From 3a1c1679539d0de2e02e05d315ba7b3bbd5bc0d6 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Sep 2024 17:21:36 +0200 Subject: [PATCH 001/115] Test action --- .github/workflows/ci.yml | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 .github/workflows/ci.yml diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 00000000000..442b2260e11 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,13 @@ +name: Compile SOFA and run Tests +on: + workflow_dispatch: + commit: + +jobs: + check_title: + runs-on: [self-hosted, sh-ubuntu] + steps: + - name: Test env + shell: bash + run: | + env | grep GITHUB \ No newline at end of file From 978ef1a3e35516394f37a4ad2d31fc013ecdf99b Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Sep 2024 17:24:06 +0200 Subject: [PATCH 002/115] Fix action --- .github/workflows/ci.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 442b2260e11..d2993c7cea0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -1,7 +1,7 @@ name: Compile SOFA and run Tests on: workflow_dispatch: - commit: + push: jobs: check_title: From 0c2f7f093790358c7a713eca4de436deeb779a50 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Sep 2024 17:52:27 +0200 Subject: [PATCH 003/115] Test pre job hook --- .github/workflows/ci.yml | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d2993c7cea0..cec27a34ff5 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -1,13 +1,17 @@ name: Compile SOFA and run Tests on: workflow_dispatch: + pull_request: push: jobs: - check_title: + test_env: runs-on: [self-hosted, sh-ubuntu] steps: - name: Test env shell: bash run: | - env | grep GITHUB \ No newline at end of file + WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) + cd $WORKSPACE + echo $(pwd) + echo $WORKSPACE From 1a874b19913b83839872d744d34961fd15672998 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Sep 2024 18:18:59 +0200 Subject: [PATCH 004/115] Add setup_build step --- .github/workflows/ci.yml | 36 ++++++++++++++++++++++++++++++++---- 1 file changed, 32 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index cec27a34ff5..5654aecec33 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -5,13 +5,41 @@ on: push: jobs: - test_env: + setup_build: runs-on: [self-hosted, sh-ubuntu] steps: - - name: Test env + - name: Clone SOFA and CI shell: bash run: | WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) cd $WORKSPACE - echo $(pwd) - echo $WORKSPACE + + + echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" + mkdir src & cd src + SRC_DIR=$(pwd) + + git init + git remote add origin https://www.github.com/$GITHUB_REPOSITORY_OWNER/sofa.git + git fetch origin $GITHUB_WORKFLOW_SHA + git checkout FETCH_HEAD + + cd $WORKSPACE + + + echo "Cloning CI" + mkdir ci & cd ci + CI_DIR=$(pwd) + + git init + git remote add origin https://www.github.com/sofa-framework/ci.git + git fetch origin master + git checkout FETCH_HEAD + + cd $WORKSPACE + + + mkdir build + + + From 033bd3c5820c6a4b370d35c15051830e766a1e7d Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Sep 2024 18:20:44 +0200 Subject: [PATCH 005/115] Fix action --- .github/workflows/ci.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 5654aecec33..99b5c99c0f0 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -14,9 +14,9 @@ jobs: WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) cd $WORKSPACE - + echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" - mkdir src & cd src + mkdir $WORKSPACE/src && cd $WORKSPACE/src SRC_DIR=$(pwd) git init @@ -28,7 +28,7 @@ jobs: echo "Cloning CI" - mkdir ci & cd ci + mkdir $WORKSPACE/ci && cd $WORKSPACE/ci CI_DIR=$(pwd) git init From c5fda9760bab546ecfc509ce057badc7249b3067 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Sep 2024 14:46:42 +0200 Subject: [PATCH 006/115] FIX when folders already exist + TODOS --- .github/workflows/ci.yml | 31 +++++++++++++++++++++++++++---- 1 file changed, 27 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 99b5c99c0f0..82e7aede90e 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -13,9 +13,13 @@ jobs: run: | WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) cd $WORKSPACE - echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" + #TODO (for PR) : clone branch against which the PR is compared then merge the PR + + if [ -d $WORKSPACE/src ]; then + rm -rf $WORKSPACE/src + fi mkdir $WORKSPACE/src && cd $WORKSPACE/src SRC_DIR=$(pwd) @@ -26,8 +30,12 @@ jobs: cd $WORKSPACE - echo "Cloning CI" + #TODO : clone ci branch with same name as the sofa branch against which the PR is compared OR the branch from which the commit comes + + if [ -d $WORKSPACE/ci ]; then + rm -rf $WORKSPACE/ci + fi mkdir $WORKSPACE/ci && cd $WORKSPACE/ci CI_DIR=$(pwd) @@ -38,8 +46,23 @@ jobs: cd $WORKSPACE + #TODO: transform infos to force-full-build + if [ -d $WORKSPACE/build ]; then + rm -rf $WORKSPACE/build + fi + mkdir $WORKSPACE/build + + #TODO: transform job-type (PR, commit, nightly) in a set of parameter (core, standard, full) + #TODO: transform job-type + infos from messages in a set of tests to run (unit, scenes, regression) + #TODO: transform infos from messages in a set of ci-depends-on - mkdir build - + #TODO: launch the container if needed (e.g. for ubuntu) + #TODO: launch sofa-ci-build-action with parameters : building scope (core, standard, full), + # OS type, + # python version, + # tests sets (list taken from {unit, scenes, regression}), + # ci-depends-on, + # OOT cmake option list (empty here) + From 14d7d2a85b31f8fa10caf99226a03b7425588241 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Mon, 10 Mar 2025 09:20:17 +0100 Subject: [PATCH 007/115] Add filter action and scripts --- .github/workflows/filter-build.yml | 128 +++++++++++++++ scripts/github_CI/checkPRInfoBeforeBuild.py | 172 ++++++++++++++++++++ scripts/github_CI/trigger-build.sh | 18 ++ 3 files changed, 318 insertions(+) create mode 100644 .github/workflows/filter-build.yml create mode 100644 scripts/github_CI/checkPRInfoBeforeBuild.py create mode 100644 scripts/github_CI/trigger-build.sh diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml new file mode 100644 index 00000000000..9ad2a6765b6 --- /dev/null +++ b/.github/workflows/filter-build.yml @@ -0,0 +1,128 @@ +name: Filter build action + + +# =============================================================== +# =============================================================== + + +on: + # On-demand binary generation + workflow_dispatch: + inputs: + branch: + description: 'Specify the stable branch to use to generate the new binaries' + required: true + commit_sha: + description: 'Commit SHA to check out' + required: true + default: 'head' + + # Nightly build + schedule: + - cron: '0 2 * * *' # Evevery night + + # PR-related build (open, labels, push) + pull_request: + types: [opened, synchronize] + + # Comment on PR + pull_request_review_comment: + types: [created, edited] + + # CI for dashboard master + push: + branches: + - 'master' + +# =============================================================== +# =============================================================== + +jobs: + filter_build: + runs-on: ubuntu-latest + ###if: ${{ github.repository_owner == 'sofa-framework' }} + + steps: + - name: Set up python + uses: actions/setup-python@v5 + with: + python-version: '3.12' + + - name: Install pip packages + run: | + pip install python-graphql-client + pip install requests + + - name: Run on dispatch + if: ${{ github.event_name == 'workflow_dispatch' }} + run: | + echo "This step runs only for binary generation." + + BRANCH=${{ github.event.inputs.branch }} + COMMIT=${{ github.event.inputs.commit }} + + # Validate branch format (e.g., v25.06) + if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then + echo "Invalid branch name format: $BRANCH" + exit 1 + fi + echo "Branch name $BRANCH is valid." + + # Check commit SHA format + if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then + echo "Invalid commit SHA format: $COMMIT" + exit 1 + fi + # Check the commit exists in the repository + if git cat-file -e "$COMMIT" 2>/dev/null; then + echo "Commit $COMMIT is valid." + else + echo "Commit $COMMIT does not exist in the repository." + exit 1 + fi + + ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} $BRANCH $COMMIT full None False True False True + + - name: Run when nightly + if: github.event.schedule == '0 2 * * *' + run: | + echo "This step runs only for nightly build." + ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} standard None False True False True + + - name: Check push on master case + if: ${{ github.event_name == 'push'}} + run: | + echo "This step runs only when a commit is pushed on the master branch." + ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} full None True True False False + + - name: Run when PR is opened + if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.pull_request.number }} + OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} + COMMIT_SHA: ${{ github.sha }} + run: | + echo "This step runs only when a PR is opened or synchronized." + + # Trigger the Build action + python scripts/github_CI/checkPRInfoBeforeBuild.py + + - name: Run when PR comment is edited + if: ${{ github.event_name == 'pull_request_review_comment' && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.pull_request.number }} + OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} + COMMIT_SHA: ${{ github.sha }} + run: | + echo "This step runs only when a PR comment is created or edited." + + COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) + echo "Comment: $COMMENT_BODY" + + # Trigger the Build action if [ci-build] is in the comment + if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + python scripts/github_CI/checkPRInfoBeforeBuild.py + fi + diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py new file mode 100644 index 00000000000..36d0b97c3f9 --- /dev/null +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -0,0 +1,172 @@ +#!python + +import os +import requests +from python_graphql_client import GraphqlClient + + +client = GraphqlClient(endpoint="https://api.github.com/graphql") +GITHUB_TOKEN = os.getenv('GITHUB_TOKEN') +PR_NUMBER = os.getenv('PR_NUMBER') +OWNER_NAME = os.getenv('OWNER_NAME') +COMMIT_SHA = os.getenv('COMMIT_SHA') + + +if not GITHUB_TOKEN or not PR_NUMBER or not REPO_NAME: + print("Error: Missing required environment variables.") + exit(1) + + +# GitHub API base URL +API_URL = f"https://api.github.com/repos/sofa-framework/sofa" + +# Headers for authentication +HEADERS = { + "Authorization": f"Bearer {GITHUB_TOKEN}", + "Accept": "application/vnd.github.v3+json" +} + + +# Flags to determine actions +to_review_label_found = False +is_draft_pr = False +with_all_tests_found = False +force_full_build_found = False + + +# ======================================================================== + +# Check PR labels +def check_labels(): + global to_review_label_found + labels_url = f"{API_URL}/issues/{PR_NUMBER}/labels" + response = requests.get(labels_url, headers=HEADERS) + + if response.status_code != 200: + print(f"Failed to fetch labels: {response.status_code}") + exit(1) + + labels = [label['name'].lower() for label in response.json()] + print(f"Labels found: {labels}") + + if "pr: status to review" in labels: + to_review_label_found = True + print("PR is marked as 'to review'.") + +# ======================================================================== + +# Check the PR draft status +def check_if_draft(): + global is_draft_pr + pr_url = f"{API_URL}/pulls/{PR_NUMBER}" + response = requests.get(pr_url, headers=HEADERS) + + if response.status_code != 200: + print(f"Failed to fetch pull request details: {response.status_code}") + exit(1) + + pr_data = response.json() + is_draft_pr = pr_data.get('draft', False) + + if is_draft_pr: + print("The pull request is a draft. The Bash script will not run.") + +# ======================================================================== + +# Check PR comments for "[with-all-tests]" and "[force-full-build]" +def check_comments(): + global with_all_tests_found + global force_full_build_found + comments_url = f"{API_URL}/issues/{PR_NUMBER}/comments" + response = requests.get(comments_url, headers=HEADERS) + + if response.status_code != 200: + print(f"Failed to fetch comments: {response.status_code}") + exit(1) + + comments = [comment['body'].lower() for comment in response.json()] + print(f"Comments found: {comments}") + + if any("[with-all-tests]" in comment for comment in comments): + with_all_tests_found = True + print("Found a comment containing 'with-all-tests'.") + if any("[force-full-build]" in comment for comment in comments): + force_full_build_found = True + print("Found a comment containing 'with-all-tests'.") + + +# ======================================================================== + + +# Execute the checks +check_labels() +check_if_draft() + + +# Trigger the build if conditions are met +if to_review_label_found and not is_draft_pr: + + # Check compilation options in PR comments + check_comments() + + pr_url = f"{API_URL}/pulls/{PR_NUMBER}" + response = requests.get(pr_url, headers=HEADERS) + pr_data = response.json() + branch = pr_data.get("head", {}).get("ref", None) + + + # Extract the PR description and look for [ci-depends-on ...] patterns + pr_body = pr_data.get("body", "") + ci_depends_on = [] + + for line in pr_body.splitlines(): + match = re.search(r'\[ci-depends-on (.+?)\]', line) + if match: + dependency = match.group(1).strip() + ci_depends_on.append(dependency) + print(f"Found ci-depends-on dependency: {dependency}") + + # GitHub repository details + API_URL_DISPATCH = f"https://api.github.com/repos/sofa-framework/sofa/dispatches" + + # JSON payload for the dispatch event + PAYLOAD = { + "event_type": "CI Build", + "client_payload": { + "owner": {OWNER_NAME}, + "branch": {branch}, + "commit_hash": {COMMIT_SHA}, + "preset": "full", + "ci-depends-on": {ci_depends_on}, + "with-all-tests": {with_all_tests_found}, + "force-full-build": {force_full_build_found}, + "out-of-tree-build": "False", + "generate-binaries": "False", + }, + } + + # Headers for the GitHub API request + REQUEST_HEADERS = { + "Accept": "application/vnd.github+json", + "Authorization": f"Bearer {GITHUB_TOKEN}", + "X-GitHub-Api-Version": "2022-11-28", + } + + # Perform the API request + try: + response = requests.post(API_URL_DISPATCH, json=PAYLOAD, headers=REQUEST_HEADERS) + + # Check for successful request + if response.status_code == 204: + print("CI Build event triggered successfully.") + else: + print(f"Failed to trigger CI Build event. Status code: {response.status_code}") + print("Response:", response.text) + sys.exit(1) + except requests.RequestException as e: + print("Error during the API request:", e) + sys.exit(1) +else: + print("Conditions not met. Bash script will not run.") + +# ======================================================================== diff --git a/scripts/github_CI/trigger-build.sh b/scripts/github_CI/trigger-build.sh new file mode 100644 index 00000000000..16b1c0d67a2 --- /dev/null +++ b/scripts/github_CI/trigger-build.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +# Check if exactly 8 arguments are provided +if [ "$#" -ne 9 ]; then + echo "Error: Exactly 9 arguments are required." + echo "Usage: $0 " + exit 1 +fi + +# Trigger the build action with all needed input: +# branch, hash, preset, ci-depends-on, with-all-tests, force-full-build, out-of-tree-build, label-wip/postponed, generate-binaries +sudo apt install curl +curl -L -X POST \ +-H "Accept: application/vnd.github+json" \ +-H "Authorization: Bearer $1" \ +-H "X-GitHub-Api-Version: 2022-11-28" \ +https://api.github.com/repos/sofa-framework/sofa/dispatches \ +-d '{"event_type":"CI Build","client_payload":{"owner":"sofa-framework","branch":"$2","commit_hash":"$3","preset":"$4","ci-depends-on":"$5", "with-all-tests":"$6", "force-full-build":"7", "out-of-tree-build":"$8", "generate-binaries":"$9"}}' From 9725eb2efe284a0c0ba940e4b7d3fd983ce4a649 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Thu, 13 Mar 2025 10:53:57 +0100 Subject: [PATCH 008/115] replace sofa-framework by bakpaul --- .github/workflows/filter-build.yml | 2 +- scripts/github_CI/checkPRInfoBeforeBuild.py | 4 ++-- scripts/github_CI/trigger-build.sh | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 9ad2a6765b6..fce5540ce3d 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -40,7 +40,7 @@ on: jobs: filter_build: runs-on: ubuntu-latest - ###if: ${{ github.repository_owner == 'sofa-framework' }} + ### if: ${{ github.repository_owner == 'sofa-framework' }} steps: - name: Set up python diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index 36d0b97c3f9..44ff9527752 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -18,7 +18,7 @@ # GitHub API base URL -API_URL = f"https://api.github.com/repos/sofa-framework/sofa" +API_URL = f"https://api.github.com/repos/bakpaul/sofa" # Headers for authentication HEADERS = { @@ -127,7 +127,7 @@ def check_comments(): print(f"Found ci-depends-on dependency: {dependency}") # GitHub repository details - API_URL_DISPATCH = f"https://api.github.com/repos/sofa-framework/sofa/dispatches" + API_URL_DISPATCH = f"https://api.github.com/repos/bakpaul/sofa/dispatches" # JSON payload for the dispatch event PAYLOAD = { diff --git a/scripts/github_CI/trigger-build.sh b/scripts/github_CI/trigger-build.sh index 16b1c0d67a2..d45755c92c8 100644 --- a/scripts/github_CI/trigger-build.sh +++ b/scripts/github_CI/trigger-build.sh @@ -14,5 +14,5 @@ curl -L -X POST \ -H "Accept: application/vnd.github+json" \ -H "Authorization: Bearer $1" \ -H "X-GitHub-Api-Version: 2022-11-28" \ -https://api.github.com/repos/sofa-framework/sofa/dispatches \ --d '{"event_type":"CI Build","client_payload":{"owner":"sofa-framework","branch":"$2","commit_hash":"$3","preset":"$4","ci-depends-on":"$5", "with-all-tests":"$6", "force-full-build":"7", "out-of-tree-build":"$8", "generate-binaries":"$9"}}' +https://api.github.com/repos/bakpaul/sofa/dispatches \ +-d '{"event_type":"CI Build","client_payload":{"owner":"bakpaul","branch":"$2","commit_hash":"$3","preset":"$4","ci-depends-on":"$5", "with-all-tests":"$6", "force-full-build":"7", "out-of-tree-build":"$8", "generate-binaries":"$9"}}' From c0c59758ba6c1ee0bee24a027c65d964b8b0a6e7 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Thu, 13 Mar 2025 11:11:45 +0100 Subject: [PATCH 009/115] fix indentation --- .github/workflows/filter-build.yml | 140 ++++++++++++++--------------- 1 file changed, 70 insertions(+), 70 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index fce5540ce3d..ce9812024cf 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -48,81 +48,81 @@ jobs: with: python-version: '3.12' - - name: Install pip packages - run: | - pip install python-graphql-client - pip install requests + - name: Install pip packages + run: | + pip install python-graphql-client + pip install requests - - name: Run on dispatch - if: ${{ github.event_name == 'workflow_dispatch' }} - run: | - echo "This step runs only for binary generation." + - name: Run on dispatch + if: ${{ github.event_name == 'workflow_dispatch' }} + run: | + echo "This step runs only for binary generation." - BRANCH=${{ github.event.inputs.branch }} - COMMIT=${{ github.event.inputs.commit }} + BRANCH=${{ github.event.inputs.branch }} + COMMIT=${{ github.event.inputs.commit }} - # Validate branch format (e.g., v25.06) - if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then - echo "Invalid branch name format: $BRANCH" - exit 1 - fi - echo "Branch name $BRANCH is valid." + # Validate branch format (e.g., v25.06) + if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then + echo "Invalid branch name format: $BRANCH" + exit 1 + fi + echo "Branch name $BRANCH is valid." - # Check commit SHA format - if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then - echo "Invalid commit SHA format: $COMMIT" - exit 1 - fi - # Check the commit exists in the repository - if git cat-file -e "$COMMIT" 2>/dev/null; then - echo "Commit $COMMIT is valid." - else - echo "Commit $COMMIT does not exist in the repository." - exit 1 - fi + # Check commit SHA format + if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then + echo "Invalid commit SHA format: $COMMIT" + exit 1 + fi + # Check the commit exists in the repository + if git cat-file -e "$COMMIT" 2>/dev/null; then + echo "Commit $COMMIT is valid." + else + echo "Commit $COMMIT does not exist in the repository." + exit 1 + fi - ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} $BRANCH $COMMIT full None False True False True + ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} $BRANCH $COMMIT full None False True False True - - name: Run when nightly - if: github.event.schedule == '0 2 * * *' - run: | - echo "This step runs only for nightly build." - ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} standard None False True False True - - - name: Check push on master case - if: ${{ github.event_name == 'push'}} - run: | - echo "This step runs only when a commit is pushed on the master branch." - ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} full None True True False False - - - name: Run when PR is opened - if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.pull_request.number }} - OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} - COMMIT_SHA: ${{ github.sha }} - run: | - echo "This step runs only when a PR is opened or synchronized." - - # Trigger the Build action - python scripts/github_CI/checkPRInfoBeforeBuild.py - - - name: Run when PR comment is edited - if: ${{ github.event_name == 'pull_request_review_comment' && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.pull_request.number }} - OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} - COMMIT_SHA: ${{ github.sha }} - run: | - echo "This step runs only when a PR comment is created or edited." + - name: Run when nightly + if: github.event.schedule == '0 2 * * *' + run: | + echo "This step runs only for nightly build." + ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} standard None False True False True + + - name: Check push on master case + if: ${{ github.event_name == 'push'}} + run: | + echo "This step runs only when a commit is pushed on the master branch." + ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} full None True True False False + + - name: Run when PR is opened + if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.pull_request.number }} + OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} + COMMIT_SHA: ${{ github.sha }} + run: | + echo "This step runs only when a PR is opened or synchronized." + + # Trigger the Build action + python scripts/github_CI/checkPRInfoBeforeBuild.py + + + - name: Run when PR comment is edited + if: ${{ github.event_name == 'pull_request_review_comment' && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.pull_request.number }} + OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} + COMMIT_SHA: ${{ github.sha }} + run: | + echo "This step runs only when a PR comment is created or edited." - COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) - echo "Comment: $COMMENT_BODY" + COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) + echo "Comment: $COMMENT_BODY" - # Trigger the Build action if [ci-build] is in the comment - if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then - python scripts/github_CI/checkPRInfoBeforeBuild.py - fi - + # Trigger the Build action if [ci-build] is in the comment + if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + python scripts/github_CI/checkPRInfoBeforeBuild.py + fi From 1fade703e727a673a998ee983806922502f30275 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Thu, 13 Mar 2025 11:17:53 +0100 Subject: [PATCH 010/115] add checkout code action --- .github/workflows/filter-build.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index ce9812024cf..92adb307b72 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -52,6 +52,9 @@ jobs: run: | pip install python-graphql-client pip install requests + + - name: Check out code + uses: actions/checkout@v2 - name: Run on dispatch if: ${{ github.event_name == 'workflow_dispatch' }} From a521a1ae227a02e7fa2dbb18273dd0f0fb0766e2 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 18 Mar 2025 11:03:18 +0100 Subject: [PATCH 011/115] Add backbone --- .github/workflows/build-and-tests.yml | 124 ++++++++++++++++++++++++++ .github/workflows/ci.yml | 68 -------------- 2 files changed, 124 insertions(+), 68 deletions(-) create mode 100644 .github/workflows/build-and-tests.yml delete mode 100644 .github/workflows/ci.yml diff --git a/.github/workflows/build-and-tests.yml b/.github/workflows/build-and-tests.yml new file mode 100644 index 00000000000..5e17541170d --- /dev/null +++ b/.github/workflows/build-and-tests.yml @@ -0,0 +1,124 @@ +name: Compile SOFA and run Tests +on: + workflow_call: + inputs: + owner: + type: string + required: true + branch: + type: string + required: true + commit_hash: + type: string + required: true + preset: + type: string + required: true + python_version: + type: string + required: true + ci-depends-on: + type: string + required: false + with-all-tests: + type: boolean + required: false + default: false + force-full-build: + type: boolean + required: false + default: false + generate-binaries: + type: boolean + required: false + default: false + out-of-tree-build: + type: string + required: false + +jobs: + build: + runs-on: [sh-ubuntu] + steps: + - name: Clone SOFA and CI + shell: bash + run: | + WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) + cd $WORKSPACE + + echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" + #TODO (for PR) : clone branch against which the PR is compared then merge the PR + + if [ -d $WORKSPACE/src ]; then + rm -rf $WORKSPACE/src + fi + mkdir $WORKSPACE/src && cd $WORKSPACE/src + SRC_DIR=$(pwd) + + git init + git remote add origin https://www.github.com/$GITHUB_REPOSITORY_OWNER/sofa.git + git fetch origin $GITHUB_WORKFLOW_SHA + git checkout FETCH_HEAD + + cd $WORKSPACE + + echo "Cloning CI" + #TODO : clone ci branch with same name as the sofa branch against which the PR is compared OR the branch from which the commit comes + + if [ -d $WORKSPACE/ci ]; then + rm -rf $WORKSPACE/ci + fi + mkdir $WORKSPACE/ci && cd $WORKSPACE/ci + CI_DIR=$(pwd) + + git init + git remote add origin https://www.github.com/sofa-framework/ci.git + git fetch origin master + git checkout FETCH_HEAD + + cd $WORKSPACE + + #TODO: transform infos to force-full-build + if [ -d $WORKSPACE/build ]; then + rm -rf $WORKSPACE/build + fi + mkdir $WORKSPACE/build + + - name: Notify dashboard + shell: bash + run: | + #TODO + + - name: Build + continue-on-error: true + shell: bash + run: | + #TODO + #HEre we use docker if possible + + - name: Notify dashboard + shell: bash + run: | + #TODO + + - name: Launch tests + continue-on-error: true + if: steps.Build.outcome == 'success' + shell: bash + run: | + #TODO + #Use new action with workflow call + + - name: Publish artifacts + if: steps.Build.outcome == 'success' && inputs.generate-binaries == true + shell: bash + run: | + #TODO + #Use new action with workflow call + + - name: Publish logs + if: always() + shell: bash + run: | + #TODO + #Use new action with workflow call \ No newline at end of file diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml deleted file mode 100644 index 82e7aede90e..00000000000 --- a/.github/workflows/ci.yml +++ /dev/null @@ -1,68 +0,0 @@ -name: Compile SOFA and run Tests -on: - workflow_dispatch: - pull_request: - push: - -jobs: - setup_build: - runs-on: [self-hosted, sh-ubuntu] - steps: - - name: Clone SOFA and CI - shell: bash - run: | - WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) - cd $WORKSPACE - - echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" - #TODO (for PR) : clone branch against which the PR is compared then merge the PR - - if [ -d $WORKSPACE/src ]; then - rm -rf $WORKSPACE/src - fi - mkdir $WORKSPACE/src && cd $WORKSPACE/src - SRC_DIR=$(pwd) - - git init - git remote add origin https://www.github.com/$GITHUB_REPOSITORY_OWNER/sofa.git - git fetch origin $GITHUB_WORKFLOW_SHA - git checkout FETCH_HEAD - - cd $WORKSPACE - - echo "Cloning CI" - #TODO : clone ci branch with same name as the sofa branch against which the PR is compared OR the branch from which the commit comes - - if [ -d $WORKSPACE/ci ]; then - rm -rf $WORKSPACE/ci - fi - mkdir $WORKSPACE/ci && cd $WORKSPACE/ci - CI_DIR=$(pwd) - - git init - git remote add origin https://www.github.com/sofa-framework/ci.git - git fetch origin master - git checkout FETCH_HEAD - - cd $WORKSPACE - - #TODO: transform infos to force-full-build - if [ -d $WORKSPACE/build ]; then - rm -rf $WORKSPACE/build - fi - mkdir $WORKSPACE/build - - #TODO: transform job-type (PR, commit, nightly) in a set of parameter (core, standard, full) - #TODO: transform job-type + infos from messages in a set of tests to run (unit, scenes, regression) - #TODO: transform infos from messages in a set of ci-depends-on - - #TODO: launch the container if needed (e.g. for ubuntu) - #TODO: launch sofa-ci-build-action with parameters : building scope (core, standard, full), - # OS type, - # python version, - # tests sets (list taken from {unit, scenes, regression}), - # ci-depends-on, - # OOT cmake option list (empty here) - - - From 6331407be05c3ca88cf7a121a53eb1e8342892b1 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 18 Mar 2025 12:03:40 +0100 Subject: [PATCH 012/115] Cloning SOFA working --- .github/workflows/build-and-tests.yml | 50 ++++++++++++++++++--------- 1 file changed, 34 insertions(+), 16 deletions(-) diff --git a/.github/workflows/build-and-tests.yml b/.github/workflows/build-and-tests.yml index 5e17541170d..6f9dee40c1e 100644 --- a/.github/workflows/build-and-tests.yml +++ b/.github/workflows/build-and-tests.yml @@ -2,19 +2,25 @@ name: Compile SOFA and run Tests on: workflow_call: inputs: - owner: + sofa-branch-name: type: string required: true - branch: + sofa-commit-sha: type: string required: true - commit_hash: + pr-owner-url: type: string - required: true + required: false + pr-branch-name: + type: string + required: false + pr-commit-sha: + type: string + required: false preset: type: string required: true - python_version: + python-version: type: string required: true ci-depends-on: @@ -43,25 +49,37 @@ jobs: - name: Clone SOFA and CI shell: bash run: | + ## Go to workspace given by the runner (this file is generated by the pre-build script) WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) cd $WORKSPACE + ## Clone sofa and merge origin master echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" - #TODO (for PR) : clone branch against which the PR is compared then merge the PR + if [ -d $WORKSPACE/sofa ]; then + rm -rf $WORKSPACE/sofa + if - if [ -d $WORKSPACE/src ]; then - rm -rf $WORKSPACE/src - fi - mkdir $WORKSPACE/src && cd $WORKSPACE/src - SRC_DIR=$(pwd) + SRC_DIR=$(pwd)/sofa - git init - git remote add origin https://www.github.com/$GITHUB_REPOSITORY_OWNER/sofa.git - git fetch origin $GITHUB_WORKFLOW_SHA - git checkout FETCH_HEAD + if [ -z "${{ inputs.pr-owner-url }}" ]; then + echo "This is a PR, merging branch ${{ inputs.pr-branch-name }} from remote ${{ inputs.pr-owner-url }} into origin branch ${{ inputs.sofa-branch-name }}" + git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa + git remote add pr ${{ inputs.pr-owner-url }} + git fetch pr + + if [ "${{ inputs.pr-commit-sha }}" == "HEAD" ]; then + git merge ${{ inputs.pr-branch-name }} + else + git merge ${{ inputs.pr-commit-sha }} + fi + else + echo "This is not a PR: checking out sha ${{ inputs.sofa-commit-sha }} from branch ${{ inputs.sofa-branch-name }}" + git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa + git checkout ${{ inputs.sofa-commit-sha }} + fi + cd $WORKSPACE - echo "Cloning CI" #TODO : clone ci branch with same name as the sofa branch against which the PR is compared OR the branch from which the commit comes From 896e09cd3d80911c905a955dac6e8289bff36e36 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 18 Mar 2025 12:06:08 +0100 Subject: [PATCH 013/115] Forgot to save --- .github/workflows/build-and-tests.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build-and-tests.yml b/.github/workflows/build-and-tests.yml index 6f9dee40c1e..d4d8c62d1b8 100644 --- a/.github/workflows/build-and-tests.yml +++ b/.github/workflows/build-and-tests.yml @@ -78,7 +78,10 @@ jobs: git checkout ${{ inputs.sofa-commit-sha }} fi - + + ## Clone CI and use ci-depends-on structure + # Use jq to explore json graph to see if ci is depends-on + cd $WORKSPACE echo "Cloning CI" #TODO : clone ci branch with same name as the sofa branch against which the PR is compared OR the branch from which the commit comes From 7c2d16a363016a10b4db16fd07451015fdad6851 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Tue, 18 Mar 2025 09:45:28 +0100 Subject: [PATCH 014/115] add chmod to run script --- .github/workflows/filter-build.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 92adb307b72..c7844f10c72 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -83,19 +83,22 @@ jobs: echo "Commit $COMMIT does not exist in the repository." exit 1 fi - + + chmod +x /scripts/github_CI/trigger-build.sh ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} $BRANCH $COMMIT full None False True False True - name: Run when nightly if: github.event.schedule == '0 2 * * *' run: | echo "This step runs only for nightly build." + chmod +x /scripts/github_CI/trigger-build.sh ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} standard None False True False True - name: Check push on master case if: ${{ github.event_name == 'push'}} run: | echo "This step runs only when a commit is pushed on the master branch." + chmod +x /scripts/github_CI/trigger-build.sh ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} full None True True False False - name: Run when PR is opened From c2db438814a4c9525863d712c02cc00c061a61c3 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Tue, 18 Mar 2025 14:14:52 +0100 Subject: [PATCH 015/115] Add call-workflow, refactor env variables, update python script --- .github/workflows/filter-build.yml | 257 +++++++++++++------- scripts/github_CI/checkPRInfoBeforeBuild.py | 162 +++++++----- scripts/github_CI/trigger-build.sh | 18 -- 3 files changed, 271 insertions(+), 166 deletions(-) delete mode 100644 scripts/github_CI/trigger-build.sh diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index c7844f10c72..80fe433c218 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -12,11 +12,23 @@ on: branch: description: 'Specify the stable branch to use to generate the new binaries' required: true + type: string commit_sha: description: 'Commit SHA to check out' required: true default: 'head' - + type: string + python_version: + description: 'Version of Python used' + required: true + default: '3.12' + type: string + generate_binaries: + description: 'Boolean to generate the binaries' + required: true + default: 'true' + type: boolean + # Nightly build schedule: - cron: '0 2 * * *' # Evevery night @@ -26,7 +38,7 @@ on: types: [opened, synchronize] # Comment on PR - pull_request_review_comment: + issue_comment: types: [created, edited] # CI for dashboard master @@ -37,98 +49,169 @@ on: # =============================================================== # =============================================================== +env: + SOFA_BRANCH_NAME: "master" + SOFA_COMMIT_SHA: "HEAD" + PRESET: "full" + PYTHON_VERSION: "3.12" + CI_DEPENDS_ON: "" + WITH_ALL_TESTS: false + FORCE_FULL_BUILD: false + OUT_OF_TREE_BUILD: "" + GENERATE_BINARIES: false + PR_OWNER_URL: "" + PR_BRANCH_NAME: "" + PR_COMMIT_SHA: "HEAD" + jobs: filter_build: runs-on: ubuntu-latest + strategy: + matrix: + sofa_version: [master, v24.12] ### if: ${{ github.repository_owner == 'sofa-framework' }} steps: - - name: Set up python - uses: actions/setup-python@v5 - with: - python-version: '3.12' - - - name: Install pip packages - run: | - pip install python-graphql-client - pip install requests - - - name: Check out code - uses: actions/checkout@v2 - - - name: Run on dispatch - if: ${{ github.event_name == 'workflow_dispatch' }} - run: | - echo "This step runs only for binary generation." + - name: Run on dispatch + if: ${{ github.event_name == 'workflow_dispatch' }} + run: | + echo "This step runs only for binary generation." + + BRANCH=${{ github.event.inputs.branch }} + COMMIT=${{ github.event.inputs.commit_sha }} + PYTHON=${{ github.event.inputs.python_version }} + PRESET=${{ github.event.inputs.preset }} + GENERATE_BINARIES=${{ github.event.inputs.generate_binaries }} + + # Validate branch format (e.g., v25.06) + if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then + echo "Error: Invalid branch name format: $BRANCH" + exit 1 + fi + echo "Branch name $BRANCH is valid." + + # Check commit SHA format + if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then + echo "Error: Invalid commit SHA format: $COMMIT" + exit 1 + fi + # Check the commit exists in the repository + if git cat-file -e "$COMMIT" 2>/dev/null; then + echo "Commit $COMMIT is valid." + else + echo "Commit $COMMIT does not exist in the repository." + exit 1 + fi - BRANCH=${{ github.event.inputs.branch }} - COMMIT=${{ github.event.inputs.commit }} + # Validate Python version format (e.g., 3.12) + if [[ ! "PYTHON" =~ ^[0-9]{1}\.[0-9]{2}$ ]]; then + if [[ ! "PYTHON" =~ ^3\.(9|1[0-8])$ ]]; then + echo "Error: Invalid Python version format: PYTHON" + exit 1 + fi + fi + echo "Python version $PYTHON is valid." - # Validate branch format (e.g., v25.06) - if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then - echo "Invalid branch name format: $BRANCH" - exit 1 - fi - echo "Branch name $BRANCH is valid." - - # Check commit SHA format - if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then - echo "Invalid commit SHA format: $COMMIT" - exit 1 - fi - # Check the commit exists in the repository - if git cat-file -e "$COMMIT" 2>/dev/null; then - echo "Commit $COMMIT is valid." - else - echo "Commit $COMMIT does not exist in the repository." - exit 1 - fi - - chmod +x /scripts/github_CI/trigger-build.sh - ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} $BRANCH $COMMIT full None False True False True - - - name: Run when nightly - if: github.event.schedule == '0 2 * * *' - run: | - echo "This step runs only for nightly build." - chmod +x /scripts/github_CI/trigger-build.sh - ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} standard None False True False True - - - name: Check push on master case - if: ${{ github.event_name == 'push'}} - run: | - echo "This step runs only when a commit is pushed on the master branch." - chmod +x /scripts/github_CI/trigger-build.sh - ./scripts/github_CI/trigger-build.sh ${{ secrets.GITHUB_TOKEN }} master ${{ github.sha }} full None True True False False - - - name: Run when PR is opened - if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.pull_request.number }} - OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} - COMMIT_SHA: ${{ github.sha }} - run: | - echo "This step runs only when a PR is opened or synchronized." + # Check if the preset is valid + ALLOWED_PRESETS=("minimal" "standard" "full" "minimal-dev" "standard-dev" "full-dev") + if [[ ! " ${ALLOWED_PRESETS[@]} " =~ " ${PRESET} " ]]; then + echo "Error: Invalid preset $PRESET. Must be one of: ${ALLOWED_PRESETS[*]}" + exit 1 + fi + echo "Preset $PRESET is valid." + + # Validate generate_binaries (must be true or false) + if [[ "$GENERATE_BINARIES" != "true" && "$GENERATE_BINARIES" != "false" ]]; then + echo "Error: 'generate_binaries' must be either 'true' or 'false'." + exit 1 + fi + + # Save all information in environment variables + echo "SOFA_BRANCH_NAME=$BRANCH" >> $GITHUB_ENV + echo "SOFA_COMMIT_SHA=$COMMIT" >> $GITHUB_ENV + echo "PRESET=$PRESET" >> $GITHUB_ENV + echo "PYTHON_VERSION=$PYTHON" >> $GITHUB_ENV + echo "GENERATE_BINARIES=$GENERATE_BINARIES" >> $GITHUB_ENV + + - name: Set up python + uses: actions/setup-python@v5 + with: + python-version: ${{ PYTHON_VERSION }} + + - name: Install pip packages + run: | + pip install python-graphql-client + pip install requests + + - name: Check out code + uses: actions/checkout@v2 + + - name: Run when nightly + if: github.event.schedule == '0 2 * * *' + run: | + echo "This step runs only for nightly builds." + echo "SOFA_BRANCH_NAME=${{ matrix.sofa_version }}" >> $GITHUB_ENV + echo "PRESET=standard" >> $GITHUB_ENV + echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV + echo "GENERATE_BINARIES=true" >> $GITHUB_ENV + + - name: Check push on master case + if: ${{ github.event_name == 'push'}} + run: | + echo "This step runs only for push on the master branch." + echo "COMMIT_SHA=${{ github.after }}>> $GITHUB_ENV + echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV + echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV + + - name: Run when PR is opened + if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.pull_request.number }} + OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} + PR_COMMIT_SHA: ${{ github.event.pull_request.head.sha }} + run: | + echo "This step runs only when a PR is opened or synchronized." + + # Trigger the Build action + python scripts/github_CI/checkPRInfoBeforeBuild.py - # Trigger the Build action - python scripts/github_CI/checkPRInfoBeforeBuild.py - - - - name: Run when PR comment is edited - if: ${{ github.event_name == 'pull_request_review_comment' && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.pull_request.number }} - OWNER_NAME: ${{ github.event.pull_request.head.repo.owner.login }} - COMMIT_SHA: ${{ github.sha }} - run: | - echo "This step runs only when a PR comment is created or edited." - - COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) - echo "Comment: $COMMENT_BODY" + + - name: Run when PR comment is edited + if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.issue.pull_request.number }} + OWNER_NAME: ${{ github.event.issue.pull_request.head.repo.owner.login }} + PR_COMMIT_SHA: ${{ github.event.issue.pull_request.head.sha }} + run: | + echo "This step runs only when a PR comment is created or edited." + COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) + echo "Comment: $COMMENT_BODY" - # Trigger the Build action if [ci-build] is in the comment - if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then - python scripts/github_CI/checkPRInfoBeforeBuild.py - fi + # Trigger the Build action if [ci-build] is in the comment + if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + python scripts/github_CI/checkPRInfoBeforeBuild.py + fi + + # =============================================================== + # =============================================================== + + # Trigger the build with all parameters + call-workflow-passing-data: + uses: sofa-framework/sofa/.github/workflows/build-and-test.yml@master + with: + branch-name: ${{ SOFA_BRANCH_NAME }} + commit-sha: ${{ SOFA_COMMIT_SHA }} + preset: ${{ PRESET }} + python-version: ${{ PYTHON_VERSION }} + ci-depends-on: ${{ CI_DEPENDS_ON }} + with-all-tests: ${{ WITH_ALL_TESTS }} + force-full-build: ${{ FORCE_FULL_BUILD }} + out-of-tree-build: ${{ OUT_OF_TREE_BUILD }} + generate-binaries: ${{ GENERATE_BINARIES }} + pr-owner-url: ${{ PR_OWNER_URL }} + pr-branch-name: ${{ PR_BRANCH_NAME }} + pr-commit-sha: ${{ PR_COMMIT_SHA }} + secrets: + personal_access_token: ${{ secrets.GITHUB_TOKEN }} diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index 44ff9527752..ef34186c835 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -1,15 +1,11 @@ #!python -import os -import requests -from python_graphql_client import GraphqlClient +import os, re, requests - -client = GraphqlClient(endpoint="https://api.github.com/graphql") GITHUB_TOKEN = os.getenv('GITHUB_TOKEN') PR_NUMBER = os.getenv('PR_NUMBER') OWNER_NAME = os.getenv('OWNER_NAME') -COMMIT_SHA = os.getenv('COMMIT_SHA') +PR_COMMIT_SHA = os.getenv('PR_COMMIT_SHA') if not GITHUB_TOKEN or not PR_NUMBER or not REPO_NAME: @@ -32,7 +28,7 @@ is_draft_pr = False with_all_tests_found = False force_full_build_found = False - +dependency_dict = {} # ======================================================================== @@ -53,6 +49,7 @@ def check_labels(): to_review_label_found = True print("PR is marked as 'to review'.") + # ======================================================================== # Check the PR draft status @@ -71,6 +68,9 @@ def check_if_draft(): if is_draft_pr: print("The pull request is a draft. The Bash script will not run.") + ## TODO : save PR_OWNER_URL, PR_BRANCH_NAME, PR_COMMIT_SHA + + # ======================================================================== # Check PR comments for "[with-all-tests]" and "[force-full-build]" @@ -97,28 +97,53 @@ def check_comments(): # ======================================================================== +# Export all needed PR information +def export_pr_info(): + pr_url = f"{API_URL}/pulls/{PR_NUMBER}" + response = requests.get(pr_url, headers=HEADERS) -# Execute the checks -check_labels() -check_if_draft() + if response.status_code != 200: + print(f"Failed to fetch pull request details: {response.status_code}") + exit(1) + pr_data = response.json() + + pr_url = str(pr_data['user']['html_url']) + str(pr_data['repo']['name']) + pr_branch_name = pr_data['head']['ref'] + pr_commit_sha = pr_data['head']['sha'] + + print("PR comes from the repository: "+str(pr_url)) + print("PR branch name is: "+str(pr_branch_name)) + print("PR commit sha is: "+str(pr_commit_sha)) + + with open(os.environ["GITHUB_ENV"], "a") as env_file: + env_file.write(f"PR_OWNER_URL={pr_url}\n") + env_file.write(f"PR_BRANCH_NAME={pr_branch_name}\n") + env_file.write(f"PR_COMMIT_SHA={pr_commit_sha}\n") + + ## TODO : pr_data.get('mergeable', False) could also let us know if it is mergeable + + +# ======================================================================== + +# Extract repositories from ci-depends-on +def extract_ci_depends_on(): + global dependency_dict -# Trigger the build if conditions are met -if to_review_label_found and not is_draft_pr: - - # Check compilation options in PR comments - check_comments() - pr_url = f"{API_URL}/pulls/{PR_NUMBER}" response = requests.get(pr_url, headers=HEADERS) + + if response.status_code != 200: + print(f"Failed to fetch pull request details: {response.status_code}") + exit(1) + pr_data = response.json() - branch = pr_data.get("head", {}).get("ref", None) - - + # Extract the PR description and look for [ci-depends-on ...] patterns pr_body = pr_data.get("body", "") ci_depends_on = [] + # Search in each line for the pattern "[ci-depends-on ...]" for line in pr_body.splitlines(): match = re.search(r'\[ci-depends-on (.+?)\]', line) if match: @@ -126,47 +151,62 @@ def check_comments(): ci_depends_on.append(dependency) print(f"Found ci-depends-on dependency: {dependency}") - # GitHub repository details - API_URL_DISPATCH = f"https://api.github.com/repos/bakpaul/sofa/dispatches" - - # JSON payload for the dispatch event - PAYLOAD = { - "event_type": "CI Build", - "client_payload": { - "owner": {OWNER_NAME}, - "branch": {branch}, - "commit_hash": {COMMIT_SHA}, - "preset": "full", - "ci-depends-on": {ci_depends_on}, - "with-all-tests": {with_all_tests_found}, - "force-full-build": {force_full_build_found}, - "out-of-tree-build": "False", - "generate-binaries": "False", - }, - } - - # Headers for the GitHub API request - REQUEST_HEADERS = { - "Accept": "application/vnd.github+json", - "Authorization": f"Bearer {GITHUB_TOKEN}", - "X-GitHub-Api-Version": "2022-11-28", - } - - # Perform the API request - try: - response = requests.post(API_URL_DISPATCH, json=PAYLOAD, headers=REQUEST_HEADERS) - - # Check for successful request - if response.status_code == 204: - print("CI Build event triggered successfully.") - else: - print(f"Failed to trigger CI Build event. Status code: {response.status_code}") - print("Response:", response.text) - sys.exit(1) - except requests.RequestException as e: - print("Error during the API request:", e) - sys.exit(1) -else: - print("Conditions not met. Bash script will not run.") + # Ensure the URL is in the expected dependency format, e.g. https://github.com/sofa-framework/Sofa.Qt/pull/6 + parts = dependency.split('/') + if len(parts) != 6 or parts[0] != 'https:' or parts[1] != '' or parts[2] != 'github.com': + raise ValueError("") + print(f"Invalid URL ci-depends-on format: {dependency}") + exit(1) + + owner = parts[3] + repo = parts[4] + pull_number = parts[5] + dependency_request_url = f"https://api.github.com/repos/{owner}/{repo}/pulls/{pull_number}" + + response = requests.get(dependency_request_url, headers=HEADERS) + + if response.status_code != 200: + print(f"Failed to fetch pull request details: {response.status_code}") + exit(1) + + dependency_pr_data = response.json() + + key = dependency_pr_data['repo']['name'] #Sofa.Qt + repo_url = dependency_pr_data['html_url'] #https://github.com/sofa-framework/Sofa.Qt + branch_name = dependency_pr_data['head']['ref'] #my_feature_branch + + dependency_dict[key] = { + "repo_url": repo_url, + "branch_name": branch_name + } + # ======================================================================== +# Script core +# ======================================================================== + + +# Execute the checks +check_labels() +check_if_draft() + +# Trigger the build if conditions are met +if to_review_label_found and not is_draft_pr: + # Export PR information (url, name, sha) + export_pr_info() + + # Check compilation options in PR comments + check_comments() + + with open(os.environ["GITHUB_ENV"], "a") as env_file: + env_file.write(f"WITH_ALL_TESTS={with_all_tests_found}\n") + env_file.write(f"FORCE_FULL_BUILD={force_full_build_found}\n") + + # Extract dependency repositories + extract_ci_depends_on() + + with open(os.environ["GITHUB_ENV"], "a") as env_file: + env_file.write(f"CI_DEPENDS_ON={dependency_dict}\n") + + +# ======================================================================== \ No newline at end of file diff --git a/scripts/github_CI/trigger-build.sh b/scripts/github_CI/trigger-build.sh deleted file mode 100644 index d45755c92c8..00000000000 --- a/scripts/github_CI/trigger-build.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -# Check if exactly 8 arguments are provided -if [ "$#" -ne 9 ]; then - echo "Error: Exactly 9 arguments are required." - echo "Usage: $0 " - exit 1 -fi - -# Trigger the build action with all needed input: -# branch, hash, preset, ci-depends-on, with-all-tests, force-full-build, out-of-tree-build, label-wip/postponed, generate-binaries -sudo apt install curl -curl -L -X POST \ --H "Accept: application/vnd.github+json" \ --H "Authorization: Bearer $1" \ --H "X-GitHub-Api-Version: 2022-11-28" \ -https://api.github.com/repos/bakpaul/sofa/dispatches \ --d '{"event_type":"CI Build","client_payload":{"owner":"bakpaul","branch":"$2","commit_hash":"$3","preset":"$4","ci-depends-on":"$5", "with-all-tests":"$6", "force-full-build":"7", "out-of-tree-build":"$8", "generate-binaries":"$9"}}' From a40fb3545e276e0ddaf3af88fb142497cefa6d0d Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Tue, 18 Mar 2025 14:20:05 +0100 Subject: [PATCH 016/115] remove useless comment --- scripts/github_CI/checkPRInfoBeforeBuild.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index ef34186c835..eda5f104579 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -68,8 +68,6 @@ def check_if_draft(): if is_draft_pr: print("The pull request is a draft. The Bash script will not run.") - ## TODO : save PR_OWNER_URL, PR_BRANCH_NAME, PR_COMMIT_SHA - # ======================================================================== From 9a68617f8805e3c75398e454b9de52061b2ba660 Mon Sep 17 00:00:00 2001 From: Hugo Date: Wed, 19 Mar 2025 14:30:03 +0100 Subject: [PATCH 017/115] Apply suggestions from code review --- .github/workflows/filter-build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 80fe433c218..af82cd221e7 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -201,8 +201,8 @@ jobs: call-workflow-passing-data: uses: sofa-framework/sofa/.github/workflows/build-and-test.yml@master with: - branch-name: ${{ SOFA_BRANCH_NAME }} - commit-sha: ${{ SOFA_COMMIT_SHA }} + sofa-branch-name: ${{ SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ SOFA_COMMIT_SHA }} preset: ${{ PRESET }} python-version: ${{ PYTHON_VERSION }} ci-depends-on: ${{ CI_DEPENDS_ON }} From 08cf72e1bd1f87d213c0f0a07ec727132ab401d3 Mon Sep 17 00:00:00 2001 From: Hugo Date: Wed, 19 Mar 2025 14:33:32 +0100 Subject: [PATCH 018/115] Apply suggestions from code review --- scripts/github_CI/checkPRInfoBeforeBuild.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index eda5f104579..f1bc7d89ad0 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -207,4 +207,4 @@ def extract_ci_depends_on(): env_file.write(f"CI_DEPENDS_ON={dependency_dict}\n") -# ======================================================================== \ No newline at end of file +# ======================================================================== From a9013652f5234ca0e22e2c1ca0ca3c40031194bb Mon Sep 17 00:00:00 2001 From: Hugo Date: Wed, 19 Mar 2025 16:27:12 +0100 Subject: [PATCH 019/115] Update filter-build.yml --- .github/workflows/filter-build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index af82cd221e7..2587f72ecc4 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -199,7 +199,7 @@ jobs: # Trigger the build with all parameters call-workflow-passing-data: - uses: sofa-framework/sofa/.github/workflows/build-and-test.yml@master + uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: sofa-branch-name: ${{ SOFA_BRANCH_NAME }} sofa-commit-sha: ${{ SOFA_COMMIT_SHA }} From 3ff4ae389a2559921b6cb198cfb1b99209072db3 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 19 Mar 2025 16:40:10 +0100 Subject: [PATCH 020/115] Finalize clone sofa and ci (#7) * Push space to creatye PR * Finished clone sofa and ci stage * Rename action * fix some typos in filter script --- ...build-and-tests.yml => build-and-test.yml} | 45 ++++++++++++------- .github/workflows/filter-build.yml | 33 ++++++++------ 2 files changed, 47 insertions(+), 31 deletions(-) rename .github/workflows/{build-and-tests.yml => build-and-test.yml} (73%) diff --git a/.github/workflows/build-and-tests.yml b/.github/workflows/build-and-test.yml similarity index 73% rename from .github/workflows/build-and-tests.yml rename to .github/workflows/build-and-test.yml index d4d8c62d1b8..8276a78a5f2 100644 --- a/.github/workflows/build-and-tests.yml +++ b/.github/workflows/build-and-test.yml @@ -51,15 +51,17 @@ jobs: run: | ## Go to workspace given by the runner (this file is generated by the pre-build script) WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) + echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV + cd $WORKSPACE ## Clone sofa and merge origin master echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" if [ -d $WORKSPACE/sofa ]; then - rm -rf $WORKSPACE/sofa + rm -rf $WORKSPACE/sofa if - SRC_DIR=$(pwd)/sofa + echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV if [ -z "${{ inputs.pr-owner-url }}" ]; then echo "This is a PR, merging branch ${{ inputs.pr-branch-name }} from remote ${{ inputs.pr-owner-url }} into origin branch ${{ inputs.sofa-branch-name }}" @@ -78,32 +80,41 @@ jobs: git checkout ${{ inputs.sofa-commit-sha }} fi - + ## Clone CI and use ci-depends-on structure - # Use jq to explore json graph to see if ci is depends-on + ci_branch="inputs.sofa-branch-name" + ci_repo_url="https://www.github.com/sofa-framework/ci" - cd $WORKSPACE - echo "Cloning CI" - #TODO : clone ci branch with same name as the sofa branch against which the PR is compared OR the branch from which the commit comes + # check if ci has a ci-depends-on + ci_ci_depends_on=$(echo "${{ inputs.ci-depends-on }}" | jq .ci) + if [ "$ci_ci_depends_on" != "null" ]; then + ci_repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.repo_url) + ci_branch=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.branch_name) + fi + + echo "Cloning CI from remote ${ci_repo_url}, selecting branch ${ci_branch}" if [ -d $WORKSPACE/ci ]; then - rm -rf $WORKSPACE/ci + rm -rf $WORKSPACE/ci fi - mkdir $WORKSPACE/ci && cd $WORKSPACE/ci - CI_DIR=$(pwd) + CI_DIR=$WORKSPACE/ci + echo "CI_DIR=$CI_DIR" >> $GITHUB_ENV git init - git remote add origin https://www.github.com/sofa-framework/ci.git - git fetch origin master - git checkout FETCH_HEAD + git clone -b ${ci_branch} --single-branch ${ci_repo_url} cd $WORKSPACE - #TODO: transform infos to force-full-build - if [ -d $WORKSPACE/build ]; then - rm -rf $WORKSPACE/build + ## Setup build folder + if [ "${{ inputs.force-full-build }}" == "true" ] && [ -d $WORKSPACE/build ]; then + rm -rf $WORKSPACE/build fi - mkdir $WORKSPACE/build + if [ ! -d $WORKSPACE/build ]; then + mkdir $WORKSPACE/build + fi + BUILD_DIR=$WORKSPACE/build + echo "BUILD_DIR=$BUILD_DIR" >> $GITHUB_ENV + - name: Notify dashboard shell: bash diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 2587f72ecc4..368ee0e8ad6 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -23,10 +23,15 @@ on: required: true default: '3.12' type: string + preset: + description: 'Preset to use from CMakePresets.json file in main repository' + required: true + default: 'full' + type: string generate_binaries: description: 'Boolean to generate the binaries' required: true - default: 'true' + default: true type: boolean # Nightly build @@ -136,7 +141,7 @@ jobs: - name: Set up python uses: actions/setup-python@v5 with: - python-version: ${{ PYTHON_VERSION }} + python-version: ${{ env.PYTHON_VERSION }} - name: Install pip packages run: | @@ -201,17 +206,17 @@ jobs: call-workflow-passing-data: uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: - sofa-branch-name: ${{ SOFA_BRANCH_NAME }} - sofa-commit-sha: ${{ SOFA_COMMIT_SHA }} - preset: ${{ PRESET }} - python-version: ${{ PYTHON_VERSION }} - ci-depends-on: ${{ CI_DEPENDS_ON }} - with-all-tests: ${{ WITH_ALL_TESTS }} - force-full-build: ${{ FORCE_FULL_BUILD }} - out-of-tree-build: ${{ OUT_OF_TREE_BUILD }} - generate-binaries: ${{ GENERATE_BINARIES }} - pr-owner-url: ${{ PR_OWNER_URL }} - pr-branch-name: ${{ PR_BRANCH_NAME }} - pr-commit-sha: ${{ PR_COMMIT_SHA }} + sofa-branch-name: ${{ env.SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ env.SOFA_COMMIT_SHA }} + preset: ${{ env.PRESET }} + python-version: ${{ env.PYTHON_VERSION }} + ci-depends-on: ${{ env.CI_DEPENDS_ON }} + with-all-tests: ${{ env.WITH_ALL_TESTS }} + force-full-build: ${{ env.FORCE_FULL_BUILD }} + out-of-tree-build: ${{ env.OUT_OF_TREE_BUILD }} + generate-binaries: ${{ env.GENERATE_BINARIES }} + pr-owner-url: ${{ env.PR_OWNER_URL }} + pr-branch-name: ${{ env.PR_BRANCH_NAME }} + pr-commit-sha: ${{ env.PR_COMMIT_SHA }} secrets: personal_access_token: ${{ secrets.GITHUB_TOKEN }} From 22aa451d4fe3df6de347b10832a38a13d5d4319a Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri, 21 Mar 2025 11:14:58 +0100 Subject: [PATCH 021/115] Add build step (#8) * Commit to open a PR * revert env modification * Move steps around + add os configuration * Configure step should be working * Move comment around * Step build --- .github/workflows/build-and-test.yml | 93 +++++++++++++++++++++++++--- .github/workflows/filter-build.yml | 24 +++---- 2 files changed, 98 insertions(+), 19 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 8276a78a5f2..2111757cefc 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -41,20 +41,52 @@ on: out-of-tree-build: type: string required: false + builder-os: + type: string + required: true + default: '["sh-ubuntu_gcc_release"]' + dash-info: + type: string + required: false + default: 'NONE' + description: 'Json scructure with three parameters {"COMMIT_HASH":"fullhsashofthecommit", }' jobs: build: - runs-on: [sh-ubuntu] + strategy: + matrix: + os: ${{ fromJson(inputs.os) }} + runs-on: ${{ matrix.os }} steps: - - name: Clone SOFA and CI + - name: Configure builder shell: bash run: | - ## Go to workspace given by the runner (this file is generated by the pre-build script) - WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) - echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV - - cd $WORKSPACE + ## Go to workspace given by the runner (this file is generated by the pre-build script) + WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) + echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV + + cd $WORKSPACE + + ## Setup github + # Git config (needed by CMake ExternalProject) + if ! git config --get user.name; then + git config --system user.name 'SOFA Bot' > /dev/null 2>&1 || + git config --global user.name 'SOFA Bot' > /dev/null 2>&1 || + git config user.name 'SOFA Bot' > /dev/null 2>&1 || + echo "WARNING: cannot setup git config" + fi + if ! git config --get user.email; then + git config --system user.email '<>' > /dev/null 2>&1 || + git config --global user.email '<>' > /dev/null 2>&1 || + git config user.email '<>' > /dev/null 2>&1 || + echo "WARNING: cannot setup git config" + fi + + ##TODO (if required) fix path too long for windows (see main.sh:201) + - name: Clone SOFA and CI + shell: bash + run: | ## Clone sofa and merge origin master echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" if [ -d $WORKSPACE/sofa ]; then @@ -119,7 +151,12 @@ jobs: - name: Notify dashboard shell: bash run: | + . ${CI_DIR}/scripts/utils.sh + . ${CI_DIR}/scripts/dashboard.sh + + #Really necessary ? #TODO + #Need more information. Might be good to - name: Build continue-on-error: true @@ -128,6 +165,48 @@ jobs: #TODO #HEre we use docker if possible + . ${CI_DIR}/scripts/utils.sh + + ## Setup env variables + CI_PYTHON3_VERSION=${{ inputs.python-version }} # Needed by load-vm-env + # TODO: be able to get hostname to load correct env file --> set + host_name="sofa-ci-dev-ubuntu2204-0" + NODE_NAME="$host_name" # Needed by load-vm-env + # then run + load-vm-env + + ## Deal with ci-depends-on + # Loop over each key-value pair in the JSON avoiding ci repository if inside + CMAKE_OPTIONS="" + for key in $(echo "${{ inputs.ci-depends-on }}" | jq -r 'keys[]' | grep -v '^ci$'); do + + repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq -r ".\"$key\".repo_url") + branch_name=$(echo "${{ inputs.ci-depends-on }}" | jq -r ".\"$key\".branch_name") + + # Format the CMake flags for this key and append to the result + flag_repository="-D$(echo "$key" | gsub("\\.";"_" | ascii_upcase)_GIT_REPOSITORY=\"$repo_url\")" + flag_tag="-D$(echo "$key" | gsub("\\.";"_" | ascii_upcase)_GIT_TAG=\"$branch_name\")" + + # Append both flags to the result string with a space + CMAKE_OPTIONS="$CMAKE_OPTIONS $flag_repository $flag_tag " + done + + ## Configure the build: setup cmake variables + # retrive build type and compiler + BUILD_TYPE=$(echo ${{ matrix.os }} | awk -F '_' '{print $3}') + CONFIG=$(echo ${{ matrix.os }} | awk -F '_' '{print $1"_"$2}') + + BUILD_OPTIONS="build-scope-${{ inputs.preset }}" + if [ "${{ inputs.generate-binaries }}" == "true" ]; then + BUILD_OPTIONS="$BUILD_OPTIONS build-release-package" + fi + + . ${CI_DIR}/scripts/configure.sh "$BUILD_DIR" "$SRC_DIR" "$CONFIG" "$BUILD_TYPE" "$BUILD_OPTIONS" "$CMAKE_OPTIONS" + + ## Call to build + $SCRIPT_DIR/compile.sh "$BUILD_DIR" "$CONFIG" "$BUILD_OPTIONS" + + - name: Notify dashboard shell: bash run: | diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 368ee0e8ad6..0ae618171df 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -206,17 +206,17 @@ jobs: call-workflow-passing-data: uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: - sofa-branch-name: ${{ env.SOFA_BRANCH_NAME }} - sofa-commit-sha: ${{ env.SOFA_COMMIT_SHA }} - preset: ${{ env.PRESET }} - python-version: ${{ env.PYTHON_VERSION }} - ci-depends-on: ${{ env.CI_DEPENDS_ON }} - with-all-tests: ${{ env.WITH_ALL_TESTS }} - force-full-build: ${{ env.FORCE_FULL_BUILD }} - out-of-tree-build: ${{ env.OUT_OF_TREE_BUILD }} - generate-binaries: ${{ env.GENERATE_BINARIES }} - pr-owner-url: ${{ env.PR_OWNER_URL }} - pr-branch-name: ${{ env.PR_BRANCH_NAME }} - pr-commit-sha: ${{ env.PR_COMMIT_SHA }} + sofa-branch-name: ${{ SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ SOFA_COMMIT_SHA }} + preset: ${{ PRESET }} + python-version: ${{ PYTHON_VERSION }} + ci-depends-on: ${{ CI_DEPENDS_ON }} + with-all-tests: ${{ WITH_ALL_TESTS }} + force-full-build: ${{ FORCE_FULL_BUILD }} + out-of-tree-build: ${{ OUT_OF_TREE_BUILD }} + generate-binaries: ${{ GENERATE_BINARIES }} + pr-owner-url: ${{ PR_OWNER_URL }} + pr-branch-name: ${{ PR_BRANCH_NAME }} + pr-commit-sha: ${{ PR_COMMIT_SHA }} secrets: personal_access_token: ${{ secrets.GITHUB_TOKEN }} From 8831138fb9250508d9cf5bfbccd717c76fa2813b Mon Sep 17 00:00:00 2001 From: Hugo Date: Mon, 7 Apr 2025 16:29:35 +0200 Subject: [PATCH 022/115] Use step outputs to send variables in call workflow (#9) * Use step outputs to send variables in call workflow * add BUILDER_OS environment variable * add check for all tests in PR body * remove useless secret * udpate PR python script * add missing runs-on: ubuntu-latest * Fix build action/ ci-depends-on * remove runs-on * update python script * clean python script * fix export of booleans * Fix action --------- Co-authored-by: Paul Baksic --- .github/workflows/build-and-test.yml | 10 +- .github/workflows/filter-build.yml | 107 ++++++++++++++------ scripts/github_CI/checkPRInfoBeforeBuild.py | 30 ++++-- 3 files changed, 107 insertions(+), 40 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 2111757cefc..6ffce0b6021 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -55,7 +55,7 @@ jobs: build: strategy: matrix: - os: ${{ fromJson(inputs.os) }} + os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} steps: - name: Configure builder @@ -123,6 +123,8 @@ jobs: ci_repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.repo_url) ci_branch=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.branch_name) fi + echo "CI_BRANCH=$ci_branch" >> $GITHUB_ENV + echo "Cloning CI from remote ${ci_repo_url}, selecting branch ${ci_branch}" @@ -165,6 +167,7 @@ jobs: #TODO #HEre we use docker if possible + . ${CI_DIR}/scripts/utils.sh ## Setup env variables @@ -184,8 +187,9 @@ jobs: branch_name=$(echo "${{ inputs.ci-depends-on }}" | jq -r ".