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hugtalbotfredroy
hugtalbot
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fredroy
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[all] Set of fixes before lifecycle (#5306)
* fix compilation * Fix compilation in tutorials * Fix compilation plugin Assimp * fix compilation again * Fix compilation, especially using vec_id::write_access * Complete compilation on Assimp * fix compilation (cuda with sph) * fix compilation (cuda with distancegrid) * Update visitor names * Fix compilation in OglVolumetricModel --------- Co-authored-by: Frederick Roy <froy@lnrobo.com>
1 parent 5860c24 commit f40e8ca

26 files changed

Lines changed: 79 additions & 84 deletions

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‎Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -400,12 +400,12 @@ void ConstraintAnimationLoop::writeAndAccumulateAndCountConstraintDirections(con
400400
MechanicalResetConstraintVisitor(&cparams).execute(context);
401401

402402
// calling applyConstraint on each constraint
403-
MechanicalSetConstraint(&cparams, core::vec_id::write_access::constraintJacobian, numConstraints).execute(context);
403+
sofa::simulation::mechanicalvisitor::MechanicalBuildConstraintMatrix(&cparams, core::vec_id::write_access::constraintJacobian, numConstraints).execute(context);
404404

405405
sofa::helper::AdvancedTimer::valSet("numConstraints", numConstraints);
406406

407407
// calling accumulateConstraint on the mappings
408-
MechanicalAccumulateConstraint2(&cparams, core::vec_id::write_access::constraintJacobian).execute(context);
408+
sofa::simulation::mechanicalvisitor::MechanicalAccumulateMatrixDeriv(&cparams, core::vec_id::write_access::constraintJacobian).execute(context);
409409

410410
getCP()->clear(numConstraints,this->d_tol.getValue());
411411
}
@@ -426,7 +426,7 @@ void ConstraintAnimationLoop::getIndividualConstraintSolvingProcess(const core::
426426
cparams.setX(core::vec_id::read_access::freePosition);
427427
cparams.setV(core::vec_id::read_access::freeVelocity);
428428

429-
MechanicalGetConstraintResolutionVisitor(&cparams, getCP()->getConstraintResolutions(), 0).execute(context);
429+
sofa::component::constraint::lagrangian::solver::MechanicalGetConstraintResolutionVisitor(&cparams, getCP()->getConstraintResolutions(), 0).execute(context);
430430
}
431431

432432
void ConstraintAnimationLoop::computeComplianceInConstraintSpace()

‎Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
5454

5555
//editing DOF related to the TriangleCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 3 (3 points) because it contains just one Triangle
5656
triDOF->resize(3);
57-
Data<MechanicalObject3::VecCoord>& dpositions = *triDOF->write(sofa::core::VecId::position());
57+
Data<MechanicalObject3::VecCoord>& dpositions = *triDOF->write(sofa::core::vec_id::write_access::position);
5858
MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
5959

6060
//we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -65,7 +65,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
6565
dpositions.endEdit();
6666

6767
//Editing the velocity of the OBB
68-
Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::VecId::velocity());
68+
Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::vec_id::write_access::velocity);
6969

7070
MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
7171
velocities[0] = v;

‎Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
5555

5656
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
5757
sphereDOF->resize(1);
58-
Data<MechanicalObjectRigid3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::VecId::position());
58+
Data<MechanicalObjectRigid3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::vec_id::write_access::position);
5959
MechanicalObjectRigid3::VecCoord& positions = *dpositions.beginEdit();
6060

6161
//we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -88,7 +88,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
8888
dpositions.endEdit();
8989

9090
//Editing the velocity of the OBB
91-
Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
91+
Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity);
9292

9393
MechanicalObjectRigid3::VecDeriv& velocities = *dvelocities.beginEdit();
9494
velocities[0] = v;
@@ -122,7 +122,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
122122

123123
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
124124
sphereDOF->resize(1);
125-
Data<MechanicalObject3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::VecId::position());
125+
Data<MechanicalObject3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::vec_id::write_access::position);
126126
MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
127127

128128
//we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -131,7 +131,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
131131
dpositions.endEdit();
132132

133133
//Editing the velocity of the OBB
134-
Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
134+
Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity);
135135

136136
MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
137137
velocities[0] = v;

‎Sofa/framework/Helper/src/sofa/helper/Utils.cpp‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -253,7 +253,7 @@ const std::string& Utils::getUserLocalDirectory()
253253
CoTaskMemFree(path);
254254
}
255255

