Move experimental plasticity code to DevPlasticity

.github/workflows/ci.yml

@@ -14,18 +14,50 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, windows-2019]  
-        sofa_branch: [master, v21.12]
+        os: [ubuntu-20.04, macos-11, windows-2019]
+        sofa_branch: [master]
+        python_version: ['3.8']
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
+      - name: (Mac) Workaround for homebrew
+        shell: bash
+        if: runner.os == 'macOS'
+        run: |
+          rm -f /usr/local/bin/2to3
+          rm -f /usr/local/bin/idle3
+          rm -f /usr/local/bin/pydoc3
+          rm -f /usr/local/bin/python3
+          rm -f /usr/local/bin/python3-config
+          rm -f /usr/local/bin/2to3-3.11
+          rm -f /usr/local/bin/idle3.11
+          rm -f /usr/local/bin/pydoc3.11
+          rm -f /usr/local/bin/python3.11
+          rm -f /usr/local/bin/python3.11-config
+
       - name: Setup SOFA and environment
         id: sofa
         uses: sofa-framework/sofa-setup-action@v4
         with:
           sofa_root: ${{ github.workspace }}/sofa
           sofa_version: ${{ matrix.sofa_branch }}
           sofa_scope: 'standard'
+          sofa_with_sofapython3: 'false'
+          python_version: '${{ matrix.python_version }}'
+
+      - name: Install SofaPython3
+        shell: bash
+        run: |
+          SofaPython3_ROOT="$GITHUB_WORKSPACE/SofaPython3"
+          mkdir -p "${{ runner.temp }}/sp3_tmp/zip" "${{ runner.temp }}/sp3_tmp/binaries" "$SofaPython3_ROOT"
+          url="https://github.com/sofa-framework/SofaPython3/releases/download"
+          url="${url}/release-master-nightly/SofaPython3_master-nightly_python-${{ matrix.python_version }}_for-SOFA-${{ matrix.sofa_branch }}_${{ runner.os }}.zip"
+          echo "Getting SofaPython3 from $url"
+          curl --output "${{ runner.temp }}/sp3_tmp/SofaPython3.zip" -L $url
+          unzip -qq "${{ runner.temp }}/sp3_tmp/SofaPython3.zip" -d "${{ runner.temp }}/sp3_tmp/binaries"
+          mv "${{ runner.temp }}"/sp3_tmp/binaries/SofaPython3_*/* "$SofaPython3_ROOT"
+          echo "SofaPython3_ROOT=$SofaPython3_ROOT" | tee -a $GITHUB_ENV
+          echo "SofaPython3_DIR=$SofaPython3_ROOT/lib/cmake/SofaPython3" | tee -a $GITHUB_ENV
 
       - name: Checkout source code
         uses: actions/checkout@v2
@@ -35,27 +67,26 @@ jobs:
       - name: Build and install
         shell: bash
         run: |
+          cmake_options="-GNinja \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
+            -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
+            -DPYTHON_ROOT=$PYTHON_ROOT -DPython_ROOT=$PYTHON_ROOT \
+            -DPYTHON_EXECUTABLE=$PYTHON_EXE -DPython_EXECUTABLE=$PYTHON_EXE"
+          if [ -e "$(command -v ccache)" ]; then
+            cmake_options="$cmake_options -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
+          fi
+          cmake_options="$(echo $cmake_options)" # prettify
+
           if [[ "$RUNNER_OS" == "Windows" ]]; then
             cmd //c "${{ steps.sofa.outputs.vs_vsdevcmd }} \
               && cd /d $WORKSPACE_BUILD_PATH \
-              && cmake \
-                  -GNinja \
-                  -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
-                  -DCMAKE_BUILD_TYPE=Release \
-                  -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
-                  ../src \
+              && cmake $cmake_options ../src \
               && ninja install"
           else
             cd "$WORKSPACE_BUILD_PATH"
             ccache -z
-            cmake \
-              -GNinja \
-              -DCMAKE_C_COMPILER_LAUNCHER=ccache \
-              -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-              -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
-              -DCMAKE_BUILD_TYPE=Release \
-              -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
-              ../src
+            cmake $cmake_options ../src
             ninja install
             echo ${CCACHE_BASEDIR}
             ccache -s
@@ -137,4 +168,4 @@ jobs:
             fail_on_unmatched_files: true 
             files: |
               artifacts/CosseratPlugin_*_Linux.zip
-              artifacts/CosseratPlugin_*_Windows.zip
+              artifacts/CosseratPlugin_*_Windows.zip