\"$key\".branch_name") # Format the CMake flags for this key and append to the result - flag_repository="-D$(echo "$key" | gsub("\\.";"_" | ascii_upcase)_GIT_REPOSITORY=\"$repo_url\")" - flag_tag="-D$(echo "$key" | gsub("\\.";"_" | ascii_upcase)_GIT_TAG=\"$branch_name\")" + fixed_name=$(echo "$key" | awk '{gsub(/\./, "_"); print toupper($0)}') + flag_repository="-D${fixed_name}_GIT_REPOSITORY=\"$repo_url\")" + flag_tag="-D${fixed_name}_GIT_TAG=\"$branch_name\")" # Append both flags to the result string with a space CMAKE_OPTIONS="$CMAKE_OPTIONS $flag_repository $flag_tag " diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 0ae618171df..e1e8235ccbe 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -33,6 +33,10 @@ on: required: true default: true type: boolean + builder_os: + type: string + required: true + default: '["sh-ubuntu_gcc_release"]' # Nightly build schedule: @@ -54,19 +58,6 @@ on: # =============================================================== # =============================================================== -env: - SOFA_BRANCH_NAME: "master" - SOFA_COMMIT_SHA: "HEAD" - PRESET: "full" - PYTHON_VERSION: "3.12" - CI_DEPENDS_ON: "" - WITH_ALL_TESTS: false - FORCE_FULL_BUILD: false - OUT_OF_TREE_BUILD: "" - GENERATE_BINARIES: false - PR_OWNER_URL: "" - PR_BRANCH_NAME: "" - PR_COMMIT_SHA: "HEAD" jobs: filter_build: @@ -75,8 +66,38 @@ jobs: matrix: sofa_version: [master, v24.12] ### if: ${{ github.repository_owner == 'sofa-framework' }} - + outputs: + SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} + SOFA_COMMIT_SHA: ${{ steps.export-vars.outputs.SOFA_COMMIT_SHA }} + PRESET: ${{ steps.export-vars.outputs.PRESET }} + PYTHON_VERSION: ${{ steps.export-vars.outputs.PYTHON_VERSION }} + CI_DEPENDS_ON: ${{ steps.export-vars.outputs.CI_DEPENDS_ON }} + WITH_ALL_TESTS: ${{ steps.export-vars.outputs.WITH_ALL_TESTS }} + FORCE_FULL_BUILD: ${{ steps.export-vars.outputs.FORCE_FULL_BUILD }} + OUT_OF_TREE_BUILD: ${{ steps.export-vars.outputs.OUT_OF_TREE_BUILD }} + GENERATE_BINARIES: ${{ steps.export-vars.outputs.GENERATE_BINARIES }} + PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }} + PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }} + PR_COMMIT_SHA: ${{ steps.export-vars.outputs.PR_COMMIT_SHA }} + BUILDER_OS: ${{ steps.export-vars.outputs.BUILDER_OS }} + steps: + - name: Default values of environment variables + run: | + echo "SOFA_BRANCH_NAME=master" >> $GITHUB_ENV # SOFA_BRANCH_NAME: "master" + echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV # SOFA_COMMIT_SHA: "HEAD" + echo "PRESET=full" >> $GITHUB_ENV # PRESET: "full" + echo "PYTHON_VERSION=3.12" >> $GITHUB_ENV # PYTHON_VERSION: "3.12" + echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" + echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false + echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false + echo "OUT_OF_TREE_BUILD=" >> $GITHUB_ENV # OUT_OF_TREE_BUILD: "" + echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false + echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" + echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" + echo "PR_COMMIT_SHA=HEAD" >> $GITHUB_ENV # PR_COMMIT_SHA: "HEAD" + echo 'BUILDER_OS=["sh-ubuntu_gcc_release"]' >> $GITHUB_ENV # BUILDER_OS: ["sh-ubuntu_gcc_release"] + - name: Run on dispatch if: ${{ github.event_name == 'workflow_dispatch' }} run: | @@ -87,6 +108,7 @@ jobs: PYTHON=${{ github.event.inputs.python_version }} PRESET=${{ github.event.inputs.preset }} GENERATE_BINARIES=${{ github.event.inputs.generate_binaries }} + BUILDER_OS=${{ github.event.inputs.builder_os }} # Validate branch format (e.g., v25.06) if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then @@ -130,6 +152,13 @@ jobs: echo "Error: 'generate_binaries' must be either 'true' or 'false'." exit 1 fi + + # Validate builder_os (must be a list) + python3 -c "import ast; x=ast.literal_eval('$BUILDER_OS'); assert isinstance(x, list)" 2>/dev/null + if [[ $? -ne 0 ]]; then + echo "Error: 'builder_os' must be a list." + return 1 + fi # Save all information in environment variables echo "SOFA_BRANCH_NAME=$BRANCH" >> $GITHUB_ENV @@ -137,6 +166,7 @@ jobs: echo "PRESET=$PRESET" >> $GITHUB_ENV echo "PYTHON_VERSION=$PYTHON" >> $GITHUB_ENV echo "GENERATE_BINARIES=$GENERATE_BINARIES" >> $GITHUB_ENV + echo "BUILDER_OS=$BUILDER_OS" >> $GITHUB_ENV - name: Set up python uses: actions/setup-python@v5 @@ -159,6 +189,7 @@ jobs: echo "PRESET=standard" >> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "GENERATE_BINARIES=true" >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV - name: Check push on master case if: ${{ github.event_name == 'push'}} @@ -167,6 +198,7 @@ jobs: echo "COMMIT_SHA=${{ github.after }}>> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV - name: Run when PR is opened if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} @@ -181,7 +213,6 @@ jobs: # Trigger the Build action python scripts/github_CI/checkPRInfoBeforeBuild.py - - name: Run when PR comment is edited if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} env: @@ -199,24 +230,42 @@ jobs: python scripts/github_CI/checkPRInfoBeforeBuild.py fi + - name: Export environment variables as outputs + id: export-vars + run: | + echo "SOFA_BRANCH_NAME=${SOFA_BRANCH_NAME}" >> $GITHUB_OUTPUT + echo "SOFA_COMMIT_SHA=${SOFA_COMMIT_SHA}" >> $GITHUB_OUTPUT + echo "PRESET=${PRESET}" >> $GITHUB_OUTPUT + echo "PYTHON_VERSION=${PYTHON_VERSION}" >> $GITHUB_OUTPUT + echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT + echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT + echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT + echo "OUT_OF_TREE_BUILD=${OUT_OF_TREE_BUILD}" >> $GITHUB_OUTPUT + echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT + echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT + echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT + echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" >> $GITHUB_OUTPUT + echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT + + # =============================================================== # =============================================================== # Trigger the build with all parameters call-workflow-passing-data: + needs: filter_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: - sofa-branch-name: ${{ SOFA_BRANCH_NAME }} - sofa-commit-sha: ${{ SOFA_COMMIT_SHA }} - preset: ${{ PRESET }} - python-version: ${{ PYTHON_VERSION }} - ci-depends-on: ${{ CI_DEPENDS_ON }} - with-all-tests: ${{ WITH_ALL_TESTS }} - force-full-build: ${{ FORCE_FULL_BUILD }} - out-of-tree-build: ${{ OUT_OF_TREE_BUILD }} - generate-binaries: ${{ GENERATE_BINARIES }} - pr-owner-url: ${{ PR_OWNER_URL }} - pr-branch-name: ${{ PR_BRANCH_NAME }} - pr-commit-sha: ${{ PR_COMMIT_SHA }} - secrets: - personal_access_token: ${{ secrets.GITHUB_TOKEN }} + sofa-branch-name: ${{ needs.set-vars.outputs.SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ needs.set-vars.outputs.SOFA_COMMIT_SHA }} + preset: ${{ needs.set-vars.outputs.PRESET }} + python-version: ${{ needs.set-vars.outputs.PYTHON_VERSION }} + ci-depends-on: ${{ needs.set-vars.outputs.CI_DEPENDS_ON }} + with-all-tests: ${{ needs.set-vars.outputs.WITH_ALL_TESTS == 'true'}} + force-full-build: ${{ needs.set-vars.outputs.FORCE_FULL_BUILD == 'true'}} + out-of-tree-build: ${{ needs.set-vars.outputs.OUT_OF_TREE_BUILD }} + generate-binaries: ${{ needs.set-vars.outputs.GENERATE_BINARIES == 'true'}} + pr-owner-url: ${{ needs.set-vars.outputs.PR_OWNER_URL }} + pr-branch-name: ${{ needs.set-vars.outputs.PR_BRANCH_NAME }} + pr-commit-sha: ${{ needs.set-vars.outputs.PR_COMMIT_SHA }} + builder-os: ${{ needs.set-vars.outputs.BUILDER_OS }} \ No newline at end of file diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index f1bc7d89ad0..70ecea4ff1d 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -8,8 +8,16 @@ PR_COMMIT_SHA = os.getenv('PR_COMMIT_SHA') -if not GITHUB_TOKEN or not PR_NUMBER or not REPO_NAME: +if (not GITHUB_TOKEN) or (not PR_NUMBER) or (not OWNER_NAME) or (not PR_COMMIT_SHA): print("Error: Missing required environment variables.") + if (not GITHUB_TOKEN): + print(" - Missing GITHUB_TOKEN") + if (not PR_NUMBER): + print(" - Missing PR_NUMBER") + if (not OWNER_NAME): + print(" - Missing OWNER_NAME") + if (not PR_COMMIT_SHA): + print(" - Missing PR_COMMIT_SHA") exit(1) @@ -43,11 +51,14 @@ def check_labels(): exit(1) labels = [label['name'].lower() for label in response.json()] - print(f"Labels found: {labels}") + print(f"Labels found: {labels}.") if "pr: status to review" in labels: to_review_label_found = True print("PR is marked as 'to review'.") + else: + print(f"Flag to review has not been found. CI will stop.") + exit(1) # ======================================================================== @@ -83,7 +94,6 @@ def check_comments(): exit(1) comments = [comment['body'].lower() for comment in response.json()] - print(f"Comments found: {comments}") if any("[with-all-tests]" in comment for comment in comments): with_all_tests_found = True @@ -106,7 +116,7 @@ def export_pr_info(): pr_data = response.json() - pr_url = str(pr_data['user']['html_url']) + str(pr_data['repo']['name']) + pr_url = str(pr_data['user']['html_url']) + "/" + str(pr_data['base']['repo']['name']) pr_branch_name = pr_data['head']['ref'] pr_commit_sha = pr_data['head']['sha'] @@ -177,6 +187,10 @@ def extract_ci_depends_on(): "repo_url": repo_url, "branch_name": branch_name } + + match = re.search(r'\[with-all-tests\]', line) + if match: + with_all_tests_found = True # ======================================================================== @@ -196,15 +210,15 @@ def extract_ci_depends_on(): # Check compilation options in PR comments check_comments() - with open(os.environ["GITHUB_ENV"], "a") as env_file: - env_file.write(f"WITH_ALL_TESTS={with_all_tests_found}\n") - env_file.write(f"FORCE_FULL_BUILD={force_full_build_found}\n") - # Extract dependency repositories extract_ci_depends_on() + # Export all environment variables specific to pull-requests with open(os.environ["GITHUB_ENV"], "a") as env_file: + env_file.write(f"WITH_ALL_TESTS={with_all_tests_found}\n") + env_file.write(f"FORCE_FULL_BUILD={force_full_build_found}\n") env_file.write(f"CI_DEPENDS_ON={dependency_dict}\n") + env_file.write(f'BUILDER_OS=["sh-ubuntu_gcc_release","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]') # ======================================================================== From 949946a9f2bf9a14eefa93ab0b4724196d910a82 Mon Sep 17 00:00:00 2001 From: Hugo Date: Mon, 7 Apr 2025 17:32:10 +0200 Subject: [PATCH 023/115] Update checkPRInfoBeforeBuild.py (#11) * Update checkPRInfoBeforeBuild.py * Apply suggestions from code review Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> * Apply suggestions from code review * Apply suggestions from code review * Test * Use this script * fix * test fromJson * add debug * Final fix * revert change * Refacto display action * Fix filter --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Paul Baksic --- .github/workflows/build-and-test.yml | 21 +++++++++++++++++++++ .github/workflows/filter-build.yml | 27 ++++++++++++++------------- 2 files changed, 35 insertions(+), 13 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 6ffce0b6021..6a3a276a345 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -52,6 +52,27 @@ on: description: 'Json scructure with three parameters {"COMMIT_HASH":"fullhsashofthecommit", }' jobs: + display-inputs: + runs-on: ubuntu-latest + steps: + - name: Display + shell: bash + run: | + echo "Build and test launched with following parameters:" + echo "sofa-branch-name : ${{ inputs.sofa-branch-name }}" + echo "sofa-commit-sha : ${{ inputs.sofa-commit-sha }}" + echo "pr-owner-url : ${{ inputs.pr-owner-url }}" + echo "pr-branch-name : ${{ inputs.pr-branch-name }}" + echo "pr-commit-sha : ${{ inputs.pr-commit-sha }}" + echo "preset : ${{ inputs.preset }}" + echo "python-version : ${{ inputs.python-version }}" + echo "ci-depends-on : ${{ inputs.ci-depends-on }}" + echo "with-all-tests : ${{ inputs.with-all-tests }}" + echo "force-full-build : ${{ inputs.force-full-build }}" + echo "generate-binaries : ${{ inputs.generate-binaries }}" + echo "out-of-tree-build : ${{ inputs.out-of-tree-build }}" + echo "builder-os : ${{ inputs.builder-os }}" + build: strategy: matrix: diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index e1e8235ccbe..2e5c1f9a286 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -248,6 +248,7 @@ jobs: echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT + # =============================================================== # =============================================================== @@ -256,16 +257,16 @@ jobs: needs: filter_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: - sofa-branch-name: ${{ needs.set-vars.outputs.SOFA_BRANCH_NAME }} - sofa-commit-sha: ${{ needs.set-vars.outputs.SOFA_COMMIT_SHA }} - preset: ${{ needs.set-vars.outputs.PRESET }} - python-version: ${{ needs.set-vars.outputs.PYTHON_VERSION }} - ci-depends-on: ${{ needs.set-vars.outputs.CI_DEPENDS_ON }} - with-all-tests: ${{ needs.set-vars.outputs.WITH_ALL_TESTS == 'true'}} - force-full-build: ${{ needs.set-vars.outputs.FORCE_FULL_BUILD == 'true'}} - out-of-tree-build: ${{ needs.set-vars.outputs.OUT_OF_TREE_BUILD }} - generate-binaries: ${{ needs.set-vars.outputs.GENERATE_BINARIES == 'true'}} - pr-owner-url: ${{ needs.set-vars.outputs.PR_OWNER_URL }} - pr-branch-name: ${{ needs.set-vars.outputs.PR_BRANCH_NAME }} - pr-commit-sha: ${{ needs.set-vars.outputs.PR_COMMIT_SHA }} - builder-os: ${{ needs.set-vars.outputs.BUILDER_OS }} \ No newline at end of file + sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ needs.filter_build.outputs.SOFA_COMMIT_SHA }} + preset: ${{ needs.filter_build.outputs.PRESET }} + python-version: ${{ needs.filter_build.outputs.PYTHON_VERSION }} + ci-depends-on: ${{ needs.filter_build.outputs.CI_DEPENDS_ON }} + with-all-tests: ${{ needs.filter_build.outputs.WITH_ALL_TESTS == 'true'}} + force-full-build: ${{ needs.filter_build.outputs.FORCE_FULL_BUILD == 'true'}} + out-of-tree-build: ${{ needs.filter_build.outputs.OUT_OF_TREE_BUILD }} + generate-binaries: ${{ needs.filter_build.outputs.GENERATE_BINARIES == 'true'}} + pr-owner-url: ${{ needs.filter_build.outputs.PR_OWNER_URL }} + pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }} + pr-commit-sha: ${{ needs.filter_build.outputs.PR_COMMIT_SHA }} + builder-os: ${{ needs.filter_build.outputs.BUILDER_OS }} \ No newline at end of file From 0ce7781c379ec6d620f31542ff0279bd188aed7e Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue, 8 Apr 2025 15:43:23 +0200 Subject: [PATCH 024/115] Fix build script (#13) * TO BE REVERTED BEFORE MERGE * Fix syntax * Fix git handle * fix action location * fix typo * Fix call to load vm env --- .github/workflows/build-and-test.yml | 20 +++++++++++--------- .github/workflows/filter-build.yml | 2 +- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 6a3a276a345..16aea681051 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -108,17 +108,20 @@ jobs: - name: Clone SOFA and CI shell: bash run: | + cd $WORKSPACE + ## Clone sofa and merge origin master echo "Cloning SOFA at commit $GITHUB_WORKFLOW_SHA" if [ -d $WORKSPACE/sofa ]; then rm -rf $WORKSPACE/sofa - if + fi SRC_DIR=$(pwd)/sofa echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV if [ -z "${{ inputs.pr-owner-url }}" ]; then echo "This is a PR, merging branch ${{ inputs.pr-branch-name }} from remote ${{ inputs.pr-owner-url }} into origin branch ${{ inputs.sofa-branch-name }}" git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa + cd sofa git remote add pr ${{ inputs.pr-owner-url }} git fetch pr @@ -130,12 +133,14 @@ jobs: else echo "This is not a PR: checking out sha ${{ inputs.sofa-commit-sha }} from branch ${{ inputs.sofa-branch-name }}" git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa + cd sofa git checkout ${{ inputs.sofa-commit-sha }} fi + cd $WORKSPACE ## Clone CI and use ci-depends-on structure - ci_branch="inputs.sofa-branch-name" + ci_branch=${{ inputs.sofa-branch-name }} ci_repo_url="https://www.github.com/sofa-framework/ci" # check if ci has a ci-depends-on @@ -155,7 +160,6 @@ jobs: CI_DIR=$WORKSPACE/ci echo "CI_DIR=$CI_DIR" >> $GITHUB_ENV - git init git clone -b ${ci_branch} --single-branch ${ci_repo_url} cd $WORKSPACE @@ -188,15 +192,13 @@ jobs: #TODO #HEre we use docker if possible - + # Setup variables for following calls . ${CI_DIR}/scripts/utils.sh + NODE_NAME="$(hostname)" # Needed by load-vm-env --> TODO: be able to get hostname multiplatform + SCRIPT_DIR=${CI_DIR}/scripts/ # Needed by load-vm-env, might need to run this inside the docker env + CI_PYTHON3_VERSION=${{ inputs.python-version }} # Needed by load-vm-env, might need to run this inside the docker env ## Setup env variables - CI_PYTHON3_VERSION=${{ inputs.python-version }} # Needed by load-vm-env - # TODO: be able to get hostname to load correct env file --> set - host_name="sofa-ci-dev-ubuntu2204-0" - NODE_NAME="$host_name" # Needed by load-vm-env - # then run load-vm-env ## Deal with ci-depends-on diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 2e5c1f9a286..4a96fae36af 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -255,7 +255,7 @@ jobs: # Trigger the build with all parameters call-workflow-passing-data: needs: filter_build - uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master + uses: bakpaul/sofa/.github/workflows/build-and-test.yml@j2g_fix_build_action with: sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }} sofa-commit-sha: ${{ needs.filter_build.outputs.SOFA_COMMIT_SHA }} From 93b612b3d0c4989df7095034ef74549688ac2170 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue, 8 Apr 2025 16:22:18 +0200 Subject: [PATCH 025/115] fix script + revert wrong changes (#15) --- .github/workflows/build-and-test.yml | 7 ++++++- .github/workflows/filter-build.yml | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 16aea681051..e461acacdf1 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -218,6 +218,11 @@ jobs: CMAKE_OPTIONS="$CMAKE_OPTIONS $flag_repository $flag_tag " done + if [[ ! -n "$CMAKE_OPTIONS" ]]; then + CMAKE_OPTIONS="no-ci-depends-on" + fi + + ## Configure the build: setup cmake variables # retrive build type and compiler BUILD_TYPE=$(echo ${{ matrix.os }} | awk -F '_' '{print $3}') @@ -228,7 +233,7 @@ jobs: BUILD_OPTIONS="$BUILD_OPTIONS build-release-package" fi - . ${CI_DIR}/scripts/configure.sh "$BUILD_DIR" "$SRC_DIR" "$CONFIG" "$BUILD_TYPE" "$BUILD_OPTIONS" "$CMAKE_OPTIONS" + . ${CI_DIR}/scripts/configure.sh "$BUILD_DIR" "$SRC_DIR" "$CONFIG" "$CMAKE_OPTIONS" "$BUILD_TYPE" "$BUILD_OPTIONS" ## Call to build $SCRIPT_DIR/compile.sh "$BUILD_DIR" "$CONFIG" "$BUILD_OPTIONS" diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 4a96fae36af..2e5c1f9a286 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -255,7 +255,7 @@ jobs: # Trigger the build with all parameters call-workflow-passing-data: needs: filter_build - uses: bakpaul/sofa/.github/workflows/build-and-test.yml@j2g_fix_build_action + uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: sofa-branch-name: ${{ needs.filter_build.outputs.SOFA_BRANCH_NAME }} sofa-commit-sha: ${{ needs.filter_build.outputs.SOFA_COMMIT_SHA }} From 3fab0e2ec47a916b1636f15e1098694dcc392923 Mon Sep 17 00:00:00 2001 From: Hugo Date: Tue, 8 Apr 2025 17:32:11 +0200 Subject: [PATCH 026/115] Update filter-build.yml (#16) --- .github/workflows/filter-build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 2e5c1f9a286..e976f433060 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -195,7 +195,7 @@ jobs: if: ${{ github.event_name == 'push'}} run: | echo "This step runs only for push on the master branch." - echo "COMMIT_SHA=${{ github.after }}>> $GITHUB_ENV + echo "SOFA_COMMIT_SHA=${{ github.after }}">> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV @@ -269,4 +269,4 @@ jobs: pr-owner-url: ${{ needs.filter_build.outputs.PR_OWNER_URL }} pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }} pr-commit-sha: ${{ needs.filter_build.outputs.PR_COMMIT_SHA }} - builder-os: ${{ needs.filter_build.outputs.BUILDER_OS }} \ No newline at end of file + builder-os: ${{ needs.filter_build.outputs.BUILDER_OS }} From 43dcd307aa80c681533c28d2bf5d904e405cbe2b Mon Sep 17 00:00:00 2001 From: Hugo Date: Tue, 8 Apr 2025 17:56:47 +0200 Subject: [PATCH 027/115] Fix sha when commit pushed in master (#17) --- .github/workflows/build-and-test.yml | 2 +- .github/workflows/filter-build.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index e461acacdf1..2d79d7a3a73 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -118,7 +118,7 @@ jobs: SRC_DIR=$(pwd)/sofa echo "SRC_DIR=$SRC_DIR" >> $GITHUB_ENV - if [ -z "${{ inputs.pr-owner-url }}" ]; then + if [ ! -z "${{ inputs.pr-owner-url }}" ]; then echo "This is a PR, merging branch ${{ inputs.pr-branch-name }} from remote ${{ inputs.pr-owner-url }} into origin branch ${{ inputs.sofa-branch-name }}" git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa cd sofa diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index e976f433060..5cdfaa5fb34 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -195,7 +195,7 @@ jobs: if: ${{ github.event_name == 'push'}} run: | echo "This step runs only for push on the master branch." - echo "SOFA_COMMIT_SHA=${{ github.after }}">> $GITHUB_ENV + echo "SOFA_COMMIT_SHA=${{ github.sha }}">> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV From 9fcf6456eb03c46fab1ed490c0eb4c194eee0f50 Mon Sep 17 00:00:00 2001 From: Hugo Date: Tue, 8 Apr 2025 18:15:23 +0200 Subject: [PATCH 028/115] Temporarily change remote for non-PR (#18) --- .github/workflows/build-and-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 2d79d7a3a73..f92564de8b2 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -132,7 +132,7 @@ jobs: fi else echo "This is not a PR: checking out sha ${{ inputs.sofa-commit-sha }} from branch ${{ inputs.sofa-branch-name }}" - git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/sofa-framework/sofa + git clone -b ${{ inputs.sofa-branch-name }} --single-branch https://www.github.com/bakpaul/sofa ## TODO : REMOVE THIS WITH SOFA_FRAMEWORK @@@@@@@@@@@@@ cd sofa git checkout ${{ inputs.sofa-commit-sha }} fi @@ -264,4 +264,4 @@ jobs: shell: bash run: | #TODO - #Use new action with workflow call \ No newline at end of file + #Use new action with workflow call From 867f9107dc68619d5c4e4631a46f2d26e85c38a6 Mon Sep 17 00:00:00 2001 From: Hugo Date: Fri, 11 Apr 2025 20:28:42 +0200 Subject: [PATCH 029/115] 202505 evolve filter nightly (#19) * Isolate nightly build to allow for matrix only in nightly cases * Check that SOFA branch name is either master or vXX.XX * Attempt to detect existing running builds on PR * Fix check on ci-depends-on * fix indent and add generic condition for nightly build * Another fix for ci-depends-on * Another fix for ci-depends-on in json * Display info on PR comment * Display info on PR comment * Display info on PR comment --- .github/workflows/filter-build.yml | 166 +++++++++++++++++--- scripts/github_CI/checkPRInfoBeforeBuild.py | 6 +- 2 files changed, 147 insertions(+), 25 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 5cdfaa5fb34..2e45a4a963b 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -62,10 +62,6 @@ on: jobs: filter_build: runs-on: ubuntu-latest - strategy: - matrix: - sofa_version: [master, v24.12] - ### if: ${{ github.repository_owner == 'sofa-framework' }} outputs: SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} SOFA_COMMIT_SHA: ${{ steps.export-vars.outputs.SOFA_COMMIT_SHA }} @@ -111,8 +107,9 @@ jobs: BUILDER_OS=${{ github.event.inputs.builder_os }} # Validate branch format (e.g., v25.06) - if [[ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then - echo "Error: Invalid branch name format: $BRANCH" + if [ [ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ] && [ "$BRANCH" != "master" ] ]; then + echo "Error: Invalid branch name format: $BRANCH." + echo "Branch name should be either master or any release branch (e.g., v25.06)" exit 1 fi echo "Branch name $BRANCH is valid." @@ -181,17 +178,7 @@ jobs: - name: Check out code uses: actions/checkout@v2 - - name: Run when nightly - if: github.event.schedule == '0 2 * * *' - run: | - echo "This step runs only for nightly builds." - echo "SOFA_BRANCH_NAME=${{ matrix.sofa_version }}" >> $GITHUB_ENV - echo "PRESET=standard" >> $GITHUB_ENV - echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV - echo "GENERATE_BINARIES=true" >> $GITHUB_ENV - echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV - - - name: Check push on master case + - name: Check push on master case (e.g. merge) if: ${{ github.event_name == 'push'}} run: | echo "This step runs only for push on the master branch." @@ -200,8 +187,46 @@ jobs: echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV - - name: Run when PR is opened - if: ${{ github.event_name == 'pull_request' && (github.event.action == 'opened' || github.event.action == 'synchronize') }} + - name: Check in a PR when a commit is pushed or when a comment is created or edited + if: ${{ (github.event_name == 'pull_request' && github.event.action == 'synchronize') || (github.event_name == 'issue_comment' && github.event.issue.pull_request ) }} + uses: actions/github-script@v7 + with: + script: | + const currentRunId = context.runId; + const workflowName = context.workflow; + const prNumber = ${{ github.event.pull_request.number }}; + + const runs = await github.rest.actions.listWorkflowRunsForRepo({ + owner: context.repo.owner, + repo: context.repo.repo, + per_page: 100, + status: 'in_progress' + }); + + const matchingRuns = runs.data.workflow_runs.filter(run => { + return run.name === workflowName && + run.id !== currentRunId && + run.head_branch === "${{ github.event.pull_request.head.ref }}"; + }); + + for (const run of matchingRuns) { + console.log(`Cancelling previous run: ${run.id}`); + await github.rest.actions.cancelWorkflowRun({ + owner: context.repo.owner, + repo: context.repo.repo, + run_id: run.id + }); + } + + if (matchingRuns.length > 0) { + console.log("Sleeping for 5 seconds to allow previous runs to cancel..."); + await new Promise(resolve => setTimeout(resolve, 5000)); + } else { + console.log("No previous runs to cancel. Continuing..."); + } + + - name: Run when PR is opened or a commit is pushed in a PR + if: ${{ github.event_name == 'pull_request' }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} PR_NUMBER: ${{ github.event.pull_request.number }} @@ -212,9 +237,9 @@ jobs: # Trigger the Build action python scripts/github_CI/checkPRInfoBeforeBuild.py - - - name: Run when PR comment is edited - if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request && ( github.event.action == 'created'|| github.event.action == 'edited' ) }} + + - name: Run when PR comment is created or edited + if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} PR_NUMBER: ${{ github.event.issue.pull_request.number }} @@ -230,6 +255,102 @@ jobs: python scripts/github_CI/checkPRInfoBeforeBuild.py fi + echo "PR_NUMBER=${PR_NUMBER}" + echo "OWNER_NAME=${OWNER_NAME}" + echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" + echo "github.event.issue.number=${github.event.issue.number}" + echo "github.event.issue.pull_request=${github.event.issue.pull_request}" + echo "github.event.issue=${github.event.issue}" + + + - name: Export environment variables as outputs + id: export-vars + run: | + # Validate branch format (e.g., v25.06) + if [ [ ! "$SOFA_BRANCH_NAME" =~ ^v[0-9]{2}\.[0-9]{2}$ ] && [ "$SOFA_BRANCH_NAME" != "master" ] ]; then + echo "Error: Invalid branch name format: $SOFA_BRANCH_NAME." + echo "Branch name should be either master or any release branch (e.g., v25.06)" + exit 1 + fi + + echo "SOFA_BRANCH_NAME=${SOFA_BRANCH_NAME}" >> $GITHUB_OUTPUT + echo "SOFA_COMMIT_SHA=${SOFA_COMMIT_SHA}" >> $GITHUB_OUTPUT + echo "PRESET=${PRESET}" >> $GITHUB_OUTPUT + echo "PYTHON_VERSION=${PYTHON_VERSION}" >> $GITHUB_OUTPUT + echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT + echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT + echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT + echo "OUT_OF_TREE_BUILD=${OUT_OF_TREE_BUILD}" >> $GITHUB_OUTPUT + echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT + echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT + echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT + echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" >> $GITHUB_OUTPUT + echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT + + + + + nightly_build: + runs-on: ubuntu-latest + if: github.event.schedule == '0 2 * * *' + strategy: + matrix: + sofa_version: [master, v24.12] + ### if: ${{ github.repository_owner == 'sofa-framework' }} + outputs: + SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} + SOFA_COMMIT_SHA: ${{ steps.export-vars.outputs.SOFA_COMMIT_SHA }} + PRESET: ${{ steps.export-vars.outputs.PRESET }} + PYTHON_VERSION: ${{ steps.export-vars.outputs.PYTHON_VERSION }} + CI_DEPENDS_ON: ${{ steps.export-vars.outputs.CI_DEPENDS_ON }} + WITH_ALL_TESTS: ${{ steps.export-vars.outputs.WITH_ALL_TESTS }} + FORCE_FULL_BUILD: ${{ steps.export-vars.outputs.FORCE_FULL_BUILD }} + OUT_OF_TREE_BUILD: ${{ steps.export-vars.outputs.OUT_OF_TREE_BUILD }} + GENERATE_BINARIES: ${{ steps.export-vars.outputs.GENERATE_BINARIES }} + PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }} + PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }} + PR_COMMIT_SHA: ${{ steps.export-vars.outputs.PR_COMMIT_SHA }} + BUILDER_OS: ${{ steps.export-vars.outputs.BUILDER_OS }} + + steps: + - name: Default values of environment variables + run: | + echo "SOFA_BRANCH_NAME=master" >> $GITHUB_ENV # SOFA_BRANCH_NAME: "master" + echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV # SOFA_COMMIT_SHA: "HEAD" + echo "PRESET=full" >> $GITHUB_ENV # PRESET: "full" + echo "PYTHON_VERSION=3.12" >> $GITHUB_ENV # PYTHON_VERSION: "3.12" + echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" + echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false + echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false + echo "OUT_OF_TREE_BUILD=" >> $GITHUB_ENV # OUT_OF_TREE_BUILD: "" + echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false + echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" + echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" + echo "PR_COMMIT_SHA=HEAD" >> $GITHUB_ENV # PR_COMMIT_SHA: "HEAD" + echo 'BUILDER_OS=["sh-ubuntu_gcc_release"]' >> $GITHUB_ENV # BUILDER_OS: ["sh-ubuntu_gcc_release"] + + - name: Set up python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + + - name: Install pip packages + run: | + pip install python-graphql-client + pip install requests + + - name: Check out code + uses: actions/checkout@v2 + + - name: Run when nightly + run: | + echo "This step runs only for nightly builds." + echo "SOFA_BRANCH_NAME=${{ matrix.sofa_version }}" >> $GITHUB_ENV + echo "PRESET=standard" >> $GITHUB_ENV + echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV + echo "GENERATE_BINARIES=true" >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV + - name: Export environment variables as outputs id: export-vars run: | @@ -249,6 +370,7 @@ jobs: + # =============================================================== # =============================================================== diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index 70ecea4ff1d..9bd85756b57 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -161,14 +161,14 @@ def extract_ci_depends_on(): # Ensure the URL is in the expected dependency format, e.g. https://github.com/sofa-framework/Sofa.Qt/pull/6 parts = dependency.split('/') - if len(parts) != 6 or parts[0] != 'https:' or parts[1] != '' or parts[2] != 'github.com': + if len(parts) != 7 or parts[0] != 'https:' or parts[1] != '' or parts[2] != 'github.com': raise ValueError("") print(f"Invalid URL ci-depends-on format: {dependency}") exit(1) owner = parts[3] repo = parts[4] - pull_number = parts[5] + pull_number = parts[6] dependency_request_url = f"https://api.github.com/repos/{owner}/{repo}/pulls/{pull_number}" response = requests.get(dependency_request_url, headers=HEADERS) @@ -179,7 +179,7 @@ def extract_ci_depends_on(): dependency_pr_data = response.json() - key = dependency_pr_data['repo']['name'] #Sofa.Qt + key = dependency_pr_data['head']['repo']['name'] #Sofa.Qt repo_url = dependency_pr_data['html_url'] #https://github.com/sofa-framework/Sofa.Qt branch_name = dependency_pr_data['head']['ref'] #my_feature_branch From 4c5ce49dc681d570eba24ca47caf76b5a42c5215 Mon Sep 17 00:00:00 2001 From: Hugo Date: Fri, 11 Apr 2025 20:45:45 +0200 Subject: [PATCH 030/115] Fix trigger through comments (#20) * Fix trigger through comments * remove check when action is already triggered * remove test comment --- .github/workflows/filter-build.yml | 39 ------------------------------ 1 file changed, 39 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 2e45a4a963b..6404cc4fcb1 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -187,44 +187,6 @@ jobs: echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV - - name: Check in a PR when a commit is pushed or when a comment is created or edited - if: ${{ (github.event_name == 'pull_request' && github.event.action == 'synchronize') || (github.event_name == 'issue_comment' && github.event.issue.pull_request ) }} - uses: actions/github-script@v7 - with: - script: | - const currentRunId = context.runId; - const workflowName = context.workflow; - const prNumber = ${{ github.event.pull_request.number }}; - - const runs = await github.rest.actions.listWorkflowRunsForRepo({ - owner: context.repo.owner, - repo: context.repo.repo, - per_page: 100, - status: 'in_progress' - }); - - const matchingRuns = runs.data.workflow_runs.filter(run => { - return run.name === workflowName && - run.id !== currentRunId && - run.head_branch === "${{ github.event.pull_request.head.ref }}"; - }); - - for (const run of matchingRuns) { - console.log(`Cancelling previous run: ${run.id}`); - await github.rest.actions.cancelWorkflowRun({ - owner: context.repo.owner, - repo: context.repo.repo, - run_id: run.id - }); - } - - if (matchingRuns.length > 0) { - console.log("Sleeping for 5 seconds to allow previous runs to cancel..."); - await new Promise(resolve => setTimeout(resolve, 5000)); - } else { - console.log("No previous runs to cancel. Continuing..."); - } - - name: Run when PR is opened or a commit is pushed in a PR if: ${{ github.event_name == 'pull_request' }} env: @@ -262,7 +224,6 @@ jobs: echo "github.event.issue.pull_request=${github.event.issue.pull_request}" echo "github.event.issue=${github.event.issue}" - - name: Export environment variables as outputs id: export-vars run: | From bb10f396e4c9fad1eb92589b23d4f80165331e07 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Fri, 11 Apr 2025 22:01:13 +0200 Subject: [PATCH 031/115] move echo to read it --- .github/workflows/filter-build.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 6404cc4fcb1..29af76135da 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -212,17 +212,17 @@ jobs: COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) echo "Comment: $COMMENT_BODY" - # Trigger the Build action if [ci-build] is in the comment - if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then - python scripts/github_CI/checkPRInfoBeforeBuild.py - fi - echo "PR_NUMBER=${PR_NUMBER}" echo "OWNER_NAME=${OWNER_NAME}" echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" echo "github.event.issue.number=${github.event.issue.number}" echo "github.event.issue.pull_request=${github.event.issue.pull_request}" echo "github.event.issue=${github.event.issue}" + + # Trigger the Build action if [ci-build] is in the comment + if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + python scripts/github_CI/checkPRInfoBeforeBuild.py + fi - name: Export environment variables as outputs id: export-vars From a32a3e599eed9624486b7734332e80bb7f183098 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Fri, 11 Apr 2025 22:10:27 +0200 Subject: [PATCH 032/115] attempt to access information PR comment --- .github/workflows/filter-build.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 29af76135da..896dac0668b 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -212,13 +212,13 @@ jobs: COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) echo "Comment: $COMMENT_BODY" - echo "PR_NUMBER=${PR_NUMBER}" - echo "OWNER_NAME=${OWNER_NAME}" - echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" + echo "PR_NUMBER=$PR_NUMBER" + echo "OWNER_NAME=$OWNER_NAME" + echo "PR_COMMIT_SHA=$PR_COMMIT_SHA" + echo "github.event.issue=${github.event.issue}" echo "github.event.issue.number=${github.event.issue.number}" echo "github.event.issue.pull_request=${github.event.issue.pull_request}" - echo "github.event.issue=${github.event.issue}" - + # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then python scripts/github_CI/checkPRInfoBeforeBuild.py From 070f7ae02cd3997e245d82262e690dfcbea8443b Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Fri, 11 Apr 2025 22:14:49 +0200 Subject: [PATCH 033/115] attempt to access information PR comment --- .github/workflows/filter-build.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 896dac0668b..f105ab58210 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -215,9 +215,9 @@ jobs: echo "PR_NUMBER=$PR_NUMBER" echo "OWNER_NAME=$OWNER_NAME" echo "PR_COMMIT_SHA=$PR_COMMIT_SHA" - echo "github.event.issue=${github.event.issue}" - echo "github.event.issue.number=${github.event.issue.number}" - echo "github.event.issue.pull_request=${github.event.issue.pull_request}" + echo "github.event.issue=${{ github.event.issue }}" + echo "github.event.issue.number=${{ github.event.issue.number }}" + echo "github.event.issue.pull_request=${{ github.event.issue.pull_request }}" # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then From 7dba7201799f56219dc924eb1ed8cd95d95f4720 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Fri, 11 Apr 2025 22:22:34 +0200 Subject: [PATCH 034/115] complete access information PR comment --- .github/workflows/filter-build.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index f105ab58210..400c75b1101 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -218,6 +218,9 @@ jobs: echo "github.event.issue=${{ github.event.issue }}" echo "github.event.issue.number=${{ github.event.issue.number }}" echo "github.event.issue.pull_request=${{ github.event.issue.pull_request }}" + echo "github.event.issue.pull_request.number=${{ github.event.issue.pull_request.number }}" + echo "github.event.issue.pull_request.head.repo.owner.login=${{ github.event.issue.pull_request.head.repo.owner.login }}" + echo "github.event.issue.pull_request.head.sha=${{ github.event.issue.pull_request.head.sha }}" # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then From 8229d8386b240c2c9c4113dcef3276bd56cefc6c Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Fri, 11 Apr 2025 23:43:58 +0200 Subject: [PATCH 035/115] complete access information PR comment --- .github/workflows/filter-build.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 400c75b1101..b8c79c40360 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -221,6 +221,9 @@ jobs: echo "github.event.issue.pull_request.number=${{ github.event.issue.pull_request.number }}" echo "github.event.issue.pull_request.head.repo.owner.login=${{ github.event.issue.pull_request.head.repo.owner.login }}" echo "github.event.issue.pull_request.head.sha=${{ github.event.issue.pull_request.head.sha }}" + echo "github.event.pull_request.number=${{ github.event.issue.pull_request.number }}" + echo "github.event.pull_request.head.repo.owner.login=${{ github.event.issue.pull_request.head.repo.owner.login }}" + echo "github.event.pull_request.head.sha=${{ github.event.issue.pull_request.head.sha }}" # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then From 37656b441370c2b8aec433a7bc74ed0c4a536e99 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:04:37 +0200 Subject: [PATCH 036/115] Update search of PR information when comment_issue --- .github/workflows/filter-build.yml | 40 ++++++++++++++++++------------ 1 file changed, 24 insertions(+), 16 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index b8c79c40360..1ec1dd17556 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -204,29 +204,37 @@ jobs: if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.issue.pull_request.number }} - OWNER_NAME: ${{ github.event.issue.pull_request.head.repo.owner.login }} - PR_COMMIT_SHA: ${{ github.event.issue.pull_request.head.sha }} + PR_NUMBER: ${{ github.event.issue.number }} + OWNER_NAME: "" # Must be retrieved + PR_COMMIT_SHA: "" # Must be retrieved run: | echo "This step runs only when a PR comment is created or edited." COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) echo "Comment: $COMMENT_BODY" - - echo "PR_NUMBER=$PR_NUMBER" - echo "OWNER_NAME=$OWNER_NAME" - echo "PR_COMMIT_SHA=$PR_COMMIT_SHA" - echo "github.event.issue=${{ github.event.issue }}" - echo "github.event.issue.number=${{ github.event.issue.number }}" - echo "github.event.issue.pull_request=${{ github.event.issue.pull_request }}" - echo "github.event.issue.pull_request.number=${{ github.event.issue.pull_request.number }}" - echo "github.event.issue.pull_request.head.repo.owner.login=${{ github.event.issue.pull_request.head.repo.owner.login }}" - echo "github.event.issue.pull_request.head.sha=${{ github.event.issue.pull_request.head.sha }}" - echo "github.event.pull_request.number=${{ github.event.issue.pull_request.number }}" - echo "github.event.pull_request.head.repo.owner.login=${{ github.event.issue.pull_request.head.repo.owner.login }}" - echo "github.event.pull_request.head.sha=${{ github.event.issue.pull_request.head.sha }}" # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + echo "Fetching PR #$PR_NUMBER information" + + pr_data=$(curl -s -H "Authorization: Bearer $GITHUB_TOKEN" \ + -H "Accept: application/vnd.github+json" \ + "https://api.github.com/repos/bakpaul/sofa/pulls/$PR_NUMBER") + + # Output full PR data if debugging + echo "$pr_data" | jq . + + # Extract data + pr_owner=$(echo "$pr_data" | jq -r '.user.login') + pr_sha=$(echo "$pr_data" | jq -r '.head.sha') + + echo "PR number : $PR_NUMBER" + echo "PR owner name : $pr_owner" + echo "PR commit SHA : $pr_sha" + + # Save to environment variables for future steps + echo "OWNER_NAME=$pr_owner" >> $GITHUB_ENV + echo "PR_COMMIT_SHA=$pr_sha" >> $GITHUB_ENV + python scripts/github_CI/checkPRInfoBeforeBuild.py fi From 06b1e67d80196709321ea901c4238868789dea7b Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:08:53 +0200 Subject: [PATCH 037/115] Remove empty env var --- .github/workflows/filter-build.yml | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 1ec1dd17556..7c1ffcf7b8e 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -205,8 +205,6 @@ jobs: env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} PR_NUMBER: ${{ github.event.issue.number }} - OWNER_NAME: "" # Must be retrieved - PR_COMMIT_SHA: "" # Must be retrieved run: | echo "This step runs only when a PR comment is created or edited." COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) @@ -220,9 +218,6 @@ jobs: -H "Accept: application/vnd.github+json" \ "https://api.github.com/repos/bakpaul/sofa/pulls/$PR_NUMBER") - # Output full PR data if debugging - echo "$pr_data" | jq . - # Extract data pr_owner=$(echo "$pr_data" | jq -r '.user.login') pr_sha=$(echo "$pr_data" | jq -r '.head.sha') @@ -234,7 +229,7 @@ jobs: # Save to environment variables for future steps echo "OWNER_NAME=$pr_owner" >> $GITHUB_ENV echo "PR_COMMIT_SHA=$pr_sha" >> $GITHUB_ENV - + python scripts/github_CI/checkPRInfoBeforeBuild.py fi From 9bae225c2c0ea7d965f716b9cbdc4993ca26378e Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:19:54 +0200 Subject: [PATCH 038/115] add check on OWNER_NAME var --- .github/workflows/filter-build.yml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 7c1ffcf7b8e..0920167f1c6 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -222,14 +222,16 @@ jobs: pr_owner=$(echo "$pr_data" | jq -r '.user.login') pr_sha=$(echo "$pr_data" | jq -r '.head.sha') - echo "PR number : $PR_NUMBER" - echo "PR owner name : $pr_owner" - echo "PR commit SHA : $pr_sha" + echo "- PR number : $PR_NUMBER" + echo "- PR owner name : $pr_owner" + echo "- PR commit SHA : $pr_sha" # Save to environment variables for future steps echo "OWNER_NAME=$pr_owner" >> $GITHUB_ENV echo "PR_COMMIT_SHA=$pr_sha" >> $GITHUB_ENV + echo "Env: OWNER_NAME = $OWNER_NAME" + python scripts/github_CI/checkPRInfoBeforeBuild.py fi From 41dcadad971587becb1c9a9fd14f23217090fe62 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:21:15 +0200 Subject: [PATCH 039/115] add check on OWNER_NAME var --- .github/workflows/filter-build.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 0920167f1c6..e0f2e57b29e 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -231,6 +231,7 @@ jobs: echo "PR_COMMIT_SHA=$pr_sha" >> $GITHUB_ENV echo "Env: OWNER_NAME = $OWNER_NAME" + echo "Env: PR_COMMIT_SHA = $PR_COMMIT_SHA" python scripts/github_CI/checkPRInfoBeforeBuild.py fi From 5675c333b11738ea44c9b2be781be27c51807026 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:24:26 +0200 Subject: [PATCH 040/115] last attempt to fill env var for comment_issue --- .github/workflows/filter-build.yml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index e0f2e57b29e..2a4cbffb318 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -219,16 +219,16 @@ jobs: "https://api.github.com/repos/bakpaul/sofa/pulls/$PR_NUMBER") # Extract data - pr_owner=$(echo "$pr_data" | jq -r '.user.login') - pr_sha=$(echo "$pr_data" | jq -r '.head.sha') + OWNER_NAME=$(echo "$pr_data" | jq -r '.user.login') + PR_COMMIT_SHA=$(echo "$pr_data" | jq -r '.head.sha') echo "- PR number : $PR_NUMBER" - echo "- PR owner name : $pr_owner" - echo "- PR commit SHA : $pr_sha" + echo "- PR owner name : $OWNER_NAME" + echo "- PR commit SHA : $PR_COMMIT_SHA" # Save to environment variables for future steps - echo "OWNER_NAME=$pr_owner" >> $GITHUB_ENV - echo "PR_COMMIT_SHA=$pr_sha" >> $GITHUB_ENV + echo "OWNER_NAME=$OWNER_NAME" >> $GITHUB_ENV + echo "PR_COMMIT_SHA=$PR_COMMIT_SHA" >> $GITHUB_ENV echo "Env: OWNER_NAME = $OWNER_NAME" echo "Env: PR_COMMIT_SHA = $PR_COMMIT_SHA" From 67db07eb192b7f054531c05f4614f7870bdb81c1 Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:30:59 +0200 Subject: [PATCH 041/115] split in two steps for comment_issue --- .github/workflows/filter-build.yml | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 2a4cbffb318..04830fd5990 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -200,7 +200,7 @@ jobs: # Trigger the Build action python scripts/github_CI/checkPRInfoBeforeBuild.py - - name: Run when PR comment is created or edited + - name: Run when PR comment is created or edited (set up environment var for python script) if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} @@ -232,10 +232,21 @@ jobs: echo "Env: OWNER_NAME = $OWNER_NAME" echo "Env: PR_COMMIT_SHA = $PR_COMMIT_SHA" - - python scripts/github_CI/checkPRInfoBeforeBuild.py fi + - name: Run when PR comment is created or edited (trigger python script) + if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + run: | + COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) + echo "Comment: $COMMENT_BODY" + + # Trigger the Build action if [ci-build] is in the comment + if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + python scripts/github_CI/checkPRInfoBeforeBuild.py + fi + - name: Export environment variables as outputs id: export-vars run: | From 384f86c2fc25c307ed57261488028c6d813ccced Mon Sep 17 00:00:00 2001 From: hugtalbot Date: Sat, 12 Apr 2025 00:32:38 +0200 Subject: [PATCH 042/115] add missing PR number for comment_issue (step 2) --- .github/workflows/filter-build.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 04830fd5990..0e93f70d152 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -238,6 +238,7 @@ jobs: if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + PR_NUMBER: ${{ github.event.issue.number }} run: | COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) echo "Comment: $COMMENT_BODY" From 77016424a3fba49b52b654df67b2a9f41a9bc3d7 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu, 17 Apr 2025 16:32:35 +0200 Subject: [PATCH 043/115] Start work on docker use (#10) * Start work * Add docker run for ubuntu and fedora * TOREVERT * Add insights and login * Fix action * Try fix docker autentification * .github/workflows/ * Add read only token to action * fix docker user name * Change pipe to or * Fix docker call * try fix docker * fix ? * Fix ci-depends-on mechanism * Fix quote outputed by jq * Restore branch name * fix python script * Fix ci-depends-on remote url * Fix script not launching * Display arguments * Use github env variable for node name * Unify workspace folder using matrix os * Add display * Add display * Update .github/workflows/filter-build.yml Co-authored-by: Hugo --------- Co-authored-by: Hugo --- .github/workflows/build-and-test.yml | 90 +++++++++++++++------ scripts/github_CI/checkPRInfoBeforeBuild.py | 8 +- 2 files changed, 70 insertions(+), 28 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index f92564de8b2..aa8ebd667a3 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -83,11 +83,16 @@ jobs: shell: bash run: | ## Go to workspace given by the runner (this file is generated by the pre-build script) - WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA) + WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA)/${{ matrix.os }} echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV + if [ ! -d $WORKSPACE ]; then + mkdir -p $WORKSPACE + fi cd $WORKSPACE + echo "Workspace folder for this build will be $WORKSPACE" + ## Setup github # Git config (needed by CMake ExternalProject) if ! git config --get user.name; then @@ -146,6 +151,7 @@ jobs: # check if ci has a ci-depends-on ci_ci_depends_on=$(echo "${{ inputs.ci-depends-on }}" | jq .ci) if [ "$ci_ci_depends_on" != "null" ]; then + echo "ci-depends-on for ci repository detected." ci_repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.repo_url) ci_branch=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.branch_name) fi @@ -160,7 +166,7 @@ jobs: CI_DIR=$WORKSPACE/ci echo "CI_DIR=$CI_DIR" >> $GITHUB_ENV - git clone -b ${ci_branch} --single-branch ${ci_repo_url} + git clone -b ${ci_branch//\"} --single-branch ${ci_repo_url//\"} cd $WORKSPACE @@ -171,6 +177,7 @@ jobs: if [ ! -d $WORKSPACE/build ]; then mkdir $WORKSPACE/build fi + BUILD_DIR=$WORKSPACE/build echo "BUILD_DIR=$BUILD_DIR" >> $GITHUB_ENV @@ -189,17 +196,11 @@ jobs: continue-on-error: true shell: bash run: | - #TODO - #HEre we use docker if possible - - # Setup variables for following calls - . ${CI_DIR}/scripts/utils.sh - NODE_NAME="$(hostname)" # Needed by load-vm-env --> TODO: be able to get hostname multiplatform - SCRIPT_DIR=${CI_DIR}/scripts/ # Needed by load-vm-env, might need to run this inside the docker env - CI_PYTHON3_VERSION=${{ inputs.python-version }} # Needed by load-vm-env, might need to run this inside the docker env - - ## Setup env variables - load-vm-env + ## Configure the build: setup cmake variables + # retrive build type and compiler + BUILD_TYPE=$(echo ${{ matrix.os }} | awk -F '_' '{print $3}') + CONFIG=$(echo ${{ matrix.os }} | awk -F '_' '{print $1"_"$2}') + NODE_NAME="${{ runner.name }}" # Needed by configure-and-build --> TODO: be able to get hostname multiplatform ## Deal with ci-depends-on # Loop over each key-value pair in the JSON avoiding ci repository if inside @@ -219,25 +220,64 @@ jobs: done if [[ ! -n "$CMAKE_OPTIONS" ]]; then - CMAKE_OPTIONS="no-ci-depends-on" + CMAKE_OPTIONS="no-ci-depends-on" + echo "No ci-depends-on detected." + else + echo "ci-depends-on detected, adding the following cmake variable : $CMAKE_OPTIONS" fi + echo "" + echo "------ Before build (and docker) ------" + echo "Main folders:" + echo " - WORKSPACE = $WORKSPACE" + echo " - SRC_DIR = $SRC_DIR" + echo " - CI_DIR = $CI_DIR" + echo " - BUILD_DIR = $BUILD_DIR" + echo "" + echo "Configuration:" + echo " - NODE_NAME = $NODE_NAME" + echo " - BUILD_TYPE = $BUILD_TYPE" + echo " - CONFIG = $CONFIG" + echo " - PYTHON_VERSION = ${{ inputs.python-version }}" + echo " - PRESET = ${{ inputs.preset }}" + echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" + echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" + echo "---------------------------------------" + echo "" + + #If os has got docker then use it + if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then + builder_type=$(echo "${{ matrix.os }}" | awk -F '_' '{print $1}' | awk -F '-' '{print $2}') + if [[ "${{ inputs.sofa-branch-name }}" == "master" ]] || [[ "${{ inputs.sofa-branch-name }}" =~ ^v[0-9]{2}\.[0-9]{2}$ ]]; then + default_tag=${{ inputs.sofa-branch-name }} + else + default_tag=master + fi - ## Configure the build: setup cmake variables - # retrive build type and compiler - BUILD_TYPE=$(echo ${{ matrix.os }} | awk -F '_' '{print $3}') - CONFIG=$(echo ${{ matrix.os }} | awk -F '_' '{print $1"_"$2}') + echo "dckr_pat_ohBds9gXTs9Iy91QPKJZXGdVS5s" | docker login -u sofaframework --password-stdin - BUILD_OPTIONS="build-scope-${{ inputs.preset }}" - if [ "${{ inputs.generate-binaries }}" == "true" ]; then - BUILD_OPTIONS="$BUILD_OPTIONS build-release-package" - fi + echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..." + docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true + DOCKER_IMAGE="sofaframework/sofabuilder_${builder_type}:${CI_BRANCH}" - . ${CI_DIR}/scripts/configure.sh "$BUILD_DIR" "$SRC_DIR" "$CONFIG" "$CMAKE_OPTIONS" "$BUILD_TYPE" "$BUILD_OPTIONS" + if [[ "$(docker image list --format "table {{.Repository}}:{{.Tag}}")" != *"sofaframework/sofabuilder_${builder_type}:${CI_BRANCH}"* ]]; then + echo "Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} doesn't exist, pulling default tag ${default_tag} " + docker pull --quiet sofaframework/sofabuilder_${builder_type}:${default_tag} - ## Call to build - $SCRIPT_DIR/compile.sh "$BUILD_DIR" "$CONFIG" "$BUILD_OPTIONS" + DOCKER_IMAGE="sofaframework/sofabuilder_${builder_type}:${default_tag}" + fi + echo "Launching configuration and build through docker using image ${DOCKER_IMAGE}. Running ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + docker run --rm \ + --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ + ${DOCKER_IMAGE} \ + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + else + echo "Launching configuration and build" + + bash ${CI_DIR}/scripts/configure-and-build.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${BUILD_TYPE}" "${CONFIG}" "${{ inputs.python-version }}" "${{ inputs.preset }}" "${{ inputs.generate-binaries }}" "${CMAKE_OPTIONS}" + fi + - name: Notify dashboard shell: bash diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py index 9bd85756b57..27082fd3cf8 100644 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ b/scripts/github_CI/checkPRInfoBeforeBuild.py @@ -179,8 +179,8 @@ def extract_ci_depends_on(): dependency_pr_data = response.json() - key = dependency_pr_data['head']['repo']['name'] #Sofa.Qt - repo_url = dependency_pr_data['html_url'] #https://github.com/sofa-framework/Sofa.Qt + key = dependency_pr_data['base']['repo']['name'] #Sofa.Qt + repo_url = dependency_pr_data['head']['repo']['html_url'] #https://github.com/{remote from which pr comes}/Sofa.Qt branch_name = dependency_pr_data['head']['ref'] #my_feature_branch dependency_dict[key] = { @@ -217,7 +217,9 @@ def extract_ci_depends_on(): with open(os.environ["GITHUB_ENV"], "a") as env_file: env_file.write(f"WITH_ALL_TESTS={with_all_tests_found}\n") env_file.write(f"FORCE_FULL_BUILD={force_full_build_found}\n") - env_file.write(f"CI_DEPENDS_ON={dependency_dict}\n") + + ci_depends_on_str = f"{dependency_dict}".replace("'", "\\\"") + env_file.write(f"CI_DEPENDS_ON={ci_depends_on_str}\n") env_file.write(f'BUILDER_OS=["sh-ubuntu_gcc_release","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]') From 242503a59af92e42f12f89f9708ee9c899373fbe Mon Sep 17 00:00:00 2001 From: Hugo Date: Thu, 17 Apr 2025 16:33:31 +0200 Subject: [PATCH 044/115] Filter build only if not schedule, PR comment linked steps (#21) * Filter build only if not schedule, PR comment linked steps * Apply suggestions from code review --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --- .github/workflows/filter-build.yml | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 0e93f70d152..c525a4c8a64 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -60,7 +60,9 @@ on: jobs: + # Filter build handling : push in master, commits in PR, comments in PR and dispatch filter_build: + if: ${{ github.event_name != 'schedule'}} runs-on: ubuntu-latest outputs: SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} @@ -200,7 +202,8 @@ jobs: # Trigger the Build action python scripts/github_CI/checkPRInfoBeforeBuild.py - - name: Run when PR comment is created or edited (set up environment var for python script) + - name: Run when PR comment is created or edited > set up environment variables + id: pr-comment-setup if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} @@ -234,8 +237,8 @@ jobs: echo "Env: PR_COMMIT_SHA = $PR_COMMIT_SHA" fi - - name: Run when PR comment is created or edited (trigger python script) - if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} + - name: Run when PR comment is created or edited > trigger python script + if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request && steps.pr-comment-setup.outcome == 'success' }} env: GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} PR_NUMBER: ${{ github.event.issue.number }} @@ -274,7 +277,7 @@ jobs: - + # Nightly build triggered once a day nightly_build: runs-on: ubuntu-latest if: github.event.schedule == '0 2 * * *' @@ -359,7 +362,7 @@ jobs: # =============================================================== # =============================================================== - # Trigger the build with all parameters + # Trigger the build and sharing all parameters from filter_build > outputs call-workflow-passing-data: needs: filter_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master From 805ccd6b0622a3abb95d0264041da16fc0bffa62 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu, 17 Apr 2025 16:48:06 +0200 Subject: [PATCH 045/115] Fix when ci-depends-on is empty (#22) --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index aa8ebd667a3..bce92736b04 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -150,7 +150,7 @@ jobs: # check if ci has a ci-depends-on ci_ci_depends_on=$(echo "${{ inputs.ci-depends-on }}" | jq .ci) - if [ "$ci_ci_depends_on" != "null" ]; then + if [ -n "${{ inputs.ci-depends-on }}" ] && [ "$ci_ci_depends_on" != "null" ]; then echo "ci-depends-on for ci repository detected." ci_repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.repo_url) ci_branch=$(echo "${{ inputs.ci-depends-on }}" | jq .ci.branch_name) From 6232b5fbb0301d68ab81e197e096a459871b1d0d Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu, 17 Apr 2025 17:57:24 +0200 Subject: [PATCH 046/115] Manage out of tree plugins and simplify binaries generation (#23) * Manage out of tree plugins and simplify binaries generation * Add external plugins mechanism --- .github/workflows/build-and-test.yml | 26 ++++++++++--- .github/workflows/filter-build.yml | 58 ++++++++++++++-------------- 2 files changed, 51 insertions(+), 33 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index bce92736b04..f09d54f84d7 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -38,7 +38,10 @@ on: type: boolean required: false default: false - out-of-tree-build: + external-plugins: + type: string + required: false + additionnal-cmake-flags: type: string required: false builder-os: @@ -70,7 +73,8 @@ jobs: echo "with-all-tests : ${{ inputs.with-all-tests }}" echo "force-full-build : ${{ inputs.force-full-build }}" echo "generate-binaries : ${{ inputs.generate-binaries }}" - echo "out-of-tree-build : ${{ inputs.out-of-tree-build }}" + echo "external-plugins : ${{ inputs.external-plugins }}" + echo "additionnal-cmake-flags : ${{ inputs.additionnal-cmake-flags }}" echo "builder-os : ${{ inputs.builder-os }}" build: @@ -181,6 +185,18 @@ jobs: BUILD_DIR=$WORKSPACE/build echo "BUILD_DIR=$BUILD_DIR" >> $GITHUB_ENV + if [ -n "${{ inputs.external-plugins }}" ]; then + echo "Setting up external plugins." + for plugin in ${{ inputs.external-plugins }}; do + plugin_base=${plugin%@*} + plugin_branch=${plugin##*@} + plugin_repo=$(basename "$plugin_base") + + echo "Adding line 'sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base)' to file ${SRC_DIR}/applications/CMakeLists.txt" + echo "sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base)' >> ${SRC_DIR}/applications/CMakeLists.txt" + done + fi + - name: Notify dashboard shell: bash @@ -204,7 +220,7 @@ jobs: ## Deal with ci-depends-on # Loop over each key-value pair in the JSON avoiding ci repository if inside - CMAKE_OPTIONS="" + CMAKE_OPTIONS="${{inputs.additionnal-cmake-flags}}" for key in $(echo "${{ inputs.ci-depends-on }}" | jq -r 'keys[]' | grep -v '^ci$'); do repo_url=$(echo "${{ inputs.ci-depends-on }}" | jq -r ".\"$key\".repo_url") @@ -220,10 +236,10 @@ jobs: done if [[ ! -n "$CMAKE_OPTIONS" ]]; then - CMAKE_OPTIONS="no-ci-depends-on" + CMAKE_OPTIONS="no-additionnal-cmake-flags" echo "No ci-depends-on detected." else - echo "ci-depends-on detected, adding the following cmake variable : $CMAKE_OPTIONS" + echo "Adding the following cmake variable : $CMAKE_OPTIONS" fi echo "" diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index c525a4c8a64..4ade99fdf5e 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -13,30 +13,20 @@ on: description: 'Specify the stable branch to use to generate the new binaries' required: true type: string - commit_sha: - description: 'Commit SHA to check out' - required: true - default: 'head' - type: string python_version: description: 'Version of Python used' required: true default: '3.12' type: string - preset: - description: 'Preset to use from CMakePresets.json file in main repository' - required: true - default: 'full' + external-plugins: + description: 'List of github repository and branch name to add to build tree, separated by a space. Syntax: https://www.github.com/me/myrepo@mybranch' + required: false type: string - generate_binaries: - description: 'Boolean to generate the binaries' - required: true - default: true - type: boolean - builder_os: + additionnal-cmake-flags: + description: 'CMake flags to add during the CMake call. This is to be used along external-plugins. The syntax is identical to a CMake call' + required: false type: string - required: true - default: '["sh-ubuntu_gcc_release"]' + # Nightly build schedule: @@ -72,7 +62,8 @@ jobs: CI_DEPENDS_ON: ${{ steps.export-vars.outputs.CI_DEPENDS_ON }} WITH_ALL_TESTS: ${{ steps.export-vars.outputs.WITH_ALL_TESTS }} FORCE_FULL_BUILD: ${{ steps.export-vars.outputs.FORCE_FULL_BUILD }} - OUT_OF_TREE_BUILD: ${{ steps.export-vars.outputs.OUT_OF_TREE_BUILD }} + EXTERNAL_PLUGINS: ${{ steps.export-vars.outputs.EXTERNAL_PLUGINS }} + ADDITIONNAL_CMAKE_FLAGS: ${{ steps.export-vars.outputs.ADDITIONNAL_CMAKE_FLAGS }} GENERATE_BINARIES: ${{ steps.export-vars.outputs.GENERATE_BINARIES }} PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }} PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }} @@ -89,7 +80,8 @@ jobs: echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false - echo "OUT_OF_TREE_BUILD=" >> $GITHUB_ENV # OUT_OF_TREE_BUILD: "" + echo "EXTERNAL_PLUGINS=" >> $GITHUB_ENV # EXTERNAL_PLUGINS: "" + echo "ADDITIONNAL_CMAKE_FLAGS=" >> $GITHUB_ENV # ADDITIONNAL_CMAKE_FLAGS: "" echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" @@ -102,11 +94,13 @@ jobs: echo "This step runs only for binary generation." BRANCH=${{ github.event.inputs.branch }} - COMMIT=${{ github.event.inputs.commit_sha }} + COMMIT="HEAD" PYTHON=${{ github.event.inputs.python_version }} - PRESET=${{ github.event.inputs.preset }} - GENERATE_BINARIES=${{ github.event.inputs.generate_binaries }} - BUILDER_OS=${{ github.event.inputs.builder_os }} + PRESET="full" + GENERATE_BINARIES=true + BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"] + EXTERNAL_PLUGINS="${{ inputs.external-plugins }}" + ADDITIONNAL_CMAKE_FLAGS="${{ inputs.additionnal-cmake-flags }}" # Validate branch format (e.g., v25.06) if [ [ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ] && [ "$BRANCH" != "master" ] ]; then @@ -166,6 +160,9 @@ jobs: echo "PYTHON_VERSION=$PYTHON" >> $GITHUB_ENV echo "GENERATE_BINARIES=$GENERATE_BINARIES" >> $GITHUB_ENV echo "BUILDER_OS=$BUILDER_OS" >> $GITHUB_ENV + echo "EXTERNAL_PLUGINS=$EXTERNAL_PLUGINS" >> $GITHUB_ENV + echo "ADDITIONNAL_CMAKE_FLAGS=$ADDITIONNAL_CMAKE_FLAGS" >> $GITHUB_ENV + - name: Set up python uses: actions/setup-python@v5 @@ -268,7 +265,8 @@ jobs: echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT - echo "OUT_OF_TREE_BUILD=${OUT_OF_TREE_BUILD}" >> $GITHUB_OUTPUT + echo "EXTERNAL_PLUGINS=${EXTERNAL_PLUGINS}" >> $GITHUB_OUTPUT + echo "ADDITIONNAL_CMAKE_FLAGS=${ADDITIONNAL_CMAKE_FLAGS}" >> $GITHUB_OUTPUT echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT @@ -293,7 +291,8 @@ jobs: CI_DEPENDS_ON: ${{ steps.export-vars.outputs.CI_DEPENDS_ON }} WITH_ALL_TESTS: ${{ steps.export-vars.outputs.WITH_ALL_TESTS }} FORCE_FULL_BUILD: ${{ steps.export-vars.outputs.FORCE_FULL_BUILD }} - OUT_OF_TREE_BUILD: ${{ steps.export-vars.outputs.OUT_OF_TREE_BUILD }} + EXTERNAL_PLUGINS: ${{ steps.export-vars.outputs.EXTERNAL_PLUGINS }} + ADDITIONNAL_CMAKE_FLAGS: ${{ steps.export-vars.outputs.ADDITIONNAL_CMAKE_FLAGS }} GENERATE_BINARIES: ${{ steps.export-vars.outputs.GENERATE_BINARIES }} PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }} PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }} @@ -310,7 +309,8 @@ jobs: echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false - echo "OUT_OF_TREE_BUILD=" >> $GITHUB_ENV # OUT_OF_TREE_BUILD: "" + echo "EXTERNAL_PLUGINS=" >> $GITHUB_ENV # EXTERNAL_PLUGINS: "" + echo "ADDITIONNAL_CMAKE_FLAGS=" >> $GITHUB_ENV # ADDITIONNAL_CMAKE_FLAGS: "" echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" @@ -349,7 +349,8 @@ jobs: echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT - echo "OUT_OF_TREE_BUILD=${OUT_OF_TREE_BUILD}" >> $GITHUB_OUTPUT + echo "EXTERNAL_PLUGINS=${EXTERNAL_PLUGINS}" >> $GITHUB_OUTPUT + echo "ADDITIONNAL_CMAKE_FLAGS=${ADDITIONNAL_CMAKE_FLAGS}" >> $GITHUB_OUTPUT echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT @@ -374,7 +375,8 @@ jobs: ci-depends-on: ${{ needs.filter_build.outputs.CI_DEPENDS_ON }} with-all-tests: ${{ needs.filter_build.outputs.WITH_ALL_TESTS == 'true'}} force-full-build: ${{ needs.filter_build.outputs.FORCE_FULL_BUILD == 'true'}} - out-of-tree-build: ${{ needs.filter_build.outputs.OUT_OF_TREE_BUILD }} + external-plugins: ${{ needs.filter_build.outputs.EXTERNAL_PLUGINS }} + additionnal-cmake-flags: ${{ needs.filter_build.outputs.ADDITIONNAL_CMAKE_FLAGS }} generate-binaries: ${{ needs.filter_build.outputs.GENERATE_BINARIES == 'true'}} pr-owner-url: ${{ needs.filter_build.outputs.PR_OWNER_URL }} pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }} From 9499d7d503eeecffc835532553b0fc5b8b0da472 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 17 Apr 2025 18:09:06 +0200 Subject: [PATCH 047/115] Fix filter build --- .github/workflows/filter-build.