInParallel(const char* sceneStr, const std::size_t nbScenes, const std::size_t nbSteps) { - EXPECT_MSG_NOEMIT(Error); - EXPECT_MSG_NOEMIT(Warning); + EXPECT_MSG_NOEMIT(Error, Warning); std::vector groots; groots.resize(nbScenes); @@ -104,21 +127,6 @@ class ParallelScenesTest : public virtual sofa::testing::BaseTest const std::string sceneStr = R"( - - - - - - - - - - - - - - - @@ -160,29 +168,6 @@ class ParallelScenesTest : public virtual sofa::testing::BaseTest const std::string sceneStr = R"( - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Sofa/framework/Testing/CMakeLists.txt b/Sofa/framework/Testing/CMakeLists.txt index a4152a1925c..22b0a88b2ea 100644 --- a/Sofa/framework/Testing/CMakeLists.txt +++ b/Sofa/framework/Testing/CMakeLists.txt @@ -65,6 +65,7 @@ set(HEADER_FILES ${SOFATESTINGSRC_ROOT}/BaseTest.h ${SOFATESTINGSRC_ROOT}/LinearCongruentialRandomGenerator.h ${SOFATESTINGSRC_ROOT}/NumericTest.h + ${SOFATESTINGSRC_ROOT}/ScopedPlugin.h ${SOFATESTINGSRC_ROOT}/TestMessageHandler.h ${SOFATESTINGSRC_ROOT}/BaseSimulationTest.h ) @@ -74,6 +75,7 @@ set(SOURCE_FILES ${SOFATESTINGSRC_ROOT}/BaseTest.cpp ${SOFATESTINGSRC_ROOT}/LinearCongruentialRandomGenerator.cpp ${SOFATESTINGSRC_ROOT}/NumericTest.cpp + ${SOFATESTINGSRC_ROOT}/ScopedPlugin.cpp ${SOFATESTINGSRC_ROOT}/TestMessageHandler.cpp ${SOFATESTINGSRC_ROOT}/BaseSimulationTest.cpp ) diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp b/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp index 618a974466a..f4c6de7a263 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp +++ b/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp @@ -93,14 +93,21 @@ BaseTest::BaseTest() : BaseTest::~BaseTest() {} +void BaseTest::loadPlugins( + const std::initializer_list& pluginNames) +{ + m_loadedPlugins.emplace_back(pluginNames.begin(), pluginNames.end()); +} + void BaseTest::SetUp() { - onSetUp(); + doSetUp(); } void BaseTest::TearDown() { - onTearDown(); + m_loadedPlugins.clear(); + doTearDown(); } diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseTest.h b/Sofa/framework/Testing/src/sofa/testing/BaseTest.h index 1ec7c55dd14..303421e0ba3 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseTest.h +++ b/Sofa/framework/Testing/src/sofa/testing/BaseTest.h @@ -21,10 +21,13 @@ ******************************************************************************/ #pragma once +#include #include +#include #include #include +#include namespace sofa::testing { @@ -45,15 +48,25 @@ class SOFA_TESTING_API BaseTest : public ::testing::Test BaseTest() ; ~BaseTest() override; + virtual void doSetUp() { onSetUp(); } + virtual void doTearDown() { onTearDown(); } + + SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONSETUP() virtual void onSetUp() {} + + SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONTEARDOWN() virtual void onTearDown() {} /// Seed value static int seed; + void loadPlugins(const std::initializer_list& pluginNames); + private: - void SetUp() override ; - void TearDown() override ; + void SetUp() final ; + void TearDown() final ; + + std::deque m_loadedPlugins; }; } // namespace sofa::testing diff --git a/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp new file mode 100644 index 00000000000..e0eee3ed616 --- /dev/null +++ b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp @@ -0,0 +1,60 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +namespace sofa::testing +{ + +ScopedPlugin::ScopedPlugin(const std::string& pluginName, + helper::system::PluginManager* pluginManager) +: m_pluginManager(pluginManager) +{ + addPlugin(pluginName); +} + +ScopedPlugin::~ScopedPlugin() +{ + if (m_pluginManager) + { + for (const auto& pluginName : m_loadedPlugins) + { + const auto [path, isLoaded] = m_pluginManager->isPluginLoaded(pluginName); + if (isLoaded) + { + m_pluginManager->unloadPlugin(path); + } + } + } +} + +void ScopedPlugin::addPlugin(const std::string& pluginName) +{ + const auto status = m_pluginManager->loadPlugin(pluginName); + if(status == helper::system::PluginManager::PluginLoadStatus::SUCCESS) + { + m_loadedPlugins.insert(pluginName); + sofa::core::ObjectFactory::getInstance()->registerObjectsFromPlugin(pluginName); + } +} + +} diff --git a/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h new file mode 100644 index 00000000000..4d1e24afe0e --- /dev/null +++ b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h @@ -0,0 +1,68 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include + +namespace sofa::testing +{ + +struct SOFA_TESTING_API ScopedPlugin +{ + ScopedPlugin() = delete; + ScopedPlugin(const ScopedPlugin&) = delete; + void operator=(const ScopedPlugin&) = delete; + + explicit ScopedPlugin( + const std::string& pluginName, + helper::system::PluginManager* pluginManager = &helper::system::PluginManager::getInstance()); + + template + ScopedPlugin( + InputIt first, InputIt last, + helper::system::PluginManager* pluginManager = &helper::system::PluginManager::getInstance()) + : m_pluginManager(pluginManager) + { + while (first != last) + { + addPlugin(*first++); + } + } + + ~ScopedPlugin(); + +private: + helper::system::PluginManager* m_pluginManager { nullptr }; + + std::set m_loadedPlugins; + + void addPlugin(const std::string& pluginName); +}; + + +inline std::unique_ptr makeScopedPlugin(const std::initializer_list& pluginNames) +{ + return std::make_unique(pluginNames.begin(), pluginNames.end()); +} + + +} diff --git a/Sofa/framework/Testing/src/sofa/testing/config.h.in b/Sofa/framework/Testing/src/sofa/testing/config.h.in index 35221eb58fe..04dedf7c8fb 100644 --- a/Sofa/framework/Testing/src/sofa/testing/config.h.in +++ b/Sofa/framework/Testing/src/sofa/testing/config.h.in @@ -43,3 +43,20 @@ constexpr char SOFA_TESTING_RESOURCES_DIR[] = "@SOFA_TESTING_RESOURCES_DIR@"; SOFA_ATTRIBUTE_DEPRECATED( \ "v24.06", "v24.12", "Use sofa::simpleapi::importPlugin() instead.") #endif // SOFA_BUILD_SOFA_TESTING + + +#ifdef SOFA_BUILD_SOFA_TESTING +#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONSETUP() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONSETUP() \ + SOFA_ATTRIBUTE_DEPRECATED( \ + "v25.06", "v25.12", "Use doSetUp instead.") +#endif // SOFA_BUILD_SOFA_TESTING + +#ifdef SOFA_BUILD_SOFA_TESTING +#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONTEARDOWN() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONTEARDOWN() \ + SOFA_ATTRIBUTE_DEPRECATED( \ + "v25.06", "v25.12", "Use doTearDown instead.") +#endif // SOFA_BUILD_SOFA_TESTING diff --git a/Sofa/framework/Testing/test/CMakeLists.txt b/Sofa/framework/Testing/test/CMakeLists.txt index 7d24aab0b58..3b0abcc8063 100644 --- a/Sofa/framework/Testing/test/CMakeLists.txt +++ b/Sofa/framework/Testing/test/CMakeLists.txt @@ -3,7 +3,8 @@ cmake_minimum_required(VERSION 3.22) project(Sofa.Testing_test) set(SOURCE_FILES - TestMessageHandler_test.cpp + ScopedPlugin_test.cpp + TestMessageHandler_test.cpp ) add_executable(${PROJECT_NAME} ${SOURCE_FILES}) diff --git a/Sofa/framework/Testing/test/ScopedPlugin_test.cpp b/Sofa/framework/Testing/test/ScopedPlugin_test.cpp new file mode 100644 index 00000000000..3519649f2b9 --- /dev/null +++ b/Sofa/framework/Testing/test/ScopedPlugin_test.cpp @@ -0,0 +1,59 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +TEST(ScopedPlugin, test) +{ + static std::string pluginName = "Sofa.Component.AnimationLoop"; + auto& pluginManager = sofa::helper::system::PluginManager::getInstance(); + + //make sure that pluginName is not already loaded + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + if (isLoaded) + { + pluginManager.unloadPlugin(path); + } + } + + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + EXPECT_FALSE(isLoaded); + } + + { + const sofa::testing::ScopedPlugin plugin(pluginName); + + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + EXPECT_TRUE(isLoaded); + } + + //end of scope: plugin should be unloaded + } + + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + EXPECT_FALSE(isLoaded); + } +} diff --git a/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp b/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp index 08c9121191e..b2d5e391af3 100644 --- a/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp +++ b/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp @@ -36,56 +36,23 @@ BoundingBox::bbox_t make_neutralBBox() return std::make_pair(minBBox,maxBBox); } -BoundingBox::BoundingBox() - :bbox(make_neutralBBox()) -{ -} - -BoundingBox::BoundingBox(const bbox_t& bbox) - :bbox(bbox) -{ -} - -BoundingBox::BoundingBox(const sofa::type::Vec3& minBBox, const sofa::type::Vec3& maxBBox) - :bbox(std::make_pair(minBBox,maxBBox)) -{ -} - -BoundingBox::BoundingBox(SReal xmin, SReal xmax, SReal ymin, SReal ymax, SReal zmin, SReal zmax ) - :bbox(std::make_pair(sofa::type::Vec3((SReal)xmin, (SReal)ymin, (SReal)zmin),sofa::type::Vec3( (SReal)xmax, (SReal)ymax, (SReal)zmax))) -{ -} - - -BoundingBox::BoundingBox(const Vec6f& v ) - :bbox(std::make_pair(sofa::type::Vec3(v[0],v[2],v[4]),sofa::type::Vec3(v[1],v[3],v[5]))) -{ -} - -BoundingBox::BoundingBox(const Vec6d& v ) - :bbox(std::make_pair(sofa::type::Vec3((SReal)v[0],(SReal)v[2],(SReal)v[4]),sofa::type::Vec3((SReal)v[1],(SReal)v[3],(SReal)v[5]))) -{ -} - - -/*static*/ -BoundingBox BoundingBox::neutral_bbox() -{ - return BoundingBox(make_neutralBBox()); -} - void BoundingBox::invalidate() { this->bbox = make_neutralBBox(); } -bool BoundingBox::isNegligeable() const +bool BoundingBox::isNegligible() const { return minBBox().x() >= maxBBox().x() && minBBox().y() >= maxBBox().y() && minBBox().z() >= maxBBox().z(); } +bool BoundingBox::isNegligeable() const +{ + return isNegligible(); +} + bool BoundingBox::isValid() const { return minBBox().x() <= maxBBox().x() && @@ -112,6 +79,11 @@ BoundingBox::operator bbox_t() const return bbox; } +bool BoundingBox::operator==(const BoundingBox& other) const +{ + return this->bbox == other.bbox; +} + SReal* BoundingBox::minBBoxPtr() { return bbox.first.ptr(); diff --git a/Sofa/framework/Type/src/sofa/type/BoundingBox.h b/Sofa/framework/Type/src/sofa/type/BoundingBox.h index fd7a4bcdd85..d868b56fff4 100644 --- a/Sofa/framework/Type/src/sofa/type/BoundingBox.h +++ b/Sofa/framework/Type/src/sofa/type/BoundingBox.h @@ -35,41 +35,68 @@ class SOFA_TYPE_API BoundingBox public: typedef std::pair< sofa::type::Vec3, sofa::type::Vec3 > bbox_t; + using Real = sofa::type::Vec3::value_type; - BoundingBox(); - /// Define using the endpoints of the main diagonal - BoundingBox(const sofa::type::Vec3& minBBox, const sofa::type::Vec3& maxBBox); - BoundingBox(const bbox_t& bbox); - /// Define using xmin, xmax, ymin, ymax, zmin, zmax in this order - BoundingBox(SReal xmin, SReal xmax, SReal ymin, SReal ymax, SReal zmin, SReal zmax ); - /// Define using xmin, xmax, ymin, ymax, zmin, zmax in this order - BoundingBox(const Vec6f& bbox); - /// Define using xmin, xmax, ymin, ymax, zmin, zmax in this order - BoundingBox(const Vec6d& bbox); + constexpr BoundingBox() + : BoundingBox(neutral_bbox().bbox) + {} - static BoundingBox neutral_bbox(); + /// Define using the endpoints of the main diagonal + constexpr BoundingBox(const sofa::type::Vec3& minBBox, const sofa::type::Vec3& maxBBox) + : bbox({minBBox, maxBBox}) {} + + constexpr explicit BoundingBox(const bbox_t& bbox) + : bbox(bbox) + {} + + /// Define using xMin, xMax, yMin, yMax, zMin, zMax in this order + constexpr BoundingBox( + const Real xMin, const Real xMax, + const Real yMin, const Real yMax, + const Real zMin, const Real zMax ) + : BoundingBox({xMin, yMin, zMin}, {xMax, yMax, zMax}) + {} + + template + constexpr explicit BoundingBox(const Vec<6, Scalar>& bbox) + : BoundingBox(bbox[0], bbox[1], bbox[2], bbox[3], bbox[4], bbox[5]) + {} + + static constexpr BoundingBox neutral_bbox() + { + constexpr Real max_real = std::numeric_limits::max(); + constexpr Real min_real = std::numeric_limits::lowest(); + return BoundingBox{ + {max_real, max_real, max_real}, + {min_real, min_real, min_real} + }; + } operator bbox_t() const; + [[nodiscard]] bool operator==(const BoundingBox& other) const; + void invalidate(); - bool isValid() const; - bool isFlat() const; - bool isNegligeable() const; // !valid || flat - bool isNull() const; + [[nodiscard]] bool isValid() const; + [[nodiscard]] bool isFlat() const; + [[nodiscard]] bool isNegligible() const; // !valid || flat + SOFA_ATTRIBUTE_DISABLED__BOUNDINGBOX_TYPO() + [[nodiscard]] bool isNegligeable() const; + [[nodiscard]] bool isNull() const; SReal* minBBoxPtr(); SReal* maxBBoxPtr(); - const SReal* minBBoxPtr() const; - const SReal* maxBBoxPtr() const; - const sofa::type::Vec3& minBBox() const; - const sofa::type::Vec3& maxBBox() const; + [[nodiscard]] const SReal* minBBoxPtr() const; + [[nodiscard]] const SReal* maxBBoxPtr() const; + [[nodiscard]] const sofa::type::Vec3& minBBox() const; + [[nodiscard]] const sofa::type::Vec3& maxBBox() const; sofa::type::Vec3& minBBox(); sofa::type::Vec3& maxBBox(); - bool contains( const sofa::type::Vec3& point) const; - bool contains( const BoundingBox& other) const; + [[nodiscard]] bool contains( const sofa::type::Vec3& point) const; + [[nodiscard]] bool contains( const BoundingBox& other) const; - bool intersect( const BoundingBox& other) const; + [[nodiscard]] bool intersect( const BoundingBox& other) const; void intersection( const BoundingBox& other); void include( const sofa::type::Vec3& point); @@ -77,10 +104,10 @@ class SOFA_TYPE_API BoundingBox void inflate( SReal amount ); - BoundingBox getIntersection( const BoundingBox& other ) const; - BoundingBox getInclude( const sofa::type::Vec3& point ) const; - BoundingBox getInclude( const BoundingBox& other ) const; - BoundingBox getInflate( SReal amount ) const; + [[nodiscard]] BoundingBox getIntersection( const BoundingBox& other ) const; + [[nodiscard]] BoundingBox getInclude( const sofa::type::Vec3& point ) const; + [[nodiscard]] BoundingBox getInclude( const BoundingBox& other ) const; + [[nodiscard]] BoundingBox getInflate( SReal amount ) const; friend std::ostream& operator << ( std::ostream& out, const BoundingBox& bbox) { diff --git a/Sofa/framework/Type/src/sofa/type/MatSym.h b/Sofa/framework/Type/src/sofa/type/MatSym.h index 8a4140fdfb4..5de7389e6d1 100644 --- a/Sofa/framework/Type/src/sofa/type/MatSym.h +++ b/Sofa/framework/Type/src/sofa/type/MatSym.h @@ -137,7 +137,7 @@ class MatSym : public VecNoInit { for (sofa::Size j = 0; j < D; j++) { - for (int i = 0; i <= j; i++) + for (sofa::Size i = 0; i <= j; i++) { W(i, j) = (M(i, j) + M(j, i)) / 2; } diff --git a/Sofa/framework/Type/src/sofa/type/Quat.h b/Sofa/framework/Type/src/sofa/type/Quat.h index 739fa6e5f59..05b534d7e33 100644 --- a/Sofa/framework/Type/src/sofa/type/Quat.h +++ b/Sofa/framework/Type/src/sofa/type/Quat.h @@ -116,7 +116,7 @@ class Quat static Quat identity() { - return Quat(0,0,0,1); + return Quat(0, 0, 0, 1); } void set(Real x, Real y, Real z, Real w) @@ -147,7 +147,7 @@ class Quat void clear() { - set(0.0,0.0,0.0,1); + set(0, 0, 0, 1); } /// Convert the reference frame orientation into an orientation quaternion @@ -311,6 +311,30 @@ class Quat return _q[index]; } + template< std::size_t I > + [[nodiscard]] constexpr Real& get() & noexcept requires (I < 4) + { + return _q[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr const Real& get() const& noexcept requires (I < 4) + { + return _q[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr Real&& get() && noexcept requires (I < 4) + { + return std::move(_q[I]); + } + + template< std::size_t I > + [[nodiscard]] constexpr const Real&& get() const&& noexcept requires (I < 4) + { + return std::move(_q[I]); + } + auto inverse() const -> Quat; auto quatToRotationVector() const -> Vec3; @@ -462,3 +486,17 @@ extern template class SOFA_TYPE_API Quat; #endif } // namespace sofa::type + +namespace std +{ + +template +struct tuple_size<::sofa::type::Quat > : integral_constant {}; + +template +struct tuple_element > +{ + using type = typename::sofa::type::Quat::value_type; +}; + +} diff --git a/Sofa/framework/Type/src/sofa/type/RGBAColor.h b/Sofa/framework/Type/src/sofa/type/RGBAColor.h index 44fefc4eacc..0d4af4739a8 100644 --- a/Sofa/framework/Type/src/sofa/type/RGBAColor.h +++ b/Sofa/framework/Type/src/sofa/type/RGBAColor.h @@ -33,6 +33,8 @@ #include #include +#include + namespace sofa::type { @@ -45,8 +47,9 @@ namespace sofa::type class SOFA_TYPE_API RGBAColor { public: + using value_type = float; static constexpr sofa::Size NumberOfComponents = 4; - using ComponentArray = std::array; + using ComponentArray = std::array; constexpr RGBAColor() : m_components{ 1.f, 1.f, 1.f, 1.f } {} @@ -132,6 +135,30 @@ class SOFA_TYPE_API RGBAColor return m_components[i]; } + template< std::size_t I > + [[nodiscard]] constexpr float& get() & noexcept requires (I < 4) + { + return m_components[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr const float& get() const& noexcept requires (I < 4) + { + return m_components[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr float&& get() && noexcept requires (I < 4) + { + return std::move(m_components[I]); + } + + template< std::size_t I > + [[nodiscard]] constexpr const float&& get() const&& noexcept requires (I < 4) + { + return std::move(m_components[I]); + } + void set(float r, float g, float b, float a) ; bool operator==(const RGBAColor& b) const @@ -209,7 +236,6 @@ class SOFA_TYPE_API RGBAColor static constexpr sofa::Size static_size = NumberOfComponents; static constexpr sofa::Size size() { return static_size; } - using value_type = float; using size_type = sofa::Size; private: @@ -285,3 +311,18 @@ constexpr const RGBAColor& RGBAColor::gold() { return g_gold ; } } // namespace sofa::type + + +namespace std +{ + +template<> +struct tuple_size<::sofa::type::RGBAColor > : integral_constant {}; + +template +struct tuple_element +{ + using type = ::sofa::type::RGBAColor::value_type; +}; + +} diff --git a/Sofa/framework/Type/src/sofa/type/Vec.h b/Sofa/framework/Type/src/sofa/type/Vec.h index 48e38f038b2..7c0b5a7ff23 100644 --- a/Sofa/framework/Type/src/sofa/type/Vec.h +++ b/Sofa/framework/Type/src/sofa/type/Vec.h @@ -613,6 +613,30 @@ class Vec return elems[i]; } + template< std::size_t I > + [[nodiscard]] constexpr reference get() & noexcept requires( I < N ) + { + return elems[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr const_reference get() const& noexcept requires( I < N ) + { + return elems[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr ValueType&& get() && noexcept requires( I < N ) + { + return std::move(elems[I]); + } + + template< std::size_t I > + [[nodiscard]] constexpr const ValueType&& get() const&& noexcept requires( I < N ) + { + return std::move(elems[I]); + } + // direct access to data constexpr const ValueType* data() const noexcept { @@ -782,4 +806,13 @@ struct less< sofa::type::Vec > } }; +template +struct tuple_size<::sofa::type::Vec > : integral_constant {}; + +template +struct tuple_element > +{ + using type = T; +}; + } // namespace std diff --git a/Sofa/framework/Type/src/sofa/type/config.h.in b/Sofa/framework/Type/src/sofa/type/config.h.in index 3fc2d71b07b..2bb528f7e5f 100644 --- a/Sofa/framework/Type/src/sofa/type/config.h.in +++ b/Sofa/framework/Type/src/sofa/type/config.h.in @@ -41,3 +41,21 @@ "v23.12", "v24.06", \ "RGBAColor does not inherit anymore from sofa::type::fixed_array. Use respective functions accordingly.") #endif + +#ifdef SOFA_BUILD_SOFA_TYPE +#define SOFA_ATTRIBUTE_DISABLED__BOUNDINGBOX_TYPO() +#else +#define SOFA_ATTRIBUTE_DISABLED__BOUNDINGBOX_TYPO() \ + SOFA_ATTRIBUTE_DISABLED( \ + "v24.12", "v25.06", \ + "Use isNegligible instead.") +#endif + +#ifdef SOFA_BUILD_SOFA_TYPE +#define SOFA_ATTRIBUTE_DEPRECATED__IS_CONTAINER() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__IS_CONTAINER() \ + SOFA_ATTRIBUTE_DISABLED( \ + "v25.06", "v25.12", \ + "Use std::ranges::ranges concept instead.") +#endif diff --git a/Sofa/framework/Type/src/sofa/type/fixed_array.h b/Sofa/framework/Type/src/sofa/type/fixed_array.h index ec1e711ca9d..edbffaa367d 100644 --- a/Sofa/framework/Type/src/sofa/type/fixed_array.h +++ b/Sofa/framework/Type/src/sofa/type/fixed_array.h @@ -83,18 +83,16 @@ class fixed_array constexpr fixed_array() {} /// Specific constructor for 1-element vectors. - template::type = 0> explicit constexpr fixed_array(value_type r1) noexcept + requires (N == 1) { elems[0] = r1; } - template && ...) >, - typename = std::enable_if_t< (sizeof...(ArgsT) == N && sizeof...(ArgsT) > 1) > - > + template constexpr fixed_array(ArgsT&&... r) noexcept - : elems{static_cast(std::forward< ArgsT >(r))...} + requires ((std::convertible_to && ...) && sizeof...(ArgsT) == N && sizeof...(ArgsT) > 1) + : elems{static_cast(std::forward(r))...} {} // iterator support diff --git a/Sofa/framework/Type/src/sofa/type/isRigidType.h b/Sofa/framework/Type/src/sofa/type/isRigidType.h index 41e17b5f9de..f43631703f9 100644 --- a/Sofa/framework/Type/src/sofa/type/isRigidType.h +++ b/Sofa/framework/Type/src/sofa/type/isRigidType.h @@ -1,31 +1,41 @@ -// -// Created by hugo on 28/11/23. -// - -#ifndef SOFA_ISRIGIDTYPE_H -#define SOFA_ISRIGIDTYPE_H +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once namespace sofa::type { - // Boiler-plate code to test if a type implements a method - // explanation https://stackoverflow.com/a/30848101 - - template - using void_t = void; - - // Primary template handles all types not supporting the operation. - template class, typename = void_t<>> - struct detect : std::false_type {}; - // Specialization recognizes/validates only types supporting the archetype. - template class Op> - struct detect>> : std::true_type {}; - - // Actual test if DataType::Coord implements getOrientation() (hence is a RigidType) - template - using isRigid_t = decltype(std::declval().getOrientation()); +/** + * A type T satisfies the isRigidType concept if: + * - T has a nested type named Coord. + * - An object of type T::Coord has a member function getOrientation that can be + * invoked without arguments. + * + * It allows to identify types such as StdRigidTypes and CudaRigidTypes at compile-time. + */ +template +concept isRigidType = requires +{ + std::declval().getOrientation(); +}; - template - using isRigidType = detect; } -#endif //SOFA_ISRIGIDTYPE_H diff --git a/Sofa/framework/Type/src/sofa/type/trait/Rebind.h b/Sofa/framework/Type/src/sofa/type/trait/Rebind.h index c462e08a1f4..994158d70b8 100644 --- a/Sofa/framework/Type/src/sofa/type/trait/Rebind.h +++ b/Sofa/framework/Type/src/sofa/type/trait/Rebind.h @@ -23,19 +23,18 @@ namespace sofa::type { - // primary template handles types that have no nested ::rebind_to member: - template< class T, class OtherType, class = void > - struct HasRebindTypedef : std::false_type { }; + template + concept CanTypeRebind = requires + { + typename T::template rebind_to; + }; - // specialization recognizes types that do have a nested ::rebind_to member: - template< class T, class OtherType > - struct HasRebindTypedef > > : std::true_type { }; /** * Depending on the type _T, has a public member typedef to. Otherwise, there is no member typedef (this is the * case of this implementation). */ - template + template struct Rebind {}; /** @@ -45,33 +44,20 @@ namespace sofa::type * \tparam _T Type that does have a nested ::rebind_to member */ template - struct Rebind<_T, _OtherType, std::enable_if_t::value > > + requires CanTypeRebind<_T, _OtherType> + struct Rebind<_T, _OtherType> { using to = typename _T::template rebind_to<_OtherType>; }; - template - inline constexpr auto deny = false; - - /** - * \brief Specialization for types that do NOT have a nested ::rebind_to member. In this implementation, Rebind has - * no public member typedef \ref to. If this implementation is chosen by the compiler (the number of template - * parameters is probably different from 1), a compilation error occurs. - * \tparam _T Type that does NOT have a nested ::rebind_to member - */ - template - struct Rebind<_T, _OtherType, std::enable_if_t::value > > - { - static_assert(deny<_T>, "_T must match _T"); - }; - /** * \brief Specialization for types that do NOT have a nested ::rebind_to member. In this implementation, Rebind has * a public member typedef \ref to. * \tparam _T Type that does NOT have a nested ::rebind_to member */ template class _T, class A, class _OtherType> - struct Rebind<_T, _OtherType, std::enable_if_t, _OtherType >::value > > + requires (!CanTypeRebind<_T, _OtherType>) + struct Rebind<_T, _OtherType> { using to = _T<_OtherType>; }; @@ -83,7 +69,7 @@ namespace sofa::type * 1) sofa::type::rebind_to< sofa::type::vector, float> is of type sofa::type::vector. In this example, * sofa::type::vector has a typedef rebind_to that will be used to deduce the type. * 2) sofa::type::rebind_to< sofa::type::Quat, double> is of type sofa::type::Quat. In this example, - * sofa::type::Quat does not have a typdef rebind_to. + * sofa::type::Quat does not have a typedef rebind_to. * 3) It makes no sense to use sofa::type::rebind on types having more than one template parameter, such as * sofa::type::fixed_array. A compilation error would occur. */ diff --git a/Sofa/framework/Type/src/sofa/type/trait/is_container.h b/Sofa/framework/Type/src/sofa/type/trait/is_container.h index 7ce8867ee55..52537fa767f 100644 --- a/Sofa/framework/Type/src/sofa/type/trait/is_container.h +++ b/Sofa/framework/Type/src/sofa/type/trait/is_container.h @@ -21,12 +21,17 @@ ******************************************************************************/ #pragma once #include +#include + +SOFA_HEADER_DEPRECATED_NOT_REPLACED("v25.06", "v25.12") + namespace sofa::type::trait { /// Detect if a type T has iterator/const iterator function. template +SOFA_ATTRIBUTE_DEPRECATED__IS_CONTAINER() struct is_container { typedef typename std::remove_const::type test_type; diff --git a/Sofa/framework/Type/src/sofa/type/trait/is_fixed_array.h b/Sofa/framework/Type/src/sofa/type/trait/is_fixed_array.h index 48a1e5166a1..f84787d514d 100644 --- a/Sofa/framework/Type/src/sofa/type/trait/is_fixed_array.h +++ b/Sofa/framework/Type/src/sofa/type/trait/is_fixed_array.h @@ -27,39 +27,17 @@ namespace sofa::type::trait /// Detect if a type T has iterator/const iterator function, operator[](size_t) and defines a static size template -struct is_fixed_array +concept is_fixed_array = requires(std::remove_cv_t t, const std::remove_cv_t ct) { - typedef typename std::remove_const::type test_type; + T::static_size; - template - static constexpr bool test( - A * pt, - A const * cpt = nullptr, - decltype(pt->begin()) * = nullptr, - decltype(pt->end()) * = nullptr, - decltype(cpt->begin()) * = nullptr, - decltype(cpt->end()) * = nullptr, - typename std::decay::type * = nullptr, ///< Is there an operator[] ? - decltype(A::static_size) * = nullptr, ///< fixed array containers define static_size - typename A::iterator * = nullptr, - typename A::const_iterator * = nullptr, - typename A::value_type * = nullptr) - { + {t.begin()} -> std::convertible_to; + {t.end()} -> std::convertible_to; - typedef typename A::iterator iterator; - typedef typename A::const_iterator const_iterator; - return std::is_samebegin()),iterator>::value - && std::is_sameend()),iterator>::value - && std::is_samebegin()),const_iterator>::value - && std::is_sameend()),const_iterator>::value; - } + {ct.begin()} -> std::convertible_to; + {ct.end()} -> std::convertible_to; - template - static constexpr bool test(...) { - return false; - } - - static const bool value = test(nullptr); + { t[0] } -> std::convertible_to; }; } diff --git a/Sofa/framework/Type/src/sofa/type/trait/is_vector.h b/Sofa/framework/Type/src/sofa/type/trait/is_vector.h index d2be28d54a9..bc7aa2c0861 100644 --- a/Sofa/framework/Type/src/sofa/type/trait/is_vector.h +++ b/Sofa/framework/Type/src/sofa/type/trait/is_vector.h @@ -27,38 +27,16 @@ namespace sofa::type::trait /// Detect if a type T has iterator/const iterator function, operator[](size_t) and is dynamically resizable (resize function) template -struct is_vector +concept is_vector = requires(std::remove_cv_t t, const std::remove_cv_t ct) { - typedef typename std::remove_const::type test_type; + {t.begin()} -> std::convertible_to; + {t.end()} -> std::convertible_to; - template - static constexpr bool test( - A * pt, - A const * cpt = nullptr, - decltype(pt->begin()) * = nullptr, - decltype(pt->end()) * = nullptr, - decltype(cpt->begin()) * = nullptr, - decltype(cpt->end()) * = nullptr, - typename std::decay::type * = nullptr, ///< Is there an operator[] ? - decltype(pt->resize(1)) * = nullptr, - typename A::iterator * = nullptr, - typename A::const_iterator * = nullptr, - typename A::value_type * = nullptr) { + {ct.begin()} -> std::convertible_to; + {ct.end()} -> std::convertible_to; - typedef typename A::iterator iterator; - typedef typename A::const_iterator const_iterator; - return std::is_samebegin()),iterator>::value - && std::is_sameend()),iterator>::value - && std::is_samebegin()),const_iterator>::value - && std::is_sameend()),const_iterator>::value; - } - - template - static constexpr bool test(...) { - return false; - } - - static const bool value = test(nullptr); + { t[0] } -> std::convertible_to; + t.resize(1); }; } diff --git a/Sofa/framework/Type/test/BoundingBox_test.cpp b/Sofa/framework/Type/test/BoundingBox_test.cpp new file mode 100644 index 00000000000..6b10e77db15 --- /dev/null +++ b/Sofa/framework/Type/test/BoundingBox_test.cpp @@ -0,0 +1,123 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +namespace sofa +{ + +using sofa::type::BoundingBox; +using sofa::type::Vec3; + +TEST(BoundingBoxTest, DefaultConstructor) +{ + static constexpr BoundingBox bbox; + EXPECT_TRUE(bbox.isNegligible()); // Default neutral box should be negligible +} + +TEST(BoundingBoxTest, ConstructorWithEndpoints) { + static constexpr Vec3 minVec(0.0, 0.0, 0.0); + static constexpr Vec3 maxVec(1.0, 1.0, 1.0); + static constexpr BoundingBox bbox(minVec, maxVec); + + EXPECT_EQ(bbox.minBBox(), minVec); + EXPECT_EQ(bbox.maxBBox(), maxVec); +} + +TEST(BoundingBoxTest, ConstructorWithLimits) { + static constexpr BoundingBox bbox(0.0, 1.0, 0.0, 1.0, 0.0, 1.0); + EXPECT_EQ(bbox.minBBox(), Vec3(0.0, 0.0, 0.0)); + EXPECT_EQ(bbox.maxBBox(), Vec3(1.0, 1.0, 1.0)); +} + +TEST(BoundingBoxTest, NeutralBoundingBox) { + static constexpr auto neutral = BoundingBox::neutral_bbox(); + EXPECT_FALSE(neutral.isValid()); // Neutral bbox is invalid +} + +TEST(BoundingBoxTest, Invalidate) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + bbox.invalidate(); + EXPECT_FALSE(bbox.isValid()); +} + +TEST(BoundingBoxTest, IsFlat) { + static constexpr BoundingBox flatBBox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 0.0, 0.0)); + EXPECT_TRUE(flatBBox.isFlat()); + + static constexpr BoundingBox nonFlatBBox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + EXPECT_FALSE(nonFlatBBox.isFlat()); +} + +TEST(BoundingBoxTest, ContainsPoint) { + static constexpr BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + static constexpr Vec3 pointInside(0.5, 0.5, 0.5); + static constexpr Vec3 pointOutside(1.5, 1.5, 1.5); + + EXPECT_TRUE(bbox.contains(pointInside)); + EXPECT_FALSE(bbox.contains(pointOutside)); +} + +TEST(BoundingBoxTest, ContainsBoundingBox) { + static constexpr BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(2.0, 2.0, 2.0)); + static constexpr BoundingBox containedBBox(Vec3(0.5, 0.5, 0.5), Vec3(1.5, 1.5, 1.5)); + static constexpr BoundingBox outsideBBox(Vec3(2.5, 2.5, 2.5), Vec3(3.0, 3.0, 3.0)); + + EXPECT_TRUE(bbox.contains(containedBBox)); + EXPECT_FALSE(bbox.contains(outsideBBox)); +} + +TEST(BoundingBoxTest, Intersection) { + static constexpr BoundingBox bbox1(Vec3(0.0, 0.0, 0.0), Vec3(2.0, 2.0, 2.0)); + static constexpr BoundingBox bbox2(Vec3(1.0, 1.0, 1.0), Vec3(3.0, 3.0, 3.0)); + static constexpr BoundingBox expectedIntersection(Vec3(1.0, 1.0, 1.0), Vec3(2.0, 2.0, 2.0)); + + EXPECT_TRUE(bbox1.intersect(bbox2)); + EXPECT_EQ(bbox1.getIntersection(bbox2), expectedIntersection); +} + +TEST(BoundingBoxTest, Inflate) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + bbox.inflate(1.0); + + EXPECT_EQ(bbox.minBBox(), Vec3(-1.0, -1.0, -1.0)); + EXPECT_EQ(bbox.maxBBox(), Vec3(2.0, 2.0, 2.0)); +} + +TEST(BoundingBoxTest, IncludePoint) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + static constexpr Vec3 point(2.0, 2.0, 2.0); + bbox.include(point); + + EXPECT_EQ(bbox.maxBBox(), point); +} + +TEST(BoundingBoxTest, IncludeBoundingBox) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + static constexpr BoundingBox other(Vec3(-1.0, -1.0, -1.0), Vec3(2.0, 2.0, 2.0)); + bbox.include(other); + + EXPECT_EQ(bbox.minBBox(), other.minBBox()); + EXPECT_EQ(bbox.maxBBox(), other.maxBBox()); +} + +} diff --git a/Sofa/framework/Type/test/CMakeLists.txt b/Sofa/framework/Type/test/CMakeLists.txt index 84f70ddc9d4..7e9ba83bd72 100644 --- a/Sofa/framework/Type/test/CMakeLists.txt +++ b/Sofa/framework/Type/test/CMakeLists.txt @@ -3,10 +3,12 @@ cmake_minimum_required(VERSION 3.22) project(Sofa.Type_test) set(SOURCE_FILES + BoundingBox_test.cpp MatSym_test.cpp MatTypes_test.cpp Material_test.cpp Quater_test.cpp + Rebind_test.cpp RGBAColor_test.cpp StrongType_test.cpp SVector_test.cpp diff --git a/Sofa/framework/Type/test/MatSym_test.cpp b/Sofa/framework/Type/test/MatSym_test.cpp index f91f864460a..6e7926f3766 100644 --- a/Sofa/framework/Type/test/MatSym_test.cpp +++ b/Sofa/framework/Type/test/MatSym_test.cpp @@ -43,7 +43,7 @@ class MatSymTest : public testing::NumericTest using Real = typename ParameterPack::Real; static constexpr auto Size = ParameterPack::Size; - void onSetUp() override + void doSetUp() override { sofa::testing::LinearCongruentialRandomGenerator lcg(96547); diff --git a/Sofa/framework/Type/test/Quater_test.cpp b/Sofa/framework/Type/test/Quater_test.cpp index 7fdf2a0849b..408dfa53a01 100644 --- a/Sofa/framework/Type/test/Quater_test.cpp +++ b/Sofa/framework/Type/test/Quater_test.cpp @@ -707,4 +707,12 @@ TEST(QuaterTest, QuaterdFromUnitVectors) EXPECT_NEAR(0.5894552112230939, quat1[3], errorThreshold); } - +TEST(QuaterTest, StructuredBindings) +{ + Quat quat1; + const auto& [a,b,c,d] = quat1; + EXPECT_NEAR(0., a, errorThreshold); + EXPECT_NEAR(0., b, errorThreshold); + EXPECT_NEAR(0., c, errorThreshold); + EXPECT_NEAR(1., d, errorThreshold); +} diff --git a/Sofa/framework/Type/test/RGBAColor_test.cpp b/Sofa/framework/Type/test/RGBAColor_test.cpp index 1f4d37dc5b1..a31e3582a96 100644 --- a/Sofa/framework/Type/test/RGBAColor_test.cpp +++ b/Sofa/framework/Type/test/RGBAColor_test.cpp @@ -44,6 +44,7 @@ class Color_Test : public BaseTest, void checkStreamingOperator(const std::vector&) ; void checkDoubleStreamingOperator(const std::vector&) ; void testEnlight(); + void testStructuredBindings(); }; void Color_Test::testEnlight() @@ -54,6 +55,15 @@ void Color_Test::testEnlight() EXPECT_EQ( RGBAColor::lighten(RGBAColor::red(), 0.5), RGBAColor(1.0,0.5,0.5,1.0) ) ; } +void Color_Test::testStructuredBindings() +{ + const auto& [r, g, b, a] = RGBAColor::red(); + EXPECT_EQ(r, 1.); + EXPECT_EQ(g, 0.); + EXPECT_EQ(b, 0.); + EXPECT_EQ(a, 1.); +} + void Color_Test::checkCreateFromString() { EXPECT_EQ( RGBAColor::fromString("white"), RGBAColor(1.0,1.0,1.0,1.0) ) ; @@ -277,6 +287,11 @@ TEST_F(Color_Test, checkEnlight) this->testEnlight() ; } +TEST_F(Color_Test, testStructuredBindings) +{ + this->testStructuredBindings(); +} + std::vector> testvalues = { {" 0 0 0 0","0 0 0 0", "S"}, diff --git a/Sofa/framework/Type/test/Rebind_test.cpp b/Sofa/framework/Type/test/Rebind_test.cpp new file mode 100644 index 00000000000..5ef91da5aea --- /dev/null +++ b/Sofa/framework/Type/test/Rebind_test.cpp @@ -0,0 +1,59 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program 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 program 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 program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +static_assert(sofa::type::CanTypeRebind, int>); +static_assert(sofa::type::CanTypeRebind, int>); + +static_assert( + std::is_same_v< + sofa::type::rebind_to, int>, + sofa::type::vector + >); +static_assert( + std::is_same_v< + sofa::type::rebind_to, int>, + sofa::type::vector + >); + +template +struct DummyNoRebind{}; + +static_assert(!sofa::type::CanTypeRebind, int>); + +static_assert( + std::is_same_v< + sofa::type::rebind_to, int>, + DummyNoRebind + >); + +template +struct DummyWithConstraintRebind +{ + template + requires std::is_integral_v + using rebind_to = U; +}; + +static_assert(sofa::type::CanTypeRebind, int>); +static_assert(!sofa::type::CanTypeRebind, std::string>); diff --git a/Sofa/framework/Type/test/StrongType_test.cpp b/Sofa/framework/Type/test/StrongType_test.cpp index 767813b0baa..e18426be54e 100644 --- a/Sofa/framework/Type/test/StrongType_test.cpp +++ b/Sofa/framework/Type/test/StrongType_test.cpp @@ -31,6 +31,7 @@ TEST(StrongType, constructor) // myint a; //this is not possible as the default constructor is explicit constexpr myint a ( 2 ); + EXPECT_EQ(a.get(), 2); } TEST(StrongType, preIncrementable) diff --git a/Sofa/framework/Type/test/VecTypes_test.cpp b/Sofa/framework/Type/test/VecTypes_test.cpp index a4f10dab1ab..ed3460a56ce 100644 --- a/Sofa/framework/Type/test/VecTypes_test.cpp +++ b/Sofa/framework/Type/test/VecTypes_test.cpp @@ -23,4 +23,11 @@ #include #include - +TEST(VecTest, StructuredBindings) +{ + constexpr sofa::type::Vec3 vec { 1.0, 2.0, 3.0 }; + const auto& [a, b, c] = vec; + EXPECT_EQ(a, 1.); + EXPECT_EQ(b, 2.); + EXPECT_EQ(c, 3.); +} diff --git a/Sofa/framework/Type/test/vector_test.cpp b/Sofa/framework/Type/test/vector_test.cpp index 11fa007a3a7..4322c605587 100644 --- a/Sofa/framework/Type/test/vector_test.cpp +++ b/Sofa/framework/Type/test/vector_test.cpp @@ -49,7 +49,7 @@ class vector_test : public NumericTest<>, void checkVector(const std::vector& params) ; void checkVectorAccessFailure() const; - void checkRebind(); + void checkRebind() const; }; template @@ -103,14 +103,18 @@ void vector_test::checkVectorAccessFailure() const } template -void vector_test::checkRebind() +void vector_test::checkRebind() const { - constexpr bool hasRebind = sofa::type::HasRebindTypedef, int>::value; + constexpr bool hasRebind = sofa::type::CanTypeRebind, int>; + static_assert(hasRebind); EXPECT_TRUE(hasRebind); - using rebinded = typename sofa::type::Rebind, int >::to; - using vec_int = vector; - constexpr bool isRebindOK = std::is_same_v; - EXPECT_TRUE(isRebindOK); + if constexpr (hasRebind) + { + using rebinded = typename sofa::type::Rebind, int >::to; + using vec_int = vector; + constexpr bool isRebindOK = std::is_same_v; + EXPECT_TRUE(isRebindOK); + } } //////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/applications/plugins/CImgPlugin/CImgPlugin_test/ImageCImg_test.cpp b/applications/plugins/CImgPlugin/CImgPlugin_test/ImageCImg_test.cpp index f830e0834de..20b2be44f5a 100644 --- a/applications/plugins/CImgPlugin/CImgPlugin_test/ImageCImg_test.cpp +++ b/applications/plugins/CImgPlugin/CImgPlugin_test/ImageCImg_test.cpp @@ -42,11 +42,11 @@ class ImageCImg_test : public BaseTest } - void SetUp() override + void doSetUp() override { sofa::helper::system::DataRepository.addFirstPath(CIMGPLUGIN_RESOURCES_DIR); } - void TearDown() override + void doTearDown() override { sofa::helper::system::DataRepository.removePath(CIMGPLUGIN_RESOURCES_DIR); } diff --git a/applications/plugins/CMakeLists.txt b/applications/plugins/CMakeLists.txt index cfd74c7f771..56af63924fc 100644 --- a/applications/plugins/CMakeLists.txt +++ b/applications/plugins/CMakeLists.txt @@ -25,7 +25,6 @@ sofa_add_subdirectory(directory SofaPython3 SofaPython3 EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin CGALPlugin CGALPlugin EXTERNAL GIT_REF master) # Depends on image sofa_add_subdirectory(plugin Registration Registration EXTERNAL GIT_REF master) # Depends on image, SofaPython, SofaGui and SofaDistanceGrid sofa_add_subdirectory(plugin BulletCollisionDetection BulletCollisionDetection) # Depends on Compliant and LMConstraint -sofa_add_subdirectory(plugin InvertibleFVM InvertibleFVM EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin MeshSTEPLoader MeshSTEPLoader EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin PluginExample PluginExample EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin ManifoldTopologies ManifoldTopologies EXTERNAL GIT_REF master) @@ -35,7 +34,6 @@ sofa_add_subdirectory(plugin Xitact Xitact) sofa_add_subdirectory(plugin Haption Haption) sofa_add_subdirectory(plugin PersistentContact PersistentContact) sofa_add_subdirectory(plugin Sensable Sensable) -sofa_add_subdirectory(plugin SensableEmulation SensableEmulation) sofa_add_subdirectory(plugin SofaHAPI SofaHAPI) sofa_add_subdirectory(plugin SofaCarving SofaCarving) sofa_add_subdirectory(plugin LeapMotion LeapMotion) @@ -66,10 +64,9 @@ sofa_add_subdirectory(plugin SofaCUDA SofaCUDA) sofa_find_package(Sofa.GL QUIET) if(Sofa.GL_FOUND) - sofa_add_subdirectory(plugin SofaSimpleGUI SofaSimpleGUI) # SofaSimpleGUI plugin can't work without OPENGL sofa_add_subdirectory(plugin VolumetricRendering VolumetricRendering) # VolumetricRendering plugin can't work without OPENGL else() - message("Sofa.GL not found; disabling SofaSimpleGUI and VolumetricRendering plugins") + message("Sofa.GL not found; disabling VolumetricRendering plugin") endif() sofa_add_subdirectory(plugin SofaDistanceGrid SofaDistanceGrid) # Also defines SofaDistanceGrid.CUDA diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/CapsuleContact.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/CapsuleContact.cpp index e667cbfc1c5..29eb62b3706 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/CapsuleContact.cpp +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/CapsuleContact.cpp @@ -27,6 +27,7 @@ #include #include #include +#include using namespace sofa::core::collision; @@ -79,6 +80,18 @@ template class COLLISIONOBBCAPSULE_API BarycentricPenalityContact, CapsuleCollisionModel>; template class COLLISIONOBBCAPSULE_API BarycentricPenalityContact, CylinderCollisionModel>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, CapsuleCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, TriangleCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, SphereCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, RigidSphereModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, CapsuleCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, CapsuleCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, TriangleCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, SphereCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, RigidSphereModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, OBBCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API BaseUnilateralContactResponse, OBBCollisionModel, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>; + template class COLLISIONOBBCAPSULE_API FrictionContact, CapsuleCollisionModel>; template class COLLISIONOBBCAPSULE_API FrictionContact, TriangleCollisionModel>; template class COLLISIONOBBCAPSULE_API FrictionContact, SphereCollisionModel>; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/OBBContact.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/OBBContact.cpp index fe3f0a79efd..15fcd595c99 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/OBBContact.cpp +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/OBBContact.cpp @@ -26,6 +26,7 @@ #include #include #include +#include #include #include @@ -57,6 +58,12 @@ template class COLLISIONOBBCAPSULE_API response::contact::BarycentricPenalityCon template class COLLISIONOBBCAPSULE_API response::contact::BarycentricPenalityContact, OBBCollisionModel>; template class COLLISIONOBBCAPSULE_API response::contact::BarycentricPenalityContact, OBBCollisionModel>; + +template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse, OBBCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse, OBBCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse, OBBCollisionModel,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; +template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse,constraint::lagrangian::model::UnilateralLagrangianContactParameters>; + template class COLLISIONOBBCAPSULE_API response::contact::FrictionContact, OBBCollisionModel>; template class COLLISIONOBBCAPSULE_API response::contact::FrictionContact, OBBCollisionModel>; template class COLLISIONOBBCAPSULE_API response::contact::FrictionContact, OBBCollisionModel>; diff --git a/applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in b/applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in deleted file mode 100644 index 3ae32c83c66..00000000000 --- a/applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.22) - -include(ExternalProject) -ExternalProject_Add(InvertibleFVM - GIT_REPOSITORY https://github.com/sofa-framework/InvertibleFVM - GIT_TAG origin/@ARG_GIT_REF@ - SOURCE_DIR "${CMAKE_SOURCE_DIR}/applications/plugins/InvertibleFVM" - BINARY_DIR "" - CONFIGURE_COMMAND "" - BUILD_COMMAND "" - INSTALL_COMMAND "" - TEST_COMMAND "" - GIT_CONFIG "remote.origin.fetch=+refs/pull/*:refs/remotes/origin/pr/*" -) diff --git a/applications/plugins/MultiThreading/src/MultiThreading/DataExchange.cpp b/applications/plugins/MultiThreading/src/MultiThreading/DataExchange.cpp index 1a7e71ce619..dbe0d4f11cf 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/DataExchange.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/DataExchange.cpp @@ -33,25 +33,25 @@ namespace sofa::core SOFA_EVENT_CPP(DataExchangeEvent) -// Register in the Factory -int DataExchangeClass = core::RegisterObject("DataExchange") -.add< DataExchange< sofa::type::vector > >(true) -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< sofa::type::Vec3d > >() -.add< DataExchange< double > >() - -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< sofa::type::Vec3f > >() -.add< DataExchange< float > >() +void registerDataExchange(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Component for data memory sharing in the context of multi-threading applications") + .add< DataExchange< sofa::type::vector > >(true) + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< sofa::type::Vec3d > >() + .add< DataExchange< double > >() -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< sofa::type::vector > >() -.add< DataExchange< bool > >() -; + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< sofa::type::Vec3f > >() + .add< DataExchange< float > >() + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< sofa::type::vector > >() + .add< DataExchange< bool > >()); +} template class SOFA_MULTITHREADING_PLUGIN_API DataExchange< sofa::type::vector >; template class SOFA_MULTITHREADING_PLUGIN_API DataExchange< sofa::type::vector >; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/MeanComputation.cpp b/applications/plugins/MultiThreading/src/MultiThreading/MeanComputation.cpp index 4fb6c374091..3d4fcbac040 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/MeanComputation.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/MeanComputation.cpp @@ -29,13 +29,15 @@ namespace sofa::component::engine { -int MeanComputationEngineClass = core::RegisterObject("Compute the mean of the input elements") - .add< MeanComputation >(true) // default template - .add< MeanComputation >() - .add< MeanComputation >() - .add< MeanComputation >() - .add< MeanComputation >() - ; +void registerMeanComputationEngine(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Compute the mean of the input elements.") + .add< MeanComputation >(true) // default template + .add< MeanComputation >() + .add< MeanComputation >() + .add< MeanComputation >() + .add< MeanComputation >()); +} template class SOFA_MULTITHREADING_PLUGIN_API MeanComputation< defaulttype::Vec3Types >; template class SOFA_MULTITHREADING_PLUGIN_API MeanComputation< defaulttype::Vec1Types >; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp index 1698d38bc96..636f04472d5 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/animationloop/AnimationLoopParallelScheduler.cpp @@ -39,9 +39,11 @@ namespace multithreading::component::animationloop { -int AnimationLoopParallelSchedulerClass = sofa::core::RegisterObject("parallel animation loop, using intel tbb library") - .add< AnimationLoopParallelScheduler >() - ; +void registerAnimationLoopParallelScheduler(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel animation loop, using the Intel tbb library.") + .add< AnimationLoopParallelScheduler >()); +} AnimationLoopParallelScheduler::AnimationLoopParallelScheduler(sofa::simulation::Node* _gnode) : Inherit() diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBVHNarrowPhase.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBVHNarrowPhase.cpp index 3cf5782a58d..3c1a0a06af7 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBVHNarrowPhase.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBVHNarrowPhase.cpp @@ -36,13 +36,14 @@ namespace multithreading::component::collision::detection::algorithm const bool isParallelBVHNarrowPhaseImplementationRegistered = multithreading::ParallelImplementationsRegistry::addEquivalentImplementations("BVHNarrowPhase", "ParallelBVHNarrowPhase"); +void registerParallelBVHNarrowPhase(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel version of the narrow phase collision detection based on boundary volume hierarchy.") + .add< ParallelBVHNarrowPhase >()); +} using sofa::helper::ScopedAdvancedTimer; -int ParallelBVHNarrowPhaseClass = sofa::core::RegisterObject("Narrow phase collision detection based on boundary volume hierarchy") - .add< ParallelBVHNarrowPhase >() -; - ParallelBVHNarrowPhase::ParallelBVHNarrowPhase() {} @@ -131,22 +132,10 @@ void ParallelBVHNarrowPhase::initializeTopology(sofa::core::topology::BaseMeshTo auto insertionIt = m_initializedTopology.insert(topology); if (insertionIt.second) { - // The following calls force the creation of some topology arrays before the concurrent computing. - // Those arrays cannot be created on the fly, in a concurrent environment, + // We need to make sure all topology buffers are well created. + // Those arrays cannot be created on the fly later, in a concurrent environment, // due to possible race conditions. - // Depending on the scene graph, it is possible that those calls are not enough. - if (topology->getNbPoints()) - { - topology->getTrianglesAroundVertex(0); - } - if (topology->getNbTriangles()) - { - topology->getEdgesInTriangle(0); - } - if (topology->getNbEdges()) - { - topology->getTrianglesAroundEdge(0); - } + topology->computeCrossElementBuffers(); } } diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.cpp index 72cf9d8b848..242d543a303 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/collision/detection/algorithm/ParallelBruteForceBroadPhase.cpp @@ -34,11 +34,13 @@ namespace multithreading::component::collision::detection::algorithm const bool isParallelParallelBruteForceBroadPhaseImplementationRegistered = multithreading::ParallelImplementationsRegistry::addEquivalentImplementations("BruteForceBroadPhase", "ParallelBruteForceBroadPhase"); -using sofa::helper::ScopedAdvancedTimer; +void registerParallelBruteForceBroadPhase(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel version of the collision detection using extensive pair-wise tests performed concurrently.") + .add< ParallelBruteForceBroadPhase >()); +} -int ParallelBruteForceBroadPhaseClass = sofa::core::RegisterObject("Collision detection using extensive pair-wise tests performed in parallel") - .add< ParallelBruteForceBroadPhase >() -; +using sofa::helper::ScopedAdvancedTimer; ParallelBruteForceBroadPhase::ParallelBruteForceBroadPhase() : BruteForceBroadPhase() diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/linearsolver/iterative/ParallelCGLinearSolver.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/linearsolver/iterative/ParallelCGLinearSolver.cpp index 22cd5f3569b..5838bb7295c 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/linearsolver/iterative/ParallelCGLinearSolver.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/linearsolver/iterative/ParallelCGLinearSolver.cpp @@ -1,4 +1,4 @@ -/****************************************************************************** +/****************************************************************************** * SOFA, Simulation Open-Framework Architecture * * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * * * @@ -59,9 +59,12 @@ ParallelCGLinearSolver< ParallelCompressedRowSparseMatrixMechanical, sofa template class SOFA_MULTITHREADING_PLUGIN_API ParallelCGLinearSolver< ParallelCompressedRowSparseMatrixMechanical>, sofa::linearalgebra::FullVector >; -int ParallelCGLinearSolverClass = sofa::core::RegisterObject("Linear system solver using the conjugate gradient iterative algorithm in parallel") - .add< ParallelCGLinearSolver< ParallelCompressedRowSparseMatrixMechanical, sofa::linearalgebra::FullVector > >(true) - .add< ParallelCGLinearSolver< ParallelCompressedRowSparseMatrixMechanical>, sofa::linearalgebra::FullVector > >(); +void registerParallelCGLinearSolver(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel version of the linear solver using the conjugate gradient iterative algorithm.") + .add< ParallelCGLinearSolver< ParallelCompressedRowSparseMatrixMechanical, sofa::linearalgebra::FullVector > >(true) + .add< ParallelCGLinearSolver< ParallelCompressedRowSparseMatrixMechanical>, sofa::linearalgebra::FullVector > >()); +} const bool isParallelCGLinearSolverImplementationRegistered = ParallelImplementationsRegistry::addEquivalentImplementations("CGLinearSolver", "ParallelCGLinearSolver"); diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/mapping/linear/BeamLinearMapping_mt.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/mapping/linear/BeamLinearMapping_mt.cpp index dbd167d2989..20013a22c14 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/mapping/linear/BeamLinearMapping_mt.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/mapping/linear/BeamLinearMapping_mt.cpp @@ -32,11 +32,11 @@ namespace multithreading::component::mapping::linear const bool isBeamLinearMapping_mtImplementationRegistered = multithreading::ParallelImplementationsRegistry::addEquivalentImplementations("BeamLinearMapping", "BeamLinearMapping_mt"); -//using namespace defaulttype; -// Register in the Factory -int BeamLinearMapping_mtClass = sofa::core::RegisterObject("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs") - .add< BeamLinearMapping_mt< Rigid3Types, Vec3Types > >() - ; +void registerBeamLinearMapping_mt(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Set the positions and velocities of points attached to a beam using linear interpolation between DOFs.") + .add< BeamLinearMapping_mt< Rigid3Types, Vec3Types > >()); +} template class BeamLinearMapping_mt< Rigid3Types, Vec3Types >; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.cpp index e8f55a188f7..e1d5b7c737a 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelHexahedronFEMForceField.cpp @@ -29,14 +29,16 @@ namespace multithreading::component::forcefield::solidmechanics::fem::elastic { +using namespace sofa::defaulttype; + const bool isParallelHexahedronFEMForceFieldImplementationRegistered = multithreading::ParallelImplementationsRegistry::addEquivalentImplementations("HexahedronFEMForceField", "ParallelHexahedronFEMForceField"); -using namespace sofa::defaulttype; - -// Register in the Factory -int ParallelHexahedronFEMForceFieldClass = sofa::core::RegisterObject("Parallel hexahedral finite elements") - .add < ParallelHexahedronFEMForceField < Vec3Types > > (); +void registerParallelHexahedronFEMForceField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel implementation of a linear elastic material using hexahedral finite elements.") + .add < ParallelHexahedronFEMForceField < Vec3Types > > ()); +} template class SOFA_MULTITHREADING_PLUGIN_API ParallelHexahedronFEMForceField; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.cpp index bf73f5b1fa1..cc0d876f5fa 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.cpp @@ -26,7 +26,7 @@ #include -namespace multithreading::component::solidmechanics::fem::elastic +namespace multithreading::component::forcefield::solidmechanics::fem::elastic { using namespace sofa::defaulttype; @@ -34,9 +34,11 @@ using namespace sofa::defaulttype; const bool isParallelTetrahedronFEMForceFieldImplementationRegistered = multithreading::ParallelImplementationsRegistry::addEquivalentImplementations("TetrahedronFEMForceField", "ParallelTetrahedronFEMForceField"); -// Register in the Factory -int ParallelTetrahedronFEMForceFieldClass = sofa::core::RegisterObject("Parallel tetrahedral finite elements") - .add < ParallelTetrahedronFEMForceField < Vec3Types > > (); +void registerParallelTetrahedronFEMForceField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel implementation of a linear elastic material using tetrahedral finite elements..") + .add < ParallelTetrahedronFEMForceField < Vec3Types > > ()); +} template class SOFA_MULTITHREADING_PLUGIN_API ParallelTetrahedronFEMForceField; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.h b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.h index 0e9cb332cbd..be6a9186b19 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.h +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.h @@ -30,7 +30,7 @@ #include -namespace multithreading::component::solidmechanics::fem::elastic +namespace multithreading::component::forcefield::solidmechanics::fem::elastic { /** diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.inl b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.inl index e144a95b764..f2f620b5505 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.inl +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/fem/elastic/ParallelTetrahedronFEMForceField.inl @@ -27,7 +27,7 @@ #include #include -namespace multithreading::component::solidmechanics::fem::elastic +namespace multithreading::component::forcefield::solidmechanics::fem::elastic { template diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelMeshSpringForceField.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelMeshSpringForceField.cpp index dcfd24c396a..132a645626e 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelMeshSpringForceField.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelMeshSpringForceField.cpp @@ -25,10 +25,13 @@ namespace multithreading::component::solidmechanics::spring { -int ParallelMeshSpringForceFieldClass = sofa::core::RegisterObject("Parallel stiff springs acting along the edges of a mesh") - .add< ParallelMeshSpringForceField >() - .add< ParallelMeshSpringForceField >() - .add< ParallelMeshSpringForceField >(); +void registerParallelMeshSpringForceField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel stiff springs acting along the edges of a mesh.") + .add< ParallelMeshSpringForceField >() + .add< ParallelMeshSpringForceField >() + .add< ParallelMeshSpringForceField >()); +} template class SOFA_MULTITHREADING_PLUGIN_API ParallelMeshSpringForceField; template class SOFA_MULTITHREADING_PLUGIN_API ParallelMeshSpringForceField; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelSpringForceField.cpp b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelSpringForceField.cpp index 6c2b2d858b0..682b67ae414 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelSpringForceField.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/component/solidmechanics/spring/ParallelSpringForceField.cpp @@ -25,12 +25,15 @@ namespace multithreading::component::solidmechanics::spring { -int ParallelSpringForceFieldClass = sofa::core::RegisterObject("Parallel stiff springs") - .add< ParallelSpringForceField >() - .add< ParallelSpringForceField >() - .add< ParallelSpringForceField >() - .add< ParallelSpringForceField >() - .add< ParallelSpringForceField >(); +void registerParallelSpringForceField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Parallel stiff springs.") + .add< ParallelSpringForceField >() + .add< ParallelSpringForceField >() + .add< ParallelSpringForceField >() + .add< ParallelSpringForceField >() + .add< ParallelSpringForceField >()); +} template class SOFA_MULTITHREADING_PLUGIN_API ParallelSpringForceField; template class SOFA_MULTITHREADING_PLUGIN_API ParallelSpringForceField; diff --git a/applications/plugins/MultiThreading/src/MultiThreading/config.h.in b/applications/plugins/MultiThreading/src/MultiThreading/config.h.in index e00cd0f836f..8b2f185328b 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/config.h.in +++ b/applications/plugins/MultiThreading/src/MultiThreading/config.h.in @@ -19,8 +19,7 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#ifndef MULTITHREADING_CONFIG_H -#define MULTITHREADING_CONFIG_H +#pragma once #include @@ -31,7 +30,11 @@ # define SOFA_MULTITHREADING_PLUGIN_API SOFA_IMPORT_DYNAMIC_LIBRARY #endif -#endif +namespace multithreading +{ + constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; + constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; +} // namespace multithreading #ifdef SOFA_BUILD_MULTITHREADING #define SOFA_ATTRIBUTE_DISABLED__TASKSCHEDULERUSER_DATANAME(msg) diff --git a/applications/plugins/MultiThreading/src/MultiThreading/initMultiThreading.cpp b/applications/plugins/MultiThreading/src/MultiThreading/initMultiThreading.cpp index d14bb740f10..853e1ddfc68 100644 --- a/applications/plugins/MultiThreading/src/MultiThreading/initMultiThreading.cpp +++ b/applications/plugins/MultiThreading/src/MultiThreading/initMultiThreading.cpp @@ -24,16 +24,63 @@ #include +#include +#include + +namespace sofa::core +{ +extern void registerDataExchange(sofa::core::ObjectFactory* factory); +} + +namespace sofa::component::engine +{ +extern void registerMeanComputationEngine(sofa::core::ObjectFactory* factory); +} + namespace multithreading { +namespace component::animationloop +{ +extern void registerAnimationLoopParallelScheduler(sofa::core::ObjectFactory* factory); +} + +namespace component::collision::detection::algorithm +{ +extern void registerParallelBVHNarrowPhase(sofa::core::ObjectFactory* factory); +extern void registerParallelBruteForceBroadPhase(sofa::core::ObjectFactory* factory); +} + +namespace component::linearsolver::iterative +{ +extern void registerParallelCGLinearSolver(sofa::core::ObjectFactory* factory); +} + +namespace component::mapping::linear +{ +extern void registerBeamLinearMapping_mt(sofa::core::ObjectFactory* factory); +} + +namespace component::forcefield::solidmechanics::fem::elastic +{ +extern void registerParallelHexahedronFEMForceField(sofa::core::ObjectFactory* factory); +extern void registerParallelTetrahedronFEMForceField(sofa::core::ObjectFactory* factory); +} + +namespace component::solidmechanics::spring +{ +extern void registerParallelMeshSpringForceField(sofa::core::ObjectFactory* factory); +extern void registerParallelSpringForceField(sofa::core::ObjectFactory* factory); +} + extern "C" { SOFA_MULTITHREADING_PLUGIN_API void initExternalModule(); SOFA_MULTITHREADING_PLUGIN_API const char* getModuleName(); SOFA_MULTITHREADING_PLUGIN_API const char* getModuleVersion(); SOFA_MULTITHREADING_PLUGIN_API const char* getModuleLicense(); SOFA_MULTITHREADING_PLUGIN_API const char* getModuleDescription(); +SOFA_MULTITHREADING_PLUGIN_API void registerObjects(sofa::core::ObjectFactory* factory); } void init() @@ -41,6 +88,9 @@ void init() static bool first = true; if (first) { + // make sure that this plugin is registered into the PluginManager + sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME); + sofa::component::linearsolver::iterative::init(); first = false; } @@ -53,12 +103,12 @@ void initExternalModule() const char* getModuleName() { - return "MultiThreading"; + return MODULE_NAME; } const char* getModuleVersion() { - return "1.0"; + return MODULE_VERSION; } const char* getModuleLicense() @@ -71,4 +121,20 @@ const char* getModuleDescription() return "MultiThreading SOFA Framework"; } +void registerObjects(sofa::core::ObjectFactory* factory) +{ + sofa::core::registerDataExchange(factory); + sofa::component::engine::registerMeanComputationEngine(factory); + multithreading::component::animationloop::registerAnimationLoopParallelScheduler(factory); + multithreading::component::collision::detection::algorithm::registerParallelBVHNarrowPhase(factory); + multithreading::component::collision::detection::algorithm::registerParallelBruteForceBroadPhase(factory); + multithreading::component::linearsolver::iterative::registerParallelCGLinearSolver(factory); + multithreading::component::mapping::linear::registerBeamLinearMapping_mt(factory); + multithreading::component::forcefield::solidmechanics::fem::elastic::registerParallelHexahedronFEMForceField(factory); + multithreading::component::forcefield::solidmechanics::fem::elastic::registerParallelTetrahedronFEMForceField(factory); + multithreading::component::solidmechanics::spring::registerParallelMeshSpringForceField(factory); + multithreading::component::solidmechanics::spring::registerParallelSpringForceField(factory); + +} + } diff --git a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp index e93fcf403df..6bb03c78cdf 100644 --- a/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp +++ b/applications/plugins/MultiThreading/test/ParallelImplementationsRegistry_test.cpp @@ -1,4 +1,4 @@ -/****************************************************************************** +/****************************************************************************** * SOFA, Simulation Open-Framework Architecture * * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * * * @@ -23,6 +23,7 @@ #include #include #include +#include #include @@ -32,10 +33,11 @@ namespace multithreading TEST(ParallelImplementationsRegistry, existInObjectFactory) { // sequential versions will be added to the ObjectFactory - sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); - sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Algorithm"); - sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); - sofa::simpleapi::importPlugin("Sofa.Component.Mapping.Linear"); + sofa::simpleapi::importPlugin(Sofa.Component.LinearSolver.Iterative); + sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Algorithm); + sofa::simpleapi::importPlugin(Sofa.Component.SolidMechanics.FEM.Elastic); + sofa::simpleapi::importPlugin(Sofa.Component.Mapping.Linear); + sofa::simpleapi::importPlugin("MultiThreading"); const auto implementations = ParallelImplementationsRegistry::getImplementations(); diff --git a/applications/plugins/SceneCreator/SceneCreator_test/SceneCreator_test.cpp b/applications/plugins/SceneCreator/SceneCreator_test/SceneCreator_test.cpp index 4168eec9f92..5fc3bdbb1ab 100644 --- a/applications/plugins/SceneCreator/SceneCreator_test/SceneCreator_test.cpp +++ b/applications/plugins/SceneCreator/SceneCreator_test/SceneCreator_test.cpp @@ -58,10 +58,10 @@ using sofa::simulation::Node; class SceneCreator_test : public BaseSimulationTest { public: - void SetUp() override + void doSetUp() override { - sofa::simpleapi::importPlugin("Sofa.Component"); - sofa::simpleapi::importPlugin("Sofa.GL.Component.Rendering3D"); + sofa::simpleapi::importPlugin(Sofa.Component); + sofa::simpleapi::importPlugin(Sofa.GL.Component.Rendering3D); } bool createCubeFailed(); diff --git a/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp b/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp index e1519db54d7..943f28fbb1c 100644 --- a/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp +++ b/applications/plugins/SceneCreator/src/SceneCreator/SceneCreator.cpp @@ -21,6 +21,7 @@ ******************************************************************************/ #include "SceneCreator.h" #include +#include #include #include @@ -87,15 +88,15 @@ Node::SPtr createEulerSolverNode(Node::SPtr parent, const std::string& name, co if (scheme == "Explicit") { - simpleapi::createObject(parent, "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Forward"}}); + simpleapi::createObject(parent, "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Forward}}); simpleapi::createObject(node, "EulerExplicitSolver", {{"name","Euler Explicit"}}); return node ; } if (scheme == "Implicit") { - simpleapi::createObject(parent, "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Backward"}}); - simpleapi::createObject(parent, "RequiredPlugin", {{"name", "Sofa.Component.LinearSolver.Iterative"}}); + simpleapi::createObject(parent, "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Backward}}); + simpleapi::createObject(parent, "RequiredPlugin", {{"name", Sofa.Component.LinearSolver.Iterative}}); simpleapi::createObject(node, "EulerImplicitSolver", {{"name","Euler Implicit"}, {"rayleighStiffness","0.01"}, {"rayleighMass", "1.0"}}) ; @@ -109,8 +110,8 @@ Node::SPtr createEulerSolverNode(Node::SPtr parent, const std::string& name, co if (scheme == "Implicit_SparseLDL") { - simpleapi::createObject(parent, "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Backward"}}); - simpleapi::createObject(parent, "RequiredPlugin", {{"name", "Sofa.Component.LinearSolver.Direct"}}); + simpleapi::createObject(parent, "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Backward}}); + simpleapi::createObject(parent, "RequiredPlugin", {{"name", Sofa.Component.LinearSolver.Direct}}); simpleapi::createObject(node, "EulerImplicitSolver", {{"name","Euler Implicit"}, {"rayleighStiffness","0.01"}, {"rayleighMass", "1.0"}}) ; diff --git a/applications/plugins/SensableEmulation/CMakeLists.txt b/applications/plugins/SensableEmulation/CMakeLists.txt deleted file mode 100644 index 33002d04038..00000000000 --- a/applications/plugins/SensableEmulation/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(SensableEmulation) - - -set(HEADER_FILES - OmniDriverEmu.h - config.h -) - -set(SOURCE_FILES - OmniDriverEmu.cpp - initSensableEmulation.cpp -) - -set(README_FILES PluginSensableEmulation.txt) - -find_package(Sofa.Config REQUIRED) -sofa_find_package(Sofa.Component.Haptics REQUIRED) -sofa_find_package(Sofa.Component.Controller REQUIRED) -sofa_find_package(Sofa.GL.Component.Rendering3D REQUIRED) -sofa_find_package(Boost COMPONENTS thread REQUIRED) - -include_directories(${Boost_INCLUDE_DIRS}) - -add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${README_FILES}) -set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DSOFA_BUILD_SENSABLEEMULATIONPLUGIN") -target_link_libraries(${PROJECT_NAME} Sofa.Component.Haptics Sofa.Component.Controller Sofa.GL.Component.Rendering3D Boost::thread) - -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/..") - -# Seems to be required by boost::asio -if(UNIX) - target_link_libraries(${PROJECT_NAME} pthread) -endif() - -install(TARGETS ${PROJECT_NAME} - COMPONENT SensableEmulation_libraries - EXPORT SensableEmulationTargets - RUNTIME DESTINATION bin - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib) - -install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME}) diff --git a/applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp b/applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp deleted file mode 100644 index 95c5d1065b5..00000000000 --- a/applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp +++ /dev/null @@ -1,547 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ - -#include "NewOmniDriverEmu.h" - -#include -#include -#include -// -////force feedback -#include -#include -// -#include -#include - -#include -// -#include -#include - -#include -#include -#include -#include -//sensable namespace -#include -#include - - - -double prevTime; - -namespace sofa -{ - -namespace component -{ - -namespace controller -{ - -using namespace sofa::defaulttype; -using namespace core::behavior; -using namespace sofa::defaulttype; - -NewOmniDriverEmu::NewOmniDriverEmu() - : forceScale(initData(&forceScale, 1.0, "forceScale","Default scaling factor applied to the force feedback")) - , scale(initData(&scale, 1.0, "scale","Default scale applied to the Phantom Coordinates. ")) - , positionBase(initData(&positionBase, Vec3d(0,0,0), "positionBase","Position of the interface base in the scene world coordinates")) - , orientationBase(initData(&orientationBase, Quat(0,0,0,1), "orientationBase","Orientation of the interface base in the scene world coordinates")) - , positionTool(initData(&positionTool, Vec3d(0,0,0), "positionTool","Position of the tool in the omni end effector frame")) - , orientationTool(initData(&orientationTool, Quat(0,0,0,1), "orientationTool","Orientation of the tool in the omni end effector frame")) - , permanent(initData(&permanent, false, "permanent" , "Apply the force feedback permanently")) - , omniVisu(initData(&omniVisu, false, "omniVisu", "Visualize the position of the interface in the virtual scene")) - , simuFreq(initData(&simuFreq, 1000, "simuFreq", "frequency of the \"simulated Omni\"")) - , simulateTranslation(initData(&simulateTranslation, false, "simulateTranslation", "do very naive \"translation simulation\" of omni, with constant orientation <0 0 0 1>")) - , trajPts(initData(&trajPts, "trajPoints","Trajectory positions")) - , trajTim(initData(&trajTim, "trajTiming","Trajectory timing")) - , visu_base(NULL) - , visu_end(NULL) -{ - - this->f_listening.setValue(true); - data.forceFeedback = new NullForceFeedback(); - noDevice = false; - moveOmniBase = false; - executeAsynchro = false; - omniSimThreadCreated = false; -} - -NewOmniDriverEmu::~NewOmniDriverEmu() -{ - if (visu_base) - { - delete visu_base; - } - if (visu_end) - { - delete visu_end; - } - -} - -void NewOmniDriverEmu::cleanup() -{ - sout << "NewOmniDriverEmu::cleanup()" << sendl; -} - -void NewOmniDriverEmu::init() -{ - std::cout << "[NewOmniEmu] init" << endl; -} - -void *hapticSimuExecute( void *ptr ) -{ - - NewOmniDriverEmu *omniDrv = (NewOmniDriverEmu*)ptr; - double timeScale = 1.0 / (double)CTime::getTicksPerSec(); - double startTime, endTime, totalTime, realTimePrev = -1.0, realTimeAct; - double requiredTime = 1.0/double(omniDrv->simuFreq.getValue()) * 1.0/timeScale; // [us] - double timeCorrection = 0.1 * requiredTime; - int timeToSleep; - - // construct the "trajectory" - NewOmniDriverEmu::VecCoord pts = omniDrv->trajPts.getValue(); - unsigned int numPts = pts.size(); - type::vector tmg = omniDrv->trajTim.getValue(); - unsigned int numSegs = tmg.size(); - double stepTime = 1.0/omniDrv->simuFreq.getValue(); - - if (numSegs != (2*numPts - 1)) - { - std::cerr << "Bad trajectory specification " << std::endl; - return(0); - } - NewOmniDriverEmu::VecCoord stepDiff; - type::vector stepNum; - - unsigned int seg = 0; - for (unsigned int np = 0; np < numPts; np++) - { - //for the point - unsigned int n = tmg[seg]*omniDrv->simuFreq.getValue(); - stepNum.push_back(n); - cout << "N pts = " << n << endl; - NewOmniDriverEmu::Coord crd; - cout << " adding " << crd << endl; - stepDiff.push_back(crd); - - //for the line - if (np < numPts-1) - { - seg++; - n = tmg[seg]*omniDrv->simuFreq.getValue(); - cout << "N lin = " << n << endl; - stepNum.push_back(n); - Vec3d dx = (pts[np+1].getCenter() - pts[np].getCenter())/double(n); - type::Quat dor; ///TODO difference for rotations!!! - NewOmniDriverEmu::Coord crd(dx, dor); - cout << "adding " << crd << endl; - stepDiff.push_back(crd); - } - seg++; - } - - std::cout << " stepNum = " << stepNum << std::endl; - std::cout << " stepDiff = " << stepDiff << std::endl; - - //trajectory done - - std::cout << "TimeScale = " << timeScale << std::endl; - - SolidTypes::SpatialVector temp1, temp2; - - long long unsigned asynchroStep=0; - double averageFreq = 0.0, minimalFreq=1e10; - - unsigned int actSeg = 0; - unsigned int actStep = 0; - - sofa::type::Quat actualRot; - sofa::type::Vec3d actualPos = pts[0].getCenter(); - - cout << "numSegs = " << numSegs << endl; - cout << "numSegs = " << numSegs << endl; - - while (true) - { - if (omniDrv->executeAsynchro) - { - startTime = double(omniDrv->thTimer->getTime()); - - //compute the actual position - if (actSeg < numSegs) - { - if (actStep < stepNum[actSeg]) - { - actualPos += stepDiff[actSeg].getCenter(); - //cout << "Adding [" << actStep << "] " << stepDiff[actSeg] << endl; - actStep++; - } - else - { - actStep=0; - actSeg++; - //cout << "Changing " << endl; - } - } - //else - // cout << "Finished" << endl; - - - omniDrv->data.servoDeviceData.pos = actualPos; - omniDrv->data.servoDeviceData.quat = actualRot; - SolidTypes::Transform baseOmni_H_endOmni(actualPos * omniDrv->data.scale, actualRot); - SolidTypes::Transform world_H_virtualTool = omniDrv->data.world_H_baseOmni * baseOmni_H_endOmni * omniDrv->data.endOmni_H_virtualTool; - - omniDrv->data.forceFeedback->computeWrench(world_H_virtualTool,temp1,temp2); - - realTimeAct = double(omniDrv->thTimer->getTime()); - if (asynchroStep > 0) - { - double realFreq = 1.0/( (realTimeAct - realTimePrev)*timeScale ); - averageFreq += realFreq; - //std::cout << "actual frequency = " << realFreq << std::endl; - if (realFreq < minimalFreq) - minimalFreq = realFreq; - - if ( ((asynchroStep+1) % 1000) == 0) - { - std::cout << "Average frequency of the loop = " << averageFreq/double(asynchroStep) << " Hz " << std::endl; - std::cout << "Minimal frequency of the loop = " << minimalFreq << " Hz " << std::endl; - } - } - - realTimePrev = realTimeAct; - asynchroStep++; - - endTime = double(omniDrv->thTimer->getTime()); //[s] - totalTime = (endTime - startTime); // [us] - timeToSleep = int( (requiredTime - totalTime) - timeCorrection); // [us] - if (timeToSleep > 0) - { - std::this_thread::sleep_for(std::chrono::microseconds(timeToSleep)); - } - else - { - std::cout << "Cannot achieve desired frequency, computation too slow: " << totalTime << std::endl; - } - - } - else - { - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - } -} - -void NewOmniDriverEmu::bwdInit() -{ - sout<<"NewOmniDriverEmu::bwdInit() is called"<(this->getContext()); // access to current node - ForceFeedback *ff = context->getTreeObject(); - - data.forceFeedback = ff; - - setDataValue(); - - if (!omniSimThreadCreated) - { - sout << "Not initializing phantom, starting emulating thread..." << sendl; - pthread_t hapSimuThread; - - if (thTimer == NULL) - thTimer = new(CTime); - - if ( pthread_create( &hapSimuThread, NULL, hapticSimuExecute, (void*)this) == 0 ) - { - sout << "Thread created for Omni simulation" << sendl; - omniSimThreadCreated=true; - } - } - else - sout << "Emulating thread already running" << sendl; -} - - -void NewOmniDriverEmu::setDataValue() -{ - data.scale = scale.getValue(); - data.forceScale = forceScale.getValue(); - Quat q = orientationBase.getValue(); - q.normalize(); - orientationBase.setValue(q); - data.world_H_baseOmni.set( positionBase.getValue(), q ); - q=orientationTool.getValue(); - q.normalize(); - data.endOmni_H_virtualTool.set(positionTool.getValue(), q); - data.permanent_feedback = permanent.getValue(); -} - -void NewOmniDriverEmu::reset() -{ - std::cout<<"NewOmniDriver::reset() is called" <reinit(); -} - -void NewOmniDriverEmu::reinitVisual() -{ - cout << "NewOmniDriver::reinitVisual() is called " << endl; - if(visu_base!=NULL) - { - cout << "visu_base = " << visu_base << endl; - delete(visu_base); - visu_base = new sofa::component::visualmodel::OglModel(); - visu_base->fileMesh.setValue("mesh/omni_test2.obj"); - visu_base->m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,1.0f,1.0f,1.0f); - visu_base->init(); - visu_base->initVisual(); - visu_base->updateVisual(); - visu_base->applyRotation(orientationBase.getValue()); - visu_base->applyTranslation( positionBase.getValue()[0],positionBase.getValue()[1], positionBase.getValue()[2]); - - } - - if (visu_end != NULL) - { - //serr<<"create visual model for NewOmniDriver end"<m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,0.3f,0.0f,1.0f); - visu_end->init(); - visu_end->initVisual(); - visu_end->updateVisual(); - } - - -} - -void NewOmniDriverEmu::reinit() -{ - std::cout<<"NewOmniDriver::reinit() is called" <cleanup(); - this->bwdInit(); - this->reinitVisual(); - std::cout<<"NewOmniDriver::reinit() done" <getRigidX(); - // x_rigid->resize(1); - //(*x_rigid)[0].getOrientation() = q; - //(*x_rigid)[0].getCenter() = positionBase.getValue(); - //double s = - //this->scale=Vector3(this->) - -} - -void NewOmniDriverEmu::draw() -{ - //cout << "NewOmniDriver::draw is called" << endl; - if(omniVisu.getValue()) - { - if (visu_base == NULL) - { - cout << "Creating visu_base" << endl; - // create visual object - //serr<<"create visual model for NewOmniDriver base"<fileMesh.setValue("mesh/omni_test2.obj"); - visu_base->m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_base->init(); - visu_base->initVisual(); - visu_base->updateVisual(); - visu_base->applyRotation(orientationBase.getValue()); - visu_base->applyTranslation( positionBase.getValue()[0],positionBase.getValue()[1], positionBase.getValue()[2]); - //getContext()->addObject(visu_base); - } - - - if (visu_end == NULL) - { - //serr<<"create visual model for NewOmniDriver end"<fileMesh.setValue("mesh/stylus.obj"); - visu_end->m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,0.3f,0.0f,1.0f); - visu_end->init(); - visu_end->initVisual(); - visu_end->updateVisual(); - } - - // compute position of the endOmni in worldframe - SolidTypes::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - SolidTypes::Transform world_H_endOmni = data.world_H_baseOmni * baseOmni_H_endOmni ; - - - visu_end->xforms.resize(1); - (visu_end->xforms)[0].getOrientation() = world_H_endOmni.getOrientation(); - (visu_end->xforms)[0].getCenter() = world_H_endOmni.getOrigin(); - - // draw the 2 visual models - visu_base->drawVisual(); - visu_end->drawVisual(); - } -} - -void NewOmniDriverEmu::copyDeviceDataCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; // static_cast(pUserData); - memcpy(&data->deviceData, &data->servoDeviceData, sizeof(DeviceData)); - data->servoDeviceData.nupdates = 0; - data->servoDeviceData.ready = true; -} - -void NewOmniDriverEmu::stopCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; // static_cast(pUserData); - data->servoDeviceData.stop = true; -} - -void NewOmniDriverEmu::onKeyPressedEvent(core::objectmodel::KeypressedEvent *kpe) -{ - - - -} - -void NewOmniDriverEmu::onKeyReleasedEvent(core::objectmodel::KeyreleasedEvent *kre) -{ - - //omniVisu.setValue(false); - -} - -void NewOmniDriverEmu::handleEvent(core::objectmodel::Event *event) -{ - - //std::cout<<"NewEvent detected !!"<(event)) - { - //getData(); // copy data->servoDeviceData to gDeviceData - //if (!simulateTranslation.getValue()) { - copyDeviceDataCallback(&data); - if (data.deviceData.ready) - { - cout << "Data ready, event" << endl; - data.deviceData.quat.normalize(); - //sout << "driver is working ! " << data->servoDeviceData.transform[12+0] << endl; - - - /// COMPUTATION OF THE vituralTool 6D POSITION IN THE World COORDINATES - SolidTypes::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - SolidTypes::Transform world_H_virtualTool = data.world_H_baseOmni * baseOmni_H_endOmni * data.endOmni_H_virtualTool; - - - // store actual position of interface for the forcefeedback (as it will be used as soon as new LCP will be computed) - data.forceFeedback->setReferencePosition(world_H_virtualTool); - - /// TODO : SHOULD INCLUDE VELOCITY !! - sofa::core::objectmodel::HapticDeviceEvent omniEvent(data.deviceData.id, world_H_virtualTool.getOrigin(), world_H_virtualTool.getOrientation() , data.deviceData.m_buttonState); - - this->getContext()->propagateEvent(sofa::core::ExecParams::defaultInstance(), &omniEvent); - - if (moveOmniBase) - { - std::cout<<" new positionBase = "<applyTranslation(positionBase_buf[0] - positionBase.getValue()[0], - positionBase_buf[1] - positionBase.getValue()[1], - positionBase_buf[2] - positionBase.getValue()[2]); - positionBase.setValue(positionBase_buf); - setDataValue(); - //this->reinitVisual(); - } - executeAsynchro=true; - } - else - std::cout<<"data not ready"<(event)) - { - core::objectmodel::KeypressedEvent *kpe = dynamic_cast(event); - if (kpe->getKey()=='Z' ||kpe->getKey()=='z' ) - { - moveOmniBase = !moveOmniBase; - std::cout<<"key z detected "<cleanup(); - positionBase_buf = positionBase.getValue(); - - } - else - { - this->reinit(); - } - } - - if(kpe->getKey()=='K' || kpe->getKey()=='k') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=0.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='L' || kpe->getKey()=='l') - { - positionBase_buf.x()=-0.15; - positionBase_buf.y()=1.