Merge branch 'master' into 202511_image_new_registration_mechanism

Author: hugtalbot

Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.cpp

@@ -491,6 +491,8 @@ MeshTopology::MeshTopology()
     , d_seqQuads(initData(&d_seqQuads, "quads", "List of quad indices"))
     , d_seqTetrahedra(initData(&d_seqTetrahedra, "tetrahedra", "List of tetrahedron indices"))
     , d_seqHexahedra(initData(&d_seqHexahedra, "hexahedra", "List of hexahedron indices"))
+    , d_seqPrisms(initData(&d_seqPrisms, "prisms", "List of prisms indices"))
+    , d_seqPyramids(initData(&d_seqPyramids, "pyramids", "List of pyramids 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)
@@ -763,7 +765,6 @@ const MeshTopology::SeqTriangles& MeshTopology::getTriangles()
 
 const MeshTopology::SeqQuads& MeshTopology::getQuads()
 {
-
     return d_seqQuads.getValue();
 }
 
@@ -787,6 +788,16 @@ const MeshTopology::SeqHexahedra& MeshTopology::getHexahedra()
     return d_seqHexahedra.getValue();
 }
 
+const BaseMeshTopology::SeqPrisms& MeshTopology::getPrisms()
+{
+    return d_seqPrisms.getValue();
+}
+
+const BaseMeshTopology::SeqPyramids& MeshTopology::getPyramids()
+{
+    return d_seqPyramids.getValue();
+}
+
 const MeshTopology::SeqUV& MeshTopology::getUVs()
 {
     return d_seqUVs.getValue();

Sofa/Component/Topology/Container/Constant/src/sofa/component/topology/container/constant/MeshTopology.h

@@ -98,6 +98,8 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API MeshTopology : public core:
     const SeqQuads& getQuads() override;
     const SeqTetrahedra& getTetrahedra() override;
     const SeqHexahedra& getHexahedra() override;
+    const SeqPrisms& getPrisms() override;
+    const SeqPyramids& getPyramids() override;
 
     // If using STEP loader, include also uv coordinates
     typedef Index					UVID;
@@ -298,6 +300,8 @@ class SOFA_COMPONENT_TOPOLOGY_CONTAINER_CONSTANT_API MeshTopology : public core:
     Data<SeqQuads>       d_seqQuads; ///< List of quad indices
     Data<SeqTetrahedra>      d_seqTetrahedra; ///< List of tetrahedron indices
     Data<SeqHexahedra>	   d_seqHexahedra; ///< List of hexahedron indices
+    Data<SeqPrisms> d_seqPrisms;
+    Data<SeqPyramids> d_seqPyramids;
     Data<SeqUV>	d_seqUVs; ///< List of uv coordinates
     Data<bool> d_computeAllBuffers; ///< Option to call method computeCrossElementBuffers. False by default
 

Sofa/Component/Topology/Mapping/src/sofa/component/topology/mapping/Hexa2TetraTopologicalMapping.cpp

@@ -66,13 +66,15 @@ void Hexa2TetraTopologicalMapping::init()
 {
     using namespace container::dynamic;
 
+    Inherit1::init();
+
     if (!this->checkTopologyInputTypes()) // method will display error message if false
     {
         this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
         return;
     }
 
-    TetrahedronSetTopologyModifier* to_tstm;
+    TetrahedronSetTopologyModifier* to_tstm { nullptr };
     toModel->getContext()->get(to_tstm);
     if (!to_tstm)
     {
@@ -83,8 +85,15 @@ void Hexa2TetraTopologicalMapping::init()
 
     // INITIALISATION of TETRAHEDRAL mesh from HEXAHEDRAL mesh :
 
-    TetrahedronSetTopologyContainer *to_tstc;
+    TetrahedronSetTopologyContainer *to_tstc { nullptr };
     toModel->getContext()->get(to_tstc);
+    if (!to_tstc)
+    {
+        msg_error() << "No TetrahedronSetTopologyContainer found in the Tetrahedron topology Node.";
+        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+        return;
+    }
+
     // Clear output topology
     to_tstc->clear();
 
@@ -111,45 +120,49 @@ void Hexa2TetraTopologicalMapping::init()
         }
     }
 