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 4ade99fdf5e..4c57b07e172 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -124,9 +124,9 @@ jobs: fi # Validate Python version format (e.g., 3.12) - if [[ ! "PYTHON" =~ ^[0-9]{1}\.[0-9]{2}$ ]]; then - if [[ ! "PYTHON" =~ ^3\.(9|1[0-8])$ ]]; then - echo "Error: Invalid Python version format: PYTHON" + if [[ ! "$PYTHON" =~ ^[0-9]{1}\.[0-9]{2}$ ]]; then + if [[ ! "$PYTHON" =~ ^3\.(9|1[0-8])$ ]]; then + echo "Error: Invalid Python version format: $PYTHON" exit 1 fi fi From 0a14604e61fb626766a669fb5343de4f88b8b841 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 17 Apr 2025 18:10:35 +0200 Subject: [PATCH 048/115] Restore changes --- .github/workflows/build-and-test.yml | 9 +++++++-- .github/workflows/filter-build.yml | 22 ++++++++++++---------- 2 files changed, 19 insertions(+), 12 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index f09d54f84d7..c2fd468d71e 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -149,8 +149,13 @@ jobs: cd $WORKSPACE ## Clone CI and use ci-depends-on structure - ci_branch=${{ inputs.sofa-branch-name }} - ci_repo_url="https://www.github.com/sofa-framework/ci" + ### TODO: UNCOMMENT THIS WHEN PUSHIN TO REAL SOFA + # ci_branch=${{ inputs.sofa-branch-name }} + # ci_repo_url="https://www.github.com/sofa-framework/ci" + ### AND REMOVE THOSE + ci_branch=jenkins_gha_migration + ci_repo_url="https://www.github.com/bakpaul/ci" + # check if ci has a ci-depends-on ci_ci_depends_on=$(echo "${{ inputs.ci-depends-on }}" | jq .ci) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 4c57b07e172..d046748a473 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -111,16 +111,18 @@ jobs: echo "Branch name $BRANCH is valid." # Check commit SHA format - if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then - echo "Error: Invalid commit SHA format: $COMMIT" - exit 1 - fi - # Check the commit exists in the repository - if git cat-file -e "$COMMIT" 2>/dev/null; then - echo "Commit $COMMIT is valid." - else - echo "Commit $COMMIT does not exist in the repository." - exit 1 + if [[ "$COMMIT" != "HEAD" ]]; then + if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then + echo "Error: Invalid commit SHA format: $COMMIT" + exit 1 + fi + # Check the commit exists in the repository + if git cat-file -e "$COMMIT" 2>/dev/null; then + echo "Commit $COMMIT is valid." + else + echo "Commit $COMMIT does not exist in the repository." + exit 1 + fi fi # Validate Python version format (e.g., 3.12) From fd5e726302dffe597db53cc8bd4db796e96a0c15 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 17 Apr 2025 18:15:04 +0200 Subject: [PATCH 049/115] Remove unnecessary checks in workflow dispatch --- .github/workflows/filter-build.yml | 36 ------------------------------ 1 file changed, 36 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index d046748a473..36ad3ce1aaa 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -110,21 +110,6 @@ jobs: fi echo "Branch name $BRANCH is valid." - # Check commit SHA format - if [[ "$COMMIT" != "HEAD" ]]; then - if [[ ! "$COMMIT" =~ ^[a-fA-F0-9]{40}$ ]]; then - echo "Error: Invalid commit SHA format: $COMMIT" - exit 1 - fi - # Check the commit exists in the repository - if git cat-file -e "$COMMIT" 2>/dev/null; then - echo "Commit $COMMIT is valid." - else - echo "Commit $COMMIT does not exist in the repository." - exit 1 - fi - fi - # Validate Python version format (e.g., 3.12) if [[ ! "$PYTHON" =~ ^[0-9]{1}\.[0-9]{2}$ ]]; then if [[ ! "$PYTHON" =~ ^3\.(9|1[0-8])$ ]]; then @@ -134,27 +119,6 @@ jobs: fi echo "Python version $PYTHON is valid." - # Check if the preset is valid - ALLOWED_PRESETS=("minimal" "standard" "full" "minimal-dev" "standard-dev" "full-dev") - if [[ ! " ${ALLOWED_PRESETS[@]} " =~ " ${PRESET} " ]]; then - echo "Error: Invalid preset $PRESET. Must be one of: ${ALLOWED_PRESETS[*]}" - exit 1 - fi - echo "Preset $PRESET is valid." - - # Validate generate_binaries (must be true or false) - if [[ "$GENERATE_BINARIES" != "true" && "$GENERATE_BINARIES" != "false" ]]; then - echo "Error: 'generate_binaries' must be either 'true' or 'false'." - exit 1 - fi - - # Validate builder_os (must be a list) - python3 -c "import ast; x=ast.literal_eval('$BUILDER_OS'); assert isinstance(x, list)" 2>/dev/null - if [[ $? -ne 0 ]]; then - echo "Error: 'builder_os' must be a list." - return 1 - fi - # Save all information in environment variables echo "SOFA_BRANCH_NAME=$BRANCH" >> $GITHUB_ENV echo "SOFA_COMMIT_SHA=$COMMIT" >> $GITHUB_ENV From b5f457e76aa98b324500ebc213fce8c5d46f81c9 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 17 Apr 2025 18:18:20 +0200 Subject: [PATCH 050/115] Fix builder os matrix --- .github/workflows/filter-build.yml | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 36ad3ce1aaa..5ba135a3b87 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -94,11 +94,7 @@ jobs: echo "This step runs only for binary generation." BRANCH=${{ github.event.inputs.branch }} - COMMIT="HEAD" PYTHON=${{ github.event.inputs.python_version }} - PRESET="full" - GENERATE_BINARIES=true - BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"] EXTERNAL_PLUGINS="${{ inputs.external-plugins }}" ADDITIONNAL_CMAKE_FLAGS="${{ inputs.additionnal-cmake-flags }}" @@ -121,11 +117,11 @@ jobs: # Save all information in environment variables echo "SOFA_BRANCH_NAME=$BRANCH" >> $GITHUB_ENV - echo "SOFA_COMMIT_SHA=$COMMIT" >> $GITHUB_ENV - echo "PRESET=$PRESET" >> $GITHUB_ENV + echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV + echo "PRESET=full" >> $GITHUB_ENV echo "PYTHON_VERSION=$PYTHON" >> $GITHUB_ENV - echo "GENERATE_BINARIES=$GENERATE_BINARIES" >> $GITHUB_ENV - echo "BUILDER_OS=$BUILDER_OS" >> $GITHUB_ENV + echo "GENERATE_BINARIES=true" >> $GITHUB_ENV + echo "BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]" >> $GITHUB_ENV echo "EXTERNAL_PLUGINS=$EXTERNAL_PLUGINS" >> $GITHUB_ENV echo "ADDITIONNAL_CMAKE_FLAGS=$ADDITIONNAL_CMAKE_FLAGS" >> $GITHUB_ENV From daee071406b3d768f5dbd5f168de3552f3a68452 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 17 Apr 2025 18:20:37 +0200 Subject: [PATCH 051/115] Fix builder os matrix --- .github/workflows/filter-build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 5ba135a3b87..9ed6b59c10d 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -121,7 +121,7 @@ jobs: echo "PRESET=full" >> $GITHUB_ENV echo "PYTHON_VERSION=$PYTHON" >> $GITHUB_ENV echo "GENERATE_BINARIES=true" >> $GITHUB_ENV - echo "BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]" >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV echo "EXTERNAL_PLUGINS=$EXTERNAL_PLUGINS" >> $GITHUB_ENV echo "ADDITIONNAL_CMAKE_FLAGS=$ADDITIONNAL_CMAKE_FLAGS" >> $GITHUB_ENV From 1deb2092e6bc839f41ec853791ec982477eb913e Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu, 17 Apr 2025 18:26:00 +0200 Subject: [PATCH 052/115] Activate plugins that are added (#25) --- .github/workflows/build-and-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index c2fd468d71e..f2c0b8a8734 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -197,8 +197,8 @@ jobs: plugin_branch=${plugin##*@} plugin_repo=$(basename "$plugin_base") - echo "Adding line 'sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base)' to file ${SRC_DIR}/applications/CMakeLists.txt" - echo "sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base)' >> ${SRC_DIR}/applications/CMakeLists.txt" + echo "Adding line 'sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)' to file ${SRC_DIR}/applications/CMakeLists.txt" + echo "sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)' >> ${SRC_DIR}/applications/CMakeLists.txt" done fi From 398970d601c6058acf80eb7dc5a3233d8c5d65b4 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 22 Apr 2025 15:30:10 +0200 Subject: [PATCH 053/115] fix adding external repo --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index f2c0b8a8734..740ad2fce31 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -198,7 +198,7 @@ jobs: plugin_repo=$(basename "$plugin_base") echo "Adding line 'sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)' to file ${SRC_DIR}/applications/CMakeLists.txt" - echo "sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)' >> ${SRC_DIR}/applications/CMakeLists.txt" + echo "sofa_add_external(plugin $plugin_repo GIT_REF $plugin_branch GIT_REPOSITORY $plugin_base ON)" >> "${SRC_DIR}/applications/CMakeLists.txt" done fi From 93b5b9303d03e7b9e1407549f8433f54ccc7af34 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 22 Apr 2025 15:44:14 +0200 Subject: [PATCH 054/115] Force full build on workflow dispatch --- .github/workflows/filter-build.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/filter-build.yml index 9ed6b59c10d..c81dfcb892d 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/filter-build.yml @@ -124,7 +124,8 @@ jobs: echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV echo "EXTERNAL_PLUGINS=$EXTERNAL_PLUGINS" >> $GITHUB_ENV echo "ADDITIONNAL_CMAKE_FLAGS=$ADDITIONNAL_CMAKE_FLAGS" >> $GITHUB_ENV - + echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV + - name: Set up python uses: actions/setup-python@v5 From 27a49f2108d38975f65b84728a28ea0725e933ea Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Mon, 28 Apr 2025 18:50:27 +0200 Subject: [PATCH 055/115] Add missing inputs to filter build action (#26) * Test action * Fix action * Test pre job hook * Add setup_build step * Fix action * FIX when folders already exist + TODOS * Add filter action and scripts * replace sofa-framework by bakpaul * fix indentation * add checkout code action * Add backbone * Cloning SOFA working * Forgot to save * add chmod to run script * Add call-workflow, refactor env variables, update python script * remove useless comment * Apply suggestions from code review * Apply suggestions from code review * Update filter-build.yml * Finalize clone sofa and ci (#7) * Push space to creatye PR * Finished clone sofa and ci stage * Rename action * fix some typos in filter script * Add build step (#8) * Commit to open a PR * revert env modification * Move steps around + add os configuration * Configure step should be working * Move comment around * Step build * Use step outputs to send variables in call workflow (#9) * Use step outputs to send variables in call workflow * add BUILDER_OS environment variable * add check for all tests in PR body * remove useless secret * udpate PR python script * add missing runs-on: ubuntu-latest * Fix build action/ ci-depends-on * remove runs-on * update python script * clean python script * fix export of booleans * Fix action --------- Co-authored-by: Paul Baksic * Update checkPRInfoBeforeBuild.py (#11) * Update checkPRInfoBeforeBuild.py * Apply suggestions from code review Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> * Apply suggestions from code review * Apply suggestions from code review * Test * Use this script * fix * test fromJson * add debug * Final fix * revert change * Refacto display action * Fix filter --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Paul Baksic * Fix build script (#13) * TO BE REVERTED BEFORE MERGE * Fix syntax * Fix git handle * fix action location * fix typo * Fix call to load vm env * fix script + revert wrong changes (#15) * Update filter-build.yml (#16) * Fix sha when commit pushed in master (#17) * Temporarily change remote for non-PR (#18) * 202505 evolve filter nightly (#19) * Isolate nightly build to allow for matrix only in nightly cases * Check that SOFA branch name is either master or vXX.XX * Attempt to detect existing running builds on PR * Fix check on ci-depends-on * fix indent and add generic condition for nightly build * Another fix for ci-depends-on * Another fix for ci-depends-on in json * Display info on PR comment * Display info on PR comment * Display info on PR comment * Fix trigger through comments (#20) * Fix trigger through comments * remove check when action is already triggered * remove test comment * move echo to read it * attempt to access information PR comment * attempt to access information PR comment * complete access information PR comment * complete access information PR comment * Update search of PR information when comment_issue * Remove empty env var * add check on OWNER_NAME var * add check on OWNER_NAME var * last attempt to fill env var for comment_issue * split in two steps for comment_issue * add missing PR number for comment_issue (step 2) * Start work on docker use (#10) * Start work * Add docker run for ubuntu and fedora * TOREVERT * Add insights and login * Fix action * Try fix docker autentification * .github/workflows/ * Add read only token to action * fix docker user name * Change pipe to or * Fix docker call * try fix docker * fix ? * Fix ci-depends-on mechanism * Fix quote outputed by jq * Restore branch name * fix python script * Fix ci-depends-on remote url * Fix script not launching * Display arguments * Use github env variable for node name * Unify workspace folder using matrix os * Add display * Add display * Update .github/workflows/filter-build.yml Co-authored-by: Hugo --------- Co-authored-by: Hugo * Filter build only if not schedule, PR comment linked steps (#21) * Filter build only if not schedule, PR comment linked steps * Apply suggestions from code review --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> * Fix when ci-depends-on is empty (#22) * Manage out of tree plugins and simplify binaries generation (#23) * Manage out of tree plugins and simplify binaries generation * Add external plugins mechanism * Fix filter build * Restore changes * Remove unnecessary checks in workflow dispatch * Fix builder os matrix * Fix builder os matrix * Activate plugins that are added (#25) * add missing inputs * fix typo * Set standard-dev preset for nightly and rename action * Various cleaning * Rename action --------- Co-authored-by: hugtalbot --- ...-build.yml => trigger-build-and-tests.yml} | 44 +++++++++++++------ 1 file changed, 31 insertions(+), 13 deletions(-) rename .github/workflows/{filter-build.yml => trigger-build-and-tests.yml} (91%) diff --git a/.github/workflows/filter-build.yml b/.github/workflows/trigger-build-and-tests.yml similarity index 91% rename from .github/workflows/filter-build.yml rename to .github/workflows/trigger-build-and-tests.yml index c81dfcb892d..e2d3dc0567e 100644 --- a/.github/workflows/filter-build.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -1,5 +1,4 @@ -name: Filter build action - +name: Trigger build and tests # =============================================================== # =============================================================== @@ -26,6 +25,27 @@ on: description: 'CMake flags to add during the CMake call. This is to be used along external-plugins. The syntax is identical to a CMake call' required: false type: string + preset: + type: choice + description: Which preset to use for compilation + options: + - standard + - supported-plugins + - full + - standard-dev + - supported-plugins-dev + - full-dev + default: 'full' + builder-os: + type: choice + description: On which OS run the binaries generation + options: + - '["sh-ubuntu_gcc_release"]' + - '["sh-windows_vs2022_release"]' + - '["sh-macos_clang_release"]' + - '["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' + default: '["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' + # Nightly build @@ -95,8 +115,6 @@ jobs: BRANCH=${{ github.event.inputs.branch }} PYTHON=${{ github.event.inputs.python_version }} - EXTERNAL_PLUGINS="${{ inputs.external-plugins }}" - ADDITIONNAL_CMAKE_FLAGS="${{ inputs.additionnal-cmake-flags }}" # Validate branch format (e.g., v25.06) if [ [ ! "$BRANCH" =~ ^v[0-9]{2}\.[0-9]{2}$ ] && [ "$BRANCH" != "master" ] ]; then @@ -116,15 +134,15 @@ jobs: echo "Python version $PYTHON is valid." # Save all information in environment variables - echo "SOFA_BRANCH_NAME=$BRANCH" >> $GITHUB_ENV + echo "SOFA_BRANCH_NAME=${{ github.event.inputs.branch }}" >> $GITHUB_ENV echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV - echo "PRESET=full" >> $GITHUB_ENV - echo "PYTHON_VERSION=$PYTHON" >> $GITHUB_ENV + echo "PRESET=${{ github.event.inputs.preset }}" >> $GITHUB_ENV + echo "PYTHON_VERSION=${{ github.event.inputs.python_version }}" >> $GITHUB_ENV echo "GENERATE_BINARIES=true" >> $GITHUB_ENV - echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV - echo "EXTERNAL_PLUGINS=$EXTERNAL_PLUGINS" >> $GITHUB_ENV - echo "ADDITIONNAL_CMAKE_FLAGS=$ADDITIONNAL_CMAKE_FLAGS" >> $GITHUB_ENV + echo 'BUILDER_OS=${{ github.event.inputs.builder-os }}' >> $GITHUB_ENV echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV + echo "EXTERNAL_PLUGINS=${{ inputs.external-plugins }}" >> $GITHUB_ENV + echo "ADDITIONNAL_CMAKE_FLAGS=${{ inputs.additionnal-cmake-flags }}" >> $GITHUB_ENV - name: Set up python @@ -272,8 +290,8 @@ jobs: echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false - echo "EXTERNAL_PLUGINS=" >> $GITHUB_ENV # EXTERNAL_PLUGINS: "" - echo "ADDITIONNAL_CMAKE_FLAGS=" >> $GITHUB_ENV # ADDITIONNAL_CMAKE_FLAGS: "" + echo "EXTERNAL_PLUGINS=" >> $GITHUB_ENV # EXTERNAL_PLUGINS: "" + echo "ADDITIONNAL_CMAKE_FLAGS=" >> $GITHUB_ENV # ADDITIONNAL_CMAKE_FLAGS: "" echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" @@ -297,7 +315,7 @@ jobs: run: | echo "This step runs only for nightly builds." echo "SOFA_BRANCH_NAME=${{ matrix.sofa_version }}" >> $GITHUB_ENV - echo "PRESET=standard" >> $GITHUB_ENV + echo "PRESET=standard-dev" >> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "GENERATE_BINARIES=true" >> $GITHUB_ENV echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV From 5be44765a6a25c331918c7e2936e5c20efb5ed12 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue, 29 Apr 2025 10:52:39 +0200 Subject: [PATCH 056/115] Add test step (#28) * Start work on testin * Temporary change ref in filter build to test this action * Run unit tests even when with-all-tests is not on * Fix test launching * Fix script dir * Update .github/workflows/filter-build.yml Co-authored-by: Hugo * Apply suggestions from code review --------- Co-authored-by: Hugo --- .github/workflows/build-and-test.yml | 28 +++++++++++++++++++++++----- 1 file changed, 23 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 740ad2fce31..e7f2d1ad09c 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -214,6 +214,7 @@ jobs: #Need more information. Might be good to - name: Build + id: build-step continue-on-error: true shell: bash run: | @@ -222,6 +223,7 @@ jobs: BUILD_TYPE=$(echo ${{ matrix.os }} | awk -F '_' '{print $3}') CONFIG=$(echo ${{ matrix.os }} | awk -F '_' '{print $1"_"$2}') NODE_NAME="${{ runner.name }}" # Needed by configure-and-build --> TODO: be able to get hostname multiplatform + echo "NODE_NAME=$NODE_NAME" >> $GITHUB_ENV ## Deal with ci-depends-on # Loop over each key-value pair in the JSON avoiding ci repository if inside @@ -288,6 +290,9 @@ jobs: DOCKER_IMAGE="sofaframework/sofabuilder_${builder_type}:${default_tag}" fi + echo "DOCKER_IMAGE=$DOCKER_IMAGE" >> $GITHUB_ENV + + echo "Launching configuration and build through docker using image ${DOCKER_IMAGE}. Running ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ @@ -301,24 +306,37 @@ jobs: - name: Notify dashboard + if: always() shell: bash run: | #TODO - name: Launch tests continue-on-error: true - if: steps.Build.outcome == 'success' + if: steps.build-step.outcome == 'success' shell: bash run: | - #TODO - #Use new action with workflow call + # If os has got docker then use it + # Here no need to fetch it because it has already been taken care of in the build step + if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then + + echo "Launching test suite through docker using image ${DOCKER_IMAGE}. Running ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/ ${NODE_NAME} ${{ inputs.python-version }}" + docker run --rm \ + --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ + ${DOCKER_IMAGE} \ + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} ${{ inputs.with-all-tests }}" + else + echo "Launching configuration and build" + + bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "${{ inputs.with-all-tests }}" + fi + - name: Publish artifacts - if: steps.Build.outcome == 'success' && inputs.generate-binaries == true + if: steps.build-step.outcome == 'success' && inputs.generate-binaries == true shell: bash run: | #TODO - #Use new action with workflow call - name: Publish logs if: always() From 2118d079a88d89de288c99a0fa85d2f89c328cc2 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue, 29 Apr 2025 12:06:41 +0200 Subject: [PATCH 057/115] Add log publishing (#31) * Add log publishing * Apply suggestions from code review --------- Co-authored-by: Hugo --- .github/workflows/build-and-test.yml | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index e7f2d1ad09c..35c70510f79 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -326,7 +326,7 @@ jobs: ${DOCKER_IMAGE} \ /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} ${{ inputs.with-all-tests }}" else - echo "Launching configuration and build" + echo "Launching test suite" bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "${{ inputs.with-all-tests }}" fi @@ -338,9 +338,18 @@ jobs: run: | #TODO - - name: Publish logs + - name: Publish build logs if: always() - shell: bash - run: | - #TODO - #Use new action with workflow call + uses: actions/upload-artifact@v4 + with: + name: build-logs + path: | + $${{ env.BUILD_DIR }}/build/make-output.txt + + - name: Publish tests logs + if: always() + uses: actions/upload-artifact@v4 + with: + name: tests-logs + path: | + $${{ env.BUILD_DIR }}/build/tests_results/ \ No newline at end of file From 0636656fe9015fa9114b4d736ec4aaf143b6b93c Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 30 Apr 2025 12:03:25 +0200 Subject: [PATCH 058/115] Fix log publish --- .github/workflows/build-and-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 35c70510f79..a7b8da2f776 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -344,7 +344,7 @@ jobs: with: name: build-logs path: | - $${{ env.BUILD_DIR }}/build/make-output.txt + $${{ env.BUILD_DIR }}/make-output.txt - name: Publish tests logs if: always() @@ -352,4 +352,4 @@ jobs: with: name: tests-logs path: | - $${{ env.BUILD_DIR }}/build/tests_results/ \ No newline at end of file + $${{ env.BUILD_DIR }}/tests_results/ From c3cb6b0f33c8a7ec389c9b952f2c41c111c72eaf Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 30 Apr 2025 17:48:16 +0200 Subject: [PATCH 059/115] Update build-and-test.yml --- .github/workflows/build-and-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index a7b8da2f776..f4d1858a6cc 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -344,7 +344,7 @@ jobs: with: name: build-logs path: | - $${{ env.BUILD_DIR }}/make-output.txt + ${{ env.BUILD_DIR }}/make-output.txt - name: Publish tests logs if: always() @@ -352,4 +352,4 @@ jobs: with: name: tests-logs path: | - $${{ env.BUILD_DIR }}/tests_results/ + ${{ env.BUILD_DIR }}/tests_results/ From 21993a76292ab5a36db44047fc0cd02d4c0970d9 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 24 Sep 2025 15:06:22 +0200 Subject: [PATCH 060/115] Squashed commit of the following: MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit commit 5007b6dc27661cddbcb3becee9de3874f9ab8180 Author: Frederick Roy Date: Wed Sep 24 21:37:23 2025 +0900 [Examples] Fix MultiStepAnimationLoop scene (#5700) make the multistepanimationloop scene work again Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit b0886d2087687f3dd1829a2a740e03e129c07689 Author: Frederick Roy Date: Wed Sep 24 21:36:22 2025 +0900 [all] Matrix: replace all calls to [i][j] with a single call (i,j) (#5650) * replace in animation loop * replace in collision * replace in constraint * debug: add assertion ;; replace in type * replace in helper * replace in linearalgebra * replace in defaulttype * replace in core * compile AnimationLoop * compile Mapping * compile LinearSolver * compile FEM.HyperE * compile FEM.Elastic * compile FEM.NonUni * compile Spring * compile MechaLoad * compile Engine * compile Collision * compile MT * compile full Mat * compile gl * restore operator [] * restore [] for lines * Update Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> * fix typo (from copy paste...) * forgotten case * fix tests compilation * fix bad copy paste Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 034d3d7ed019d606d091928c7c13e61cbde86b5a Author: Frederick Roy Date: Fri Sep 19 16:04:51 2025 +0900 [GUI.Common] Fix crash when selecting a MechanicalObject (#5699) fix crash when selecting commit 366f3243645a7afb5f34645d6414794ad29bdc0f Author: Damien Marchal Date: Fri Sep 12 03:47:08 2025 +0200 [SofaImplicitField] Add getHessian and getGradient to the python binding (#5655) * Add binding for hessian & gradient. * Add getHessian, getGradient and getValue with an unified API to Binding_ScalarField I unified the interface so it is conformant with the one from sofa expect for getHessian. * Update applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp commit 47cf52a38c3ec14e749f9a293497920289f38a02 Author: Isaac94b <48739538+Isaac94b@users.noreply.github.com> Date: Wed Sep 10 00:41:36 2025 +0200 [SofaCUDA] adding support for CUDA 13.0: remove deprecated API usage (#5686) adding support for CUDA 13.0: remove deprecated API usage Co-authored-by: ishak barkat commit a2c58993f6a44f0b7b647d510e670a96882417dd Author: Damien Marchal Date: Mon Sep 8 09:27:45 2025 +0200 [Sofa.Gui.Common] Fix invalid rendering of Node when selected. (#5687) Fix invalid rendering of Node depending on mShowSelection commit 0ed33b8daf9300f7b2af3984f77293480a6c5c97 Author: Frederick Roy Date: Fri Sep 5 16:46:49 2025 +0900 [Core] ObjectFactory: fix warning about string concatenation (#5678) fix warning about concat Co-authored-by: Hugo Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 5f6d24d4e0ecfe394d87bd20f63aa75f577ed309 Author: Frederick Roy Date: Fri Sep 5 16:36:51 2025 +0900 [Type] Vec: update equality methods (#5635) update equality methods Co-authored-by: Hugo Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit ddf26388b893498d79eff9378bc0a809f9b1d48c Author: Frederick Roy Date: Fri Sep 5 16:28:09 2025 +0900 [Mapping.Linear] BarycentricMappingTopologyContainerMapper: Various cleanups (#5630) * refactor to avoid pointer * various cleaning (types) --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 7986776a7760f13e2b89fc5f7cf3c819433086b7 Author: Damien Marchal Date: Fri Sep 5 09:26:46 2025 +0200 [Sofa.Core] Merge DAGNode in Node (#5566) * Merge DAGNode in Node * Use Node in place of DAGNode in sofa's code. * Copy past content of DAGNode in Node * FIXUP forward declaration of BaseMechanicalstate * FIX Node refactoring invalid merge. * Clean of the integration of DAGNode into Node Important things are: - integration of NODEgetMeshTopologyLink into getMeshTopologyLink - refactoring of updateContext, updateVisualContext and updateSimulationContext Some code was shared between them.. so I factorize that into a new method called initializeContexts() non important things are removal of un-needed static_cast * Add deprecation macro in DAGNode.h forwarding to Node commit 8a2ea19c177f14b4b4094c9cb0ffb2d00501fb6e Author: Frederick Roy Date: Thu Sep 4 14:57:31 2025 +0900 [Mapping.Linear] BarycentricMappingTopologyContainerMapper: use array for barycentric coefficients (#5628) * add new function to create array of baryCoeff (and not dynamic vector) * remove dynamic vector version * add perf bench scenes * rename parameter * replace sreal with real in return type commit 20d3d7bdf5e1b03c09aa557d32490ca50669b85c Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Sep 4 01:39:18 2025 +0200 [CImgPlugin] Fix configuration when cmake is reloaded without the fetched dir (#5683) Fix configuration when cmake is reloaded without the fetched dir commit 17440b84d69bd3256b5985ee7e0142af1bc5e3c3 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Sep 3 14:13:13 2025 +0200 [Plugins] Remove SofaAssimp from sources and pluginize it (#5653) * Remove SofaAssimp from sources and pluginize it * Propagate changes into CMakeLists.txt commit 64e5dbbe9ecfc95ca9ab6dff965f1398c9f2c7f2 Author: Hugo Date: Wed Sep 3 08:39:26 2025 +0200 [all] Fix warnings (#5660) * [all] Fix warnings * Update Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl --------- Co-authored-by: Frederick Roy commit 2a1a23d357e8533091039b4bdb88f98ba40d5679 Author: Hugo Date: Wed Sep 3 03:20:27 2025 +0200 [all] Lifecycle v25.12 : disable deprecated attributes (#5659) * [all] Lifecycle v25.12 : disable attributes * disable onSetUp and remove use of findOrCreateAValidPath * Fix NewtonRaphsonSolver_test.cpp * fix compilation MechanicalObjectVOp_test commit cc263efbdaa2e7919e8dea9ae73bde408a0c2ff2 Author: Damien Marchal Date: Tue Sep 2 19:49:15 2025 +0200 [Sofa.GUI.Common] Handle object selection in BaseViewer (#5636) * Add a way to handle object selection in viewer. It is usefull to be able to handle the currently selected object in the viewer to implement visual feedbacks. This is done by adding a vector of selected node/object as well as a drawSelection method to do the rendering. * Replace std::vector with std::set * FIXUP * Add configuration parameters to control the selectionDrawing * Update BaseViewer.cpp Remove commented code. * Update BaseViewer.cpp Integrate comments * Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp Co-authored-by: Hugo * Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp --------- Co-authored-by: Hugo commit 83ff01774a1221db98c565bc1fa175ad739f1e38 Author: Hugo Date: Mon Sep 1 09:24:02 2025 +0200 [LinearSolver,MechanicalLoad] Lifecycle v25.12 : remove deprecated Data (#5658) commit 50c5fb757bf9c74a4607eda600ef8964a9ccda0b Author: Hugo Date: Mon Sep 1 08:01:12 2025 +0200 [all] Lifecycle v25.12 : disable deprecated headers (#5662) commit f376367c714d3fac76d9890b89c36b49bb9759a7 Author: Hugo Date: Mon Sep 1 07:08:22 2025 +0200 [all] Lifecycle v25.12 : remove deprecated headers (#5657) * Remove CudaFixedConstraint and CudaLinearMovementConstraint * Remove SleepController * Remove Gravity from SofaGraphComponent * Remove DefaultCollisionGroupManager, RayTriangleVisitor and SolverMerger from SofaMiscCollision * Remove SimplicialLDLTTraits, SimplicialLLTTraits, SparseLUTraits and SparseQRTraits from LinearSolver + CMakeLists commit e1a39ac4fdbb5213a89e921e04952d64a58f4d9c Author: Hugo Date: Mon Sep 1 06:17:54 2025 +0200 [all] Lifecycle v25.12 : remove deprecated attributes (#5656) * Remove SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER * Remove SOFA_ATTRIBUTE_DISABLED__SPARSECOMMON * Remove SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER * Remove SOFA_ATTRIBUTE_DISABLED__TESTING_IMPORT_PLUGIN * Remove SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_* * Remove last disabled attributes in classes EdgeSetGeometryAlgorithms and MechanicalGetNonDiagonalMassesCountVisitor commit 072a5b060e03d9f98ec49101de6871b9d6e8da3d Author: Hugo Date: Mon Sep 1 04:13:52 2025 +0200 [Response] Clean init of CollisionResponse (#5604) * [Response] Clean init of CollisionResponse * Apply suggestions from code review * Apply suggestions from code review Co-authored-by: Frederick Roy * add a function in OptionsGroup to list all possibly items * only set the response when given response data is valid and not empty in create() function * clean the init of CollisionResponse to properly warn the user * Update all examples which where not specifying the collision response * Update CollisionPipeline_test which was not specifying the collision response * Fix two last failing scene tests * Fix last .. CUDA scene --------- Co-authored-by: Frederick Roy commit 0c2c13420d401344261970acd79bb8417db3a778 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Aug 29 10:15:29 2025 +0200 [CMake] Use cmake and fetch mechanism for windeppack (#5614) Use subdiretory and fetch mechanism for WindDepPAck to automatise it while leacing the possibility to modify it commit 208f309b954985205b99f88ad8498ca56fac9cbe Author: Frederick Roy Date: Fri Aug 29 07:24:31 2025 +0900 [Type] Mat: explicit instanciations and fix methods (#5634) explicit instanciations for mat commit 3d55bf95097fa56bf96de4eafe28c20a3a0b843d Author: Hugo Date: Thu Aug 28 21:46:22 2025 +0200 [examples] Fix stability in RegularGridTopology.scn (#5633) * [examples] Fix stability in RegularGridTopology.scn * add regression test config --------- Co-authored-by: Frederick Roy Co-authored-by: erik pernod commit aaf801eb6dacacfc894293da046008756d367064 Author: Hugo Date: Thu Aug 28 18:08:35 2025 +0200 [examples] Center default scene in world origin (#5624) * [examples] Update new default scene with LineAxis and centered * remove LineAxis but keep centering --------- Co-authored-by: Damien Marchal Co-authored-by: erik pernod commit d437ef9868b94457954157b09a60a229d63df4c1 Author: Alex Bilger Date: Thu Aug 28 04:20:03 2025 +0200 [SceneChecking] Introduce check on mappings and states in a Node (#5568) * [SceneChecking] Introduce check on mappings and states in a Node * warnings to errors Co-authored-by: Hugo * take nonmechanical state into account * add another check * apply good practice * Fix loadVolume scene with wrongly placed MeshLoader * Apply suggestions from code review * Apply suggestions from code review --------- Co-authored-by: Hugo commit cd0df1ac94b923745d157485513e09ed2c4eb5d2 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Aug 28 02:57:21 2025 +0200 [CMake] Add way to parametrize globally where to relocate plugins, projects and applications (#5562) * Enable the use of global variable to specify relocatable directory and allow to specify custom one * Remove debug message commit c0f989ad5b84d2bbcda3906f9a2e9595372d4e9d Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Aug 28 02:04:11 2025 +0200 [Config] Add new macro for fetching dependencies (#5550) * Introduce new macro for fetching external dependencies * Use macro in code base * remove unused macro * Fix CImg * Avoid fetching when CMake is disconnected * Add Local dir mechanism * WIP, use the macro for plugins * Finalize use of the macro for plugins commit d67d1cda5f44d322059d0a2115c77038e5e88a5c Author: Frederick Roy Date: Tue Aug 26 16:57:56 2025 +0900 [Framework] Fix compilation with clang20 (#5665) * fix compilation with clang20 * remove deprecation warning about space with operator string litteral --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 3139b27ebae8e1c1909340fd598de5dd8ba0bd28 Author: Frederick Roy Date: Tue Aug 26 16:57:14 2025 +0900 [GUI] Fix compilation with clang and boost 1.89 (#5664) fix compilation with clang and boost 1.89 commit 4b7b287db3acc2e4e9a799597bcfe885c456d8a6 Author: Alex Bilger Date: Wed Aug 6 00:23:20 2025 +0200 [Type] Replace fixed_array with std::array (#5632) * [Type] Replace fixed_array with std::array * try to fix linux * try again * deduce type to fix compilation * remove support of derived types * remove tests * add tuple include * fix constructor * implement at function for Element * fix * fix image * fix unit test * clean setSrc * try to fix inconsistency between visual model and topology * add test on data name * add test on ValidInfo * fix (?) datatypeinfo for array on gcc --------- Co-authored-by: Frederick Roy commit 087e0ac9828b7fa2275ba88984365e1663fa6879 Author: EulalieCoevoet Date: Wed Jul 30 02:05:53 2025 +0200 [Engine.Generate] Cleaning volume engines (#5595) * [Engine.Generate] new components to compute volume from meshes * [helper] ComponentChange: remove const for external plugins * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp Co-authored-by: Alex Bilger * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp Co-authored-by: Alex Bilger * [Engine] VolumeFrom: updates header * [CMake] Add SoftRobots.CUDA to the presets (#5492) * [CMake] Add SofaDistanceGrid.CUDA to the presets (#5493) * [CMake] Add BeamAdapter.CUDA to the presets (#5491) Co-authored-by: Hugo * [Visual] VisualStyle: Set flags at init() (#5530) set flags at init() Co-authored-by: Hugo * [CMake] Add SofaSphFluid.CUDA to the presets (#5494) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo * [Elastic] Generalize the use of Tetrahedron::volume (#5532) * [Elastic] Generalize the use of Tetrahedron::volume * add constexpr qualifier for Vec3r1 ctor * fix unit test * typo --------- Co-authored-by: Frederick Roy Co-authored-by: Frederick Roy * [FEM.Elastic] Use triangle area function (#5555) * [Visual] Add a new component drawing an AABB (#5527) * add new component drawing a AABB * Update Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp (not necessary to add draw state) Co-authored-by: Alex Bilger * set template method pattern function private --------- Co-authored-by: Alex Bilger * [Lagrangian.Model] BilateralLagrangianConstraint: enforce disabled state in getConstraintResolution (#5564) enforce disabled state in getConstraintResolution * [GitHub] Add dependabot for monthly update of github-actions (#5552) * [Engine.Generate] Cleaning volume components * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl Co-authored-by: Hugo * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.inl Co-authored-by: Hugo * using links for topology and mechanical * cleaning --------- Co-authored-by: Alex Bilger Co-authored-by: Hugo Co-authored-by: Frederick Roy Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Frederick Roy commit fb9d6761fa52537592cd5db8ab7b7d0f33cdbc6e Author: Hugo Date: Fri Jul 25 02:45:51 2025 +0200 [CHANGELOG] Final update for v25.06 (#5637) commit d2f48ee82d7812cca6bfab8304cc62fdd43dc653 Author: Hugo Date: Thu Jul 24 01:12:40 2025 +0200 [SceneChecking] Add checks for PenalityContactForceField (#5603) commit 72621bdeeba8f2a5fe97565be461278efbe7991f Author: Frederick Roy Date: Wed Jul 23 10:41:38 2025 +0200 [All] CMake: an other round of speedup (configure stage) (#5611) * wip * apply to sofa.component * even faster with global keyword at project scale * Update Sofa.TypeConfig.cmake.in --------- Co-authored-by: Hugo commit ea0b18bd56b692aa68f8207cb70d52186b9ef8b6 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jul 22 00:22:09 2025 +0200 [Helper] Add path to icons to fix release error not finding icons (#5629) [Helper] Add path to icons to fix release error not finding icons (#5622) Test adding path to icons commit 17465f9732a840da185156f1ca4cb8b759da3040 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Mon Jul 21 00:52:58 2025 +0200 [image] Deactivate image gui by default (#5627) Deactivate image gui by default commit 6d147b20af9ee388070640ddd5d43f6cd486ca83 Author: Hugo Date: Mon Jul 21 00:13:28 2025 +0200 [GitHub] Add new label in label-checker.yml (#5619) * [GitHub] Add new label in label-checker.yml * Update pr-label-checker.yml commit f870d8d7f9787214201447f18e845e437aebd23b Author: Hugo Date: Mon Jul 21 00:10:48 2025 +0200 [Project] Start dev phase v25.12 (#5618) * [CHANGELOG] Update for v25.06 * Bump version to v25.12.99 * Update CHANGELOG.md commit 51cbc558f8375e17801289ba5933874bce7a9e2d Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Jul 18 14:02:42 2025 +0200 [Plugins] Fix compilation regarding qt code now activated (#5623) * Fix compilation, changing namespace by removing GUI * Fix namespaces in image commit 634afa0860cd31fb069fd6d210783fdea65e13f7 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Jul 17 17:31:50 2025 +0200 [All] Fix last use of Sofa.GUI.Qt (#5621) Fix last use of Sofa.GUI.Qt commit a7505a864f56f7a15733f980ba1e17c914bc64f2 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Jul 17 14:31:13 2025 +0200 Revert "[Type] Replace fixed_array with std::array" (#5620) Revert "[Type] Replace fixed_array with std::array (#5539)" This reverts commit 4c88c105703749fd836369d21e5e88a28710704a. commit 4c88c105703749fd836369d21e5e88a28710704a Author: Alex Bilger Date: Thu Jul 17 06:05:48 2025 +0200 [Type] Replace fixed_array with std::array (#5539) * [Type] Replace fixed_array with std::array * try to fix linux * try again * deduce type to fix compilation * remove support of derived types * remove tests * add tuple include * fix constructor * implement at function for Element * fix * fix image * fix unit test --------- Co-authored-by: Damien Marchal commit 4a1d4ef87ba3b125123ec3dc7ef67c2a27b72e1d Author: Alex Bilger Date: Wed Jul 16 10:17:41 2025 +0200 [Visual] introduce component to visualize a vector field (#5590) * introduce component to visualize a vector field * computeBBox * draw mode * add color * second vector field for forces * compare to zero Co-authored-by: Frederick Roy * fix computeBBox * Simpler Co-authored-by: Frederick Roy * Fix suggestion * Update Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.inl --------- Co-authored-by: Frederick Roy commit 47c2f88540cee37c2979b03dac46dce59dc32fbc Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jul 15 14:51:16 2025 +0200 [tools] generate stubfiles during packaging (#5222) * Add stubgen inside post-install-fixup * Fix stubgen by passing through a CPACK mechanism of Pre build script * Remove unnecessary changes * Remote last artifacts * Last cleaning * Add cpack option into main CMAKE * Add rpath for arm64 builder * Fix usage for 25.06 * Fix for new clone in build * Fix windows stubgen commit 32553d93faae0e289c5b31afc65d6d8feb436f8e Author: Hugo Date: Tue Jul 15 01:02:46 2025 +0200 [Helper] Add check in OptionGroup (#5602) commit 8cc44923d6920c9bb940913d5577d7806c70114e Author: Alex Bilger Date: Mon Jul 14 02:50:28 2025 +0200 [Visual] Introduce component to visualize a point cloud (#5588) * Introduce component to visualize a point cloud * draw indices * different draw mode for rigids * use fake spheres for performances * Fedora CI does not support conditional method definition based on a concept commit b70c4a2e67f0f3cf691ce758cf00a9e01138d945 Author: Alex Bilger Date: Mon Jul 14 00:51:31 2025 +0200 [Scene] Modernize DataDisplay scene (#5587) commit 9c7a5dca4cc6d9d1bcc0893269fe502fc11ed408 Author: Damien Marchal Date: Mon Jul 14 00:50:03 2025 +0200 [SofaImplicitField] Add python binding to ScalarField (#5559) * [SofaImplicitField] Add python binding to SofaImplicitField * Update example. commit ac2b2d888223a7704f7c9a12607252abb5281bbe Author: Alex Bilger Date: Thu Jul 10 07:56:35 2025 +0200 [Rendering2d] Support change of color scheme with callback (#5585) * [Rendering2d] Support change of color scheme with callback * fix commit 4d965119bfadb7a07b8612e6417923b25c19ebe2 Author: Alex Bilger Date: Thu Jul 10 01:24:22 2025 +0200 [Mapping.Linear] DistanceFromTargetMapping: Build indices list if not defined by user (#5584) [Mapping.Linear] Build indices list if not defined by user commit 578b0117a4f784bcee59d025e2ce3b136cae7cf5 Author: Alex Bilger Date: Thu Jul 10 00:42:43 2025 +0200 [Spring] Fix empty stiffness container (#5583) commit a970137c9153a3fd4627e9e014d0aac7c812ef01 Author: Hugo Date: Thu Jul 10 00:13:51 2025 +0200 [Core] Fix DisplayFlags with showCollision (#5598) commit 8fc6f913fea8dd5096147e62f15876fcc120efcb Author: Alex Bilger Date: Tue Jul 8 09:06:32 2025 +0200 [IO] Clean VTKExporter (#5577) - Raw pointers are now links - getPX, getPY etc are no longer used. Instead a link between data is used commit 28a8aa1b671a6edf108c5cfa2662493f4e4085d1 Author: Alex Bilger Date: Mon Jul 7 15:30:24 2025 +0200 [Core,StateContainer] Remove unused aliases (#5576) commit 694bc3cd2f3891460e3c69141095146f1198af61 Author: Alex Bilger Date: Mon Jul 7 06:42:24 2025 +0200 [Core] Visitor to have the same logic for backward and forward (#5569) commit 2343e22b81ca394520c6548d4c926f87cdd49951 Author: EulalieCoevoet Date: Fri Jul 4 02:06:07 2025 +0200 [Engine.Generate] New components to compute volume from meshes (#5525) * [Engine.Generate] new components to compute volume from meshes * [helper] ComponentChange: remove const for external plugins * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp Co-authored-by: Alex Bilger * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp Co-authored-by: Alex Bilger * [Engine] VolumeFrom: updates header --------- Co-authored-by: Alex Bilger commit cb3b288215434494ed03c047a52e82015ad31012 Author: Frederick Roy Date: Thu Jul 3 21:33:58 2025 +0900 [Collision.Geometry] SphereModel: remove duplicated return statement (#5589) fix computebbox by removing duplicated return commit 99596dcf27bbb858328a2668fb925de83a8a7a8e Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Jul 3 02:41:34 2025 -0400 [CollisionModel] Rename proximity data to contactDistance (#5518) * Rename proximity data to contactDistance with compat layer * Modify SOFA scenes * Change methods names * Add compat layer * Modify description commit cd00e5e9666f0f201ee81a5bb781a33c7690127b Author: Alex Bilger Date: Thu Jul 3 05:30:45 2025 +0200 [Rendering3D] Minor cleaning of DataDisplay (#5586) commit b67a93946417cf21e1fc04fe0fa5c2631ebb567d Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Jul 2 19:23:12 2025 -0400 [SlidingLagrangianConstraint] Fix SlidingLagrangianConstraint and make it compatible with Rigids (#5528) * Fix Sliding constraint and make it compatible with Rigids * Take comment into account * Add forgotten file diff * Apply suggestions from code review Co-authored-by: Hugo --------- Co-authored-by: Hugo commit f37305c1672f69efc986f279802fdbf0c4ad7faa Author: Hugo Date: Mon Jun 30 01:57:22 2025 +0200 [GitHub] Add dependabot for monthly update of github-actions (#5552) commit 83276a98be498edc3cac390b860f5e3095f47ae0 Author: Frederick Roy Date: Thu Jun 26 22:07:06 2025 +0900 [Lagrangian.Model] BilateralLagrangianConstraint: enforce disabled state in getConstraintResolution (#5564) enforce disabled state in getConstraintResolution commit 8a65ebcd8ababcc432f08fe4dae46a7ff670a77d Author: Frederick Roy Date: Wed Jun 25 20:29:31 2025 +0900 [Visual] Add a new component drawing an AABB (#5527) * add new component drawing a AABB * Update Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp (not necessary to add draw state) Co-authored-by: Alex Bilger * set template method pattern function private --------- Co-authored-by: Alex Bilger commit ad7495392dd348230b863cc7c84a83f874425db7 Author: Alex Bilger Date: Wed Jun 25 00:32:45 2025 +0200 [FEM.Elastic] Use triangle area function (#5555) commit 3f405d5ed04ba274ff85d558b8bd0bcdbf75caa8 Author: Alex Bilger Date: Tue Jun 24 02:13:33 2025 +0200 [Elastic] Generalize the use of Tetrahedron::volume (#5532) * [Elastic] Generalize the use of Tetrahedron::volume * add constexpr qualifier for Vec3r1 ctor * fix unit test * typo --------- Co-authored-by: Frederick Roy Co-authored-by: Frederick Roy commit 471cd37060a32ddaa0fbfe6b24427986e6b8c26c Author: Alex Bilger Date: Mon Jun 23 19:30:07 2025 +0200 [CMake] Add SofaSphFluid.CUDA to the presets (#5494) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo commit 7d27934f294758d9a0f00ad92895d3b7c7b69d34 Author: Frederick Roy Date: Mon Jun 23 21:31:07 2025 +0900 [Visual] VisualStyle: Set flags at init() (#5530) set flags at init() Co-authored-by: Hugo commit f1b2981a8df5b08c2c97740629cb7bb6cf21428a Author: Alex Bilger Date: Mon Jun 23 13:44:51 2025 +0200 [CMake] Add BeamAdapter.CUDA to the presets (#5491) Co-authored-by: Hugo commit 1ec80df821fd9ecab5a8290b60f2e0b2c2c0015e Author: Alex Bilger Date: Mon Jun 23 13:42:12 2025 +0200 [CMake] Add SofaDistanceGrid.CUDA to the presets (#5493) commit 56fa3647baa629f171c0776d7e1c09d4d936b223 Author: Alex Bilger Date: Mon Jun 23 08:28:43 2025 +0200 [CMake] Add SoftRobots.CUDA to the presets (#5492) commit db9c7bcd1445e36becfe5ea4782825bbc1302c75 Author: Alex Bilger Date: Mon Jun 23 00:35:07 2025 +0200 [FEM.Elastic] Avoid copy when reading rest position (#5544) commit b6aeee70426e6d9b042c8326e29c35e8d9dc4c06 Author: Alex Bilger Date: Fri Jun 20 10:15:30 2025 +0200 [SofaMatrix] Introduce widget to visualize a matrix in the GUI using imgui (#5512) * Move image components from Qt extension * remove registration in Qt * add registration * create plugin for imgui * add dependencies * add headers * implement the widget commit 6b913c64adf094bd9c996505fdc08732592cfdc8 Author: Olivier Roussel Date: Thu Jun 12 16:13:35 2025 +0200 [CImg] Fix CImg compat (#5526) * fix cimg cmake module to make it compatible with conda package * fix cimg compat for >=v3.5.0 commit c5ce643c34462f8161954a6a14bed343c667d2d9 Author: Alex Bilger Date: Thu Jun 12 09:16:42 2025 +0200 [Type] Remove the namespace on sqrt (#5531) commit 0cd2473c4816364652d8bc01ed983ed64cea73c9 Author: Frederick Roy Date: Thu Jun 12 09:14:18 2025 +0200 [Collision.Response.Mapper] Remove special characters for generated components' name (#5533) remove special characters commit 0fb23cbf56183ff5b1d06608bc5a11cc45b4836e Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jun 10 10:14:59 2025 +0200 [CMake] Add flag to enable the use of a local directory for external projects (#5511) Add flag to enable the use of a local directory for external projects instead of fetching them commit 21b7a67c7198a5cde725a82e8da0b23556222f5a Author: Alex Bilger Date: Wed Jun 4 21:42:17 2025 +0200 [Sofa.GL] Implement missing overload (#5522) Co-authored-by: Hugo commit 99ecb16709ba7eabb8ba9bf32fc1c087638f758b Author: courtecuisse Date: Wed Jun 4 14:35:51 2025 +0200 [SofaCUDA] Fix warning in SofaCUDA (#5520) Fix compilation of cuda-dependent plugins. Remove the NVCCFlag file in cuda-cmake.in as it xas suppress in previous commit. Also fix warning overflow in vector_device (change int to unsigned) Co-authored-by: Frederick Roy commit 401fe7fa98eb986256897684d1495523aa142ad4 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Jun 4 10:19:04 2025 +0200 [SofaCUDA] Fix OOT compilation of plugin depending on SofaCUDA (#5517) * Apply changes to the config file * Update applications/plugins/SofaCUDA/SofaCUDAConfig.cmake.in Co-authored-by: Alex Bilger * Add suggestion from Fred --------- Co-authored-by: Alex Bilger commit 11054c37c0602145d45371cc22650d29ef78c9f4 Author: Frederick Roy Date: Wed Jun 4 09:59:48 2025 +0200 [Collision.Geometry] Contribute to the BoundingBox only if drawn (#5508) contribute to the bbox only if is drawn (when onlyvisible=true) Co-authored-by: Hugo commit 282d423992d26422ac180024edbc8e0f825b5b7a Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jun 3 10:47:27 2025 +0200 [SofaCUDA] Reorder inclusion of SofaCUDA plugin and fix name of Sofa.Qt target (#5509) * Reoder inclusion of SofaCUDA plugin and fix name of Sofa.Qt target * Fix includes and namespaces * Fix missing --------- Co-authored-by: Hugo commit 1a38648d0dd1c3e41f458fb9b49688fe23c116bf Author: Alex Bilger Date: Mon Jun 2 16:57:43 2025 +0200 [Constraint] replace bwdInit by init (#5504) Co-authored-by: Hugo commit 4715cd1058e3781f5a62b37398c6fa790419fa8e Author: Alex Bilger Date: Mon Jun 2 09:24:43 2025 +0200 [Core] The Jacobian matrix of the constraints must be evaluated at the previous state (#5506) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 141a82ee1370238b2d9b6ec2d00e33b3acf870b1 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Mon Jun 2 09:22:53 2025 +0200 [Lagrangian] Remove multigrid support in LCPConstraintSolver (#5372) * Remove unused, unstable and hevy multigrid support * Remove not wanted diff * Try to fix strange diff * Fix disapeared diff * Fix unit tests failing * Add compat layer * Complete ompat layer * restore initial changes * computeHierarchy was doing a necessary cleaning that wasn't related to the hierarchy * DEPRECATE instead of DISABLE getInfo --------- Co-authored-by: Alex Bilger Co-authored-by: Frederick Roy Co-authored-by: Hugo commit 8949253d66359a6c897ebd858ba00ca56346f02f Author: Alex Bilger Date: Wed May 28 21:57:53 2025 +0200 [Core] Deprecate unused method rebuildSystem (#5505) * [Core] Deprecate unused method rebuildSystem * deprecation instead of disabling Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo commit 21d60551d0e4cf3b022ee3847b532bbdaccdfca8 Author: Alex Bilger Date: Wed May 28 21:47:34 2025 +0200 [Core] Remove not relevant comment (#5487) * [Core] Unvirtualize drawVisual * Restore virtual final Co-authored-by: Hugo * remove ; --------- Co-authored-by: Hugo commit e0e6b51cf9918ff0bf79a9439e41410b3df0e3d1 Author: Alex Bilger Date: Wed May 28 20:23:52 2025 +0200 [Lagrangian.Model] Redundant reading of free position (#5507) * [Lagrangian.Model] Redundant reading of free position * remove SOFA_UNUSED Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo commit 39777bd945534b239a07156d8ac2402c1aa13089 Author: Alex Bilger Date: Wed May 28 19:15:49 2025 +0200 [Constraint] Introduce correctionFactor function for factorization (#5503) Co-authored-by: Hugo commit c311051cc6dd0cc170b3ce0082c2da21a8d82229 Author: Alex Bilger Date: Wed May 28 19:14:30 2025 +0200 [Core] Apply template method design pattern to CollisionModel::draw (#5490) * [Core] Apply template method design pattern to CollisionModel::draw * adapt CudaPointCollisionModel * change logic to visualize bounding hierarchy even if collision models are hidden * adapt CudaRigidDistanceGridCollisionModel * simplification --------- Co-authored-by: Hugo commit 6d6f12c0b94cac191ec466006c860ce0710c700e Author: Frederick Roy Date: Thu May 29 02:10:41 2025 +0900 [SofaCUDA] Modernize cmake (#5480) * remove find_package(SofaCUDA), move files for a more consistent structure, etc * add archs * add required(?) cudatoolkit and link cuda_runtime (for TLED) * restore cmake min version to 3.22 and add test for native feature * correct value for __cplusplus with msvc * set VolumetricRendering.CUDA as cuda project * debug: force 75 as arch * update distancegrid.cuda * add win32 definition * Revert "debug: force 75 as arch" This reverts commit 7a05f49fd52f6a44b305d7318e75d253dcd1a7f8. * use deprecated CUDA_ARCH_LIST variable if set (and warn) * fix cmake command * remove now useless SofaCUDANvccFlags file commit 3db7d742672c8bc7d1925eacf3b8e6f0505312f6 Author: Alex Bilger Date: Tue May 27 17:37:30 2025 +0200 [Core,Lagrangian] Add some useful comments (#5500) * [Core,Lagrangian] Add some useful comments * more comments --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit ed3c534d30e7ee79dab76c11e05c91100683376e Author: Alex Bilger Date: Tue May 27 17:34:37 2025 +0200 [Core] Replace raw pointer by SingleStateAccessor (#5499) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit f95579b76a0298e01844fa734e56620932a3b94c Author: Frederick Roy Date: Wed May 28 00:33:39 2025 +0900 [Type] Mat: Fix unsafe methods (constructor and assignement) from ptr (#5427) * rewrite methods from ptr * split tests and remove warnings --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 4acaf0f436ca5c65afd91a9c4c470499e37833b6 Author: Alex Bilger Date: Tue May 27 01:08:44 2025 +0200 [Core] Simplify constraint force computation (#5498) * [Core] Simplify constraint force computation * restore previous resize because of SofaCUDA * another simplification of a projection * don't repeat commit 6c98561ebb24a07969ac077732dcb728c1bf0675 Author: Alex Bilger Date: Thu May 22 03:36:21 2025 +0200 [Core] Rename Constraint to LagrangianConstraint (#5472) * rename files * compatibility for files * Rename class * Apply renaming * replace includes commit df96d0b435b0244a7aacde4a939d142cbc6353ee Author: Alex Bilger Date: Wed May 21 02:44:54 2025 +0200 [SofaCUDA] Remove code related to SPH (#5458) commit 4244202053b6595c16f639a95f7878ac05a41560 Author: Hugo Date: Tue May 20 06:24:59 2025 +0200 [VolumetricRendering] Apply new factory registration mechanism (#5406) * [VolumetricRendering] Apply new factory registration mechanism * fix warning * make CUDA extension in the same namspace (volumetricrendering) * fix wrongly replaced gpu::cuda::CudaVector * fix invalid change * forgot registerObjects function extern declaration * restore cuda namespace --------- Co-authored-by: Alex Bilger commit f05182c5f675d23798449b19cdb0fc7cfe59cdf3 Author: Alex Bilger Date: Tue May 20 01:06:11 2025 +0200 [Simulation.Core] Deprecate AnimateVisitor (#5497) * remove includes * deprecate AnimateVisitor commit 766560e87f8171ab79e1b40ac75c781e2f853965 Author: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Date: Mon May 19 01:51:07 2025 +0200 [SofaDistanceGrid] Substitute pointer-sharing and ref-counting mechanism of the DistanceGrid class with std smart pointers (#5426) * [SofaDistanceGrid] Add smart pointers to DistanceGrid objects - less manual memory management * [SofaDistanceGrid] Substitute shared with weak ptr to the static key-value pair in DistanceGrid The weak ptr replicates the previous behavior: the ptr in the static map does not increase counts in the ref block --------- Co-authored-by: Themis Skamagkis commit 8c1314e311f696f787bb3c5a5e3e9dae25fb8a87 Author: Alex Bilger Date: Mon May 19 01:24:46 2025 +0200 [Core] Update comment to reflect code (#5495) commit 99e29b777860e01501632efb5c9af641f4352e1a Author: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Date: Fri May 16 14:30:14 2025 +0200 [SOFADistanceGrid] Replace pointer to the mstate with a link in the collision models of the plugin (#5425) * [SofaDistanceGrid] Swaped pointer to MechanicalState with a Link within the node of the collision model * [SofaDistanceGrid] Removed the ffdRGrid & ffdSGrid pointers from the FFDDistanceGridCollisionModel class * Their scope is restricted within the init function - they should only be defined inside the function. * [SofaDistanceGrid] Pointer to BaseMeshTopology swaped for a Link in FFDDistanceGridCollisionModel * [SofaDistanceGrid] Use of the SingleStateAccessor to create a link with the MechanicalState for the collision models of the plugin --------- Co-authored-by: Themis Skamagkis commit 4967bb465e41a91437aa68b7c0347dff4765e72b Author: Hugo Date: Fri May 16 04:13:46 2025 +0200 [ODESolver] Fix warnings in StaticSolver (#5488) commit 6fa5ac47bb32f4f3a1ea671bbfaeeb6f1557c1a6 Author: Hugo Date: Fri May 16 04:11:19 2025 +0200 [Core] Remove useless inheritance in BaseInteractionProjectiveCS (#5479) [Core] Remove useless inheritance in BaseInteractionProjectiveConstraintSet BaseInteractionProjectiveConstraintSet inherits from BaseProjectiveConstraintSet which already inherits from StateAccessor commit dfd269f08225881f1c1dbee0740920013d1f4acc Author: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Date: Thu May 15 22:04:01 2025 +0200 [SofaDistanceGrid] New scenes and regression tests for the plugin (#5411) * [SofaDistanceGrid] Duplicated example scenes to demonstrate their use with the FreeMotionAnimationLoop * Some updates in the old scenes as well * [SofaDistanceGrid] Added a new example scene for the RigidDistanceGridCollisionModel * It uses the FreeMotionAnimationLoop * Updated scene names in CMakeLists * [SofaDistanceGrid] Updated .regression-tests for the plugin scenes * Possible removal for windows_vs2022_options check with timeout errors for 15 scenes ? --------- Co-authored-by: Themis Skamagkis commit 000f9fe98e2d780c513177ecc4867f1119194d69 Author: Alex Bilger Date: Thu May 15 02:57:47 2025 +0200 [Topology.Container.Dynamic] Missing call to super init (#5431) * [Topology.Container.Dynamic] Missing call to super init * Fix reload of the mesh file because of src="@" commit f74321644d9ad7ed95ba0f3a008fc28d38111b09 Author: Alex Bilger Date: Thu May 15 00:55:57 2025 +0200 [Core] Update deprecation date (#5469) commit 7cc7f6c5fa805ac37711356b18148a2e0761e96d Author: Hugo Date: Wed May 14 06:05:05 2025 +0200 [IO.Mesh] Add check on VTK format version (#5438) * [IO.Mesh] Add check on VTK format version * Update Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp Co-authored-by: Alex Bilger --------- Co-authored-by: Frederick Roy Co-authored-by: Alex Bilger commit 09310db49241973ae4e1acec57ea9c7fa1947a13 Author: Hugo Date: Wed May 14 03:52:27 2025 +0200 [Core] isComponentStateInvalid function (#5440) commit af79e47404aab1df7af5f636bcca570ae8f6b957 Author: Alex Bilger Date: Tue May 13 10:05:33 2025 +0200 [Core] Rename BaseConstraint to BaseLagrangianConstraint (#5423) * [Core] Rename BaseConstraint to BaseLagrangianConstraint * restore toBaseConstraint and deprecate it * fix? --------- Co-authored-by: Hugo commit fe008edf459167c4a71c102c6786e6d18ea84625 Author: Alex Bilger Date: Tue May 13 00:57:06 2025 +0200 [Engine.Select] Automatically find topology in MeshBoundaryROI (#5116) * [Engine.Select] Automatically find topology in MeshBoundaryROI * add warning when no topology is provided commit 9323eaa7f7b06a45894820eb9c8b1c121518f565 Author: Alex Bilger Date: Thu May 8 02:07:06 2025 +0200 [LinearSolver] Fix usage of a wrong pointer (#5430) commit 41876e7ee2c91a0ca346db2301c7553afbfaf439 Author: Alex Bilger Date: Wed Apr 30 10:37:25 2025 +0200 [SofaImplicitField] A bit of cleaning in the plugin (#5419) * Introduced `MODULE_NAME` and `MODULE_VERSION` as constants in the configuration for maintainability * remove useless readme file * remove dependency to SofaDistanceGrid * Remove definition Co-authored-by: Frederick Roy --------- Co-authored-by: Hugo Co-authored-by: Frederick Roy commit 6d5559d940ddf3a5613ab6450b407079ad66d5a7 Author: Hugo Date: Wed Apr 30 07:30:33 2025 +0200 [ArticulatedSystemPlugin] Apply new factory registration mechanism (#5394) * [ArticulatedSystemPlugin] Apply new factory registration mechanism * update namespace commit b1ceb29ae85e25d12d01266a7a69e4dfff578867 Author: Hugo Date: Wed Apr 30 07:29:07 2025 +0200 [SofaImplicitField] Apply new factory registration mechanism (#5392) * [SofaImplicitField] Apply new factory registration mechanism * remove getModuleComponentList * fix typo in namespace * forgotten typo commit 4156b8be64f6a5534e4d01d7b64644362becf9cc Author: Hugo Date: Wed Apr 30 07:27:28 2025 +0200 [SofaDistanceGrid] Apply new factory registration mechanism (#5391) * [SofaDistanceGrid] Apply new factory registration mechanism * remove getModuleComponentList * Correctly sort registration in folder-appropriate init.cpp * fix init.cpp in cuda extension * Apply suggestions from code review * Update DistanceGridCollisionModel.cpp * fix typo in registerObjects --------- Co-authored-by: Frederick Roy commit f8fb655aebc38238fcf68c110c58b2ddc114a8ed Author: Hugo Date: Mon Apr 28 01:13:42 2025 +0200 [CollisionOBBCapsule] Apply new factory registration mechanism (#5404) * [CollisionOBBCapsule] Apply new factory registration mechanism * Fix test commit 590b9f7ae01b730c7f1b316d00da48f1d8f86d16 Author: EulalieCoevoet Date: Thu Apr 24 03:20:46 2025 +0200 [runSofa,Helper] Changes screenshots and config directories location (#5096) * [main] changes screenshots and config directories location * [helper] Utils: on Windows, check env to get user home directory * [Helper] fixes getUserHomeDirectory for Windows * Update Utils.cpp (bogus bracket) * Apply suggestions from code review Use of FileSystem::append Co-authored-by: Alex Bilger * [runSofa,Helper] adds test for getUserHomeDirectory and getSofaDataDirectory * [helper/test] attempt to fix test on Windows * test * [helper/test] attempt to fix test on Windows * [helper] replaces findOrCreateAValidPath by ensureFolderExists * [helper] removes test * fix user home for macOS * test using fs::exists * use only std::fs in main --------- Co-authored-by: Frederick Roy Co-authored-by: Hugo Co-authored-by: Alex Bilger Co-authored-by: Frederick Roy commit a85c8b8275bf895e5fc3101ca916e7726dbac67d Author: Alex Bilger Date: Thu Apr 24 00:17:18 2025 +0200 [Lagrangian.Model] Remove extra endEdit (#5421) commit 74ab93433e1935759053c247fa85cc8fb90184bd Author: Alex Bilger Date: Thu Apr 24 00:16:06 2025 +0200 [examples] Run PluginFinder (#5415) run PluginFinder commit 960bfc2e249da32a65433de079800592ab2ae9bb Author: Alex Bilger Date: Wed Apr 23 02:45:29 2025 +0200 [examples] remove non-existing plugin (#5417) remove non-existing plugin commit c0f83483b4520ba7a5cd7d4c4338d2dd0ce4a214 Author: Alex Bilger Date: Wed Apr 23 02:22:59 2025 +0200 [examples] Remove scenes with SleepController (#5416) Remove scenes with SleepController commit ef80a04ce89e2873d27b4558929afe60abfb5ab8 Author: Alex Bilger Date: Wed Apr 23 01:33:08 2025 +0200 [Examples] Remove examples using Monitor (#5418) Remove examples using Monitor --- .github/dependabot.yml | 7 + .github/workflows/pr-label-checker.yml | 4 +- CHANGELOG.md | 188 + CMakeLists.txt | 36 +- CMakePresets.json | 16 + ...ofa.Component.AnimationLoopConfig.cmake.in | 5 +- .../animationloop/ConstraintAnimationLoop.cpp | 8 +- ...llision.Detection.AlgorithmConfig.cmake.in | 5 +- .../detection/algorithm/MirrorIntersector.h | 5 - .../tests/CollisionPipeline_test.cpp | 10 +- ...sion.Detection.IntersectionConfig.cmake.in | 5 +- .../BaseProximityIntersection.cpp | 2 +- .../intersection/BaseProximityIntersection.h | 6 - .../intersection/DiscreteIntersection.h | 17 - .../intersection/LocalMinDistance.cpp | 112 +- .../detection/intersection/LocalMinDistance.h | 47 - .../intersection/MeshDiscreteIntersection.cpp | 6 +- .../intersection/MeshDiscreteIntersection.h | 13 - .../MeshMinProximityIntersection.cpp | 64 +- .../MeshMinProximityIntersection.h | 76 +- .../MeshNewProximityIntersection.cpp | 24 +- .../MeshNewProximityIntersection.h | 45 - .../MeshNewProximityIntersection.inl | 72 +- .../intersection/MinProximityIntersection.h | 20 +- .../intersection/NewProximityIntersection.h | 10 - .../intersection/NewProximityIntersection.inl | 6 +- .../intersection/RayDiscreteIntersection.cpp | 6 +- .../intersection/RayDiscreteIntersection.h | 13 - .../RayNewProximityIntersection.cpp | 4 +- .../RayNewProximityIntersection.h | 9 - .../TetrahedronDiscreteIntersection.h | 11 - .../detection/intersection/config.h.in | 7 - ...mponent.Collision.DetectionConfig.cmake.in | 3 +- ...omponent.Collision.GeometryConfig.cmake.in | 3 +- .../collision/geometry/CubeModel.cpp | 8 +- .../component/collision/geometry/CubeModel.h | 4 +- .../collision/geometry/CylinderModel.h | 3 - .../collision/geometry/CylinderModel.inl | 21 +- .../component/collision/geometry/LineModel.h | 8 +- .../collision/geometry/LineModel.inl | 69 +- .../component/collision/geometry/PointModel.h | 4 +- .../collision/geometry/PointModel.inl | 79 +- .../component/collision/geometry/RayModel.cpp | 15 - .../component/collision/geometry/RayModel.h | 1 - .../collision/geometry/SphereModel.h | 6 +- .../collision/geometry/SphereModel.inl | 65 +- .../collision/geometry/TetrahedronModel.cpp | 15 +- .../collision/geometry/TetrahedronModel.h | 4 +- .../collision/geometry/TriangleModel.h | 3 +- .../collision/geometry/TriangleModel.inl | 93 +- .../geometry/TriangleOctreeModel.cpp | 30 +- .../collision/geometry/TriangleOctreeModel.h | 2 +- .../Collision/Geometry/tests/Sphere_test.cpp | 16 +- .../Geometry/tests/Triangle_test.cpp | 6 +- ....Collision.Response.ContactConfig.cmake.in | 11 +- .../contact/BarycentricPenalityContact.inl | 2 +- .../contact/BaseUnilateralContactResponse.inl | 2 +- .../response/contact/CollisionResponse.cpp | 19 +- .../response/contact/CollisionResponse.h | 9 +- .../contact/StickContactConstraint.inl | 2 +- ...t.Collision.Response.MapperConfig.cmake.in | 11 +- .../response/mapper/BaseContactMapper.cpp | 2 +- .../Response/Mapper/tests/BaryMapper_test.cpp | 6 +- ...omponent.Collision.ResponseConfig.cmake.in | 3 +- .../Sofa.Component.CollisionConfig.cmake.in | 3 +- ...raint.Lagrangian.CorrectionConfig.cmake.in | 9 +- .../GenericConstraintCorrection.cpp | 90 +- .../correction/GenericConstraintCorrection.h | 67 +- .../LinearSolverConstraintCorrection.cpp | 2 +- .../LinearSolverConstraintCorrection.inl | 34 +- .../PrecomputedConstraintCorrection.cpp | 2 +- .../PrecomputedConstraintCorrection.inl | 16 +- .../UncoupledConstraintCorrection.cpp | 14 +- .../UncoupledConstraintCorrection.inl | 29 +- ...Constraint.Lagrangian.ModelConfig.cmake.in | 3 +- .../model/AugmentedLagrangianResolution.h | 2 +- .../model/BaseContactLagrangianConstraint.h | 14 +- .../model/BaseContactLagrangianConstraint.inl | 15 +- .../model/BilateralConstraintResolution.h | 22 +- .../model/BilateralLagrangianConstraint.h | 6 +- .../model/BilateralLagrangianConstraint.inl | 2 + .../model/FixedLagrangianConstraint.h | 8 +- .../model/FixedLagrangianConstraint.inl | 5 +- .../model/SlidingLagrangianConstraint.cpp | 3 +- .../model/SlidingLagrangianConstraint.h | 7 +- .../model/SlidingLagrangianConstraint.inl | 235 +- .../model/StopperLagrangianConstraint.h | 8 +- .../model/UniformLagrangianConstraint.h | 6 +- .../model/UnilateralConstraintResolution.h | 2 +- .../constraint/lagrangian/model/config.h.in | 6 +- ...onent.Constraint.LagrangianConfig.cmake.in | 3 +- ...onstraint.Lagrangian.SolverConfig.cmake.in | 3 +- .../lagrangian/solver/ConstraintSolverImpl.h | 21 +- .../solver/GenericConstraintProblem.cpp | 2 +- .../solver/GenericConstraintSolver.cpp | 1 + .../solver/GenericConstraintSolver.h | 5 +- .../lagrangian/solver/LCPConstraintSolver.cpp | 489 +- .../lagrangian/solver/LCPConstraintSolver.h | 54 +- .../visitors/ConstraintStoreLambdaVisitor.cpp | 4 +- ...chanicalGetConstraintResolutionVisitor.cpp | 4 +- ...onent.Constraint.ProjectiveConfig.cmake.in | 3 +- .../DirectionProjectiveConstraint.inl | 2 +- .../projective/LineProjectiveConstraint.inl | 2 +- .../PartialFixedProjectiveConstraint.inl | 2 +- .../projective/PlaneProjectiveConstraint.inl | 4 +- .../FixedPlaneProjectiveConstraint_test.cpp | 2 +- .../Sofa.Component.ConstraintConfig.cmake.in | 3 +- .../Sofa.Component.ControllerConfig.cmake.in | 3 +- .../Sofa.Component.DiffusionConfig.cmake.in | 3 +- ...fa.Component.Engine.AnalyzeConfig.cmake.in | 5 +- Sofa/Component/Engine/Generate/CMakeLists.txt | 6 + ...a.Component.Engine.GenerateConfig.cmake.in | 3 +- .../engine/generate/GenerateRigidMass.inl | 36 +- .../generate/VolumeFromTetrahedrons.cpp | 43 + .../engine/generate/VolumeFromTetrahedrons.h | 98 + .../generate/VolumeFromTetrahedrons.inl | 233 + .../engine/generate/VolumeFromTriangles.cpp | 42 + .../engine/generate/VolumeFromTriangles.h | 102 + .../engine/generate/VolumeFromTriangles.inl | 246 + .../sofa/component/engine/generate/init.cpp | 4 + .../Engine/Generate/tests/CMakeLists.txt | 7 +- .../tests/VolumeFromTetrahedrons_test.cpp | 156 + .../tests/VolumeFromTriangles_test.cpp | 159 + ...ofa.Component.Engine.SelectConfig.cmake.in | 3 +- .../sofa/component/engine/select/BaseROI.h | 8 +- .../engine/select/MeshBoundaryROI.cpp | 34 + .../Sofa.Component.EngineConfig.cmake.in | 3 +- ....Component.Engine.TransformConfig.cmake.in | 3 +- .../transform/DisplacementMatrixEngine.inl | 8 +- .../transform/ProjectiveTransformEngine.inl | 4 +- .../engine/transform/TransformPosition.inl | 10 +- .../Sofa.Component.HapticsConfig.cmake.in | 5 +- .../Sofa.Component.IO.MeshConfig.cmake.in | 5 +- .../sofa/component/io/mesh/GIDMeshLoader.h | 37 +- .../sofa/component/io/mesh/GridMeshCreator.h | 2 +- .../sofa/component/io/mesh/MeshGmshLoader.cpp | 44 +- .../sofa/component/io/mesh/MeshOffLoader.cpp | 4 +- .../sofa/component/io/mesh/MeshSTLLoader.cpp | 18 +- .../component/io/mesh/MeshTrianLoader.cpp | 4 +- .../sofa/component/io/mesh/MeshVTKLoader.cpp | 22 +- .../sofa/component/io/mesh/VTKExporter.cpp | 82 +- .../src/sofa/component/io/mesh/VTKExporter.h | 4 +- .../IO/Sofa.Component.IOConfig.cmake.in | 3 +- .../LinearSolver/Direct/CMakeLists.txt | 4 - ...mponent.LinearSolver.DirectConfig.cmake.in | 9 +- .../direct/SimplicialLDLTTraits.h | 31 - .../linearsolver/direct/SimplicialLLTTraits.h | 31 - .../linearsolver/direct/SparseCommon.h | 2 - .../linearsolver/direct/SparseLDLSolverImpl.h | 2 - .../linearsolver/direct/SparseLUTraits.h | 31 - .../linearsolver/direct/SparseQRTraits.h | 31 - .../component/linearsolver/direct/config.h.in | 8 - ...nent.LinearSolver.IterativeConfig.cmake.in | 5 +- .../iterative/MatrixLinearSolver.h | 13 +- .../iterative/MatrixLinearSolver.inl | 10 +- .../iterative/ShewchukPCGLinearSolver.h | 7 +- .../iterative/ShewchukPCGLinearSolver.inl | 2 +- ...onent.LinearSolver.OrderingConfig.cmake.in | 3 +- ...LinearSolver.PreconditionerConfig.cmake.in | 9 +- .../PrecomputedWarpPreconditioner.inl | 4 +- .../preconditioner/SSORPreconditioner.cpp | 8 +- ...Sofa.Component.LinearSolverConfig.cmake.in | 3 +- ...Sofa.Component.LinearSystemConfig.cmake.in | 3 +- .../linearsystem/MatrixLinearSystem.inl | 2 +- .../linearsystem/MatrixProjectionMethod.inl | 4 +- .../LinearSystem/tests/MappingGraph_test.cpp | 10 +- .../tests/MatrixLinearSystem_test.cpp | 8 +- ...fa.Component.Mapping.LinearConfig.cmake.in | 7 +- .../BarycentricMappers/BarycentricMapper.h | 17 +- .../BarycentricMappers/BarycentricMapper.inl | 6 +- .../BarycentricMapperEdgeSetTopology.h | 20 +- .../BarycentricMapperEdgeSetTopology.inl | 15 +- .../BarycentricMapperHexahedronSetTopology.h | 19 +- ...BarycentricMapperHexahedronSetTopology.inl | 36 +- .../BarycentricMapperMeshTopology.inl | 16 +- .../BarycentricMapperQuadSetTopology.h | 18 +- .../BarycentricMapperQuadSetTopology.inl | 21 +- .../BarycentricMapperTetrahedronSetTopology.h | 3 +- ...arycentricMapperTetrahedronSetTopology.inl | 12 +- .../BarycentricMapperTopologyContainer.h | 9 +- .../BarycentricMapperTopologyContainer.inl | 56 +- .../BarycentricMapperTriangleSetTopology.h | 21 +- .../BarycentricMapperTriangleSetTopology.inl | 17 +- .../linear/BarycentricMappingRigid.inl | 2 +- .../mapping/linear/BeamLinearMapping.inl | 18 +- .../linear/Mesh2PointTopologicalMapping.cpp | 2 +- .../linear/Mesh2PointTopologicalMapping.h | 2 +- .../mapping/linear/SkinningMapping.inl | 12 +- ...ponent.Mapping.MappedMatrixConfig.cmake.in | 3 +- ...Component.Mapping.NonLinearConfig.cmake.in | 3 +- .../mapping/nonlinear/AreaMapping.inl | 12 +- .../nonlinear/DistanceFromTargetMapping.inl | 17 +- .../mapping/nonlinear/DistanceMapping.inl | 8 +- .../nonlinear/DistanceMultiMapping.inl | 8 +- .../mapping/nonlinear/RigidMapping.inl | 20 +- .../Sofa.Component.MappingConfig.cmake.in | 3 +- .../Mass/Sofa.Component.MassConfig.cmake.in | 5 +- .../src/sofa/component/mass/DiagonalMass.cpp | 10 +- .../src/sofa/component/mass/UniformMass.cpp | 8 +- ...fa.Component.MechanicalLoadConfig.cmake.in | 3 +- .../mechanicalload/EllipsoidForceField.inl | 4 +- .../InteractionEllipsoidForceField.inl | 4 +- .../SurfacePressureForceField.cpp | 54 +- .../SurfacePressureForceField.inl | 20 +- .../TaitSurfacePressureForceField.inl | 6 +- .../TrianglePressureForceField.h | 4 - ...omponent.ODESolver.BackwardConfig.cmake.in | 3 +- .../odesolver/backward/BDFOdeSolver.cpp | 4 + .../odesolver/backward/StaticSolver.cpp | 3 + .../odesolver/backward/StaticSolver.h | 12 +- .../component/odesolver/backward/config.h.in | 6 +- .../tests/NewtonRaphsonSolver_test.cpp | 4 +- ...Component.ODESolver.ForwardConfig.cmake.in | 3 +- .../Sofa.Component.ODESolverConfig.cmake.in | 3 +- .../Sofa.Component.PlaybackConfig.cmake.in | 5 +- ...Sofa.Component.SceneUtilityConfig.cmake.in | 3 +- .../Sofa.Component.SettingConfig.cmake.in | 3 +- Sofa/Component/Sofa.ComponentConfig.cmake.in | 3 +- ....SolidMechanics.FEM.ElasticConfig.cmake.in | 5 +- .../fem/elastic/BeamFEMForceField.inl | 58 +- .../FastTetrahedralCorotationalForceField.inl | 60 +- .../fem/elastic/HexahedralFEMForceField.inl | 156 +- .../HexahedralFEMForceFieldAndMass.inl | 66 +- .../fem/elastic/HexahedronFEMForceField.inl | 290 +- .../HexahedronFEMForceFieldAndMass.inl | 38 +- .../fem/elastic/QuadBendingFEMForceField.inl | 180 +- .../TetrahedralCorotationalFEMForceField.inl | 663 +- .../fem/elastic/TetrahedronFEMForceField.inl | 763 +- .../fem/elastic/TriangleFEMForceField.inl | 57 +- .../fem/elastic/TriangleFEMUtils.inl | 134 +- .../TriangularAnisotropicFEMForceField.inl | 20 +- .../fem/elastic/TriangularFEMForceField.inl | 44 +- .../elastic/TriangularFEMForceFieldOptim.inl | 66 +- ...dMechanics.FEM.HyperElasticConfig.cmake.in | 5 +- .../StandardTetrahedralFEMForceField.inl | 53 +- ...etrahedronHyperelasticityFEMForceField.inl | 38 +- .../hyperelastic/material/BoyceAndArruda.h | 24 +- .../fem/hyperelastic/material/Costa.h | 26 +- .../fem/hyperelastic/material/MooneyRivlin.h | 60 +- .../fem/hyperelastic/material/NeoHookean.h | 60 +- .../fem/hyperelastic/material/Ogden.h | 60 +- .../hyperelastic/material/StableNeoHookean.h | 60 +- .../hyperelastic/material/VerondaWestman.h | 60 +- .../FEM/HyperElastic/tests/Material_test.cpp | 2 +- ...lidMechanics.FEM.NonUniformConfig.cmake.in | 9 +- ...exahedronCompositeFEMForceFieldAndMass.inl | 94 +- .../HexahedronCompositeFEMMapping.inl | 4 +- ...nUniformHexahedralFEMForceFieldAndMass.inl | 74 +- ...nUniformHexahedronFEMForceFieldAndMass.inl | 34 +- ...omponent.SolidMechanics.FEMConfig.cmake.in | 3 +- ...fa.Component.SolidMechanicsConfig.cmake.in | 3 +- ...onent.SolidMechanics.SpringConfig.cmake.in | 3 +- .../spring/FastTriangularBendingSprings.inl | 2 +- .../spring/GearSpringForceField.h | 6 +- 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+- .../TetrahedronSetTopologyContainer.cpp | 7 +- .../dynamic/TriangleSetTopologyContainer.cpp | 4 +- .../Dynamic/tests/EdgeSetTopology_test.cpp | 4 +- .../tests/HexahedronSetTopology_test.cpp | 8 +- .../Dynamic/tests/QuadSetTopology_test.cpp | 6 +- .../tests/TetrahedronSetTopology_test.cpp | 8 +- .../tests/TriangleSetTopology_test.cpp | 6 +- ...ent.Topology.Container.GridConfig.cmake.in | 5 +- .../grid/SparseGridRamificationTopology.cpp | 4 +- .../container/grid/SparseGridTopology.cpp | 2 +- ...omponent.Topology.ContainerConfig.cmake.in | 3 +- ....Component.Topology.MappingConfig.cmake.in | 7 +- .../Sofa.Component.TopologyConfig.cmake.in | 3 +- ....Component.Topology.UtilityConfig.cmake.in | 7 +- Sofa/Component/Visual/CMakeLists.txt | 8 + .../Sofa.Component.VisualConfig.cmake.in | 5 +- .../src/sofa/component/visual/BaseCamera.cpp | 2 +- .../component/visual/VisualBoundingBox.cpp | 40 +- .../sofa/component/visual/VisualBoundingBox.h | 49 + .../sofa/component/visual/VisualModelImpl.h | 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.../TopologySurfaceDifferentMesh.scn | 2 +- ...pologyTetra2TriangleTopologicalMapping.scn | 2 +- ...opologyTriangle2EdgeTopologicalMapping.scn | 2 +- .../TopologyVolumeDifferentMesh.scn | 2 +- examples/Tutorials/Tutorials.html | 2 +- package.nix | 2 +- share/mesh/Bunny.stl | Bin 0 -> 136484 bytes share/mesh/Bunny.vtk | 7828 +++++++++++++++++ tools/postinstall-fixup/CMakeLists.txt | 4 +- .../generate-stubfiles.cmake | 3 + tools/postinstall-fixup/generate-stubfiles.sh | 66 + .../linux-postinstall-fixup.sh | 1 + .../macos-postinstall-fixup.sh | 7 + 872 files changed, 19234 insertions(+), 24545 deletions(-) create mode 100644 .github/dependabot.yml create mode 100644 Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp create mode 100644 Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.h create mode 100644 Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl create mode 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applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cpp => Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp (63%) create mode 100644 Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.h rename applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cpp => Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.cpp (74%) create mode 100644 Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.h create mode 100644 Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.inl rename applications/plugins/SofaAssimp/config.h => Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.cpp (79%) create mode 100644 Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.h create mode 100644 Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.inl rename Sofa/framework/Core/src/sofa/core/behavior/{BaseConstraint.cpp => BaseLagrangianConstraint.cpp} (77%) create mode 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rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/cuda/CudaVisualModel.h (100%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/cuda/CudaVisualModel.inl (100%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/cuda/GPUDetectionOutputVector.h (100%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/cuda/mycuda.cpp (100%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/cuda/mycuda.cu (94%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/cuda/mycuda.h (100%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/gui/CudaDataWidget.cpp (96%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/gui/CudaDataWidget.h (96%) rename applications/plugins/SofaCUDA/{ => src}/sofa/gpu/gui/CudaMouseInteraction.cpp (100%) rename applications/plugins/SofaDistanceGrid/examples/{DistanceGridForceField-liver.scn => DistanceGridForceField_liver.scn} (67%) rename applications/plugins/SofaDistanceGrid/examples/{FFDDistanceGridCollisionModel.scn => FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn} (83%) create mode 100644 applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn rename applications/plugins/SofaDistanceGrid/examples/{DistanceGridCollisionModel.scn => RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn} (67%) create mode 100644 applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn delete mode 100644 applications/plugins/SofaImplicitField/examples/README.md create mode 100644 applications/plugins/SofaImplicitField/examples/python/python-scalarfield.py create mode 100644 applications/plugins/SofaImplicitField/python/CMakeLists.txt create mode 100644 applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp rename Sofa/framework/Config/src/SofaUserInteraction/SleepController.h => applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.h (79%) rename Sofa/framework/Config/src/SofaMiscCollision/RayTriangleVisitor.h => applications/plugins/SofaImplicitField/python/src/Module_SofaImplicitField.cpp (76%) create mode 100644 applications/plugins/SofaMatrix/extensions/imgui/CMakeLists.txt create mode 100644 applications/plugins/SofaMatrix/extensions/imgui/SofaMatrix.imguiConfig.cmake.in create mode 100644 applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/BaseMatrixImageProxyWidget.cpp rename Sofa/framework/Config/src/SofaMiscCollision/DefaultCollisionGroupManager.h => applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/config.h.in (82%) rename applications/plugins/{SofaCUDA/sofa/gpu/cuda/CudaParticleSource.cpp => SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.cpp} (69%) rename Sofa/framework/Config/src/SofaGraphComponent/Gravity.h => applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.h (91%) create mode 100644 applications/plugins/SofaMatrix/extensions/imgui/tests/CMakeLists.txt create mode 100644 applications/plugins/SofaMatrix/extensions/imgui/tests/test.cpp rename applications/plugins/SofaMatrix/{extensions/Qt/src/SofaMatrix/Qt => src/SofaMatrix}/BaseMatrixImageProxy.h (97%) rename applications/plugins/SofaMatrix/{extensions/Qt/src/SofaMatrix/Qt => src/SofaMatrix}/ComplianceMatrixImage.cpp (98%) rename applications/plugins/SofaMatrix/{extensions/Qt/src/SofaMatrix/Qt => src/SofaMatrix}/ComplianceMatrixImage.h (91%) rename applications/plugins/SofaMatrix/{extensions/Qt/src/SofaMatrix/Qt => src/SofaMatrix}/GlobalSystemMatrixImage.cpp (98%) rename applications/plugins/SofaMatrix/{extensions/Qt/src/SofaMatrix/Qt => src/SofaMatrix}/GlobalSystemMatrixImage.h (93%) create mode 100644 applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.cpp create mode 100644 applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.h create mode 100644 examples/Benchmark/Performance/BarycentricMapping_meshtopology.scn create mode 100644 examples/Benchmark/Performance/BarycentricMapping_sparsegrid.scn create mode 100644 examples/Benchmark/Performance/BarycentricMapping_topologycontainer.scn delete mode 100644 examples/Component/Controller/sleepColorShader.frag delete mode 100644 examples/Component/Controller/sleepColorShader.vert delete mode 100644 examples/Component/Controller/test_sleep.scn delete mode 100644 examples/Component/Controller/test_sleep2.scn delete mode 100644 examples/Component/Controller/test_sleep3.scn delete mode 100644 examples/Component/Controller/test_sleep3.scn.view create mode 100644 examples/Component/Engine/Generate/VolumeFromTetrahedrons.scn create mode 100644 examples/Component/Engine/Generate/VolumeFromTriangles.scn delete mode 100644 examples/Component/SceneUtility/Monitor.scn delete mode 100644 examples/Component/SceneUtility/MonitorTest.scn create mode 100644 examples/Component/Visual/VisualBoundingBox.scn create mode 100644 examples/Component/Visual/VisualPointCloud.scn create mode 100644 examples/Component/Visual/VisualVectorField.scn create mode 100644 share/mesh/Bunny.stl create mode 100644 share/mesh/Bunny.vtk create mode 100644 tools/postinstall-fixup/generate-stubfiles.cmake create mode 100644 tools/postinstall-fixup/generate-stubfiles.sh diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 00000000000..6a8be406674 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,7 @@ +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + target-branch: devel + schedule: + interval: monthly \ No newline at end of file diff --git a/.github/workflows/pr-label-checker.yml b/.github/workflows/pr-label-checker.yml index ec7d5a0ad64..5423c0360be 100644 --- a/.github/workflows/pr-label-checker.yml +++ b/.github/workflows/pr-label-checker.yml @@ -41,7 +41,9 @@ jobs: 'pr: clean', 'pr: fix', 'pr: new feature', - 'pr: test' + 'pr: test', + 'pr: revert(ed)', + 'pr: project-ci-infrastructure' ]; // Check if any descriptive label is included in the 'labels' array diff --git a/CHANGELOG.md b/CHANGELOG.md index f6dd626aab4..3159723ab9c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,194 @@ +## [v25.06.00]( https://github.com/sofa-framework/sofa/tree/v25.06.00 ) + +[Full log]( https://github.com/sofa-framework/sofa/compare/v24.12..v25.06 ) + +### Highlighted contributions + +- [runSofa,Helper] Changes screenshots and config directories location [#5096](https://github.com/sofa-framework/sofa/pull/5096) +- [ODESolver] Introduction of generic Newton-Raphson algorithm [#5173](https://github.com/sofa-framework/sofa/pull/5173) +- [Plugins] Remove unsupported plugins: InvertibleFVM, SofaSimpleGUI and SensableEmulation [#5175](https://github.com/sofa-framework/sofa/pull/5175) +- [GUI] Remove Qt and make SofaImGUI as default viewer [#5176](https://github.com/sofa-framework/sofa/pull/5176) +- [CMake] Modify presets to generalize its use [#5272](https://github.com/sofa-framework/sofa/pull/5272) +- [Lagrangian] Add regularization term in lagrangian constraints [#5299](https://github.com/sofa-framework/sofa/pull/5299) +- [examples] Propose a new default scene [#5324](https://github.com/sofa-framework/sofa/pull/5324) +- [CMake] Fetch in build dir instead of source to avoid lots of cmake errors [#5332](https://github.com/sofa-framework/sofa/pull/5332) +- [ODESolver.Backward] Refactor StaticSolver to use NewtonRaphsonSolver [#5382](https://github.com/sofa-framework/sofa/pull/5382) + + +### Breaking + +- [tests] Template method design pattern from BaseTest in derived classes [#5162](https://github.com/sofa-framework/sofa/pull/5162) +- [Type] A concept for isRigidType [#5199](https://github.com/sofa-framework/sofa/pull/5199) +- [Type] Simplification of the Rebind trait using concepts [#5200](https://github.com/sofa-framework/sofa/pull/5200) +- [Type] Convert is_vector trait to concept [#5201](https://github.com/sofa-framework/sofa/pull/5201) +- [Type] Convert is_fixed_array trait to concept [#5209](https://github.com/sofa-framework/sofa/pull/5209) +- [Core] Move all LifeCycle classes in a dedicated namespace [#5225](https://github.com/sofa-framework/sofa/pull/5225) +- [Visual] Replace string by SelectableItem in VisualGrid [#5280](https://github.com/sofa-framework/sofa/pull/5280) +- [CMake] Update auto generated name for fetching [#5294](https://github.com/sofa-framework/sofa/pull/5294) +- [All] Spring cleaning 1: clean main & tools directories [#5325](https://github.com/sofa-framework/sofa/pull/5325) +- [GUI.Common] Change inheritance of ConstraintAttachOperation [#5338](https://github.com/sofa-framework/sofa/pull/5338) +- [all] Lifecycle : Remove SOFA_ATTRIBUTE_DEPRECATED (part 1) [#5346](https://github.com/sofa-framework/sofa/pull/5346) +- [all] Lifecycle : Remove SOFA_ATTRIBUTE_DEPRECATED (part 2) [#5347](https://github.com/sofa-framework/sofa/pull/5347) +- [all] Lifecycle : Disable SOFA_ATTRIBUTE_DEPRECATED [#5360](https://github.com/sofa-framework/sofa/pull/5360) +- [Geomagic] Apply new factory registration mechanism [#5387](https://github.com/sofa-framework/sofa/pull/5387) + + +### Improvements + +- [Topology.Container.Dynamic] Add class TriangleSubdividers to store methods to subdivide a triangle in differents configurations [#4747](https://github.com/sofa-framework/sofa/pull/4747) +- [Config] Upgrade to C++20 [#5111](https://github.com/sofa-framework/sofa/pull/5111) +- [Config] Introduce SOFA modules data structure [#5148](https://github.com/sofa-framework/sofa/pull/5148) +- [examples] Add proposition for a new default scene [#5177](https://github.com/sofa-framework/sofa/pull/5177) +- [Topology.Container] Add new method computeSegmentTriangleIntersectionInPlane in TriangleSetGeometryAlgorithm [#5188](https://github.com/sofa-framework/sofa/pull/5188) +- [Type] Support structured binding for tuple-like types [#5208](https://github.com/sofa-framework/sofa/pull/5208) +- [Simulation] Trigger warning when Node already contains component [#5212](https://github.com/sofa-framework/sofa/pull/5212) +- [tools] generate stubfiles during packaging [#5222](https://github.com/sofa-framework/sofa/pull/5222) +- [Helper] WriteAccessorVector: add resize method with default filler value [#5228](https://github.com/sofa-framework/sofa/pull/5228) +- [CMake] Add possibility to remove auto installing of resource files [#5230](https://github.com/sofa-framework/sofa/pull/5230) +- [StateContainer] Extend the possible vector operations in vOp [#5237](https://github.com/sofa-framework/sofa/pull/5237) +- [Config] Bump version of Tracy from v0.9.1 to v0.11.1 [#5249](https://github.com/sofa-framework/sofa/pull/5249) +- [examples] Add new example showcasing how to attach two bodies [#5250](https://github.com/sofa-framework/sofa/pull/5250) +- [StateContainer] Allow coord difference in vOp for rigids [#5253](https://github.com/sofa-framework/sofa/pull/5253) +- [visual] Adds features to LineAxis and DrawTools [#5258](https://github.com/sofa-framework/sofa/pull/5258) +- [Topology.dynamic] Add new method computeSegmentTriangulationIntersections in TriangleSetGeometryAlgorithm to replace old versions [#5260](https://github.com/sofa-framework/sofa/pull/5260) +- [ODESolver] Add option to compute residual at the end of the solving [#5263](https://github.com/sofa-framework/sofa/pull/5263) +- [SceneChecking] Check if a Node has an empty name [#5276](https://github.com/sofa-framework/sofa/pull/5276) +- [Helper] Readability in ComponentChange [#5277](https://github.com/sofa-framework/sofa/pull/5277) +- [Core] Add 2 new categories (Exporter and OrderingMethod) [#5284](https://github.com/sofa-framework/sofa/pull/5284) +- [github] Add workflow for performance testing launch [#5286](https://github.com/sofa-framework/sofa/pull/5286) +- [github] Use token for performance regression launching [#5287](https://github.com/sofa-framework/sofa/pull/5287) +- [Mapping] Add distance to plane mapping [#5293](https://github.com/sofa-framework/sofa/pull/5293) +- [Topology.container.dynamic] Add method computeTriangleBarycentricCoordinates and depreciate old versions [#5297](https://github.com/sofa-framework/sofa/pull/5297) +- [Topology.container.dynamic] Add new method computeIncisionPath using new PointModifier class [#5300](https://github.com/sofa-framework/sofa/pull/5300) +- [Lagrangian] Add loading capability for bilateral constraints [#5315](https://github.com/sofa-framework/sofa/pull/5315) +- [Type] Template deduction guide for fixed_array and Vec [#5385](https://github.com/sofa-framework/sofa/pull/5385) +- [Visual] Add a new component drawing an AABB [#5527](https://github.com/sofa-framework/sofa/pull/5527) +- [CHANGELOG] Update for v25.06 [#5617](https://github.com/sofa-framework/sofa/pull/5617) + + +### Bug Fixes + +- [Topology] Add function in BaseMeshTopology to compute all topology containers [#3368](https://github.com/sofa-framework/sofa/pull/3368) +- [Helper] PluginManager: support loading from Non-MSVC Multi-Configuration Build [#5133](https://github.com/sofa-framework/sofa/pull/5133) +- [Helper] Fix warning in SelectableItem [#5163](https://github.com/sofa-framework/sofa/pull/5163) +- [Helper] XCode: run in Debug (and load debug plugins) [#5168](https://github.com/sofa-framework/sofa/pull/5168) +- [Backward] Fix trapezoidal rule in EulerImplicitSolver [#5169](https://github.com/sofa-framework/sofa/pull/5169) +- [Core] Fix VisualState.h compilation on windows [#5181](https://github.com/sofa-framework/sofa/pull/5181) +- [Sofa.GL] Fix OglModel crash when texture file is not found [#5182](https://github.com/sofa-framework/sofa/pull/5182) +- [GUI.Qt] Fix invalid color of the warning sign on object [#5190](https://github.com/sofa-framework/sofa/pull/5190) +- [Base] Fix a minor bug related to the printing of info message while parsing & minor upgrade to c++11 [#5191](https://github.com/sofa-framework/sofa/pull/5191) +- [Mapping] Fix draw in RigidMapping [#5204](https://github.com/sofa-framework/sofa/pull/5204) +- [Engine] Fix drawLines from ValuesFromPositions [#5206](https://github.com/sofa-framework/sofa/pull/5206) +- [GL] OglSceneFrame: fix background [#5224](https://github.com/sofa-framework/sofa/pull/5224) +- [plugins] Change remote of ConstraintGeomtery and CollisionAlgorithm [#5240](https://github.com/sofa-framework/sofa/pull/5240) +- [Geometry] Fix edge-edge intersection method avoiding decimal precision error [#5259](https://github.com/sofa-framework/sofa/pull/5259) +- [Helper] Deprecate findOrCreateAValidPath and introduce clearer functions [#5264](https://github.com/sofa-framework/sofa/pull/5264) +- [All] Fix compilation with FLOATING_POINT_TYPE=float [#5269](https://github.com/sofa-framework/sofa/pull/5269) +- [IO.Mesh] Fix missing `iomanip` header in tests [#5279](https://github.com/sofa-framework/sofa/pull/5279) +- [DistanceGrid.CUDA] Fix compilation [#5295](https://github.com/sofa-framework/sofa/pull/5295) +- [MechanicalLoad] Small update on SphereFF drawing to follow wireframe [#5298](https://github.com/sofa-framework/sofa/pull/5298) +- [GUI.performer] Fix compilation of TopologicalChangeManager due to ambigous name [#5303](https://github.com/sofa-framework/sofa/pull/5303) +- [CMake] Fix fetching name for Sofa.METIS [#5311](https://github.com/sofa-framework/sofa/pull/5311) +- [CMake] Remove cmake ignore path install prefix [#5313](https://github.com/sofa-framework/sofa/pull/5313) +- [examples] Fix F letter collision in SofaScene [#5319](https://github.com/sofa-framework/sofa/pull/5319) +- [Mapping] Fix assertion error in debug [#5322](https://github.com/sofa-framework/sofa/pull/5322) +- [Nix] Fix Nix CI [#5323](https://github.com/sofa-framework/sofa/pull/5323) +- [Core] Fix warning in LinearSolver.h [#5326](https://github.com/sofa-framework/sofa/pull/5326) +- [IO.Mesh.BlenderExporter] Inherit from BaseSimulationExporter [#5334](https://github.com/sofa-framework/sofa/pull/5334) +- [GUI.Common] Clean and fix MouseOperation [#5336](https://github.com/sofa-framework/sofa/pull/5336) +- [examples] Remove bad XML artefact [#5337](https://github.com/sofa-framework/sofa/pull/5337) +- [Topology] Fix warning in TriangleSubdividers [#5348](https://github.com/sofa-framework/sofa/pull/5348) +- [LinearSystem] Fix mass access on macos [#5352](https://github.com/sofa-framework/sofa/pull/5352) +- [CMake] Fix install process with default option SOFA_INSTALL_RESOURCES_FILES [#5363](https://github.com/sofa-framework/sofa/pull/5363) +- [examples] Fix wrong topology Data arrays on the surface mesh in HexahedralFEMForceField.scn [#5367](https://github.com/sofa-framework/sofa/pull/5367) +- [ODESolver.Backward] BDFOdeSolver: Fix assertions [#5376](https://github.com/sofa-framework/sofa/pull/5376) +- [Defaulttype, Helper] Return empty string instead of zero [#5388](https://github.com/sofa-framework/sofa/pull/5388) +- [CI] Nix: Fix CI [#5401](https://github.com/sofa-framework/sofa/pull/5401) +- [Core] Fix DisplayFlags with showCollision [#5598](https://github.com/sofa-framework/sofa/pull/5598) +- [Plugins] Fix compilation regarding qt code now activated [#5623](https://github.com/sofa-framework/sofa/pull/5623) + + +### Cleaning + +- [examples] Make symplectic option explicit [#5159](https://github.com/sofa-framework/sofa/pull/5159) +- [Lagrangian] Remove unused data numericalTolerance in BLC [#5164](https://github.com/sofa-framework/sofa/pull/5164) +- [SofaCUDA] Explicit the CUDA C++ standard version to 17 [#5165](https://github.com/sofa-framework/sofa/pull/5165) +- [SofaCUDA] Remove NO_CUDA condition [#5171](https://github.com/sofa-framework/sofa/pull/5171) +- [Multithreading] Apply new factory registration mechanism [#5178](https://github.com/sofa-framework/sofa/pull/5178) +- [all] Fix additional warnings [#5180](https://github.com/sofa-framework/sofa/pull/5180) +- [examples] Fix warnings of all examples [#5183](https://github.com/sofa-framework/sofa/pull/5183) +- [DefaultType] Aliases defined twice [#5198](https://github.com/sofa-framework/sofa/pull/5198) +- [SolidMechanics] Make Data innerRadius of BeamFEMFF not required [#5203](https://github.com/sofa-framework/sofa/pull/5203) +- [Type] Convert enable_if to concepts in fixed_array [#5205](https://github.com/sofa-framework/sofa/pull/5205) +- [Type] Deprecate is_container trait [#5210](https://github.com/sofa-framework/sofa/pull/5210) +- [all] Remove last deprecated VecId and use constexpr vecids [#5211](https://github.com/sofa-framework/sofa/pull/5211) +- [all] Replace find by contains [#5215](https://github.com/sofa-framework/sofa/pull/5215) +- [Project] Start dev phase v25.06 [#5218](https://github.com/sofa-framework/sofa/pull/5218) +- [Playback] Remove deprecated macro [#5231](https://github.com/sofa-framework/sofa/pull/5231) +- [SofaMatrix] Put Qt dependent code into an extension [#5234](https://github.com/sofa-framework/sofa/pull/5234) +- [Core] Remove some static functions create [#5239](https://github.com/sofa-framework/sofa/pull/5239) +- [SceneUtility] Remove *AliasComponent [#5241](https://github.com/sofa-framework/sofa/pull/5241) +- [ODESolver] Remove repeated class name in log messages [#5242](https://github.com/sofa-framework/sofa/pull/5242) +- [Contact] Clean FrictionContact [#5261](https://github.com/sofa-framework/sofa/pull/5261) +- [Core] ObjectFactory: remove message when a plugin has already registered its components [#5271](https://github.com/sofa-framework/sofa/pull/5271) +- [ODESolver] Update data comment in EulerImplicit [#5282](https://github.com/sofa-framework/sofa/pull/5282) +- [Topology.container] Remove TopologyAlgorithms compatibility headers and some disabled methods [#5296](https://github.com/sofa-framework/sofa/pull/5296) +- [all] Set of fixes before lifecycle [#5306](https://github.com/sofa-framework/sofa/pull/5306) +- [all] Lifecycle : remove SOFA_ATTRIBUTE_DISABLED [#5309](https://github.com/sofa-framework/sofa/pull/5309) +- [Core] SingleStateAccessor: add explicit instantiations [#5317](https://github.com/sofa-framework/sofa/pull/5317) +- [IO.Mesh.VTKExporter] Inherit from BaseSimulationExporter [#5321](https://github.com/sofa-framework/sofa/pull/5321) +- [all] Lifecycle : remove SOFA_HEADER_DISABLED [#5327](https://github.com/sofa-framework/sofa/pull/5327) +- [Engine] Lifecycle : remove RemovedData [#5328](https://github.com/sofa-framework/sofa/pull/5328) +- [GitHub] Change targeted Discord room [#5331](https://github.com/sofa-framework/sofa/pull/5331) +- [all] Copy Data description as comments [#5333](https://github.com/sofa-framework/sofa/pull/5333) +- [scripts] Spring cleaning 2: Move old scripts in deprecated folder [#5335](https://github.com/sofa-framework/sofa/pull/5335) +- [Tutorials] Spring cleaning 3: remove old c++ tutorials [#5339](https://github.com/sofa-framework/sofa/pull/5339) +- [projects] Spring cleaning 4: Remove forgotten projects [#5340](https://github.com/sofa-framework/sofa/pull/5340) +- [all] Spring cleaning 5: reduce size of ressources [#5341](https://github.com/sofa-framework/sofa/pull/5341) +- [tests] Prevent test leaks when loading plugins [#5344](https://github.com/sofa-framework/sofa/pull/5344) +- [CMake] Remove compatibility layer in macro [#5349](https://github.com/sofa-framework/sofa/pull/5349) +- [examples] Fix SofaScene not launched during scene tests [#5353](https://github.com/sofa-framework/sofa/pull/5353) +- [all] Move fetched guis folders into dedicated folder [#5356](https://github.com/sofa-framework/sofa/pull/5356) +- [all] Lifecycle : Remove SOFA_ATTRIBUTE_DISABLED, forgotten files [#5359](https://github.com/sofa-framework/sofa/pull/5359) +- [CMake] Remove references to deleted projects/option [#5361](https://github.com/sofa-framework/sofa/pull/5361) +- [examples] Add an option to (not) build SimpleAPI examples [#5362](https://github.com/sofa-framework/sofa/pull/5362) +- [all] Fix warnings [#5369](https://github.com/sofa-framework/sofa/pull/5369) +- [examples] Minor update default scene [#5373](https://github.com/sofa-framework/sofa/pull/5373) +- [Mapping] Remove warning in DistanceToPlaneMapping_test.cpp [#5374](https://github.com/sofa-framework/sofa/pull/5374) +- [Engine] Remove docstring for GenerateCylinder [#5386](https://github.com/sofa-framework/sofa/pull/5386) +- [SofaDistanceGrid] Apply new factory registration mechanism [#5391](https://github.com/sofa-framework/sofa/pull/5391) +- [SofaImplicitField] Apply new factory registration mechanism [#5392](https://github.com/sofa-framework/sofa/pull/5392) +- [ArticulatedSystemPlugin] Apply new factory registration mechanism [#5394](https://github.com/sofa-framework/sofa/pull/5394) +- [SofaEulerianFluid] Apply new factory registration mechanism [#5395](https://github.com/sofa-framework/sofa/pull/5395) +- [SofaMatrix] Apply new factory registration mechanism [#5397](https://github.com/sofa-framework/sofa/pull/5397) +- [SofaCarving] Apply new factory registration mechanism [#5403](https://github.com/sofa-framework/sofa/pull/5403) +- [CollisionOBBCapsule] Apply new factory registration mechanism [#5404](https://github.com/sofa-framework/sofa/pull/5404) +- [examples] Run PluginFinder [#5415](https://github.com/sofa-framework/sofa/pull/5415) +- [examples] Remove scenes with SleepController [#5416](https://github.com/sofa-framework/sofa/pull/5416) +- [examples] remove non-existing plugin [#5417](https://github.com/sofa-framework/sofa/pull/5417) +- [examples] Remove examples using Monitor [#5418](https://github.com/sofa-framework/sofa/pull/5418) +- [SofaImplicitField] A bit of cleaning in the plugin [#5419](https://github.com/sofa-framework/sofa/pull/5419) +- [Lagrangian.Model] Remove extra endEdit [#5421](https://github.com/sofa-framework/sofa/pull/5421) +- [CMake] Bump SOFA version v25.06.00 [#5613](https://github.com/sofa-framework/sofa/pull/5613) +- [All] Fix last use of Sofa.GUI.Qt [#5621](https://github.com/sofa-framework/sofa/pull/5621) + + +### Refactoring + +- [Core] Isolate the intrusive reference counting [#5149](https://github.com/sofa-framework/sofa/pull/5149) + + +### Project / CI / Infrastructure + +- [tools] Update post-install fixup to fix rpath [#5197](https://github.com/sofa-framework/sofa/pull/5197) +- [Helper] Add path to icons to fix release error not finding icons [#5622](https://github.com/sofa-framework/sofa/pull/5622) + + + + ## [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 ) diff --git a/CMakeLists.txt b/CMakeLists.txt index 17e824e4b08..e5e1ecb2401 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -5,9 +5,15 @@ project(Sofa include(CMakeDependentOption) + +if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0") + set(CMAKE_FIND_PACKAGE_TARGETS_GLOBAL ON) + # https://cmake.org/cmake/help/latest/variable/CMAKE_FIND_PACKAGE_TARGETS_GLOBAL.html +endif() + # Manually define VERSION set(Sofa_VERSION_MAJOR 25) -set(Sofa_VERSION_MINOR 06) +set(Sofa_VERSION_MINOR 12) set(Sofa_VERSION_PATCH 99) set(Sofa_VERSION ${Sofa_VERSION_MAJOR}.${Sofa_VERSION_MINOR}.${Sofa_VERSION_PATCH}) @@ -35,6 +41,12 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${ARCHIVE_OUTPUT_DIRECTOR set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${RUNTIME_OUTPUT_DIRECTORY}) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${LIBRARY_OUTPUT_DIRECTORY}) +set(SOFA_APPLICATIONS_RELOCATABLE_PATH "applications" CACHE STRING "Relocatable path that will be used ot install applications") +set(SOFA_PLUGINS_RELOCATABLE_PATH "plugins" CACHE STRING "Relocatable path that will be used ot install plugins") +set(SOFA_PROJECTS_RELOCATABLE_PATH "projects" CACHE STRING "Relocatable path that will be used ot install projects") + + + # Option for packaging option(SOFA_BUILD_RELEASE_PACKAGE "Run package specific configure" OFF) @@ -130,19 +142,14 @@ if(MSVC) option(SOFA_USE_DEPENDENCY_PACK "Enable the use of the Windows Dependency Pack" ON) # WinDepPack if(SOFA_USE_DEPENDENCY_PACK) - set(SOFA_DEPENDENCY_PACK_DIR "${CMAKE_SOURCE_DIR}" CACHE PATH "Directory containing Windows Dependency Pack") - if(NOT EXISTS ${SOFA_DEPENDENCY_PACK_DIR}) - # force back to default value - set(SOFA_DEPENDENCY_PACK_DIR "${CMAKE_SOURCE_DIR}" CACHE PATH "Directory containing Windows Dependency Pack" FORCE) - endif() - list(APPEND CMAKE_INCLUDE_PATH ${SOFA_DEPENDENCY_PACK_DIR}/include) - if(CMAKE_CL_64) - list(APPEND CMAKE_LIBRARY_PATH ${SOFA_DEPENDENCY_PACK_DIR}/lib/win64) - else() - list(APPEND CMAKE_LIBRARY_PATH ${SOFA_DEPENDENCY_PACK_DIR}/lib/win32) + set(SOFA_DEPENDENCY_PACK_DIR "" CACHE PATH "Directory containing Windows Dependency Pack") + if(SOFA_DEPENDENCY_PACK_DIR AND EXISTS ${SOFA_DEPENDENCY_PACK_DIR}) + add_subdirectory(${SOFA_DEPENDENCY_PACK_DIR} ${CMAKE_BINARY_DIR}/extlibs/SofaDependencyPack) + else () + message(INFO "Fetching WinDepPack") + sofa_fetch_dependency(WinDepPack GIT_REPOSITORY "https://github.com/sofa-framework/WinDepPack.git" GIT_TAG "master" DONT_BUILD) + add_subdirectory("${CMAKE_BINARY_DIR}/external_directories/fetched/WinDepPack" "${CMAKE_BINARY_DIR}/extlibs/WinDepPack") endif() - install(DIRECTORY ${SOFA_DEPENDENCY_PACK_DIR}/include/ DESTINATION include/extlibs/WinDepPack COMPONENT headers) - install(DIRECTORY ${SOFA_DEPENDENCY_PACK_DIR}/licenses/ DESTINATION licenses COMPONENT applications) endif () endif() @@ -448,5 +455,8 @@ if(SOFA_BUILD_RELEASE_PACKAGE) set(CPACK_INSTALL_PREFIX "/runSofa.app/Contents/MacOS") endif() + configure_file(${CMAKE_SOURCE_DIR}/tools/postinstall-fixup/generate-stubfiles.cmake postinstall-scripts/generate-stubfiles.cmake @ONLY) + set(CPACK_PRE_BUILD_SCRIPTS ${CMAKE_BINARY_DIR}/postinstall-scripts/generate-stubfiles.cmake) + include(CPack) endif() diff --git a/CMakePresets.json b/CMakePresets.json index 96e9cc37a8f..d80214b19e1 100644 --- a/CMakePresets.json +++ b/CMakePresets.json @@ -143,6 +143,10 @@ "type": "BOOL", "value": "ON" }, + "PLUGIN_SOFTROBOTS_CUDA": { + "type": "BOOL", + "value": "ON" + }, "SOFA_FETCH_BEAMADAPTER": { "type": "BOOL", "value": "ON" @@ -151,6 +155,10 @@ "type": "BOOL", "value": "ON" }, + "PLUGIN_BEAMADAPTER_CUDA": { + "type": "BOOL", + "value": "ON" + }, "PLUGIN_SOFAMATRIX": { "type": "BOOL", "value": "ON" @@ -167,6 +175,10 @@ "type": "BOOL", "value": "ON" }, + "PLUGIN_SOFADISTANCEGRID_CUDA": { + "type": "BOOL", + "value": "ON" + }, "PLUGIN_GEOMAGIC": { "type": "BOOL", "value": "ON" @@ -268,6 +280,10 @@ "type": "BOOL", "value": "ON" }, + "PLUGIN_SOFASPHFLUID_CUDA": { + "type": "BOOL", + "value": "ON" + }, "PLUGIN_SOFASPHFLUID": { "type": "BOOL", "value": "ON" diff --git a/Sofa/Component/AnimationLoop/Sofa.Component.AnimationLoopConfig.cmake.in b/Sofa/Component/AnimationLoop/Sofa.Component.AnimationLoopConfig.cmake.in index 9875f422df6..3cedf1af8a6 100644 --- a/Sofa/Component/AnimationLoop/Sofa.Component.AnimationLoopConfig.cmake.in +++ b/Sofa/Component/AnimationLoop/Sofa.Component.AnimationLoopConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Constraint.Lagrangian QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Constraint.Lagrangian QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp index d732bd93605..61ec57f65ca 100644 --- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp +++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp @@ -43,7 +43,7 @@ #include -#include ///< ConstraintResolution. +#include ///< ConstraintResolution. #include @@ -164,7 +164,7 @@ void ConstraintProblem::gaussSeidelConstraintTimed(SReal &timeout, int numItMax) // (b) contribution of forces are added to d for(int k=0; k<_dim; k++) for(int l=0; lname() + std::string(""); } - - SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() - bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2) override = delete; - SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() - int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, core::collision::DetectionOutputVector* contacts) override = delete; }; } // namespace sofa::component::collision::detection::algorithm diff --git a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp index 75536b51a12..3078fc26c56 100644 --- a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp +++ b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp @@ -102,7 +102,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithNoAttributes() " \n" " \n" " \n" - " \n" + " \n" " \n" " \n" ; @@ -126,7 +126,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingIntersection() " \n" " \n" " \n" - " \n" + " \n" " \n" ; root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str()); @@ -147,7 +147,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingBroadPhase() " \n" " \n" " \n" - " \n" + " \n" " \n" " \n" ; @@ -168,7 +168,7 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingNarrowPhase() " \n" " \n" " \n" - " \n" + " \n" " \n" " \n" ; @@ -210,7 +210,7 @@ int TestCollisionPipeline::checkCollisionPipelineWithMonkeyValueForDepth(int dva " \n" " \n" " \n" - " \n" + " \n" " \n" " \n" ; diff --git a/Sofa/Component/Collision/Detection/Intersection/Sofa.Component.Collision.Detection.IntersectionConfig.cmake.in b/Sofa/Component/Collision/Detection/Intersection/Sofa.Component.Collision.Detection.IntersectionConfig.cmake.in index f493805a0c4..8d6ac13aabb 100644 --- a/Sofa/Component/Collision/Detection/Intersection/Sofa.Component.Collision.Detection.IntersectionConfig.cmake.in +++ b/Sofa/Component/Collision/Detection/Intersection/Sofa.Component.Collision.Detection.IntersectionConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp index 55c955f3e94..46bf969bf6f 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/BaseProximityIntersection.cpp @@ -42,7 +42,7 @@ bool BaseProximityIntersection::testIntersection(Cube& cube1, Cube& cube2, const const auto& maxVect1 = cube1.maxVect(); const auto& maxVect2 = cube2.maxVect(); - const auto alarmDist = currentIntersection->getAlarmDistance() + cube1.getProximity() + cube2.getProximity(); + const auto alarmDist = currentIntersection->getAlarmDistance() + cube1.getContactDistance() + cube2.getContactDistance(); for (int i = 0; i < 3; i++) { 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 b34c9751e42..20ef33ac6ab 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 @@ -62,12 +62,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API BaseProximityIntersect /// Intersectors for cubes using proximities bool testIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, const core::collision::Intersection* currentIntersection) override; int computeIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) override; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, OutputVector* contacts) = delete; - }; } // namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.h index 6fc64c04740..becaa71fb89 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/DiscreteIntersection.h @@ -58,23 +58,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API DiscreteIntersection : virtual bool testIntersection(collision::geometry::Sphere& sph1, collision::geometry::RigidSphere& sph2, const core::collision::Intersection* currentIntersection); virtual int computeIntersection(collision::geometry::Sphere& sph1, collision::geometry::RigidSphere& sph2, OutputVector* contacts, const core::collision::Intersection* currentIntersection); - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual bool testIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual int computeIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual bool testIntersection(collision::geometry::Sphere& sph1, collision::geometry::Sphere& sph2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual int computeIntersection(collision::geometry::Sphere& sph1, collision::geometry::Sphere& sph2, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual bool testIntersection(collision::geometry::RigidSphere& sph1, collision::geometry::RigidSphere& sph2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual int computeIntersection(collision::geometry::RigidSphere& sph1, collision::geometry::RigidSphere& sph2, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual bool testIntersection(collision::geometry::Sphere& sph1, collision::geometry::RigidSphere& sph2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - virtual int computeIntersection(collision::geometry::Sphere& sph1, collision::geometry::RigidSphere& sph2, OutputVector*) = delete; - protected: template diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp index 5b1693a0316..2e32744597a 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/LocalMinDistance.cpp @@ -108,7 +108,7 @@ bool LocalMinDistance::testIntersection(Line& e1, Line& e2, const core::collisio return false; } - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Line::Coord AB = e1.p2()-e1.p1(); const Line::Coord CD = e2.p2()-e2.p1(); @@ -117,9 +117,9 @@ bool LocalMinDistance::testIntersection(Line& e1, Line& e2, const core::collisio MatNoInit<2, 2, Line::Coord::value_type> A; VecNoInit<2, Line::Coord::value_type> b; - A[0][0] = AB*AB; - A[1][1] = CD*CD; - A[0][1] = A[1][0] = -CD*AB; + A(0,0) = AB*AB; + A(1,1) = CD*CD; + A(0,1) = A(1,0) = -CD*AB; b[0] = AB*AC; b[1] = -CD*AC; @@ -130,8 +130,8 @@ bool LocalMinDistance::testIntersection(Line& e1, Line& e2, const core::collisio if (det < -1.0e-30 || det > 1.0e-30) { - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 1e-15 || alpha > (1.0-1e-15) || beta < 1e-15 || beta > (1.0-1e-15) ) return false; @@ -168,7 +168,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont return 0; } - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); // E1 => A-->B // E2 => C-->D @@ -178,9 +178,9 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont Matrix2 A; Vec2 b; - A[0][0] = AB*AB; - A[1][1] = CD*CD; - A[0][1] = A[1][0] = -CD*AB; + A(0,0) = AB*AB; + A(1,1) = CD*CD; + A(0,1) = A(1,0) = -CD*AB; b[0] = AB*AC; b[1] = -CD*AC; const double det = type::determinant(A); @@ -192,8 +192,8 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont if (det < -1.0e-30 || det > 1.0e-30) { // compute the parametric coordinates along the line - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; // if parameters are outside of ]0,1[ then there is no intersection // the intersection is outside of the edge supporting point. @@ -259,7 +259,7 @@ int LocalMinDistance::computeIntersection(Line& e1, Line& e2, OutputVector* cont #endif - const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e1, e2); detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); @@ -278,7 +278,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Point& e1, const core::col if(!e1.isActive(e2.getCollisionModel())) return false; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Vec3 AB = e2.p2()-e2.p1(); const Vec3 AC = e2.p3()-e2.p1(); @@ -299,9 +299,9 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Point& e1, const core::col // AB.AC*alpha + AC.AC*beta = AP.AC // // A . [alpha beta] = b - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AP*AB; b[1] = AP*AC; const double det = type::determinant(A); @@ -310,8 +310,8 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Point& e1, const core::col double beta = 0.5; - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -345,7 +345,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector* if(!e1.isActive(e2.getCollisionModel())) return 0; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); static_assert(std::is_same_v, "Data mismatch"); using Real = Triangle::Coord::value_type; @@ -356,16 +356,16 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector* MatNoInit<2, 2, Real> A; VecNoInit<2, Real> b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AP*AB; b[1] = AP*AC; const Real det = type::determinant(A); - const Real alpha=(b[0]*A[1][1]-b[1]*A[0][1])/det; - const Real beta=(b[1]*A[0][0]-b[0]*A[1][0])/det; + const Real alpha=(b[0]*A(1,1)-b[1]*A(0,1))/det; + const Real beta=(b[1]*A(0,0)-b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || @@ -411,7 +411,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Point& e1, OutputVector* } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e2, e1); detection->id = e1.getIndex(); @@ -430,7 +430,7 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Sphere& e1, const core::co if (!e1.isActive(e2.getCollisionModel())) return false; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); static_assert(std::is_same_v, "Data mismatch"); using Real = Triangle::Coord::value_type; @@ -454,15 +454,15 @@ bool LocalMinDistance::testIntersection(Triangle& e2, Sphere& e1, const core::co // AB.AC*alpha + AC.AC*beta = AP.AC // // A . [alpha beta] = b - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AP*AB; b[1] = AP*AC; const Real det = type::determinant(A); - const Real alpha=(b[0]*A[1][1]-b[1]*A[0][1])/det; - const Real beta=(b[1]*A[0][0]-b[0]*A[1][0])/det; + const Real alpha=(b[0]*A(1,1)-b[1]*A(0,1))/det; + const Real beta=(b[1]*A(0,0)-b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -500,7 +500,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector if (!e1.isActive(e2.getCollisionModel())) return false; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); static_assert(std::is_same_v, "Data mismatch"); using Real = Triangle::Coord::value_type; @@ -511,16 +511,16 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector MatNoInit<2, 2, Real> A; VecNoInit<2, Real> b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AP*AB; b[1] = AP*AC; const Real det = type::determinant(A); - const Real alpha=(b[0]*A[1][1]-b[1]*A[0][1])/det; - const Real beta=(b[1]*A[0][0]-b[0]*A[1][0])/det; + const Real alpha=(b[0]*A(1,1)-b[1]*A(0,1))/det; + const Real beta=(b[1]*A(0,0)-b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -565,7 +565,7 @@ int LocalMinDistance::computeIntersection(Triangle& e2, Sphere& e1, OutputVector } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e2, e1); detection->id = e1.getIndex(); @@ -586,7 +586,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Point& e1, const core::collisi if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel())) return false; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Line::Coord AB = e2.p2()-e2.p1(); const Line::Coord AP = e1.p()-e2.p1(); @@ -633,7 +633,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel())) return 0; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Line::Coord AB = e2.p2()-e2.p1(); const Line::Coord AP = e1.p()-e2.p1(); @@ -685,7 +685,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Point& e1, OutputVector* con } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e2, e1); detection->id = e1.getIndex(); @@ -705,7 +705,7 @@ bool LocalMinDistance::testIntersection(Line& e2, Sphere& e1, const core::collis static_assert(std::is_same_v, "Data mismatch"); using Real = Triangle::Coord::value_type; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); const Line::Coord AB = e2.p2()-e2.p1(); const Line::Coord AP = e1.p()-e2.p1(); @@ -748,7 +748,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co static_assert(std::is_same_v, "Data mismatch"); using Real = Triangle::Coord::value_type; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); const Line::Coord AB = e2.p2()-e2.p1(); const Line::Coord AP = e1.p()-e2.p1(); @@ -800,7 +800,7 @@ int LocalMinDistance::computeIntersection(Line& e2, Sphere& e1, OutputVector* co } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e2, e1); detection->id = e1.getIndex(); @@ -819,7 +819,7 @@ bool LocalMinDistance::testIntersection(Point& e1, Point& e2, const core::collis if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel())) return false; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Point::Coord PQ = e2.p()-e1.p(); @@ -851,7 +851,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co if(!e1.isActive(e2.getCollisionModel()) || !e2.isActive(e1.getCollisionModel())) return 0; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Point::Coord& P = e1.p(); const Point::Coord& Q = e2.p(); @@ -890,7 +890,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e1, e2); detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); @@ -905,7 +905,7 @@ int LocalMinDistance::computeIntersection(Point& e1, Point& e2, OutputVector* co bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); static_assert(std::is_same_v, "Data mismatch"); const auto PQ = e2.p()-e1.p(); @@ -935,7 +935,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Point& e2, const core::colli int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); static_assert(std::is_same_v, "Data mismatch"); const Sphere::Coord& P = e1.p(); @@ -975,7 +975,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e1, e2); detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); @@ -990,7 +990,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Point& e2, OutputVector* c bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance(); const Sphere::Coord PQ = e2.p()-e1.p(); if (PQ.norm2() < alarmDist*alarmDist) @@ -1018,7 +1018,7 @@ bool LocalMinDistance::testIntersection(Sphere& e1, Sphere& e2, const core::coll int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance(); const Sphere::Coord& P = e1.p(); const Sphere::Coord& Q = e2.p(); @@ -1056,7 +1056,7 @@ int LocalMinDistance::computeIntersection(Sphere& e1, Sphere& e2, OutputVector* } #endif - const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.r() + e2.getProximity(); + const double contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.r() + e2.getContactDistance(); detection->elem = std::pair(e1, e2); detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); @@ -1074,7 +1074,7 @@ bool LocalMinDistance::testIntersection(Ray &t1,Triangle &t2, const core::collis { type::Vec3 P,Q; - const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance(); if (fabs(t2.n() * t1.direction()) < 0.000001) return false; // no intersection for edges parallel to the triangle @@ -1098,7 +1098,7 @@ bool LocalMinDistance::testIntersection(Ray &t1,Triangle &t2, const core::collis int LocalMinDistance::computeIntersection(Ray &t1, Triangle &t2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance(); if (fabs(t2.n() * t1.direction()) < 0.000001) 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 8c6591f95df..af3a1336940 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 @@ -105,53 +105,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API LocalMinDistance : pub bool testValidity(collision::geometry::Point&, const type::Vec3&) const; bool testValidity(collision::geometry::Line&, const type::Vec3&) const; bool testValidity(collision::geometry::Triangle&, const type::Vec3&) const; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Cube&, collision::geometry::Cube&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Point&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Sphere&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Sphere&, collision::geometry::Sphere&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Sphere&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Line&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Sphere&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray&, collision::geometry::Sphere&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray&, collision::geometry::Triangle&) = delete; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Cube&, collision::geometry::Cube&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Point&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Sphere&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Sphere&, collision::geometry::Sphere&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Sphere&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Line&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::Sphere&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray&, collision::geometry::Sphere&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray&, collision::geometry::Triangle&, OutputVector*) = delete; - }; } // namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.cpp index aab87bf5069..f10907d638f 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.cpp @@ -64,9 +64,9 @@ int MeshDiscreteIntersection::computeIntersection(Triangle& e1, Line& e2, Output Triangle::Coord right(NOINIT); for (int i=0; i<3; i++) { - M[i][0] = AB[i]; - M[i][1] = AC[i]; - M[i][2] = -PQ[i]; + M(i,0) = AB[i]; + M(i,1) = AC[i]; + M(i,2) = -PQ[i]; right[i] = P[i]-A[i]; } if (!Minv.invert(M)) diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.h index 22054f8bcf1..4a501156d46 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshDiscreteIntersection.h @@ -45,19 +45,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MeshDiscreteIntersecti template int computeIntersection(collision::geometry::TSphere&, collision::geometry::Triangle&, OutputVector*, const core::collision::Intersection* currentIntersection); bool testIntersection(collision::geometry::Triangle&, collision::geometry::Line&, const core::collision::Intersection* currentIntersection); int computeIntersection(collision::geometry::Triangle& e1, collision::geometry::Line& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection); - - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Line&) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::TSphere&, collision::geometry::Triangle&) = delete; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle& e1, collision::geometry::Line& e2, OutputVector* contacts) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::TSphere&, collision::geometry::Triangle&, OutputVector*) = delete; }; } // namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp index 47ba57e7b28..b9b9cc40f0a 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.cpp @@ -82,7 +82,7 @@ MeshMinProximityIntersection::MeshMinProximityIntersection(MinProximityIntersect bool MeshMinProximityIntersection::testIntersection(Line& e1, Line& e2, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); using Real = Line::Coord::value_type; const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); @@ -100,9 +100,9 @@ bool MeshMinProximityIntersection::testIntersection(Line& e1, Line& e2, const co MatNoInit<2, 2, Real> A; VecNoInit<2, Real> b; - A[0][0] = AB * AB; - A[1][1] = CD * CD; - A[0][1] = A[1][0] = -CD*AB; + A(0,0) = AB * AB; + A(1,1) = CD * CD; + A(0,1) = A(1,0) = -CD*AB; b[0] = AB*AC; b[1] = -CD*AC; @@ -113,8 +113,8 @@ bool MeshMinProximityIntersection::testIntersection(Line& e1, Line& e2, const co if (det < -1.0e-18 || det > 1.0e-18) { - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || alpha > 0.999999 || beta < 0.000001 || beta > 0.999999 ) return false; @@ -126,7 +126,7 @@ bool MeshMinProximityIntersection::testIntersection(Line& e1, Line& e2, const co int MeshMinProximityIntersection::computeIntersection(Line& e1, Line& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); using Real = Line::Coord::value_type; const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); @@ -143,9 +143,9 @@ int MeshMinProximityIntersection::computeIntersection(Line& e1, Line& e2, Output MatNoInit<2, 2, Real> A; VecNoInit<2, Real> b; - A[0][0] = AB*AB; - A[1][1] = CD*CD; - A[0][1] = A[1][0] = -CD*AB; + A(0,0) = AB*AB; + A(1,1) = CD*CD; + A(0,1) = A(1,0) = -CD*AB; b[0] = AB*AC; b[1] = -CD*AC; const Real det = type::determinant(A); @@ -155,8 +155,8 @@ int MeshMinProximityIntersection::computeIntersection(Line& e1, Line& e2, Output if (det < -1.0e-15 || det > 1.0e-15) { - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || alpha > 0.999999 || beta < 0.000001 || beta > 0.999999 ) return 0; @@ -186,7 +186,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e1, Line& e2, Output } #endif - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e1, e2); detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); @@ -214,7 +214,7 @@ bool MeshMinProximityIntersection::testIntersection(Triangle& e2, Point& e1, con static_assert(std::is_same_v, "Data mismatch"); using Real = Triangle::Coord::value_type; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); const auto& positions_e2 = e2.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); @@ -243,15 +243,15 @@ bool MeshMinProximityIntersection::testIntersection(Triangle& e2, Point& e1, con // AB.AC*alpha + AC.AC*beta = AP.AC // // A . [alpha beta] = b - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AP*AB; b[1] = AP*AC; const Real det = type::determinant(A); - const Real alpha=(b[0]*A[1][1]-b[1]*A[0][1])/det; - const Real beta=(b[1]*A[0][0]-b[0]*A[1][0])/det; + const Real alpha=(b[0]*A(1,1)-b[1]*A(0,1))/det; + const Real beta=(b[1]*A(0,0)-b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -270,7 +270,7 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O using Real = Triangle::Coord::value_type; - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); const auto& positions_e2 = e2.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); @@ -287,16 +287,16 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O MatNoInit<2, 2, Real> A; VecNoInit<2, Real> b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AP*AB; b[1] = AP*AC; const Real det = type::determinant(A); - const Real alpha=(b[0]*A[1][1]-b[1]*A[0][1])/det; - const Real beta=(b[1]*A[0][0]-b[0]*A[1][0])/det; + const Real alpha=(b[0]*A(1,1)-b[1]*A(0,1))/det; + const Real beta=(b[1]*A(0,0)-b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -328,7 +328,7 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O } #endif - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e2, e1); detection->id = e1.getIndex(); @@ -358,7 +358,7 @@ int MeshMinProximityIntersection::computeIntersection(Triangle& e2, Point& e1, O bool MeshMinProximityIntersection::testIntersection(Line& e2, Point& e1, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); using Real = Line::Coord::value_type; const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); @@ -389,7 +389,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e2, Point& e1, Outpu { static_assert(std::is_same_v, "Data mismatch"); - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const auto& positions_e1 = e1.