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='M' || kpe->getKey()=='m') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=2.5; - positionBase_buf.z()=2.6; - } - - - - } -} - -int NewOmniDriverEmuClass = core::RegisterObject("Solver to test compliance computation for new articulated system objects") - .add< NewOmniDriverEmu >(); - -} // namespace controller - -} // namespace component - -} // namespace sofa diff --git a/applications/plugins/SensableEmulation/NewOmniDriverEmu.h b/applications/plugins/SensableEmulation/NewOmniDriverEmu.h deleted file mode 100644 index c12a68bec9d..00000000000 --- a/applications/plugins/SensableEmulation/NewOmniDriverEmu.h +++ /dev/null @@ -1,162 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#ifndef SOFA_COMPONENT_CONTROLLER_OMNIEMU_H -#define SOFA_COMPONENT_CONTROLLER_OMNIEMU_H - -//Sensable include -#include -#include - -#include -#include -#include - -#include - -namespace sofa -{ -namespace simulation { class Node; } - -namespace component -{ -namespace visualModel { class OglModel; } - -namespace controller -{ - -class ForceFeedback; - - -using namespace sofa::defaulttype; -using namespace helper::system::thread; -using core::objectmodel::Data; - -/** Holds data retrieved from HDAPI. */ -typedef struct -{ - unsigned int id; - int nupdates; - int m_buttonState; /* Has the device button has been pressed. */ - //hduVector3Dd m_devicePosition; /* Current device coordinates. */ - //HDErrorInfo m_error; - Vec3d pos; - Quat quat; - bool ready; - bool stop; -} DeviceData; - -typedef struct -{ - ForceFeedback* forceFeedback; - simulation::Node *context; - - sofa::defaulttype::SolidTypes::Transform endOmni_H_virtualTool; - //Transform baseOmni_H_endOmni; - sofa::defaulttype::SolidTypes::Transform world_H_baseOmni; - double forceScale; - double scale; - bool permanent_feedback; - - // API OMNI // - DeviceData servoDeviceData; // for the haptic loop - DeviceData deviceData; // for the simulation loop - -} OmniData; - -/** -* Omni driver -*/ -class NewOmniDriverEmu : public Controller -{ - -public: - typedef Rigid3dTypes::Coord Coord; - typedef Rigid3dTypes::VecCoord VecCoord; - - SOFA_CLASS(NewOmniDriverEmu, Controller); - Data scale; ///< Default scale applied to the Phantom Coordinates. - Data forceScale; ///< Default scaling factor applied to the force feedback - Data simuFreq; ///< frequency of the "simulated Omni" - Data positionBase; ///< Position of the interface base in the scene world coordinates - Data orientationBase; ///< Orientation of the interface base in the scene world coordinates - Data positionTool; ///< Position of the tool in the omni end effector frame - Data orientationTool; ///< Orientation of the tool in the omni end effector frame - Data permanent; ///< Apply the force feedback permanently - Data omniVisu; ///< Visualize the position of the interface in the virtual scene - Data simulateTranslation; ///< do very naive "translation simulation" of omni, with constant orientation <0 0 0 1> - - OmniData data; - - - NewOmniDriverEmu(); - virtual ~NewOmniDriverEmu(); - - virtual void init(); - virtual void bwdInit(); - virtual void reset(); - void reinit(); - - int initDevice(OmniData& data); - - void cleanup(); - virtual void draw(); - - void onKeyPressedEvent(core::objectmodel::KeypressedEvent *); - void onKeyReleasedEvent(core::objectmodel::KeyreleasedEvent *); - - void setDataValue(); - void reinitVisual(); - - bool afterFirstStep; - SolidTypes::Transform prevPosition; - - //neede for "omni simulation" - CTime *thTimer; - double lastStep; - bool executeAsynchro; - Data trajPts; ///< Trajectory positions - Data > trajTim; ///< Trajectory timing - -private: - void handleEvent(core::objectmodel::Event *); - void copyDeviceDataCallback(OmniData *pUserData); - void stopCallback(OmniData *pUserData); - sofa::component::visualmodel::OglModel *visu_base, *visu_end; - bool noDevice; - - bool moveOmniBase; - Vec3d positionBase_buf; - bool omniSimThreadCreated; - - - - -}; - - -} // namespace controller - -} // namespace component - -} // namespace sofa - -#endif // SOFA_COMPONENT_CONTROLLER_OMNIEMU_H diff --git a/applications/plugins/SensableEmulation/OmniDriverEmu.cpp b/applications/plugins/SensableEmulation/OmniDriverEmu.cpp deleted file mode 100644 index cbfe2cfd3bc..00000000000 --- a/applications/plugins/SensableEmulation/OmniDriverEmu.cpp +++ /dev/null @@ -1,589 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ - -#include "OmniDriverEmu.h" - -#include -#include -#include - -#include - -////force feedback -#include -#include - -#include -#include - -#include -#include - -#include -#include - -#include -#include -#include - -#include - -#include - -#include -using sofa::simulation::mechanicalvisitor::MechanicalPropagateOnlyPositionAndVelocityVisitor; - -#include - -namespace sofa -{ - -namespace component -{ - -namespace controller -{ - -using namespace sofa::type; -using namespace sofa::defaulttype; -using namespace core::behavior; -using type::vector; - -OmniDriverEmu::OmniDriverEmu() - : forceScale(initData(&forceScale, 1.0, "forceScale","Default scaling factor applied to the force feedback")) - , scale(initData(&scale, 1.0, "scale","Default scale applied to the Phantom Coordinates. ")) - , positionBase(initData(&positionBase, Vec3d(0,0,0), "positionBase","Position of the interface base in the scene world coordinates")) - , orientationBase(initData(&orientationBase, Quat(0,0,0,1), "orientationBase","Orientation of the interface base in the scene world coordinates")) - , positionTool(initData(&positionTool, Vec3d(0,0,0), "positionTool","Position of the tool in the omni end effector frame")) - , orientationTool(initData(&orientationTool, Quat(0,0,0,1), "orientationTool","Orientation of the tool in the omni end effector frame")) - , permanent(initData(&permanent, false, "permanent" , "Apply the force feedback permanently")) - , omniVisu(initData(&omniVisu, false, "omniVisu", "Visualize the position of the interface in the virtual scene")) - , simuFreq(initData(&simuFreq, 1000, "simuFreq", "frequency of the \"simulated Omni\"")) - , simulateTranslation(initData(&simulateTranslation, false, "simulateTranslation", "do very naive \"translation simulation\" of omni, with constant orientation <0 0 0 1>")) - , thTimer(nullptr) - , trajPts(initData(&trajPts, "trajPoints","Trajectory positions")) - , trajTim(initData(&trajTim, "trajTiming","Trajectory timing")) - , visu_base(nullptr) - , visu_end(nullptr) - , currentToolIndex(0) - , isToolControlled(true) -{ - this->f_listening.setValue(true); - noDevice = false; - moveOmniBase = false; - executeAsynchro = false; - omniSimThreadCreated = false; - m_terminate = true; -} - - -OmniDriverEmu::~OmniDriverEmu() -{ - if (thTimer != nullptr) - delete thTimer; -} - - -void OmniDriverEmu::setForceFeedbacks(vector ffs) -{ - data.forceFeedbacks.clear(); - for (unsigned int i=0; i *> (this->getContext()->getMechanicalState()); - if (!mState) - msg_warning() << "OmniDriverEmu has no binding MechanicalState."; - else - msg_info() << "[Omni] init" ; - - if(mState->getSize()resize(toolCount.getValue()); -} - - -/** - function that is used to emulate a haptic device by interpolating the position of the tool between several points. -*/ -void hapticSimuExecute(std::atomic& terminate, void *ptr ) -{ - assert(ptr!=nullptr); - - // Initialization - OmniDriverEmu *omniDrv = static_cast(ptr); - - // Init the "trajectory" data - OmniDriverEmu::VecCoord pts = omniDrv->trajPts.getValue(); //sets of points use for interpolation - type::vector tmg = omniDrv->trajTim.getValue(); //sets of "key time" for interpolation - - if (pts.empty()) - { - msg_error(omniDrv) << "Bad trajectory specification : there are no points for interpolation. "; - return; - } - - // Add a first point ( 0 0 0 0 0 0 1 ) if the first "key time" is not 0 - if (sofa::helper::isEqual(tmg[0], 0.0)) - { - pts.insert(pts.begin(), OmniDriverEmu::Coord()); - tmg.insert(tmg.begin(), 0); - } - - size_t numPts = pts.size(); - size_t numSegs = tmg.size(); - - // test if "trajectory" data are correct - if (numSegs != numPts) - { - msg_error(omniDrv) << "Bad trajectory specification : the number of trajectory timing does not match the number of trajectory points. "; - return; - } - - type::vector< unsigned int > stepNum; - // Init the Step list - for (unsigned int i = 0; i < numPts; i++) - { - stepNum.push_back(tmg[i] * omniDrv->simuFreq.getValue()); - } - - // Init data for interpolation. - SolidTypes::SpatialVector temp1, temp2; - long long unsigned asynchroStep=0; - double averageFreq = 0.0, minimalFreq=1e10; - unsigned int actSeg = 0; - unsigned int actStep = 0; - sofa::type::Quat actualRot; - sofa::type::Vec3d actualPos = pts[0].getCenter(); - - double timeScale = 1.0 / (double)helper::system::thread::CTime::getTicksPerSec(); - double startTime, endTime, totalTime, realTimePrev = -1.0, realTimeAct; - double requiredTime = 1.0 / (double)omniDrv->simuFreq.getValue() * 1.0 / timeScale; - double timeCorrection = 0.1 * requiredTime; - int timeToSleep; - - int oneTimeMessage = 0; - // loop that updates the position tool. - while (!terminate) - { - if (omniDrv->executeAsynchro) - { - if (oneTimeMessage == 1) - { - oneTimeMessage = 0; - } - - startTime = double(omniDrv->thTimer->getTime()); - - // compute the new position and orientataion - if (actSeg < numSegs) - { - - if (actSeg > 0 && actStep < stepNum[actSeg]) - { - - //compute the coeff for interpolation - double t = ((double)(actStep-stepNum[actSeg-1]))/((double)(stepNum[actSeg]-stepNum[actSeg-1])); - - //compute the actual position - actualPos = (pts[actSeg-1].getCenter())*(1-t)+(pts[actSeg].getCenter())*t; - - //compute the actual orientation - actualRot.slerp(pts[actSeg-1].getOrientation(),pts[actSeg].getOrientation(),t,true); - - actStep++; - } - else - { - actualPos = pts[actSeg].getCenter(); - actualRot = pts[actSeg].getOrientation(); - actSeg++; - } - } - else - { - msg_info(omniDrv) << "End of the movement!" ; - return; - } - - // Update the position of the tool - omniDrv->data.servoDeviceData.pos = actualPos; - omniDrv->data.servoDeviceData.quat = actualRot; - SolidTypes::Transform baseOmni_H_endOmni(actualPos * omniDrv->data.scale, actualRot); - SolidTypes::Transform world_H_virtualTool = omniDrv->data.world_H_baseOmni * baseOmni_H_endOmni * omniDrv->data.endOmni_H_virtualTool; - - // transmit the position of the tool to the force feedback - omniDrv->data.forceFeedbackIndice= omniDrv->getCurrentToolIndex(); - // store actual position of interface for the forcefeedback (as it will be used as soon as new LCP will be computed) - for (unsigned int i=0; idata.forceFeedbacks.size(); i++) - { - if (omniDrv->data.forceFeedbacks[i]->d_indice.getValue()==omniDrv->data.forceFeedbackIndice) - { - omniDrv->data.forceFeedbacks[i]->computeWrench(world_H_virtualTool,temp1,temp2); - } - } - - realTimeAct = double(omniDrv->thTimer->getTime()); - - if (asynchroStep > 0) - { - double realFreq = 1.0/( (realTimeAct - realTimePrev)*timeScale ); - averageFreq += realFreq; - if (realFreq < minimalFreq) - minimalFreq = realFreq; - - if ( ((asynchroStep+1) % 1000) == 0) - { - msg_info(omniDrv) << "Average frequency of the loop = " << averageFreq/double(asynchroStep) << " Hz " - << "Minimal frequency of the loop = " << minimalFreq << " Hz " ; - } - } - - realTimePrev = realTimeAct; - asynchroStep++; - - endTime = (double)omniDrv->thTimer->getTime(); //[s] - totalTime = (endTime - startTime); // [us] - timeToSleep = int( ((requiredTime - totalTime) - timeCorrection) ); // [us] - - if (timeToSleep > 0) - { - std::this_thread::sleep_for(std::chrono::seconds(int(timeToSleep * timeScale))); - } - else - { - msg_info(omniDrv) << "Cannot achieve desired frequency, computation too slow : " << totalTime * timeScale << " seconds for last iteration."; - } - } - else - { - if (oneTimeMessage == 0) - { - msg_info(omniDrv) << "Running Asynchro without action" ; - oneTimeMessage = 1; - } - - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - } -} - -void OmniDriverEmu::bwdInit() -{ - msg_info()<<"OmniDriverEmu::bwdInit() is called"; - sofa::simulation::Node *context = dynamic_cast(this->getContext()); // access to current node - - // depending on toolCount, search either the first force feedback, or the feedback with indice "0" - sofa::simulation::Node *groot = dynamic_cast(context->getRootContext()); // access to current node - - vector ffs; - groot->getTreeObjects(&ffs); - msg_info() << "OmniDriver: "<m_terminate), this); - setOmniSimThreadCreated(true); - msg_info() << "OmniDriver : Thread created for Omni simulation."; -} - - -void OmniDriverEmu::setDataValue() -{ - data.forceFeedbackIndice=0; - data.scale = scale.getValue(); - data.forceScale = forceScale.getValue(); - Quat q = orientationBase.getValue(); - q.normalize(); - orientationBase.setValue(q); - data.world_H_baseOmni.set( positionBase.getValue(), q ); - q=orientationTool.getValue(); - q.normalize(); - data.endOmni_H_virtualTool.set(positionTool.getValue(), q); - data.permanent_feedback = permanent.getValue(); -} - -void OmniDriverEmu::reinit() -{ - msg_info()<<"OmniDriverEmu::reinit() is called"; - this->cleanup(); - this->bwdInit(); - msg_info()<<"OmniDriverEmu::reinit() done"; -} - -void OmniDriverEmu::draw(const core::visual::VisualParams *) -{ - using sofa::gl::component::rendering3d::OglModel; - if(omniVisu.getValue()) - { - static bool isInited=false; - if(!isInited) - { - // compute position of the endOmni in worldframe - defaulttype::SolidTypes::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - defaulttype::SolidTypes::Transform world_H_endOmni = data.world_H_baseOmni * baseOmni_H_endOmni ; - - visu_base = sofa::core::objectmodel::New(); - visu_base->d_fileMesh.setValue("mesh/omni_test2.obj"); - visu_base->d_scale.setValue(type::Vec3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_base->setColor(1.0f,1.0f,1.0f,1.0f); - visu_base->init(); - visu_base->initVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_base->updateVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_base->applyRotation(orientationBase.getValue()); - visu_base->applyTranslation( positionBase.getValue()[0],positionBase.getValue()[1], positionBase.getValue()[2]); - - visu_end = sofa::core::objectmodel::New(); - visu_end->d_fileMesh.setValue("mesh/stylus.obj"); - visu_end->d_scale.setValue(type::Vec3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,0.3f,0.0f,1.0f); - visu_end->init(); - visu_end->initVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_end->updateVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_end->applyRotation(world_H_endOmni.getOrientation()); - visu_end->applyTranslation(world_H_endOmni.getOrigin()[0],world_H_endOmni.getOrigin()[1],world_H_endOmni.getOrigin()[2]); - isInited=true; - } - - // draw the 2 visual models - visu_base->doDrawVisual(sofa::core::visual::VisualParams::defaultInstance()); - visu_end->doDrawVisual(sofa::core::visual::VisualParams::defaultInstance()); - } -} - -void OmniDriverEmu::copyDeviceDataCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; - memcpy(&data->deviceData, &data->servoDeviceData, sizeof(DeviceData)); - data->servoDeviceData.ready = true; - data->servoDeviceData.nupdates = 0; -} - -void OmniDriverEmu::stopCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; - data->servoDeviceData.stop = true; -} - -void OmniDriverEmu::handleEvent(core::objectmodel::Event *event) -{ - if (dynamic_cast(event)) - { - msg_info() << "Test handle event "; - - copyDeviceDataCallback(&data); - - msg_info() << data.deviceData.ready; - - if (data.deviceData.ready) - { - msg_info() << "Data ready, event 2"; - - data.deviceData.quat.normalize(); - - if (isToolControlled) // ignore haptic device if tool is unselected - { - /// COMPUTATION OF THE vituralTool 6D POSITION IN THE World COORDINATES - SolidTypes< double >::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - SolidTypes< double >::Transform world_H_virtualTool = data.world_H_baseOmni * baseOmni_H_endOmni * data.endOmni_H_virtualTool; - - //---------------------------- - data.forceFeedbackIndice=currentToolIndex; - // store actual position of interface for the forcefeedback (as it will be used as soon as new LCP will be computed) - //data.forceFeedback->setReferencePosition(world_H_virtualTool); - for (unsigned int i=0; id_indice.getValue()==data.forceFeedbackIndice) - data.forceFeedbacks[i]->setReferencePosition(world_H_virtualTool); - - //----------------------------- - //TODO : SHOULD INCLUDE VELOCITY !! - //sofa::core::objectmodel::HapticDeviceEvent omniEvent(data.deviceData.id, world_H_virtualTool.getOrigin(), world_H_virtualTool.getOrientation() , data.deviceData.m_buttonState); - //this->getContext()->propagateEvent(sofa::core::ExecParams::defaultInstance(), &omniEvent); - helper::WriteAccessor > > > x = *this->mState->write(core::VecCoordId::position()); - this->getContext()->getMechanicalState()->vRealloc( sofa::core::MechanicalParams::defaultInstance(), core::VecCoordId::freePosition() ); // freePosition is not allocated by default - helper::WriteAccessor > > > xfree = *this->mState->write(core::VecCoordId::freePosition()); - - /// FIX : check if the mechanical state is empty, if true, resize it - /// otherwise: crash when accessing xfree[] and x[] - if(xfree.size() == 0) - xfree.resize(1); - if(x.size() == 0) - x.resize(1); - - if((size_t)currentToolIndex >= xfree.size() || (size_t)currentToolIndex >= x.size()) - msg_warning()<<"currentToolIndex exceed the size of xfree/x vectors"; - else - { - xfree[currentToolIndex].getCenter() = world_H_virtualTool.getOrigin(); - x[currentToolIndex].getCenter() = world_H_virtualTool.getOrigin(); - - xfree[currentToolIndex].getOrientation() = world_H_virtualTool.getOrientation(); - x[currentToolIndex].getOrientation() = world_H_virtualTool.getOrientation(); - } - - sofa::simulation::Node *node = dynamic_cast (this->getContext()); - if (node != nullptr) - { - MechanicalPropagateOnlyPositionAndVelocityVisitor mechaVisitor(sofa::core::MechanicalParams::defaultInstance()); mechaVisitor.execute(node); - sofa::simulation::UpdateMappingVisitor updateVisitor(sofa::core::ExecParams::defaultInstance()); updateVisitor.execute(node); - } - } - else - { - data.forceFeedbackIndice = -1; - } - - if (moveOmniBase) - { - msg_info()<<" new positionBase = "<applyTranslation(positionBase_buf[0]-positionBase.getValue()[0], - positionBase_buf[1]-positionBase.getValue()[1], - positionBase_buf[2]-positionBase.getValue()[2]); - positionBase.setValue(positionBase_buf); - setDataValue(); - } - - executeAsynchro = true; - } - else - msg_info()<<"data not ready"; - } - - if (dynamic_cast(event)) - { - core::objectmodel::KeypressedEvent *kpe = dynamic_cast(event); - if (kpe->getKey()=='Z' ||kpe->getKey()=='z' ) - { - moveOmniBase = !moveOmniBase; - msg_info()<<"key z detected "; - omniVisu.setValue(moveOmniBase); - - if(moveOmniBase) - { - this->cleanup(); - positionBase_buf = positionBase.getValue(); - } - else - { - this->reinit(); - } - } - - if(kpe->getKey()=='K' || kpe->getKey()=='k') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=0.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='L' || kpe->getKey()=='l') - { - positionBase_buf.x()=-0.15; - positionBase_buf.y()=1.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='M' || kpe->getKey()=='m') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=2.5; - positionBase_buf.z()=2.6; - } - - // emulated haptic buttons B=btn1, N=btn2 - if (kpe->getKey()=='H' || kpe->getKey()=='h') - { - msg_info() << "emulated button 1 pressed"; - Vec3 dummyVector; - Quat dummyQuat; - sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat, - sofa::core::objectmodel::HapticDeviceEvent::Button1StateMask); - sofa::simulation::Node *groot = dynamic_cast(getContext()->getRootContext()); // access to current node - groot->propagateEvent(core::ExecParams::defaultInstance(), &event); - } - if (kpe->getKey()=='J' || kpe->getKey()=='j') - { - std::cout << "emulated button 2 pressed" << std::endl; - Vec3 dummyVector; - Quat dummyQuat; - sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat, - sofa::core::objectmodel::HapticDeviceEvent::Button2StateMask); - sofa::simulation::Node *groot = dynamic_cast(getContext()->getRootContext()); // access to current node - groot->propagateEvent(core::ExecParams::defaultInstance(), &event); - } - - } - if (dynamic_cast(event)) - { - core::objectmodel::KeyreleasedEvent *kre = dynamic_cast(event); - // emulated haptic buttons B=btn1, N=btn2 - if (kre->getKey()=='H' || kre->getKey()=='h' - || kre->getKey()=='J' || kre->getKey()=='j') - { - msg_info() << "emulated button released" ; - Vec3 dummyVector; - Quat dummyQuat; - sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat,0); - sofa::simulation::Node *groot = dynamic_cast(getContext()->getRootContext()); // access to current node - groot->propagateEvent(core::ExecParams::defaultInstance(), &event); - } - } -} - - -static int OmniDriverEmuClass = core::RegisterObject("Solver to test compliance computation for new articulated system objects") - .add< OmniDriverEmu >(); - -} // namespace controller - -} // namespace component - -} // namespace sofa diff --git a/applications/plugins/SensableEmulation/OmniDriverEmu.h b/applications/plugins/SensableEmulation/OmniDriverEmu.h deleted file mode 100644 index 0590808fa47..00000000000 --- a/applications/plugins/SensableEmulation/OmniDriverEmu.h +++ /dev/null @@ -1,173 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program 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 program 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 program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#ifndef SOFA_COMPONENT_CONTROLLER_OMNIEMU_H -#define SOFA_COMPONENT_CONTROLLER_OMNIEMU_H - -#include -#include -#include - -#include - -#include -#include - -#include -#include -#include -#include - -namespace sofa::gl::component::rendering3d -{ - class OglModel; - -} // namespace sofa::gl::component::rendering3d - -namespace sofa::component::haptics -{ - class ForceFeedback; -} - -namespace sofa::component::controller -{ - -/** Holds data retrieved from HDAPI. */ -typedef struct -{ - int nupdates; - int m_buttonState; /* Has the device button has been pressed. */ - type::Vec3d pos; - type::Quat quat; - bool ready; - bool stop; -} DeviceData; - -typedef struct -{ - type::vector forceFeedbacks; - int forceFeedbackIndice; - simulation::Node *context; - - sofa::defaulttype::SolidTypes::Transform endOmni_H_virtualTool; - sofa::defaulttype::SolidTypes::Transform world_H_baseOmni; - double forceScale; - double scale; - bool permanent_feedback; - - // API OMNI // - DeviceData servoDeviceData; // for the haptic loop - DeviceData deviceData; // for the simulation loop - -} OmniData; - -/** -* Omni driver emulator you can add to your scene. -* -* Controller's actions: -* key z: reset to base position -* key k, l, m: move base position -* key h: emulate button 1 press/release -* key i: emulate button 2 press/release -*/ -class SOFA_SENSABLEEMUPLUGIN_API OmniDriverEmu : public Controller -{ - -public: - typedef defaulttype::Rigid3dTypes::Coord Coord; - typedef defaulttype::Rigid3dTypes::VecCoord VecCoord; - - using Vec3d = sofa::type::Vec3d; - using Quat = sofa::type::Quat; - - SOFA_CLASS(OmniDriverEmu, Controller); - Data forceScale; ///< Default scaling factor applied to the force feedback - Data scale; ///< Default scale applied to the Phantom Coordinates. - Data positionBase; ///< Position of the interface base in the scene world coordinates - Data orientationBase; ///< Orientation of the interface base in the scene world coordinates - Data positionTool; ///< Position of the tool in the omni end effector frame - Data orientationTool; ///< Orientation of the tool in the omni end effector frame - Data permanent; ///< Apply the force feedback permanently - Data omniVisu; ///< Visualize the position of the interface in the virtual scene - Data simuFreq; ///< frequency of the "simulated Omni" - Data simulateTranslation; ///< do very naive "translation simulation" of omni, with constant orientation <0 0 0 1> - Data toolSelector; - Data toolCount; - - OmniData data; - - OmniDriverEmu(); - ~OmniDriverEmu() override; - - void init() override; - void bwdInit() override; - void reinit() override; - void cleanup() override; - void draw(const core::visual::VisualParams*) override; - - int initDevice(OmniData& data); - void setForceFeedbacks(type::vector ffs); - - void setDataValue(); - - void setOmniSimThreadCreated(bool b) { omniSimThreadCreated = b;} - - bool afterFirstStep; - defaulttype::SolidTypes::Transform prevPosition; - - //need for "omni simulation" - helper::system::thread::CTime *thTimer; - - /// Thread object - std::thread hapSimuThread; - - /// Bool to notify thread to stop work - std::atomic m_terminate; - - double lastStep; - bool executeAsynchro; - Data trajPts; ///< Trajectory positions - Data > trajTim; ///< Trajectory timing - - int getCurrentToolIndex() { return currentToolIndex;} - void handleEvent(core::objectmodel::Event *) override ; - -private: - - void copyDeviceDataCallback(OmniData *pUserData); - void stopCallback(OmniData *pUserData); - gl::component::rendering3d::OglModel::SPtr visu_base, visu_end; - bool noDevice; - - bool moveOmniBase; - Vec3d positionBase_buf; - - core::behavior::MechanicalState *mState; ///< Controlled MechanicalState. - - bool omniSimThreadCreated; - int currentToolIndex; - bool isToolControlled; -}; - - -} // namespace sofa::component::controller - -#endif // SOFA_COMPONENT_CONTROLLER_OMNIEMU_H diff --git a/applications/plugins/SensableEmulation/PluginSensableEmulation.txt b/applications/plugins/SensableEmulation/PluginSensableEmulation.txt deleted file mode 100644 index befe3d9bc7b..00000000000 --- a/applications/plugins/SensableEmulation/PluginSensableEmulation.txt +++ /dev/null @@ -1,10 +0,0 @@ -************************************ -* SensableEmulation.txt * -************************************ -AUTHOR : - - C.Duriez - -LICENCE : - - None - -OTHER COMMENTS : diff --git a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn b/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn deleted file mode 100644 index becbb2480b0..00000000000 --- a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view b/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view deleted file mode 100644 index 97e71316b4f..00000000000 --- a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SensableEmulation/examples/data/mesh/box.obj b/applications/plugins/SensableEmulation/examples/data/mesh/box.obj deleted file mode 100644 index 439b773295b..00000000000 --- a/applications/plugins/SensableEmulation/examples/data/mesh/box.obj +++ /dev/null @@ -1,20 +0,0 @@ -# Blender v2.68 (sub 0) OBJ File: '' -# www.blender.org -mtllib box.mtl -o Cube -v 1.000000 -1.000000 -1.000000 -v 1.000000 -1.000000 1.000000 -v -1.000000 -1.000000 1.000000 -v -1.000000 -1.000000 -1.000000 -v 1.000000 1.000000 -0.999999 -v 0.999999 1.000000 1.000001 -v -1.000000 1.000000 1.000000 -v -1.000000 1.000000 -1.000000 -usemtl Material -s off -f 1 2 3 4 -f 5 8 7 6 -f 1 5 6 2 -f 2 6 7 3 -f 3 7 8 4 -f 5 1 4 8 diff --git a/applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj b/applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj deleted file mode 100644 index 358faf79ad5..00000000000 --- a/applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj +++ /dev/null @@ -1,1194 +0,0 @@ -#### -# -# OBJ File Generated by LightWave3D -# LightWave3D OBJ Export v2.3 -# -#### -o dental_instrument.obj -mtllib dental_instrument.mtl -g default -v 0.020625 0.0233891 2.71688 -v 0.0350288 0.0174173 2.71666 -v 0.0409951 0.003 2.71656 -v 0.0350288 -0.0114173 2.71666 -v 0.020625 -0.0173891 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339 102 5 -f 336 339 5 -f 101 339 336 -f 6 101 336 -f 6 369 101 -f 366 369 6 -f 7 100 366 -f 100 369 366 -f 388 390 100 -f 388 100 7 -f 8 99 390 -f 8 390 388 -f 400 401 99 -f 400 99 8 -f 1 401 400 -f 1 98 401 -f 219 98 216 -f 98 1 216 -f 105 219 2 -f 219 216 2 diff --git a/applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn b/applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn deleted file mode 100644 index e27e25b8c6f..00000000000 --- a/applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SensableEmulation/pthread/pthread.h b/applications/plugins/SensableEmulation/pthread/pthread.h deleted file mode 100644 index b4072f72c6f..00000000000 --- a/applications/plugins/SensableEmulation/pthread/pthread.h +++ /dev/null @@ -1,1368 +0,0 @@ -/* This is an implementation of the threads API of POSIX 