.gitignore

@@ -27,3 +27,7 @@ Untitled*.ipynb
 TAGS
 python/
 scenes/
+.DS_Store/
+.DS_Store
+.vscode/
+.vscode

CMakeLists.txt

@@ -1,33 +1,14 @@
 cmake_minimum_required(VERSION 3.12)
 project(CosseratPlugin VERSION 21.12.0)
 
-# set (COSSERAT_VERSION ${PROJECT_VERSION})
 include(cmake/environment.cmake)
 
-find_package(SofaFramework REQUIRED)
-find_package(SofaUserInteraction REQUIRED)
-find_package(SofaBaseMechanics REQUIRED)
-find_package(SofaConstraint REQUIRED)
-find_package(SofaRigid REQUIRED)
-find_package(SofaMiscMapping REQUIRED)
-find_package(SofaEngine REQUIRED)
-find_package(SofaSparseSolver REQUIRED)
-
-sofa_find_package(Sofa.GL QUIET)
-sofa_find_package(SofaBaseTopology REQUIRED)
-
-# option(COSSERAT_IGNORE_ERRORS "Enable this option to ignore the recommendations and generate anyway." ON)
-
-# if(NOT COSSERAT_IGNORE_ERRORS)
-#     if(NOT PLUGIN_SOFAPYTHON AND NOT PLUGIN_SOFAPYTHON3)
-#         message(SEND_ERROR "
-#             You should not use the plugin Cosserat without enabling PLUGIN_SOFAPYTHON or PLUGIN_SOFAPYTHON3.
-#             Since all the scenes to test this plugin are using one of this two plugins. 
-#             To fix this error you can either follow the recommendation or enable COSSERAT_IGNORE_ERRORS.")
-#     endif()    
-# endif()
-
-# set(COSSERAT_PYTHON ${SofaPython_FOUND}) # config.h.in
+find_package(Sofa.Config REQUIRED)
+sofa_find_package(Sofa.Component.Constraint.Lagrangian.Model REQUIRED)
+sofa_find_package(Sofa.Component.StateContainer REQUIRED)
+sofa_find_package(Sofa.Component.Mapping.NonLinear REQUIRED)
+sofa_find_package(Sofa.GL REQUIRED)
+sofa_find_package(Sofa.Component.Topology.Container.Dynamic REQUIRED)
 
 sofa_find_package(STLIB QUIET)
 if(STLIB_FOUND)
@@ -36,117 +17,120 @@ else()
     message("-- The highly recommended 'STLIB' plugin is missing. You can compile Cosserat but some of the provided python examples will not work. ")
 endif()
 