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); const auto& positions_e2 = e2.model->getMechanicalState()->read(core::vec_id::read_access::position)->getValue(); @@ -438,7 +438,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e2, Point& e1, Outpu } #endif - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e2, e1); detection->id = e1.getIndex(); @@ -462,7 +462,7 @@ int MeshMinProximityIntersection::computeIntersection(Line& e2, Point& e1, Outpu bool MeshMinProximityIntersection::testIntersection(Point& e1, Point& e2, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const Point::Coord PQ = e2.p()-e1.p(); return PQ.norm2() < alarmDist * alarmDist; @@ -470,7 +470,7 @@ bool MeshMinProximityIntersection::testIntersection(Point& e1, Point& e2, const int MeshMinProximityIntersection::computeIntersection(Point& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); Vec3 P,Q,PQ; P = e1.p(); @@ -495,7 +495,7 @@ int MeshMinProximityIntersection::computeIntersection(Point& e1, Point& e2, Outp } #endif - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); detection->elem = std::pair(e1, e2); detection->id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h index b93b1d29bcb..a9c4cf20c0d 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshMinProximityIntersection.h @@ -55,44 +55,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MeshMinProximityInters int computeIntersection(collision::geometry::Line&, collision::geometry::Line&, OutputVector*, const core::collision::Intersection* currentIntersection); int computeIntersection(collision::geometry::Triangle&, collision::geometry::Point&, OutputVector*, const core::collision::Intersection* currentIntersection); template int computeIntersection(collision::geometry::Triangle&, collision::geometry::TSphere&, OutputVector*, const core::collision::Intersection* currentIntersection); - - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Point&, collision::geometry::Point&) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::TSphere&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Point&) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::TSphere&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Line&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Point&) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::TSphere&) = delete; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Point&, collision::geometry::Point&, OutputVector*) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::TSphere&, collision::geometry::Point&, OutputVector*) = delete; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Point&, OutputVector*) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::TSphere&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Line&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::Point&, OutputVector*) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::TSphere&, OutputVector*) = delete; }; @@ -101,16 +63,16 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MeshMinProximityInters template bool MeshMinProximityIntersection::testIntersection(collision::geometry::Triangle& e2, collision::geometry::TSphere& e1, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); const type::Vec3 x13 = e2.p1()-e2.p2(); const type::Vec3 x23 = e2.p1()-e2.p3(); const type::Vec3 x03 = e2.p1()-e1.center(); type::Matrix2 A; type::Vec2 b; - A[0][0] = x13*x13; - A[1][1] = x23*x23; - A[0][1] = A[1][0] = x13*x23; + A(0,0) = x13*x13; + A(1,1) = x23*x23; + A(0,1) = A(1,0) = x13*x23; b[0] = x13*x03; b[1] = x23*x03; const SReal det = type::determinant(A); @@ -120,8 +82,8 @@ bool MeshMinProximityIntersection::testIntersection(collision::geometry::Triangl //if (det < -0.000001 || det > 0.000001) { - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -144,16 +106,16 @@ bool MeshMinProximityIntersection::testIntersection(collision::geometry::Triangl template int MeshMinProximityIntersection::computeIntersection(collision::geometry::Triangle& e2, collision::geometry::TSphere& e1, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); const type::Vec3 x13 = e2.p1()-e2.p2(); const type::Vec3 x23 = e2.p1()-e2.p3(); const type::Vec3 x03 = e2.p1()-e1.center(); type::Matrix2 A; type::Vec2 b; - A[0][0] = x13*x13; - A[1][1] = x23*x23; - A[0][1] = A[1][0] = x13*x23; + A(0,0) = x13*x13; + A(1,1) = x23*x23; + A(0,1) = A(1,0) = x13*x23; b[0] = x13*x03; b[1] = x23*x03; const SReal det = type::determinant(A); @@ -163,8 +125,8 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Trian //if (det < -0.000001 || det > 0.000001) { - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) @@ -178,7 +140,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Trian if (QP.norm2() >= alarmDist*alarmDist) return 0; - const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); contacts->resize(contacts->size()+1); sofa::core::collision::DetectionOutput *detection = &*(contacts->end()-1); @@ -205,7 +167,7 @@ template bool MeshMinProximityIntersection::testIntersection(collision::geometry::Line& e2, collision::geometry::TSphere& e1, const core::collision::Intersection* currentIntersection) { static_assert(std::is_same_v::Coord>, "Data mismatch"); - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); const geometry::Line::Coord x32 = e2.p1()-e2.p2(); const auto x31 = e1.center()-e2.p2(); @@ -240,7 +202,7 @@ template int MeshMinProximityIntersection::computeIntersection(collision::geometry::Line& e2, collision::geometry::TSphere& e1, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { static_assert(std::is_same_v::Coord>, "Data mismatch"); - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); const geometry::Line::Coord x32 = e2.p1()-e2.p2(); const auto x31 = e1.center()-e2.p2(); @@ -263,7 +225,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Line& if (QP.norm2() >= alarmDist*alarmDist) return 0; - const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); contacts->resize(contacts->size()+1); sofa::core::collision::DetectionOutput *detection = &*(contacts->end()-1); @@ -289,7 +251,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::Line& template bool MeshMinProximityIntersection::testIntersection(collision::geometry::TSphere& e1, collision::geometry::Point& e2, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); type::Vec3 P,Q,PQ; P = e1.center(); @@ -307,7 +269,7 @@ bool MeshMinProximityIntersection::testIntersection(collision::geometry::TSphere template int MeshMinProximityIntersection::computeIntersection(collision::geometry::TSphere& e1, collision::geometry::Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); type::Vec3 P,Q,PQ; P = e1.center(); @@ -316,7 +278,7 @@ int MeshMinProximityIntersection::computeIntersection(collision::geometry::TSphe if (PQ.norm2() >= alarmDist*alarmDist) return 0; - const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.r() + e1.getContactDistance() + e2.getContactDistance(); contacts->resize(contacts->size()+1); sofa::core::collision::DetectionOutput *detection = &*(contacts->end()-1); diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp index d97a2795b8c..6903e8022d8 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.cpp @@ -106,11 +106,11 @@ bool MeshNewProximityIntersection::testIntersection(Triangle& tri1, Triangle& tr int MeshNewProximityIntersection::computeIntersection(Point& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const int n = NewProximityIntersection::doIntersectionPointPoint(alarmDist*alarmDist, e1.p(), e2.p(), contacts, (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex()); if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -124,11 +124,11 @@ int MeshNewProximityIntersection::computeIntersection(Point& e1, Point& e2, Outp int MeshNewProximityIntersection::computeIntersection(Line& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const int n = doIntersectionLinePoint(alarmDist*alarmDist, e1.p1(),e1.p2(), e2.p(), contacts, e2.getIndex()); if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -141,13 +141,13 @@ int MeshNewProximityIntersection::computeIntersection(Line& e1, Point& e2, Outpu int MeshNewProximityIntersection::computeIntersection(Line& e1, Line& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const SReal dist2 = alarmDist*alarmDist; const Index id = (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex(); const int n = doIntersectionLineLine(dist2, e1.p1(),e1.p2(), e2.p1(),e2.p2(), contacts, id); if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -159,12 +159,12 @@ int MeshNewProximityIntersection::computeIntersection(Line& e1, Line& e2, Output int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const SReal dist2 = alarmDist*alarmDist; const int n = doIntersectionTrianglePoint(dist2, e1.flags(),e1.p1(),e1.p2(),e1.p3(),e1.n(), e2.p(), contacts, e2.getIndex()); if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -179,7 +179,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Line& e2, Ou { static_assert(std::is_same_v, "Data mismatch"); - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const SReal dist2 = alarmDist*alarmDist; const Triangle::Coord& p1 = e1.p1(); const Triangle::Coord& p2 = e1.p2(); @@ -223,7 +223,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Line& e2, Ou if (n>0) { - const SReal contactDist = currentMinProxIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentMinProxIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -257,7 +257,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Triangle& e2 e1.p3Index()==e2.p1Index() || e1.p3Index()==e2.p2Index() || e1.p3Index()==e2.p3Index()); - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance(); const SReal dist2 = alarmDist*alarmDist; const auto& p1 = e1.p1(); const auto& p2 = e1.p2(); @@ -344,7 +344,7 @@ int MeshNewProximityIntersection::computeIntersection(Triangle& e1, Triangle& e2 if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); for (int i = 0; i < n; ++i) { (*contacts)[contacts->size()-n+i].elem = std::pair(e1, e2); diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.h index 42f1c919675..360c4097fa6 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.h @@ -67,51 +67,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MeshNewProximityInters static inline int doIntersectionLinePoint(SReal dist2, const type::Vec3& p1, const type::Vec3& p2, const type::Vec3& q, OutputVector* contacts, int id, bool swapElems = false); static inline int doIntersectionTrianglePoint(SReal dist2, int flags, const type::Vec3& p1, const type::Vec3& p2, const type::Vec3& p3, const type::Vec3& n, const type::Vec3& q, OutputVector* contacts, int id, bool swapElems = false, bool useNormal=false); static inline int doIntersectionTrianglePoint2(SReal dist2, int flags, const type::Vec3& p1, const type::Vec3& p2, const type::Vec3& p3, const type::Vec3& n, const type::Vec3& q, OutputVector* contacts, int id, bool swapElems = false); - - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Point&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Point&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::Line&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line&, collision::geometry::Line&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Line&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::Line&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::Triangle&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle&, collision::geometry::Triangle&, OutputVector*) = delete; - - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::TSphere& sph, collision::geometry::Point& pt) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::TSphere& sph, collision::geometry::Point& pt, OutputVector*) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Line&, collision::geometry::TSphere&) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Line& line, collision::geometry::TSphere& sph, OutputVector*) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Triangle&, collision::geometry::TSphere&) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Triangle& tri, collision::geometry::TSphere& sph, OutputVector*) = delete; }; } // namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl index 72e573c690e..fdf5b624e89 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/MeshNewProximityIntersection.inl @@ -36,9 +36,9 @@ inline int MeshNewProximityIntersection::doIntersectionLineLine(SReal dist2, con const auto AC = q1 - p1; type::Matrix2 A; type::Vec2 b; - A[0][0] = AB * AB; - A[1][1] = CD * CD; - A[0][1] = A[1][0] = -CD * AB; + A(0,0) = AB * AB; + A(1,1) = CD * CD; + A(0,1) = A(1,0) = -CD * AB; b[0] = AB * AC; b[1] = -CD * AC; const double det = type::determinant(A); @@ -48,8 +48,8 @@ inline int MeshNewProximityIntersection::doIntersectionLineLine(SReal dist2, con if (det < -0.000000000001 || det > 0.000000000001) { - alpha = (b[0] * A[1][1] - b[1] * A[0][1]) / det; - beta = (b[1] * A[0][0] - b[0] * A[1][0]) / det; + alpha = (b[0] * A(1,1) - b[1] * A(0,1)) / det; + beta = (b[1] * A(0,0) - b[0] * A(1,0)) / det; if (alpha < 0.000001 || alpha > 0.999999 || beta < 0.000001 || beta > 0.999999) return 0; @@ -127,9 +127,9 @@ inline int MeshNewProximityIntersection::doIntersectionTrianglePoint2(SReal dist const type::Vec3 AQ = q -p1; type::Matrix2 A; type::Vec2 b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AQ*AB; b[1] = AQ*AC; const SReal det = type::determinant(A); @@ -137,15 +137,15 @@ inline int MeshNewProximityIntersection::doIntersectionTrianglePoint2(SReal dist SReal alpha = 0.5; SReal beta = 0.5; - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) { // nearest point is on an edge or corner // barycentric coordinate on AB - const SReal pAB = b[0] / A[0][0]; // AQ*AB / AB*AB + const SReal pAB = b[0] / A(0,0); // AQ*AB / AB*AB // barycentric coordinate on AC - const SReal pAC = b[1] / A[1][1]; // AQ*AB / AB*AB + const SReal pAC = b[1] / A(1,1); // AQ*AB / AB*AB if (pAB < 0.000001 && pAC < 0.0000001) { // closest point is A @@ -171,7 +171,7 @@ inline int MeshNewProximityIntersection::doIntersectionTrianglePoint2(SReal dist { // barycentric coordinate on BC // BQ*BC / BC*BC = (AQ-AB)*(AC-AB) / (AC-AB)*(AC-AB) = (AQ*AC-AQ*AB + AB*AB-AB*AC) / (AB*AB+AC*AC-2AB*AC) - const SReal pBC = (b[1] - b[0] + A[0][0] - A[0][1]) / (A[0][0] + A[1][1] - 2*A[0][1]); // BQ*BC / BC*BC + const SReal pBC = (b[1] - b[0] + A(0,0) - A(0,1)) / (A(0,0) + A(1,1) - 2*A(0,1)); // BQ*BC / BC*BC if (pBC < 0.000001) { // closest point is B @@ -231,9 +231,9 @@ inline int MeshNewProximityIntersection::doIntersectionTrianglePoint(SReal dist2 const type::Vec3 AQ = q -p1; type::Matrix2 A; type::Vec2 b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AQ*AB; b[1] = AQ*AC; const SReal det = type::determinant(A); @@ -242,16 +242,16 @@ inline int MeshNewProximityIntersection::doIntersectionTrianglePoint(SReal dist2 SReal beta = 0.5; const SReal epsilon=std::numeric_limits::epsilon(); - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < epsilon || beta < epsilon || alpha + beta > 1 - epsilon) { //return 0; // nearest point is on an edge or corner // barycentric coordinate on AB - const SReal pAB = b[0] / A[0][0]; // AQ*AB / AB*AB + const SReal pAB = b[0] / A(0,0); // AQ*AB / AB*AB // barycentric coordinate on AC - const SReal pAC = b[1] / A[1][1]; // AQ*AB / AB*AB + const SReal pAC = b[1] / A(1,1); // AQ*AB / AB*AB if (pAB < epsilon && pAC < epsilon) { // closest point is A @@ -277,7 +277,7 @@ inline int MeshNewProximityIntersection::doIntersectionTrianglePoint(SReal dist2 { // barycentric coordinate on BC // BQ*BC / BC*BC = (AQ-AB)*(AC-AB) / (AC-AB)*(AC-AB) = (AQ*AC-AQ*AB + AB*AB-AB*AC) / (AB*AB+AC*AC-2AB*AC) - const SReal pBC = (b[1] - b[0] + A[0][0] - A[0][1]) / (A[0][0] + A[1][1] - 2*A[0][1]); // BQ*BC / BC*BC + const SReal pBC = (b[1] - b[0] + A(0,0) - A(0,1)) / (A(0,0) + A(1,1) - 2*A(0,1)); // BQ*BC / BC*BC if (pBC < epsilon) { // closest point is B @@ -333,7 +333,7 @@ template bool MeshNewProximityIntersection::testIntersection(collision::geometry::TSphere& e1, collision::geometry::Point& e2, const core::collision::Intersection* currentIntersection) { OutputVector contacts; - const double alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e1.r(); + const double alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e1.r(); // By design, MeshNewProximityIntersection is supposed to work only with NewProximityIntersection const auto* currentNewProxIntersection = static_cast(currentIntersection); @@ -345,7 +345,7 @@ bool MeshNewProximityIntersection::testIntersection(collision::geometry::TSphere template int MeshNewProximityIntersection::computeIntersection(collision::geometry::TSphere& e1, collision::geometry::Point& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e1.r(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e1.r(); // By design, MeshNewProximityIntersection is supposed to work only with NewProximityIntersection const auto* currentNewProxIntersection = static_cast(currentIntersection); @@ -353,7 +353,7 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::TSphe const int n = currentNewProxIntersection->doIntersectionPointPoint(alarmDist*alarmDist, e1.center(), e2.p(), contacts, (e1.getCollisionModel()->getSize() > e2.getCollisionModel()->getSize()) ? e1.getIndex() : e2.getIndex()); if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity() + e1.r(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance() + e1.r(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -376,11 +376,11 @@ bool MeshNewProximityIntersection::testIntersection(collision::geometry::Line& e template int MeshNewProximityIntersection::computeIntersection(collision::geometry::Line& e1, collision::geometry::TSphere& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e2.r(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r(); const int n = doIntersectionLinePoint(alarmDist*alarmDist, e1.p1(),e1.p2(), e2.center(), contacts, e2.getIndex()); if (n>0) { - const SReal contactDist = currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity() + e2.r(); + const SReal contactDist = currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r(); for (OutputVector::iterator detection = contacts->end()-n; detection != contacts->end(); ++detection) { detection->elem = std::pair(e1, e2); @@ -405,7 +405,7 @@ template int MeshNewProximityIntersection::computeIntersection(collision::geometry::Triangle& e1, collision::geometry::TSphere& e2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { const int flags = e1.flags(); - const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getProximity() + e2.getProximity() + e2.r(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r(); const SReal dist2 = alarmDist*alarmDist; const type::Vec3 AB = e1.p2() - e1.p1(); @@ -413,9 +413,9 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::Trian const type::Vec3 AQ = e2.center() - e1.p1(); type::Matrix2 A; type::Vec2 b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AQ*AB; b[1] = AQ*AC; const SReal det = type::determinant(A); @@ -423,15 +423,15 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::Trian SReal alpha = 0.5; SReal beta = 0.5; - alpha = (b[0]*A[1][1] - b[1]*A[0][1])/det; - beta = (b[1]*A[0][0] - b[0]*A[1][0])/det; + alpha = (b[0]*A(1,1) - b[1]*A(0,1))/det; + beta = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (alpha < 0.000001 || beta < 0.000001 || alpha + beta > 0.999999) { // nearest point is on an edge or corner // barycentric coordinate on AB - const SReal pAB = b[0] / A[0][0]; // AQ*AB / AB*AB + const SReal pAB = b[0] / A(0,0); // AQ*AB / AB*AB // barycentric coordinate on AC - const SReal pAC = b[1] / A[1][1]; // AQ*AB / AB*AB + const SReal pAC = b[1] / A(1,1); // AQ*AB / AB*AB if (pAB < 0.000001 && pAC < 0.0000001) { // closest point is A @@ -457,7 +457,7 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::Trian { // barycentric coordinate on BC // BQ*BC / BC*BC = (AQ-AB)*(AC-AB) / (AC-AB)*(AC-AB) = (AQ*AC-AQ*AB + AB*AB-AB*AC) / (AB*AB+AC*AC-2AB*AC) - const SReal pBC = (b[1] - b[0] + A[0][0] - A[0][1]) / (A[0][0] + A[1][1] - 2*A[0][1]); // BQ*BC / BC*BC + const SReal pBC = (b[1] - b[0] + A(0,0) - A(0,1)) / (A(0,0) + A(1,1) - 2*A(0,1)); // BQ*BC / BC*BC if (pBC < 0.000001) { // closest point is B @@ -505,7 +505,7 @@ int MeshNewProximityIntersection::computeIntersection(collision::geometry::Trian detection->normal= type::Vec3(1,0,0); } - detection->value -= (currentIntersection->getContactDistance() + e1.getProximity() + e2.getProximity() + e2.r()); + detection->value -= (currentIntersection->getContactDistance() + e1.getContactDistance() + e2.getContactDistance() + e2.r()); detection->point[0]=p; detection->point[1]= e2.getContactPointByNormal(detection->normal); 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 b496be7302c..3196a36ed5d 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 @@ -76,30 +76,16 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API MinProximityIntersecti template bool testIntersection(SphereType1& sph1, SphereType2& sph2, const core::collision::Intersection* currentIntersection) { - const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity(); + const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance(); return DiscreteIntersection::testIntersectionSphere(sph1, sph2, alarmDist); } template int computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity(); - const auto contactDist = currentIntersection->getContactDistance() + sph1.getProximity() + sph2.getProximity(); + const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance(); + const auto contactDist = currentIntersection->getContactDistance() + sph1.getContactDistance() + sph2.getContactDistance(); return DiscreteIntersection::computeIntersectionSphere(sph1, sph2, contacts, alarmDist, contactDist); } - - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, OutputVector* contacts) = delete; - - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(SphereType1& sph1, SphereType2& sph2) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts) = delete; - }; } // namespace sofa::component::collision::detection::intersection 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 67afc7d562c..34ec4524923 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 @@ -74,16 +74,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API NewProximityIntersecti template int computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts, const core::collision::Intersection* currentIntersection); - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Cube& cube1, collision::geometry::Cube& cube2, OutputVector* contacts) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(SphereType1& sph1, SphereType2& sph2) = delete; - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts) = delete; protected: NewProximityIntersection(); diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl index e1f5cc52604..455c07a28bc 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/NewProximityIntersection.inl @@ -56,7 +56,7 @@ inline int NewProximityIntersection::doIntersectionPointPoint(SReal dist2, template bool NewProximityIntersection::testIntersection(SphereType1& sph1, SphereType2& sph2, const core::collision::Intersection* currentIntersection) { - const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity(); + const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance(); OutputVector contacts; const double alarmDist2 = alarmDist + sph1.r() + sph2.r(); @@ -67,8 +67,8 @@ bool NewProximityIntersection::testIntersection(SphereType1& sph1, SphereType2& template int NewProximityIntersection::computeIntersection(SphereType1& sph1, SphereType2& sph2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getProximity() + sph2.getProximity(); - const auto contactDist = currentIntersection->getContactDistance() + sph1.getProximity() + sph2.getProximity(); + const auto alarmDist = currentIntersection->getAlarmDistance() + sph1.getContactDistance() + sph2.getContactDistance(); + const auto contactDist = currentIntersection->getContactDistance() + sph1.getContactDistance() + sph2.getContactDistance(); const double alarmDist2 = alarmDist + sph1.r() + sph2.r(); const int n = doIntersectionPointPoint(alarmDist2 * alarmDist2, sph1.center(), sph2.center(), contacts, (sph1.getCollisionModel()->getSize() > sph2.getCollisionModel()->getSize()) ? sph1.getIndex() : sph2.getIndex()); diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.cpp index eb919779bd2..221954bad36 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.cpp @@ -70,9 +70,9 @@ int RayDiscreteIntersection::computeIntersection(Ray& e1, Triangle& e2, OutputVe Vec3 right; for (int i=0; i<3; i++) { - M[i][0] = AB[i]; - M[i][1] = AC[i]; - M[i][2] = -PQ[i]; + M(i,0) = AB[i]; + M(i,1) = AC[i]; + M(i,2) = -PQ[i]; right[i] = P[i]-A[i]; } if (!Minv.invert(M)) diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.h index 0718bca4d2b..250a97e362f 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayDiscreteIntersection.h @@ -47,19 +47,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API RayDiscreteIntersectio template int computeIntersection(collision::geometry::Ray&, collision::geometry::TSphere&, OutputVector*, const core::collision::Intersection* currentIntersection); int computeIntersection(collision::geometry::Ray&, collision::geometry::Triangle&, OutputVector*, const core::collision::Intersection* currentIntersection); - - - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray&, collision::geometry::TSphere&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray&, collision::geometry::Triangle&) = delete; - - template - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray&, collision::geometry::TSphere&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray&, collision::geometry::Triangle&, OutputVector*) = delete; }; } //namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp index 3abd123be32..0aa8fe39e64 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.cpp @@ -56,7 +56,7 @@ RayNewProximityIntersection::RayNewProximityIntersection(NewProximityIntersectio bool RayNewProximityIntersection::testIntersection(Ray &t1,Triangle &t2, const core::collision::Intersection* currentIntersection) { Vec3 P,Q,PQ; - const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance(); if (fabs(t2.n() * t1.direction()) < 0.000001) return false; // no intersection for edges parallel to the triangle @@ -81,7 +81,7 @@ bool RayNewProximityIntersection::testIntersection(Ray &t1,Triangle &t2, const c int RayNewProximityIntersection::computeIntersection(Ray &t1, Triangle &t2, OutputVector* contacts, const core::collision::Intersection* currentIntersection) { - const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getProximity() + t2.getProximity(); + const SReal alarmDist = currentIntersection->getAlarmDistance() + t1.getContactDistance() + t2.getContactDistance(); if (fabs(t2.n() * t1.direction()) < 0.000001) return false; // no intersection for edges parallel to the triangle diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.h index 7960d7ea26a..ac463d79b7b 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/RayNewProximityIntersection.h @@ -46,15 +46,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API RayNewProximityInterse // why rigidsphere has a different collision detection compared to RayDiscreteIntersection? bool testIntersection(collision::geometry::Ray& rRay, collision::geometry::RigidSphere& rSphere, const core::collision::Intersection* currentIntersection); int computeIntersection(collision::geometry::Ray& rRay, collision::geometry::RigidSphere& rSphere, OutputVector*, const core::collision::Intersection* currentIntersection); - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray& t1, collision::geometry::Triangle& t2) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray& t1, collision::geometry::Triangle& t2, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray& rRay, collision::geometry::RigidSphere& rSphere) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray& rRay, collision::geometry::RigidSphere& rSphere, OutputVector*) = delete; }; } //namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/TetrahedronDiscreteIntersection.h b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/TetrahedronDiscreteIntersection.h index 1860fed405e..785e2dec29b 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/TetrahedronDiscreteIntersection.h +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/TetrahedronDiscreteIntersection.h @@ -43,17 +43,6 @@ class SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION_API TetrahedronDiscreteInt int computeIntersection(collision::geometry::Tetrahedron&, collision::geometry::Point&, OutputVector*, const core::collision::Intersection* currentIntersection); int computeIntersection(collision::geometry::Ray&, collision::geometry::Tetrahedron&, OutputVector*, const core::collision::Intersection* currentIntersection); - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Tetrahedron&, collision::geometry::Point&) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - bool testIntersection(collision::geometry::Ray&, collision::geometry::Tetrahedron&) = delete; - - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Tetrahedron&, collision::geometry::Point&, OutputVector*) = delete; - SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() - int computeIntersection(collision::geometry::Ray&, collision::geometry::Tetrahedron&, OutputVector*) = delete; - }; } // namespace sofa::component::collision::detection::intersection diff --git a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/config.h.in b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/config.h.in index 3aab1e2cecb..897b5c3a842 100644 --- a/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/config.h.in +++ b/Sofa/Component/Collision/Detection/Intersection/src/sofa/component/collision/detection/intersection/config.h.in @@ -36,10 +36,3 @@ namespace sofa::component::collision::detection::intersection constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; } // namespace sofa::component::collision::geometry::intersection - -#ifdef SOFA_BUILD_SOFA_COMPONENT_COLLISION_DETECTION_INTERSECTION -#define SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() -#else -#define SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER() \ - SOFA_ATTRIBUTE_DISABLED("v24.06", "v24.12", "Intersection detection methods now needs the Intersection method as a parameter (see PR4916).") -#endif diff --git a/Sofa/Component/Collision/Detection/Sofa.Component.Collision.DetectionConfig.cmake.in b/Sofa/Component/Collision/Detection/Sofa.Component.Collision.DetectionConfig.cmake.in index edcf3152558..bd5f51d6a09 100644 --- a/Sofa/Component/Collision/Detection/Sofa.Component.Collision.DetectionConfig.cmake.in +++ b/Sofa/Component/Collision/Detection/Sofa.Component.Collision.DetectionConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTCOLLISIONDETECTION_TARGETS @SOFACOMPONENTCOLLISIONDETECTION_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTCOLLISIONDETECTION_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Collision/Geometry/Sofa.Component.Collision.GeometryConfig.cmake.in b/Sofa/Component/Collision/Geometry/Sofa.Component.Collision.GeometryConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Collision/Geometry/Sofa.Component.Collision.GeometryConfig.cmake.in +++ b/Sofa/Component/Collision/Geometry/Sofa.Component.Collision.GeometryConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp index 4e8cef183b3..f5b505357fe 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.cpp @@ -161,10 +161,8 @@ void CubeCollisionModel::updateCubes() updateCube(i); } -void CubeCollisionModel::draw(const core::visual::VisualParams* vparams) +void CubeCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - if (!isActive() || !((getNext()==nullptr)?vparams->displayFlags().getShowCollisionModels():vparams->displayFlags().getShowBoundingCollisionModels())) return; - // The deeper in the CubeModel graph, the higher the transparency of the bounding cube lines const float* collisionColor = getColor4f(); sofa::type::RGBAColor c(collisionColor[0], collisionColor[1], collisionColor[2], collisionColor[3]); @@ -211,10 +209,6 @@ void CubeCollisionModel::draw(const core::visual::VisualParams* vparams) } vparams->drawTool()->drawLines(points, 1, c); - - - if (getPrevious()!=nullptr) - getPrevious()->draw(vparams); } std::pair CubeCollisionModel::getInternalChildren(sofa::Index index) const diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h index 2940e94e79e..6a215bf83ab 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CubeModel.h @@ -88,6 +88,8 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API CubeCollisionModel : public core::Co friend class Cube; protected: CubeCollisionModel(); + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: void resize(sofa::Size size) override; @@ -138,8 +140,6 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API CubeCollisionModel : public core::Co bool isLeaf(sofa::Index index ) const override; - void draw(const core::visual::VisualParams* vparams) override; - sofa::Index addCube(Cube subcellsBegin, Cube subcellsEnd); void updateCube(sofa::Index index); void updateCubes(); diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.h index 986c39bccee..ed1fbd88f95 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.h @@ -111,9 +111,6 @@ class CylinderCollisionModel : public core::CollisionModel void draw(const core::visual::VisualParams* vparams,sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; - - core::behavior::MechanicalState* getMechanicalState() { return m_mstate; } Real radius(sofa::Index index) const; diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.inl index 0d704b09a46..9d925f1d8d0 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.inl +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/CylinderModel.inl @@ -19,10 +19,11 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include #include +#include #include #include +#include #include namespace sofa::component::collision::geometry @@ -187,24 +188,6 @@ void CylinderCollisionModel::draw(const core::visual::VisualParams* v sofa::core::visual::visualparams::getDrawTool(vparams)->drawCylinder(p2,p1,float(radius(i)),colour); } -template -void CylinderCollisionModel::draw(const core::visual::VisualParams* vparams) -{ - const auto df = sofa::core::visual::visualparams::getDisplayFlags(vparams); - if (df.getShowCollisionModels()) - { - - for (sofa::Index i=0; idraw(vparams); -} - - template typename CylinderCollisionModel::Real CylinderCollisionModel< DataTypes >::defaultRadius() const { 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 cf4c7876a20..43f0c2c7830 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 @@ -101,6 +101,8 @@ public : LineCollisionModel(); + void drawCollisionModel(const core::visual::VisualParams* vparams) override; + public: typedef TDataTypes DataTypes; typedef DataTypes InDataTypes; @@ -123,12 +125,6 @@ public : void computeContinuousBoundingTree(SReal dt, int maxDepth=0) override; - /// Import the draw(param, index) method from the parent scope, this is needed to make it accessible - /// in the current and child class. Otherwise the draw(param) will prevent name resolution - /// to locate it. - using Inherit1::draw; - void draw(const core::visual::VisualParams* vparams) override; - void handleTopologyChange() override; bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override; diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl index 6afd879c636..3eceacb9b86 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineModel.inl @@ -307,50 +307,50 @@ void LineCollisionModel::updateFromTopology() } template -void LineCollisionModel::draw(const core::visual::VisualParams* vparams) +void LineCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - if (vparams->displayFlags().getShowCollisionModels()) + if (vparams->displayFlags().getShowWireFrame()) { - if (vparams->displayFlags().getShowWireFrame()) - vparams->drawTool()->setPolygonMode(0,true); + vparams->drawTool()->setPolygonMode(0, true); + } - std::vector points; - points.reserve(size * 2); - for (sofa::Size i=0; i points; + points.reserve(size * 2); + for (sofa::Size i = 0; i < size; i++) + { + TLine l(this, i); + if (l.isActive()) { - TLine l(this,i); - if(l.isActive()) - { - // note the conversion if !std::is_same_v - points.emplace_back(helper::visual::DrawTool::Vec3{l.p1()}); - points.emplace_back(helper::visual::DrawTool::Vec3{l.p2()}); - } + // note the conversion if !std::is_same_v + points.emplace_back(helper::visual::DrawTool::Vec3{l.p1()}); + points.emplace_back(helper::visual::DrawTool::Vec3{l.p2()}); } + } - const auto c = getColor4f(); - vparams->drawTool()->drawLines(points, 1, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); + const auto c = getColor4f(); + vparams->drawTool()->drawLines(points, 1, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); - if (d_displayFreePosition.getValue()) + if (d_displayFreePosition.getValue()) + { + std::vector pointsFree; + for (sofa::Size i = 0; i < size; i++) { - std::vector< type::Vec3 > pointsFree; - for (sofa::Size i=0; i l(this, i); + if (l.isActive()) { - TLine l(this,i); - if(l.isActive()) - { - pointsFree.push_back(l.p1Free()); - pointsFree.push_back(l.p2Free()); - } + pointsFree.push_back(l.p1Free()); + pointsFree.push_back(l.p2Free()); } - - vparams->drawTool()->drawLines(pointsFree, 1, sofa::type::RGBAColor(0.0f,1.0f,0.2f,1.0f)); } - if (vparams->displayFlags().getShowWireFrame()) - vparams->drawTool()->setPolygonMode(0,false); + vparams->drawTool()->drawLines(pointsFree, 1, + sofa::type::RGBAColor(0.0f, 1.0f, 0.2f, 1.0f)); + } + + if (vparams->displayFlags().getShowWireFrame()) + { + vparams->drawTool()->setPolygonMode(0, false); } - if (getPrevious()!=nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); } template @@ -470,7 +470,7 @@ void LineCollisionModel::computeBoundingTree(int maxDepth) cubeModel->resize(size); if (!empty()) { - const SReal distance = this->proximity.getValue(); + const SReal distance = this->d_contactDistance.getValue(); const auto& positions = this->mstate->read(core::vec_id::read_access::position)->getValue(); for (sofa::Size i=0; i::computeContinuousBoundingTree(SReal dt, int cubeModel->resize(size); if (!empty()) { - const SReal distance = (SReal)this->proximity.getValue(); + const SReal distance = (SReal)this->d_contactDistance.getValue(); for (sofa::Size i=0; i t(this,i); @@ -565,7 +565,8 @@ void LineCollisionModel::computeBBox(const core::ExecParams* params, { SOFA_UNUSED(params); - if( !onlyVisible ) return; + if( onlyVisible && !sofa::core::visual::VisualParams::defaultInstance()->displayFlags().getShowCollisionModels()) + return; static constexpr Real max_real = std::numeric_limits::max(); static constexpr Real min_real = std::numeric_limits::lowest(); 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 65a5e5bcb9a..babfd1cf3e4 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 @@ -79,6 +79,9 @@ class PointCollisionModel : public core::CollisionModel friend class TPoint; protected: PointCollisionModel(); + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; + public: void init() override; @@ -91,7 +94,6 @@ class PointCollisionModel : public core::CollisionModel void computeContinuousBoundingTree(SReal dt, int maxDepth=0) override; void draw(const core::visual::VisualParams*, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override; diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl index 39ad779b32f..622b3debdd4 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointModel.inl @@ -131,7 +131,7 @@ void PointCollisionModel::computeBoundingTree(int maxDepth) if (!empty()) { //VecCoord& x =mstate->read(core::vec_id::read_access::position)->getValue(); - const SReal distance = this->proximity.getValue(); + const SReal distance = this->d_contactDistance.getValue(); for (sofa::Size i=0; i p(this,i); @@ -164,7 +164,7 @@ void PointCollisionModel::computeContinuousBoundingTree(SReal dt, int { //VecCoord& x =mstate->read(core::vec_id::read_access::position)->getValue(); //VecDeriv& v = mstate->read(core::vec_id::read_access::velocity)->getValue(); - const SReal distance = (SReal)this->proximity.getValue(); + const SReal distance = (SReal)this->d_contactDistance.getValue(); for (sofa::Size i=0; i p(this,i); @@ -293,7 +293,8 @@ void PointCollisionModel::computeBBox(const core::ExecParams* params, { SOFA_UNUSED(params); - if( !onlyVisible ) return; + if( onlyVisible && !sofa::core::visual::VisualParams::defaultInstance()->displayFlags().getShowCollisionModels()) + return; const auto npoints = mstate->getSize(); if (npoints != size) @@ -330,60 +331,58 @@ void PointCollisionModel::draw(const core::visual::VisualParams*, sof template -void PointCollisionModel::draw(const core::visual::VisualParams* vparams) +void PointCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - if (vparams->displayFlags().getShowCollisionModels()) + if (vparams->displayFlags().getShowWireFrame()) { - if (vparams->displayFlags().getShowWireFrame()) - vparams->drawTool()->setPolygonMode(0, true); + vparams->drawTool()->setPolygonMode(0, true); + } - // Check topological modifications - const auto npoints = mstate->getSize(); - if (npoints != size) - return; + // Check topological modifications + const auto npoints = mstate->getSize(); + if (npoints != size) return; - std::vector< type::Vec3 > pointsP; - std::vector< type::Vec3 > pointsL; - for (sofa::Size i = 0; i < size; i++) + std::vector pointsP; + std::vector pointsL; + for (sofa::Size i = 0; i < size; i++) + { + TPoint p(this, i); + if (p.isActive()) { - TPoint p(this, i); - if (p.isActive()) + pointsP.push_back(p.p()); + if (i < sofa::Size(normals.size())) { - pointsP.push_back(p.p()); - if (i < sofa::Size(normals.size())) - { - pointsL.push_back(p.p()); - pointsL.push_back(p.p() + normals[i] * 0.1f); - } + pointsL.push_back(p.p()); + pointsL.push_back(p.p() + normals[i] * 0.1f); } } + } - const auto c = getColor4f(); - vparams->drawTool()->drawPoints(pointsP, 3, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); - vparams->drawTool()->drawLines(pointsL, 1, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); + const auto c = getColor4f(); + vparams->drawTool()->drawPoints(pointsP, 3, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); + vparams->drawTool()->drawLines(pointsL, 1, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); - if (d_displayFreePosition.getValue()) - { - std::vector< type::Vec3 > pointsPFree; + if (d_displayFreePosition.getValue()) + { + std::vector pointsPFree; - for (sofa::Size i = 0; i < size; i++) + for (sofa::Size i = 0; i < size; i++) + { + TPoint p(this, i); + if (p.isActive()) { - TPoint p(this, i); - if (p.isActive()) - { - pointsPFree.push_back(p.pFree()); - } + pointsPFree.push_back(p.pFree()); } - - vparams->drawTool()->drawPoints(pointsPFree, 3, sofa::type::RGBAColor(0.0f, 1.0f, 0.2f, 1.0f)); } - if (vparams->displayFlags().getShowWireFrame()) - vparams->drawTool()->setPolygonMode(0, false); + vparams->drawTool()->drawPoints(pointsPFree, 3, + sofa::type::RGBAColor(0.0f, 1.0f, 0.2f, 1.0f)); } - if (getPrevious() != nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); + if (vparams->displayFlags().getShowWireFrame()) + { + vparams->drawTool()->setPolygonMode(0, false); + } } diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp index 502a3cac3f7..e4942f9b39f 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayModel.cpp @@ -110,21 +110,6 @@ void RayCollisionModel::draw(const core::visual::VisualParams* vparams, sofa::In } -void RayCollisionModel::draw(const core::visual::VisualParams* vparams) -{ - if (vparams->displayFlags().getShowCollisionModels()) - { - for (sofa::Index i=0; idisplayFlags().getShowBoundingCollisionModels()) - { - getPrevious()->draw(vparams); - } -} - void RayCollisionModel::computeBoundingTree(int maxDepth) { CubeCollisionModel* cubeModel = createPrevious(); 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 e56dd5a6c59..5e492069de7 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 @@ -72,7 +72,6 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API RayCollisionModel : public core::Col void computeBoundingTree(int maxDepth) override; void draw(const core::visual::VisualParams*, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; core::behavior::MechanicalState* getMechanicalState() { return mstate; } // ---------------------------- 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 24f876caa67..be5dd53cdf8 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 @@ -98,6 +98,9 @@ class SphereCollisionModel : public core::CollisionModel SphereCollisionModel(); SphereCollisionModel(core::behavior::MechanicalState* _mstate ); + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; + public: void init() override; @@ -111,9 +114,6 @@ class SphereCollisionModel : public core::CollisionModel void draw(const core::visual::VisualParams*, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; - - core::behavior::MechanicalState* getMechanicalState() { return mstate; } const VecReal& getR() const { return this->d_radius.getValue(); } diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl index e36d3bfa6ae..ee26e39d9ac 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereModel.inl @@ -114,51 +114,44 @@ void SphereCollisionModel::draw(const core::visual::VisualParams* vpa template -void SphereCollisionModel::draw(const core::visual::VisualParams* vparams) +void SphereCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - if(d_componentState.getValue() != ComponentState::Valid) - return ; - using namespace sofa::type; using namespace sofa::defaulttype; - if (!this->isActive()) return; - //if (!vparams->isSupported(core::visual::API_OpenGL)) return; - if (vparams->displayFlags().getShowCollisionModels()) - { - // Force no wireframe mode to draw sphere collision - vparams->drawTool()->setPolygonMode(0,false); + // Force no wireframe mode to draw sphere collision + vparams->drawTool()->setPolygonMode(0, false); - // Check topological modifications - const auto npoints = mstate->getSize(); + // Check topological modifications + const auto npoints = mstate->getSize(); - std::vector points; - std::vector radius; - for (sofa::Size i=0; i points; + std::vector radius; + for (sofa::Size i = 0; i < npoints; i++) + { + TSphere t(this, i); + if (t.isActive()) { - TSphere t(this,i); - if (t.isActive()) - { - Vec3 p = t.p(); - points.push_back(p); - radius.push_back((float)t.r()); - } + Vec3 p = t.p(); + points.push_back(p); + radius.push_back((float)t.r()); } - - vparams->drawTool()->setLightingEnabled(true); //Enable lightning - if(d_showImpostors.getValue()) - vparams->drawTool()->drawFakeSpheres(points, radius, sofa::type::RGBAColor(getColor4f()[0], getColor4f()[1], getColor4f()[2], getColor4f()[3])); - else - vparams->drawTool()->drawSpheres(points, radius, sofa::type::RGBAColor(getColor4f()[0], getColor4f()[1], getColor4f()[2], getColor4f()[3])); - vparams->drawTool()->setLightingEnabled(false); //Disable lightning - } + vparams->drawTool()->setLightingEnabled(true); // Enable lightning + if (d_showImpostors.getValue()) + vparams->drawTool()->drawFakeSpheres( + points, radius, + sofa::type::RGBAColor(getColor4f()[0], getColor4f()[1], getColor4f()[2], + getColor4f()[3])); + else + vparams->drawTool()->drawSpheres(points, radius, + sofa::type::RGBAColor(getColor4f()[0], getColor4f()[1], + getColor4f()[2], getColor4f()[3])); + vparams->drawTool()->setLightingEnabled(false); // Disable lightning + // restore current polygon mode vparams->drawTool()->setPolygonMode(0,vparams->displayFlags().getShowWireFrame()); - - if (getPrevious()!=nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); } template @@ -183,7 +176,7 @@ void SphereCollisionModel::computeBoundingTree(int maxDepth) cubeModel->resize(size); if (!empty()) { - const typename TSphere::Real distance = (typename TSphere::Real)this->proximity.getValue(); + const typename TSphere::Real distance = (typename TSphere::Real)this->d_contactDistance.getValue(); for (sofa::Size i=0; i p(this,i); @@ -225,7 +218,7 @@ void SphereCollisionModel::computeContinuousBoundingTree(SReal dt, in cubeModel->resize(size); if (!empty()) { - const typename TSphere::Real distance = (typename TSphere::Real)this->proximity.getValue(); + const typename TSphere::Real distance = (typename TSphere::Real)this->d_contactDistance.getValue(); for (sofa::Size i=0; i p(this,i); @@ -264,7 +257,7 @@ void SphereCollisionModel::computeBBox(const core::ExecParams* params if(d_componentState.getValue() != ComponentState::Valid) return ; - if( !onlyVisible ) + if( onlyVisible && !sofa::core::visual::VisualParams::defaultInstance()->displayFlags().getShowCollisionModels()) return; static constexpr Real max_real = std::numeric_limits::max(); diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp index f8533385263..668b08e6063 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.cpp @@ -161,10 +161,9 @@ void TetrahedronCollisionModel::draw(const core::visual::VisualParams* vparams, } -void TetrahedronCollisionModel::draw(const core::visual::VisualParams* vparams) +void TetrahedronCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - if (mstate && m_topology && vparams->displayFlags().getShowCollisionModels()) + if (mstate && m_topology) { if (vparams->displayFlags().getShowWireFrame()) vparams->drawTool()->setPolygonMode(0, true); @@ -192,10 +191,6 @@ void TetrahedronCollisionModel::draw(const core::visual::VisualParams* vparams) if (vparams->displayFlags().getShowWireFrame()) vparams->drawTool()->setPolygonMode(0, false); } - if (getPrevious()!=nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); - - } void TetrahedronCollisionModel::computeBoundingTree(int maxDepth) @@ -217,9 +212,9 @@ void TetrahedronCollisionModel::computeBoundingTree(int maxDepth) const Vec3& pt3 = x[t.p3Index()]; const Vec3& pt4 = x[t.p4Index()]; Matrix3 m, minv; - m[0] = pt2-pt1; - m[1] = pt3-pt1; - m[2] = pt4-pt1; + m(0) = pt2-pt1; + m(1) = pt3-pt1; + m(2) = pt4-pt1; m.transpose(); const bool canInvert = minv.invert(m); assert(canInvert); diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.h index 76ac4880948..5c93d0fb484 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TetrahedronModel.h @@ -106,6 +106,8 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TetrahedronCollisionModel : public c virtual void updateFromTopology(); void addTetraToDraw(const Tetrahedron& t, std::vector& tetraVertices, std::vector& normalVertices); + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: void init() override; @@ -119,8 +121,6 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TetrahedronCollisionModel : public c void draw(const core::visual::VisualParams*, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; - core::behavior::MechanicalState* getMechanicalState() { return mstate; } /// Link to be set to the topology container in the component graph. diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.h index 4671bae100a..0b8e2aa5e36 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.h @@ -168,6 +168,7 @@ class TriangleCollisionModel : public core::CollisionModel virtual void updateFromTopology(); virtual void updateNormals(); + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: void init() override; @@ -182,8 +183,6 @@ class TriangleCollisionModel : public core::CollisionModel void draw(const core::visual::VisualParams*, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; - bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override; core::behavior::MechanicalState* getMechanicalState() { return m_mstate; } diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl index a4fb0bddea0..d0cb7f1abbf 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleModel.inl @@ -239,7 +239,7 @@ void TriangleCollisionModel::computeBoundingTree(int maxDepth) cubeModel->resize(size); // size = number of triangles if (!empty()) { - const SReal distance = (SReal)this->proximity.getValue(); + const SReal distance = (SReal)this->d_contactDistance.getValue(); for (sofa::Size i=0; i::computeContinuousBoundingTree(SReal dt, cubeModel->resize(size); if (!empty()) { - const SReal distance = (SReal)this->proximity.getValue(); + const SReal distance = (SReal)this->d_contactDistance.getValue(); for (sofa::Size i=0; i::computeBBox(const core::ExecParams* para { SOFA_UNUSED(params); - if( !onlyVisible ) return; + if( onlyVisible && !sofa::core::visual::VisualParams::defaultInstance()->displayFlags().getShowCollisionModels()) + return; // check first that topology didn't changed if (m_topology->getRevision() != m_topologyRevision) @@ -426,60 +427,54 @@ void TriangleCollisionModel::draw(const core::visual::VisualParams* v template -void TriangleCollisionModel::draw(const core::visual::VisualParams* vparams) +void TriangleCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - if (vparams->displayFlags().getShowCollisionModels()) - { - // In case topology has changed but drawing is called before the updateFromTopology has been computed, just exit to avoid computation in drawing thread. - if (m_topology->getRevision() != m_topologyRevision) - return; - - if (d_bothSide.getValue() || vparams->displayFlags().getShowWireFrame()) - vparams->drawTool()->setPolygonMode(0,vparams->displayFlags().getShowWireFrame()); - else - { - vparams->drawTool()->setPolygonMode(2,true); - vparams->drawTool()->setPolygonMode(1,false); - } + // In case topology has changed but drawing is called before the updateFromTopology has been + // computed, just exit to avoid computation in drawing thread. + if (m_topology->getRevision() != m_topologyRevision) return; - std::vector< type::Vec3 > points; - std::vector< type::Vec<3,int> > indices; - std::vector< type::Vec3 > normals; - int index=0; - for (sofa::Size i=0; i(index,index+1,index+2)); - index+=3; - } + if (d_bothSide.getValue() || vparams->displayFlags().getShowWireFrame()) + vparams->drawTool()->setPolygonMode(0, vparams->displayFlags().getShowWireFrame()); + else + { + vparams->drawTool()->setPolygonMode(2, true); + vparams->drawTool()->setPolygonMode(1, false); + } - vparams->drawTool()->setLightingEnabled(true); - const auto c = getColor4f(); - vparams->drawTool()->drawTriangles(points, indices, normals, sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); - vparams->drawTool()->setLightingEnabled(false); - vparams->drawTool()->setPolygonMode(0,false); + std::vector points; + std::vector > indices; + std::vector normals; + int index = 0; + for (sofa::Size i = 0; i < size; i++) + { + Element t(this, i); + normals.push_back(t.n()); + points.push_back(t.p1()); + points.push_back(t.p2()); + points.push_back(t.p3()); + indices.push_back(type::Vec<3, int>(index, index + 1, index + 2)); + index += 3; + } + vparams->drawTool()->setLightingEnabled(true); + const auto c = getColor4f(); + vparams->drawTool()->drawTriangles(points, indices, normals, + sofa::type::RGBAColor(c[0], c[1], c[2], c[3])); + vparams->drawTool()->setLightingEnabled(false); + vparams->drawTool()->setPolygonMode(0, false); - if (vparams->displayFlags().getShowNormals()) + if (vparams->displayFlags().getShowNormals()) + { + std::vector points; + for (sofa::Size i = 0; i < size; i++) { - std::vector< type::Vec3 > points; - for (sofa::Size i=0; idrawTool()->drawLines(points, 1, sofa::type::RGBAColor::white()); - + Element t(this, i); + points.push_back((t.p1() + t.p2() + t.p3()) / 3.0); + points.push_back(points.back() + t.n()); } + + vparams->drawTool()->drawLines(points, 1, sofa::type::RGBAColor::white()); } - if (getPrevious()!=nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); } template diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp index 7af6462b9aa..873240adb2d 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.cpp @@ -44,30 +44,24 @@ TriangleOctreeModel::TriangleOctreeModel () { } -void TriangleOctreeModel::draw (const core::visual::VisualParams* vparams) +void TriangleOctreeModel::drawCollisionModel (const core::visual::VisualParams* vparams) { - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + TriangleCollisionModel::drawCollisionModel(vparams); - TriangleCollisionModel::draw(vparams); - if (isActive () && vparams->displayFlags().getShowCollisionModels ()) + if (vparams->displayFlags().getShowWireFrame()) { - if (vparams->displayFlags().getShowWireFrame ()) - vparams->drawTool()->setPolygonMode(0, true); - - vparams->drawTool()->enableLighting(); - const float* getCol = getColor4f(); - const auto color = sofa::type::RGBAColor(getCol[0], getCol[1], getCol[2], getCol[3]); - vparams->drawTool()->setMaterial(color); - - if(octreeRoot) - octreeRoot->draw(vparams->drawTool()); - - vparams->drawTool()->disableLighting(); - if (vparams->displayFlags().getShowWireFrame ()) - vparams->drawTool()->setPolygonMode(0, false); + vparams->drawTool()->setPolygonMode(0, true); } + vparams->drawTool()->enableLighting(); + const float* getCol = getColor4f(); + const auto color = sofa::type::RGBAColor(getCol[0], getCol[1], getCol[2], getCol[3]); + vparams->drawTool()->setMaterial(color); + + if (octreeRoot) octreeRoot->draw(vparams->drawTool()); + vparams->drawTool()->disableLighting(); + if (vparams->displayFlags().getShowWireFrame()) vparams->drawTool()->setPolygonMode(0, false); } void TriangleOctreeModel::computeBoundingTree(int maxDepth) diff --git a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.h b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.h index d33bc7e860f..883eb25bffd 100644 --- a/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.h +++ b/Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/TriangleOctreeModel.h @@ -39,11 +39,11 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TriangleOctreeModel : public Triang SOFA_CLASS(TriangleOctreeModel, TriangleCollisionModel); protected: TriangleOctreeModel(); + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: /// the normals for each point type::vector pNorms; - void draw(const core::visual::VisualParams* vparams) override; void computeBoundingTree(int maxDepth=0) override; void computeContinuousBoundingTree(SReal dt, int maxDepth=0) override; /// init the octree creation diff --git a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp index 9f5e300a56c..8f14b6da125 100644 --- a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp +++ b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp @@ -58,7 +58,7 @@ using sofa::helper::logging::MessageDispatcher ; #include using sofa::helper::logging::ClangMessageHandler ; -#include +#include #include using sofa::testing::BaseSimulationTest; @@ -101,7 +101,7 @@ bool TestSphere::rigidRigid1(){ angles[1] = 0; angles[2] = 0; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -157,7 +157,7 @@ bool TestSphere::rigidRigid2(){ angles_2[1] = 0; angles_2[2] = 0; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -204,7 +204,7 @@ bool TestSphere::rigidSoft2(){ angles[1] = M_PI/4; angles[2] = M_PI/3; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -251,7 +251,7 @@ bool TestSphere::rigidSoft1(){ angles[1] = 0; angles[2] = 0; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -299,7 +299,7 @@ bool TestSphere::rigidSoft3(){ angles[1] = M_PI/4; angles[2] = M_PI/3; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -346,7 +346,7 @@ bool TestSphere::rigidSoft4(){ angles[1] = 0; angles[2] = 0; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -384,7 +384,7 @@ bool TestSphere::rigidSoft4(){ bool TestSphere::softSoft1(){ - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere diff --git a/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp b/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp index e6f8567a262..0727f317683 100644 --- a/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp +++ b/Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp @@ -47,7 +47,7 @@ using sofa::helper::logging::MessageDispatcher; #include using sofa::testing::BaseTest; -#include +#include #include #include @@ -82,7 +82,7 @@ bool TestTriangle::rigidTriangle(sofa::component::collision::detection::intersec angles[1] = 0; angles[2] = 0; - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere @@ -121,7 +121,7 @@ bool TestTriangle::rigidTriangle(sofa::component::collision::detection::intersec template bool TestTriangle::softTriangle(sofa::component::collision::detection::intersection::BaseProximityIntersection::SPtr intersectionMethod, Intersector& bi) { - Node::SPtr scn = New(); + Node::SPtr scn = New(); //the center of this OBB is (0,0,-1) and its extent is 1 //we construct the falling sphere diff --git a/Sofa/Component/Collision/Response/Contact/Sofa.Component.Collision.Response.ContactConfig.cmake.in b/Sofa/Component/Collision/Response/Contact/Sofa.Component.Collision.Response.ContactConfig.cmake.in index 1187d648041..001d4baf6a5 100644 --- a/Sofa/Component/Collision/Response/Contact/Sofa.Component.Collision.Response.ContactConfig.cmake.in +++ b/Sofa/Component/Collision/Response/Contact/Sofa.Component.Collision.Response.ContactConfig.cmake.in @@ -3,11 +3,12 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED) -find_package(Sofa.Component.Collision.Response.Mapper QUIET REQUIRED) -find_package(Sofa.Component.Constraint.Lagrangian QUIET REQUIRED) # FrictionContact needs UnilateralCC, StickContact BilateralInteractionConstraint -find_package(Sofa.Component.SolidMechanics.Spring QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED) +sofa_find_package(Sofa.Component.Collision.Response.Mapper QUIET REQUIRED) +sofa_find_package(Sofa.Component.Constraint.Lagrangian QUIET REQUIRED) +sofa_find_package(Sofa.Component.SolidMechanics.Spring QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl index 9a451ece2a9..1652a782b3e 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/BarycentricPenalityContact.inl @@ -159,7 +159,7 @@ void BarycentricPenalityContactclear(size); mapper1.resize(size); mapper2.resize(size); - const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; + const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001; for (int i=0; igetContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; + const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001; mappedContacts.resize(contacts.size()); for (std::vector::const_iterator it = contacts.begin(); it!=contacts.end(); it++, i++) diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp index c225ffa731c..40292b89c8c 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp @@ -62,18 +62,28 @@ sofa::helper::OptionsGroup CollisionResponse::initializeResponseOptions(sofa::co } sofa::helper::OptionsGroup responseOptions(listResponse); - if (listResponse.contains("PenalityContactForceField")) - responseOptions.setSelectedItem("PenalityContactForceField"); - return responseOptions; } void CollisionResponse::init() { Inherit1::init(); + + if(!d_response.isSet()) + { + msg_error() << "No response method has been set"; + return; + } + if (d_response.getValue().size() == 0) { - d_response.setValue(initializeResponseOptions(getContext())); + sofa::helper::OptionsGroup responseOptions = initializeResponseOptions(getContext()); + msg_error() << "Response method is wrongly set. Option list is: " << responseOptions.getItemNames(); + d_response.setValue(responseOptions); + } + else + { + msg_info() << "Valid response method: " << d_response.getValue().getSelectedItem(); } } @@ -111,7 +121,6 @@ void CollisionResponse::setDefaultResponseType(const std::string &responseT) } } - void CollisionResponse::changeInstance(Instance inst) { core::collision::ContactManager::changeInstance(inst); 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 9a6ee36d869..9466991e8d2 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 @@ -52,7 +52,13 @@ public : { context->addObject(obj); sofa::helper::OptionsGroup options = initializeResponseOptions(context); - obj->d_response.setValue(options); + const std::string responseName = arg->getAttribute("response",""); + // Check if the response is valid and not empty, only then set the response + if(options.isInOptionsList(responseName) >= 0 && responseName != "") + { + options.setSelectedItem(responseName); + obj->d_response.setValue(options); + } } if (arg) @@ -112,7 +118,6 @@ public : /// The number of contacts corresponds to the number of collision models /// currently in contact with a collision model. void setNumberOfContacts() const; - }; diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl index 4bae2c031a5..4a4582f2df6 100644 --- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl +++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl @@ -140,7 +140,7 @@ void StickContactConstraint::activateMappers( mapper2.resize(size); int i = 0; - const double d0 = intersectionMethod->getContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; + const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001; mappedContacts.resize(contacts.size()); for (auto it = contacts.begin(); it!=contacts.end(); it++, i++) diff --git a/Sofa/Component/Collision/Response/Mapper/Sofa.Component.Collision.Response.MapperConfig.cmake.in b/Sofa/Component/Collision/Response/Mapper/Sofa.Component.Collision.Response.MapperConfig.cmake.in index 08e3684999b..e1a3e3dac22 100644 --- a/Sofa/Component/Collision/Response/Mapper/Sofa.Component.Collision.Response.MapperConfig.cmake.in +++ b/Sofa/Component/Collision/Response/Mapper/Sofa.Component.Collision.Response.MapperConfig.cmake.in @@ -3,11 +3,12 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED) -find_package(Sofa.Component.Mapping.Linear QUIET REQUIRED) -find_package(Sofa.Component.Mapping.NonLinear QUIET REQUIRED) -find_package(Sofa.Component.StateContainer QUIET REQUIRED) # BarycentricMapper needs MechanicalObject +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED) +sofa_find_package(Sofa.Component.Mapping.Linear QUIET REQUIRED) +sofa_find_package(Sofa.Component.Mapping.NonLinear QUIET REQUIRED) +sofa_find_package(Sofa.Component.StateContainer QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/BaseContactMapper.cpp b/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/BaseContactMapper.cpp index 9c977c9eecb..eca24b97aa7 100644 --- a/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/BaseContactMapper.cpp +++ b/Sofa/Component/Collision/Response/Mapper/src/sofa/component/collision/response/mapper/BaseContactMapper.cpp @@ -33,7 +33,7 @@ namespace sofa::component::collision::response::mapper using namespace defaulttype; std::string GenerateStringID::generate(){ - static std::string alphanum = "0123456789!