[All] Introduce Snapshot feature

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleCollisionModel.h

@@ -28,6 +28,7 @@
 #include <sofa/core/VecId.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/core/behavior/MechanicalState.h>
+#include <sofa/core/objectmodel/Base.h>
 
 namespace sofa::component::collision::geometry
 {
@@ -193,6 +194,37 @@ class TriangleCollisionModel : public core::CollisionModel
     const VecDeriv& getNormals() const { return m_normals; }
     int getTriangleFlags(sofa::core::topology::BaseMeshTopology::TriangleID i);
 
+    void saveInternalStateIn(sofa::core::objectmodel::Snapshot::SnapshotObject& snapshot) const override
+    {
+        sofa::core::objectmodel::Snapshot::DataInfo dataInfo;
+
+        std::stringstream ss;
+        this->m_triangles->write(ss);
+
+        dataInfo.name = "m_triangles";
+        dataInfo.type = "vector";
+        dataInfo.value = ss.str();
+
+        snapshot.m_dataContainer.push_back(dataInfo);
+
+    }
+
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot) override
+    {
+        m_needsUpdate = true;
+
+        for (const auto& dataInfo : snapshot.m_dataContainer)
+        {
+            if (dataInfo.name == "m_triangles")
+            {
+                m_triangles = &m_topology->getTriangles();
+                resize(m_topology->getNbTriangles());
+                updateNormals();
+            }
+
+        }
+    }
+
     Deriv velocity(sofa::Index index)const;
 
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h

@@ -290,6 +290,12 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField<DataTy
     // Getting the stiffness matrix of index i
     void getElementStiffnessMatrix(Real* stiffness, Index nodeIdx);
 
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot) override
+    {
+        SOFA_UNUSED(snapshot);
+        _indexedElements = & (this->l_topology->getTetrahedra());
+    }
+
 protected:
     void computeStrainDisplacement( StrainDisplacement &J, Coord a, Coord b, Coord c, Coord d );
     Real peudo_determinant_for_coef ( const type::Mat<2, 3, Real>&  M );

Sofa/framework/Core/CMakeLists.txt

@@ -160,6 +160,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/objectmodel/BaseLink.h
     ${SRC_ROOT}/objectmodel/BaseNode.h
     ${SRC_ROOT}/objectmodel/BaseObjectDescription.h
+    ${SRC_ROOT}/objectmodel/Snapshot.h
     ${SRC_ROOT}/objectmodel/ClassInfo.h
     ${SRC_ROOT}/objectmodel/ComponentState.h
     ${SRC_ROOT}/objectmodel/ConfigurationSetting.h
@@ -178,6 +179,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/objectmodel/HapticDeviceEvent.h
     ${SRC_ROOT}/objectmodel/IdleEvent.h
     ${SRC_ROOT}/objectmodel/JoystickEvent.h
+    ${SRC_ROOT}/objectmodel/SnapshotJSONExporter.h
     ${SRC_ROOT}/objectmodel/KeypressedEvent.h
     ${SRC_ROOT}/objectmodel/KeyreleasedEvent.h
     ${SRC_ROOT}/objectmodel/lifecycle/DeprecatedData.h
@@ -310,6 +312,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/objectmodel/BaseLink.cpp
     ${SRC_ROOT}/objectmodel/BaseNode.cpp
     ${SRC_ROOT}/objectmodel/BaseObjectDescription.cpp
+    ${SRC_ROOT}/objectmodel/Snapshot.cpp
     ${SRC_ROOT}/objectmodel/ClassInfo.cpp
     ${SRC_ROOT}/objectmodel/ComponentState.cpp
     ${SRC_ROOT}/objectmodel/ConfigurationSetting.cpp
@@ -328,6 +331,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/objectmodel/HapticDeviceEvent.cpp
     ${SRC_ROOT}/objectmodel/IdleEvent.cpp
     ${SRC_ROOT}/objectmodel/JoystickEvent.cpp
+    ${SRC_ROOT}/objectmodel/SnapshotJSONExporter.cpp
     ${SRC_ROOT}/objectmodel/KeypressedEvent.cpp
     ${SRC_ROOT}/objectmodel/KeyreleasedEvent.cpp
     ${SRC_ROOT}/objectmodel/lifecycle/DeprecatedData.cpp

Sofa/framework/Core/simutest/CMakeLists.txt

@@ -10,6 +10,7 @@ set(SOURCE_FILES
     objectmodel/BaseContext_test.cpp
     objectmodel/BaseLink_simutest.cpp
     objectmodel/PathResolver_simutest.cpp
+    objectmodel/Snapshot_test.cpp
 )
 
 add_executable(${PROJECT_NAME} ${SOURCE_FILES})

Sofa/framework/Core/simutest/objectmodel/Base_test.cpp

@@ -36,6 +36,9 @@ using sofa::defaulttype::Rigid3Types;
 #include <sofa/defaulttype/VecTypes.h>
 using sofa::defaulttype::Vec3Types;
 
+#include <sofa/simulation/SaveSnapshotVisitor.h>
+using sofa::simulation::SaveSnapshotVisitor;
+
 namespace customns
 {
 class CustomBaseObject : public sofa::core::objectmodel::BaseComponent
@@ -121,4 +124,3 @@ TEST_F(Base_test , testGetClassName)
     EXPECT_EQ(o.getTypeName(), "CustomBaseObject");
     EXPECT_EQ(o.getClass()->className, "CustomBaseObject");
 }
-