-set(HEADER_FILES
-    src/initCosserat.h
-    src/mapping/BaseCosserat.h
-    src/mapping/BaseCosserat.inl
-    src/mapping/DiscreteCosseratMapping.h
-    src/mapping/DiscreteCosseratMapping.inl
-    src/mapping/DiscreteDynamicCosseratMapping.h
-    src/mapping/DiscreteDynamicCosseratMapping.inl
-    src/mapping/ProjectionEngine.h
-    src/mapping/ProjectionEngine.inl
-    src/mapping/DifferenceMultiMapping.h
-    src/mapping/DifferenceMultiMapping.inl
-    src/mapping/RigidDistanceMapping.h
-    src/mapping/RigidDistanceMapping.inl
-    src/forcefield/BeamHookeLawForceField.h
-    src/forcefield/BeamHookeLawForceField.inl
-    src/forcefield/BeamPlasticLawForceField.h
-    src/forcefield/BeamPlasticLawForceField.inl
-    src/forcefield/CosseratInternalActuation.h
-    src/forcefield/CosseratInternalActuation.inl
-    src/constraint/CosseratSlidingConstraint.h
-    src/constraint/CosseratSlidingConstraint.inl    
-    src/mapping/LegendrePolynomialsMapping.h
-    src/mapping/LegendrePolynomialsMapping.inl
+set(SRC_ROOT_DIR src/${PROJECT_NAME})
 
+set(HEADER_FILES
+    ${SRC_ROOT_DIR}/config.h.in
+    ${SRC_ROOT_DIR}/mapping/BaseCosserat.h
+    ${SRC_ROOT_DIR}/mapping/BaseCosserat.inl
+    ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.h
+    ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.inl
+    ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.h
+    ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.inl
+    ${SRC_ROOT_DIR}/mapping/ProjectionEngine.h
+    ${SRC_ROOT_DIR}/mapping/ProjectionEngine.inl
+    ${SRC_ROOT_DIR}/mapping/DifferenceMultiMapping.h
+    ${SRC_ROOT_DIR}/mapping/DifferenceMultiMapping.inl
+    ${SRC_ROOT_DIR}/mapping/RigidDistanceMapping.h
+    ${SRC_ROOT_DIR}/mapping/RigidDistanceMapping.inl
+    ${SRC_ROOT_DIR}/engine/PointsManager.h
+    ${SRC_ROOT_DIR}/engine/PointsManager.inl
+    ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceField.h
+    ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceField.inl
+    ${SRC_ROOT_DIR}/forcefield/BeamPlasticLawForceField.h
+    ${SRC_ROOT_DIR}/forcefield/BeamPlasticLawForceField.inl
+    ${SRC_ROOT_DIR}/forcefield/CosseratInternalActuation.h
+    ${SRC_ROOT_DIR}/forcefield/CosseratInternalActuation.inl
+    ${SRC_ROOT_DIR}/constraint/CosseratSlidingConstraint.h
+    ${SRC_ROOT_DIR}/constraint/CosseratSlidingConstraint.inl
+    ${SRC_ROOT_DIR}/mapping/LegendrePolynomialsMapping.h
+    ${SRC_ROOT_DIR}/mapping/LegendrePolynomialsMapping.inl
+    ${SRC_ROOT_DIR}/constraint/CosseratNeedleSlidingConstraint.h
+    ${SRC_ROOT_DIR}/constraint/CosseratNeedleSlidingConstraint.inl
     )
-
 set(SOURCE_FILES
-    src/initCosserat.cpp
-    src/mapping/BaseCosserat.cpp
-    src/mapping/DiscreteCosseratMapping.cpp
-    src/mapping/DiscreteDynamicCosseratMapping.cpp
-    src/mapping/ProjectionEngine.cpp
-    src/mapping/DifferenceMultiMapping.cpp
-    src/mapping/RigidDistanceMapping.cpp
-    src/forcefield/BeamHookeLawForceField.cpp
-    src/forcefield/BeamPlasticLawForceField.cpp
-    src/forcefield/CosseratInternalActuation.cpp
-    src/constraint/CosseratSlidingConstraint.cpp
-    src/mapping/LegendrePolynomialsMapping.cpp
+    ${SRC_ROOT_DIR}/initCosseratPlugin.cpp
+    ${SRC_ROOT_DIR}/mapping/BaseCosserat.cpp
+    ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.cpp
+    ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.cpp
+    ${SRC_ROOT_DIR}/mapping/ProjectionEngine.cpp
+    ${SRC_ROOT_DIR}/mapping/DifferenceMultiMapping.cpp
+    ${SRC_ROOT_DIR}/mapping/RigidDistanceMapping.cpp
+    ${SRC_ROOT_DIR}/engine/PointsManager.cpp
+    ${SRC_ROOT_DIR}/forcefield/BeamHookeLawForceField.cpp
+    ${SRC_ROOT_DIR}/forcefield/BeamPlasticLawForceField.cpp
+    ${SRC_ROOT_DIR}/forcefield/CosseratInternalActuation.cpp
+    ${SRC_ROOT_DIR}/constraint/CosseratSlidingConstraint.cpp
+    ${SRC_ROOT_DIR}/mapping/LegendrePolynomialsMapping.cpp
+    ${SRC_ROOT_DIR}/constraint/CosseratNeedleSlidingConstraint.cpp
     )
 