1003.1-2001. - * - * -------------------------------------------------------------------------- - * - * Pthreads-win32 - POSIX Threads Library for Win32 - * Copyright(C) 1998 John E. Bossom - * Copyright(C) 1999,2005 Pthreads-win32 contributors - * - * Contact Email: rpj@callisto.canberra.edu.au - * - * The current list of contributors is contained - * in the file CONTRIBUTORS included with the source - * code distribution. The list can also be seen at the - * following World Wide Web location: - * http://sources.redhat.com/pthreads-win32/contributors.html - * - * 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 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 in the file COPYING.LIB; - * if not, write to the Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA - */ - -#if !defined( PTHREAD_H ) -#define PTHREAD_H - -/* - * See the README file for an explanation of the pthreads-win32 version - * numbering scheme and how the DLL is named etc. - */ -#define PTW32_VERSION 2,9,1,0 -#define PTW32_VERSION_STRING "2, 9, 1, 0\0" - -/* There are three implementations of cancel cleanup. - * Note that pthread.h is included in both application - * compilation units and also internally for the library. - * The code here and within the library aims to work - * for all reasonable combinations of environments. - * - * The three implementations are: - * - * WIN32 SEH - * C - * C++ - * - * Please note that exiting a push/pop block via - * "return", "exit", "break", or "continue" will - * lead to different behaviour amongst applications - * depending upon whether the library was built - * using SEH, C++, or C. For example, a library built - * with SEH will call the cleanup routine, while both - * C++ and C built versions will not. - */ - -/* - * Define defaults for cleanup code. - * Note: Unless the build explicitly defines one of the following, then - * we default to standard C style cleanup. This style uses setjmp/longjmp - * in the cancelation and thread exit implementations and therefore won't - * do stack unwinding if linked to applications that have it (e.g. - * C++ apps). This is currently consistent with most/all commercial Unix - * POSIX threads implementations. - */ -#if !defined( __CLEANUP_SEH ) && !defined( __CLEANUP_CXX ) && !defined( __CLEANUP_C ) -# define __CLEANUP_C -#endif - -#if defined( __CLEANUP_SEH ) && ( !defined( _MSC_VER ) && !defined(PTW32_RC_MSC)) -#error ERROR [__FILE__, line __LINE__]: SEH is not supported for this compiler. -#endif - -/* - * Stop here if we are being included by the resource compiler. - */ -#if !defined(RC_INVOKED) - -#undef PTW32_LEVEL - -#if defined(_POSIX_SOURCE) -#define PTW32_LEVEL 0 -/* Early POSIX */ -#endif - -#if defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 199309 -#undef PTW32_LEVEL -#define PTW32_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_LEVEL -#define PTW32_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_LEVEL_MAX 3 - -#if ( defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200112 ) || !defined(PTW32_LEVEL) -#define PTW32_LEVEL PTW32_LEVEL_MAX -/* Include everything */ -#endif - -#if defined(_UWIN) -# define HAVE_STRUCT_TIMESPEC 1 -# define HAVE_SIGNAL_H 1 -# undef HAVE_PTW32_CONFIG_H -# pragma comment(lib, "pthread") -#endif - -/* - * ------------------------------------------------------------- - * - * - * Module: pthread.h - * - * Purpose: - * Provides an implementation of PThreads based upon the - * standard: - * - * POSIX 1003.1-2001 - * and - * The Single Unix Specification version 3 - * - * (these two are equivalent) - * - * in order to enhance code portability between Windows, - * various commercial Unix implementations, and Linux. - * - * See the ANNOUNCE file for a full list of conforming - * routines and defined constants, and a list of missing - * routines and constants not defined in this implementation. - * - * Authors: - * There have been many contributors to this library. - * The initial implementation was contributed by - * John Bossom, and several others have provided major - * sections or revisions of parts of the implementation. - * Often significant effort has been contributed to - * find and fix important bugs and other problems to - * improve the reliability of the library, which sometimes - * is not reflected in the amount of code which changed as - * result. - * As much as possible, the contributors are acknowledged - * in the ChangeLog file in the source code distribution - * where their changes are noted in detail. - * - * Contributors are listed in the CONTRIBUTORS file. - * - * As usual, all bouquets go to the contributors, and all - * brickbats go to the project maintainer. - * - * Maintainer: - * The code base for this project is coordinated and - * eventually pre-tested, packaged, and made available by - * - * Ross Johnson - * - * QA Testers: - * Ultimately, the library is tested in the real world by - * a host of competent and demanding scientists and - * engineers who report bugs and/or provide solutions - * which are then fixed or incorporated into subsequent - * versions of the library. Each time a bug is fixed, a - * test case is written to prove the fix and ensure - * that later changes to the code don't reintroduce the - * same error. The number of test cases is slowly growing - * and therefore so is the code reliability. - * - * Compliance: - * See the file ANNOUNCE for the list of implemented - * and not-implemented routines and defined options. - * Of course, these are all defined is this file as well. - * - * Web site: - * The source code and other information about this library - * are available from - * - * http://sources.redhat.com/pthreads-win32/ - * - * ------------------------------------------------------------- - */ - -/* Try to avoid including windows.h */ -#if (defined(__MINGW64__) || defined(__MINGW32__)) && defined(__cplusplus) -#define PTW32_INCLUDE_WINDOWS_H -#endif - -#if defined(PTW32_INCLUDE_WINDOWS_H) -#include -#endif - -#if defined(_MSC_VER) && _MSC_VER < 1300 || defined(__DMC__) -/* - * VC++6.0 or early compiler's header has no DWORD_PTR type. - */ -typedef unsigned long DWORD_PTR; -typedef unsigned long ULONG_PTR; -#endif -/* - * ----------------- - * autoconf switches - * ----------------- - */ - -#if defined(HAVE_PTW32_CONFIG_H) -#include "config.h" -#endif /* HAVE_PTW32_CONFIG_H */ - -#if !defined(NEED_FTIME) -#include -#else /* NEED_FTIME */ -/* use native WIN32 time API */ -#endif /* NEED_FTIME */ - -#if defined(HAVE_SIGNAL_H) -#include -#endif /* HAVE_SIGNAL_H */ - -#include - -/* - * Boolean values to make us independent of system includes. - */ -enum { - PTW32_FALSE = 0, - PTW32_TRUE = (! PTW32_FALSE) -}; - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Several systems don't define some error numbers. - */ -#if !defined(ENOTSUP) -# define ENOTSUP 48 /* This is the value in Solaris. */ -#endif - -#if !defined(ETIMEDOUT) -# define ETIMEDOUT 10060 /* Same as WSAETIMEDOUT */ -#endif - -#if !defined(ENOSYS) -# define ENOSYS 140 /* Semi-arbitrary value */ -#endif - -#if !defined(EDEADLK) -# if defined(EDEADLOCK) -# define EDEADLK EDEADLOCK -# else -# define EDEADLK 36 /* This is the value in MSVC. */ -# endif -#endif - -/* POSIX 2008 - related to robust mutexes */ -#if !defined(EOWNERDEAD) -# define EOWNERDEAD 43 -#endif -#if !defined(ENOTRECOVERABLE) -# define ENOTRECOVERABLE 44 -#endif - -#include - -/* - * To avoid including windows.h we define only those things that we - * actually need from it. - */ -#if !defined(PTW32_INCLUDE_WINDOWS_H) -#if !defined(HANDLE) -# define PTW32__HANDLE_DEF -# define HANDLE void * -#endif -#if !defined(DWORD) -# define PTW32__DWORD_DEF -# define DWORD unsigned long -#endif -#endif - -#if !defined(HAVE_STRUCT_TIMESPEC) -#define HAVE_STRUCT_TIMESPEC -#if !defined(_TIMESPEC_DEFINED) -#define _TIMESPEC_DEFINED -struct timespec { - time_t tv_sec; - long tv_nsec; -}; -#endif /* _TIMESPEC_DEFINED */ -#endif /* HAVE_STRUCT_TIMESPEC */ - -#if !defined(SIG_BLOCK) -#define SIG_BLOCK 0 -#endif /* SIG_BLOCK */ - -#if !defined(SIG_UNBLOCK) -#define SIG_UNBLOCK 1 -#endif /* SIG_UNBLOCK */ - -#if !defined(SIG_SETMASK) -#define SIG_SETMASK 2 -#endif /* SIG_SETMASK */ - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -/* - * ------------------------------------------------------------- - * - * POSIX 1003.1-2001 Options - * ========================= - * - * Options are normally set in , which is not provided - * with pthreads-win32. - * - * For conformance with the Single Unix Specification (version 3), all of the - * options below are defined, and have a value of either -1 (not supported) - * or 200112L (supported). - * - * These options can neither be left undefined nor have a value of 0, because - * either indicates that sysconf(), which is not implemented, may be used at - * runtime to check the status of the option. - * - * _POSIX_THREADS (== 200112L) - * If == 200112L, you can use threads - * - * _POSIX_THREAD_ATTR_STACKSIZE (== 200112L) - * If == 200112L, you can control the size of a thread's - * stack - * pthread_attr_getstacksize - * pthread_attr_setstacksize - * - * _POSIX_THREAD_ATTR_STACKADDR (== -1) - * If == 200112L, you can allocate and control a thread's - * stack. If not supported, the following functions - * will return ENOSYS, indicating they are not - * supported: - * pthread_attr_getstackaddr - * pthread_attr_setstackaddr - * - * _POSIX_THREAD_PRIORITY_SCHEDULING (== -1) - * If == 200112L, you can use realtime scheduling. - * This option indicates that the behaviour of some - * implemented functions conforms to the additional TPS - * requirements in the standard. E.g. rwlocks favour - * writers over readers when threads have equal priority. - * - * _POSIX_THREAD_PRIO_INHERIT (== -1) - * If == 200112L, you can create priority inheritance - * mutexes. - * pthread_mutexattr_getprotocol + - * pthread_mutexattr_setprotocol + - * - * _POSIX_THREAD_PRIO_PROTECT (== -1) - * If == 200112L, you can create priority ceiling mutexes - * Indicates the availability of: - * pthread_mutex_getprioceiling - * pthread_mutex_setprioceiling - * pthread_mutexattr_getprioceiling - * pthread_mutexattr_getprotocol + - * pthread_mutexattr_setprioceiling - * pthread_mutexattr_setprotocol + - * - * _POSIX_THREAD_PROCESS_SHARED (== -1) - * If set, you can create mutexes and condition - * variables that can be shared with another - * process.If set, indicates the availability - * of: - * pthread_mutexattr_getpshared - * pthread_mutexattr_setpshared - * pthread_condattr_getpshared - * pthread_condattr_setpshared - * - * _POSIX_THREAD_SAFE_FUNCTIONS (== 200112L) - * If == 200112L you can use the special *_r library - * functions that provide thread-safe behaviour - * - * _POSIX_READER_WRITER_LOCKS (== 200112L) - * If == 200112L, you can use read/write locks - * - * _POSIX_SPIN_LOCKS (== 200112L) - * If == 200112L, you can use spin locks - * - * _POSIX_BARRIERS (== 200112L) - * If == 200112L, you can use barriers - * - * + These functions provide both 'inherit' and/or - * 'protect' protocol, based upon these macro - * settings. - * - * ------------------------------------------------------------- - */ - -/* - * POSIX Options - */ -#undef _POSIX_THREADS -#define _POSIX_THREADS 200809L - -#undef _POSIX_READER_WRITER_LOCKS -#define _POSIX_READER_WRITER_LOCKS 200809L - -#undef _POSIX_SPIN_LOCKS -#define _POSIX_SPIN_LOCKS 200809L - -#undef _POSIX_BARRIERS -#define _POSIX_BARRIERS 200809L - -#undef _POSIX_THREAD_SAFE_FUNCTIONS -#define _POSIX_THREAD_SAFE_FUNCTIONS 200809L - -#undef _POSIX_THREAD_ATTR_STACKSIZE -#define _POSIX_THREAD_ATTR_STACKSIZE 200809L - -/* - * The following options are not supported - */ -#undef _POSIX_THREAD_ATTR_STACKADDR -#define _POSIX_THREAD_ATTR_STACKADDR -1 - -#undef _POSIX_THREAD_PRIO_INHERIT -#define _POSIX_THREAD_PRIO_INHERIT -1 - -#undef _POSIX_THREAD_PRIO_PROTECT -#define _POSIX_THREAD_PRIO_PROTECT -1 - -/* TPS is not fully supported. */ -#undef _POSIX_THREAD_PRIORITY_SCHEDULING -#define _POSIX_THREAD_PRIORITY_SCHEDULING -1 - -#undef _POSIX_THREAD_PROCESS_SHARED -#define _POSIX_THREAD_PROCESS_SHARED -1 - - -/* - * POSIX 1003.1-2001 Limits - * =========================== - * - * These limits are normally set in , which is not provided with - * pthreads-win32. - * - * PTHREAD_DESTRUCTOR_ITERATIONS - * Maximum number of attempts to destroy - * a thread's thread-specific data on - * termination (must be at least 4) - * - * PTHREAD_KEYS_MAX - * Maximum number of thread-specific data keys - * available per process (must be at least 128) - * - * PTHREAD_STACK_MIN - * Minimum supported stack size for a thread - * - * PTHREAD_THREADS_MAX - * Maximum number of threads supported per - * process (must be at least 64). - * - * SEM_NSEMS_MAX - * The maximum number of semaphores a process can have. - * (must be at least 256) - * - * SEM_VALUE_MAX - * The maximum value a semaphore can have. - * (must be at least 32767) - * - */ -#undef _POSIX_THREAD_DESTRUCTOR_ITERATIONS -#define _POSIX_THREAD_DESTRUCTOR_ITERATIONS 4 - -#undef PTHREAD_DESTRUCTOR_ITERATIONS -#define PTHREAD_DESTRUCTOR_ITERATIONS _POSIX_THREAD_DESTRUCTOR_ITERATIONS - -#undef _POSIX_THREAD_KEYS_MAX -#define _POSIX_THREAD_KEYS_MAX 128 - -#undef PTHREAD_KEYS_MAX -#define PTHREAD_KEYS_MAX _POSIX_THREAD_KEYS_MAX - -#undef PTHREAD_STACK_MIN -#define PTHREAD_STACK_MIN 0 - -#undef _POSIX_THREAD_THREADS_MAX -#define _POSIX_THREAD_THREADS_MAX 64 - - /* Arbitrary value */ -#undef PTHREAD_THREADS_MAX -#define PTHREAD_THREADS_MAX 2019 - -#undef _POSIX_SEM_NSEMS_MAX -#define _POSIX_SEM_NSEMS_MAX 256 - - /* Arbitrary value */ -#undef SEM_NSEMS_MAX -#define SEM_NSEMS_MAX 1024 - -#undef _POSIX_SEM_VALUE_MAX -#define _POSIX_SEM_VALUE_MAX 32767 - -#undef SEM_VALUE_MAX -#define SEM_VALUE_MAX INT_MAX - - -#if defined(__GNUC__) && !defined(__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * The Open Watcom C/C++ compiler uses a non-standard calling convention - * that passes function args in registers unless __cdecl is explicitly specified - * in exposed function prototypes. - * - * We force all calls to cdecl even though this could slow Watcom code down - * slightly. If you know that the Watcom compiler will be used to build both - * the DLL and application, then you can probably define this as a null string. - * Remember that pthread.h (this file) is used for both the DLL and application builds. - */ -#define PTW32_CDECL __cdecl - -#if defined(_UWIN) && PTW32_LEVEL >= PTW32_LEVEL_MAX -# include -#else -/* - * Generic handle type - intended to extend uniqueness beyond - * that available with a simple pointer. It should scale for either - * IA-32 or IA-64. - */ -typedef struct { - void * p; /* Pointer to actual object */ - unsigned int x; /* Extra information - reuse count etc */ -} ptw32_handle_t; - -typedef ptw32_handle_t pthread_t; -typedef struct pthread_attr_t_ * pthread_attr_t; -typedef struct pthread_once_t_ pthread_once_t; -typedef struct pthread_key_t_ * pthread_key_t; -typedef struct pthread_mutex_t_ * pthread_mutex_t; -typedef struct pthread_mutexattr_t_ * pthread_mutexattr_t; -typedef struct pthread_cond_t_ * pthread_cond_t; -typedef struct pthread_condattr_t_ * pthread_condattr_t; -#endif -typedef struct pthread_rwlock_t_ * pthread_rwlock_t; -typedef struct pthread_rwlockattr_t_ * pthread_rwlockattr_t; -typedef struct pthread_spinlock_t_ * pthread_spinlock_t; -typedef struct pthread_barrier_t_ * pthread_barrier_t; -typedef struct pthread_barrierattr_t_ * pthread_barrierattr_t; - -/* - * ==================== - * ==================== - * POSIX Threads - * ==================== - * ==================== - */ - -enum { -/* - * pthread_attr_{get,set}detachstate - */ - PTHREAD_CREATE_JOINABLE = 0, /* Default */ - PTHREAD_CREATE_DETACHED = 1, - -/* - * pthread_attr_{get,set}inheritsched - */ - PTHREAD_INHERIT_SCHED = 0, - PTHREAD_EXPLICIT_SCHED = 1, /* Default */ - -/* - * pthread_{get,set}scope - */ - PTHREAD_SCOPE_PROCESS = 0, - PTHREAD_SCOPE_SYSTEM = 1, /* Default */ - -/* - * pthread_setcancelstate paramters - */ - PTHREAD_CANCEL_ENABLE = 0, /* Default */ - PTHREAD_CANCEL_DISABLE = 1, - -/* - * pthread_setcanceltype parameters - */ - PTHREAD_CANCEL_ASYNCHRONOUS = 0, - PTHREAD_CANCEL_DEFERRED = 1, /* Default */ - -/* - * pthread_mutexattr_{get,set}pshared - * pthread_condattr_{get,set}pshared - */ - PTHREAD_PROCESS_PRIVATE = 0, - PTHREAD_PROCESS_SHARED = 1, - -/* - * pthread_mutexattr_{get,set}robust - */ - PTHREAD_MUTEX_STALLED = 0, /* Default */ - PTHREAD_MUTEX_ROBUST = 1, - -/* - * pthread_barrier_wait - */ - PTHREAD_BARRIER_SERIAL_THREAD = -1 -}; - -/* - * ==================== - * ==================== - * Cancelation - * ==================== - * ==================== - */ -#define PTHREAD_CANCELED ((void *)(size_t) -1) - - -/* - * ==================== - * ==================== - * Once Key - * ==================== - * ==================== - */ -#define PTHREAD_ONCE_INIT { PTW32_FALSE, 0, 0, 0} - -struct pthread_once_t_ -{ - int done; /* indicates if user function has been executed */ - void * lock; - int reserved1; - int reserved2; -}; - - -/* - * ==================== - * ==================== - * Object initialisers - * ==================== - * ==================== - */ -#define PTHREAD_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -1) -#define PTHREAD_RECURSIVE_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -2) -#define PTHREAD_ERRORCHECK_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -3) - -/* - * Compatibility with LinuxThreads - */ -#define PTHREAD_RECURSIVE_MUTEX_INITIALIZER_NP PTHREAD_RECURSIVE_MUTEX_INITIALIZER -#define PTHREAD_ERRORCHECK_MUTEX_INITIALIZER_NP PTHREAD_ERRORCHECK_MUTEX_INITIALIZER - -#define PTHREAD_COND_INITIALIZER ((pthread_cond_t)(size_t) -1) - -#define PTHREAD_RWLOCK_INITIALIZER ((pthread_rwlock_t)(size_t) -1) - -#define PTHREAD_SPINLOCK_INITIALIZER ((pthread_spinlock_t)(size_t) -1) - - -/* - * Mutex types. - */ -enum -{ - /* Compatibility with LinuxThreads */ - PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_RECURSIVE_NP, - PTHREAD_MUTEX_ERRORCHECK_NP, - PTHREAD_MUTEX_TIMED_NP = PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_ADAPTIVE_NP = PTHREAD_MUTEX_FAST_NP, - /* For compatibility with POSIX */ - PTHREAD_MUTEX_NORMAL = PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_RECURSIVE = PTHREAD_MUTEX_RECURSIVE_NP, - PTHREAD_MUTEX_ERRORCHECK = PTHREAD_MUTEX_ERRORCHECK_NP, - PTHREAD_MUTEX_DEFAULT = PTHREAD_MUTEX_NORMAL -}; - - -typedef struct ptw32_cleanup_t ptw32_cleanup_t; - -#if defined(_MSC_VER) -/* Disable MSVC 'anachronism used' warning */ -#pragma warning( disable : 4229 ) -#endif - -typedef void (* PTW32_CDECL ptw32_cleanup_callback_t)(void *); - -#if defined(_MSC_VER) -#pragma warning( default : 4229 ) -#endif - -struct ptw32_cleanup_t -{ - ptw32_cleanup_callback_t routine; - void *arg; - struct ptw32_cleanup_t *prev; -}; - -#if defined(__CLEANUP_SEH) - /* - * WIN32 SEH version of cancel cleanup. - */ - -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - ptw32_cleanup_t _cleanup; \ - \ - _cleanup.routine = (ptw32_cleanup_callback_t)(_rout); \ - _cleanup.arg = (_arg); \ - __try \ - { \ - -#define pthread_cleanup_pop( _execute ) \ - } \ - __finally \ - { \ - if( _execute || AbnormalTermination()) \ - { \ - (*(_cleanup.routine))( _cleanup.arg ); \ - } \ - } \ - } - -#else /* __CLEANUP_SEH */ - -#if defined(__CLEANUP_C) - - /* - * C implementation of PThreads cancel cleanup - */ - -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - ptw32_cleanup_t _cleanup; \ - \ - ptw32_push_cleanup( &_cleanup, (ptw32_cleanup_callback_t) (_rout), (_arg) ); \ - -#define pthread_cleanup_pop( _execute ) \ - (void) ptw32_pop_cleanup( _execute ); \ - } - -#else /* __CLEANUP_C */ - -#if defined(__CLEANUP_CXX) - - /* - * C++ version of cancel cleanup. - * - John E. Bossom. - */ - - class PThreadCleanup { - /* - * PThreadCleanup - * - * Purpose - * This class is a C++ helper class that is - * used to implement pthread_cleanup_push/ - * pthread_cleanup_pop. - * The destructor of this class automatically - * pops the pushed cleanup routine regardless - * of how the code exits the scope - * (i.e. such as by an exception) - */ - ptw32_cleanup_callback_t cleanUpRout; - void * obj; - int executeIt; - - public: - PThreadCleanup() : - cleanUpRout( 0 ), - obj( 0 ), - executeIt( 0 ) - /* - * No cleanup performed - */ - { - } - - PThreadCleanup( - ptw32_cleanup_callback_t routine, - void * arg ) : - cleanUpRout( routine ), - obj( arg ), - executeIt( 1 ) - /* - * Registers a cleanup routine for 'arg' - */ - { - } - - ~PThreadCleanup() - { - if ( executeIt && ((void *) cleanUpRout != (void *) 0) ) - { - (void) (*cleanUpRout)( obj ); - } - } - - void execute( int exec ) - { - executeIt = exec; - } - }; - - /* - * C++ implementation of PThreads cancel cleanup; - * This implementation takes advantage of a helper - * class who's destructor automatically calls the - * cleanup routine if we exit our scope weirdly - */ -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - PThreadCleanup cleanup((ptw32_cleanup_callback_t)(_rout), \ - (void *) (_arg) ); - -#define pthread_cleanup_pop( _execute ) \ - cleanup.execute( _execute ); \ - } - -#else - -#error ERROR [__FILE__, line __LINE__]: Cleanup type undefined. - -#endif /* __CLEANUP_CXX */ - -#endif /* __CLEANUP_C */ - -#endif /* __CLEANUP_SEH */ - -/* - * =============== - * =============== - * Methods - * =============== - * =============== - */ - -/* - * PThread Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_attr_init (pthread_attr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_destroy (pthread_attr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getdetachstate (const pthread_attr_t * attr, - int *detachstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getstackaddr (const pthread_attr_t * attr, - void **stackaddr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getstacksize (const pthread_attr_t * attr, - size_t * stacksize); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setdetachstate (pthread_attr_t * attr, - int detachstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setstackaddr (pthread_attr_t * attr, - void *stackaddr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setstacksize (pthread_attr_t * attr, - size_t stacksize); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getschedparam (const pthread_attr_t *attr, - struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setschedparam (pthread_attr_t *attr, - const struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setschedpolicy (pthread_attr_t *, - int); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getschedpolicy (const pthread_attr_t *, - int *); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setinheritsched(pthread_attr_t * attr, - int inheritsched); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getinheritsched(const pthread_attr_t * attr, - int * inheritsched); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setscope (pthread_attr_t *, - int); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getscope (const pthread_attr_t *, - int *); - -/* - * PThread Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_create (pthread_t * tid, - const pthread_attr_t * attr, - void *(PTW32_CDECL *start) (void *), - void *arg); - -PTW32_DLLPORT int PTW32_CDECL pthread_detach (pthread_t tid); - -PTW32_DLLPORT int PTW32_CDECL pthread_equal (pthread_t t1, - pthread_t t2); - -PTW32_DLLPORT void PTW32_CDECL pthread_exit (void *value_ptr); - -PTW32_DLLPORT int PTW32_CDECL pthread_join (pthread_t thread, - void **value_ptr); - -PTW32_DLLPORT pthread_t PTW32_CDECL pthread_self (void); - -PTW32_DLLPORT int PTW32_CDECL pthread_cancel (pthread_t thread); - -PTW32_DLLPORT int PTW32_CDECL pthread_setcancelstate (int state, - int *oldstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_setcanceltype (int type, - int *oldtype); - -PTW32_DLLPORT void PTW32_CDECL pthread_testcancel (void); - -PTW32_DLLPORT int PTW32_CDECL pthread_once (pthread_once_t * once_control, - void (PTW32_CDECL *init_routine) (void)); - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX -PTW32_DLLPORT ptw32_cleanup_t * PTW32_CDECL ptw32_pop_cleanup (int execute); - -PTW32_DLLPORT void PTW32_CDECL ptw32_push_cleanup (ptw32_cleanup_t * cleanup, - ptw32_cleanup_callback_t routine, - void *arg); -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Thread Specific Data Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_key_create (pthread_key_t * key, - void (PTW32_CDECL *destructor) (void *)); - -PTW32_DLLPORT int PTW32_CDECL pthread_key_delete (pthread_key_t key); - -PTW32_DLLPORT int PTW32_CDECL pthread_setspecific (pthread_key_t key, - const void *value); - -PTW32_DLLPORT void * PTW32_CDECL pthread_getspecific (pthread_key_t key); - - -/* - * Mutex Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_init (pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_destroy (pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getpshared (const pthread_mutexattr_t - * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setpshared (pthread_mutexattr_t * attr, - int pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_settype (pthread_mutexattr_t * attr, int kind); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_gettype (const pthread_mutexattr_t * attr, int *kind); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setrobust( - pthread_mutexattr_t *attr, - int robust); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getrobust( - const pthread_mutexattr_t * attr, - int * robust); - -/* - * Barrier Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_init (pthread_barrierattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_destroy (pthread_barrierattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_getpshared (const pthread_barrierattr_t - * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_setpshared (pthread_barrierattr_t * attr, - int pshared); - -/* - * Mutex Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_init (pthread_mutex_t * mutex, - const pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_destroy (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_lock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_timedlock(pthread_mutex_t * mutex, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_trylock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_unlock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_consistent (pthread_mutex_t * mutex); - -/* - * Spinlock Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_spin_init (pthread_spinlock_t * lock, int pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_destroy (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_lock (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_trylock (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_unlock (pthread_spinlock_t * lock); - -/* - * Barrier Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_init (pthread_barrier_t * barrier, - const pthread_barrierattr_t * attr, - unsigned int count); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_destroy (pthread_barrier_t * barrier); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_wait (pthread_barrier_t * barrier); - -/* - * Condition Variable Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_init (pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_destroy (pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_getpshared (const pthread_condattr_t * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_setpshared (pthread_condattr_t * attr, - int pshared); - -/* - * Condition Variable Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_cond_init (pthread_cond_t * cond, - const pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_destroy (pthread_cond_t * cond); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_wait (pthread_cond_t * cond, - pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_timedwait (pthread_cond_t * cond, - pthread_mutex_t * mutex, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_signal (pthread_cond_t * cond); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_broadcast (pthread_cond_t * cond); - -/* - * Scheduling - */ -PTW32_DLLPORT int PTW32_CDECL pthread_setschedparam (pthread_t thread, - int policy, - const struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_getschedparam (pthread_t thread, - int *policy, - struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_setconcurrency (int); - -PTW32_DLLPORT int PTW32_CDECL pthread_getconcurrency (void); - -/* - * Read-Write Lock Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_init(pthread_rwlock_t *lock, - const pthread_rwlockattr_t *attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_destroy(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_tryrdlock(pthread_rwlock_t *); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_trywrlock(pthread_rwlock_t *); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_rdlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_timedrdlock(pthread_rwlock_t *lock, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_wrlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_timedwrlock(pthread_rwlock_t *lock, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_unlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_init (pthread_rwlockattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_destroy (pthread_rwlockattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_getpshared (const pthread_rwlockattr_t * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_setpshared (pthread_rwlockattr_t * attr, - int pshared); - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - 1 - -/* - * Signal Functions. Should be defined in but MSVC and MinGW32 - * already have signal.h that don't define these. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_kill(pthread_t thread, int sig); - -/* - * Non-portable functions - */ - -/* - * Compatibility with Linux. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setkind_np(pthread_mutexattr_t * attr, - int kind); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getkind_np(pthread_mutexattr_t * attr, - int *kind); - -/* - * Possibly supported by other POSIX threads implementations - */ -PTW32_DLLPORT int PTW32_CDECL pthread_delay_np (struct timespec * interval); -PTW32_DLLPORT int PTW32_CDECL pthread_num_processors_np(void); -PTW32_DLLPORT unsigned __int64 PTW32_CDECL pthread_getunique_np(pthread_t thread); - -/* - * Useful if an application wants to statically link - * the lib rather than load the DLL at run-time. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_win32_process_attach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_process_detach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_thread_attach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_thread_detach_np(void); - -/* - * Features that are auto-detected at load/run time. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_win32_test_features_np(int); -enum ptw32_features { - PTW32_SYSTEM_INTERLOCKED_COMPARE_EXCHANGE = 0x0001, /* System provides it. */ - PTW32_ALERTABLE_ASYNC_CANCEL = 0x0002 /* Can cancel blocked threads. */ -}; - -/* - * Register a system time change with the library. - * Causes the library to perform various functions - * in response to the change. Should be called whenever - * the application's top level window receives a - * WM_TIMECHANGE message. It can be passed directly to - * pthread_create() as a new thread if desired. - */ -PTW32_DLLPORT void * PTW32_CDECL pthread_timechange_handler_np(void *); - -#endif /*PTW32_LEVEL >= PTW32_LEVEL_MAX - 1 */ - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - -/* - * Returns the Win32 HANDLE for the POSIX thread. - */ -PTW32_DLLPORT HANDLE PTW32_CDECL pthread_getw32threadhandle_np(pthread_t thread); -/* - * Returns the win32 thread ID for POSIX thread. - */ -PTW32_DLLPORT DWORD PTW32_CDECL pthread_getw32threadid_np (pthread_t thread); - - -/* - * Protected Methods - * - * This function blocks until the given WIN32 handle - * is signaled or pthread_cancel had been called. - * This function allows the caller to hook into the - * PThreads cancel mechanism. It is implemented using - * - * WaitForMultipleObjects - * - * on 'waitHandle' and a manually reset WIN32 Event - * used to implement pthread_cancel. The 'timeout' - * argument to TimedWait is simply passed to - * WaitForMultipleObjects. - */ -PTW32_DLLPORT int PTW32_CDECL pthreadCancelableWait (HANDLE waitHandle); -PTW32_DLLPORT int PTW32_CDECL pthreadCancelableTimedWait (HANDLE waitHandle, - DWORD timeout); - -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Thread-Safe C Runtime Library Mappings. - */ -#if !defined(_UWIN) -# if defined(NEED_ERRNO) - PTW32_DLLPORT int * PTW32_CDECL _errno( void ); -# else -# if !defined(errno) -# if (defined(_MT) || defined(_DLL)) - __declspec(dllimport) extern int * __cdecl _errno(void); -# define errno (*_errno()) -# endif -# endif -# endif -#endif - -/* - * Some compiler environments don't define some things. - */ -#if defined(__BORLANDC__) -# define _ftime ftime -# define _timeb timeb -#endif - -#if defined(__cplusplus) - -/* - * Internal exceptions - */ -class ptw32_exception {}; -class ptw32_exception_cancel : public ptw32_exception {}; -class ptw32_exception_exit : public ptw32_exception {}; - -#endif - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - -/* FIXME: This is only required if the library was built using SEH */ -/* - * Get internal SEH tag - */ -PTW32_DLLPORT DWORD PTW32_CDECL ptw32_get_exception_services_code(void); - -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -#if !defined(PTW32_BUILD) - -#if defined(__CLEANUP_SEH) - -/* - * Redefine the SEH __except keyword to ensure that applications - * propagate our internal exceptions up to the library's internal handlers. - */ -#define __except( E ) \ - __except( ( GetExceptionCode() == ptw32_get_exception_services_code() ) \ - ? EXCEPTION_CONTINUE_SEARCH : ( E ) ) - -#endif /* __CLEANUP_SEH */ - -#if defined(__CLEANUP_CXX) - -/* - * Redefine the C++ catch keyword to ensure that applications - * propagate our internal exceptions up to the library's internal handlers. - */ -#if defined(_MSC_VER) - /* - * WARNING: Replace any 'catch( ... )' with 'PtW32CatchAll' - * if you want Pthread-Win32 cancelation and pthread_exit to work. - */ - -#if !defined(PtW32NoCatchWarn) - -#pragma message("Specify \"/DPtW32NoCatchWarn\" compiler flag to skip this message.") -#pragma message("------------------------------------------------------------------") -#pragma message("When compiling applications with MSVC++ and C++ exception handling:") -#pragma message(" Replace any 'catch( ... )' in routines called from POSIX threads") -#pragma message(" with 'PtW32CatchAll' or 'CATCHALL' if you want POSIX thread") -#pragma message(" cancelation and pthread_exit to work. For example:") -#pragma message("") -#pragma message(" #if defined(PtW32CatchAll)") -#pragma message(" PtW32CatchAll") -#pragma message(" #else") -#pragma message(" catch(...)") -#pragma message(" #endif") -#pragma message(" {") -#pragma message(" /* Catchall block processing */") -#pragma message(" }") -#pragma message("------------------------------------------------------------------") - -#endif - -#define PtW32CatchAll \ - catch( ptw32_exception & ) { throw; } \ - catch( ... ) - -#else /* _MSC_VER */ - -#define catch( E ) \ - catch( ptw32_exception & ) { throw; } \ - catch( E ) - -#endif /* _MSC_VER */ - -#endif /* __CLEANUP_CXX */ - -#endif /* ! PTW32_BUILD */ - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#if defined(PTW32__HANDLE_DEF) -# undef HANDLE -#endif -#if defined(PTW32__DWORD_DEF) -# undef DWORD -#endif - -#undef PTW32_LEVEL -#undef PTW32_LEVEL_MAX - -#endif /* ! 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ze9Yv6$y_mGt-6U}stYW0MTj|J0`y`Dc;{l9BsJ0V;0m^#>&fO$D)(Y}#)%~k<7x&FjqJg=SwYGmGjGmn~F z@bEzU?$_ANyDf(r3-ftNde=90D)U_#88L;ukj2p+z_$W3u{sml9z-A1PDCu;e=CTd zTqyIZ&Xcof_s9v!jv%(a_{5?5_wY#UxKl z)Aj_h2jOY4S#8`!&R@KoqmRcTpS>=!zSrr2^*wvXcBA&WXvu}kKmgJ|ZeX>bcHZ6= zaHV0)>)w0bip5&{1Kya1!veA#g7Ny#&99FLsB&fdMUDB^(L8D_@ax~V0<(wOYd99b z9^4LZY*leQfIf)%Ycx{p$pG%)c6np(r4uf?z7Ws7ssHFY_FkIeXzarMoN*&7x0537 zAfk;}ZBO~A&WA_yS=-Yd?!(y=J>#Q3ggw!-3{(A~&4EQZkrT~xIn+VS5wV+G=W~by z+3SexI$X#h+HXzf?74xtP{ofIbEpG)&jwcfYVY-ui|KqSGuL{?=KKP~6hFoB;CZrl zWHB0;4L733mtFMGmp&Y@|JXT#Uku}CANtG{Kj7Qyrp=W+e(pOZ55E66CxTxR@cr+g z<`cgh#1A%q-}SeDC(*yjratzm82nz}ad}O^lf6ekY(Bl3mB9T>j6?M8^Rd18YYw9O z6`BXxcRR=8k78+~yOv8p6d_baTdy%;eV@uCBQLB5yu1Z)BJV*awF>9GE{> zVEoiFO!JkYS3#caJyM1PZ{%lzHKVcc6`}cvk(>583@}pODUHomv)2f1)~9q}W{Dc9F7A zU_D5l?Cl*Rk$XBFix|AZ*DqRZG= 199309 -#undef PTW32_SCHED_LEVEL -#define PTW32_SCHED_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_SCHED_LEVEL -#define PTW32_SCHED_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_SCHED_LEVEL_MAX 3 - -#if ( defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200112 ) || !defined(PTW32_SCHED_LEVEL) -#define PTW32_SCHED_LEVEL PTW32_SCHED_LEVEL_MAX -/* Include everything */ -#endif - - -#if defined(__GNUC__) && !defined(__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX */ - -#if (defined(__MINGW64__) || defined(__MINGW32__)) || defined(_UWIN) -# if PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX -/* For pid_t */ -# include -/* Required by Unix 98 */ -# include -# else - typedef int pid_t; -# endif -#else - typedef int pid_t; -#endif - -/* Thread scheduling policies */ - -enum { - SCHED_OTHER = 0, - SCHED_FIFO, - SCHED_RR, - SCHED_MIN = SCHED_OTHER, - SCHED_MAX = SCHED_RR -}; - -struct sched_param { - int sched_priority; -}; - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -PTW32_DLLPORT int __cdecl sched_yield (void); - -PTW32_DLLPORT int __cdecl sched_get_priority_min (int policy); - -PTW32_DLLPORT int __cdecl sched_get_priority_max (int policy); - -PTW32_DLLPORT int __cdecl sched_setscheduler (pid_t pid, int policy); - -PTW32_DLLPORT int __cdecl sched_getscheduler (pid_t pid); - -/* - * Note that this macro returns ENOTSUP rather than - * ENOSYS as might be expected. However, returning ENOSYS - * should mean that sched_get_priority_{min,max} are - * not implemented as well as sched_rr_get_interval. - * This is not the case, since we just don't support - * round-robin scheduling. Therefore I have chosen to - * return the same value as sched_setscheduler when - * SCHED_RR is passed to it. - */ -#define sched_rr_get_interval(_pid, _interval) \ - ( errno = ENOTSUP, (int) -1 ) - - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#undef PTW32_SCHED_LEVEL -#undef PTW32_SCHED_LEVEL_MAX - -#endif /* !_SCHED_H */ - diff --git a/applications/plugins/SensableEmulation/pthread/semaphore.h b/applications/plugins/SensableEmulation/pthread/semaphore.h deleted file mode 100644 index c6e9407e25b..00000000000 --- a/applications/plugins/SensableEmulation/pthread/semaphore.h +++ /dev/null @@ -1,169 +0,0 @@ -/* - * Module: semaphore.h - * - * Purpose: - * Semaphores aren't actually part of the PThreads standard. - * They are defined by the POSIX Standard: - * - * POSIX 1003.1b-1993 (POSIX.1b) - * - * -------------------------------------------------------------------------- - * - * Pthreads-win32 - POSIX Threads Library for Win32 - * Copyright(C) 1998 John E. Bossom - * Copyright(C) 1999,2005 Pthreads-win32 contributors - * - * Contact Email: rpj@callisto.canberra.edu.au - * - * The current list of contributors is contained - * in the file CONTRIBUTORS included with the source - * code distribution. The list can also be seen at the - * following World Wide Web location: - * http://sources.redhat.com/pthreads-win32/contributors.html - * - * 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 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 in the file COPYING.LIB; - * if not, write to the Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA - */ -#if !defined( SEMAPHORE_H ) -#define SEMAPHORE_H - -#undef PTW32_SEMAPHORE_LEVEL - -#if defined(_POSIX_SOURCE) -#define PTW32_SEMAPHORE_LEVEL 0 -/* Early POSIX */ -#endif - -#if defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 199309 -#undef PTW32_SEMAPHORE_LEVEL -#define PTW32_SEMAPHORE_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_SEMAPHORE_LEVEL -#define PTW32_SEMAPHORE_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_SEMAPHORE_LEVEL_MAX 3 - -#if !defined(PTW32_SEMAPHORE_LEVEL) -#define PTW32_SEMAPHORE_LEVEL PTW32_SEMAPHORE_LEVEL_MAX -/* Include everything */ -#endif - -#if defined(__GNUC__) && ! defined (__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_SEMAPHORE_LEVEL >= PTW32_SEMAPHORE_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_SEMAPHORE_LEVEL >= PTW32_SEMAPHORE_LEVEL_MAX */ - -#define _POSIX_SEMAPHORES - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -#if !defined(HAVE_MODE_T) -typedef unsigned int mode_t; -#endif - - -typedef struct sem_t_ * sem_t; - -PTW32_DLLPORT int __cdecl sem_init (sem_t * sem, - int pshared, - unsigned int value); - -PTW32_DLLPORT int __cdecl sem_destroy (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_trywait (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_wait (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_timedwait (sem_t * sem, - const struct timespec * abstime); - -PTW32_DLLPORT int __cdecl sem_post (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_post_multiple (sem_t * sem, - int count); - -PTW32_DLLPORT int __cdecl sem_open (const char * name, - int oflag, - mode_t mode, - unsigned int value); - -PTW32_DLLPORT int __cdecl sem_close (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_unlink (const char * name); - -PTW32_DLLPORT int __cdecl sem_getvalue (sem_t * sem, - int * sval); - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#undef PTW32_SEMAPHORE_LEVEL -#undef PTW32_SEMAPHORE_LEVEL_MAX - -#endif /* !SEMAPHORE_H */ diff --git a/applications/plugins/SofaCUDA/CMakeLists.txt b/applications/plugins/SofaCUDA/CMakeLists.txt index 9ec20b48eda..ed1cb7f93d0 100644 --- a/applications/plugins/SofaCUDA/CMakeLists.txt +++ b/applications/plugins/SofaCUDA/CMakeLists.txt @@ -396,7 +396,7 @@ target_link_libraries(${PROJECT_NAME} Sofa.Component.MechanicalLoad ) -target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) +target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17 cuda_std_17) if(Sofa.GL_FOUND) target_link_libraries(${PROJECT_NAME} Sofa.GL) diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu index 89bd6e5d672..0617c7ee550 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu +++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu @@ -28,9 +28,6 @@ #include #include - -//#define NO_CUDA - cudaDeviceProp mycudaDeviceProp; @@ -43,139 +40,6 @@ namespace cuda { #endif -#ifdef NO_CUDA - -bool cudaCheck(cudaError_t, const char*) -{ - return true; -} - -bool cudaInitCalled = false; - -int mycudaInit(int) -{ - cudaInitCalled = true; - return 0; -} - -void mycudaMalloc(void **devPtr, size_t,int ) -{ - *devPtr = NULL; -} - -void mycudaMallocPitch(void **devPtr, size_t*, size_t, size_t) -{ - *devPtr = NULL; -} - -void mycudaFree(void *, int) -{ -} - -void mycudaMallocHost(void **hostPtr, size_t size) -{ - *hostPtr = malloc(size); -} - -void mycudaFreeHost(void *hostPtr) -{ - free(hostPtr); -} - -void mycudaMemcpyHostToDevice(void *, const void *, size_t, int) -{ -} - -void mycudaMemcpyDeviceToDevice(void *, const void *, size_t,int ) -{ -} - -void mycudaMemcpyDeviceToHost(void *, const void *, size_t,int ) -{ -} - -void mycudaMemcpyHostToDevice2D(void *, size_t, const void *, size_t, size_t, size_t) -{ -} - -void mycudaMemcpyDeviceToDevice2D(void *, size_t, const void *, size_t, size_t, size_t ) -{ -} - -void mycudaMemcpyDeviceToHost2D(void *, size_t, const void *, size_t, size_t, size_t) -{ -} - -void mycudaGLRegisterBufferObject(int) -{ -} - -void mycudaGLUnregisterBufferObject(int) -{ -} - -void mycudaGLMapBufferObject(void** ptr, int) -{ - *ptr = NULL; -} - -void mycudaGLUnmapBufferObject(int) -{ -} - -int mycudaGetnumDevices() -{ - return 0; -} - -int mycudaGetBufferDevice() -{ - return 0; -} - -void mycudaMemset(void *devPtr, int val, size_t size,int ) -{ -} - -void cuda_void_kernel() -{ -} - -#ifdef SOFA_GPU_CUBLAS -cusparseHandle_t getCusparseCtx() -{ - return NULL; -} - -cublasHandle_t getCublasCtx() -{ - return NULL; -} - -cusparseMatDescr_t getCusparseMatGeneralDescr() -{ - return NULL; -} - -cusparseMatDescr_t getCusparseMatTriangularLowerDescr() -{ - return NULL; -} - -cusparseMatDescr_t getCusparseMatTriangularUpperDescr() -{ - return NULL; -} - - -void SOFA_GPU_CUDA_API mycudaMemGetInfo(size_t * free,size_t * total) { - -} - -#endif //SOFA_GPU_CUBLAS - -#else - extern "C" { int SOFA_GPU_CUDA_API mycudaGetMultiProcessorCount(); @@ -513,8 +377,6 @@ void SOFA_GPU_CUDA_API mycudaMemGetInfo(size_t * free,size_t * total) { #endif //SOFA_GPU_CUBLAS -#endif - #if defined(__cplusplus) } // namespace cuda } // namespace gpu diff --git a/applications/plugins/SofaCarving/SofaCarving_test/SofaCarving_test.cpp b/applications/plugins/SofaCarving/SofaCarving_test/SofaCarving_test.cpp index 1424f4cca7f..5e8eef63918 100644 --- a/applications/plugins/SofaCarving/SofaCarving_test/SofaCarving_test.cpp +++ b/applications/plugins/SofaCarving/SofaCarving_test/SofaCarving_test.cpp @@ -61,9 +61,10 @@ class SofaCarving_test : public BaseSimulationTest void doCarvingWithPenetration(); /// Unload the scene - void TearDown() override + void doTearDown() override { - if (m_simu != nullptr && m_root != nullptr) { + if (m_root != nullptr) + { sofa::simulation::node::unload(m_root); } } diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/RegisterModelToCollisionFactory.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/RegisterModelToCollisionFactory.cpp index c6bf75f0684..6a0f20f31d5 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/RegisterModelToCollisionFactory.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/RegisterModelToCollisionFactory.cpp @@ -35,6 +35,7 @@ using sofa::core::collision::Contact ; #include #include +#include #include "components/collision/DistanceGridCollisionModel.h" #include "components/collision/FFDDistanceGridDiscreteIntersection.h" diff --git a/applications/plugins/SofaSimpleGUI/CMakeLists.txt b/applications/plugins/SofaSimpleGUI/CMakeLists.txt deleted file mode 100644 index 6f8153328c4..00000000000 --- a/applications/plugins/SofaSimpleGUI/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(SofaSimpleGUI) - -set(SOFASIMPLEGUI_VERSION 0.1) - -set(HEADER_FILES - Camera.h - Interactor.h - PickedPoint.h - SofaGL.h - SofaScene.h - SpringInteractor.h - VisualPickVisitor.h - config.h.in -) - -set(SOURCE_FILES - Camera.cpp - Interactor.cpp - SofaGL.cpp - SofaScene.cpp - SpringInteractor.cpp - VisualPickVisitor.cpp - initSimpleGUI.cpp -) - -sofa_find_package(Sofa.Component REQUIRED) -sofa_find_package(Eigen3 REQUIRED) -sofa_find_package(Sofa.GL REQUIRED) -sofa_find_package(Sofa.Simulation.Graph REQUIRED) - -add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES}) -target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component Sofa.GL Sofa.Simulation.Graph) -target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen) - -set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${SOFASIMPLEGUI_VERSION}) - -## Install rules for the library and headers; CMake package configurations files -sofa_create_package_with_targets( - PACKAGE_NAME ${PROJECT_NAME} - PACKAGE_VERSION ${SOFASIMPLEGUI_VERSION} - TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES - INCLUDE_INSTALL_DIR ${PROJECT_NAME} - ) diff --git a/applications/plugins/SofaSimpleGUI/Camera.cpp b/applications/plugins/SofaSimpleGUI/Camera.cpp deleted file mode 100644 index 498cb77f94d..00000000000 --- a/applications/plugins/SofaSimpleGUI/Camera.cpp +++ /dev/null @@ -1,196 +0,0 @@ -#include "Camera.h" -#include -#include -using std::cout; -using std::endl; - - -namespace sofa::simplegui -{ - -Camera::Camera() -{ - transform.matrix() = Eigen::Matrix4f::Identity(); - tb_tournerXY=0, tb_translaterXY=0, tb_bougerZ=0; -} - -void Camera::lookAt() -{ - - glMultMatrixf( transform.data() ); -} - -template inline T sqr(const T& t){ return t*t; } - -void Camera::viewAll( float xmin, float ymin, float zmin, float xmax, float ymax, float zmax ) -{ - Vec3 pmin(xmin,ymin,zmin), pmax(xmax,ymax,zmax); - Vec3 pcen = (pmin+pmax)*0.5; - Vec3 diag = pmax-pmin; - float radius = diag.norm(); - // cout<<"Camera, diag = " << diag.transpose() << endl; - // cout<<"Camera, scene radius = " << radius << endl; - - // Desired distance: distance * tan(a) = radius - float distance = 1.5 * radius / tan(fovy * M_PI/180); - // cout<<"Camera::viewAll, angle = " << fovy << ", tan = " << tan(fovy) << ", distance = " << distance << endl; - // cout<<"Camera::viewAll, xmin xmax ymin ymax zmin zmax = " << xmin << " " << xmax <<" "<fabs(dy) ) -// { // rotation z -// float angle = dx; -// Eigen::AngleAxisf rot( angle, Vec3(0,0,-1) ); -// transform.linear() = rot*transform.linear(); -// } -// else if( fabs(dy)>fabs(dx) ) -// { - transform.translation() += Vec3( 0,0, -dy/100); -// } - } - tb_ancienX = x; - tb_ancienY = y; - return true; - } - return false; -} - -Camera::Vec3 Camera::eye() const { - return - transform.linear().inverse() * transform.translation(); -} - - -} - diff --git a/applications/plugins/SofaSimpleGUI/Camera.h b/applications/plugins/SofaSimpleGUI/Camera.h deleted file mode 100644 index 1ef48542626..00000000000 --- a/applications/plugins/SofaSimpleGUI/Camera.h +++ /dev/null @@ -1,86 +0,0 @@ -#ifndef SOFA_SIMPLEGUI_CAMERA_H -#define SOFA_SIMPLEGUI_CAMERA_H - -#include -#include - - -namespace sofa::simplegui -{ - -/** - * @brief The Camera class implements a simple viewpoint transformation, and its update using the mouse. - * Currently only one displacement mode is implemented, and it is not extensively tested. - * - * @author Francois Faure, 2014 - */ -class SOFA_SOFASIMPLEGUI_API Camera -{ -public: - typedef Eigen::Transform Transform; - typedef Eigen::Vector3f Vec3; - - enum {ButtonLeft, ButtonMiddle, ButtonRight}; - enum {ButtonDown,ButtonUp}; - - - Camera(); - - - /// Set the view point. Parameters correspond to gluLookAt. - /// Note that this just sets the parameters. The actual viewing transform is applied in void lookAt() . - void setlookAt( - float eyeX, float eyeY, float eyeZ, - float targetX, float targetY, float targetZ, - float upX, float upY, float upZ - ); - - /// Apply the viewing transform, typically just after glLoadIdentity() in the draw function. - void lookAt(); - - void viewAll( float xmin, float ymin, float zmin, float xmax, float ymax, float zmax ); - - /// Equivalent of gluPerspective. - /// Alternatively, the definition and the application of the projection matrix can be done separately using other functions. - /// @sa void setPerspective( float fovy, float ratio, float znear, float zfar ) @sa void perspective() - void perspective( float fovy, float ratio, float znear, float zfar ); - - /// Set the projection matrix, without applying it. Parameters correspond to gluPerspective. - /// Note that this just sets the parameters. The actual projection transform is applied in void perspective() . - void setPerspective( float fovy, float ratio, float znear, float zfar ); - - /// Apply the projection matrix defined in setPerspective, typically in the reshape function - void perspective(); - - - - - /// Set the camera displacement modes and return true. - bool handleMouseButton(int button, int state, int x, int y); - /// Displace the camera based on the mouse motion and return true. - bool handleMouseMotion(int x, int y); - - /// Center of the camera in world coordinates - Vec3 eye() const; - - /// Viewing matrix - const Transform& getTransform() const { return transform; } - -protected: - - Transform transform; ///< Viewing transform: world wrt camera, i.e. inverse of the camera pose - - // camera projection - float fovy, ratio, znear, zfar; // parameters of perspective - - - int tb_ancienX, tb_ancienY, tb_tournerXY, tb_translaterXY, tb_bougerZ; - -}; - - - -} - - -#endif // CAMERA_H diff --git a/applications/plugins/SofaSimpleGUI/Interactor.cpp b/applications/plugins/SofaSimpleGUI/Interactor.cpp deleted file mode 100644 index dd5eeceab22..00000000000 --- a/applications/plugins/SofaSimpleGUI/Interactor.cpp +++ /dev/null @@ -1,35 +0,0 @@ -#include "Interactor.h" -#include "PickedPoint.h" -#include "SofaScene.h" -#include -#include - -using namespace sofa; - - -namespace sofa::simplegui -{ - -Interactor::Interactor(const PickedPoint& picked) - : _pickedPoint( picked ) -{ - _interactionNode = sofa::simulation::getSimulation()->createNewNode("picked point interaction node"); -} - -Interactor::~Interactor() -{ - _interactionNode->execute(sofa::core::execparams::defaultInstance()); -} - -void Interactor::attach(SofaScene *scene) -{ - scene->insertInteractor(this); -} - -void Interactor::detach() -{ - _interactionNode->detachFromGraph(); -} - -} - diff --git a/applications/plugins/SofaSimpleGUI/Interactor.h b/applications/plugins/SofaSimpleGUI/Interactor.h deleted file mode 100644 index f7dd353a718..00000000000 --- a/applications/plugins/SofaSimpleGUI/Interactor.h +++ /dev/null @@ -1,58 +0,0 @@ -#ifndef SOFA_Interactor_H -#define SOFA_Interactor_H - -#include -#include -#include "PickedPoint.h" - - -namespace sofa::simplegui -{ - -class SofaScene; - -using simulation::Node; - - -/** @brief Base class for all interactors. - * Interactors are sofa subgraphs used to apply actions to the scene, typically through user interaction. - * - * Note that they are not necessarily moved using the mouse, since there is no mouse or window coordinates in the API. - * @author Francois Faure, 2014 -*/ -class SOFA_SOFASIMPLEGUI_API Interactor -{ -protected: - Node::SPtr _interactionNode; ///< Scene node used to implement this - PickedPoint _pickedPoint; ///< The point attached to this - -public: - - typedef type::Vec3 Vec3; - - Interactor( const PickedPoint& picked ); - virtual ~Interactor(); - - /// Insert this in the scene as a child of the given node. If overloaded, this function should be called at the beginning of the overloaded function. - virtual void attach( SofaScene* ); - - /// Remove this from the scene, without destroying it. If overloaded, this function should be called at the end of the overloaded function. - virtual void detach(); - - /// Current interaction point - virtual Vec3 getPoint()=0; - - /// Displace the interaction to the given point - virtual void setPoint( const Vec3& p ) = 0; - - /// Root of the interactor graph - Node::SPtr getNode() { return _interactionNode; } - - /// Simulated point attached to this - const PickedPoint& getPickedPoint() const { return _pickedPoint; } -}; - -} - - -#endif // SOFA_Interactor_H diff --git a/applications/plugins/SofaSimpleGUI/PickedPoint.h b/applications/plugins/SofaSimpleGUI/PickedPoint.h deleted file mode 100644 index 640bb9079b9..00000000000 --- a/applications/plugins/SofaSimpleGUI/PickedPoint.h +++ /dev/null @@ -1,64 +0,0 @@ -#ifndef GLPICKEDPOINT_H -#define GLPICKEDPOINT_H - -#include -#include -#include - -using sofa::core::behavior::BaseMechanicalState; -typedef std::size_t nat; -typedef sofa::type::Vec3 Vec3; - - -namespace sofa::simplegui -{ - -/** - * @brief The PickedPoint struct represents a vertex of a State, typically picked using the mouse. - * It is returned by the Sofa interface to the user application to set up an interaction. - * We call it valid if it corresponds to a valid index of an existing mechanical state, and invalid if not so (the pointer to the mechanical state is null) - * @author Francois Faure, 2014 - */ -struct SOFA_SOFASIMPLEGUI_API PickedPoint -{ - BaseMechanicalState::SPtr state; ///< the DOF of the picked object - nat index; ///< index of the particle picked - Vec3 point; ///< location of the picked particle in world space - - /// Conversion to boolean for easier test writing. True iff the PickedPoint is valid. Default value is converted to false. - operator bool() const { return state != NULL; } - - PickedPoint(BaseMechanicalState::SPtr state=0, nat index=0) - : state(state) - , index(index) - { } - - inline friend std::ostream& operator << ( std::ostream& out, const PickedPoint p){ - out << "state: " << p.state->getName() << ", index: " << p.index << ", point: " << p.point; - return out; - } - - /// Comparison operator used in maps - bool operator < (const PickedPoint& p ) const { - return state < p.state || index < p.index; - } - - /// Comparison operator used in maps - bool operator != (const PickedPoint& p ) const { - return *this