@#$%^&*ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz"; + constexpr std::string_view alphanum = "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz"; std::string result; result.resize(length); for (int i = 0; i < length; i++) diff --git a/Sofa/Component/Collision/Response/Mapper/tests/BaryMapper_test.cpp b/Sofa/Component/Collision/Response/Mapper/tests/BaryMapper_test.cpp index aa69dc976da..08d4c4b4866 100644 --- a/Sofa/Component/Collision/Response/Mapper/tests/BaryMapper_test.cpp +++ b/Sofa/Component/Collision/Response/Mapper/tests/BaryMapper_test.cpp @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#include #include #include #include @@ -84,7 +84,7 @@ MeshTopology* BaryMapperTest::initMesh(NodePtr &father){ bool BaryMapperTest::test_inside(SReal alpha,SReal beta){ initTriPts(); - sofa::simulation::Node::SPtr father = New(); + sofa::simulation::Node::SPtr father = New(); MeshTopology * topo = initMesh(father); //makeTri() const component::mapping::linear::BarycentricMapperMeshTopology::SPtr mapper = sofa::core::objectmodel::New >(topo, (component::topology::container::dynamic::PointSetTopologyContainer*)0x0); @@ -103,7 +103,7 @@ bool BaryMapperTest::test_inside(SReal alpha,SReal beta){ bool BaryMapperTest::test_outside(int index){ initTriPts(); - sofa::simulation::Node::SPtr father = New(); + sofa::simulation::Node::SPtr father = New(); MeshTopology * topo = initMesh(father); //makeTri() const component::mapping::linear::BarycentricMapperMeshTopology::SPtr mapper = sofa::core::objectmodel::New >(topo,(component::topology::container::dynamic::PointSetTopologyContainer*)0x0); diff --git a/Sofa/Component/Collision/Response/Sofa.Component.Collision.ResponseConfig.cmake.in b/Sofa/Component/Collision/Response/Sofa.Component.Collision.ResponseConfig.cmake.in index 4d2326c1090..a170e08cb20 100644 --- a/Sofa/Component/Collision/Response/Sofa.Component.Collision.ResponseConfig.cmake.in +++ b/Sofa/Component/Collision/Response/Sofa.Component.Collision.ResponseConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTCOLLISIONRESPONSE_TARGETS @SOFACOMPONENTCOLLISIONRESPONSE_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTCOLLISIONRESPONSE_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Collision/Sofa.Component.CollisionConfig.cmake.in b/Sofa/Component/Collision/Sofa.Component.CollisionConfig.cmake.in index eeff644901a..2094121e6a3 100644 --- a/Sofa/Component/Collision/Sofa.Component.CollisionConfig.cmake.in +++ b/Sofa/Component/Collision/Sofa.Component.CollisionConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTCOLLISION_TARGETS @SOFACOMPONENTCOLLISION_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTCOLLISION_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in b/Sofa/Component/Constraint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in index 19006ce081a..77c35aa531f 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in +++ b/Sofa/Component/Constraint/Lagrangian/Correction/Sofa.Component.Constraint.Lagrangian.CorrectionConfig.cmake.in @@ -3,10 +3,11 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Mass QUIET REQUIRED) -find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED) -find_package(Sofa.Component.ODESolver.Backward QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Mass QUIET REQUIRED) +sofa_find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED) +sofa_find_package(Sofa.Component.ODESolver.Backward QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp index bfa5994804e..bba4b86ad9f 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.cpp @@ -58,8 +58,10 @@ GenericConstraintCorrection::GenericConstraintCorrection() GenericConstraintCorrection::~GenericConstraintCorrection() {} -void GenericConstraintCorrection::bwdInit() +void GenericConstraintCorrection::init() { + BaseConstraintCorrection::init(); + const BaseContext* context = this->getContext(); // Find linear solver @@ -72,23 +74,20 @@ void GenericConstraintCorrection::bwdInit() if (l_linearSolver.get() == nullptr) { - msg_error() << "No LinearSolver component found at path: " << l_linearSolver.getLinkedPath() << ", nor in current context: " << context->name; - sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + msg_error() << "No LinearSolver component found at path: " << l_linearSolver.getLinkedPath() + << ", nor in current context: " << context->name; + d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } - else + + if (l_linearSolver->getTemplateName() == "GraphScattered") { - if (l_linearSolver.get()->getTemplateName() == "GraphScattered") - { - msg_error() << "Can not use the solver " << l_linearSolver.get()->getName() << " because it is templated on GraphScatteredType"; - sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - else - { - msg_info() << "LinearSolver path used: '" << l_linearSolver.getLinkedPath() << "'"; - } + msg_error() << "Can not use the solver " << l_linearSolver->getName() + << " because it is templated on GraphScatteredType"; + d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + return; } + msg_info() << "LinearSolver path used: '" << l_linearSolver.getLinkedPath() << "'"; // Find ODE solver if (l_ODESolver.empty()) @@ -104,16 +103,14 @@ void GenericConstraintCorrection::bwdInit() if (l_ODESolver.get() == nullptr) { - msg_error() << "No ODESolver component found at path: " << l_ODESolver.getLinkedPath() << ", nor in current context: " << context->name; - sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + msg_error() << "No ODESolver component found at path: " << l_ODESolver.getLinkedPath() + << ", nor in current context: " << context->name; + d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } - else - { - msg_info() << "ODESolver path used: '" << l_ODESolver.getLinkedPath() << "'"; - } + msg_info() << "ODESolver path used: '" << l_ODESolver.getLinkedPath() << "'"; - sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); + d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } void GenericConstraintCorrection::cleanup() @@ -138,7 +135,6 @@ void GenericConstraintCorrection::removeConstraintSolver(ConstraintSolver *s) void GenericConstraintCorrection::rebuildSystem(SReal massFactor, SReal forceFactor) { - l_linearSolver.get()->rebuildSystem(massFactor, forceFactor); } void GenericConstraintCorrection::addComplianceInConstraintSpace(const ConstraintParams *cparams, BaseMatrix* W) @@ -146,29 +142,13 @@ void GenericConstraintCorrection::addComplianceInConstraintSpace(const Constrain if (!l_ODESolver.get()) return; const SReal complianceFactor = d_complianceFactor.getValue(); - // use the OdeSolver to get the position integration factor - SReal factor = 1.0; - - switch (cparams->constOrder()) - { - case sofa::core::ConstraintOrder::POS_AND_VEL : - case sofa::core::ConstraintOrder::POS : - factor = l_ODESolver.get()->getPositionIntegrationFactor(); - break; - - case sofa::core::ConstraintOrder::ACC : - case sofa::core::ConstraintOrder::VEL : - factor = l_ODESolver.get()->getVelocityIntegrationFactor(); - break; - - default : - break; - } - + // use the OdeSolver to get the integration factor + SReal factor = BaseConstraintCorrection::correctionFactor(l_ODESolver.get(), cparams->constOrder()); factor *= complianceFactor; - // use the Linear solver to compute J*inv(M)*Jt, where M is the mechanical linear system matrix - l_linearSolver.get()->buildComplianceMatrix(cparams, W, factor, d_regularizationTerm.getValue()); + // use the Linear solver to compute J*A^-1*J^T, where A is the mechanical linear system matrix + // the linear solver will also be in charge to assemble J + l_linearSolver.get()->buildComplianceMatrix(cparams, W, factor, d_regularizationTerm.getValue()); } void GenericConstraintCorrection::computeMotionCorrectionFromLambda(const ConstraintParams* cparams, MultiVecDerivId dx, const linearalgebra::BaseVector * lambda) @@ -189,9 +169,9 @@ void GenericConstraintCorrection::applyMotionCorrection(const ConstraintParams* } void GenericConstraintCorrection::applyMotionCorrection(const ConstraintParams * cparams, - MultiVecCoordId xId, - MultiVecDerivId vId, - MultiVecDerivId dxId, + MultiVecCoordId x, + MultiVecDerivId v, + MultiVecDerivId dx, ConstMultiVecDerivId correction) { if (!l_ODESolver.get()) return; @@ -200,7 +180,7 @@ void GenericConstraintCorrection::applyMotionCorrection(const ConstraintParams * const SReal positionFactor = l_ODESolver.get()->getPositionIntegrationFactor() * complianceFactor; const SReal velocityFactor = l_ODESolver.get()->getVelocityIntegrationFactor() * complianceFactor; - applyMotionCorrection(cparams, xId, vId, dxId, correction, positionFactor, velocityFactor); + applyMotionCorrection(cparams, x, v, dx, correction, positionFactor, velocityFactor); } void GenericConstraintCorrection::applyPositionCorrection(const ConstraintParams * cparams, @@ -234,9 +214,19 @@ void GenericConstraintCorrection::applyContactForce(const BaseVector *f) ConstraintParams cparams(*sofa::core::execparams::defaultInstance()); + MultiVecDerivId dx = cparams.dx(); + + // force = J^T * f + // dx = A^-1 * force + computeMotionCorrectionFromLambda(&cparams, dx, f); + + //cparams.lambda() is an implicit output of computeMotionCorrectionFromLambda + const MultiVecDerivId& force = cparams.lambda(); - computeMotionCorrectionFromLambda(&cparams, cparams.dx(), f); - applyMotionCorrection(&cparams, core::vec_id::write_access::position, core::vec_id::write_access::velocity, cparams.dx(), cparams.lambda()); + // x = x_free + force * positionFactor + // v = v_free + force * velocityFactor + // dx *= correctionFactor + applyMotionCorrection(&cparams, core::vec_id::write_access::position, core::vec_id::write_access::velocity, dx, force); } void GenericConstraintCorrection::computeResidual(const ExecParams* params, linearalgebra::BaseVector *lambda) @@ -267,7 +257,7 @@ void GenericConstraintCorrection::resetContactForce(){} void registerGenericConstraintCorrection(sofa::core::ObjectFactory* factory) { - factory->registerObjects(core::ObjectRegistrationData("Generic Constraint Correction.") + factory->registerObjects(core::ObjectRegistrationData("Component computing constraint forces within a simulated body using the compliance method.") .add< GenericConstraintCorrection >()); } diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h index ca26e50e70e..11c82ed8b2b 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/GenericConstraintCorrection.h @@ -27,26 +27,81 @@ namespace sofa::component::constraint::lagrangian::correction { -class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API GenericConstraintCorrection : public core::behavior::BaseConstraintCorrection +class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API GenericConstraintCorrection + : public core::behavior::BaseConstraintCorrection { public: SOFA_CLASS(GenericConstraintCorrection, core::behavior::BaseConstraintCorrection); - void bwdInit() override; + void init() override; void cleanup() override; void addConstraintSolver(core::behavior::ConstraintSolver *s) override; void removeConstraintSolver(core::behavior::ConstraintSolver *s) override; - void computeMotionCorrectionFromLambda(const core::ConstraintParams* cparams, core::MultiVecDerivId dx, const linearalgebra::BaseVector * lambda) override; - + /** + * \brief \copybrief BaseConstraintCorrection::computeMotionCorrectionFromLambda + * + * \details Calls the linear solver to perform the computations: + * f = J^T * lambda + * dx = A^-1 * f + * + * f is implicitly stored in cparams->lambda() + */ + void computeMotionCorrectionFromLambda( + const core::ConstraintParams* cparams, + core::MultiVecDerivId dx, + const linearalgebra::BaseVector * lambda) override; + + /** + * \brief \copybrief BaseConstraintCorrection::addComplianceInConstraintSpace + * + * \details Calls the linear solver to perform the computation W += J A^-1 J^T + */ void addComplianceInConstraintSpace(const core::ConstraintParams *cparams, linearalgebra::BaseMatrix* W) override; void getComplianceMatrix(linearalgebra::BaseMatrix* ) const override; - void applyMotionCorrection(const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId v, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override; - + /** + * Compute: + * x = x_free + correction * positionFactor + * v = v_free + correction * velocityFactor + * dx *= correctionFactor + * + * x_free and v_free correspond to the position and velocity of the free motion. Both vectors + * are referred in \p cparams. + * + * positionFactor and velocityFactor are factors provided by the ODE solver. + * + * correctionFactor is either positionFactor or velocityFactor depending on + * cparams->constOrder() + */ + void applyMotionCorrection( + const core::ConstraintParams *cparams, + core::MultiVecCoordId x, + core::MultiVecDerivId v, + core::MultiVecDerivId dx, + core::ConstMultiVecDerivId correction) override; + + /** + * Compute: + * x = x_free + correction * positionFactor + * dx *= correctionFactor + * + * x_free corresponds to the position of the free motion. x_free is referred in \p cparams. + * + * positionFactor is a factor provided by the ODE solver. + */ void applyPositionCorrection(const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override; + /** + * Compute: + * v = v_free + correction * velocityFactor + * dx *= correctionFactor + * + * v_free corresponds to the velocity of the free motion. v_free is referred in \p cparams. + * + * velocityFactor is a factor provided by the ODE solver. + */ void applyVelocityCorrection(const core::ConstraintParams *cparams, core::MultiVecDerivId v, core::MultiVecDerivId dv, core::ConstMultiVecDerivId correction) override; void applyPredictiveConstraintForce(const core::ConstraintParams *cparams, core::MultiVecDerivId f, const linearalgebra::BaseVector *lambda) override; diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp index 55c270756bd..585b8ac16ea 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.cpp @@ -32,7 +32,7 @@ using namespace sofa::defaulttype; void registerLinearSolverConstraintCorrection(sofa::core::ObjectFactory* factory) { - factory->registerObjects(core::ObjectRegistrationData("Constraint Correction for Linear Solvers.") + factory->registerObjects(core::ObjectRegistrationData("Component computing constraint forces within a simulated body using the compliance method.") .add< LinearSolverConstraintCorrection >() .add< LinearSolverConstraintCorrection >() .add< LinearSolverConstraintCorrection >() diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl index c3b331e33f3..833eb9d247f 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/LinearSolverConstraintCorrection.inl @@ -193,31 +193,16 @@ void LinearSolverConstraintCorrection::addComplianceInConstraintSpace return ; // use the OdeSolver to get the position integration factor - SReal factor = 1.0_sreal; + const SReal factor = core::behavior::BaseConstraintCorrection::correctionFactor(l_ODESolver.get(), cparams->constOrder()); - switch (cparams->constOrder()) + // J is read from the mechanical state and converted to m_constraintJacobian { - case core::ConstraintOrder::POS_AND_VEL : - case core::ConstraintOrder::POS : - factor = l_ODESolver->getPositionIntegrationFactor(); - break; - - case core::ConstraintOrder::ACC : - case core::ConstraintOrder::VEL : - factor = l_ODESolver->getVelocityIntegrationFactor(); - break; - - default : - break; - } - - { - helper::ReadAccessor inputConstraintMatrix ( *cparams->readJ(this->mstate) ); + helper::ReadAccessor inputConstraintMatrix ( *cparams->readJ(this->mstate.get()) ); const sofa::SignedIndex numberOfConstraints = W->rowSize(); convertConstraintMatrix(numberOfConstraints, inputConstraintMatrix.ref()); } - // use the Linear solver to compute J*inv(M)*Jt, where M is the mechanical linear system matrix + // use the Linear solver to compute J*A^-1*J^T, where A is the mechanical linear system matrix l_linearSolver->setSystemLHVector(sofa::core::MultiVecDerivId::null()); l_linearSolver->addJMInvJt(W, &m_constraintJacobian, factor); @@ -228,7 +213,8 @@ void LinearSolverConstraintCorrection::addComplianceInConstraintSpace template void LinearSolverConstraintCorrection::rebuildSystem(SReal massFactor, SReal forceFactor) { - l_linearSolver->rebuildSystem(massFactor, forceFactor); + SOFA_UNUSED(massFactor); + SOFA_UNUSED(forceFactor); } template @@ -279,8 +265,8 @@ void LinearSolverConstraintCorrection< DataTypes >::applyMotionCorrection(const auto dx = sofa::helper::getWriteAccessor(dx_d); const VecDeriv& correction = correction_d.getValue(); - const VecCoord& x_free = cparams->readX(mstate)->getValue(); - const VecDeriv& v_free = cparams->readV(mstate)->getValue(); + const VecCoord& x_free = cparams->readX(mstate.get())->getValue(); + const VecDeriv& v_free = cparams->readV(mstate.get())->getValue(); const SReal positionFactor = l_ODESolver.get()->getPositionIntegrationFactor(); const SReal velocityFactor = l_ODESolver.get()->getVelocityIntegrationFactor(); @@ -307,7 +293,7 @@ void LinearSolverConstraintCorrection< DataTypes >::applyPositionCorrection(cons auto dx = sofa::helper::getWriteAccessor(dx_d); const VecDeriv& correction = correction_d.getValue(); - const VecCoord& x_free = cparams->readX(mstate)->getValue(); + const VecCoord& x_free = cparams->readX(mstate.get())->getValue(); const SReal positionFactor = l_ODESolver.get()->getPositionIntegrationFactor(); for (unsigned int i = 0; i < numDOFs; i++) @@ -331,7 +317,7 @@ void LinearSolverConstraintCorrection< DataTypes >::applyVelocityCorrection(cons auto dv = sofa::helper::getWriteAccessor(dv_d); const VecDeriv& correction = correction_d.getValue(); - const VecDeriv& v_free = cparams->readV(mstate)->getValue(); + const VecDeriv& v_free = cparams->readV(mstate.get())->getValue(); const SReal velocityFactor = l_ODESolver.get()->getVelocityIntegrationFactor(); diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp index 986cefd554e..794d5d24f72 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.cpp @@ -125,7 +125,7 @@ using namespace sofa::defaulttype; void registerPrecomputedConstraintCorrection(sofa::core::ObjectFactory* factory) { - factory->registerObjects(core::ObjectRegistrationData("Component precomputing constraint forces within a simulated body using the compliance method.") + factory->registerObjects(core::ObjectRegistrationData("Component precomputing constraint forces within a simulated body using the compliance method. It approximates the compliance matrix by a precomputed matrix inverse. The approximation can be updated based on the rotation of elements.") .add< PrecomputedConstraintCorrection >() .add< PrecomputedConstraintCorrection >() .add< PrecomputedConstraintCorrection >()); diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl index 6479d64a016..6a81c4d3955 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/PrecomputedConstraintCorrection.inl @@ -53,7 +53,7 @@ namespace sofa::component::constraint::lagrangian::correction template PrecomputedConstraintCorrection::PrecomputedConstraintCorrection(sofa::core::behavior::MechanicalState *mm) : Inherit(mm) - , d_rotations(initData(&d_rotations, false, "rotations", "")) + , d_rotations(initData(&d_rotations, false, "rotations", "Project the precomputed matrix with a rotation matrix")) , d_restRotations(initData(&d_restRotations, false, "restDeformations", "")) , d_recompute(initData(&d_recompute, false, "recompute", "if true, always recompute the compliance")) , d_regularizationTerm(initData(&d_regularizationTerm, 0.0_sreal, "regularizationTerm", "Add regularization factor times the identity matrix to the compliance W when solving constraints")) @@ -415,7 +415,7 @@ void PrecomputedConstraintCorrection< DataTypes >::addComplianceInConstraintSpac { m_activeDofs.clear(); - const MatrixDeriv& c = cparams->readJ(this->mstate)->getValue(); + const MatrixDeriv& c = cparams->readJ(this->mstate.get())->getValue(); SReal factor = 1.0_sreal; @@ -615,8 +615,8 @@ void PrecomputedConstraintCorrection::applyMotionCorrection(const sof auto dx = sofa::helper::getWriteAccessor(dx_d); - const VecCoord& x_free = cparams->readX(this->mstate)->getValue(); - const VecDeriv& v_free = cparams->readV(this->mstate)->getValue(); + const VecCoord& x_free = cparams->readX(this->mstate.get())->getValue(); + const VecDeriv& v_free = cparams->readV(this->mstate.get())->getValue(); const SReal invDt = 1.0_sreal / this->getContext()->getDt(); @@ -648,7 +648,7 @@ void PrecomputedConstraintCorrection::applyPositionCorrection(const s auto dx = sofa::helper::getWriteAccessor(dx_d); - const VecCoord& x_free = cparams->readX(this->mstate)->getValue(); + const VecCoord& x_free = cparams->readX(this->mstate.get())->getValue(); if (d_rotations.getValue()) rotateResponse(); @@ -672,7 +672,7 @@ void PrecomputedConstraintCorrection::applyVelocityCorrection(const s VecDeriv& v = *v_d.beginEdit(); const VecDeriv& dx = this->mstate->read(core::vec_id::write_access::dx)->getValue(); - const VecDeriv& v_free = cparams->readV(this->mstate)->getValue(); + const VecDeriv& v_free = cparams->readV(this->mstate.get())->getValue(); const SReal invDt = 1.0_sreal / this->getContext()->getDt(); @@ -838,7 +838,7 @@ void PrecomputedConstraintCorrection< DataTypes >::draw(const core::visual::Visu { for (unsigned int b=0; b<3; b++) { - RotMat[a][b] = rotations[i](a,b); + RotMat(a,b) = rotations[i](a,b); } } @@ -1229,7 +1229,7 @@ void PrecomputedConstraintCorrection::setConstraintDForce(SReal * /*d DXbuf += appCompliance[ offset2 + k ] * Fbuf[k]; } - constraint_D[dof2][j] += DXbuf; + constraint_D(dof2,j) += DXbuf; } } } diff --git a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp index 541d30d660b..e64f65eb4cb 100644 --- a/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp @@ -101,12 +101,12 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr } } - usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[0][0]); - usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[0][1]); - usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[0][2]); - usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[1][1]); - usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[1][2]); - usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[2][2]); + usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix(0,0)); + usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix(0,1)); + usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix(0,2)); + usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix(1,1)); + usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix(1,2)); + usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix(2,2)); d_compliance.setValue(usedComp); msg_info() << "\'compliance\' equals: " << d_compliance.getValue(); @@ -157,7 +157,7 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr void registerUncoupledConstraintCorrection(sofa::core::ObjectFactory* factory) { - factory->registerObjects(core::ObjectRegistrationData("Component computing constraint forces within a simulated body using the compliance method.") + factory->registerObjects(core::ObjectRegistrationData("Component computing constraint forces within a simulated body using the compliance method, approximating the compliance matrix by a diagonal matrix.") .add< UncoupledConstraintCorrection< Vec1Types > >() .add< UncoupledConstraintCorrection< Vec2Types > >() .add< UncoupledConstraintCorrection< Vec3Types > >() 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 8df87408d89..db9930e9158 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 @@ -357,28 +357,15 @@ void UncoupledConstraintCorrection::addComplianceInConstraintSpace(co if(!this->isComponentStateValid()) return; - const MatrixDeriv& constraints = cparams->readJ(this->mstate)->getValue() ; + const MatrixDeriv& constraints = cparams->readJ(this->mstate.get())->getValue() ; VecReal comp = d_compliance.getValue(); Real comp0 = d_defaultCompliance.getValue(); const bool verbose = d_verbose.getValue(); const bool useOdeIntegrationFactors = d_useOdeSolverIntegrationFactors.getValue(); // use the OdeSolver to get the position integration factor - SReal factor = 1.0; - switch (cparams->constOrder()) - { - case core::ConstraintOrder::POS_AND_VEL : - case core::ConstraintOrder::POS : - factor = useOdeIntegrationFactors ? m_pOdeSolver->getPositionIntegrationFactor() : 1.0; - break; - - case core::ConstraintOrder::ACC : - case core::ConstraintOrder::VEL : - factor = useOdeIntegrationFactors ? m_pOdeSolver->getVelocityIntegrationFactor() : 1.0; - break; - - default : - break; - } + const SReal factor = useOdeIntegrationFactors ? + core::behavior::BaseConstraintCorrection::correctionFactor(m_pOdeSolver, cparams->constOrder()) + : 1.0; comp0 *= Real(factor); for(Size i=0;i::applyMotionCorrection(const core: VecCoord& x = *x_d.beginEdit(); VecDeriv& v = *v_d.beginEdit(); - const VecCoord& x_free = cparams->readX(this->mstate)->getValue(); - const VecDeriv& v_free = cparams->readV(this->mstate)->getValue(); + const VecCoord& x_free = cparams->readX(this->mstate.get())->getValue(); + const VecDeriv& v_free = cparams->readV(this->mstate.get())->getValue(); const bool useOdeIntegrationFactors = d_useOdeSolverIntegrationFactors.getValue(); @@ -566,7 +553,7 @@ void UncoupledConstraintCorrection::applyPositionCorrection(const cor VecCoord& x = *x_d.beginEdit(); - const VecCoord& x_free = cparams->readX(this->mstate)->getValue(); + const VecCoord& x_free = cparams->readX(this->mstate.get())->getValue(); const bool useOdeIntegrationFactors = d_useOdeSolverIntegrationFactors.getValue(); @@ -594,7 +581,7 @@ void UncoupledConstraintCorrection::applyVelocityCorrection(const cor VecDeriv& v = *v_d.beginEdit(); - const VecDeriv& v_free = cparams->readV(this->mstate)->getValue(); + const VecDeriv& v_free = cparams->readV(this->mstate.get())->getValue(); const bool useOdeIntegrationFactors = d_useOdeSolverIntegrationFactors.getValue(); diff --git a/Sofa/Component/Constraint/Lagrangian/Model/Sofa.Component.Constraint.Lagrangian.ModelConfig.cmake.in b/Sofa/Component/Constraint/Lagrangian/Model/Sofa.Component.Constraint.Lagrangian.ModelConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/Sofa.Component.Constraint.Lagrangian.ModelConfig.cmake.in +++ b/Sofa/Component/Constraint/Lagrangian/Model/Sofa.Component.Constraint.Lagrangian.ModelConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") 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 index aef7bc197a4..60ef120b265 100644 --- 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 @@ -74,4 +74,4 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API AugmentedLagrangianResoluti 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 index 512a06ebd5b..f0920c571b0 100644 --- 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 @@ -61,15 +61,11 @@ class BaseContactLagrangianConstraint : public core::behavior::PairInteractionCo 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::BaseLagrangianConstraint::ConstraintBlockInfo ConstraintBlockInfo; + typedef core::behavior::BaseLagrangianConstraint::PersistentID PersistentID; - 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::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; + typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID; typedef core::objectmodel::Data DataVecCoord; typedef core::objectmodel::Data DataVecDeriv; @@ -148,7 +144,7 @@ class BaseContactLagrangianConstraint : public core::behavior::PairInteractionCo , 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 getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids) override; virtual void getConstraintResolution(const core::ConstraintParams *,std::vector& resTab, unsigned int& offset) =0; bool isActive() const override; 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 index 27263e58dc1..b9384d0e131 100644 --- 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 @@ -74,6 +74,7 @@ void BaseContactLagrangianConstraint::addContact(const 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) { @@ -96,6 +97,7 @@ void BaseContactLagrangianConstraint::addContact(const } + template void BaseContactLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams *, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &contactId , const DataVecCoord &, const DataVecCoord &) @@ -310,7 +312,7 @@ void BaseContactLagrangianConstraint::getConstraintVio template -void BaseContactLagrangianConstraint::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& /*positions*/, VecConstDeriv& directions, VecConstArea& /*areas*/) +void BaseContactLagrangianConstraint::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids) { 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 ??? @@ -320,22 +322,15 @@ void BaseContactLagrangianConstraint::getConstraintInf 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::draw(const core: { const Contact& c = contacts[i]; - otherVertices.push_back(c.P); + otherVertices.push_back(c.P); otherVertices.push_back(c.P + c.norm); otherColors.push_back(sofa::type::RGBAColor::white()); diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h index 3c4d0f1bcca..dc3d6556313 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h @@ -23,7 +23,7 @@ #include #include -#include +#include #include #include #include @@ -77,15 +77,15 @@ class BilateralConstraintResolution3Dof : public ConstraintResolution void init(int line, SReal** w, SReal *force) override { sofa::type::Mat<3,3,SReal> temp; - temp[0][0] = w[line][line]; - temp[0][1] = w[line][line+1]; - temp[0][2] = w[line][line+2]; - temp[1][0] = w[line+1][line]; - temp[1][1] = w[line+1][line+1]; - temp[1][2] = w[line+1][line+2]; - temp[2][0] = w[line+2][line]; - temp[2][1] = w[line+2][line+1]; - temp[2][2] = w[line+2][line+2]; + temp(0,0) = w[line][line]; + temp(0,1) = w[line][line+1]; + temp(0,2) = w[line][line+2]; + temp(1,0) = w[line+1][line]; + temp(1,1) = w[line+1][line+1]; + temp(1,2) = w[line+1][line+2]; + temp(2,0) = w[line+2][line]; + temp(2,1) = w[line+2][line+1]; + temp(2,2) = w[line+2][line+2]; const bool canInvert = sofa::type::invertMatrix(invW, temp); assert(canInvert); @@ -116,7 +116,7 @@ class BilateralConstraintResolution3Dof : public ConstraintResolution for(int i=0; i<3; i++) { for(int j=0; j<3; j++) - force[line+i] -= d[line+j] * invW[i][j] * m_load; + force[line+i] -= d[line+j] * invW(i,j) * m_load; } } 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 4d7da7fdd4a..050e8d19135 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 @@ -41,7 +41,7 @@ namespace sofa::component::constraint::lagrangian::model /// These 'using' are in a per-file namespace so they will not leak /// and polluate the standard namespace. -using sofa::core::behavior::BaseConstraint ; +using sofa::core::behavior::BaseLagrangianConstraint ; using sofa::core::behavior::ConstraintResolution ; using sofa::core::behavior::PairInteractionConstraint ; using sofa::core::ConstraintParams ; @@ -81,7 +81,7 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint MechanicalState; - typedef BaseConstraint::PersistentID PersistentID; + typedef BaseLagrangianConstraint::PersistentID PersistentID; typedef Data DataVecCoord; typedef Data DataVecDeriv; @@ -101,7 +101,7 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint d_restVector; ///< Relative position to maintain between attached points (optional) VecCoord initialDifference; - SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() DeprecatedAndRemoved d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001 + SOFA_ATTRIBUTE_DISABLED__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 d8a9c374bee..932cdb524ff 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 @@ -277,6 +277,8 @@ void BilateralLagrangianConstraint::getConstraintResolution(const Con std::vector& resTab, unsigned int& offset) { + if (!d_activate.getValue()) return; + SOFA_UNUSED(cParams); const unsigned minp=std::min(d_m1.getValue().size(), d_m2.getValue().size()); diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.h index 03944cdd4ba..22f083180c3 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.h @@ -22,7 +22,7 @@ #pragma once #include -#include +#include #include #include #include @@ -32,10 +32,10 @@ namespace sofa::component::constraint::lagrangian::model { template< class DataTypes > -class FixedLagrangianConstraint : public core::behavior::Constraint +class FixedLagrangianConstraint : public core::behavior::LagrangianConstraint { public: - SOFA_CLASS(SOFA_TEMPLATE(FixedLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::Constraint,DataTypes)); + SOFA_CLASS(SOFA_TEMPLATE(FixedLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::LagrangianConstraint,DataTypes)); typedef typename DataTypes::VecCoord VecCoord; typedef typename DataTypes::VecDeriv VecDeriv; @@ -43,7 +43,7 @@ class FixedLagrangianConstraint : public core::behavior::Constraint typedef typename DataTypes::Deriv Deriv; typedef typename DataTypes::MatrixDeriv MatrixDeriv; typedef typename core::behavior::MechanicalState MechanicalState; - typedef typename core::behavior::Constraint Inherit; + typedef typename core::behavior::LagrangianConstraint Inherit; typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; typedef core::objectmodel::Data DataVecCoord; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.inl index 4f2d01ab645..03c4304af98 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.inl @@ -61,21 +61,18 @@ void FixedLagrangianConstraint::buildConstraintMatrix(const core::Con doBuildConstraintLine(c,i); } - c_d.endEdit(); } template void FixedLagrangianConstraint::getConstraintViolation(const core::ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) { SOFA_UNUSED(cParams); - SOFA_UNUSED(x); SOFA_UNUSED(v); - const DataVecCoord * freePos = this->getMState()->read(sofa::core::vec_id::read_access::freePosition); const DataVecCoord * restPos = this->getMState()->read(sofa::core::vec_id::read_access::restPosition); for(unsigned i=0; iregisterObjects(core::ObjectRegistrationData("Lagrangian-based partial fixation of DOFs of the model, along an axis.") - .add< SlidingLagrangianConstraint >()); + .add< SlidingLagrangianConstraint >() + .add< SlidingLagrangianConstraint >()); } template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API SlidingLagrangianConstraint; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h index 4c9e9aa5c9c..54ee71acc6d 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h @@ -58,10 +58,6 @@ class SlidingLagrangianConstraint : public core::behavior::PairInteractionConstr Data d_m2b; ///< index of the other end of the sliding axis Data d_force; ///< force (impulse) used to solve the constraint - Real m_dist; // constraint violation - Real m_thirdConstraint; // 0 if A m_constraintDirections; + Real m_projectionBarycentricCoordinate; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl index cf25b9e4292..4c330c0a563 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.inl @@ -57,7 +57,6 @@ void SlidingLagrangianConstraint::init() assert(this->mstate1); assert(this->mstate2); - m_thirdConstraint = 0; } @@ -65,101 +64,167 @@ template void SlidingLagrangianConstraint::buildConstraintMatrix(const core::ConstraintParams*, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &cIndex , const DataVecCoord &x1, const DataVecCoord &x2) { - int tm1 = d_m1.getValue(); + + int tm1 = d_m1.getValue(); int tm2a = d_m2a.getValue(); int tm2b = d_m2b.getValue(); auto c1 = sofa::helper::getWriteAccessor(c1_d); auto c2 = sofa::helper::getWriteAccessor(c2_d); - const Coord P = x1.getValue()[tm1]; - const Coord A = x2.getValue()[tm2a]; - const Coord B = x2.getValue()[tm2b]; + const Coord_t P = x1.getValue()[tm1]; + const Coord_t A = x2.getValue()[tm2a]; + const Coord_t B = x2.getValue()[tm2b]; // the axis - m_dirAxe = B - A; - const Real ab = m_dirAxe.norm(); - m_dirAxe.normalize(); - - // projection of the point on the axis - Real r = (P-A) * m_dirAxe; - Real r2 = r / ab; - const Deriv proj = A + m_dirAxe * r; + Deriv_t dirAxe; + DataTypes::setDPos(dirAxe, DataTypes::getCPos(B) - DataTypes::getCPos(A)); + const Real ab = dirAxe.norm(); - // We move the constraint point onto the projection - m_dirProj = P - proj; - m_dist = m_dirProj.norm(); // constraint violation - m_dirProj.normalize(); // direction of the constraint + m_constraintDirections.clear(); - m_dirOrtho = cross(m_dirProj, m_dirAxe); - m_dirOrtho.normalize(); + m_projectionBarycentricCoordinate=0; //Coef to point B -> proj = bary*B + (1-bary)*A + if ( ab < std::numeric_limits::epsilon() ) // If A and B are at the same position, then a full dof constraint must be applied totally linking position of P and A { - auto c1_it = c1->writeLine(cIndex); - c1_it.addCol(tm1, m_dirProj); - - auto c2_it = c2->writeLine(cIndex); - c2_it.addCol(tm2a, -m_dirProj * (1-r2)); - c2_it.addCol(tm2b, -m_dirProj * r2); - - ++cIndex; + for (unsigned i=0; i::spatial_dimensions; ++i) + { + Deriv_t temp; + temp[i] = 1; + m_constraintDirections.push_back(temp); + } + } + else + { + // Normalize direction + DataTypes::setDPos(dirAxe,DataTypes::getDPos(dirAxe).normalized()); + + // Distance to point A on sliding direction + Real r = dot(DataTypes::getCPos(P) - DataTypes::getCPos(A) , DataTypes::getDPos(dirAxe)); + // Normalized distance to point A on sliding direction, if equal to 1 then it is the same distance to A as B + Real r2 = r / ab; + + // Compute bary coef of normalized distance (if proj is outside of edge, it is forced to be applied on one side, either A (bary==0) or B (bary==1) + m_projectionBarycentricCoordinate = r2 < 0 ? 0 : r2; + m_projectionBarycentricCoordinate = m_projectionBarycentricCoordinate > 1.0 ? 1.0 : m_projectionBarycentricCoordinate; + + // This is the coordinates of the projected point + Coord_t proj; + DataTypes::setCPos(proj, DataTypes::getCPos(A) + DataTypes::getDPos(dirAxe) * r); + + // Compute projection direction + Deriv_t dirProj; + DataTypes::setDPos(dirProj, DataTypes::getCPos(P) - DataTypes::getCPos(proj)); + // If the projection is too close to the real point, create a proj dir that is randomly chosen around the edge + if (DataTypes::getDPos(dirProj).norm() < std::numeric_limits::epsilon()) + { + typename DataTypes::DPos xVec; + xVec[0] = 1; + if ( cross(xVec, DataTypes::getDPos(dirAxe)).norm() < std::numeric_limits::epsilon()) + xVec[1] = 1; + + DataTypes::setDPos(dirProj, cross(xVec, DataTypes::getDPos(dirAxe))); + } + DataTypes::setDPos(dirProj,DataTypes::getDPos(dirProj).normalized()); // direction of the constraint + + // Compute second normal that complete the set of constraint required to pull the point on the edge (only when dimension is supérior to 2) + Deriv_t dirOrtho; + if constexpr ( Deriv_t::spatial_dimensions > 2 ) + { + DataTypes::setDPos(dirOrtho, cross(DataTypes::getDPos(dirProj), DataTypes::getDPos(dirAxe)).normalized()); + } + + m_constraintDirections.push_back(dirProj); + if constexpr ( Deriv_t::spatial_dimensions > 2 ) + { + m_constraintDirections.push_back(dirOrtho); + } + m_constraintDirections.push_back(dirAxe); + m_constraintDirections.push_back(-dirAxe); } + //Now add vectors to the constraint matrix + if(m_constraintDirections.size()==Deriv_t::spatial_dimensions) { - auto c1_it = c1->writeLine(cIndex); - c1_it.setCol(tm1, m_dirOrtho); + //When A=B we don't care what point ton constraint, we just ocnstraint A + for(const auto & dirVec : m_constraintDirections) + { + auto c1_it = c1->writeLine(cIndex); + c1_it.setCol(tm1, dirVec); - auto c2_it = c2->writeLine(cIndex); - c2_it.addCol(tm2a, -m_dirOrtho * (1-r2)); - c2_it.addCol(tm2b, -m_dirOrtho * r2); + auto c2_it = c2->writeLine(cIndex); + c2_it.addCol(tm2a, -dirVec); - ++cIndex; + ++cIndex; + } } - - m_thirdConstraint = 0; - - if (r < 0) + else { - m_thirdConstraint = r; + //When A!=B we want to allow motion between A and B, we must be careful on the constraint + //direction of the constraint applied to A and B so the Unilateral constraints allow motion + //inbetween the two points A--------------B + // (forbidden)|-> (free) <-|(forbidden) - auto c1_it = c1->writeLine(cIndex); - c1_it.setCol(tm1, m_dirAxe); + for(unsigned i=0; iwriteLine(cIndex); + c1_it.addCol(tm1, m_constraintDirections[i]); - auto c2_it = c2->writeLine(cIndex); - c2_it.addCol(tm2a, -m_dirAxe); + auto c2_it = c2->writeLine(cIndex); + c2_it.addCol(tm2a, -m_constraintDirections[i] * (1-m_projectionBarycentricCoordinate)); + c2_it.addCol(tm2b, -m_constraintDirections[i] * m_projectionBarycentricCoordinate); - ++cIndex; - } - else if (r > ab) - { - m_thirdConstraint = r - ab; + ++cIndex; + } - auto c1_it = c1->writeLine(cIndex); - c1_it.setCol(tm1, -m_dirAxe); + auto c1_it_a = c1->writeLine(cIndex); + c1_it_a.setCol(tm1, m_constraintDirections[ m_constraintDirections.size() -2 ]); + auto c1_it_b = c1->writeLine(cIndex + 1); + c1_it_b.setCol(tm1, m_constraintDirections[ m_constraintDirections.size() -1 ]); - auto c2_it = c2->writeLine(cIndex); - c2_it.addCol(tm2b, m_dirAxe); - ++cIndex; + auto c2_it_a = c2->writeLine(cIndex); + c2_it_a.addCol(tm2a, -m_constraintDirections[ m_constraintDirections.size() -2 ]); + auto c2_it_b = c2->writeLine(cIndex + 1); + c2_it_b.addCol(tm2b, -m_constraintDirections[ m_constraintDirections.size() -1 ]); + + cIndex += 2; } } template -void SlidingLagrangianConstraint::getConstraintViolation(const core::ConstraintParams *, linearalgebra::BaseVector *v, const DataVecCoord &, const DataVecCoord & +void SlidingLagrangianConstraint::getConstraintViolation(const core::ConstraintParams *, linearalgebra::BaseVector *v, const DataVecCoord & x1, const DataVecCoord & x2 , const DataVecDeriv &, const DataVecDeriv &) { - const auto constraintIndex = this->d_constraintIndex.getValue(); + const Coord_t P = x1.getValue()[d_m1.getValue()]; + const Coord_t A = x2.getValue()[d_m2a.getValue()]; + const Coord_t B = x2.getValue()[d_m2b.getValue()]; - v->set(constraintIndex, m_dist); - v->set(constraintIndex+1, 0.0); + const auto constraintIndex = this->d_constraintIndex.getValue(); - if(m_thirdConstraint) + if(m_constraintDirections.size()==Deriv_t::spatial_dimensions) // A and B are on the same point + { + //If A=B, we have bilateral constraint that fixed all dofs, they are thus aligned with the world system of coordinates and the violation is easily computed + typename DataTypes::CPos temp = DataTypes::getCPos(P)-DataTypes::getCPos(A); + for(unsigned i=0; iset(constraintIndex + i, temp[i] ); + } + } + else { - if(m_thirdConstraint>0) - v->set(constraintIndex+2, -m_thirdConstraint); - else - v->set(constraintIndex+2, m_thirdConstraint); + typename DataTypes::CPos newProj = DataTypes::getCPos(B)*m_projectionBarycentricCoordinate + DataTypes::getCPos(A)*(1-m_projectionBarycentricCoordinate); + typename DataTypes::DPos PtoProj = DataTypes::getCPos(P) - newProj; + typename DataTypes::DPos PtoA = DataTypes::getCPos(P) - DataTypes::getCPos(A); + typename DataTypes::DPos PtoB = DataTypes::getCPos(P) - DataTypes::getCPos(B); + + for(unsigned i=0; iset(constraintIndex + i, dot(PtoProj, DataTypes::getDPos(m_constraintDirections[i])) ); + } + v->set(constraintIndex + 2, dot(PtoA , DataTypes::getDPos(m_constraintDirections[2])) ); + v->set(constraintIndex + 3, dot(PtoB , DataTypes::getDPos(m_constraintDirections[3])) ); } } @@ -169,33 +234,38 @@ void SlidingLagrangianConstraint::getConstraintResolution(const Const std::vector& resTab, unsigned int& offset) { - resTab[offset++] = new BilateralConstraintResolution(); - resTab[offset++] = new BilateralConstraintResolution(); - - if(m_thirdConstraint) + if(m_constraintDirections.size()==Deriv_t::spatial_dimensions) + { + //If A=B only bilateral constraints + for(unsigned i=0; i void SlidingLagrangianConstraint::storeLambda(const ConstraintParams* /*cParams*/, sofa::core::MultiVecDerivId /*res*/, const sofa::linearalgebra::BaseVector* lambda) { - Real lamb1,lamb2, lamb3; - + Deriv_t force; const auto constraintIndex = this->d_constraintIndex.getValue(); - - lamb1 = lambda->element(constraintIndex); - lamb2 = lambda->element(constraintIndex+1); - - if(m_thirdConstraint) - { - lamb3 = lambda->element(constraintIndex+2); - d_force.setValue( m_dirProj* lamb1 + m_dirOrtho * lamb2 + m_dirAxe * lamb3); - } - else + for (unsigned i=0; i< m_constraintDirections.size(); ++i ) { - d_force.setValue( m_dirProj* lamb1 + m_dirOrtho * lamb2 ); + force += m_constraintDirections[i]*lambda->element(constraintIndex+i); } + d_force.setValue(force); } template @@ -210,14 +280,13 @@ void SlidingLagrangianConstraint::draw(const core::visual::VisualPara sofa::type::RGBAColor color; - if(m_thirdConstraint<0) + if(m_constraintDirections.size() == Deriv_t::spatial_dimensions) color = sofa::type::RGBAColor::yellow(); - else if(m_thirdConstraint>0) - color = sofa::type::RGBAColor::green(); else - color = sofa::type::RGBAColor::magenta(); + color = sofa::type::RGBAColor::green(); + - std::vector vertices; + std::vector vertices; vertices.push_back(DataTypes::getCPos((this->mstate1->read(core::vec_id::read_access::position)->getValue())[d_m1.getValue()])); vparams->drawTool()->drawPoints(vertices, 10, color); 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 4d04c866b9c..41f86c73f22 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 @@ -22,7 +22,7 @@ #pragma once #include -#include +#include #include #include #include @@ -65,10 +65,10 @@ class StopperLagrangianConstraintResolution1Dof : public core::behavior::Constra }; template< class DataTypes > -class StopperLagrangianConstraint : public core::behavior::Constraint +class StopperLagrangianConstraint : public core::behavior::LagrangianConstraint { public: - SOFA_CLASS(SOFA_TEMPLATE(StopperLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::Constraint,DataTypes)); + SOFA_CLASS(SOFA_TEMPLATE(StopperLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::LagrangianConstraint,DataTypes)); typedef typename DataTypes::VecCoord VecCoord; typedef typename DataTypes::VecDeriv VecDeriv; @@ -77,7 +77,7 @@ class StopperLagrangianConstraint : public core::behavior::Constraint typedef typename DataTypes::MatrixDeriv MatrixDeriv; typedef typename Coord::value_type Real; typedef typename core::behavior::MechanicalState MechanicalState; - typedef typename core::behavior::Constraint Inherit; + typedef typename core::behavior::LagrangianConstraint Inherit; typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; typedef core::objectmodel::Data DataVecCoord; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h index ffdaf656bc6..905ead566c4 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h @@ -22,16 +22,16 @@ #pragma once #include -#include +#include namespace sofa::component::constraint::lagrangian::model { template < class DataTypes > -class UniformLagrangianConstraint : public sofa::core::behavior::Constraint< DataTypes > +class UniformLagrangianConstraint : public sofa::core::behavior::LagrangianConstraint< DataTypes > { public: - SOFA_CLASS(SOFA_TEMPLATE(UniformLagrangianConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Constraint, DataTypes)); + SOFA_CLASS(SOFA_TEMPLATE(UniformLagrangianConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::LagrangianConstraint, DataTypes)); typedef typename DataTypes::VecCoord VecCoord; typedef typename DataTypes::VecDeriv VecDeriv; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h index 3cf9f7847e5..adfdd521b9b 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UnilateralConstraintResolution.h @@ -97,4 +97,4 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API UnilateralConstraintResolut 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/config.h.in b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in index 0285000ee9a..8e10405fbb7 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 @@ -39,10 +39,10 @@ namespace sofa::component::constraint::lagrangian::model #ifdef SOFA_BUILD_SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL -#define SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() +#define SOFA_ATTRIBUTE_DISABLED__BILATERALREMOVEUNUSEDTOLERANCE() #else -#define SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() \ - SOFA_ATTRIBUTE_DEPRECATED( \ +#define SOFA_ATTRIBUTE_DISABLED__BILATERALREMOVEUNUSEDTOLERANCE() \ + SOFA_ATTRIBUTE_DISABLED( \ "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/Sofa.Component.Constraint.LagrangianConfig.cmake.in b/Sofa/Component/Constraint/Lagrangian/Sofa.Component.Constraint.LagrangianConfig.cmake.in index 7edd58c2231..0ac528482be 100644 --- a/Sofa/Component/Constraint/Lagrangian/Sofa.Component.Constraint.LagrangianConfig.cmake.in +++ b/Sofa/Component/Constraint/Lagrangian/Sofa.Component.Constraint.LagrangianConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTCONSTRAINTLAGRANGIAN_TARGETS @SOFACOMPONENTCONSTRAINTLAGRANGIAN_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTCONSTRAINTLAGRANGIAN_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/Sofa.Component.Constraint.Lagrangian.SolverConfig.cmake.in b/Sofa/Component/Constraint/Lagrangian/Solver/Sofa.Component.Constraint.Lagrangian.SolverConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/Sofa.Component.Constraint.Lagrangian.SolverConfig.cmake.in +++ b/Sofa/Component/Constraint/Lagrangian/Solver/Sofa.Component.Constraint.Lagrangian.SolverConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h index 626eb74d2ec..7eac329bc70 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h @@ -38,8 +38,16 @@ namespace sofa::component::constraint::lagrangian::solver class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API ConstraintProblem { public: + // The compliance matrix projected in the constraint space + // If J is the jacobian matrix of the constraints and A is the mechanical matrix of the system, + // then W = J A^{-1} J^T sofa::linearalgebra::LPtrFullMatrix W; - sofa::linearalgebra::FullVector dFree, f; + + // The constraint values of the "free motion" state + sofa::linearalgebra::FullVector dFree; + + // The lambda values from the Lagrange multipliers + sofa::linearalgebra::FullVector f; ConstraintProblem(); virtual ~ConstraintProblem(); @@ -48,10 +56,13 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API ConstraintProblem int maxIterations; virtual void clear(int nbConstraints); - int getDimension() { return dimension; } - SReal** getW() { return W.lptr(); } - SReal* getDfree() { return dFree.ptr(); } - SReal* getF() { return f.ptr(); } + + // Returns the number of scalar constraints, or equivalently the number of Lagrange multipliers + int getDimension() const { return dimension; } + + SReal** getW() { return W.lptr(); } + SReal* getDfree() { return dFree.ptr(); } + SReal* getF() { return f.ptr(); } virtual void solveTimed(SReal tolerance, int maxIt, SReal timeout) = 0; diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp index 3729f48d491..0a5e6a281f9 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintProblem.cpp @@ -1,4 +1,4 @@ -/****************************************************************************** +/****************************************************************************** * SOFA, Simulation Open-Framework Architecture * * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * * * diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp index b90c05c6c71..35408c73274 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp @@ -197,6 +197,7 @@ bool GenericConstraintSolver::buildSystem(const core::ConstraintParams *cParams, // suppress the constraints that are on DOFS currently concerned by projective constraint applyProjectiveConstraintOnConstraintMatrix(cParams); + //clear and/or resize based on the number of constraints current_cp->clear(numConstraints); getConstraintViolation(cParams, ¤t_cp->dFree); 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 761ec076298..09ccb277cbd 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 @@ -25,7 +25,7 @@ #include #include -#include +#include #include #include @@ -138,6 +138,9 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API GenericConstraintSolver : const core::ConstraintParams* cParams, MultiVecId res1, MultiVecId res2, core::behavior::BaseConstraintCorrection* constraintCorrection) const; + + // Accumulate the lambda values projected in the motion space in the states + // f += J^T * lambda void storeConstraintLambdas(const core::ConstraintParams* cParams); }; diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp index 541091eb613..531eee4e750 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp @@ -52,21 +52,14 @@ LCPConstraintSolver::LCPConstraintSolver() , d_mu(initData(&d_mu, 0.6_sreal, "mu", "Friction coefficient")) , d_minW(initData(&d_minW, 0.0_sreal, "minW", "If not zero, constraints whose self-compliance (i.e. the corresponding value on the diagonal of W) is smaller than this threshold will be ignored")) , d_maxF(initData(&d_maxF, 0.0_sreal, "maxF", "If not zero, constraints whose response force becomes larger than this threshold will be ignored")) - , d_multi_grid(initData(&d_multi_grid, false, "multi_grid", "activate multi_grid resolution (NOT STABLE YET)")) - , d_multi_grid_levels(initData(&d_multi_grid_levels, 2, "multi_grid_levels", "if multi_grid is active: how many levels to create (>=2)")) - , d_merge_method(initData(&d_merge_method, 0, "merge_method", "if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates)")) - , d_merge_spatial_step(initData(&d_merge_spatial_step, 2, "merge_spatial_step", "if merge_method is 1: grid size reduction between multigrid levels")) - , d_merge_local_levels(initData(&d_merge_local_levels, 2, "merge_local_levels", "if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs.")) , d_constraintForces(initData(&d_constraintForces,"constraintForces","OUTPUT: constraint forces (stored only if computeConstraintForces=True)")) , d_computeConstraintForces(initData(&d_computeConstraintForces,false, "computeConstraintForces", "enable the storage of the constraintForces.")) , d_constraintGroups(initData(&d_constraintGroups, "group", "list of ID of groups of constraints to be handled by this solver.")) , d_graph(initData(&d_graph, "graph", "Graph of residuals at each iteration")) - , d_showLevels(initData(&d_showLevels, 0, "showLevels", "Number of constraint levels to display")) , d_showCellWidth(initData(&d_showCellWidth, "showCellWidth", "Distance between each constraint cells")) , d_showTranslation(initData(&d_showTranslation, "showTranslation", "Position of the first cell")) - , d_showLevelTranslation(initData(&d_showLevelTranslation, "showLevelTranslation", "Translation between levels")) , current_cp(&lcp1) , last_cp(nullptr) , _W(&lcp1.W) @@ -157,7 +150,8 @@ void LCPConstraintSolver::buildSystem() _Wdiag.resize(_numConstraints,_numConstraints); } - buildHierarchy(); + m_constraintBlockInfo.clear(); + m_constraintIds.clear(); getConstraintInfo(cparams); @@ -180,40 +174,17 @@ bool LCPConstraintSolver::solveSystem(const core::ConstraintParams * /*cParams*/ { current_cp->tolerance = _tol; - if (d_multi_grid.getValue()) - { - { - SCOPED_TIMER("ConstraintsMerge"); - MultigridConstraintsMerge(); - } - - sofa::type::vector& graph_residuals = graph["Error"]; - graph_residuals.clear(); - sofa::type::vector& graph_violations = graph["Violation"]; - graph_violations.clear(); - sofa::type::vector& graph_levels = graph["Level"]; - graph_levels.clear(); - - { - SCOPED_TIMER("NLCP MultiGrid"); - helper::nlcp_multiGrid_Nlevels(_numConstraints, _dFree->ptr(), _W->lptr(), _result->ptr(), _mu, _tol, _maxIt, d_initial_guess.getValue(), - hierarchy_contact_group, hierarchy_num_group, hierarchy_constraint_group, hierarchy_constraint_group_fact, notMuted(), &graph_residuals, &graph_levels, &graph_violations); - } + sofa::type::vector& graph_error = graph["Error"]; + graph_error.clear(); + sofa::type::vector& graph_violations = graph["Violation"]; + graph_violations.clear(); - } - else { - sofa::type::vector& graph_error = graph["Error"]; - graph_error.clear(); - sofa::type::vector& graph_violations = graph["Violation"]; - graph_violations.clear(); + SCOPED_TIMER("NLCP GaussSeidel"); + helper::nlcp_gaussseidel(_numConstraints, _dFree->ptr(), _W->lptr(), _result->ptr(), _mu, _tol, _maxIt, d_initial_guess.getValue(), + notMuted(), _minW, _maxF, &graph_error, &graph_violations); + } - { - SCOPED_TIMER("NLCP GaussSeidel"); - helper::nlcp_gaussseidel(_numConstraints, _dFree->ptr(), _W->lptr(), _result->ptr(), _mu, _tol, _maxIt, d_initial_guess.getValue(), - notMuted(), _minW, _maxF, &graph_error, &graph_violations); - } - } } else { @@ -291,36 +262,15 @@ bool LCPConstraintSolver::applyCorrection(const core::ConstraintParams * /*cPara return true; } -void LCPConstraintSolver::buildHierarchy() -{ - int nLevels = 1; - if (d_multi_grid.getValue()) - { - nLevels = d_multi_grid_levels.getValue(); - if (nLevels < 2) nLevels = 2; - } - hierarchy_constraintBlockInfo.resize(nLevels); - hierarchy_constraintIds.resize(nLevels); - hierarchy_constraintPositions.resize(nLevels); - hierarchy_constraintDirections.resize(nLevels); - hierarchy_constraintAreas.resize(nLevels); - for (int l=0; l &constraint_m } } -void LCPConstraintSolver::MultigridConstraintsMerge() -{ - switch(d_merge_method.getValue()) - { - case 0: - MultigridConstraintsMerge_Compliance(); - break; - case 1: - MultigridConstraintsMerge_Spatial(); - break; - default: - msg_error() << "Unsupported merge method " << d_merge_method.getValue(); - } -} - -void LCPConstraintSolver::MultigridConstraintsMerge_Compliance() -{ - const SReal criterion=0.0; - const int numContacts = _numConstraints/3; - - hierarchy_contact_group.resize(1); - hierarchy_constraint_group.resize(1); - hierarchy_constraint_group_fact.resize(1); - hierarchy_num_group.resize(1); - std::vector group_lead; - std::vector& contact_group = hierarchy_contact_group[0]; - std::vector& constraint_group = hierarchy_constraint_group[0]; - std::vector& constraint_group_fact = hierarchy_constraint_group_fact[0]; - unsigned int& num_group = hierarchy_num_group[0]; - contact_group.clear(); - contact_group.resize(numContacts); - group_lead.clear(); - constraint_group.clear(); - constraint_group.resize(_numConstraints); - constraint_group_fact.clear(); - constraint_group_fact.resize(_numConstraints); - - for (int c=0; clptr()[3*c][3*group_lead[g]] > criterion * (_W->lptr()[3*c][3*c] +_W->lptr()[3*group_lead[g]][3*group_lead[g]]) ) // on regarde les couplages selon la normale... - { - new_group =false; - contact_group[c] = g; - } - } - if (new_group) - { - contact_group[c]=group_lead.size(); - group_lead.push_back(c); - } - } - num_group = group_lead.size(); - dmsg_info() << "contacts merged in "<d_merge_spatial_step.getValue(); - constexpr int merge_spatial_shift = 0; // d_merge_spatial_step/2 - const int merge_local_levels = this->d_merge_local_levels.getValue(); - int numConstraints = _numConstraints; - int numContacts = numConstraints/3; - int nLevels = d_multi_grid_levels.getValue(); - if (nLevels < 2) nLevels = 2; - - msg_info() << "Multigrid merge from " << numContacts << " contacts."; - - hierarchy_contact_group.resize(nLevels-1); - hierarchy_constraint_group.resize(nLevels-1); - hierarchy_constraint_group_fact.resize(nLevels-1); - hierarchy_num_group.resize(nLevels-1); - - hierarchy_constraintBlockInfo.resize(nLevels); - hierarchy_constraintPositions.resize(nLevels); - hierarchy_constraintDirections.resize(nLevels); - hierarchy_constraintAreas.resize(nLevels); - - for (int level = 1; level < nLevels; ++level) - { - std::vector& contact_group = hierarchy_contact_group[level-1]; - std::vector& constraint_group = hierarchy_constraint_group[level-1]; - std::vector& constraint_group_fact = hierarchy_constraint_group_fact[level-1]; - unsigned int& num_group = hierarchy_num_group[level-1]; - - contact_group.clear(); - contact_group.resize(numContacts); - constraint_group.clear(); - constraint_group.resize(numConstraints); - constraint_group_fact.clear(); - constraint_group_fact.resize(numConstraints); - num_group = 0; - - const VecConstraintBlockInfo& constraintBlockInfo = hierarchy_constraintBlockInfo[level-1]; - const VecConstCoord& constraintPositions = hierarchy_constraintPositions[level-1]; - const VecConstDeriv& constraintDirections = hierarchy_constraintDirections[level-1]; - const VecConstArea& constraintAreas = hierarchy_constraintAreas[level-1]; - - VecConstraintBlockInfo& newConstraintBlockInfo = hierarchy_constraintBlockInfo[level]; - VecConstCoord& newConstraintPositions = hierarchy_constraintPositions[level]; - VecConstDeriv& newConstraintDirections = hierarchy_constraintDirections[level]; - VecConstArea& newConstraintAreas = hierarchy_constraintAreas[level]; - - newConstraintBlockInfo.clear(); - newConstraintPositions.clear(); - newConstraintDirections.clear(); - newConstraintAreas.clear(); - - std::map coord2coarseId; - - for (unsigned cb = 0; cb < constraintBlockInfo.size(); ++cb) - { - const ConstraintBlockInfo& info = constraintBlockInfo[cb]; - msg_info() << "MultigridConstraintsMerge_Spatial level " << level-1 << " constraint block " << cb << " from " << (info.parent ? info.parent->getName() : std::string("nullptr")) - << " : c0 = " << info.const0 << " nbl = " << info.nbLines << " nbg = " << info.nbGroups << " offsetPosition = " << info.offsetPosition << " offsetDirection = " << info.offsetDirection << " offsetArea = " << info.offsetArea; - if (!info.hasPosition) - { - msg_error() << "MultigridConstraintsMerge_Spatial: constraints from " << (info.parent ? info.parent->getName() : std::string("nullptr")) << " have no position data"; - continue; - } - if (!info.hasDirection) - { - msg_error() << "MultigridConstraintsMerge_Spatial: constraints from " << (info.parent ? info.parent->getName() : std::string("nullptr")) << " have no direction data"; - continue; - } - ConstraintBlockInfo newInfo; - newInfo = info; - newInfo.hasArea = true; - newInfo.offsetPosition = newConstraintPositions.size(); - newInfo.offsetDirection = newConstraintDirections.size(); - newInfo.offsetArea = newConstraintAreas.size(); - newInfo.const0 = num_group * 3; - const int c0 = info.const0; - const int nbl = info.nbLines; - for (int c = 0; c < info.nbGroups; ++c) - { - int idFine = c0 + c*nbl; - if (idFine + 2 >= numConstraints) - { - msg_error() << "MultigridConstraintsMerge_Spatial level " << level << ": constraint " << idFine << " from " << (info.parent ? info.parent->getName() : std::string("nullptr")) << " has invalid index"; - break; - } - if ((unsigned)(info.offsetPosition + c) >= constraintPositions.size()) - { - msg_error() << "MultigridConstraintsMerge_Spatial level " << level << ": constraint " << idFine << " from " << (info.parent ? info.parent->getName() : std::string("nullptr")) << " has invalid position index"; - break; - } - ConstCoord posFine = constraintPositions[info.offsetPosition + c]; - ConstDeriv dirFineN = constraintDirections[info.offsetDirection + 3*c + 0]; - ConstDeriv dirFineT1 = constraintDirections[info.offsetDirection + 3*c + 1]; - ConstDeriv dirFineT2 = constraintDirections[info.offsetDirection + 3*c + 2]; - ConstArea area = (info.hasArea) ? constraintAreas[info.offsetArea + c] : (ConstArea)1.0; - ConstCoord posCoarse; - for (int i=0; i<3; ++i) - { - int p = posFine[i]+merge_spatial_shift; - if (p < 0) - p -= merge_spatial_step-1; - p = p / merge_spatial_step; - posCoarse[i] = p; - } - auto [insertIt, insertSuccess] = coord2coarseId.insert(std::map::value_type(posCoarse, (int)num_group)); - int idCoarse = insertIt->second * 3; - if (insertSuccess) - { - // new group - newConstraintPositions.push_back(posCoarse); - newConstraintDirections.push_back(dirFineN*area); - newConstraintDirections.push_back(dirFineT1*area); - newConstraintDirections.push_back(dirFineT2*area); - newConstraintAreas.push_back(area); - ++num_group; - } - else - { - // add to existing group - newConstraintAreas[idCoarse/3] += area; - ConstDeriv& dirCoarseN = newConstraintDirections[idCoarse+0]; - ConstDeriv& dirCoarseT1 = newConstraintDirections[idCoarse+1]; - ConstDeriv& dirCoarseT2 = newConstraintDirections[idCoarse+2]; - SReal dotNN = dirCoarseN * dirFineN; - SReal dotT1T1 = dirCoarseT1 * dirFineT1; - SReal dotT2T2 = dirCoarseT2 * dirFineT2; - SReal dotT2T1 = dirCoarseT2 * dirFineT1; - SReal dotT1T2 = dirCoarseT1 * dirFineT2; - dirCoarseN += dirFineN * ((dotNN < 0) ? -area : area); - if (fabs(dotT1T1) + fabs(dotT2T2) > fabs(dotT1T2) + fabs(dotT2T1)) - { - // friction axes are aligned - dirCoarseT1 += dirFineT1 * ((dotT1T1 < 0) ? -area : area); - dirCoarseT2 += dirFineT2 * ((dotT2T2 < 0) ? -area : area); - } - else - { - // friction axes are swapped - dirCoarseT1 += dirFineT2 * ((dotT1T2 < 0) ? -area : area); - dirCoarseT2 += dirFineT1 * ((dotT2T1 < 0) ? -area : area); - } - } - contact_group[idFine/3] = idCoarse/3; - } - newInfo.nbGroups = num_group - newInfo.const0 / 3; - newConstraintBlockInfo.push_back(newInfo); - if (level < merge_local_levels) - { - // the following line clears the coarse group map between blocks - // of constraints, hence disallowing any merging of constraints - // not created by the same BaseConstraint component - coord2coarseId.clear(); - } - } - // Finalize - msg_info() << "Multigrid merge level " << level << ": " << num_group << " groups."; - - // Normalize and orthogonalize constraint directions - for (unsigned int g=0; g fabs(dotT1T2) + fabs(dotT2T1)) - { - // friction axes are aligned - constraint_group[idFine+1] = idCoarse+1; constraint_group_fact[idFine+1] = ((dotT1T1 < 0) ? -1.0 : 1.0); - constraint_group[idFine+2] = idCoarse+2; constraint_group_fact[idFine+2] = ((dotT2T2 < 0) ? -1.0 : 1.0); - } - else - { - // friction axes are swapped - constraint_group[idFine+1] = idCoarse+2; constraint_group_fact[idFine+1] = ((dotT2T1 < 0) ? -1.0 : 1.0); - constraint_group[idFine+2] = idCoarse+1; constraint_group_fact[idFine+2] = ((dotT1T2 < 0) ? -1.0 : 1.0); - } - } - - numContacts = num_group; - numConstraints = numContacts*3; - } - const VecConstraintBlockInfo& constraintBlockInfo = hierarchy_constraintBlockInfo[nLevels-1]; - for (unsigned cb = 0; cb < constraintBlockInfo.size(); ++cb) - { - const ConstraintBlockInfo& info = constraintBlockInfo[cb]; - msg_info() << "MultigridConstraintsMerge_Spatial level " << nLevels-1 << " constraint block " << cb << " from " << (info.parent ? info.parent->getName() : std::string("nullptr")) - << " : c0 = " << info.const0 << " nbl = " << info.nbLines << " nbg = " << info.nbGroups << " offsetPosition = " << info.offsetPosition << " offsetDirection = " << info.offsetDirection << " offsetArea = " << info.offsetArea; - } -} - void LCPConstraintSolver::computeInitialGuess() { sofa::helper::AdvancedTimer::StepVar vtimer("InitialGuess"); const auto _mu = d_mu.getValue(); - const VecConstraintBlockInfo& constraintBlockInfo = hierarchy_constraintBlockInfo[0]; - const VecPersistentID& constraintIds = hierarchy_constraintIds[0]; + const VecConstraintBlockInfo& constraintBlockInfo = m_constraintBlockInfo; + const VecPersistentID& constraintIds = m_constraintIds; const int numContact = (_mu > 0.0) ? _numConstraints/3 : _numConstraints; for (int c=0; c::const_iterator previt = _previousConstraints.find(info.parent); + std::map::const_iterator previt = _previousConstraints.find(info.parent); if (previt == _previousConstraints.end()) continue; const ConstraintBlockBuf& buf = previt->second; const int c0 = info.const0; @@ -698,8 +358,8 @@ void LCPConstraintSolver::computeInitialGuess() void LCPConstraintSolver::keepContactForcesValue() { sofa::helper::AdvancedTimer::StepVar vtimer("KeepForces"); - const VecConstraintBlockInfo& constraintBlockInfo = hierarchy_constraintBlockInfo[0]; - const VecPersistentID& constraintIds = hierarchy_constraintIds[0]; + const VecConstraintBlockInfo& constraintBlockInfo = m_constraintBlockInfo; + const VecPersistentID& constraintIds = m_constraintIds; // store current force _previousForces.resize(_numConstraints); for (unsigned int c=0; c<_numConstraints; ++c) @@ -1218,119 +878,6 @@ void LCPConstraintSolver::lockConstraintProblem(sofa::core::objectmodel::BaseObj } -void LCPConstraintSolver::draw(const core::visual::VisualParams* vparams) -{ - unsigned int showLevels = (unsigned int) this->d_showLevels.getValue(); - if (showLevels > hierarchy_constraintBlockInfo.size()) showLevels = hierarchy_constraintBlockInfo.size(); - if (!showLevels) return; - const SReal showCellWidth = this->d_showCellWidth.getValue(); - const type::Vec3 showTranslation = this->d_showTranslation.getValue(); - const type::Vec3 showLevelTranslation = this->d_showLevelTranslation.getValue(); - - const int merge_spatial_step = this->d_merge_spatial_step.getValue(); - constexpr int merge_spatial_shift = 0; // d_merge_spatial_step/2 - const int merge_local_levels = this->d_merge_local_levels.getValue(); - const auto _mu = d_mu.getValue(); - - const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); - - // from http://colorexplorer.com/colormatch.aspx - const unsigned int colors[72]= { 0x2F2FBA, 0x111145, 0x2FBA8C, 0x114534, 0xBA8C2F, 0x453411, 0x2F72BA, 0x112A45, - 0x2FBA48, 0x11451B, 0xBA2F5B, 0x451122, 0x2FB1BA, 0x114145, 0x79BA2F, 0x2D4511, 0x9E2FBA, 0x3B1145, 0x2FBA79, - 0x11452D, 0xBA662F, 0x452611, 0x2F41BA, 0x111845, 0x2FBA2F, 0x114511, 0xBA2F8C, 0x451134, 0x2F8CBA, 0x113445, - 0x6DBA2F, 0x284511, 0xAA2FBA, 0x3F1145, 0x2FAABA, 0x113F45, 0xAFBA2F, 0x414511, 0x692FBA, 0x271145, 0x2FBAAA, - 0x11453F, 0xBA892F, 0x453311, 0x2F31BA, 0x111245, 0x2FBA89, 0x114533, 0xBA4F2F, 0x451D11, 0x2F4DBA, 0x111C45, - 0x2FBA6D, 0x114528, 0xBA2F56, 0x451120, 0x2F72BA, 0x112A45, 0x2FBA48, 0x11451B, 0xBA2F9A, 0x451139, 0x2F93BA, - 0x113645, 0x3FBA2F, 0x174511, 0x662FBA, 0x261145, 0x2FBAA8, 0x11453E, 0xB1BA2F, 0x414511}; - - union - { - int i; - unsigned char b[4]; - } color; - - int coord0 = 0; - int coordFact = 1; - for (unsigned int level = 0; level < showLevels; ++level) - { - const VecConstraintBlockInfo& constraintBlockInfo = hierarchy_constraintBlockInfo[level]; - const VecConstCoord& constraintPositions = hierarchy_constraintPositions[level]; - const VecConstDeriv& constraintDirections = hierarchy_constraintDirections[level]; - const VecConstArea& constraintAreas = hierarchy_constraintAreas[level]; - - for (unsigned cb = 0; cb < constraintBlockInfo.size(); ++cb) - { - const ConstraintBlockInfo& info = constraintBlockInfo[cb]; - if (!info.hasPosition) - continue; - if (!info.hasDirection) - continue; - - const int c0 = info.const0; - const int nbl = info.nbLines; - for (int c = 0; c < info.nbGroups; ++c) - { - int idFine = c0 + c*nbl; - if ((unsigned)(info.offsetPosition + c) >= constraintPositions.size()) - { - msg_info() << "Level " << level << ": constraint " << idFine << " from " << (info.parent ? info.parent->getName() : std::string("nullptr")) << " has invalid position index" ; - break; - } - if ((unsigned)(info.offsetDirection + 3*c) >= constraintDirections.size()) - { - msg_info() << "Level " << level << ": constraint " << idFine << " from " << (info.parent ? info.parent->getName() : std::string("nullptr")) << " has invalid direction index" ; - break; - } - ConstCoord posFine = constraintPositions[info.offsetPosition + c]; - ConstDeriv dirFineN = constraintDirections[info.offsetDirection + 3*c + 0]; - ConstDeriv dirFineT1 = constraintDirections[info.offsetDirection + 3*c + 1]; - ConstDeriv dirFineT2 = constraintDirections[info.offsetDirection + 3*c + 2]; - const ConstArea area = (info.hasArea) ? constraintAreas[info.offsetArea + c] : (ConstArea)(2*coordFact*coordFact*showCellWidth*showCellWidth); - - type::Vec3 centerFine = showTranslation + showLevelTranslation*level; - for (int i=0; i<3; ++i) centerFine[i] += ((posFine[i]+0.5)*coordFact + coord0) * showCellWidth; - const SReal radius = sqrt(area*0.5); - - const unsigned int colid = (level * 12 + ((int)level < merge_local_levels ? (cb % 2) : 0)) % 72; - color.i = (int) colors[colid + 0]; - vparams->drawTool()->drawArrow( - centerFine,centerFine+dirFineN*radius*2.0f, - (float)radius*2.0f*0.03f, - sofa::type::RGBAColor( - (float)(color.b[0]) * (1.0f/255.0f), - (float)(color.b[1]) * (1.0f/255.0f), - (float)(color.b[2]) * (1.0f/255.0f), - 1.0f)); - if (_mu > 1.0e-6) - { - color.i = (int) colors[colid + 2]; - vparams->drawTool()->drawArrow( - centerFine-dirFineT1*radius*_mu,centerFine+dirFineT1*radius*_mu, - (float)(radius*_mu*0.03f), - sofa::type::RGBAColor( - (float)(color.b[0]) * (1.0f/255.0f), - (float)(color.b[1]) * (1.0f/255.0f), - (float)(color.b[2]) * (1.0f/255.0f), - 1.0f)); - color.i = (int) colors[colid + 4]; - vparams->drawTool()->drawArrow( - centerFine-dirFineT2*radius*_mu,centerFine+dirFineT2*radius*_mu, - (float)(radius*_mu*0.03f), - sofa::type::RGBAColor( - color.b[0] * (1.0f/255.0f), - color.b[1] * (1.0f/255.0f), - color.b[2] * (1.0f/255.0f), - 1.0f)); - } - } - } - coord0 = (coord0 - merge_spatial_shift) * merge_spatial_step; - coordFact *= merge_spatial_step; - - } - -} - void registerLCPConstraintSolver(sofa::core::ObjectFactory* factory) { factory->registerObjects(core::ObjectRegistrationData("A Constraint Solver using the Linear Complementarity Problem formulation to solve BaseConstraint based components.") 