-
-set(README_FILE "Cosserat.txt" )
-
-find_package(SoftRobots QUIET)
+sofa_find_package(SoftRobots QUIET)
 if(SoftRobots_FOUND)
     list(APPEND HEADER_FILES
-        src/constraint/CosseratActuatorConstraint.h
-        src/constraint/CosseratActuatorConstraint.inl
-#        src/constraint/CosseratUnilateralInteractionConstraint.h
-#        src/constraint/CosseratUnilateralInteractionConstraint.inl
-
-        src/constraint/CosseratNeedleSlidingConstraint.h
-        src/constraint/CosseratNeedleSlidingConstraint.inl
-        src/constraint/QPSlidingConstraint.h
-        src/constraint/QPSlidingConstraint.inl
+        ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.h
+        ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.inl
+#        ${SRC_ROOT_DIR}/constraint/CosseratUnilateralInteractionConstraint.h
+#        ${SRC_ROOT_DIR}/constraint/CosseratUnilateralInteractionConstraint.inl
+
+
+        ${SRC_ROOT_DIR}/constraint/QPSlidingConstraint.h
+        ${SRC_ROOT_DIR}/constraint/QPSlidingConstraint.inl
         )
     list(APPEND SOURCE_FILES
-        src/constraint/CosseratActuatorConstraint.cpp
-        src/constraint/CosseratNeedleSlidingConstraint.cpp
-#         src/constraint/CosseratUnilateralInteractionConstraint.cpp
-        src/constraint/QPSlidingConstraint.cpp    
+        ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.cpp
+
+        #${SRC_ROOT_DIR}/constraint/CosseratUnilateralInteractionConstraint.cpp
+        ${SRC_ROOT_DIR}/constraint/QPSlidingConstraint.cpp
         )
 endif()
 
 file(GLOB_RECURSE RESOURCE_FILES  "*.md" "*.psl" "*.py" "*.pyscn" "*.py3scn" "*.scn" "*.ah")
 
-IF(WIN32)
-	add_definitions(-D_WINSOCKAPI_)
-ENDIF(WIN32)
+if(WIN32)
+    add_definitions(-D_WINSOCKAPI_)
+endif()
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${DOC_FILES} ${RESOURCE_FILES} )
-
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/include>")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:include>")
-
-set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DSOFA_BUILD_COSSERAT")
-set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "_d")
-target_link_libraries(${PROJECT_NAME} Sofa.Helper SofaCore SofaConstraint SofaBaseMechanics SofaUserInteraction SofaRigid SofaMiscMapping SofaSparseSolver SofaEngine)
+target_link_libraries(${PROJECT_NAME}
+    Sofa.Component.Constraint.Lagrangian.Model
+    Sofa.Component.StateContainer
+    Sofa.Component.Mapping.NonLinear
+    Sofa.GL
+    Sofa.Component.Topology.Container.Dynamic
+)
 
 if(Sofa.GL_FOUND)
     target_link_libraries(${PROJECT_NAME} Sofa.GL)
 endif()
 
 if(SoftRobots_FOUND)
     target_link_libraries(${PROJECT_NAME} SoftRobots)
-    message("-- Found dependency : 'SoftRobots' plugin .")
+    message("-- Found dependency: 'SoftRobots' plugin.")
 endif()
 
 sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "python")
-find_file(SofaPython3Tools NAMES "SofaPython3/lib/cmake/SofaPython3/SofaPython3Tools.cmake")
 