256-
return Utils::narrowString(wresult);
256+
return sofa::helper::narrowString(wresult);
257257

258258
#elif defined(__APPLE__) // macOS : ${HOME}/Library/Application Support
259259
// https://stackoverflow.com/questions/5123361/finding-library-application-support-from-c

‎applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp‎

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -46,7 +46,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
4646

4747
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
4848
obbDOF->resize(1);
49-
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
49+
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
5050
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
5151

5252
//we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -72,7 +72,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
7272
dpositions.endEdit();
7373

7474
//Editing the velocity of the OBB
75-
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
75+
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );
7676

7777
MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
7878
velocities[0] = v;
@@ -110,7 +110,7 @@ static void randTrans(Vec3 & angles,Vec3 & new_pos){
110110
static void transMechaRigid(const Vec3 & angles,const Vec3 & new_pos,sofa::simulation::Node::SPtr & node){
111111
MechanicalObjectRigid3* mecha = node->get<MechanicalObjectRigid3>(sofa::simulation::Node::SearchDown);
112112

113-
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *mecha->write( sofa::core::VecId::position() );
113+
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *mecha->write( sofa::core::vec_id::write_access::position );
114114
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
115115

116116
auto & quat = positions[0].getOrientation();
@@ -131,11 +131,11 @@ struct copyBulletOBB{
131131

132132
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
133133
obbDOF->resize(1);
134-
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
134+
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
135135
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
136136

137137
const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
138-
const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
138+
const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position );
139139

140140
//we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
141141
positions[0] = (read_positions.getValue())[0];
@@ -174,11 +174,11 @@ struct copyBulletConvexHull{
174174

175175
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
176176
cv_hullDOF->resize(1);
177-
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *cv_hullDOF->write( sofa::core::VecId::position() );
177+
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *cv_hullDOF->write( sofa::core::vec_id::write_access::position );
178178
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
179179

180180
const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
181-
const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
181+
const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position );
182182

183183
//we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
184184
positions[0] = (read_positions.getValue())[0];
@@ -227,11 +227,11 @@ struct copyBulletConvexHull{
227227

228228
// //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
229229
// obbDOF->resize(1);
230-
// Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
230+
// Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
231231
// MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
232232

233233
// const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
234-
// const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
234+
// const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position );
235235

236236
// //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
237237
// positions[0] = (read_positions.getValue())[0];

‎applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -100,7 +100,7 @@ void TBulletConvexHullModel<DataTypes>::initBullet(){
100100

101101
_mstate->resize(1);
102102

103-
Data<typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord>* dpositions = _mstate->write( sofa::core::VecId::position() );
103+
Data<typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord>* dpositions = _mstate->write( sofa::core::vec_id::write_access::position );
104104
typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord & positions = *dpositions->beginEdit();
105105

106106
typename DataTypes::Coord one_position(_bary,Quaternion(0,0,0,1));

‎applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
5454

5555
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
5656
obbDOF->resize(1);
57-
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
57+
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
5858
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
5959

6060
//we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -86,7 +86,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
8686
dpositions.endEdit();
8787

8888
//Editing the velocity of the OBB
89-
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
89+
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );
9090

9191
MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
9292
velocities[0] = v;
@@ -122,7 +122,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
122122

123123
//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
124124
capDOF->resize(2);
125-
Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::VecId::position());
125+
Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::vec_id::write_access::position);
126126
MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
127127

128128
//we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -132,7 +132,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
132132
dpositions.endEdit();
133133

134134
//Editing the velocity of the OBB
135-
Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::VecId::velocity());
135+
Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::vec_id::write_access::velocity);
136136

137137
MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
138138
velocities[0] = v;

‎applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -96,15 +96,15 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ri
9696

9797
//editing DOF related to the SphereCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 1 because it contains just one Sphere
9898
sphDOF->resize(1);
99-
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::VecId::position() );
99+
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::vec_id::write_access::position );
100100
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
101101

102102
positions[0] = Rigid3Types::Coord(center,Quat<SReal>(0,0,0,1));
103103

104104
dpositions.endEdit();
105105

106106
//Editing the velocity of the Sphere
107-
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() );
107+
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::vec_id::write_access::velocity );
108108