Examples - -- `glutOnePick`: A Sofa simulation within a basic Glut interface. The user can - click and drag one point at a time to interact with the simulaton. -- `qtSofa`: A Sofa simulation within a basic Qt interface. The user can click and - drag multiple points. -- `qtSofa/qtSofa.pro`: Project file for the same application, built as an - application which is not a sub-project of Sofa. See comments inside. -- `qtQuickSofa`: A Sofa simulation within a QtQuick interface. Not yet mature, may - be temporarily disabled. - - -

Dependencies

- -- Qt > 5.0 is necessary for qtQuickSofa - - -

Issues

- -- Currently there is no way to create interactors in plugins. They are created - by the user application. -- The application built using qtSofa/qtSofa.pro crashes at scene creation time, - while the same code running as a Sofa sub-project works fine. - -*/ diff --git a/applications/plugins/SofaSimpleGUI/SofaGL.cpp b/applications/plugins/SofaSimpleGUI/SofaGL.cpp deleted file mode 100644 index 24903830b67..00000000000 --- a/applications/plugins/SofaSimpleGUI/SofaGL.cpp +++ /dev/null @@ -1,322 +0,0 @@ -#include -#include "SofaGL.h" -#include "VisualPickVisitor.h" -#include -#include -#include -#include - -#include -using sofa::simulation::mechanicalvisitor::MechanicalPickParticlesVisitor; - -using std::cout; -using std::cerr; -using std::endl; - -namespace sofa { -using core::objectmodel::Tag; - -namespace simplegui { - -template inline T sqr(const T& t){ return t*t; } - - -SofaGL::SofaGL(SofaScene *s) : - _sofaScene(s) -{ - if(!_sofaScene) - { - std::cerr << "Error: you are trying to create a SofaGL object with a null SofaScene" << std::endl; - return; - } - - glewInit(); - - _vparams = sofa::core::visual::VisualParams::defaultInstance(); - _vparams->drawTool() = &_drawToolGL; - _vparams->setSupported(sofa::core::visual::API_OpenGL); - - _isPicking = false; - - - _sofaScene->initVisual(); -} - -void SofaGL::draw() -{ - glGetIntegerv (GL_VIEWPORT, _viewport); - glGetDoublev (GL_MODELVIEW_MATRIX, _mvmatrix); - glGetDoublev (GL_PROJECTION_MATRIX, _projmatrix); - - if(_vparams) - { - _vparams->viewport() = sofa::type::fixed_array(_viewport[0], _viewport[1], _viewport[2], _viewport[3]); - SReal xmin,xmax,ymin,ymax,zmin,zmax; - _sofaScene->getBoundingBox(&xmin,&xmax,&ymin,&ymax,&zmin,&zmax); - _vparams->sceneBBox() = sofa::type::BoundingBox(xmin,xmax,ymin,ymax,zmin,zmax); - _vparams->setProjectionMatrix(_projmatrix); - _vparams->setModelViewMatrix(_mvmatrix); - } - - //_sofaScene->getSimulation()->updateVisual(_sofaScene->getSimulation()->GetRoot().get()); // needed to update normals and VBOs ! (i think it should be better if updateVisual() was called from draw(), why it is not already the case ?) - _sofaScene->updateVisual(); // needed to update normals and VBOs ! (i think it should be better if updateVisual() was called from draw(), why it is not already the case ?) - - if( _isPicking ){ - - // start picking - glSelectBuffer(BUFSIZE,selectBuf); - glRenderMode(GL_SELECT); - - glInitNames(); - - glMatrixMode(GL_PROJECTION); - glPushMatrix(); - glLoadIdentity(); - - gluPickMatrix(pickX,_viewport[3]-pickY,5,5,_viewport); - glMultMatrixd(_projmatrix); - glMatrixMode(GL_MODELVIEW); - - // draw - _vparams->pass() = sofa::core::visual::VisualParams::Std; - VisualPickVisitor pick ( _vparams ); - pick.setTags(_sofaScene->groot()->getTags()); - cerr<<"SofaGL::draw root used " << endl; - _sofaScene->groot()->execute ( &pick ); - - // stop picking - glMatrixMode(GL_PROJECTION); - glPopMatrix(); - glMatrixMode(GL_MODELVIEW); - glFlush(); - hits = glRenderMode(GL_RENDER); - if (hits != 0) - { - GLuint* buffer = selectBuf; - // process the hits - GLint i, j, numberOfNames=0; - GLuint names, *ptr, minZ,*ptrNames=nullptr; - - ptr = (GLuint *) buffer; - minZ = 0xffffffff; - for (i = 0; i < hits; i++) { - names = *ptr; - ptr++; - if (*ptr < minZ) { - numberOfNames = names; - minZ = *ptr; - ptrNames = ptr+2; - } - - ptr += names+2; - } - if (numberOfNames > 0) { - cerr << "You picked object "; - ptr = ptrNames; - for (j = 0; j < numberOfNames; j++,ptr++) { - cerr<< pick.names[*ptr] << " "; - } - } - else - cerr<<"You didn't click a snowman!"; - cerr<getSimulation()->draw(_vparams, _sofaScene->getSimulation()->GetRoot().get()); - draw(_vparams); -} - -void SofaGL::draw(sofa::core::visual::VisualParams* vparams) -{ - core::visual::VisualLoop* vloop = _sofaScene->groot()->getVisualLoop(); - assert(vloop); - if (!vparams) vparams = sofa::core::visual::VisualParams::defaultInstance(); - vparams->update(); - vloop->drawStep(vparams); -} - -void SofaGL::getPickDirection( GLdouble* dx, GLdouble* dy, GLdouble* dz, int x, int y ) -{ - // Intersection of the ray with the near and far planes - GLint realy = _viewport[3] - (GLint) y - 1; // convert coordinates from image space (y downward) to window space (y upward) - GLdouble wx, wy, wz; /* returned world x, y, z coords */ - gluUnProject ((GLdouble) x, (GLdouble) realy, 0.0, _mvmatrix, _projmatrix, _viewport, &wx, &wy, &wz); // z=0: near plane - //cout<<"World coords at z=0.0 are ("<groot()->getContext() ); - - PickedPoint pickedPoint; - if (!picker.particles.empty()) - { - sofa::core::behavior::BaseMechanicalState *mstate = picker.particles.begin()->second.first; - unsigned index = picker.particles.begin()->second.second; - - pickedPoint.state = mstate; - pickedPoint.index = index; - pickedPoint.point = Vec3(mstate->getPX(index), mstate->getPY(index), mstate->getPZ(index)); - } - - return pickedPoint; -} - - -Interactor* SofaGL::getInteractor( const PickedPoint& glpicked ) -{ - cout << "SofaGL::getInteractor, looking for " << glpicked << endl; - for( Picked_to_Interactor::iterator i=_picked_to_interactor.begin(); i!=_picked_to_interactor.end(); i++ ) - { - cout << "SofaGL::getInteractor, map contains " << (*i).first << endl; - } - if( _picked_to_interactor.find(glpicked)!=_picked_to_interactor.end() ) // there is already an interactor on this particle - { - return _picked_to_interactor[glpicked]; - } - else { // new interactor - return NULL; - } -} - - - -Interactor* SofaGL::pickInteractor( GLdouble ox, GLdouble oy, GLdouble oz, int x, int y ) -{ - - type::Vec3d origin(ox,oy,oz), direction; - getPickDirection(&direction[0],&direction[1],&direction[2],x,y); - double distance = 10.5, distanceGrowth = 0.1; // cone around the ray ???? - // cout<< "SofaScene::rayPick from origin " << origin << ", in direction " << direction << endl; - MechanicalPickParticlesVisitor picker(sofa::core::ExecParams::defaultInstance(), origin, direction, distance, distanceGrowth, sofa::core::objectmodel::Tag("!NoPicking") ); - picker.execute(_sofaScene->groot()->getContext()); - - if (!picker.particles.empty()) - { - PickedPoint pickedPoint(picker.particles.begin()->second.first, picker.particles.begin()->second.second); - if( _picked_to_interactor.find(pickedPoint)!=_picked_to_interactor.end() ) - return _picked_to_interactor[pickedPoint]; - } - - return NULL; -} - - -void SofaGL::attach( Interactor* interactor ) -{ - interactor->attach( _sofaScene ); - _picked_to_interactor[interactor->getPickedPoint()] = interactor; - // cout<<"SofaGL::attach "<< endl; _sofaScene->printGraph(); -} - -void SofaGL::move( Interactor* interactor, int x, int y) -{ - if( !interactor ) - return; - - // get the distance to the current point - Vec3 current = interactor->getPoint(); - GLdouble wcur[3]; // window coordinates of the current point - gluProject(current[0],current[1],current[2],_mvmatrix,_projmatrix,_viewport,wcur,wcur+1,wcur+2); - // cout << "current point = " << current << endl; - // cout<<"move anchor, distance = " << wcur[2] << endl; - - // compute and set the position of the new point - GLdouble p[3]; - gluUnProject ( x, _viewport[3]-y-1, wcur[2], _mvmatrix, _projmatrix, _viewport, &p[0], &p[1], &p[2]); // new position of the picked point - // cout<<"x="<< x <<", y="<< y <<", X="<detach(); - // cout<<"SofaGL::detach "<< endl; _sofaScene->printGraph(); -} - -void SofaGL::getSceneBBox( float* xmin, float* ymin, float* zmin, float* xmax, float* ymax, float* zmax ) -{ - SReal xm, xM, ym, yM, zm, zM; - _sofaScene->getBoundingBox(&xm,&xM,&ym,&yM,&zm,&zM); - - *xmin = helper::narrow_cast(xm); - *xmax = helper::narrow_cast(xM); - *ymin = helper::narrow_cast(ym); - *ymax = helper::narrow_cast(yM); - *zmin = helper::narrow_cast(zm); - *zmax = helper::narrow_cast(zM); -} - - -void SofaGL::viewAll( SReal* xcam, SReal* ycam, SReal* zcam, SReal* xcen, SReal* ycen, SReal* zcen, SReal a, SReal* nearPlane, SReal* farPlane) -{ - // scene center and radius - SReal xmin, xmax, ymin, ymax, zmin, zmax; - _sofaScene->getBoundingBox(&xmin,&xmax,&ymin,&ymax,&zmin,&zmax); - cout<<"SofaGL::viewAll, bounding box = ("<< xmin <<" "< -#include "SofaScene.h" -#include -#include - -#include "PickedPoint.h" -#include "SpringInteractor.h" - - -namespace sofa::simplegui -{ - -/** OpenGL interface to a SofaScene. - * This is not a viewer, this is an object used by a viewer to display a Sofa scene and to pick objects in it. - * It contains a pointer to the Sofa scene. Several viewers can be connected to a single scene through such interfaces. - * - * Picking returns a PickedPoint which describes a particle. - * It is up to the application to create the appropriate Interactor, which can then be inserted in the Sofa scene. - * This class provides the functions to attach/detach an interactor and move it. - * - * @author Francois Faure, 2014 - - */ -class SOFA_SOFASIMPLEGUI_API SofaGL -{ -public: - /** - * @param s The Sofa scene to interact with, the scene MUST already be opened ! - */ - SofaGL( SofaScene* s ); - /** - * @brief Draw the scene and stores the transformation matrices, for picking. - * This requires an OpenGL context. It is supposed to be used by the drawing method of a viewer, after setting the modelview matrix. - */ - void draw(); - /** - * @brief Compute the parameters to pass to gluPerspective to make the whole scene visible. - * The new camera center is set on the line from the current camera center to the scene center, at the appropriate distance. - * @param xcam Camera center (input-output) - * @param ycam Camera center (input-output) - * @param zcam Camera center (input-output) - * @param xcen Center of the scene (output) - * @param ycen Center of the scene (output) - * @param zcen Center of the scene (output) - * @param a Camera vertical angle (input) - * @param near Smaller than the nearest distance from the new camera center to the scene (output) - * @param far Larger than the nearest distance from the new camera center to the scene (output) - */ - void viewAll( SReal* xcam, SReal* ycam, SReal* zcam, SReal* xcen, SReal* ycen, SReal* zcen, SReal a, SReal* nearPlane, SReal* farPlane); - - /// Compute the bounding box of the scene - void getSceneBBox( float* xmin, float* ymin, float* zmin, float* xmax, float* ymax, float* zmax ); - - /// @name Interaction - /// @{ - /** @brief Try to pick a particle along a ray. - * The ray starts at the camera center and passes through point with coordinates x,y - * ox, oy, oz are the camera center in world coordinates. - * x,y in image coordinates (origin on top left). - * If a point is picked, the application may create an Interactor based on it. - * @return a valid PickedPoint if succeeded, an invalid PickedPoint if not. - */ - PickedPoint pick(GLdouble ox, GLdouble oy, GLdouble oz, int x, int y); - - - /** @brief Insert an interactor in the scene - * Does not check if it is already there, so be careful not to insert the same twice - */ - void attach( Interactor* ); - - /** - * @brief getInteractor - * @param picked - * @return Interactor acting on the given picked point, or NULL if none - */ - Interactor* getInteractor( const PickedPoint& picked ); - - - /** @brief Try to pick an Interactor along a ray. - * The ray starts at the camera center and passes through point with coordinates x,y - * ox, oy, oz are the camera center in world coordinates. - * x,y in image coordinates (origin on top left). - * @return Pointer if an Interactor is found, NULL if not. - */ - Interactor* pickInteractor(GLdouble ox, GLdouble oy, GLdouble oz, int x, int y); - - /** - * @brief move the interactor according to the mouse pointer. - * x,y in image coordinates (origin on top left). - */ - void move( Interactor*, int x, int y); - - /// Remove the interactor from the scene, without deleting it. - void detach(Interactor*); - - /// @} - - /** @brief Try to pick a displayed thing along a ray, using OpenGL picking. - * The ray starts at the camera center and passes through point with coordinates x,y in image coordinates (origin on top left). - * In this experimental implementation, this function just prints something on the standard output. - */ - void glPick(int x, int y); - - /** - * @brief getPickDirection Compute the direction of a button click, returned as a unit vector - * @param dx normalized direction - * @param dy normalized direction - * @param dz normalized direction - * @param x x-coordinate of the click - * @param y y-coordinate of the click (origin on top) - */ - void getPickDirection( GLdouble* dx, GLdouble* dy, GLdouble* dz, int x, int y ); - - -protected: - SofaScene* _sofaScene; - - // matrices used for picking - GLint _viewport[4]; - GLdouble _mvmatrix[16], _projmatrix[16]; - - // rendering tools - sofa::gl::DrawToolGL _drawToolGL; - sofa::core::visual::VisualParams* _vparams; - void draw(sofa::core::visual::VisualParams*); - - // Interaction tools - typedef std::map< PickedPoint, Interactor*> Picked_to_Interactor; - /** Currently available interactors, associated with picked points. - * The interactors are not necessarily being manipulated. 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(i think it should be better if updateVisual() was called from draw(), why it is not already the case ?) -} - -//void SofaScene::draw( sofa::core::visual::VisualParams* v) -//{ -// if( v==NULL ) -// { -// -// } -// sofa::simulation::node::draw(_vparams, groot() ); -//} - - -} diff --git a/applications/plugins/SofaSimpleGUI/SofaScene.h b/applications/plugins/SofaSimpleGUI/SofaScene.h deleted file mode 100644 index 83de56ad63b..00000000000 --- a/applications/plugins/SofaSimpleGUI/SofaScene.h +++ /dev/null @@ -1,120 +0,0 @@ -#ifndef SOFA_NEWGUI_SofaScene_H -#define SOFA_NEWGUI_SofaScene_H - -#include -#include -#include -#include - -namespace sofa { -namespace simulation { - class Simulation; -} - -namespace simplegui { - -class Interactor; - - -/** @brief A sofa scene graph with simulation functions. - * - * There are methods to initialize and update the visual models, but rendering must be performed externally, see e.g. class SofaGL. - * - * The typical life cycle is: - * - loadPlugins( list of plugin names ); - setScene( scenegraph ); or open(filename) - initVisual() - [ your main loop: ] - step(dt); - updateVisual(); - [ use a SofaGL object to display the simulated objects ] - - - * @author Francois Faure, 2014 - */ -class SOFA_SOFASIMPLEGUI_API SofaScene -{ -public: - /** - * @brief Initialize Sofa - */ - SofaScene(); - virtual ~SofaScene(){} - - /** - * @brief load the given plugin - * @param plugins names of the plugins - */ - void loadPlugins( const std::vector& plugins ); - /** - * @brief Load a scene file. The previous scene graph, if any, is deleted. - * @param fileName Scene file to load - */ - void open( const std::string& fileName ); - /** - * @brief Set the scene graph. The previous scene graph, if any, is deleted. - * @param graph the scene to simulate - */ - void setScene( simulation::Node* graph ); - /** - * @brief Print the scene graph on the standard output, for debugging. - */ - void printGraph(); - /** - * @brief Integrate time by one step and update the Sofa scene. - */ - void step( SReal dt ); - /** - * @brief restart from the beginning - */ - void reset(); - /** - * @brief Compute the bounding box of the simulated objects - * @param xmin min coordinate in the X direction - * @param xmax max coordinate in the X direction - * @param ymin etc. - * @param ymax - * @param zmin - * @param zmax - */ - void getBoundingBox( SReal* xmin, SReal* xmax, SReal* ymin, SReal* ymax, SReal* zmin, SReal* zmax ); - - /// To do once before rendering a scene, typically at initialization time - void initVisual(); - - /// Update the visual models. To do after animating and before rendering. - void updateVisual(); - - - - /** @name Developer API - * To be used to create new functionalities. - */ - ///@{ - - /// Root of the simulated scene. - simulation::Node* groot(); - - /// Root of the interactors, set as child of groot - simulation::Node* iroot(){ return _iroot; } - - /// Do not use this directly. Use Interactor::attach, which calls this. - void insertInteractor( Interactor* ); - - ///@} - - - - -protected: - simulation::Node::SPtr _groot; ///< root of the scene - simulation::Node* _iroot; ///< root of the interactors, child of _groot - -}; - -} -} - - -#endif // SOFA_NEWGUI_SofaScene_H diff --git a/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in b/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in deleted file mode 100644 index 25e069ed35b..00000000000 --- a/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in +++ /dev/null @@ -1,15 +0,0 @@ -# CMake package configuration file for the SofaSimpleGUI plugin - -@PACKAGE_GUARD@ -@PACKAGE_INIT@ - -find_package(Sofa.Component REQUIRED) -find_package(Eigen3 QUIET REQUIRED) -find_package(Sofa.GL QUIET REQUIRED) -find_package(Sofa.Simulation.Graph QUIET REQUIRED) - -if(NOT TARGET SofaSimpleGUI) - include("${CMAKE_CURRENT_LIST_DIR}/SofaSimpleGUITargets.cmake") -endif() - -check_required_components(SofaSimpleGUI) diff --git a/applications/plugins/SofaSimpleGUI/SpringInteractor.cpp b/applications/plugins/SofaSimpleGUI/SpringInteractor.cpp deleted file mode 100644 index 0e6948d9743..00000000000 --- a/applications/plugins/SofaSimpleGUI/SpringInteractor.cpp +++ /dev/null @@ -1,68 +0,0 @@ -#include -#include "SpringInteractor.h" -#include "PickedPoint.h" -#include -#include -#include - - -namespace sofa::simplegui -{ -typedef sofa::component::constraint::projective::FixedConstraint FixedConstraint3; - -SpringInteractor::SpringInteractor(const PickedPoint &picked, SReal stiffness) - : Interactor(picked) -{ - // get the DOF of the picked object - MechanicalObject3* pickedDof=dynamic_cast(picked.state.get()); assert(pickedDof); - - // create DOF to represent the actuator - _interactorDof = sofa::core::objectmodel::New(); - _interactionNode->addObject(_interactorDof); - _interactorDof->setName("interactorDOF"); - _interactorDof->addTag(std::string("Interactor")); - MechanicalObject3::WriteVecCoord xanchor = _interactorDof->writePositions(); - xanchor[0] = picked.point; - FixedConstraint3::SPtr fixed= sofa::core::objectmodel::New(); // Makes it unmovable through forces - _interactionNode->addObject(fixed); - fixed->init(); - - // create spring to drag the picked object - _spring = sofa::core::objectmodel::New(_interactorDof.get(),pickedDof); - _interactionNode->addObject(_spring); - _spring->addSpring(0,picked.index,stiffness,0.1,0.); - - - -// cout << "SpringInteractor set spring to " << pickedDof->getName() << ", " << picked.index << endl; -} - -Vec3 SpringInteractor::getPoint() -{ - MechanicalObject3::ReadVecCoord xanchor = _interactorDof->readPositions(); - return xanchor[0]; -} - -void SpringInteractor::setPoint( const Vec3& p ) -{ - MechanicalObject3::WriteVecCoord xanchor = _interactorDof->writePositions(); - xanchor[0] = p; -} - -void SpringInteractor::attach(SofaScene *scene) -{ - Inherited::attach(scene); - _interactionNode->removeObject(_spring); - Node* targetParent = dynamic_cast(_spring->getMState2()->getContext()); - targetParent->addObject(_spring); -} - -void SpringInteractor::detach() -{ - Inherited::detach(); - Node* parent = dynamic_cast(_spring->getMState2()->getContext()); - parent->removeObject(_spring); - _interactionNode->addObject(_spring); -} - -} diff --git a/applications/plugins/SofaSimpleGUI/SpringInteractor.h b/applications/plugins/SofaSimpleGUI/SpringInteractor.h deleted file mode 100644 index ec3c187ccd8..00000000000 --- a/applications/plugins/SofaSimpleGUI/SpringInteractor.h +++ /dev/null @@ -1,54 +0,0 @@ -#ifndef SOFA_SpringInteractor_H -#define SOFA_SpringInteractor_H - -#include -#include "Interactor.h" - -#include -#include -#include - - -namespace sofa::simplegui -{ - using sofa::defaulttype::Vec3Types ; - using MechanicalObject3 = sofa::component::statecontainer::MechanicalObject ; - using SpringForceField3 = sofa::component::solidmechanics::spring::SpringForceField ; - -/** - * @brief Interaction using a spring. - * An interactor, typically attached to the mouse pointer, pulls a control point using a spring. - * @author Francois Faure, 2014 - */ -class SOFA_SOFASIMPLEGUI_API SpringInteractor: public Interactor -{ - typedef Interactor Inherited; -protected: - MechanicalObject3::SPtr _interactorDof; - SpringForceField3::SPtr _spring; -public: - /** - * @brief SpringInteractor - * @param picked The picked point. - * @param stiffness The stiffness of the spring attached to the picked point. - */ - SpringInteractor(const PickedPoint& picked, SReal stiffness=(SReal) 100.); - - /// Insert this in the scene as a child of the given node - void attach( SofaScene* scene ) override; - - /// Remove this from the scene, without destroying it. - void detach() override; - - /// current interaction point - Vec3 getPoint() override; - - /// Displace the interaction to the given point - void setPoint( const Vec3& p ) override; - -}; - -} - - -#endif // SOFA_SpringInteractor_H diff --git a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp b/applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp deleted file mode 100644 index c7b3203a8d7..00000000000 --- a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp +++ /dev/null @@ -1,138 +0,0 @@ -#include "VisualPickVisitor.h" -#include -using std::cout; -using std::cerr; -using std::endl; - -#include -#include -#include -#include - - -namespace sofa::simplegui -{ - -VisualPickVisitor::VisualPickVisitor(core::visual::VisualParams* params) - : VisualVisitor(params) -{ - pickedId = 0; -} - - -simulation::Visitor::Result VisualPickVisitor::processNodeTopDown(simulation::Node* node) -{ -// cerr <<"VisualPickVisitor::processNodeTopDown" << endl; - hasShader = (node->getShader()!=NULL); - - for_each(this, node, node->visualModel, &VisualPickVisitor::fwdVisualModel); - this->VisualVisitor::processNodeTopDown(node); - - return RESULT_CONTINUE; -} - -void VisualPickVisitor::processNodeBottomUp(simulation::Node* node) -{ -// cerr <<"VisualPickVisitor::processNodeBottomUp" << endl; - for_each(this, node, node->visualModel, &VisualPickVisitor::bwdVisualModel); -} - -void VisualPickVisitor::processObject(simulation::Node* /*node*/, core::objectmodel::BaseObject* o) -{ -#ifdef DEBUG_DRAW - std::cerr << ">" << o->getClassName() << "::draw() of " << o->getName() << std::endl; -#endif -// cout<<"VisualPickVisitor::processObject push name of "<< o->getName() << " = " << pickedId << endl; - names.push_back(o->getName()); - glPushName(pickedId++); - o->draw(vparams); - glPopName(); -// cout<<"VisualPickVisitor::processObject end " << endl; - -#ifdef DEBUG_DRAW - std::cerr << "<" << o->getClassName() << "::draw() of " << o->getName() << std::endl; -#endif -} - -void VisualPickVisitor::fwdVisualModel(simulation::Node* /*node*/, core::visual::VisualModel* vm) -{ -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::fwdDraw() of " << vm->getName() << std::endl; -#endif - vm->fwdDraw(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::fwdDraw() of " << vm->getName() << std::endl; -#endif -} - -void VisualPickVisitor::bwdVisualModel(simulation::Node* /*node*/,core::visual::VisualModel* vm) -{ -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::bwdDraw() of " << vm->getName() << std::endl; -#endif - vm->bwdDraw(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::bwdDraw() of " << vm->getName() << std::endl; -#endif -} - -void VisualPickVisitor::processVisualModel(simulation::Node* node, core::visual::VisualModel* vm) -{ - //cerr<<"VisualPickVisitor::processVisualModel "<getName()<(node->getShader(subsetsToManage)); - - - switch(vparams->pass()) - { - case core::visual::VisualParams::Std: - { - if (shader && shader->isActive()) - shader->start(); -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::drawVisual() of " << vm->getName() << std::endl; -#endif - names.push_back(vm->getName()); - glPushName(pickedId++); - vm->drawVisual(vparams); - glPopName(); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::drawVisual() of " << vm->getName() << std::endl; -#endif - if (shader && shader->isActive()) - shader->stop(); - break; - } - case core::visual::VisualParams::Transparent: - { - if (shader && shader->isActive()) - shader->start(); -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::drawTransparent() of " << vm->getName() << std::endl; -#endif - vm->drawTransparent(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::drawTransparent() of " << vm->getName() << std::endl; -#endif - if (shader && shader->isActive()) - shader->stop(); - break; - } - case core::visual::VisualParams::Shadow: -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::drawShadow() of " << vm->getName() << std::endl; -#endif - vm->drawShadow(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::drawShadow() of " << vm->getName() << std::endl; -#endif - break; - } - -} - - -} - - diff --git a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.h b/applications/plugins/SofaSimpleGUI/VisualPickVisitor.h deleted file mode 100644 index fe72aa97004..00000000000 --- a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.h +++ /dev/null @@ -1,43 +0,0 @@ -#ifndef SOFA_SIMPLEGUI_VisualPickVisitor_H -#define SOFA_SIMPLEGUI_VisualPickVisitor_H -#include -#include - - -namespace sofa::simplegui -{ - -/** - * @brief The VisualPickVisitor class displays the scene for OpenGL picking. - * It uses the glPushName instruction, and it must be called within a specific OpenGL context, see http://www.lighthouse3d.com/opengl/picking/ - * The names vector member contains the names of all the objects rendered, in the traversal order. - * This allows to associate a hit number to an object during the pre-processing. - * @sa SofaGL - * @author Francois Faure, 2014 - * - * @warning The code is directly adapted from VisualDrawVisitor, without much insight - */ -class VisualPickVisitor : public ::sofa::simulation::VisualVisitor -{ -public: - bool hasShader; - VisualPickVisitor(core::visual::VisualParams* params); - Result processNodeTopDown(simulation::Node* node) override; - void processNodeBottomUp(simulation::Node* node) override; - virtual void fwdVisualModel(simulation::Node* node, core::visual::VisualModel* vm); - void processVisualModel(simulation::Node* node, core::visual::VisualModel* vm) override; - void processObject(simulation::Node* node, core::objectmodel::BaseObject* o) override; - virtual void bwdVisualModel(simulation::Node* node, core::visual::VisualModel* vm); - const char* getClassName() const override { return "VisualPickVisitor"; } - - sofa::type::vector names; // names of the object displayed - -private: - int pickedId; - - -}; - -} - -#endif // SOFA_SIMPLEGUI_VisualPickVisitor_H diff --git a/applications/plugins/SofaSimpleGUI/doc/Doxyfile b/applications/plugins/SofaSimpleGUI/doc/Doxyfile deleted file mode 100644 index 1ff35ada7e4..00000000000 --- a/applications/plugins/SofaSimpleGUI/doc/Doxyfile +++ /dev/null @@ -1,1918 +0,0 @@ -# Doxyfile 1.8.4 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project -# -# All text after a hash (#) is considered a comment and will be ignored -# The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" ") - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# http://www.gnu.org/software/libiconv for the list of possible encodings. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or sequence of words) that should -# identify the project. Note that if you do not use Doxywizard you need -# to put quotes around the project name if it contains spaces. - -PROJECT_NAME = SimpleGUI - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer -# a quick idea about the purpose of the project. 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The valid -# range is 0..9, the default is 0, corresponding to a cache size of 2^16 = 65536 -# symbols. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal -# scope will be included in the documentation. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default -# anonymous namespaces are hidden. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the -# documentation. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. - -HIDE_SCOPE_NAMES = YES - -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. - -SHOW_INCLUDE_FILES = YES - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen -# will list include files with double quotes in the documentation -# rather than with sharp brackets. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO -# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) -# the group names will appear in their defined order. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to -# do proper type resolution of all parameters of a function it will reject a -# match between the prototype and the implementation of a member function even -# if there is only one candidate or it is obvious which candidate to choose -# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen -# will still accept a match between prototype and implementation in such cases. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if section-label ... \endif -# and \cond section-label ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or macro consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and macros in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the -# list will mention the files that were used to generate the documentation. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the -# Folder Tree View (if specified). The default is YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. This will remove the Namespaces entry from the Quick Index -# and from the Folder Tree View (if specified). The default is YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output -# is used as the file version. See the manual for examples. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. -# You can optionally specify a file name after the option, if omitted -# DoxygenLayout.xml will be used as the name of the layout file. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files -# containing the references data. This must be a list of .bib files. The -# .bib extension is automatically appended if omitted. Using this command -# requires the bibtex tool to be installed. See also -# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style -# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this -# feature you need bibtex and perl available in the search path. Do not use -# file names with spaces, bibtex cannot handle them. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. - -WARNINGS = YES - -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. - -WARN_IF_UNDOCUMENTED = YES - -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. - -WARN_IF_DOC_ERROR = YES - -# The WARN_NO_PARAMDOC option can be enabled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of -# documentation. - -WARN_NO_PARAMDOC = NO - -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could -# be obtained via FILE_VERSION_FILTER) - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. - -INPUT = .. - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for -# the list of possible encodings. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh -# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py -# *.f90 *.f *.for *.vhd *.vhdl - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.d \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.idl \ - *.odl \ - *.cs \ - *.php \ - *.php3 \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py \ - *.f90 \ - *.f \ - *.vhd \ - *.vhdl - -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories -# for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). - -EXAMPLE_PATH = ../glutOnePick - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be ignored. -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty or if -# non of the patterns match the file name, INPUT_FILTER is applied. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) -# and it is also possible to disable source filtering for a specific pattern -# using *.ext= (so without naming a filter). This option only has effect when -# FILTER_SOURCE_FILES is enabled. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = - -#--------------------------------------------------------------------------- -# configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. - -SOURCE_BROWSER = YES - -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C, C++ and Fortran comments will always remain visible. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented -# functions referencing it will be listed. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities -# called/used by that function will be listed. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will -# link to the source code. Otherwise they will link to the documentation. - -REFERENCES_LINK_SOURCE = YES - -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You -# will need version 4.8.6 or higher. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. - -ALPHABETICAL_INDEX = NO - -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. Note that when using a custom header you are responsible -# for the proper inclusion of any scripts and style sheets that doxygen -# needs, which is dependent on the configuration options used. -# It is advised to generate a default header using "doxygen -w html -# header.html footer.html stylesheet.css YourConfigFile" and then modify -# that header. Note that the header is subject to change so you typically -# have to redo this when upgrading to a newer version of doxygen or when -# changing the value of configuration settings such as GENERATE_TREEVIEW! - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If left blank doxygen will -# generate a default style sheet. Note that it is recommended to use -# HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this -# tag will in the future become obsolete. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional -# user-defined cascading style sheet that is included after the standard -# style sheets created by doxygen. Using this option one can overrule -# certain style aspects. This is preferred over using HTML_STYLESHEET -# since it does not replace the standard style sheet and is therefor more -# robust against future updates. Doxygen will copy the style sheet file to -# the output directory. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that -# the files will be copied as-is; there are no commands or markers available. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. -# Doxygen will adjust the colors in the style sheet and background images -# according to this color. Hue is specified as an angle on a colorwheel, -# see http://en.wikipedia.org/wiki/Hue for more information. -# For instance the value 0 represents red, 60 is yellow, 120 is green, -# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. -# The allowed range is 0 to 359. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of -# the colors in the HTML output. For a value of 0 the output will use -# grayscales only. A value of 255 will produce the most vivid colors. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to -# the luminance component of the colors in the HTML output. Values below -# 100 gradually make the output lighter, whereas values above 100 make -# the output darker. The value divided by 100 is the actual gamma applied, -# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, -# and 100 does not change the gamma. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting -# this to NO can help when comparing the output of multiple runs. - -HTML_TIMESTAMP = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of -# entries shown in the various tree structured indices initially; the user -# can expand and collapse entries dynamically later on. Doxygen will expand -# the tree to such a level that at most the specified number of entries are -# visible (unless a fully collapsed tree already exceeds this amount). -# So setting the number of entries 1 will produce a full collapsed tree by -# default. 0 is a special value representing an infinite number of entries -# and will result in a full expanded tree by default. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. - -GENERATE_DOCSET = NO - -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) -# can be grouped. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen -# will append .docset to the name. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely -# identify the documentation publisher. This should be a reverse domain-name -# style string, e.g. com.mycompany.MyDocSet.documentation. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) -# of the generated HTML documentation. - -GENERATE_HTMLHELP = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be -# written to the html output directory. - -CHM_FILE = - -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. - -HHC_LOCATION = - -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). - -GENERATE_CHI = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file -# content. - -CHM_INDEX_ENCODING = - -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated -# that can be used as input for Qt's qhelpgenerator to generate a -# Qt Compressed Help (.qch) of the generated HTML documentation. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. -# The path specified is relative to the HTML output folder. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#namespace - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#virtual-folders - -QHP_VIRTUAL_FOLDER = doc - -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to -# add. For more information please see -# http://doc.trolltech.com/qthelpproject.html#custom-filters - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see -# -# Qt Help Project / Custom Filters. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's -# filter section matches. -# -# Qt Help Project / Filter Attributes. - -QHP_SECT_FILTER_ATTRS = - -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated -# .qhp file. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files -# will be generated, which together with the HTML files, form an Eclipse help -# plugin. To install this plugin and make it available under the help contents -# menu in Eclipse, the contents of the directory containing the HTML and XML -# files needs to be copied into the plugins directory of eclipse. The name of -# the directory within the plugins directory should be the same as -# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before -# the help appears. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have -# this name. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) -# at top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. Since the tabs have the same information as the -# navigation tree you can set this option to NO if you already set -# GENERATE_TREEVIEW to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. -# Since the tree basically has the same information as the tab index you -# could consider to set DISABLE_INDEX to NO when enabling this option. - -GENERATE_TREEVIEW = YES - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values -# (range [0,1..20]) that doxygen will group on one line in the generated HTML -# documentation. Note that a value of 0 will completely suppress the enum -# values from appearing in the overview section. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. - -TREEVIEW_WIDTH = 250 - -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open -# links to external symbols imported via tag files in a separate window. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory -# to force them to be regenerated. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are -# not supported properly for IE 6.0, but are supported on all modern browsers. -# Note that when changing this option you need to delete any form_*.png files -# in the HTML output before the changes have effect. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax -# (see http://www.mathjax.org) which uses client side Javascript for the -# rendering instead of using prerendered bitmaps. Use this if you do not -# have LaTeX installed or if you want to formulas look prettier in the HTML -# output. When enabled you may also need to install MathJax separately and -# configure the path to it using the MATHJAX_RELPATH option. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and -# SVG. The default value is HTML-CSS, which is slower, but has the best -# compatibility. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the -# HTML output directory using the MATHJAX_RELPATH option. The destination -# directory should contain the MathJax.js script. For instance, if the mathjax -# directory is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to -# the MathJax Content Delivery Network so you can quickly see the result without -# installing MathJax. However, it is strongly recommended to install a local -# copy of MathJax from http://www.mathjax.org before deployment. - -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest - -# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension -# names that should be enabled during MathJax rendering. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript -# pieces of code that will be used on startup of the MathJax code. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets -# (GENERATE_DOCSET) there is already a search function so this one should -# typically be disabled. For large projects the javascript based search engine -# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. - -SEARCHENGINE = YES - -# When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a web server instead of a web client using Javascript. -# There are two flavours of web server based search depending on the -# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for -# searching and an index file used by the script. When EXTERNAL_SEARCH is -# enabled the indexing and searching needs to be provided by external tools. -# See the manual for details. - -SERVER_BASED_SEARCH = NO - -# When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP -# script for searching. Instead the search results are written to an XML file -# which needs to be processed by an external indexer. Doxygen will invoke an -# external search engine pointed to by the SEARCHENGINE_URL option to obtain -# the search results. Doxygen ships with an example indexer (doxyindexer) and -# search engine (doxysearch.cgi) which are based on the open source search -# engine library Xapian. See the manual for configuration details. - -EXTERNAL_SEARCH = NO - -# The SEARCHENGINE_URL should point to a search engine hosted by a web server -# which will returned the search results when EXTERNAL_SEARCH is enabled. -# Doxygen ships with an example search engine (doxysearch) which is based on -# the open source search engine library Xapian. See the manual for configuration -# details. - -SEARCHENGINE_URL = - -# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed -# search data is written to a file for indexing by an external tool. With the -# SEARCHDATA_FILE tag the name of this file can be specified. - -SEARCHDATA_FILE = searchdata.xml - -# When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the -# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is -# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple -# projects and redirect the results back to the right project. - -EXTERNAL_SEARCH_ID = - -# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen -# projects other than the one defined by this configuration file, but that are -# all added to the same external search index. Each project needs to have a -# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id -# of to a relative location where the documentation can be found. -# The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ... - -EXTRA_SEARCH_MAPPINGS = - -#--------------------------------------------------------------------------- -# configuration options related to the LaTeX output -#--------------------------------------------------------------------------- - -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will -# generate Latex output. - -GENERATE_LATEX = NO - -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `latex' will be used as the default path. - -LATEX_OUTPUT = latex - -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. -# Note that when enabling USE_PDFLATEX this option is only used for -# generating bitmaps for formulas in the HTML output, but not in the -# Makefile that is written to the output directory. - -LATEX_CMD_NAME = latex - -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the -# default command name. - -MAKEINDEX_CMD_NAME = makeindex - -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_LATEX = NO - -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, letter, legal and -# executive. If left blank a4 will be used. - -PAPER_TYPE = a4wide - -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX -# packages that should be included in the LaTeX output. - -EXTRA_PACKAGES = - -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a -# standard header. Notice: only use this tag if you know what you are doing! - -LATEX_HEADER = - -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for -# the generated latex document. The footer should contain everything after -# the last chapter. If it is left blank doxygen will generate a -# standard footer. Notice: only use this tag if you know what you are doing! - -LATEX_FOOTER = - -# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images -# or other source files which should be copied to the LaTeX output directory. -# Note that the files will be copied as-is; there are no commands or markers -# available. - -LATEX_EXTRA_FILES = - -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references -# This makes the output suitable for online browsing using a pdf viewer. - -PDF_HYPERLINKS = YES - -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a -# higher quality PDF documentation. - -USE_PDFLATEX = YES - -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. -# This option is also used when generating formulas in HTML. - -LATEX_BATCHMODE = NO - -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) -# in the output. - -LATEX_HIDE_INDICES = NO - -# If LATEX_SOURCE_CODE is set to YES then doxygen will include -# source code with syntax highlighting in the LaTeX output. -# Note that which sources are shown also depends on other settings -# such as SOURCE_BROWSER. - -LATEX_SOURCE_CODE = NO - -# The LATEX_BIB_STYLE tag can be used to specify the style to use for the -# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See -# http://en.wikipedia.org/wiki/BibTeX for more info. - -LATEX_BIB_STYLE = plain - -#--------------------------------------------------------------------------- -# configuration options related to the RTF output -#--------------------------------------------------------------------------- - -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with -# other RTF readers or editors. - -GENERATE_RTF = NO - -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `rtf' will be used as the default path. - -RTF_OUTPUT = rtf - -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_RTF = NO - -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. -# Note: wordpad (write) and others do not support links. - -RTF_HYPERLINKS = NO - -# Load style sheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide -# replacements, missing definitions are set to their default value. - -RTF_STYLESHEET_FILE = - -# Set optional variables used in the generation of an rtf document. -# Syntax is similar to doxygen's config file. - -RTF_EXTENSIONS_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to the man page output -#--------------------------------------------------------------------------- - -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will -# generate man pages - -GENERATE_MAN = NO - -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `man' will be used as the default path. - -MAN_OUTPUT = man - -# The MAN_EXTENSION tag determines the extension that is added to -# the generated man pages (default is the subroutine's section .3) - -MAN_EXTENSION = .3 - -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command -# would be unable to find the correct page. The default is NO. - -MAN_LINKS = NO - -#--------------------------------------------------------------------------- -# configuration options related to the XML output -#--------------------------------------------------------------------------- - -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of -# the code including all documentation. - -GENERATE_XML = NO - -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `xml' will be used as the default path. - -XML_OUTPUT = xml - -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_SCHEMA = - -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_DTD = - -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that -# enabling this will significantly increase the size of the XML output. - -XML_PROGRAMLISTING = YES - -#--------------------------------------------------------------------------- -# configuration options related to the DOCBOOK output -#--------------------------------------------------------------------------- - -# If the GENERATE_DOCBOOK tag is set to YES Doxygen will generate DOCBOOK files -# that can be used to generate PDF. - -GENERATE_DOCBOOK = NO - -# The DOCBOOK_OUTPUT tag is used to specify where the DOCBOOK pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in -# front of it. If left blank docbook will be used as the default path. - -DOCBOOK_OUTPUT = docbook - -#--------------------------------------------------------------------------- -# configuration options for the AutoGen Definitions output -#--------------------------------------------------------------------------- - -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental -# and incomplete at the moment. - -GENERATE_AUTOGEN_DEF = NO - -#--------------------------------------------------------------------------- -# configuration options related to the Perl module output -#--------------------------------------------------------------------------- - -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the -# moment. - -GENERATE_PERLMOD = NO - -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able -# to generate PDF and DVI output from the Perl module output. - -PERLMOD_LATEX = NO - -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller -# and Perl will parse it just the same. - -PERLMOD_PRETTY = YES - -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same -# Makefile don't overwrite each other's variables. - -PERLMOD_MAKEVAR_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the preprocessor -#--------------------------------------------------------------------------- - -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include -# files. - -ENABLE_PREPROCESSING = YES - -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled -# way by setting EXPAND_ONLY_PREDEF to YES. - -MACRO_EXPANSION = NO - -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the -# PREDEFINED and EXPAND_AS_DEFINED tags. - -EXPAND_ONLY_PREDEF = NO - -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files -# pointed to by INCLUDE_PATH will be searched when a #include is found. - -SEARCH_INCLUDES = YES - -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by -# the preprocessor. - -INCLUDE_PATH = - -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will -# be used. - -INCLUDE_FILE_PATTERNS = - -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator -# instead of the = operator. - -PREDEFINED = - -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. -# Use the PREDEFINED tag if you want to use a different macro definition that -# overrules the definition found in the source code. - -EXPAND_AS_DEFINED = - -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all references to function-like macros -# that are alone on a line, have an all uppercase name, and do not end with a -# semicolon, because these will confuse the parser if not removed. - -SKIP_FUNCTION_MACROS = YES - -#--------------------------------------------------------------------------- -# Configuration::additions related to external references -#--------------------------------------------------------------------------- - -# The TAGFILES option can be used to specify one or more tagfiles. For each -# tag file the location of the external documentation should be added. The -# format of a tag file without this location is as follows: -# TAGFILES = file1 file2 ... -# Adding location for the tag files is done as follows: -# TAGFILES = file1=loc1 "file2 = loc2" ... -# where "loc1" and "loc2" can be relative or absolute paths -# or URLs. Note that each tag file must have a unique name (where the name does -# NOT include the path). If a tag file is not located in the directory in which -# doxygen is run, you must also specify the path to the tagfile here. - -TAGFILES = - -# When a file name is specified after GENERATE_TAGFILE, doxygen will create -# a tag file that is based on the input files it reads. - -GENERATE_TAGFILE = - -# If the ALLEXTERNALS tag is set to YES all external classes will be listed -# in the class index. If set to NO only the inherited external classes -# will be listed. - -ALLEXTERNALS = NO - -# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed -# in the modules index. If set to NO, only the current project's groups will -# be listed. - -EXTERNAL_GROUPS = YES - -# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed -# in the related pages index. If set to NO, only the current project's -# pages will be listed. - -EXTERNAL_PAGES = YES - -# The PERL_PATH should be the absolute path and name of the perl script -# interpreter (i.e. the result of `which perl'). - -PERL_PATH = /usr/bin/perl - -#--------------------------------------------------------------------------- -# Configuration options related to the dot tool -#--------------------------------------------------------------------------- - -# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base -# or super classes. Setting the tag to NO turns the diagrams off. Note that -# this option also works with HAVE_DOT disabled, but it is recommended to -# install and use dot, since it yields more powerful graphs. - -CLASS_DIAGRAMS = YES - -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see -# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the -# default search path. - -MSCGEN_PATH = - -# If set to YES, the inheritance and collaboration graphs will hide -# inheritance and usage relations if the target is undocumented -# or is not a class. - -HIDE_UNDOC_RELATIONS = YES - -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is -# available from the path. This tool is part of Graphviz, a graph visualization -# toolkit from AT&T and Lucent Bell Labs. The other options in this section -# have no effect if this option is set to NO (the default) - -HAVE_DOT = NO - -# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is -# allowed to run in parallel. When set to 0 (the default) doxygen will -# base this on the number of processors available in the system. You can set it -# explicitly to a value larger than 0 to get control over the balance -# between CPU load and processing speed. - -DOT_NUM_THREADS = 0 - -# By default doxygen will use the Helvetica font for all dot files that -# doxygen generates. When you want a differently looking font you can specify -# the font name using DOT_FONTNAME. You need to make sure dot is able to find -# the font, which can be done by putting it in a standard location or by setting -# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the -# directory containing the font. - -DOT_FONTNAME = FreeSans - -# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. -# The default size is 10pt. - -DOT_FONTSIZE = 10 - -# By default doxygen will tell dot to use the Helvetica font. -# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to -# set the path where dot can find it. - -DOT_FONTPATH = - -# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect inheritance relations. Setting this tag to YES will force the -# CLASS_DIAGRAMS tag to NO. - -CLASS_GRAPH = YES - -# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect implementation dependencies (inheritance, containment, and -# class references variables) of the class with other documented classes. - -COLLABORATION_GRAPH = YES - -# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for groups, showing the direct groups dependencies - -GROUP_GRAPHS = YES - -# If the UML_LOOK tag is set to YES doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling -# Language. - -UML_LOOK = NO - -# If the UML_LOOK tag is enabled, the fields and methods are shown inside -# the class node. If there are many fields or methods and many nodes the -# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS -# threshold limits the number of items for each type to make the size more -# manageable. Set this to 0 for no limit. 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z28u4yPQGW&)lzwsq98^-fvZ`5uou7*82PeK(W%zBLrI16f{Mkkd9A1@Hs zOdMJJ>QTTjiPJQqLL7QZJ+5{6w^a)ER!Q^42a(fUPMd0iv8&raVSTN_x%BzDxE$LH zADW?$$v8$nQ>^==90QbDQ5iz2VD9eIhaum;;LN+=EIM-iE)B5E<~nqn`c?`;ToS3u R2%4<~I~+p5*9FJs{RNgh$rAto diff --git a/applications/plugins/SofaSimpleGUI/doc/index.html b/applications/plugins/SofaSimpleGUI/doc/index.html deleted file mode 100644 index f612f48076b..00000000000 --- a/applications/plugins/SofaSimpleGUI/doc/index.html +++ /dev/null @@ -1,154 +0,0 @@ - - - - - - - - SimpleGUI - - - - - - - - -