+find_file(SofaPython3Tools NAMES "SofaPython3/lib/cmake/SofaPython3/SofaPython3Tools.cmake")
 if(SofaPython3Tools)
-    message("-- Found SofaPython3Tools. Python3 packages will be installed.")
+    message("-- Found SofaPython3Tools.")
     include(${SofaPython3Tools})
-    set(SP3_PYTHON_PACKAGES_DIRECTORY "python3/site-packages")
 else()
     # try again with the find_package mechanism
     find_package(SofaPython3 QUIET)
 endif()
-
 if(SofaPython3Tools OR SofaPython3_FOUND)
-    SP3_add_python_package(
-            SOURCE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python3/cosserat
-            TARGET_DIRECTORY cosserat
-    )
-    message("-- Found SofaPython3_FOUND. Python3 packages will be installed.")
+    message("-- Python3 packages will be installed.")
+    set(SP3_PYTHON_PACKAGES_DIRECTORY "python3/site-packages")
+    # SP3_add_python_package(
+    #         SOURCE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python3/cosserat
+    #         TARGET_DIRECTORY cosserat
+    # )
+    add_subdirectory(${SRC_ROOT_DIR}/Binding)
 endif()
 
+#add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/src/CosseratPlugin/Binding)
+
 ## Install rules for the library and headers; CMake package configurations files
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}
@@ -157,15 +141,11 @@ sofa_create_package_with_targets(
     RELOCATABLE "plugins"
     )
 
-# find_package(GTest CONFIG QUIET)
-# if (NOT GTest_FOUND)
-#     # This find_package needs to be executed at MOST once, else it will fails on the second call
-#     find_package(GMock QUIET)
-# endif ()
-
-option(COSSERAT_BUILD_TESTS "Build unit tests" OFF )
-if(COSSERAT_BUILD_TESTS)
-    add_subdirectory(Tests)
+# Tests
+# If SOFA_BUILD_TESTS exists and is OFF, then these tests will be auto-disabled
+cmake_dependent_option(COSSERATPLUGIN_BUILD_TESTS "Compile the tests" OFF "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF)
+if(COSSERATPLUGIN_BUILD_TESTS)
+    add_subdirectory(tests)
 endif()
 
 include(cmake/packaging.cmake)

CosseratPluginConfig.cmake.in

@@ -1,7 +1,23 @@
-# CMake package configuration file for the CosseratPlugin plugin
+# CMake package configuration file for the plugin @PROJECT_NAME@
 
+@PACKAGE_GUARD@
 @PACKAGE_INIT@
 
-find_package(SofaFramework REQUIRED)
+set(COSSERATPLUGIN_HAVE_SOFA_GL @COSSERATPLUGIN_HAVE_SOFA_GL@)
+set(COSSERATPLUGIN_HAVE_SOFTROBOTS @COSSERATPLUGIN_HAVE_SOFTROBOTS@)
 
-check_required_components(CosseratPlugin)
+find_package(Sofa.Component.Constraint.Lagrangian.Model QUIET REQUIRED)
+find_package(Sofa.Component.StateContainer QUIET REQUIRED)
+find_package(Sofa.Component.Mapping.NonLinear QUIET REQUIRED)
+find_package(Sofa.GL QUIET REQUIRED)
+find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED)
+
+if(COSSERATPLUGIN_HAVE_SOFTROBOTS)
+    find_package(SoftRobots QUIET REQUIRED)
+endif()
+
+if(NOT TARGET @PROJECT_NAME@)
+    include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")
+endif()
+
+check_required_components(@PROJECT_NAME@)