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 cacdb319c29..985cf843e0f 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 @@ -24,7 +24,7 @@ #include #include -#include +#include #include #include @@ -70,7 +70,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ bool solveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override; bool applyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override; - void draw(const core::visual::VisualParams* vparams) override; + Data d_displayDebug; ///< Display debug information. Data d_initial_guess; ///< activate LCP results history to improve its resolution performances. @@ -81,11 +81,11 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ Data d_mu; ///< Friction coefficient Data d_minW; ///< If not zero, constraints whose self-compliance (i.e. the corresponding value on the diagonal of W) is smaller than this threshold will be ignored Data d_maxF; ///< If not zero, constraints whose response force becomes larger than this threshold will be ignored - Data d_multi_grid; ///< activate multi_grid resolution (NOT STABLE YET) - Data d_multi_grid_levels; ///< if multi_grid is active: how many levels to create (>=2) - Data d_merge_method; ///< if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates) - Data d_merge_spatial_step; ///< if merge_method is 1: grid size reduction between multigrid levels - Data d_merge_local_levels; ///< if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs. + DeprecatedAndRemoved d_multi_grid; ///< activate multi_grid resolution (NOT STABLE YET) + DeprecatedAndRemoved d_multi_grid_levels; ///< if multi_grid is active: how many levels to create (>=2) + DeprecatedAndRemoved d_merge_method; ///< if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates) + DeprecatedAndRemoved d_merge_spatial_step; ///< if merge_method is 1: grid size reduction between multigrid levels + DeprecatedAndRemoved d_merge_local_levels; ///< if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs. Data> d_constraintForces; ///< OUTPUT: constraint forces (stored only if computeConstraintForces=True) Data d_computeConstraintForces; ///< The indices of the constraintForces to store in the constraintForce data field @@ -93,10 +93,10 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ Data > > d_graph; ///< Graph of residuals at each iteration - Data d_showLevels; ///< Number of constraint levels to display + DeprecatedAndRemoved d_showLevels; ///< Number of constraint levels to display Data d_showCellWidth; ///< Distance between each constraint cells Data d_showTranslation; ///< Position of the first cell - Data d_showLevelTranslation; ///< Translation between levels + DeprecatedAndRemoved d_showLevelTranslation; ///< Translation between levels ConstraintProblem* getConstraintProblem() override; void lockConstraintProblem(sofa::core::objectmodel::BaseObject* from, ConstraintProblem* p1, ConstraintProblem* p2=nullptr) override; ///< Do not use the following LCPs until the next call to this function. This is used to prevent concurrent access to the LCP when using a LCPForceFeedback through an haptic thread @@ -108,8 +108,6 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ unsigned int _numConstraints; - /// Multigrid hierarchy is resized and cleared - void buildHierarchy(); /// Call the method getConstraintInfo on all the BaseConstraintSet void getConstraintInfo(core::ConstraintParams cparams); /// Call the method addComplianceInConstraintSpace on all the BaseConstraintCorrection @@ -121,16 +119,13 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ sofa::linearalgebra::LPtrFullMatrix *_W; /// multi-grid approach /// - void MultigridConstraintsMerge(); - void MultigridConstraintsMerge_Compliance(); - void MultigridConstraintsMerge_Spatial(); void build_Coarse_Compliance(std::vector &/*constraint_merge*/, int /*sizeCoarseSystem*/); sofa::linearalgebra::LPtrFullMatrix _Wcoarse; - std::vector< std::vector< int > > hierarchy_contact_group; - std::vector< std::vector< int > > hierarchy_constraint_group; - std::vector< std::vector< SReal > > hierarchy_constraint_group_fact; - std::vector< unsigned int > hierarchy_num_group; + std::vector< int > m_contact_group; + std::vector< int > m_constraint_group; + std::vector< SReal > m_constraint_group_fact; + unsigned int m_num_group; /// common built-unbuilt @@ -147,17 +142,11 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ std::vector _cclist_elem1; std::vector _cclist_elem2; - typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo; - typedef core::behavior::BaseConstraint::PersistentID PersistentID; - typedef core::behavior::BaseConstraint::ConstCoord ConstCoord; - typedef core::behavior::BaseConstraint::ConstDeriv ConstDeriv; - typedef core::behavior::BaseConstraint::ConstArea ConstArea; + typedef core::behavior::BaseLagrangianConstraint::ConstraintBlockInfo ConstraintBlockInfo; + typedef core::behavior::BaseLagrangianConstraint::PersistentID PersistentID; - 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::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; + typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID; class ConstraintBlockBuf { @@ -166,14 +155,11 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ int nbLines; ///< how many dofs (i.e. lines in the matrix) are used by each constraint }; - std::map _previousConstraints; + std::map _previousConstraints; type::vector< SReal > _previousForces; - type::vector< VecConstraintBlockInfo > hierarchy_constraintBlockInfo; - type::vector< VecPersistentID > hierarchy_constraintIds; - type::vector< VecConstCoord > hierarchy_constraintPositions; - type::vector< VecConstDeriv > hierarchy_constraintDirections; - type::vector< VecConstArea > hierarchy_constraintAreas; + VecConstraintBlockInfo m_constraintBlockInfo; + VecPersistentID m_constraintIds; // for gaussseidel_unbuilt type::vector< helper::LocalBlock33 > unbuilt_W33; diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/ConstraintStoreLambdaVisitor.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/ConstraintStoreLambdaVisitor.cpp index 398fc1feffc..fa5b3efd272 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/ConstraintStoreLambdaVisitor.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/ConstraintStoreLambdaVisitor.cpp @@ -19,7 +19,7 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#include #include #include @@ -35,7 +35,7 @@ ConstraintStoreLambdaVisitor::ConstraintStoreLambdaVisitor(const sofa::core::Con simulation::Visitor::Result ConstraintStoreLambdaVisitor::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet) { - if (core::behavior::BaseConstraint *c = dynamic_cast(cSet) ) + if (core::behavior::BaseLagrangianConstraint *c = dynamic_cast(cSet) ) { const ctime_t t0 = begin(node, c); c->storeLambda(m_cParams, m_cParams->lambda(), m_lambda); diff --git a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.cpp b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.cpp index 3eb9ce87fa3..29d67ff2571 100644 --- a/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.cpp @@ -22,7 +22,7 @@ #include #include #include -#include +#include namespace sofa::component::constraint::lagrangian::solver { @@ -39,7 +39,7 @@ MechanicalGetConstraintResolutionVisitor::MechanicalGetConstraintResolutionVisit MechanicalGetConstraintResolutionVisitor::Result MechanicalGetConstraintResolutionVisitor::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet) { - if (core::behavior::BaseConstraint *c=cSet->toBaseConstraint()) + if (core::behavior::BaseLagrangianConstraint *c=cSet->toBaseLagrangianConstraint()) { const ctime_t t0 = begin(node, c); c->getConstraintResolution(cparams, _res, _offset); diff --git a/Sofa/Component/Constraint/Projective/Sofa.Component.Constraint.ProjectiveConfig.cmake.in b/Sofa/Component/Constraint/Projective/Sofa.Component.Constraint.ProjectiveConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Constraint/Projective/Sofa.Component.Constraint.ProjectiveConfig.cmake.in +++ b/Sofa/Component/Constraint/Projective/Sofa.Component.Constraint.ProjectiveConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl index 50e7881feaf..9e679a2d08a 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/DirectionProjectiveConstraint.inl @@ -131,7 +131,7 @@ void DirectionProjectiveConstraint::reinit() for(unsigned i=0; i::updateJacobian() for(unsigned i=0; i::projectResponse(const core::Me projectResponseT(res.wref(), [](VecDeriv& dx, const unsigned int index, const VecBool& b) { - for (std::size_t j = 0; j < b.size(); j++) if (b[j]) dx[index][j] = 0.0; + for (std::size_t j = 0; j < b.size(); j++) if (b[j]) dx[index][j] = 0.0; } ); } diff --git a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl index 85570f79062..5837fc2e538 100644 --- a/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl +++ b/Sofa/Component/Constraint/Projective/src/sofa/component/constraint/projective/PlaneProjectiveConstraint.inl @@ -134,11 +134,11 @@ void PlaneProjectiveConstraint::reinit() { if(i==j) { - bProjection[i][j] = 1 - n[i]*n[j]; + bProjection(i,j) = 1 - n[i]*n[j]; } else { - bProjection[i][j] = - n[i]*n[j]; + bProjection(i,j) = - n[i]*n[j]; } } diff --git a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp index cc7083b929a..36694560ec9 100644 --- a/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp +++ b/Sofa/Component/Constraint/Projective/tests/FixedPlaneProjectiveConstraint_test.cpp @@ -1,4 +1,4 @@ -/****************************************************************************** +/****************************************************************************** * SOFA, Simulation Open-Framework Architecture * * (c) 2006 INRIA, USTL, UJF, CNRS, MGH * * * diff --git a/Sofa/Component/Constraint/Sofa.Component.ConstraintConfig.cmake.in b/Sofa/Component/Constraint/Sofa.Component.ConstraintConfig.cmake.in index 225d730f54b..a4b730b0b16 100644 --- a/Sofa/Component/Constraint/Sofa.Component.ConstraintConfig.cmake.in +++ b/Sofa/Component/Constraint/Sofa.Component.ConstraintConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTCONSTRAINT_TARGETS @SOFACOMPONENTCONSTRAINT_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTCONSTRAINT_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Controller/Sofa.Component.ControllerConfig.cmake.in b/Sofa/Component/Controller/Sofa.Component.ControllerConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Controller/Sofa.Component.ControllerConfig.cmake.in +++ b/Sofa/Component/Controller/Sofa.Component.ControllerConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Diffusion/Sofa.Component.DiffusionConfig.cmake.in b/Sofa/Component/Diffusion/Sofa.Component.DiffusionConfig.cmake.in index 552d79796ad..03f693fc48e 100644 --- a/Sofa/Component/Diffusion/Sofa.Component.DiffusionConfig.cmake.in +++ b/Sofa/Component/Diffusion/Sofa.Component.DiffusionConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Engine/Analyze/Sofa.Component.Engine.AnalyzeConfig.cmake.in b/Sofa/Component/Engine/Analyze/Sofa.Component.Engine.AnalyzeConfig.cmake.in index 7857ac95a1c..bd346118ac9 100644 --- a/Sofa/Component/Engine/Analyze/Sofa.Component.Engine.AnalyzeConfig.cmake.in +++ b/Sofa/Component/Engine/Analyze/Sofa.Component.Engine.AnalyzeConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Engine/Generate/CMakeLists.txt b/Sofa/Component/Engine/Generate/CMakeLists.txt index 01453564712..62df2348889 100644 --- a/Sofa/Component/Engine/Generate/CMakeLists.txt +++ b/Sofa/Component/Engine/Generate/CMakeLists.txt @@ -43,6 +43,10 @@ set(HEADER_FILES ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/NormalsFromPoints.inl ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/RandomPointDistributionInSurface.h ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/RandomPointDistributionInSurface.inl + ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/VolumeFromTetrahedrons.h + ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/VolumeFromTetrahedrons.inl + ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/VolumeFromTriangles.h + ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/VolumeFromTriangles.inl ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/Spiral.h ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/Spiral.inl ) @@ -68,6 +72,8 @@ set(SOURCE_FILES ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/NormEngine.cpp ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/NormalsFromPoints.cpp ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/RandomPointDistributionInSurface.cpp + ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/VolumeFromTetrahedrons.cpp + ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/VolumeFromTriangles.cpp ${SOFACOMPONENTENGINEGENERATE_SOURCE_DIR}/Spiral.cpp ) diff --git a/Sofa/Component/Engine/Generate/Sofa.Component.Engine.GenerateConfig.cmake.in b/Sofa/Component/Engine/Generate/Sofa.Component.Engine.GenerateConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Engine/Generate/Sofa.Component.Engine.GenerateConfig.cmake.in +++ b/Sofa/Component/Engine/Generate/Sofa.Component.Engine.GenerateConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.inl b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.inl index 7057832120c..5ad570bc2bb 100644 --- a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.inl +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/GenerateRigidMass.inl @@ -209,26 +209,26 @@ void GenerateRigidMass::generateRigid() type::Vec3 center(afIntegral[1]/afIntegral[0],afIntegral[2]/afIntegral[0],afIntegral[3]/afIntegral[0]); // inertia relative to world origin - rigidmass->inertiaMatrix[0][0] = static_cast( afIntegral[5] + afIntegral[6] ); - rigidmass->inertiaMatrix[0][1] = static_cast( -afIntegral[7] ); - rigidmass->inertiaMatrix[0][2] = static_cast( -afIntegral[9] ); - rigidmass->inertiaMatrix[1][0] = static_cast( rigidmass->inertiaMatrix[0][1] ); - rigidmass->inertiaMatrix[1][1] = static_cast( afIntegral[4] + afIntegral[6] ); - rigidmass->inertiaMatrix[1][2] = static_cast( -afIntegral[8] ); - rigidmass->inertiaMatrix[2][0] = static_cast( rigidmass->inertiaMatrix[0][2] ); - rigidmass->inertiaMatrix[2][1] = static_cast( rigidmass->inertiaMatrix[1][2] ); - rigidmass->inertiaMatrix[2][2] = static_cast( afIntegral[4] + afIntegral[5] ); + rigidmass->inertiaMatrix(0,0) = static_cast( afIntegral[5] + afIntegral[6] ); + rigidmass->inertiaMatrix(0,1) = static_cast( -afIntegral[7] ); + rigidmass->inertiaMatrix(0,2) = static_cast( -afIntegral[9] ); + rigidmass->inertiaMatrix(1,0) = static_cast( rigidmass->inertiaMatrix(0,1) ); + rigidmass->inertiaMatrix(1,1) = static_cast( afIntegral[4] + afIntegral[6] ); + rigidmass->inertiaMatrix(1,2) = static_cast( -afIntegral[8] ); + rigidmass->inertiaMatrix(2,0) = static_cast( rigidmass->inertiaMatrix(0,2) ); + rigidmass->inertiaMatrix(2,1) = static_cast( rigidmass->inertiaMatrix(1,2) ); + rigidmass->inertiaMatrix(2,2) = static_cast( afIntegral[4] + afIntegral[5] ); // inertia relative to center of mass - rigidmass->inertiaMatrix[0][0] -= static_cast( volume*(center[1]*center[1] + center[2]*center[2]) ); - rigidmass->inertiaMatrix[0][1] += static_cast( volume*center[0]*center[1] ); - rigidmass->inertiaMatrix[0][2] += static_cast( volume*center[2]*center[0] ); - rigidmass->inertiaMatrix[1][0] = static_cast( rigidmass->inertiaMatrix[0][1] ); - rigidmass->inertiaMatrix[1][1] -= static_cast( volume*(center[2]*center[2] + center[0]*center[0]) ); - rigidmass->inertiaMatrix[1][2] += static_cast( volume*center[1]*center[2] ); - rigidmass->inertiaMatrix[2][0] = static_cast( rigidmass->inertiaMatrix[0][2] ); - rigidmass->inertiaMatrix[2][1] = static_cast( rigidmass->inertiaMatrix[1][2] ); - rigidmass->inertiaMatrix[2][2] -= static_cast( volume*(center[0]*center[0] + center[1]*center[1]) ); + rigidmass->inertiaMatrix(0,0) -= static_cast( volume*(center[1]*center[1] + center[2]*center[2]) ); + rigidmass->inertiaMatrix(0,1) += static_cast( volume*center[0]*center[1] ); + rigidmass->inertiaMatrix(0,2) += static_cast( volume*center[2]*center[0] ); + rigidmass->inertiaMatrix(1,0) = static_cast( rigidmass->inertiaMatrix(0,1) ); + rigidmass->inertiaMatrix(1,1) -= static_cast( volume*(center[2]*center[2] + center[0]*center[0]) ); + rigidmass->inertiaMatrix(1,2) += static_cast( volume*center[1]*center[2] ); + rigidmass->inertiaMatrix(2,0) = static_cast( rigidmass->inertiaMatrix(0,2) ); + rigidmass->inertiaMatrix(2,1) = static_cast( rigidmass->inertiaMatrix(1,2) ); + rigidmass->inertiaMatrix(2,2) -= static_cast( volume*(center[0]*center[0] + center[1]*center[1]) ); rigidmass->inertiaMatrix /= static_cast( volume ); rigidmass->recalc(); diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp new file mode 100644 index 00000000000..7d77c4aa650 --- /dev/null +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp @@ -0,0 +1,43 @@ +/****************************************************************************** + * 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_ENGINE_VOLUMEFROMTETRAHEDRONS_CPP + +#include +#include + +namespace sofa::component::engine::generate +{ + +using namespace sofa::defaulttype; +using namespace sofa::helper; + +void registerVolumeFromTetrahedrons(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("This component computes the volume of a given volumetric mesh.") + .add< VolumeFromTetrahedrons >(true)); +} + +template class SOFA_COMPONENT_ENGINE_GENERATE_API VolumeFromTetrahedrons; + + +} // namespace + diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.h b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.h new file mode 100644 index 00000000000..c73250b360f --- /dev/null +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.h @@ -0,0 +1,98 @@ +/****************************************************************************** + * 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 + +namespace sofa::component::engine::generate +{ + +/** + * This class returns the volumes of a given volumic mesh. + */ +template +class VolumeFromTetrahedrons : public sofa::core::DataEngine +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(VolumeFromTetrahedrons,DataTypes), sofa::core::DataEngine); + + typedef typename DataTypes::VecCoord VecCoord; + + typedef typename DataTypes::Coord Coord; + typedef typename Coord::value_type Real; + + typedef typename sofa::core::behavior::MechanicalState MechanicalState; + typedef typename sofa::core::topology::BaseMeshTopology BaseMeshTopology; + + typedef sofa::core::topology::BaseMeshTopology::Tetrahedron Tetra; + typedef sofa::core::topology::BaseMeshTopology::Hexahedron Hexa; + + typedef sofa::core::topology::BaseMeshTopology::SeqTetrahedra VecTetras; + typedef sofa::core::topology::BaseMeshTopology::SeqHexahedra VecHexas; + +public: + + VolumeFromTetrahedrons(); + ~VolumeFromTetrahedrons() override; + + ////////////////////////// Inherited from BaseObject /////////////////// + void init() override; + void reinit() override; + void parse(core::objectmodel::BaseObjectDescription* arg) override; + //////////////////////////////////////////////////////////////////////// + + ////////////////////////// Inherited from DataEngine//////////////////// + void doUpdate() override; + /////////////////////////////////////////////////////////////////////// + + SReal getVolume() {return d_volume.getValue();} + +protected: + + SingleLink, BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + SingleLink, MechanicalState, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_state; + + sofa::Data d_positions; + sofa::Data d_tetras; + sofa::Data d_hexas; + + sofa::Data d_volume; + sofa::Data d_doUpdate; + + void updateVolume(); + +private: + + void initTopology(); + void checkTopology(); +}; + +#if !defined(SOFA_COMPONENT_ENGINE_VOLUMEFROMTETRAHEDRONS_CPP) +extern template class VolumeFromTetrahedrons; +#endif + +} // namespace + + diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl new file mode 100644 index 00000000000..2f311ee5d17 --- /dev/null +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl @@ -0,0 +1,233 @@ +/****************************************************************************** + * 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 + +namespace sofa::component::engine::generate +{ + +using sofa::core::objectmodel::ComponentState; +using sofa::helper::ReadAccessor; +using sofa::type::vector; +using sofa::core::ConstVecCoordId; +using sofa::core::objectmodel::BaseData; + + +template +VolumeFromTetrahedrons::VolumeFromTetrahedrons() + : + l_topology(initLink("topology", "link to the topology")) + , l_state(initLink("mechanical", "link to the mechanical")) + , d_positions(initData(&d_positions,"position","If not set by user, find the context mechanical.")) + , d_tetras(initData(&d_tetras,"tetras","If not set by user, find the context topology.")) + , d_hexas(initData(&d_hexas,"hexas","If not set by user, find the context topology.")) + , d_volume(initData(&d_volume,Real(0.0),"volume","The computed volume.")) + , d_doUpdate(initData(&d_doUpdate,false,"update","If true, will update the volume at each time step of the simulation.")) +{ + d_volume.setReadOnly(true); +} + +template +void VolumeFromTetrahedrons::parse(core::objectmodel::BaseObjectDescription* arg) +{ + Inherit1::parse(arg); + + // SOFA_ATTRIBUTE_DISABLED("v25.06", "v26.06", "data positions renamed as position") + // to be backward compatible with previous data structure + const char* positionsChar = arg->getAttribute("positions"); + if( positionsChar ) + msg_deprecated() << "You are using a deprecated Data 'positions', please use 'position' instead."; +} + +template +VolumeFromTetrahedrons::~VolumeFromTetrahedrons() +{ +} + + +template +void VolumeFromTetrahedrons::init() +{ + Inherit1::init(); + + d_componentState.setValue(ComponentState::Valid); + + addInput(&d_positions); + addInput(&d_tetras); + addInput(&d_hexas); + + addOutput(&d_volume); + + if(!d_positions.isSet()) + { + if(!l_state.get()) + { + msg_info() << "Link to the mechanical state should be set to ensure right behavior. First mechanical state found in current context will be used."; + l_state.set(dynamic_cast(this->getContext()->getMechanicalState())); + } + + if(!l_state.get()) + { + msg_error() << "No positions given by the user and no mechanical state found in the context. The component cannot work."; + d_componentState.setValue(ComponentState::Invalid); + return; + } + + d_positions.setParent(l_state.get()->findData("position")); // Links d_positions to m_state.position + } + + initTopology(); + checkTopology(); + updateVolume(); +} + + + +template +void VolumeFromTetrahedrons::reinit() +{ + if(d_componentState.getValue() != ComponentState::Valid) + return ; + + updateVolume(); +} + + +template +void VolumeFromTetrahedrons::initTopology() +{ + if (!l_topology.get()) + { + 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()); + } + + const auto& topology = l_topology.get(); + const bool hasTetras = d_tetras.isSet(); + const bool hasHexas = d_hexas.isSet(); + + if(!hasTetras && !hasHexas && !topology) + { + msg_error() << "No tetras or hexas given by the user and no topology context. The component cannot work"; + d_componentState.setValue(ComponentState::Invalid); + return; + } + + if(!hasTetras && topology) + d_tetras.setValue(topology->getTetras()); + + if(!hasHexas && topology) + d_hexas.setValue(topology->getHexas()); +} + + +template +void VolumeFromTetrahedrons::checkTopology() +{ + ReadAccessor > positions = d_positions; + ReadAccessor > tetras = d_tetras; + ReadAccessor > hexas = d_hexas; + + /// Check that the tetras datafield does not contains indices that would crash the + /// component. + int nbTetras = tetras.size() ; + for(int i=0;i= positions.size() ) + { + msg_error() << "tetras[" << i << "]["<< j << "]="<< tetras[i][j] + <<". is too large regarding positions size of(" << positions.size() << ")" ; + d_componentState.setValue(ComponentState::Invalid); + } + } + } + + /// Check that the hexas datafield does not contains indices that would crash the + /// component. + int nbHexas = hexas.size() ; + for(int i=0;i= positions.size() ) + { + msg_error() << "hexas [" < +void VolumeFromTetrahedrons::doUpdate() +{ + if(d_componentState.getValue() != ComponentState::Valid) + return ; + + const auto& state = l_state.get(); + if(state && d_doUpdate.getValue()) + { + ReadAccessor > positions = state->readPositions(); + d_positions.setValue(positions.ref()); + updateVolume(); + } +} + + +template +void VolumeFromTetrahedrons::updateVolume() +{ + Real volume = 0.; + + ReadAccessor> tetras = d_tetras; + ReadAccessor> hexas = d_hexas; + ReadAccessor > positions = d_positions; + + for (const auto& t: tetras) + volume += sofa::geometry::Tetrahedron::volume(positions[t[0]], positions[t[1]], positions[t[2]], positions[t[3]]); + + for (const auto& h: hexas) + volume += sofa::geometry::Hexahedron::volume(positions[h[0]], positions[h[1]], positions[h[2]], positions[h[3]], + positions[h[4]], positions[h[5]], positions[h[6]], positions[h[7]]); + + if(volume<0) volume = -volume; + d_volume.setValue(volume); +} + + +} // namespace diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp new file mode 100644 index 00000000000..d70d265c615 --- /dev/null +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp @@ -0,0 +1,42 @@ +/****************************************************************************** + * 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::component::engine::generate +{ + +using namespace sofa::defaulttype; +using namespace sofa::helper; + +void registerVolumeFromTriangles(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("This component computes the volume of a given closed surfacic mesh.") + .add< VolumeFromTriangles >(true) + .add< VolumeFromTriangles >()); +} + +template class SOFA_COMPONENT_ENGINE_GENERATE_API VolumeFromTriangles; +template class SOFA_COMPONENT_ENGINE_GENERATE_API VolumeFromTriangles; + +} + diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.h b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.h new file mode 100644 index 00000000000..34787baad53 --- /dev/null +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.h @@ -0,0 +1,102 @@ +/****************************************************************************** + * 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 + + +namespace sofa::component::engine::generate +{ + +/** + * This class computes the volume of a given closed surfacic mesh. + * Based on the divergence theorem with F(x,y,z)= so that div(F)=1: https://en.wikipedia.org/wiki/Divergence_theorem + */ +template +class VolumeFromTriangles : public sofa::core::DataEngine +{ +public: + SOFA_CLASS(SOFA_TEMPLATE(VolumeFromTriangles,DataTypes), sofa::core::DataEngine); + + typedef typename DataTypes::VecCoord VecCoord; + + typedef typename DataTypes::Coord Coord; + typedef typename Coord::value_type Real; + + typedef typename sofa::core::behavior::MechanicalState MechanicalState; + typedef typename sofa::core::topology::BaseMeshTopology BaseMeshTopology; + + typedef sofa::core::topology::BaseMeshTopology::Triangle Triangle; + typedef sofa::core::topology::BaseMeshTopology::Quad Quad; + + typedef sofa::core::topology::BaseMeshTopology::SeqTriangles VecTriangles; + typedef sofa::core::topology::BaseMeshTopology::SeqQuads VecQuads; + +public: + + VolumeFromTriangles(); + ~VolumeFromTriangles() override; + + + ////////////////////////// Inherited from BaseObject /////////////////// + void init() override; + void reinit() override; + void parse(core::objectmodel::BaseObjectDescription* arg) override; + + //////////////////////////////////////////////////////////////////////// + + ////////////////////////// Inherited from DataEngine//////////////////// + void doUpdate() override; + /////////////////////////////////////////////////////////////////////// + + SReal getVolume() {return d_volume.getValue();} + +protected: + + SingleLink, BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; + SingleLink, MechanicalState, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_state; + + sofa::Data d_positions; + sofa::Data d_triangles; + sofa::Data d_quads; + + sofa::Data d_volume; + sofa::Data d_doUpdate; + + void updateVolume(); + +private: + + void initTopology(); + void checkTopology(); + +}; + +#if !defined(SOFA_COMPONENT_ENGINE_VOLUMEFROMTRIANGLES_CPP) +extern template class VolumeFromTriangles; +#endif + +} // namespace + diff --git a/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.inl b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.inl new file mode 100644 index 00000000000..7266e691f13 --- /dev/null +++ b/Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.inl @@ -0,0 +1,246 @@ +/****************************************************************************** + * 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::engine::generate +{ + +using sofa::core::objectmodel::ComponentState; +using sofa::helper::ReadAccessor; +using sofa::type::vector; +using sofa::core::ConstVecCoordId; +using sofa::core::objectmodel::BaseData ; + +template +VolumeFromTriangles::VolumeFromTriangles() + : + l_topology(initLink("topology", "link to the topology")) + , l_state(initLink("mechanical", "link to the mechanical")) + , d_positions(initData(&d_positions,"position","If not set by user, find the context mechanical.")) + , d_triangles(initData(&d_triangles,"triangles","If not set by user, find the context topology.")) + , d_quads(initData(&d_quads,"quads","If not set by user, find the context topology.")) + , d_volume(initData(&d_volume,Real(0.0),"volume","The volume is only relevant if the surface is closed.")) + , d_doUpdate(initData(&d_doUpdate,false,"update","If true, will update the volume at each time step of the simulation.")) +{ + d_volume.setReadOnly(true); +} + + +template +VolumeFromTriangles::~VolumeFromTriangles() +{ +} + +template +void VolumeFromTriangles::parse(core::objectmodel::BaseObjectDescription* arg) +{ + Inherit1::parse(arg); + + // SOFA_ATTRIBUTE_DISABLED("v25.06", "v26.06", "data positions renamed as position") + // to be backward compatible with previous data structure + const char* positionsChar = arg->getAttribute("positions"); + if( positionsChar ) + msg_deprecated() << "You are using a deprecated Data 'positions', please use 'position' instead."; +} + +template +void VolumeFromTriangles::init() +{ + Inherit1::init(); + + d_componentState.setValue(ComponentState::Valid); + + addInput(&d_positions); + addInput(&d_triangles); + addInput(&d_quads); + + addOutput(&d_volume); + + if(!d_positions.isSet()) + { + if(!l_state.get()) + { + msg_info() << "Link to the mechanical state should be set to ensure right behavior. First mechanical state found in current context will be used."; + l_state.set(dynamic_cast(this->getContext()->getMechanicalState())); + } + + if(!l_state.get()) + { + msg_error() << "No positions given by the user and no mechanical state found in the context. The component cannot work."; + d_componentState.setValue(ComponentState::Invalid); + return; + } + + d_positions.setParent(l_state.get()->findData("position")); // Links d_positions to m_state.position + } + + initTopology(); + checkTopology(); + updateVolume(); +} + + +template +void VolumeFromTriangles::reinit() +{ + if(d_componentState.getValue() != ComponentState::Valid) + return ; + + updateVolume(); +} + + +template +void VolumeFromTriangles::initTopology() +{ + if (!l_topology.get()) + { + 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()); + } + + const auto& topology = l_topology.get(); + const bool hasTriangles = d_triangles.isSet(); + const bool hasQuads = d_quads.isSet(); + + if(!hasQuads && !hasTriangles && !topology) + { + msg_error() << "No quads or triangles given by the user and no topology context. The component cannot work"; + d_componentState.setValue(ComponentState::Invalid); + return; + } + + if(!hasTriangles && topology) + d_triangles.setValue(topology->getTriangles()); + + if(!hasQuads && topology) + d_quads.setValue(topology->getQuads()); + +} + + +template +void VolumeFromTriangles::checkTopology() +{ + ReadAccessor > positions = d_positions; + ReadAccessor > triangles = d_triangles; + ReadAccessor > quads = d_quads; + + /// Check that the triangles datafield does not contains indices that would crash the + /// component. + int nbTriangles = triangles.size() ; + for(int i=0;i= positions.size() ) + { + msg_error() << "triangles[" << i << "]["<< j << "]="<< triangles[i][j] + <<". is too large regarding positions size of(" << positions.size() << ")" ; + d_componentState.setValue(ComponentState::Invalid); + } + } + } + + /// Check that the quads datafield does not contains indices that would crash the + /// component. + int nbQuads = quads.size() ; + for(int i=0;i= positions.size() ) + { + msg_error() << "quads [" < +void VolumeFromTriangles::doUpdate() +{ + if(d_componentState.getValue() != ComponentState::Valid) + return ; + + const auto& state = l_state.get(); + if(state && d_doUpdate.getValue()) + { + ReadAccessor > positions = state->readPositions(); + d_positions.setValue(positions.ref()); + updateVolume(); + } +} + + +template +void VolumeFromTriangles::updateVolume() +{ + Real volume = 0; + + ReadAccessor> positions = d_positions; + ReadAccessor> triangles = d_triangles; + ReadAccessor> quads = d_quads; + + for (unsigned int t=0; t. * + ******************************************************************************* + * Authors: The SOFA Team and external contributors (see Authors.txt) * + * * + * Contact information: contact@sofa-framework.org * + ******************************************************************************/ + +#include +using std::string ; + +#include +#include + +#include + +#include +using sofa::component::topology::container::constant::MeshTopology ; + +using sofa::helper::WriteAccessor ; +using sofa::defaulttype::Vec3Types ; + +#include +using sofa::simulation::SceneLoaderXML ; + +#include +using sofa::simulation::Simulation ; +#include +using sofa::simulation::Node ; +using sofa::core::objectmodel::New ; +using sofa::core::objectmodel::BaseData ; +#include +using sofa::component::statecontainer::MechanicalObject ; +using sofa::core::topology::BaseMeshTopology ; +using sofa::core::objectmodel::Data ; + +#include +using sofa::component::engine::generate::VolumeFromTetrahedrons ; + +#include +using sofa::helper::system::DataRepository; + +#include + +namespace sofa +{ + +template +struct VolumeFromTetrahedronsTest : public sofa::testing::BaseTest, VolumeFromTetrahedrons<_DataTypes> +{ + typedef VolumeFromTetrahedrons<_DataTypes> ThisClass ; + typedef _DataTypes DataTypes; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::VecCoord VecCoord; + + typedef BaseMeshTopology::Tetra Tetra; + typedef BaseMeshTopology::Hexa Hexa; + + typedef BaseMeshTopology::SeqTetrahedra VecTetra; + typedef BaseMeshTopology::SeqHexahedra VecHexa; + + /////////////////////////////////////////////////////////////// + // Bring parents members in the current lookup context. + // more info at: https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html + using VolumeFromTetrahedrons<_DataTypes>::d_volume ; + using VolumeFromTetrahedrons<_DataTypes>::d_tetras ; + using VolumeFromTetrahedrons<_DataTypes>::d_hexas ; + /////////////////////////////////////////////////////////////// + + + void normalTests() + { + const Node::SPtr node = sofa::simulation::getSimulation()->createNewGraph("root"); + typename MechanicalObject::SPtr mecaobject = New >() ; + typename ThisClass::SPtr thisobject = New() ; + mecaobject->init() ; + + node->addObject(mecaobject) ; + node->addObject(thisobject) ; + + thisobject->setName("myname") ; + EXPECT_TRUE(thisobject->getName() == "myname") ; + + EXPECT_TRUE( thisobject->findData("tetras") != nullptr ) ; + EXPECT_TRUE( thisobject->findData("hexas") != nullptr ) ; + EXPECT_TRUE( thisobject->findData("volume") != nullptr ) ; + + return ; + } + + void simpleSceneTest() + { + sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin("Sofa.Component.Engine.Generate"); + + string scene = + "" + " " + " " + " " + " " ; + EXPECT_NO_THROW(SceneLoaderXML::loadFromMemory ( "test", scene.c_str())) ; + } + + double volumeComputationTest() + { + const Node::SPtr node = sofa::simulation::getSimulation()->createNewGraph("root"); + + typename MeshTopology::SPtr mesh = New< MeshTopology >() ; + typename MechanicalObject::SPtr mecaobject = New< MechanicalObject >() ; + typename ThisClass::SPtr thisobject = New< ThisClass >() ; + + node->addObject(mesh) ; + mesh->load("mesh/single_tetra.msh"); + node->addObject(mecaobject) ; + mecaobject->init(); + node->addObject(thisobject) ; + + EXPECT_NO_THROW(thisobject->init()); + + return thisobject->getVolume(); + } +}; + +using ::testing::Types; +typedef Types DataTypes; + +TYPED_TEST_SUITE(VolumeFromTetrahedronsTest, DataTypes); + + +TYPED_TEST(VolumeFromTetrahedronsTest, NormalBehavior) { + ASSERT_NO_THROW(this->normalTests()) ; +} + +TYPED_TEST(VolumeFromTetrahedronsTest, SimpleScene) { + ASSERT_NO_THROW(this->simpleSceneTest()) ; +} + +TYPED_TEST(VolumeFromTetrahedronsTest, VolumeComputation) { + ASSERT_DOUBLE_EQ(12.5,this->volumeComputationTest()); +} +} diff --git a/Sofa/Component/Engine/Generate/tests/VolumeFromTriangles_test.cpp b/Sofa/Component/Engine/Generate/tests/VolumeFromTriangles_test.cpp new file mode 100644 index 00000000000..e5c7397ed12 --- /dev/null +++ b/Sofa/Component/Engine/Generate/tests/VolumeFromTriangles_test.cpp @@ -0,0 +1,159 @@ +/****************************************************************************** + * 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 std::string ; + +#include +#include +#include + +#include +using sofa::core::topology::BaseMeshTopology ; +using sofa::core::objectmodel::Data ; + +#include +using sofa::component::topology::container::constant::MeshTopology ; + +using sofa::helper::WriteAccessor ; +using sofa::defaulttype::Vec3Types ; + +#include +using sofa::simulation::SceneLoaderXML ; + +#include +using sofa::simulation::Simulation ; +#include +using sofa::simulation::Node ; +using sofa::core::objectmodel::New ; +using sofa::core::objectmodel::BaseData ; +using sofa::component::statecontainer::MechanicalObject ; + +#include +using sofa::component::engine::generate::VolumeFromTriangles ; + +#include +using sofa::helper::system::DataRepository; + +#include + +namespace sofa +{ + +template +struct VolumeFromTrianglesTest : public sofa::testing::BaseTest, VolumeFromTriangles<_DataTypes> +{ + typedef VolumeFromTriangles<_DataTypes> ThisClass ; + typedef _DataTypes DataTypes; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::VecCoord VecCoord; + + typedef BaseMeshTopology::Tetra Tetra; + typedef BaseMeshTopology::Hexa Hexa; + + typedef BaseMeshTopology::SeqTetrahedra VecTetra; + typedef BaseMeshTopology::SeqHexahedra VecHexa; + + /////////////////////////////////////////////////////// + // Bring parents members in the current lookup context. + // more info at: https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html + using VolumeFromTriangles<_DataTypes>::d_volume ; + using VolumeFromTriangles<_DataTypes>::d_triangles ; + using VolumeFromTriangles<_DataTypes>::d_quads ; + //////////////////////////////////////////////////////// + + + void normalTests() + { + Node::SPtr node = sofa::simulation::getSimulation()->createNewGraph("root"); + typename MechanicalObject::SPtr mecaobject = New >() ; + typename ThisClass::SPtr thisobject = New() ; + mecaobject->init() ; + + node->addObject(mecaobject) ; + node->addObject(thisobject) ; + + thisobject->setName("myname") ; + EXPECT_TRUE(thisobject->getName() == "myname") ; + + /// Some test to check that the parameters are still there. + EXPECT_TRUE( thisobject->findData("triangles") != nullptr ) ; + EXPECT_TRUE( thisobject->findData("quads") != nullptr ) ; + EXPECT_TRUE( thisobject->findData("volume") != nullptr ) ; + + return ; + } + + void simpleSceneTest() + { + sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin("Sofa.Component.Engine.Generate"); + + string scene = + "" + "" + " " + " " + " " ; + EXPECT_NO_THROW(SceneLoaderXML::loadFromMemory ( "test", scene.c_str())) ; + } + + double volumeComputationTest() + { + Node::SPtr node = sofa::simulation::getSimulation()->createNewGraph("root"); + + typename MeshTopology::SPtr mesh = New< MeshTopology >() ; + typename MechanicalObject::SPtr mecaobject = New< MechanicalObject >() ; + typename ThisClass::SPtr thisobject = New< ThisClass >() ; + + node->addObject(mesh) ; + mesh->load("mesh/smCube27.obj"); + node->addObject(mecaobject) ; + mecaobject->init() ; + node->addObject(thisobject) ; + + EXPECT_NO_THROW(thisobject->init()); + + return thisobject->getVolume(); + } +}; + +using ::testing::Types; +typedef Types DataTypes; + +TYPED_TEST_SUITE(VolumeFromTrianglesTest, DataTypes); + + +TYPED_TEST(VolumeFromTrianglesTest, NormalBehavior) { + ASSERT_NO_THROW(this->normalTests()) ; +} + +TYPED_TEST(VolumeFromTrianglesTest, SimpleScene) { + ASSERT_NO_THROW(this->simpleSceneTest()) ; +} + +TYPED_TEST(VolumeFromTrianglesTest, VolumeComputation) { + ASSERT_DOUBLE_EQ(343.,this->volumeComputationTest()); +} + +} + diff --git a/Sofa/Component/Engine/Select/Sofa.Component.Engine.SelectConfig.cmake.in b/Sofa/Component/Engine/Select/Sofa.Component.Engine.SelectConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Engine/Select/Sofa.Component.Engine.SelectConfig.cmake.in +++ b/Sofa/Component/Engine/Select/Sofa.Component.Engine.SelectConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") 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 70d96c0ba88..4e1b6486250 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 @@ -66,10 +66,10 @@ class BaseROI : public core::DataEngine void draw(const core::visual::VisualParams* vparams) final; void computeBBox(const core::ExecParams* params, bool onlyVisible) final; - virtual void roiInit() {}; - virtual bool roiDoUpdate() { return true; }; - virtual void roiDraw(const core::visual::VisualParams*) {}; - virtual void roiComputeBBox(const core::ExecParams*, type::BoundingBox&) {}; + virtual void roiInit() {} + virtual bool roiDoUpdate() { return true; } + virtual void roiDraw(const core::visual::VisualParams*) {} + virtual void roiComputeBBox(const core::ExecParams*, type::BoundingBox&) {} public: //Input diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp index e866d610604..5bfffad4642 100644 --- a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp +++ b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp @@ -46,6 +46,40 @@ MeshBoundaryROI::MeshBoundaryROI(): Inherit1() void MeshBoundaryROI::init() { + Inherit1::init(); + + if (!d_triangles.isSet() || !d_quads.isSet() ) + { + msg_info(this) << "No topology given. Searching for a BaseMeshTopology in the current context.\n"; + core::topology::BaseMeshTopology* topology = nullptr; + this->getContext()->get(topology, core::objectmodel::BaseContext::Local); + + if (topology) + { + if (!d_triangles.isSet()) + { + if (core::BaseData* tparent = topology->findData("triangles")) + { + d_triangles.setParent(tparent); + d_triangles.setReadOnly(true); + } + } + if (!d_quads.isSet()) + { + if (core::BaseData* tparent = topology->findData("quads")) + { + d_quads.setParent(tparent); + d_quads.setReadOnly(true); + } + } + } + } + + if (!d_triangles.isSet() && !d_quads.isSet()) + { + msg_warning() << "No topology given. No mesh to process.\n"; + } + setDirtyValue(); } diff --git a/Sofa/Component/Engine/Sofa.Component.EngineConfig.cmake.in b/Sofa/Component/Engine/Sofa.Component.EngineConfig.cmake.in index 1f111f0d07e..7e5cccfdc72 100644 --- a/Sofa/Component/Engine/Sofa.Component.EngineConfig.cmake.in +++ b/Sofa/Component/Engine/Sofa.Component.EngineConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTENGINE_TARGETS @SOFACOMPONENTENGINE_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTENGINE_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Engine/Transform/Sofa.Component.Engine.TransformConfig.cmake.in b/Sofa/Component/Engine/Transform/Sofa.Component.Engine.TransformConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Engine/Transform/Sofa.Component.Engine.TransformConfig.cmake.in +++ b/Sofa/Component/Engine/Transform/Sofa.Component.Engine.TransformConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.inl b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.inl index 71d8faba81d..93f7cf79c5e 100644 --- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.inl +++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/DisplacementMatrixEngine.inl @@ -142,10 +142,10 @@ void DisplacementMatrixEngine< DataTypes >::reinit() for( unsigned int i = 0; i < size0; ++i ) { Matrix4x4 S; - S[0][0] = (float)scales[i][0]; - S[1][1] = (float)scales[i][1]; - S[2][2] = (float)scales[i][2]; - S[3][3] = (float)1; + S(0,0) = (float)scales[i][0]; + S(1,1) = (float)scales[i][1]; + S(2,2) = (float)scales[i][2]; + S(3,3) = (float)1; this->SxInverses[i] = S * this->inverses[i]; } diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.inl b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.inl index a5357fbec01..8582fdedbf4 100644 --- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.inl +++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/ProjectiveTransformEngine.inl @@ -71,7 +71,7 @@ void ProjectiveTransformEngine::doUpdate() { std::stringstream tmp; for (k=0; k<4; k++) - tmp << P[j][k] << " "; + tmp << P(j,k) << " "; dmsg_info() << tmp.str() ; } @@ -81,7 +81,7 @@ void ProjectiveTransformEngine::doUpdate() out[i]=Vec3(in[i][0],in[i][1],in[i][2]); out[i]=P*Vec4(out[i],1); s = out[i][2]; - if (fabs(s) < 1e-10) s=s<0 ? -1e-10 : 1e-10; // handle undefined case where out[i][2] == 0 -> set it to 1e-10 (and keep its sign) + if (fabs(s) < 1e-10) s=s<0 ? -1e-10 : 1e-10; // handle undefined case where out(i,2) == 0 -> set it to 1e-10 (and keep its sign) r = f/out[i][2]; out[i] *= r; dmsg_info() << in[i] << " <-> " << out[i] ; diff --git a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl index 89c2dfa3106..d83f76047fd 100644 --- a/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl +++ b/Sofa/Component/Engine/Transform/src/sofa/component/engine/transform/TransformPosition.inl @@ -211,9 +211,9 @@ void TransformPosition::getTransfoFromTfm() { for (unsigned int j = 0 ; j < 3; j++) { - mat[i][j] = values[i*3+j];//rotation matrix + mat(i,j) = values[i*3+j];//rotation matrix } - mat[i][3] = values[values.size()-1-i];//translation + mat(i,3) = values[values.size()-1-i];//translation } } } @@ -285,7 +285,7 @@ void TransformPosition::getTransfoFromTrm() Coord tr; for ( unsigned int i = 0; i < std::min((unsigned int)vLine.size(),(unsigned int)3); i++) { - tr[i] = mat[i][3] = (Real)atof(vLine[i].c_str()); + tr[i] = mat(i,3) = (Real)atof(vLine[i].c_str()); } f_translation.setValue(tr); @@ -294,7 +294,7 @@ void TransformPosition::getTransfoFromTrm() { //rotation matrix for ( unsigned int i = 0; i < std::min((unsigned int)vLine.size(),(unsigned int)3); i++) - mat[nbLines-2][i] = (Real)atof(vLine[i].c_str()); + mat(nbLines-2,i) = (Real)atof(vLine[i].c_str()); } } @@ -358,7 +358,7 @@ void TransformPosition::getTransfoFromTxt() else if (vLine.size()<4) {msg_error() << "Matrix is not 4x4.";continue;} for ( unsigned int i = 0; i < std::min((unsigned int)vLine.size(),(unsigned int)4); i++) - mat[nbLines-1][i] = (Real)atof(vLine[i].c_str()); + mat(nbLines-1,i) = (Real)atof(vLine[i].c_str()); } f_affineMatrix.setValue(mat); diff --git a/Sofa/Component/Haptics/Sofa.Component.HapticsConfig.cmake.in b/Sofa/Component/Haptics/Sofa.Component.HapticsConfig.cmake.in index 847250179be..12244363cef 100644 --- a/Sofa/Component/Haptics/Sofa.Component.HapticsConfig.cmake.in +++ b/Sofa/Component/Haptics/Sofa.Component.HapticsConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Constraint.Lagrangian.Solver QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Constraint.Lagrangian.Solver QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/IO/Mesh/Sofa.Component.IO.MeshConfig.cmake.in b/Sofa/Component/IO/Mesh/Sofa.Component.IO.MeshConfig.cmake.in index a8405e9f065..ba7c44e0c8c 100644 --- a/Sofa/Component/IO/Mesh/Sofa.Component.IO.MeshConfig.cmake.in +++ b/Sofa/Component/IO/Mesh/Sofa.Component.IO.MeshConfig.cmake.in @@ -3,11 +3,12 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) set(SOFA_COMPONENT_IO_MESH_HAVE_ZLIB @SOFA_COMPONENT_IO_MESH_HAVE_ZLIB@) if (SOFA_COMPONENT_IO_MESH_HAVE_ZLIB) - find_package(ZLIB QUIET REQUIRED) + sofa_find_package(ZLIB QUIET REQUIRED) endif() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GIDMeshLoader.h b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GIDMeshLoader.h index 1de250f9fd9..8a863da917b 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GIDMeshLoader.h +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/GIDMeshLoader.h @@ -31,13 +31,13 @@ namespace sofa::component::io::mesh class SOFA_COMPONENT_IO_MESH_API GIDMeshLoader : public sofa::core::loader::MeshLoader { public : - SOFA_CLASS(GIDMeshLoader, sofa::core::loader::MeshLoader); + SOFA_CLASS(GIDMeshLoader, sofa::core::loader::MeshLoader); - typedef sofa::core::topology::Topology::Edge Edge; - typedef sofa::core::topology::Topology::Triangle Triangle; - typedef sofa::core::topology::Topology::Quad Quad; - typedef sofa::core::topology::Topology::Tetrahedron Tetrahedron; - typedef sofa::core::topology::Topology::Hexahedron Hexahedron; + typedef sofa::topology::Edge Edge; + typedef sofa::topology::Triangle Triangle; + typedef sofa::topology::Quad Quad; + typedef sofa::topology::Tetrahedron Tetrahedron; + typedef sofa::topology::Hexahedron Hexahedron; typedef sofa::type::Vec3 Coord; @@ -45,27 +45,26 @@ public : bool doLoad() override; protected : - enum ElementType{ LINEAR, TRIANGLE, QUADRILATERAL, TETRAHEDRA, HEXAHEDRA, PRISM, PYRAMID, SPHERE, CIRCLE }; + enum ElementType{ LINEAR, TRIANGLE, QUADRILATERAL, TETRAHEDRA, HEXAHEDRA, PRISM, PYRAMID, SPHERE, CIRCLE }; - GIDMeshLoader(); - ~GIDMeshLoader() override; + GIDMeshLoader(); + ~GIDMeshLoader() override; - bool readGID(std::ifstream& file); + bool readGID(std::ifstream& file); void doClearBuffers() override; private : - bool readLinearElements(std::ifstream& file); - bool readTriangleElements(std::ifstream& file); - bool readQuadrilateralElements(std::ifstream& file); - bool readTetrahedralElements(std::ifstream& file); - bool readHexahedralElements(std::ifstream& file); + bool readLinearElements(std::ifstream& file); + bool readTriangleElements(std::ifstream& file); + bool readQuadrilateralElements(std::ifstream& file); + bool readTetrahedralElements(std::ifstream& file); + bool readHexahedralElements(std::ifstream& file); -private : - unsigned short m_dimensions; - ElementType m_eltType; - unsigned short m_nNode; + unsigned short m_dimensions; + ElementType m_eltType; + unsigned short m_nNode; }; 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 180e2799e56..38c7099c9c5 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 @@ -52,7 +52,7 @@ class SOFA_COMPONENT_IO_MESH_API GridMeshCreator : public sofa::core::loader::Me unsigned vert( unsigned x, unsigned y) { return x + y * d_resolution.getValue()[0]; } // To avoid edge redundancy, we insert the edges to a set, an then dump the set. Edge (a,b) is considered equal to (b,a), so only one of them is inserted - std::set uniqueEdges; ///< edges without redundancy + std::set uniqueEdges; ///< edges without redundancy void insertUniqueEdge(unsigned a, unsigned b); ///< insert an edge if it is not redundant void insertTriangle(unsigned a, unsigned b, unsigned c); ///< insert a triangle (no reduncy checking !) and unique edges void insertQuad(unsigned a, unsigned b, unsigned c, unsigned d); ///< insert a quad (no reduncy checking !) and unique edges diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp index 59a4282887b..77e504785c9 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshGmshLoader.cpp @@ -286,7 +286,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat nodes.resize(nnodes); const unsigned int edgesInQuadraticTriangle[3][2] = { {0,1}, {1,2}, {2,0} }; const unsigned int edgesInQuadraticTetrahedron[6][2] = { {0,1}, {1,2}, {0,2},{0,3},{2,3},{1,3} }; - std::set edgeSet; + std::set edgeSet; size_t j; for (int n = 0; n < nnodes; ++n) { @@ -299,26 +299,26 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat { case 1: // Line addInGroup(my_edgesGroups.wref(), tag, my_edges.size()); - addEdge(my_edges.wref(), Edge(nodes[0], nodes[1])); + addEdge(my_edges.wref(), topology::Edge(nodes[0], nodes[1])); break; case 2: // Triangle addInGroup(my_trianglesGroups.wref(), tag, my_triangles.size()); - addTriangle(my_triangles.wref(), Triangle(nodes[0], nodes[1], nodes[2])); + addTriangle(my_triangles.wref(), topology::Triangle(nodes[0], nodes[1], nodes[2])); break; case 3: // Quad - addQuad(my_quads.wref(), Quad(nodes[0], nodes[1], nodes[2], nodes[3])); + addQuad(my_quads.wref(), topology::Quad(nodes[0], nodes[1], nodes[2], nodes[3])); break; case 4: // Tetra addInGroup(my_tetrahedraGroups.wref(), tag, my_tetrahedra.size()); - addTetrahedron(my_tetrahedra.wref(), Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); + addTetrahedron(my_tetrahedra.wref(), topology::Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); break; case 5: // Hexa addInGroup(my_hexahedraGroups.wref(), tag, my_hexahedra.size()); - addHexahedron(my_hexahedra.wref(), Hexahedron(nodes[0], nodes[1], nodes[2], nodes[3], nodes[4], nodes[5], nodes[6], nodes[7])); + addHexahedron(my_hexahedra.wref(), topology::Hexahedron(nodes[0], nodes[1], nodes[2], nodes[3], nodes[4], nodes[5], nodes[6], nodes[7])); break; case 8: // quadratic edge addInGroup(my_edgesGroups.wref(), tag, my_edges.size()); - addEdge(my_edges.wref(), Edge(nodes[0], nodes[1])); + addEdge(my_edges.wref(), topology::Edge(nodes[0], nodes[1])); { HighOrderEdgePosition hoep; hoep[0] = nodes[2]; @@ -330,7 +330,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat break; case 9: // quadratic triangle addInGroup(my_trianglesGroups.wref(), tag, my_triangles.size()); - addTriangle(my_triangles.wref(), Triangle(nodes[0], nodes[1], nodes[2])); + addTriangle(my_triangles.wref(), topology::Triangle(nodes[0], nodes[1], nodes[2])); { HighOrderEdgePosition hoep; for (j = 0; j < 3; ++j) { @@ -338,7 +338,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat nodes[edgesInQuadraticTriangle[j][1]]); size_t v1 = std::max(nodes[edgesInQuadraticTriangle[j][0]], nodes[edgesInQuadraticTriangle[j][1]]); - Edge e(v0, v1); + topology::Edge e(v0, v1); if (!edgeSet.contains(e)) { edgeSet.insert(e); addEdge(my_edges.wref(), v0, v1); @@ -353,7 +353,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat break; case 11: // quadratic tetrahedron addInGroup(my_tetrahedraGroups.wref(), tag, my_tetrahedra.size()); - addTetrahedron(my_tetrahedra.wref(), Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); + addTetrahedron(my_tetrahedra.wref(), topology::Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); { HighOrderEdgePosition hoep; for (j = 0; j < 6; ++j) { @@ -361,7 +361,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat nodes[edgesInQuadraticTetrahedron[j][1]]); size_t v1 = std::max(nodes[edgesInQuadraticTetrahedron[j][0]], nodes[edgesInQuadraticTetrahedron[j][1]]); - Edge e(v0, v1); + topology::Edge e(v0, v1); if (!edgeSet.contains(e)) { edgeSet.insert(e); addEdge(my_edges.wref(), v0, v1); @@ -434,7 +434,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat // Common information to add second order triangles (elementType = 9) and tetrahedra (elementType = 11) const unsigned int edgesInQuadraticTriangle[3][2] = { {0,1}, {1,2}, {2,0} }; const unsigned int edgesInQuadraticTetrahedron[6][2] = { {0,1}, {1,2}, {0,2},{0,3},{2,3},{1,3} }; - std::set edgeSet; + std::set edgeSet; for (unsigned int entityIndex = 0; entityIndex < nbEntityBlocks; entityIndex++) // looping over the entity blocks { @@ -502,26 +502,26 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat { case 1: // Line addInGroup(my_edgesGroups.wref(), elementTag, my_edges.size()); - addEdge(my_edges.wref(), Edge(nodes[0], nodes[1])); + addEdge(my_edges.wref(), topology::Edge(nodes[0], nodes[1])); break; case 2: // Triangle addInGroup(my_trianglesGroups.wref(), elementTag, my_triangles.size()); - addTriangle(my_triangles.wref(), Triangle(nodes[0], nodes[1], nodes[2])); + addTriangle(my_triangles.wref(), topology::Triangle(nodes[0], nodes[1], nodes[2])); break; case 3: // Quadrangle - addQuad(my_quads.wref(), Quad(nodes[0], nodes[1], nodes[2], nodes[3])); + addQuad(my_quads.wref(), topology::Quad(nodes[0], nodes[1], nodes[2], nodes[3])); break; case 4: // Tetrahedron addInGroup(my_tetrahedraGroups.wref(), elementTag, my_tetrahedra.size()); - addTetrahedron(my_tetrahedra.wref(), Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); + addTetrahedron(my_tetrahedra.wref(), topology::Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); break; case 5: // Hexahedron addInGroup(my_hexahedraGroups.wref(), elementTag, my_hexahedra.size()); - addHexahedron(my_hexahedra.wref(), Hexahedron(nodes[0], nodes[1], nodes[2], nodes[3], nodes[4], nodes[5], nodes[6], nodes[7])); + addHexahedron(my_hexahedra.wref(), topology::Hexahedron(nodes[0], nodes[1], nodes[2], nodes[3], nodes[4], nodes[5], nodes[6], nodes[7])); break; case 8: // Second order line addInGroup(my_edgesGroups.wref(), elementTag, my_edges.size()); - addEdge(my_edges.wref(), Edge(nodes[0], nodes[1])); + addEdge(my_edges.wref(), topology::Edge(nodes[0], nodes[1])); { HighOrderEdgePosition hoep; hoep[0] = nodes[2]; @@ -533,7 +533,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat break; case 9: // Second order triangle addInGroup(my_trianglesGroups.wref(), elementTag, my_triangles.size()); - addTriangle(my_triangles.wref(), Triangle(nodes[0], nodes[1], nodes[2])); + addTriangle(my_triangles.wref(), topology::Triangle(nodes[0], nodes[1], nodes[2])); { HighOrderEdgePosition hoep; for (size_t j = 0; j < 3; ++j) @@ -542,7 +542,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat nodes[edgesInQuadraticTriangle[j][1]]); size_t v1 = std::max(nodes[edgesInQuadraticTriangle[j][0]], nodes[edgesInQuadraticTriangle[j][1]]); - Edge e(v0, v1); + topology::Edge e(v0, v1); if (!edgeSet.contains(e)) { edgeSet.insert(e); @@ -558,7 +558,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat break; case 11: // Second order tetrahedron addInGroup(my_tetrahedraGroups.wref(), elementTag, my_tetrahedra.size()); - addTetrahedron(my_tetrahedra.wref(), Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); + addTetrahedron(my_tetrahedra.wref(), topology::Tetrahedron(nodes[0], nodes[1], nodes[2], nodes[3])); { HighOrderEdgePosition hoep; for (size_t j = 0; j < 6; ++j) @@ -567,7 +567,7 @@ bool MeshGmshLoader::readGmsh(std::ifstream &file, const unsigned int gmshFormat nodes[edgesInQuadraticTetrahedron[j][1]]); size_t v1 = std::max(nodes[edgesInQuadraticTetrahedron[j][0]], nodes[edgesInQuadraticTetrahedron[j][1]]); - Edge e(v0, v1); + topology::Edge e(v0, v1); if (!edgeSet.contains(e)) { edgeSet.insert(e); diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOffLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOffLoader.cpp index 646b122d7a8..633da5fc47b 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOffLoader.cpp +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshOffLoader.cpp @@ -81,8 +81,8 @@ bool MeshOffLoader::readOFF (std::ifstream &file, const char* /* filename */ ) size_t numberOfVertices = 0, numberOfFaces = 0, numberOfEdges = 0; size_t currentNumberOfVertices = 0, currentNumberOfFaces = 0; Vec3d vertex; - Triangle triangle; - Quad quad; + topology::Triangle triangle; + topology::Quad quad; std::string line; while( !file.eof() && (numberOfVertices == 0) ) diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.cpp index b0105e2e329..eaaa7658b9e 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.cpp +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshSTLLoader.cpp @@ -129,8 +129,8 @@ bool MeshSTLLoader::readBinarySTL(const char *filename) auto my_normals = getWriteOnlyAccessor(d_normals); auto my_triangles = getWriteOnlyAccessor(this->d_triangles); - std::map< sofa::type::Vec3f, core::topology::Topology::Index > my_map; - core::topology::Topology::Index positionCounter = 0; + std::map< sofa::type::Vec3f, sofa::Index > my_map; + sofa::Index positionCounter = 0; const bool useMap = d_mergePositionUsingMap.getValue(); std::ifstream dataFile(filename, std::ios::in | std::ifstream::binary); @@ -171,7 +171,7 @@ bool MeshSTLLoader::readBinarySTL(const char *filename) // Parsing d_facets for (uint32_t i = 0; i(k); + the_tri[j] = static_cast(k); break; } @@ -257,11 +257,11 @@ bool MeshSTLLoader::readSTL(std::ifstream& dataFile) auto my_normals = getWriteOnlyAccessor(d_normals); auto my_triangles = getWriteOnlyAccessor(d_triangles); - std::map< sofa::type::Vec3f, core::topology::Topology::Index > my_map; - core::topology::Topology::Index positionCounter = 0, vertexCounter = 0; + std::map< sofa::type::Vec3f, sofa::Index > my_map; + sofa::Index positionCounter = 0, vertexCounter = 0; const bool useMap = d_mergePositionUsingMap.getValue(); - Triangle the_tri; + topology::Triangle the_tri; while (std::getline(dataFile, line)) { @@ -304,14 +304,14 @@ bool MeshSTLLoader::readSTL(std::ifstream& dataFile) if ( (result[0] == my_positions[i][0]) && (result[1] == my_positions[i][1]) && (result[2] == my_positions[i][2])) { find = true; - the_tri[vertexCounter] = static_cast(i); + the_tri[vertexCounter] = static_cast(i); break; } if (!find) { my_positions.push_back(result); - the_tri[vertexCounter] = static_cast(my_positions.size()-1); + the_tri[vertexCounter] = static_cast(my_positions.size()-1); } } vertexCounter++; diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.cpp index ba02d0a8480..4ac7f1a26b3 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.cpp +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshTrianLoader.cpp @@ -127,7 +127,7 @@ bool MeshTrianLoader::readTrian (const char* filename) for (unsigned int i=0; i ngh; dataFile >> nodes[0] >> nodes[1] >> nodes[2] >> ngh[0] >> ngh[1] >> ngh[2]; @@ -225,7 +225,7 @@ bool MeshTrianLoader::readTrian2 (const char* filename) for (unsigned int i=0; i> nodes[0] >> nodes[1] >> nodes[2] ; diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp index 7b1d3180e88..ffee49097e8 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -119,6 +120,21 @@ MeshVTKLoader::VTKFileType MeshVTKLoader::detectFileType(const char* filename) } else if (line.find("# vtk DataFile") != string::npos) { + std::regex pattern(R"(# vtk DataFile Version (\d+)\.\d+)"); + std::smatch match; + + if (std::regex_search(line, match, pattern) && match.size() == 2) + { + std::string version = match[1].str(); + if(stod(version) >= 5) + msg_warning() << "VTK5.