109109
MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
110110
velocities[0] = v;

‎applications/plugins/SofaAssimp/SceneColladaLoader.cpp‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
3333
#include <sofa/component/mapping/linear/SkinningMapping.h>
3434
#include <sofa/component/mapping/linear/BarycentricMapping.h>
3535
#include <sofa/component/mapping/linear/IdentityMapping.h>
36-
#include <sofa/component/constraint/projective/FixedConstraint.h>
36+
#include <sofa/component/constraint/projective/FixedProjectiveConstraint.h>
3737
#include <sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h>
3838
#include <sofa/core/visual/VisualParams.h>
3939
#include <sofa/helper/system/SetDirectory.h>
@@ -291,7 +291,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
291291
currentBoneMechanicalObject->resize(currentAiMesh->mNumBones);
292292

293293
{
294-
Data<Rigid3Types::VecCoord>* d_x = currentBoneMechanicalObject->write(core::VecCoordId::position());
294+
Data<Rigid3Types::VecCoord>* d_x = currentBoneMechanicalObject->write(core::vec_id::write_access::position);
295295
Rigid3Types::VecCoord &x = *d_x->beginEdit();
296296
for(unsigned int k = 0; k < currentAiMesh->mNumBones; ++k)
297297
{
@@ -370,7 +370,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
370370
currentBoneMechanicalObject->resize(1);
371371

372372
{
373-
Data<type::vector<Rigid3Types::Coord> >* d_x = currentBoneMechanicalObject->write(core::VecCoordId::position());
373+
Data<type::vector<Rigid3Types::Coord> >* d_x = currentBoneMechanicalObject->write(core::vec_id::write_access::position);
374374
type::vector<Rigid3Types::Coord> &x = *d_x->beginEdit();
375375

376376
Vec3d boneTranslation(0.0, 0.0, 0.0);
@@ -393,7 +393,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
393393
currentUniformMass->setName(nameStream.str());
394394
}
395395

396-
FixedConstraint<Rigid3Types>::SPtr currentFixedConstraint = sofa::core::objectmodel::New<FixedConstraint<Rigid3Types> >();
396+
FixedProjectiveConstraint<Rigid3Types>::SPtr currentFixedConstraint = sofa::core::objectmodel::New<FixedProjectiveConstraint<Rigid3Types> >();
397397
{
398398
// adding the generated FixedConstraint to its parent Node
399399
currentSubNode->addObject(currentFixedConstraint);
@@ -448,7 +448,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
448448
currentMechanicalObject->resize(vertexMap.size());
449449

450450
{
451-
Data<type::vector<Vec3Types::Coord> >* d_x = currentMechanicalObject->write(core::VecCoordId::position());
451+
Data<type::vector<Vec3Types::Coord> >* d_x = currentMechanicalObject->write(core::vec_id::write_access::position);
452452
type::vector<Vec3Types::Coord> &x = *d_x->beginEdit();
453453
for( std::map<Vec3d,unsigned>::iterator it=vertexMap.begin() , itend=vertexMap.end() ; it!=itend ; ++it )
454454
x[it->second] = it->first;

‎applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -90,7 +90,7 @@ void ParticlesRepulsionForceField<gpu::cuda::CudaVec3fTypes>::addDForce(const co
9090
Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams,this->rayleighStiffness.getValue());
9191
Real bFactor = (Real)sofa::core::mechanicalparams::bFactor(mparams);
9292

93-
const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
93+
const VecCoord& x = this->mstate->read(sofa::core::vec_id::read_access::position)->getValue();
9494
GPURepulsion3f repulsion;
9595
repulsion.d = distance.getValue();
9696
repulsion.d2 = repulsion.d*repulsion.d;
@@ -142,7 +142,7 @@ void ParticlesRepulsionForceField<gpu::cuda::CudaVec3dTypes>::addDForce(const co
142142
Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams,this->rayleighStiffness.getValue());
143143
Real bFactor = (Real)sofa::core::mechanicalparams::bFactor(mparams);
144144

145-
const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
145+
const VecCoord& x = this->mstate->read(sofa::core::vec_id::read_access::position)->getValue();
146146
GPURepulsion3d repulsion;
147147
repulsion.d = distance.getValue();
148148
repulsion.d2 = repulsion.d*repulsion.d;

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