+    static constexpr int numberTetraInHexa = 6;
+    Loc2GlobVec.reserve(nbcubes*numberTetraInHexa);
+
+    const bool swapping = d_swapping.getValue();
+
     // Tessellation of each cube into 6 tetrahedra
-    for (size_t i=0; i<nbcubes; i++)
+    for (size_t i = 0; i < nbcubes; ++i)
     {
         core::topology::BaseMeshTopology::Hexa c = fromModel->getHexahedron(i);
-#define swap(a,b) { int t = a; a = b; b = t; }
-        // TODO : swap indexes where needed (currently crash in TriangleSetContainer)
+
         bool swapped = false;
 
-        if(d_swapping.getValue())
+        if(swapping)
         {
             if (!((i%nx)&1))
             {
                 // swap all points on the X edges
-                swap(c[0],c[1]);
-                swap(c[3],c[2]);
-                swap(c[4],c[5]);
-                swap(c[7],c[6]);
+                std::swap(c[0],c[1]);
+                std::swap(c[3],c[2]);
+                std::swap(c[4],c[5]);
+                std::swap(c[7],c[6]);
                 swapped = !swapped;
             }
             if (((i/nx)%ny)&1)
             {
                 // swap all points on the Y edges
-                swap(c[0],c[3]);
-                swap(c[1],c[2]);
-                swap(c[4],c[7]);
-                swap(c[5],c[6]);
+                std::swap(c[0],c[3]);
+                std::swap(c[1],c[2]);
+                std::swap(c[4],c[7]);
+                std::swap(c[5],c[6]);
                 swapped = !swapped;
             }
             if ((i/(nx*ny))&1)
             {
                 // swap all points on the Z edges
-                swap(c[0],c[4]);
-                swap(c[1],c[5]);
-                swap(c[2],c[6]);
-                swap(c[3],c[7]);
+                std::swap(c[0],c[4]);
+                std::swap(c[1],c[5]);
+                std::swap(c[2],c[6]);
+                std::swap(c[3],c[7]);
                 swapped = !swapped;
             }
         }
-#undef swap
+
         if(!swapped)
         {
             to_tstc->addTetra(c[0],c[5],c[1],c[6]);
@@ -168,9 +181,11 @@ void Hexa2TetraTopologicalMapping::init()
             to_tstc->addTetra(c[6],c[7],c[5],c[0]);
             to_tstc->addTetra(c[7],c[5],c[0],c[4]);
         }
-        for(int j=0; j<6; j++)
+        for (int j = 0; j < numberTetraInHexa; j++)
+        {
             Loc2GlobVec.push_back(i);
-        Glob2LocMap[i] = (unsigned int)Loc2GlobVec.size()-1;
+        }
+        Glob2LocMap[i] = static_cast<unsigned int>(Loc2GlobVec.size()) -1;
     }
 
     // Need to fully init the target topology
@@ -181,7 +196,6 @@ void Hexa2TetraTopologicalMapping::init()
 
 Index Hexa2TetraTopologicalMapping::getFromIndex(Index /*ind*/)
 {
-
     return sofa::InvalidID;
 }
 

Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp

@@ -537,21 +537,18 @@ void BaseCamera::rotateCameraAroundPoint(Quat& rotation, const type::Vec3& point
     updateOutputData();
 }
 
-void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point, Quat orientationCam)
+void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point, Quat orientationCam, type::Vec3 positionCam)
 {
     type::Vec3 tempAxis;
     SReal tempAngle;
-    //Quat orientationCam = this->getOrientation();
-    type::Vec3& positionCam = *d_position.beginEdit();
 
     rotation.quatToAxis(tempAxis, tempAngle);
-    const Quat tempQuat (orientationCam.rotate(-tempAxis), tempAngle);
+    const Quat tempQuat(orientationCam.rotate(-tempAxis), tempAngle);
 
     const sofa::type::Transform<SReal> world_H_cam(positionCam, orientationCam);
     const sofa::type::Transform<SReal> world_H_pivot(point, Quat());
     const sofa::type::Transform<SReal> pivotBefore_R_pivotAfter(type::Vec3(0.0,0.0,0.0), tempQuat);
     const sofa::type::Transform<SReal> camera_H_WorldAfter = world_H_cam.inversed() * world_H_pivot * pivotBefore_R_pivotAfter * world_H_pivot.inversed();
-    //defaulttype::SolidTypes<double>::Transform camera_H_WorldAfter = worldBefore_H_cam.inversed()*worldBefore_R_worldAfter;
 