SimpleGUI

- - - - - - - - - - - -
SimpleGUI helps inserting a Sofa simulation in graphics applications, such as this simple Glut program.
-
representative image of the plugin
- -
- - - -
- -

Introduction

-This is a simpler alternative to the standard Sofa GUI. See the code documentation (*) for more detail.
-
-

Compilation

-One subproject uses qtquick. On Ubuntu 14.04, it requires package qtdeclarative5-dev. - - -

Examples

- - -
    - -
  • glutOnePick: a glut application with a Sofa simulation. The user can interact by clicking and dragging particles. -
    • -
  • qtSofa: a qt application with a Sofa simulation. The user can interact by shift-clicking and dragging particles. -
    • -
- - - -

Intellectual -property and rights

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Authors
- 		Francois Faure
Contact
- 		Francois.Faure@inria.fr
-
License
- 		This plugin is distributed under -the same license as the core of SOFA. -
Patents
-
-
APP registration
-
-
Sponsors
- 		-
-
- -
- -
- -

HowTo

- -

Code documentation

- -can be generated using doxygen. In Unix -systems, simply type doxygen -Doxyfile in the doc directory.
- -
- -

LaTeX formulas

- -can be directly copy-pasted from .tex to this html document thanks to the mathjax config and -script included in the header. Equation numbering and cross-referencing works, as well a newcommand.
- -
- -
- -
- -
- - diff --git a/applications/plugins/SofaSimpleGUI/examples/liver.scn b/applications/plugins/SofaSimpleGUI/examples/liver.scn deleted file mode 100644 index 2ea0cb8954c..00000000000 --- a/applications/plugins/SofaSimpleGUI/examples/liver.scn +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn deleted file mode 100644 index d888792de76..00000000000 --- a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/image/image_test/DataImage_test.cpp b/applications/plugins/image/image_test/DataImage_test.cpp index 76ef76c395a..ce749b58a7d 100644 --- a/applications/plugins/image/image_test/DataImage_test.cpp +++ b/applications/plugins/image/image_test/DataImage_test.cpp @@ -45,7 +45,7 @@ struct DataImageLink_test : public sofa::testing::BaseTest core::objectmodel::Data< defaulttype::Image > data2; /// Create a link between the two images - void SetUp() + void doSetUp() { } diff --git a/applications/plugins/image/image_test/ImageEngine_test.cpp b/applications/plugins/image/image_test/ImageEngine_test.cpp index 7890e89d929..dcae5fee3d9 100644 --- a/applications/plugins/image/image_test/ImageEngine_test.cpp +++ b/applications/plugins/image/image_test/ImageEngine_test.cpp @@ -51,7 +51,7 @@ struct ImageEngine_test : public sofa::testing::BaseTest simulation::Node::SPtr root; // Unload scene - void TearDown() + void doTearDown() { if (root!=NULL) sofa::simulation::node::unload(root); diff --git a/applications/projects/SceneChecking/tests/SceneChecker_test.cpp b/applications/projects/SceneChecking/tests/SceneChecker_test.cpp index 9de8d0bbcf4..1324a6773c1 100644 --- a/applications/projects/SceneChecking/tests/SceneChecker_test.cpp +++ b/applications/projects/SceneChecking/tests/SceneChecker_test.cpp @@ -76,13 +76,13 @@ int ComponentDeprecatedClassId = sofa::core::RegisterObject("") //////////////////////////////////////////////////////////////////////////////////////////////////// struct SceneChecker_test : public BaseSimulationTest { - void SetUp() override + void doSetUp() override { } void checkRequiredPlugin(bool missing) { - sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Forward"); + sofa::simpleapi::importPlugin(Sofa.Component.ODESolver.Forward); const std::string missStr = missing ? "" : " \n"; std::stringstream scene; @@ -173,11 +173,12 @@ struct SceneChecker_test : public BaseSimulationTest EXPECT_MSG_NOEMIT(Warning); const std::string lvl = (shouldWarn)?"17.06":"17.12"; - + + sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); + std::stringstream scene; scene << " \n" << " \n" - << " \n" << " \n" << " \n" << " \n"; diff --git a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp index f0e53e0ac62..56e4c217bec 100644 --- a/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp +++ b/applications/projects/SofaPhysicsAPI/src/SofaPhysicsAPI/SofaPhysicsSimulation.cpp @@ -1123,13 +1123,12 @@ void SofaPhysicsSimulation::calcProjection() xFactor *= 0.01; yFactor *= 0.01; - //std::cout << xNear << " " << yNear << std::endl; - - double zForeground = -vparams->zNear() - offset; - double zBackground = -vparams->zFar() + offset; - if (currentCamera->getCameraType() == sofa::core::visual::VisualParams::PERSPECTIVE_TYPE) - gluPerspective(currentCamera->getFieldOfView(), (double) width / (double) height, vparams->zNear(), vparams->zFar()); + { + gluPerspective(currentCamera->getFieldOfView(), + (double) width / (double) height, + vparams->zNear(),vparams->zFar()); + } else { double ratio = vparams->zFar() / (vparams->zNear() * 20); @@ -1138,8 +1137,8 @@ void SofaPhysicsSimulation::calcProjection() { ratio = -300 * (tcenter.norm2()) / tcenter[2]; } - glOrtho((-xNear * xFactor) * ratio, (xNear * xFactor) * ratio, (-yNear - * yFactor) * ratio, (yNear * yFactor) * ratio, + glOrtho((-xNear * xFactor) * ratio, (xNear * xFactor) * ratio, + (-yNear * yFactor) * ratio, (yNear * yFactor) * ratio, vparams->zNear(), vparams->zFar()); } diff --git a/applications/projects/runSofa/runSofa_test/runSofa_test.cpp b/applications/projects/runSofa/runSofa_test/runSofa_test.cpp index 70fb826b39e..7d0607e198e 100644 --- a/applications/projects/runSofa/runSofa_test/runSofa_test.cpp +++ b/applications/projects/runSofa/runSofa_test/runSofa_test.cpp @@ -44,7 +44,7 @@ class runSofa_test : public sofa::testing::BaseTest } - void SetUp() override + void doSetUp() override { const std::string& pluginDir = PluginRepository.getFirstPath(); @@ -58,7 +58,7 @@ class runSofa_test : public sofa::testing::BaseTest testPluginList << m_testPluginName << std::endl; testPluginList.close(); } - void TearDown() override + void doTearDown() override { } diff --git a/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn new file mode 100644 index 00000000000..9f1617fb152 --- /dev/null +++ b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn b/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn index a82b531ff07..47e9608e636 100644 --- a/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn +++ b/examples/Component/ODESolver/Forward/EulerSymplecticSolver.scn @@ -21,7 +21,7 @@ trivially, it requires a linear solver, here SparseLDLSolver. - + diff --git a/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn b/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn index f8a7a002d4a..73bbc5ebfc3 100644 --- a/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn +++ b/examples/Component/ODESolver/Forward/EulerSymplecticSolver_diagonal.scn @@ -22,7 +22,7 @@ trivially, it does not require a linear solver. - + diff --git a/examples/Component/Visual/CylinderVisualModel.scn b/examples/Component/Visual/CylinderVisualModel.scn new file mode 100644 index 00000000000..65191fc0e44 --- /dev/null +++ b/examples/Component/Visual/CylinderVisualModel.scn @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/examples/Component/Visual/OglCylinderModel.scn b/examples/Component/Visual/OglCylinderModel.scn deleted file mode 100644 index 0db4bc72a6c..00000000000 --- a/examples/Component/Visual/OglCylinderModel.scn +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - \ No newline at end of file diff --git a/examples/Demos/SofaWasher.scn b/examples/Demos/SofaWasher.scn new file mode 100644 index 00000000000..bddd71116e9 --- /dev/null +++ b/examples/Demos/SofaWasher.scn @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn b/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn new file mode 100644 index 00000000000..18f52f4a548 --- /dev/null +++ b/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn @@ -0,0 +1,92 @@ + + + + + + + + + + + + + + + + + + + + + + + + + Container,TriangleSetTopologyModifier] --> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/RegressionStateScenes.regression-tests b/examples/RegressionStateScenes.regression-tests index 9c28cd6161b..2f0c0ef182e 100644 --- a/examples/RegressionStateScenes.regression-tests +++ b/examples/RegressionStateScenes.regression-tests @@ -31,6 +31,7 @@ Component/Constraint/Lagrangian/BilateralLagrangianConstraint_UGS.scn 100 1e-4 0 Component/Constraint/Lagrangian/FrictionContact_LCP_with_friction.scn 500 1e-4 0 1 Component/Constraint/Lagrangian/FrictionContact_LCP_without_friction.scn 500 1e-4 0 1 Component/Constraint/Projective/FixedProjectiveConstraint.scn 100 1e-4 0 1 +Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn 100 1e-4 0 1 Component/LinearSolver/Direct/FEMBAR_EigenSimplicialLDLT.scn 100 1e-8 0 1 Component/LinearSolver/Direct/FEMBAR_EigenSimplicialLLT.scn 100 1e-8 0 1 Component/LinearSolver/Direct/FEMBAR_EigenSparseLU.scn 100 1e-8 0 1 diff --git a/share/mesh/SOFA_collision_center.obj b/share/mesh/SOFA_collision_center.obj new file mode 100644 index 00000000000..c071bf0c129 --- /dev/null +++ b/share/mesh/SOFA_collision_center.obj @@ -0,0 +1,331 @@ +v -192.234 60.457 0.000 +v -189.317 52.829 0.000 +v -183.414 47.615 0.000 +v -173.613 45.920 0.000 +v -165.855 48.929 0.000 +v -160.167 56.092 0.000 +v -159.376 66.516 0.000 +v -156.116 74.076 0.000 +v -152.857 81.636 0.000 +v -145.511 90.817 0.000 +v -134.622 100.230 0.000 +v -125.799 97.927 0.000 +v -115.953 97.236 0.000 +v -106.068 96.982 0.000 +v -100.334 87.901 0.000 +v -96.236 80.052 0.000 +v -91.153 68.625 0.000 +v -87.038 57.346 0.000 +v -83.743 44.803 0.000 +v -87.666 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+70,7 @@ check-all-deps() { echo " Checking (pass $pass) $lib" libqt="" + libpython="" libboost="" libicu="" libglew="" @@ -83,6 +84,7 @@ check-all-deps() { is_fixup_needed="false" if echo "$dependencies" | grep --quiet "/Qt" || + echo "$dependencies" | grep --quiet "/Python" || echo "$dependencies" | grep --quiet "/libboost" || echo "$dependencies" | grep --quiet "/libicu" || echo "$dependencies" | grep --quiet "/libGLEW" || @@ -101,6 +103,8 @@ check-all-deps() { (echo "$dependencies") | while read dep; do if libqt="$(echo $dep | egrep -o "/Qt[A-Za-z]*$" | cut -c2-)" && [ -n "$libqt" ]; then libname="$libqt" + elif libpython="$(echo $dep | egrep -o "/Python.framework.*" | cut -c2-)" && [ -n "$libpython" ]; then + libname="$libpython" elif libboost="$(echo $dep | egrep -o "/libboost_[^\/]*?\.dylib" | cut -c2-)" && [ -n "$libboost" ]; then libname="$libboost" elif libicu="$(echo $dep | egrep -o "/libicu[^\/]*?\.dylib$" | cut -c2-)" && [ -n "$libicu" ]; then @@ -135,13 +139,15 @@ check-all-deps() { originlib="$dep" destlib="$INSTALL_DIR/lib/$libname" fi - if [ -e $originlib ] && [ ! -e $destlib ]; then + if [ -e $originlib ] && [ ! -e $destlib ] && [ -z "$libpython" ]; then echo " cp -Rf $dep $INSTALL_DIR/lib" cp -Rf $originlib $INSTALL_DIR/lib fi elif [[ "$mode" == "fixup" ]]; then if [ -n "$libqt" ]; then rpathlib="$libqt.framework/$libqt" + elif [ -n "$libpython" ]; then + rpathlib="$libpython" else rpathlib="$libname" fi From 5e455e40581d4be035646949594485db9fed0b18 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Jan 2025 14:49:55 +0100 Subject: [PATCH 12/14] Fix compilation --- .../solidmechanics/spring/FixedWeakConstraint.h | 2 +- .../solidmechanics/spring/FixedWeakConstraint.inl | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index d5ed13fe513..1fc80413b7a 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -29,7 +29,7 @@ #include #include #include -#include +#include namespace sofa::core::behavior diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl index 5ab787e4025..5dba0d315f9 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.inl @@ -108,7 +108,7 @@ const bool FixedWeakConstraint::checkState() /// Compile time condition to check if we are working with a Rigid3Types or a type that does not /// need the Angular Stiffness parameters. //if constexpr (isRigid()) - if constexpr (sofa::type::isRigidType()) + if constexpr (sofa::type::isRigidType) { sofa::helper::ReadAccessor> s = d_stiffness; sofa::helper::WriteOnlyAccessor> as = d_angularStiffness; @@ -274,7 +274,7 @@ void FixedWeakConstraint::addForce(const MechanicalParams* mparams , const auto & activeDirections = getActiveDirections(); // rigid case - if constexpr (sofa::type::isRigidType()) + if constexpr (sofa::type::isRigidType) { CPos dx = p1[index].getCenter() - p0[ext_index].getCenter(); @@ -362,7 +362,7 @@ void FixedWeakConstraint::addDForce(const MechanicalParams* mparams, const auto stiffness = k[static_cast(i < k.size()) * i]; - if constexpr (sofa::type::isRigidType()) + if constexpr (sofa::type::isRigidType) { const auto angularStiffness = k_a[static_cast(i < k_a.size()) * i]; @@ -458,7 +458,7 @@ void FixedWeakConstraint::addKToMatrix(const MechanicalParams* mparam } // rotation (if applicable) - if constexpr (sofa::type::isRigidType()) + if constexpr (sofa::type::isRigidType) { const auto vr = -kFact * k_a[(index < k_a.size()) * index]; for (sofa::Size i = space_size; i < total_size; i++) @@ -507,7 +507,7 @@ void FixedWeakConstraint::buildStiffnessMatrix(core::behavior::Stiffn } // rotation (if applicable) - if constexpr (sofa::type::isRigidType()) + if constexpr (sofa::type::isRigidType) { const auto vr = -k_a[(index < k_a.size()) * index]; for (sofa::Size i = space_size; i < total_size; ++i) From 1985599e59ed197dcfe3097c435715c8b818e65c Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Jan 2025 15:39:36 +0100 Subject: [PATCH 13/14] Try to fix windows compilation --- .../component/solidmechanics/spring/FixedWeakConstraint.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h index 1fc80413b7a..c710d994709 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FixedWeakConstraint.h @@ -104,12 +104,12 @@ class FixedWeakConstraint : public core::behavior::ForceField protected : FixedWeakConstraint(); - static constexpr type::fixed_array s_defaultActiveDirections = sofa::type::makeHomogeneousArray(true); + static constexpr type::fixed_array::coord_total_size> s_defaultActiveDirections = sofa::type::makeHomogeneousArray::coord_total_size>(true); virtual const DataVecCoord* getExtPosition() const; virtual const VecIndex& getIndices() const; virtual const VecIndex& getExtIndices() const; - virtual const type::fixed_array& getActiveDirections() const; + virtual const type::fixed_array::coord_total_size>& getActiveDirections() const; virtual const bool checkState(); virtual bool checkOutOfBoundsIndices(); From b4e8d4308589649c9bb052674c1c178ab8d3ad3c Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Jan 2025 16:40:34 +0100 Subject: [PATCH 14/14] Avoid using an intermediate expression and directly use the right term --- .../solidmechanics/spring/RestShapeSpringsForceField.inl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl index c3fc5d30191..14e67f2cf63 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RestShapeSpringsForceField.inl @@ -163,7 +163,7 @@ const typename RestShapeSpringsForceField::VecIndex& RestShapeSprings } template -const type::fixed_array::coord_total_size>& RestShapeSpringsForceField::getActiveDirections() const +const type::fixed_array& RestShapeSpringsForceField::getActiveDirections() const { return d_activeDirections.getValue(); }