     positionCam = camera_H_WorldAfter.inversed().getOrigin();
     orientationCam = camera_H_WorldAfter.inversed().getOrientation();
@@ -563,13 +560,17 @@ void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point,
     }
 
     d_orientation.setValue(orientationCam);
-    d_position.endEdit();
+    d_position.setValue(positionCam);
 
     updateOutputData();
 }
 
 
-
+void BaseCamera::rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam)
+{
+    auto positionCam = sofa::helper::getReadAccessor(d_position);
+    rotateWorldAroundPoint(rotation, point, orientationCam, positionCam);
+}
 
 
 type::Vec3 BaseCamera::screenToViewportPoint(const type::Vec3& p) const

Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.h

@@ -102,7 +102,8 @@ class SOFA_COMPONENT_VISUAL_API BaseCamera : public core::objectmodel::BaseObjec
     void moveCamera(const type::Vec3 &p, const Quat &q);
 
     void rotateCameraAroundPoint( Quat& rotation, const type::Vec3& point);
-    virtual void rotateWorldAroundPoint( Quat& rotation, const type::Vec3& point, Quat orientationCam);
+    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam);
+    virtual void rotateWorldAroundPoint(Quat& rotation, const type::Vec3& point, Quat orientationCam, type::Vec3 positionCam);
 
     type::Vec3 screenToViewportPoint(const type::Vec3& p) const;
     type::Vec3 screenToWorldPoint(const type::Vec3& p);

Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.cpp

@@ -70,6 +70,7 @@ void InteractiveCamera::moveCamera(int x, int y)
             currentTrackball.ComputeQuaternion(x1, y1, x2, y2);
             //fetch rotation
             newQuat = currentTrackball.GetQuaternion();
+
             type::Vec3 pivot;
             switch (d_pivot.getValue())
             {
@@ -87,7 +88,7 @@ void InteractiveCamera::moveCamera(int x, int y)
                 pivot = sceneCenter;
                 break;
             }
-            rotateWorldAroundPoint(newQuat, pivot, this->getOrientation());
+            rotateWorldAroundPoint(newQuat, pivot, m_startingCameraOrientation, m_startingCameraPosition);
         }
         else if (currentMode == ZOOM_MODE)
         {
@@ -117,8 +118,11 @@ void InteractiveCamera::moveCamera(int x, int y)
         }
         //must call update afterwards
 
-        lastMousePosX = x;
-        lastMousePosY = y;
+        if (currentMode != TRACKBALL_MODE)
+        {
+            lastMousePosX = x;
+            lastMousePosY = y;
+        }
     }
     else if (currentMode == WHEEL_ZOOM_MODE)
     {
@@ -186,6 +190,9 @@ void InteractiveCamera::processMouseEvent(core::objectmodel::MouseEvent* me)
     {
         isMoving = true;
         currentMode = TRACKBALL_MODE;
+        
+        m_startingCameraOrientation = this->getOrientation();
+        m_startingCameraPosition = this->getPosition();
         lastMousePosX = posX;
         lastMousePosY = posY;
     }

Sofa/Component/Visual/src/sofa/component/visual/InteractiveCamera.h

@@ -56,6 +56,8 @@ class SOFA_COMPONENT_VISUAL_API InteractiveCamera : public BaseCamera
     bool isMoving;
     int lastMousePosX, lastMousePosY;
     helper::visual::Trackball currentTrackball;
+    sofa::type::Quatd m_startingCameraOrientation;
+    sofa::type::Vec3 m_startingCameraPosition;
 
     void internalUpdate() override;
 protected:

Sofa/framework/Core/src/sofa/core/CategoryLibrary.h

@@ -27,7 +27,7 @@ namespace sofa::core
 {
 
 
-typedef sofa::core::ObjectFactory::Creator    Creator;
+using Creator = sofa::core::ObjectFactory::BaseObjectCreator;
 
 /**
  *  \brief An Generic Category of the Sofa Library