+ format might not be well supported, see issue https://github.com/sofa-framework/sofa/issues/3405"; + else + msg_info() << "Extracted version: " << version; + } + else + { + msg_warning() << "Could not read the version of VTK"; + } return MeshVTKLoader::LEGACY; } else //default behavior if the first line is not correct ? @@ -333,7 +349,7 @@ bool MeshVTKLoader::setInputsMesh() const unsigned int edgesInQuadraticTriangle[3][2] = {{0, 1}, {1, 2}, {2, 0}}; const unsigned int edgesInQuadraticTetrahedron[6][2] = {{0, 1}, {1, 2}, {0, 2}, {0, 3}, {1, 3}, {2, 3}}; - std::set edgeSet; + std::set edgeSet; size_t j; int nbf = reader->numberOfCells; int i = 0; @@ -432,7 +448,7 @@ bool MeshVTKLoader::setInputsMesh() inFP[i + edgesInQuadraticTriangle[j][1]]); sofa::Index v1 = std::max( inFP[i + edgesInQuadraticTriangle[j][0]], inFP[i + edgesInQuadraticTriangle[j][1]]); - Edge e(v0, v1); + topology::Edge e(v0, v1); if (!edgeSet.contains(e)) { edgeSet.insert(e); @@ -456,7 +472,7 @@ bool MeshVTKLoader::setInputsMesh() inFP[i + edgesInQuadraticTetrahedron[j][1]]); sofa::Index v1 = std::max( inFP[i + edgesInQuadraticTetrahedron[j][0]], inFP[i + edgesInQuadraticTetrahedron[j][1]]); - Edge e(v0, v1); + topology::Edge e(v0, v1); if (!edgeSet.contains(e)) { edgeSet.insert(e); diff --git a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp index e5b8aa1b0d2..18ba4d7a7de 100644 --- a/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp +++ b/Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/VTKExporter.cpp @@ -32,6 +32,8 @@ namespace sofa::component::_vtkexporter_ VTKExporter::VTKExporter() : sofa::simulation::BaseSimulationExporter() + , m_topology(initLink("topology", "topology to export")) + , m_mstate(initLink("mstate", "mechanical state to export")) , m_outfile(nullptr) , d_fileFormat(initData(&d_fileFormat, (bool) true, "XMLformat", "Set to true to use XML format")) , d_position(initData(&d_position, "position", "points position (will use points from topology or mechanical state if this is empty)")) @@ -51,21 +53,42 @@ VTKExporter::~VTKExporter(){} void VTKExporter::doInit() { const sofa::core::objectmodel::BaseContext* context = this->getContext(); - context->get(m_topology); - context->get(m_mstate); - // if not set, set the printLog to true to read the msg_info() - if(!this->f_printLog.isSet()) - f_printLog.setValue(true); + if (!m_mstate.get()) + { + m_mstate.set(context->getMechanicalState()); + } + + if (m_mstate && !d_position.isSet()) + { + if (core::BaseData* data = m_mstate->findData("position")) + { + msg_info() << "found position data in mechanical state"; + d_position.setParent(data); + } + } + + if (!m_topology.get()) + { + m_topology.set(context->getMeshTopology()); + } if (!m_topology) { - msg_error() << "VTKExporter : error, no topology ." ; + msg_error() << "no topology."; + d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } - else + + msg_info() << "found topology " << m_topology->getName(); + + if (!d_position.isSet()) { - msg_info() << "VTKExporter: found topology " << m_topology->getName() ; + if (core::BaseData* data = m_topology->findData("position")) + { + msg_info() << "found position data in topology"; + d_position.setParent(data); + } } nbFiles = 0; @@ -116,7 +139,7 @@ void VTKExporter::fetchDataFields(const type::vector& strData, type } else { - msg_error() << "VTKExporter : error while parsing dataField names" ; + msg_error() << "error while parsing dataField names" ; continue; } if (name.empty()) name = dataFieldName; @@ -142,11 +165,11 @@ void VTKExporter::writeData(const type::vector& objects, const type if (!obj || !field) { if (!obj) - msg_error() << "VTKExporter : error while fetching data field '" << msgendl + msg_error() << "error while fetching data field '" << msgendl << fields[i] << "' of object '" << objects[i] << msgendl << "', check object name" << msgendl; else if (!field) - msg_error() << "VTKExporter : error while fetching data field " << msgendl + msg_error() << "error while fetching data field " << msgendl << fields[i] << " of object '" << objects[i] << msgendl << "', check field name " << msgendl; } @@ -224,11 +247,11 @@ void VTKExporter::writeDataArray(const type::vector& objects, const if (!obj || !field) { if (!obj) - msg_error() << "VTKExporter : error while fetching data field '" << msgendl + msg_error() << "error while fetching data field '" << msgendl << fields[i] << "' of object '" << objects[i] << msgendl << "', check object name" << msgendl; else if (!field) - msg_error() << "VTKExporter : error while fetching data field " << msgendl + msg_error() << "error while fetching data field " << msgendl << fields[i] << " of object '" << objects[i] << msgendl << "', check field name " << msgendl; } @@ -421,20 +444,6 @@ bool VTKExporter::writeVTKSimple() *m_outfile << pointsPos[i] << std::endl; } } - else if (m_mstate && m_mstate->getSize() == (size_t)nbp) - { - for (size_t i=0 ; igetSize() ; i++) - { - *m_outfile << m_mstate->getPX(i) << " " << m_mstate->getPY(i) << " " << m_mstate->getPZ(i) << std::endl; - } - } - else - { - for (size_t i=0 ; igetPX(i) << " " << m_topology->getPY(i) << " " << m_topology->getPZ(i) << std::endl; - } - } *m_outfile << std::endl; @@ -622,16 +631,7 @@ bool VTKExporter::writeVTKXML() *m_outfile << "\t" << pointsPos[i] << std::endl; } } - else if (m_mstate && m_mstate->getSize() == (size_t)nbp) - { - for (size_t i = 0; i < m_mstate->getSize(); i++) - *m_outfile << " " << m_mstate->getPX(i) << " " << m_mstate->getPY(i) << " " << m_mstate->getPZ(i) << std::endl; - } - else - { - for (size_t i = 0; i < nbp; i++) - *m_outfile << " " << m_topology->getPX(i) << " " << m_topology->getPY(i) << " " << m_topology->getPZ(i) << std::endl; - } + *m_outfile << " " << std::endl; *m_outfile << " " << std::endl; @@ -792,11 +792,11 @@ void VTKExporter::writeParallelFile() if (!obj || !field) { if (!obj) - msg_error() << "VTKExporter : error while fetching data field '" << msgendl + msg_error() << "error while fetching data field '" << msgendl << pointsDataField[i] << "' of object '" << pointsDataObject[i] << msgendl << "', check object name" << msgendl; else if (!field) - msg_error() << "VTKExporter : error while fetching data field '" << msgendl + msg_error() << "error while fetching data field '" << msgendl << pointsDataField[i] << "' of object '" << pointsDataObject[i] << msgendl << "', check field name " << msgendl; } @@ -865,11 +865,11 @@ void VTKExporter::writeParallelFile() if (!obj || !field) { if (!obj) - msg_error() << "VTKExporter : error while fetching data field '" + msg_error() << "error while fetching data field '" << cellsDataField[i] << "' of object '" << cellsDataObject[i] << "', check object name" << msgendl; else if (!field) - msg_error() << "VTKExporter : error while fetching data field '" << msgendl + msg_error() << "error while fetching data field '" << msgendl << cellsDataField[i] << "' of object '" << cellsDataObject[i] << msgendl << "', check field name " << msgendl; } 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 ac0f57d89d6..58425e30e6c 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 @@ -41,8 +41,8 @@ class SOFA_COMPONENT_IO_MESH_API VTKExporter : public sofa::simulation::BaseSimu SOFA_CLASS(VTKExporter,sofa::simulation::BaseSimulationExporter); protected: - sofa::core::topology::BaseMeshTopology* m_topology; - sofa::core::behavior::BaseMechanicalState* m_mstate; + SingleLink m_topology; + SingleLink m_mstate; std::unique_ptr m_outfile; diff --git a/Sofa/Component/IO/Sofa.Component.IOConfig.cmake.in b/Sofa/Component/IO/Sofa.Component.IOConfig.cmake.in index d93736838dd..02b0a7630ba 100644 --- a/Sofa/Component/IO/Sofa.Component.IOConfig.cmake.in +++ b/Sofa/Component/IO/Sofa.Component.IOConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTIO_TARGETS @SOFACOMPONENTIO_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTIO_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/LinearSolver/Direct/CMakeLists.txt b/Sofa/Component/LinearSolver/Direct/CMakeLists.txt index f462dcac550..5ee3287128b 100644 --- a/Sofa/Component/LinearSolver/Direct/CMakeLists.txt +++ b/Sofa/Component/LinearSolver/Direct/CMakeLists.txt @@ -24,8 +24,6 @@ set(HEADER_FILES ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/PrecomputedLinearSolver.inl ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SVDLinearSolver.h ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SVDLinearSolver.inl - ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SimplicialLDLTTraits.h - ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SimplicialLLTTraits.h ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseCholeskySolver.h ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseCholeskySolver.inl ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseCommon.h @@ -34,8 +32,6 @@ set(HEADER_FILES ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseLDLSolverImpl.h ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseLUSolver.h ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseLUSolver.inl - ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseLUTraits.h - ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/SparseQRTraits.h ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/TypedMatrixLinearSystem[BTDMatrix].h ) diff --git a/Sofa/Component/LinearSolver/Direct/Sofa.Component.LinearSolver.DirectConfig.cmake.in b/Sofa/Component/LinearSolver/Direct/Sofa.Component.LinearSolver.DirectConfig.cmake.in index 1f2cb672085..38b2d78289b 100644 --- a/Sofa/Component/LinearSolver/Direct/Sofa.Component.LinearSolver.DirectConfig.cmake.in +++ b/Sofa/Component/LinearSolver/Direct/Sofa.Component.LinearSolver.DirectConfig.cmake.in @@ -3,10 +3,11 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED) -find_package(Sofa.Component.LinearSolver.Ordering QUIET REQUIRED) -find_package(Threads QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED) +sofa_find_package(Sofa.Component.LinearSolver.Ordering QUIET REQUIRED) +sofa_find_package(Threads QUIET REQUIRED) set(SOFA_COMPONENT_LINEARSOLVER_DIRECT_HAVE_METIS @SOFA_COMPONENT_LINEARSOLVER_DIRECT_HAVE_METIS@) diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SimplicialLDLTTraits.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SimplicialLDLTTraits.h deleted file mode 100644 index 6913668934b..00000000000 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SimplicialLDLTTraits.h +++ /dev/null @@ -1,31 +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 -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.06", "v24.12") - -namespace sofa::component::linearsolver::direct -{ - template - using SimplicialLDLTTraits = DeprecatedAndRemoved; -} diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SimplicialLLTTraits.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SimplicialLLTTraits.h deleted file mode 100644 index ad719847ad0..00000000000 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SimplicialLLTTraits.h +++ /dev/null @@ -1,31 +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 -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.06", "v24.12") - -namespace sofa::component::linearsolver::direct -{ - template - using SimplicialLLTTraits = DeprecatedAndRemoved; -} diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseCommon.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseCommon.h index 9eebe8a49f3..786dc43c7d3 100644 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseCommon.h +++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseCommon.h @@ -37,8 +37,6 @@ xadj[i+1]-xadj[i] is the number of neighbors of the i-th node adj[xadj[i]] is the first neighbor of the i-th node **/ -SOFA_ATTRIBUTE_DISABLED__SPARSECOMMON() -void csrToAdj(int n, int * M_colptr, int * M_rowind, type::vector& adj, type::vector& xadj, type::vector& t_adj, type::vector& t_xadj, type::vector& tran_countvec ) = delete; // compare the shape of two matrix given in CSR format, return false if the matrices have the same shape and return true if their shapes are different inline bool compareMatrixShape(int s_M, int * M_colptr,int * M_rowind, int s_P, int * P_colptr,int * P_rowind) { diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h index d3adff7e8da..3d9845fa770 100644 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h +++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolverImpl.h @@ -166,10 +166,8 @@ public : protected : Data d_precomputeSymbolicDecomposition; ///< If true the solver will reuse the precomputed symbolic decomposition. Otherwise it will recompute it at each step. - core::objectmodel::lifecycle::RemovedData d_applyPermutation{this, "v24.06", "v24.12", "applyPermutation", "Ordering method is now defined using ordering components"}; Data d_L_nnz; ///< Number of non-zero values in the lower triangular matrix of the factorization. The lower, the faster the system is solved. - SparseLDLSolverImpl() : d_precomputeSymbolicDecomposition(initData(&d_precomputeSymbolicDecomposition, true ,"precomputeSymbolicDecomposition", "If true, the solver will reuse the precomputed symbolic decomposition, meaning that it will store the shape of [factor matrix] on the first step, or when its shape changes, and then it will only update its coefficients. When the shape of the matrix changes, a new factorization is computed." "If false, the solver will compute the entire decomposition at each step")) diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLUTraits.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLUTraits.h deleted file mode 100644 index 0a88a79c63e..00000000000 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLUTraits.h +++ /dev/null @@ -1,31 +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 -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.06", "v24.12") - -namespace sofa::component::linearsolver::direct -{ - template - using SparseLUTraits = DeprecatedAndRemoved; -} diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseQRTraits.h b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseQRTraits.h deleted file mode 100644 index 3ce99b0a382..00000000000 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseQRTraits.h +++ /dev/null @@ -1,31 +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 -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.06", "v24.12") - -namespace sofa::component::linearsolver::direct -{ - template - using SparseQRTraits = DeprecatedAndRemoved; -} diff --git a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/config.h.in b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/config.h.in index 29d8b86d571..7b519dc5a92 100644 --- a/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/config.h.in +++ b/Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/config.h.in @@ -36,11 +36,3 @@ namespace sofa::component::linearsolver::direct constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; } // namespace sofa::component::linearsolver::direct - - -#ifdef SOFA_BUILD_SOFA_COMPONENT_LINEARSOLVER_DIRECT -#define SOFA_ATTRIBUTE_DISABLED__SPARSECOMMON() -#else -#define SOFA_ATTRIBUTE_DISABLED__SPARSECOMMON() \ - SOFA_ATTRIBUTE_DISABLED("v24.06", "v24.12", "This function is no longer used") -#endif // SOFA_BUILD_SOFA_COMPONENT_LINEARSOLVER_DIRECT diff --git a/Sofa/Component/LinearSolver/Iterative/Sofa.Component.LinearSolver.IterativeConfig.cmake.in b/Sofa/Component/LinearSolver/Iterative/Sofa.Component.LinearSolver.IterativeConfig.cmake.in index dbee5c81dc9..a69f4254d0f 100644 --- a/Sofa/Component/LinearSolver/Iterative/Sofa.Component.LinearSolver.IterativeConfig.cmake.in +++ b/Sofa/Component/LinearSolver/Iterative/Sofa.Component.LinearSolver.IterativeConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.LinearSystem QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.LinearSystem QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h index 3e1cc982656..a48dd2c2c89 100644 --- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h +++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h @@ -87,16 +87,9 @@ class MatrixLinearSolverInternalData typedef sofa::linearalgebra::SparseMatrix JMatrixType; typedef linearalgebra::BaseMatrix ResMatrixType; - void projectForceInConstraintSpace(linearalgebra::BaseVector* r,const linearalgebra::BaseVector* f) { - for (typename linearalgebra::SparseMatrix::LineConstIterator jit = J_local.begin(), jitend = J_local.end(); jit != jitend; ++jit) { - auto row = jit->first; - auto force = f->element(row); - for (typename linearalgebra::SparseMatrix::LElementConstIterator i2 = jit->second.begin(), i2end = jit->second.end(); i2 != i2end; ++i2) { - auto col = i2->first; - auto val = i2->second; - r->add(col,val * force); - } - } + void projectForceInConstraintSpace(linearalgebra::BaseVector* r,const linearalgebra::BaseVector* f) + { + J_local.addMulTranspose(r, f); } JMatrixType * getLocalJ() { diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl index f46e61f61cd..b931d0d17d6 100644 --- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl +++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.inl @@ -164,9 +164,10 @@ void MatrixLinearSolver::doCheckLinearSystem() } else { + auto* firstCandidate = *notAlreadyAssociated.begin(); if (notAlreadyAssociated.size() == 1) { - msg_info() << "Linear system found: " << l_linearSystem->getPathName(); + msg_info() << "Linear system found: " << firstCandidate->getPathName(); } else { @@ -174,7 +175,7 @@ void MatrixLinearSolver::doCheckLinearSystem() << "to this linear solver. The first one in the list is selected. Set the link " << l_linearSystem.getLinkedPath() << " properly to remove this warning."; } - l_linearSystem.set(*notAlreadyAssociated.begin()); + l_linearSystem.set(firstCandidate); } } } @@ -621,15 +622,18 @@ void MatrixLinearSolver::applyConstraintForce(const sofa::core::C } template -void MatrixLinearSolver::computeResidual(const core::ExecParams* params,linearalgebra::BaseVector* f) { +void MatrixLinearSolver::computeResidual(const core::ExecParams* params,linearalgebra::BaseVector* f) +{ getSystemRHVector()->clear(); getSystemRHVector()->resize(getSystemMatrix()->colSize()); + /// rhs = J^t * f internalData.projectForceInConstraintSpace(getSystemRHVector(), f); sofa::simulation::common::VectorOperations vop( params, this->getContext() ); sofa::core::behavior::MultiVecDeriv force(&vop, core::vec_id::write_access::force ); + // force += rhs executeVisitor( MechanicalMultiVectorPeqBaseVectorVisitor(core::execparams::defaultInstance(), force, getSystemRHVector(), &(linearSystem.matrixAccessor)) ); } diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h index 3b0edb3e7f7..0e41cbc1933 100644 --- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h +++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.h @@ -23,10 +23,5 @@ #include -SOFA_HEADER_DEPRECATED("v24.12", "v25.12", "sofa/component/linearsolver/iterative/PCGLinearSolver.h") +SOFA_HEADER_DISABLED("v24.12", "v25.12", "sofa/component/linearsolver/iterative/PCGLinearSolver.h") -namespace sofa::component::linearsolver::iterative -{ -template -using ShewchukPCGLinearSolver SOFA_ATTRIBUTE_DEPRECATED("v24.12", "v25.12", "ShewchukPCGLinearSolver has been renamed to PCGLinearSolver") = PCGLinearSolver; -} diff --git a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl index 8345764ae6c..7bc02cf58c9 100644 --- a/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl +++ b/Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/ShewchukPCGLinearSolver.inl @@ -23,4 +23,4 @@ #include -SOFA_HEADER_DEPRECATED("v24.12", "v25.12", "sofa/component/linearsolver/iterative/PCGLinearSolver.inl") +SOFA_HEADER_DISABLED("v24.12", "v25.12", "sofa/component/linearsolver/iterative/PCGLinearSolver.inl") diff --git a/Sofa/Component/LinearSolver/Ordering/Sofa.Component.LinearSolver.OrderingConfig.cmake.in b/Sofa/Component/LinearSolver/Ordering/Sofa.Component.LinearSolver.OrderingConfig.cmake.in index e914bf97b81..cd9fbedcb6b 100644 --- a/Sofa/Component/LinearSolver/Ordering/Sofa.Component.LinearSolver.OrderingConfig.cmake.in +++ b/Sofa/Component/LinearSolver/Ordering/Sofa.Component.LinearSolver.OrderingConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/LinearSolver/Preconditioner/Sofa.Component.LinearSolver.PreconditionerConfig.cmake.in b/Sofa/Component/LinearSolver/Preconditioner/Sofa.Component.LinearSolver.PreconditionerConfig.cmake.in index 567ee61690c..1a6e6af8bea 100644 --- a/Sofa/Component/LinearSolver/Preconditioner/Sofa.Component.LinearSolver.PreconditionerConfig.cmake.in +++ b/Sofa/Component/LinearSolver/Preconditioner/Sofa.Component.LinearSolver.PreconditionerConfig.cmake.in @@ -3,10 +3,11 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.ODESolver.Backward QUIET REQUIRED) -find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED) -find_package(Sofa.Component.LinearSolver.Direct QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.ODESolver.Backward QUIET REQUIRED) +sofa_find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED) +sofa_find_package(Sofa.Component.LinearSolver.Direct QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.inl b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.inl index 6d74a7c5cdd..1ad38b731a7 100644 --- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.inl +++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/PrecomputedWarpPreconditioner.inl @@ -493,7 +493,7 @@ void PrecomputedWarpPreconditioner::rotateConstraints() { for (int i=0; i<3; i++) { - R[k*9+j*3+i] = (Real)Rotation[j][i]; + R[k*9+j*3+i] = (Real)Rotation(j,i); } } } @@ -673,7 +673,7 @@ void PrecomputedWarpPreconditioner::draw(const core::visual::VisualP { for (int b=0; b<3; b++) { - RotMat[a][b] = R[i*9+a*3+b]; + RotMat(a,b) = R[i*9+a*3+b]; } } diff --git a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp index 55d8ae138f1..f2c583078b3 100644 --- a/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp +++ b/Sofa/Component/LinearSolver/Preconditioner/src/sofa/component/linearsolver/preconditioner/SSORPreconditioner.cpp @@ -111,7 +111,7 @@ void SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3,3 for (Index i1=0; i1(BlocSize); ++i1) { const Index i = i0+i1; - temp[j1] += z[i] * b[j1][i1]; + temp[j1] += z[i] * b(j1,i1); } } } @@ -124,7 +124,7 @@ void SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3,3 for (Index i1=j1+1; i1(BlocSize); ++i1) { const Index i = j0+i1; - temp[j1]+= z[i] * b[j1][i1]; + temp[j1]+= z[i] * b(j1,i1); } z[j] = (r[j] - temp[j1]) * w * data->inv_diag[j]; } @@ -148,7 +148,7 @@ void SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3,3 for (Index i1=0; i1(BlocSize); ++i1) { const Index i = i0+i1; - temp[j1] += z[i] * b[j1][i1]; + temp[j1] += z[i] * b(j1,i1); } } } @@ -161,7 +161,7 @@ void SSORPreconditioner< linearalgebra::CompressedRowSparseMatrix< type::Mat<3,3 for (Index i1=0; i1inv_diag[j]; diff --git a/Sofa/Component/LinearSolver/Sofa.Component.LinearSolverConfig.cmake.in b/Sofa/Component/LinearSolver/Sofa.Component.LinearSolverConfig.cmake.in index dd4558e90ba..1303498d02d 100644 --- a/Sofa/Component/LinearSolver/Sofa.Component.LinearSolverConfig.cmake.in +++ b/Sofa/Component/LinearSolver/Sofa.Component.LinearSolverConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTLINEARSOLVER_TARGETS @SOFACOMPONENTLINEARSOLVER_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTLINEARSOLVER_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/LinearSystem/Sofa.Component.LinearSystemConfig.cmake.in b/Sofa/Component/LinearSystem/Sofa.Component.LinearSystemConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/LinearSystem/Sofa.Component.LinearSystemConfig.cmake.in +++ b/Sofa/Component/LinearSystem/Sofa.Component.LinearSystemConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl index 2549c7bfb1f..46350836e1c 100644 --- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl +++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixLinearSystem.inl @@ -258,7 +258,7 @@ inline auto generatePairs(const sofa::type::vector({a, b})); } } return pairs; diff --git a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixProjectionMethod.inl b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixProjectionMethod.inl index 64752acc6a3..075d3e48477 100644 --- a/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixProjectionMethod.inl +++ b/Sofa/Component/LinearSystem/src/sofa/component/linearsystem/MatrixProjectionMethod.inl @@ -118,7 +118,7 @@ void MatrixProjectionMethod::addMappedMatrixToGlobalMatrixEigen( for (const auto& [a, b] : uniquePairs) { const sofa::type::fixed_array, 2> J - { jacobians[0].getJacobianFrom(a), jacobians[1].getJacobianFrom(b) }; + ({ jacobians[0].getJacobianFrom(a), jacobians[1].getJacobianFrom(b) }); if (J[0]) { @@ -213,7 +213,7 @@ void MatrixProjectionMethod::computeMatrixJacobians(const core::Mechani (this->l_mechanicalStates[0] == this->l_mechanicalStates[1]) ? J0 : computeJacobiansFrom(this->l_mechanicalStates[1], mparams, mappingGraph, matrixToProject); - m_mappingJacobians.emplace(J0, J1); + m_mappingJacobians.emplace(sofa::type::fixed_array, 2>({J0, J1})); } } diff --git a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp index e0c21d2a512..7de0406d2b5 100644 --- a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp +++ b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp @@ -22,7 +22,7 @@ #include #include #include -#include +#include #include #include #include @@ -65,7 +65,7 @@ TEST(MappingGraph, nullRootNode) TEST(MappingGraph, emptyRootNode) { - const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); + const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); sofa::component::linearsystem::MappingGraph graph; graph.build(sofa::core::MechanicalParams::defaultInstance(), root.get()); @@ -85,7 +85,7 @@ TEST(MappingGraph, emptyRootNode) TEST(MappingGraph, oneMechanicalObject) { - const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); + const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); const auto mstate = sofa::core::objectmodel::New >(); root->addObject(mstate); @@ -107,7 +107,7 @@ TEST(MappingGraph, oneMechanicalObject) TEST(MappingGraph, twoMechanicalObject) { - const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); + const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); const auto mstate1 = sofa::core::objectmodel::New >(); root->addObject(mstate1); @@ -135,7 +135,7 @@ TEST(MappingGraph, twoMechanicalObject) TEST(MappingGraph, oneMapping) { - const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); + const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); const auto mstate1 = sofa::core::objectmodel::New >(); root->addObject(mstate1); diff --git a/Sofa/Component/LinearSystem/tests/MatrixLinearSystem_test.cpp b/Sofa/Component/LinearSystem/tests/MatrixLinearSystem_test.cpp index c8163bfdb3d..104a062297a 100644 --- a/Sofa/Component/LinearSystem/tests/MatrixLinearSystem_test.cpp +++ b/Sofa/Component/LinearSystem/tests/MatrixLinearSystem_test.cpp @@ -30,7 +30,7 @@ #include #include -#include +#include #include #include @@ -62,7 +62,7 @@ TEST(LinearSystem, MatrixSystem_noContext) TEST(LinearSystem, MatrixSystem) { - const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); + const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); using MatrixType = sofa::linearalgebra::CompressedRowSparseMatrix; using MatrixSystem = sofa::component::linearsystem::MatrixLinearSystem >; @@ -92,7 +92,7 @@ TEST(LinearSystem, MatrixSystem_springForceField) // required to be able to use EXPECT_MSG_NOEMIT and EXPECT_MSG_EMIT sofa::helper::logging::MessageDispatcher::addHandler(sofa::testing::MainGtestMessageHandler::getInstance() ) ; - sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); + sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); using MatrixType = sofa::linearalgebra::FullMatrix; using MatrixSystem = sofa::component::linearsystem::MatrixLinearSystem >; @@ -332,7 +332,7 @@ TEST(LinearSystem, MatrixSystem_buggyForceField) // 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::core::objectmodel::New(); + const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New(); using MatrixSystem = sofa::component::linearsystem::MatrixLinearSystem >; const MatrixSystem::SPtr linearSystem = sofa::core::objectmodel::New(); diff --git a/Sofa/Component/Mapping/Linear/Sofa.Component.Mapping.LinearConfig.cmake.in b/Sofa/Component/Mapping/Linear/Sofa.Component.Mapping.LinearConfig.cmake.in index e32676f6317..d7ed2d7229b 100644 --- a/Sofa/Component/Mapping/Linear/Sofa.Component.Mapping.LinearConfig.cmake.in +++ b/Sofa/Component/Mapping/Linear/Sofa.Component.Mapping.LinearConfig.cmake.in @@ -3,9 +3,10 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapper.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapper.h index b3794ab2e19..40113a11e61 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapper.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapper.h @@ -50,8 +50,9 @@ class BarycentricMapper : public virtual core::objectmodel::BaseObject typedef typename Out::VecDeriv OutVecDeriv; typedef typename Out::Deriv OutDeriv; - enum { NIn = sofa::defaulttype::DataTypeInfo::Size }; - enum { NOut = sofa::defaulttype::DataTypeInfo::Size }; + static constexpr sofa::Size NIn = sofa::defaulttype::DataTypeInfo::Size; + static constexpr sofa::Size NOut = sofa::defaulttype::DataTypeInfo::Size; + typedef type::Mat MBloc; typedef sofa::linearalgebra::CompressedRowSparseMatrix MatrixType; @@ -78,26 +79,28 @@ class BarycentricMapper : public virtual core::objectmodel::BaseObject protected: - void addMatrixContrib(MatrixType* m, int row, int col, Real value); + void addMatrixContrib(MatrixType* m, sofa::Index row, sofa::Index col, Real value); - template< int NC, int NP> + template< sofa::Size NC, sofa::Size NP> class MappingData { public: + static constexpr std::size_t NumberOfCoordinates = NC; + Index in_index; - Real baryCoords[NC]; + std::array baryCoords; inline friend std::istream& operator >> ( std::istream& in, MappingData< NC, NP> &m ) { in>>m.in_index; - for (int i=0; i> m.baryCoords[i]; + for (sofa::Index i=0; i> m.baryCoords[i]; return in; } inline friend std::ostream& operator << ( std::ostream& out, const MappingData< NC , NP > & m ) { out << m.in_index; - for (int i=0; i -void BarycentricMapper::addMatrixContrib(CompressedRowSparseMatrix* m, int row, int col, Real value) +void BarycentricMapper::addMatrixContrib(CompressedRowSparseMatrix* m, sofa::Index row, sofa::Index col, Real value) { MBloc* b = m->wblock(row, col, true); // get write access to a matrix block, creating it if not found - for (int i=0; i < ((int)NIn < (int)NOut ? (int)NIn : (int)NOut); ++i) - (*b)[i][i] += value; + for (sofa::Index i=0; i < (NIn < NOut ? NIn : NOut); ++i) + (*b)(i,i) += value; } diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.h index e258f12cfca..9b9cba3d87d 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.h @@ -25,19 +25,16 @@ namespace sofa::component::mapping::linear { -using sofa::type::Mat3x3d; -using sofa::type::Vec3; -using sofa::defaulttype::Vec3Types; - -typedef typename sofa::core::topology::BaseMeshTopology::Edge Edge; - /////// Class allowing barycentric mapping computation on a BaseMeshTopology with edges template -class BarycentricMapperEdgeSetTopology : public BarycentricMapperTopologyContainer::MappingData1D,Edge> +class BarycentricMapperEdgeSetTopology : public BarycentricMapperTopologyContainer::MappingData1D, sofa::core::topology::BaseMeshTopology::Edge> { typedef typename BarycentricMapper::MappingData1D MappingData; - + using Edge = sofa::core::topology::BaseMeshTopology::Edge; + using Index = sofa::Index; + using Mat3x3 = sofa::type::Mat3x3; + using Vec3 = sofa::type::Vec3; public: SOFA_CLASS(SOFA_TEMPLATE2(BarycentricMapperEdgeSetTopology,In,Out),SOFA_TEMPLATE4(BarycentricMapperTopologyContainer,In,Out,MappingData,Edge)); @@ -62,9 +59,8 @@ class BarycentricMapperEdgeSetTopology : public BarycentricMapperTopologyContain ~BarycentricMapperEdgeSetTopology() override = default; virtual type::vector getElements() override; - virtual type::vector getBaryCoef(const Real* f) override; - type::vector getBaryCoef(const Real fx); - void computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Edge& element) override; + virtual std::arraygetBarycentricCoefficients(const std::array& barycentricCoordinates) override; + void computeBase(Mat3x3& base, const typename In::VecCoord& in, const Edge& element) override; void computeCenter(Vec3& center, const typename In::VecCoord& in, const Edge& element) override; void computeDistance(SReal& d, const Vec3& v) override; void addPointInElement(const Index elementIndex, const SReal* baryCoords) override; @@ -76,7 +72,7 @@ class BarycentricMapperEdgeSetTopology : public BarycentricMapperTopologyContain }; #if !defined(SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPEREDGESETTOPOLOGY_CPP) -extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperEdgeSetTopology< Vec3Types, Vec3Types>; +extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperEdgeSetTopology< sofa::defaulttype::Vec3Types, sofa::defaulttype::Vec3Types>; #endif diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.inl index 05575f639ce..42faf0fa556 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperEdgeSetTopology.inl @@ -55,26 +55,19 @@ typename BarycentricMapperEdgeSetTopology::Index BarycentricMapperEdgeS } template -type::vector BarycentricMapperEdgeSetTopology::getElements() +auto BarycentricMapperEdgeSetTopology::getElements() -> type::vector { return this->m_fromTopology->getEdges(); } template -type::vector BarycentricMapperEdgeSetTopology::getBaryCoef(const Real* f) +auto BarycentricMapperEdgeSetTopology::getBarycentricCoefficients(const std::array& barycentricCoordinates) -> std::array { - return getBaryCoef(f[0]); + return {1-barycentricCoordinates[0], barycentricCoordinates[0]}; } template -type::vector BarycentricMapperEdgeSetTopology::getBaryCoef(const Real fx) -{ - type::vector edgeCoef{1-fx,fx}; - return edgeCoef; -} - -template -void BarycentricMapperEdgeSetTopology::computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Edge& element) +void BarycentricMapperEdgeSetTopology::computeBase(Mat3x3& base, const typename In::VecCoord& in, const Edge& element) { //Not implemented for Edge SOFA_UNUSED(base); diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.h index 67e2b0b5374..60afd7219c2 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.h @@ -25,19 +25,15 @@ namespace sofa::component::mapping::linear { - -using sofa::type::Mat3x3d; -using sofa::type::Vec3; -using sofa::defaulttype::Vec3Types; - -typedef typename sofa::core::topology::BaseMeshTopology::Hexahedron Hexahedron; - /// Class allowing barycentric mapping computation on a HexahedronSetTopology template -class BarycentricMapperHexahedronSetTopology : public BarycentricMapperTopologyContainer::MappingData3D,Hexahedron> +class BarycentricMapperHexahedronSetTopology : public BarycentricMapperTopologyContainer::MappingData3D, sofa::core::topology::BaseMeshTopology::Hexahedron> { typedef typename BarycentricMapper::MappingData3D MappingData; + using Hexahedron = sofa::core::topology::BaseMeshTopology::Hexahedron; + using Mat3x3 = sofa::type::Mat3x3; + using Vec3 = sofa::type::Vec3; using Index = sofa::Index; public: @@ -48,9 +44,8 @@ class BarycentricMapperHexahedronSetTopology : public BarycentricMapperTopologyC ~BarycentricMapperHexahedronSetTopology() override = default; virtual type::vector getElements() override; - virtual type::vector getBaryCoef(const Real* f) override; - type::vector getBaryCoef(const Real fx, const Real fy, const Real fz); - void computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Hexahedron& element) override; + virtual std::arraygetBarycentricCoefficients(const std::array& barycentricCoordinates) override; + void computeBase(Mat3x3& base, const typename In::VecCoord& in, const Hexahedron& element) override; void computeCenter(Vec3& center, const typename In::VecCoord& in, const Hexahedron& element) override; void computeDistance(SReal& d, const Vec3& v) override; void addPointInElement(const Index elementIndex, const SReal* baryCoords) override; @@ -76,7 +71,7 @@ class BarycentricMapperHexahedronSetTopology : public BarycentricMapperTopologyC }; #if !defined(SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPERHEXAHEDRONSETTOPOLOGY_CPP) -extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperHexahedronSetTopology< Vec3Types, Vec3Types >; +extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperHexahedronSetTopology< sofa::defaulttype::Vec3Types, sofa::defaulttype::Vec3Types >; #endif diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.inl index d62d268efec..41f67364c6c 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.inl @@ -86,39 +86,31 @@ BarycentricMapperHexahedronSetTopology::setPointInCube ( const Index poi template -type::vector BarycentricMapperHexahedronSetTopology::getElements() +auto BarycentricMapperHexahedronSetTopology::getElements() -> type::vector { return this->m_fromTopology->getHexahedra(); } - template -type::vector BarycentricMapperHexahedronSetTopology::getBaryCoef(const Real* f) +auto BarycentricMapperHexahedronSetTopology::getBarycentricCoefficients(const std::array& barycentricCoordinates) -> std::array { - return getBaryCoef(f[0],f[1],f[2]); -} - - -template -type::vector BarycentricMapperHexahedronSetTopology::getBaryCoef(const Real fx, const Real fy, const Real fz) -{ - type::vector hexahedronCoef{(1-fx)*(1-fy)*(1-fz), - (fx)*(1-fy)*(1-fz), - (fx)*(fy)*(1 - fz), - (1 - fx)*(fy)*(1 - fz), - (1-fx)*(1-fy)*(fz), - (fx)*(1-fy)*(fz), - (fx)*(fy)*(fz), - (1 - fx)*(fy)*(fz) + const auto& f = barycentricCoordinates; // for better readability + + return {(1-f[0])*(1-f[1])*(1-f[2]), + (f[0])*(1-f[1])*(1-f[2]), + (f[0])*(f[1])*(1 - f[2]), + (1 - f[0])*(f[1])*(1 - f[2]), + (1-f[0])*(1-f[1])*(f[2]), + (f[0])*(1-f[1])*(f[2]), + (f[0])*(f[1])*(f[2]), + (1 - f[0])*(f[1])*(f[2]) }; - return hexahedronCoef; } - template -void BarycentricMapperHexahedronSetTopology::computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Hexahedron& element) +void BarycentricMapperHexahedronSetTopology::computeBase(Mat3x3& base, const typename In::VecCoord& in, const Hexahedron& element) { - Mat3x3d matrixTranspose; + Mat3x3 matrixTranspose; base[0] = in[element[1]]-in[element[0]]; base[1] = in[element[3]]-in[element[0]]; base[2] = in[element[4]]-in[element[0]]; diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl index cefdbdbded5..0a7a5fb65f0 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl @@ -367,23 +367,23 @@ BarycentricMapperMeshTopology::createPointInTriangle ( const typename Ou const typename In::Coord AQ = to_be_projected -p1; sofa::type::Mat<2,2,typename In::Real> A; sofa::type::Vec<2,typename In::Real> b; - A[0][0] = AB*AB; - A[1][1] = AC*AC; - A[0][1] = A[1][0] = AB*AC; + A(0,0) = AB*AB; + A(1,1) = AC*AC; + A(0,1) = A(1,0) = AB*AC; b[0] = AQ*AB; b[1] = AQ*AC; const typename In::Real det = sofa::type::determinant(A); - baryCoords[0] = (b[0]*A[1][1] - b[1]*A[0][1])/det; - baryCoords[1] = (b[1]*A[0][0] - b[0]*A[1][0])/det; + baryCoords[0] = (b[0]*A(1,1) - b[1]*A(0,1))/det; + baryCoords[1] = (b[1]*A(0,0) - b[0]*A(1,0))/det; if (baryCoords[0] < 0 || baryCoords[1] < 0 || baryCoords[0] + baryCoords[1] > 1) { // nearest point is on an edge or corner // barycentric coordinate on AB - const SReal pAB = b[0] / A[0][0]; // AQ*AB / AB*AB + const SReal pAB = b[0] / A(0,0); // AQ*AB / AB*AB // barycentric coordinate on AC - const SReal pAC = b[1] / A[1][1]; // AQ*AC / AB*AB + const SReal pAC = b[1] / A(1,1); // AQ*AC / AB*AB if (pAB < 0 && pAC < 0) { // closest point is A @@ -406,7 +406,7 @@ BarycentricMapperMeshTopology::createPointInTriangle ( const typename Ou { // barycentric coordinate on BC // BQ*BC / BC*BC = (AQ-AB)*(AC-AB) / (AC-AB)*(AC-AB) = (AQ*AC-AQ*AB + AB*AB-AB*AC) / (AB*AB+AC*AC-2AB*AC) - const SReal pBC = (b[1] - b[0] + A[0][0] - A[0][1]) / (A[0][0] + A[1][1] - 2*A[0][1]); // BQ*BC / BC*BC + const SReal pBC = (b[1] - b[0] + A(0,0) - A(0,1)) / (A(0,0) + A(1,1) - 2*A(0,1)); // BQ*BC / BC*BC if (pBC < 0) { // closest point is B diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.h index fe0b0c5477b..b34d8ed4d58 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.h @@ -25,18 +25,15 @@ namespace sofa::component::mapping::linear { -using sofa::type::Mat3x3d; -using sofa::type::Vec3; -using sofa::defaulttype::Vec3Types; - -typedef typename sofa::core::topology::BaseMeshTopology::Quad Quad; - /// Class allowing barycentric mapping computation on a QuadSetTopology template -class BarycentricMapperQuadSetTopology : public BarycentricMapperTopologyContainer::MappingData2D, Quad> +class BarycentricMapperQuadSetTopology : public BarycentricMapperTopologyContainer::MappingData2D, sofa::core::topology::BaseMeshTopology::Quad> { typedef typename BarycentricMapper::MappingData2D MappingData; + using Quad = sofa::core::topology::BaseMeshTopology::Quad; + using Vec3 = sofa::type::Vec3; + using Mat3x3 = sofa::type::Mat3x3; using Index = sofa::Index; public: @@ -53,9 +50,8 @@ class BarycentricMapperQuadSetTopology : public BarycentricMapperTopologyContain core::topology::BaseMeshTopology* toTopology); virtual type::vector getElements() override; - virtual type::vector getBaryCoef(const Real* f) override; - type::vector getBaryCoef(const Real fx, const Real fy); - void computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Quad& element) override; + virtual std::arraygetBarycentricCoefficients(const std::array& barycentricCoordinates) override; + void computeBase(Mat3x3& base, const typename In::VecCoord& in, const Quad& element) override; void computeCenter(Vec3& center, const typename In::VecCoord& in, const Quad& element) override; void computeDistance(SReal& d, const Vec3& v) override; void addPointInElement(const Index elementIndex, const SReal* baryCoords) override; @@ -67,7 +63,7 @@ class BarycentricMapperQuadSetTopology : public BarycentricMapperTopologyContain }; #if !defined(SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPERQUADSETTOPOLOGY_CPP) -extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperQuadSetTopology< Vec3Types, Vec3Types >; +extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperQuadSetTopology< sofa::defaulttype::Vec3Types, sofa::defaulttype::Vec3Types >; #endif diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.inl index f0fa6f4e7fc..09d1a739a1b 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperQuadSetTopology.inl @@ -71,31 +71,22 @@ BarycentricMapperQuadSetTopology::createPointInQuad ( const typename Out } template -type::vector BarycentricMapperQuadSetTopology::getElements() +auto BarycentricMapperQuadSetTopology::getElements() -> type::vector { return this->m_fromTopology->getQuads(); } template -type::vector BarycentricMapperQuadSetTopology::getBaryCoef(const Real* f) +auto BarycentricMapperQuadSetTopology::getBarycentricCoefficients(const std::array& barycentricCoordinates) -> std::array { - return getBaryCoef(f[0],f[1]); + const auto& f = barycentricCoordinates; // for better readability + return { (1-f[0])*(1-f[1]), (f[0])*(1-f[1]), (f[0])*(f[1]), (1 - f[0])*(f[1]) }; } template -type::vector BarycentricMapperQuadSetTopology::getBaryCoef(const Real fx, const Real fy) +void BarycentricMapperQuadSetTopology::computeBase(Mat3x3& base, const typename In::VecCoord& in, const Quad& element) { - type::vector quadCoef{(1-fx)*(1-fy), - (fx)*(1-fy), - (fx)*(fy), - (1 - fx)*(fy)}; - return quadCoef; -} - -template -void BarycentricMapperQuadSetTopology::computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Quad& element) -{ - Mat3x3d matrixTranspose; + Mat3x3 matrixTranspose; base[0] = in[element[1]]-in[element[0]]; base[1] = in[element[3]]-in[element[0]]; base[2] = cross(base[0],base[1]); diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.h index 89290a5be6a..eef825ae679 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.h @@ -51,8 +51,7 @@ class BarycentricMapperTetrahedronSetTopology : public BarycentricMapperTopology ~BarycentricMapperTetrahedronSetTopology() override = default; virtual type::vector getElements() override; - virtual type::vector getBaryCoef(const Real* f) override; - type::vector getBaryCoef(const Real fx, const Real fy, const Real fz); + virtual std::arraygetBarycentricCoefficients(const std::array& barycentricCoordinates) override; void computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Tetrahedron& element) override; void computeCenter(Vec3& center, const typename In::VecCoord& in, const Tetrahedron& element) override; void computeDistance(SReal& d, const Vec3& v) override; diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.inl index e51ef72ae92..4376bfe66b6 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTetrahedronSetTopology.inl @@ -53,16 +53,10 @@ type::vector BarycentricMapperTetrahedronSetTopology::getEl } template -type::vector BarycentricMapperTetrahedronSetTopology::getBaryCoef(const Real* f) +auto BarycentricMapperTetrahedronSetTopology::getBarycentricCoefficients(const std::array& barycentricCoordinates) -> std::array { - return getBaryCoef(f[0],f[1],f[2]); -} - -template -type::vector BarycentricMapperTetrahedronSetTopology::getBaryCoef(const Real fx, const Real fy, const Real fz) -{ - type::vector tetrahedronCoef{(1-fx-fy-fz),fx,fy,fz}; - return tetrahedronCoef; + const auto& f = barycentricCoordinates; // for better readability + return {(1-f[0]-f[1]-f[2]),f[0],f[1],f[2]}; } template diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.h index c5f2d30d352..abb6e6cdcf1 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.h @@ -28,7 +28,7 @@ namespace sofa::component::mapping::linear::_barycentricmappertopologycontainer_ { -using sofa::type::Mat3x3d; +using sofa::type::Mat3x3; using sofa::type::Vec3; using sofa::type::Vec3i; using sofa::defaulttype::Vec3Types; @@ -133,7 +133,7 @@ class BarycentricMapperTopologyContainer : public TopologyBarycentricMapper m_bases; + type::vector m_bases; type::vector m_centers; // Spacial hashing utils @@ -148,8 +148,9 @@ class BarycentricMapperTopologyContainer : public TopologyBarycentricMapper getElements()=0; - virtual type::vector getBaryCoef(const Real* f)=0; - virtual void computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Element& element)=0; + virtual std::arraygetBarycentricCoefficients(const std::array& barycentricCoordinates)=0; + + virtual void computeBase(Mat3x3& base, const typename In::VecCoord& in, const Element& element)=0; virtual void computeCenter(Vec3& center, const typename In::VecCoord& in, const Element& element)=0; virtual void addPointInElement(const Index elementIndex, const SReal* baryCoords)=0; virtual void computeDistance(SReal& d, const Vec3& v)=0; diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.inl index 67d9525be61..003975cf4cd 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTopologyContainer.inl @@ -203,11 +203,11 @@ void BarycentricMapperTopologyContainer::compute { Element element = elements[e]; - Mat3x3d base; + Mat3x3 base; computeBase(base,in,element); m_bases[e] = base; - Vec3 center; + sofa::type::VecNoInit<3, SReal> center; computeCenter(center,in,element); m_centers[e] = center; } @@ -237,6 +237,7 @@ void BarycentricMapperTopologyContainer::checkDi template void BarycentricMapperTopologyContainer::applyJT ( typename In::MatrixDeriv& out, const typename Out::MatrixDeriv& in ) { + const auto& map = d_map.getValue(); typename Out::MatrixDeriv::RowConstIterator rowItEnd = in.end(); const type::vector< Element >& elements = getElements(); @@ -254,10 +255,10 @@ void BarycentricMapperTopologyContainer::applyJT unsigned indexIn = colIt.index(); InDeriv data = InDeriv(Out::getDPos(colIt.val())); - const Element& element = elements[d_map.getValue()[indexIn].in_index]; - - type::vector baryCoef = getBaryCoef(d_map.getValue()[indexIn].baryCoords); - for (unsigned int j=0; j baryCoef = getBaryCoef(map[outId].baryCoords); - for (unsigned int j=0; jaddMatrixContrib(m_matrixJ, int(outId), element[j], baryCoef[j]); } @@ -299,16 +300,17 @@ const linearalgebra::BaseMatrix* BarycentricMapperTopologyContainer void BarycentricMapperTopologyContainer::applyJT ( typename In::VecDeriv& out, const typename Out::VecDeriv& in ) { + const auto& map = d_map.getValue(); const type::vector& elements = getElements(); for( size_t i=0 ; i baryCoef = getBaryCoef(d_map.getValue()[i].baryCoords); - for (unsigned int j=0; j::applyJT template void BarycentricMapperTopologyContainer::applyJ ( typename Out::VecDeriv& out, const typename In::VecDeriv& in ) { - out.resize( d_map.getValue().size() ); + const auto& map = d_map.getValue(); + out.resize( map.size() ); const type::vector& elements = getElements(); for( size_t i=0 ; i baryCoef = getBaryCoef(d_map.getValue()[i].baryCoords); + const auto baryCoef = getBarycentricCoefficients(map[i].baryCoords); InDeriv inPos{0.,0.,0.}; - for (unsigned int j=0; j::isEmpty template void BarycentricMapperTopologyContainer::apply ( typename Out::VecCoord& out, const typename In::VecCoord& in ) { - out.resize( d_map.getValue().size() ); + const auto& map = d_map.getValue(); + out.resize( map.size() ); const type::vector& elements = getElements(); - for ( unsigned int i=0; i baryCoef = getBaryCoef(d_map.getValue()[i].baryCoords); + const auto baryCoef = getBarycentricCoefficients(map[i].baryCoords); InDeriv inPos{0.,0.,0.}; - for (unsigned int j=0; j::draw ( const typename Out::VecCoord& out, const typename In::VecCoord& in ) { + const auto& map = d_map.getValue(); // Draw line between mapped node (out) and nodes of nearest element (in) const type::vector& elements = getElements(); std::vector< Vec3 > points; { - for ( unsigned int i=0; i baryCoef = getBaryCoef(d_map.getValue()[i].baryCoords); - for ( unsigned int j=0; j=0.0001 ) { diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.h index 3a1e1ed7e48..6301bfa5df5 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.h @@ -25,18 +25,15 @@ namespace sofa::component::mapping::linear { - -using sofa::type::Mat3x3d; -using sofa::type::Vec3; -using sofa::defaulttype::Vec3Types; - -typedef typename sofa::core::topology::BaseMeshTopology::Triangle Triangle; - /// Class allowing barycentric mapping computation on a TriangleSetTopology template -class BarycentricMapperTriangleSetTopology : public BarycentricMapperTopologyContainer::MappingData2D,Triangle> +class BarycentricMapperTriangleSetTopology : public BarycentricMapperTopologyContainer::MappingData2D, sofa::core::topology::BaseMeshTopology::Triangle> { typedef typename BarycentricMapper::MappingData2D MappingData; + using Triangle = sofa::core::topology::BaseMeshTopology::Triangle; + + using Mat3x3 = sofa::type::Mat3x3; + using Vec3 = sofa::type::Vec3; using Index = sofa::Index; public: SOFA_CLASS(SOFA_TEMPLATE2(BarycentricMapperTriangleSetTopology,In,Out), @@ -54,9 +51,9 @@ class BarycentricMapperTriangleSetTopology : public BarycentricMapperTopologyCon core::topology::BaseMeshTopology* toTopology); virtual type::vector getElements() override; - virtual type::vector getBaryCoef(const Real* f) override; - type::vector getBaryCoef(const Real fx, const Real fy); - void computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Triangle& element) override; + virtual std::arraygetBarycentricCoefficients(const std::array& barycentricCoordinates) override; + + void computeBase(Mat3x3& base, const typename In::VecCoord& in, const Triangle& element) override; void computeCenter(Vec3& center, const typename In::VecCoord& in, const Triangle& element) override; void computeDistance(SReal& d, const Vec3& v) override; void addPointInElement(const Index elementIndex, const SReal* baryCoords) override; @@ -68,7 +65,7 @@ class BarycentricMapperTriangleSetTopology : public BarycentricMapperTopologyCon }; #if !defined(SOFA_COMPONENT_MAPPING_BARYCENTRICMAPPERTRIANGLESETTOPOLOGY_CPP) -extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperTriangleSetTopology< Vec3Types, Vec3Types >; +extern template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapperTriangleSetTopology< sofa::defaulttype::Vec3Types, sofa::defaulttype::Vec3Types >; #endif diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.inl index 95b2526ab06..dc3630a1222 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperTriangleSetTopology.inl @@ -72,28 +72,21 @@ BarycentricMapperTriangleSetTopology::createPointInTriangle ( const type template -type::vector BarycentricMapperTriangleSetTopology::getElements() +auto BarycentricMapperTriangleSetTopology::getElements() -> type::vector { return this->m_fromTopology->getTriangles(); } template -type::vector BarycentricMapperTriangleSetTopology::getBaryCoef(const Real* f) +auto BarycentricMapperTriangleSetTopology::getBarycentricCoefficients(const std::array& barycentricCoordinates) -> std::array { - return getBaryCoef(f[0],f[1]); + return {1-barycentricCoordinates[0]-barycentricCoordinates[1], barycentricCoordinates[0], barycentricCoordinates[1]}; } template -type::vector BarycentricMapperTriangleSetTopology::getBaryCoef(const Real fx, const Real fy) +void BarycentricMapperTriangleSetTopology::computeBase(Mat3x3& base, const typename In::VecCoord& in, const Triangle& element) { - type::vector triangleCoef{1-fx-fy, fx, fy}; - return triangleCoef; -} - -template -void BarycentricMapperTriangleSetTopology::computeBase(Mat3x3d& base, const typename In::VecCoord& in, const Triangle& element) -{ - Mat3x3d mt; + Mat3x3 mt; base[0] = in[element[1]]-in[element[0]]; base[1] = in[element[2]]-in[element[0]]; base[2] = cross(base[0],base[1]); diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.inl index 50da54cb8a2..8ac4d5e6149 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.inl @@ -87,7 +87,7 @@ BarycentricMapperTetrahedronSetTopologyRigid::addPointOrientationInTetra // IPTR_BARCPP_ADDOR("baryCoords of vector["< template static void setMatrix(Matrix& mat, const Vector& vec) { - mat[0][0] = (Real) 1 ; mat[1][0] = (Real) 0 ; - mat[0][1] = (Real) 0 ; mat[1][1] = (Real) 1 ; - mat[0][2] = (Real)-vec[1]; mat[1][2] = (Real) vec[0]; + mat(0,0) = (Real) 1 ; mat(1,0) = (Real) 0 ; + mat(0,1) = (Real) 0 ; mat(1,1) = (Real) 1 ; + mat(0,2) = (Real)-vec[1]; mat(1,2) = (Real) vec[0]; } }; @@ -51,12 +51,12 @@ struct RigidMappingMatrixHelper<3, Real> { // out = J in // J = [ I -OM^ ] - mat[0][0] = (Real) 1 ; mat[1][0] = (Real) 0 ; mat[2][0] = (Real) 0 ; - mat[0][1] = (Real) 0 ; mat[1][1] = (Real) 1 ; mat[2][1] = (Real) 0 ; - mat[0][2] = (Real) 0 ; mat[1][2] = (Real) 0 ; mat[2][2] = (Real) 1 ; - mat[0][3] = (Real) 0 ; mat[1][3] = (Real)-vec[2]; mat[2][3] = (Real) vec[1]; - mat[0][4] = (Real) vec[2]; mat[1][4] = (Real) 0 ; mat[2][4] = (Real)-vec[0]; - mat[0][5] = (Real)-vec[1]; mat[1][5] = (Real) vec[0]; mat[2][5] = (Real) 0 ; + mat(0,0) = (Real) 1 ; mat(1,0) = (Real) 0 ; mat(2,0) = (Real) 0 ; + mat(0,1) = (Real) 0 ; mat(1,1) = (Real) 1 ; mat(2,1) = (Real) 0 ; + mat(0,2) = (Real) 0 ; mat(1,2) = (Real) 0 ; mat(2,2) = (Real) 1 ; + mat(0,3) = (Real) 0 ; mat(1,3) = (Real)-vec[2]; mat(2,3) = (Real) vec[1]; + mat(0,4) = (Real) vec[2]; mat(1,4) = (Real) 0 ; mat(2,4) = (Real)-vec[0]; + mat(0,5) = (Real)-vec[1]; mat(1,5) = (Real) vec[0]; mat(2,5) = (Real) 0 ; } }; //////////////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp index e00befd5e29..4b924be291f 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.cpp @@ -544,7 +544,7 @@ void Mesh2PointTopologicalMapping::updateTopologicalMappingTopDown() toModel->getContext()->get(toPointMod, sofa::core::objectmodel::BaseContext::Local); bool check = false; type::fixed_array nbInputRemoved; - nbInputRemoved.assign(0); + nbInputRemoved.fill(0); std::string laststep = ""; while( changeIt != itEnd ) { diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.h index 40221619407..3884820782c 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.h +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/Mesh2PointTopologicalMapping.h @@ -153,7 +153,7 @@ class SOFA_COMPONENT_MAPPING_LINEAR_API Mesh2PointTopologicalMapping : public so bool internalCheck(const char* step) { type::fixed_array nbInputRemoved; - nbInputRemoved.assign(0); + nbInputRemoved.fill(0); return internalCheck(step, nbInputRemoved); } bool initDone; diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.inl b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.inl index ce8e70f3b6b..cd664d6f130 100644 --- a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.inl +++ b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SkinningMapping.inl @@ -217,12 +217,12 @@ void SkinningMapping::apply( const sofa::core::MechanicalParams* mpar // update the Jacobian Matrix // Real w=m_weights[i][j]; - matblock[0][0] = (Real) m_weights[i][j] ; matblock[1][0] = (Real) 0 ; matblock[2][0] = (Real) 0 ; - matblock[0][1] = (Real) 0 ; matblock[1][1] = (Real) m_weights[i][j] ; matblock[2][1] = (Real) 0 ; - matblock[0][2] = (Real) 0 ; matblock[1][2] = (Real) 0 ; matblock[2][2] = (Real) m_weights[i][j] ; - matblock[0][3] = (Real) 0 ; matblock[1][3] = (Real)-f_rotatedPos[i][j][2] ; matblock[2][3] = (Real) f_rotatedPos[i][j][1] ; - matblock[0][4] = (Real) f_rotatedPos[i][j][2] ; matblock[1][4] = (Real) 0 ; matblock[2][4] = (Real)-f_rotatedPos[i][j][0] ; - matblock[0][5] = (Real)-f_rotatedPos[i][j][1] ; matblock[1][5] = (Real) f_rotatedPos[i][j][0] ; matblock[2][5] = (Real) 0 ; + matblock(0,0) = (Real) m_weights[i][j] ; matblock(1,0) = (Real) 0 ; matblock(2,0) = (Real) 0 ; + matblock(0,1) = (Real) 0 ; matblock(1,1) = (Real) m_weights[i][j] ; matblock(2,1) = (Real) 0 ; + matblock(0,2) = (Real) 0 ; matblock(1,2) = (Real) 0 ; matblock(2,2) = (Real) m_weights[i][j] ; + matblock(0,3) = (Real) 0 ; matblock(1,3) = (Real)-f_rotatedPos[i][j][2] ; matblock(2,3) = (Real) f_rotatedPos[i][j][1] ; + matblock(0,4) = (Real) f_rotatedPos[i][j][2] ; matblock(1,4) = (Real) 0 ; matblock(2,4) = (Real)-f_rotatedPos[i][j][0] ; + matblock(0,5) = (Real)-f_rotatedPos[i][j][1] ; matblock(1,5) = (Real) f_rotatedPos[i][j][0] ; matblock(2,5) = (Real) 0 ; _J.createBlock(index[i][j],matblock); } _J.endBlockRow(); diff --git a/Sofa/Component/Mapping/MappedMatrix/Sofa.Component.Mapping.MappedMatrixConfig.cmake.in b/Sofa/Component/Mapping/MappedMatrix/Sofa.Component.Mapping.MappedMatrixConfig.cmake.in index 552d79796ad..03f693fc48e 100644 --- a/Sofa/Component/Mapping/MappedMatrix/Sofa.Component.Mapping.MappedMatrixConfig.cmake.in +++ b/Sofa/Component/Mapping/MappedMatrix/Sofa.Component.Mapping.MappedMatrixConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Mapping/NonLinear/Sofa.Component.Mapping.NonLinearConfig.cmake.in b/Sofa/Component/Mapping/NonLinear/Sofa.Component.Mapping.NonLinearConfig.cmake.in index 552d79796ad..03f693fc48e 100644 --- a/Sofa/Component/Mapping/NonLinear/Sofa.Component.Mapping.NonLinearConfig.cmake.in +++ b/Sofa/Component/Mapping/NonLinear/Sofa.Component.Mapping.NonLinearConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl index 5b856d8b7ee..636143b57b7 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/AreaMapping.inl @@ -55,7 +55,7 @@ auto AreaMapping::computeSecondDerivativeArea( { for (unsigned int j = 0; j < 3; ++j) { - auto& entry = d2A[i][j]; + auto& entry = d2A(i,j); const auto i1 = (i + 1) % 3; const auto j1 = (j + 1) % 3; @@ -73,9 +73,9 @@ auto AreaMapping::computeSecondDerivativeArea( entry = - outer_a + n2 * (dot_product * id - outer_b); - if (i != j) // diagonal blocks are skipped because skewSign[i][j] == 0 + if (i != j) // diagonal blocks are skipped because skewSign(i,j) == 0 { - const auto sign = skewSign[i][j]; + const auto sign = skewSign(i,j); entry += sign * n2 * type::crossProductMatrix(N); } @@ -227,7 +227,7 @@ void AreaMapping::matrixFreeApplyDJT( { parentForceAccessor[triangle[i]] += kFactor - * d2Area_d2x[i][j] + * d2Area_d2x(i,j) * parentDisplacementAccessor[triangle[j]] * childForceTri[0]; } @@ -267,7 +267,7 @@ void AreaMapping::doUpdateK(const core::MechanicalParams* mparams, { for (unsigned int j = 0; j < 3; ++j) { - matrix.addBlock(triangle[i], triangle[j], d2Area_d2x[i][j] * childForceTri[0]); + matrix.addBlock(triangle[i], triangle[j], d2Area_d2x(i,j) * childForceTri[0]); } } } @@ -309,7 +309,7 @@ void AreaMapping::buildGeometricStiffnessMatrix( { for (unsigned int j = 0; j < 3; ++j) { - dJdx(triangle[i] * Nin, triangle[j] * Nin) += d2Area_d2x[i][j] * childForceTri[0]; + dJdx(triangle[i] * Nin, triangle[j] * Nin) += d2Area_d2x(i,j) * childForceTri[0]; } } } diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl index 579ab1468f1..0d79a6107f6 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceFromTargetMapping.inl @@ -100,6 +100,15 @@ void DistanceFromTargetMapping::clear() template void DistanceFromTargetMapping::init() { + auto indices = sofa::helper::getWriteAccessor(d_indices); + auto targetPositions = sofa::helper::getReadAccessor(d_targetPositions); + if (indices.size() < targetPositions.size()) + { + for (std::size_t i = indices.size(); i < targetPositions.size(); ++i) + { + indices.push_back(i); + } + } assert(d_indices.getValue().size() == d_targetPositions.getValue().size()) ; // unset distances are set to 0 @@ -200,7 +209,7 @@ void DistanceFromTargetMapping::matrixFreeApplyDJT( { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } // (I - uu^T)*f/l*kfactor -- do not forget kfactor ! @@ -214,7 +223,7 @@ void DistanceFromTargetMapping::matrixFreeApplyDJT( { for(unsigned k=0; k df = b*dx; @@ -253,7 +262,7 @@ void DistanceFromTargetMapping::buildGeometricStiffnessMatrix( { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } b *= force_i[0] * invlengths[i]; // (I - uu^T)*f/l @@ -288,7 +297,7 @@ void DistanceFromTargetMapping::doUpdateK( { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } b *= childForceAccessor[i][0] * invlengths[i]; // (I - uu^T)*f/l diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl index 8e68c7fc82d..7a7cdef0967 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMapping.inl @@ -190,7 +190,7 @@ void DistanceMapping::matrixFreeApplyDJT( { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } // (I - uu^T)*f/l*kfactor -- do not forget kfactor ! @@ -204,7 +204,7 @@ void DistanceMapping::matrixFreeApplyDJT( { for(unsigned k=0; k::doUpdateK( { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } b *= childForceAccessor[i][0] * invlengths[i]; // (I - uu^T)*f/l @@ -283,7 +283,7 @@ void DistanceMapping::buildGeometricStiffnessMatrix( { for(unsigned k=0; k(1) * ( j==k ) - dir[j] * dir[k]; + b(j,k) = static_cast(1) * ( j==k ) - dir[j] * dir[k]; } } b *= force_i[0] * invlengths[i]; // (I - uu^T)*f/l diff --git a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl index e4731c8229a..63ac9b51664 100644 --- a/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl +++ b/Sofa/Component/Mapping/NonLinear/src/sofa/component/mapping/nonlinear/DistanceMultiMapping.inl @@ -311,7 +311,7 @@ void DistanceMultiMapping::applyDJT(const core::MechanicalParams* mpa { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } // (I - uu^T)*f/l*kfactor -- do not forget kfactor ! @@ -325,7 +325,7 @@ void DistanceMultiMapping::applyDJT(const core::MechanicalParams* mpa { for(unsigned k=0; k::updateK(const core::MechanicalParams* /*mp { for(unsigned k=0; k(1) * ( j==k ) - directions[i][j]*directions[i][k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[i][j]*directions[i][k]; } } b *= childForce[i][0] * invlengths[i]; // (I - uu^T)*f/l @@ -439,7 +439,7 @@ void DistanceMultiMapping::buildGeometricStiffnessMatrix( { for(unsigned k=0; k(1) * ( j==k ) - directions[j] * directions[k]; + b(j,k) = static_cast(1) * ( j==k ) - directions[j] * directions[k]; } } b *= force_i[0] * invlengths[i]; // (I - uu^T)*f/l 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 195d6803c96..b800d6cf769 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 @@ -618,7 +618,7 @@ void RigidMapping::updateK( const core::MechanicalParams* mparams, co if( block(j, k) != static_cast(0)) { - m_geometricStiffnessMatrix.add(row, col, (InReal)block[j][k]); + m_geometricStiffnessMatrix.add(row, col, (InReal)block(j,k)); } } } @@ -738,9 +738,9 @@ struct RigidMappingMatrixHelper<2, Real> static void setMatrix(Matrix& mat, const Vector& vec) { - mat[0][0] = (Real) 1 ; mat[1][0] = (Real) 0 ; - mat[0][1] = (Real) 0 ; mat[1][1] = (Real) 1 ; - mat[0][2] = (Real)-vec[1]; mat[1][2] = (Real) vec[0]; + mat(0,0) = (Real) 1 ; mat(1,0) = (Real) 0 ; + mat(0,1) = (Real) 0 ; mat(1,1) = (Real) 1 ; + mat(0,2) = (Real)-vec[1]; mat(1,2) = (Real) vec[0]; } }; @@ -753,12 +753,12 @@ struct RigidMappingMatrixHelper<3, Real> { // out = J in // J = [ I -OM^ ] - mat[0][0] = (Real) 1 ; mat[1][0] = (Real) 0 ; mat[2][0] = (Real) 0 ; - mat[0][1] = (Real) 0 ; mat[1][1] = (Real) 1 ; mat[2][1] = (Real) 0 ; - mat[0][2] = (Real) 0 ; mat[1][2] = (Real) 0 ; mat[2][2] = (Real) 1 ; - mat[0][3] = (Real) 0 ; mat[1][3] = (Real)-vec[2]; mat[2][3] = (Real) vec[1]; - mat[0][4] = (Real) vec[2]; mat[1][4] = (Real) 0 ; mat[2][4] = (Real)-vec[0]; - mat[0][5] = (Real)-vec[1]; mat[1][5] = (Real) vec[0]; mat[2][5] = (Real) 0 ; + mat(0,0) = (Real) 1 ; mat(1,0) = (Real) 0 ; mat(2,0) = (Real) 0 ; + mat(0,1) = (Real) 0 ; mat(1,1) = (Real) 1 ; mat(2,1) = (Real) 0 ; + mat(0,2) = (Real) 0 ; mat(1,2) = (Real) 0 ; mat(2,2) = (Real) 1 ; + mat(0,3) = (Real) 0 ; mat(1,3) = (Real)-vec[2]; mat(2,3) = (Real) vec[1]; + mat(0,4) = (Real) vec[2]; mat(1,4) = (Real) 0 ; mat(2,4) = (Real)-vec[0]; + mat(0,5) = (Real)-vec[1]; mat(1,5) = (Real) vec[0]; mat(2,5) = (Real) 0 ; } }; diff --git a/Sofa/Component/Mapping/Sofa.Component.MappingConfig.cmake.in b/Sofa/Component/Mapping/Sofa.Component.MappingConfig.cmake.in index fd5bb6ef010..a24d1734fc5 100644 --- a/Sofa/Component/Mapping/Sofa.Component.MappingConfig.cmake.in +++ b/Sofa/Component/Mapping/Sofa.Component.MappingConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTMAPPING_TARGETS @SOFACOMPONENTMAPPING_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTMAPPING_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Mass/Sofa.Component.MassConfig.cmake.in b/Sofa/Component/Mass/Sofa.Component.MassConfig.cmake.in index b1e936e197a..5ebd01a7eb5 100644 --- a/Sofa/Component/Mass/Sofa.Component.MassConfig.cmake.in +++ b/Sofa/Component/Mass/Sofa.Component.MassConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp index b3d52efd94c..c9ea06d6409 100644 --- a/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp +++ b/Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.cpp @@ -85,9 +85,9 @@ void DiagonalMass::drawRigid3dImpl(const VisualPar // So to get lx,ly,lz back we need to do // lx = sqrt(12/M * (m->_I(1,1)+m->_I(2,2)-m->_I(0,0))) // Note that RigidMass inertiaMatrix is already divided by M - const double m00 = masses[i].inertiaMatrix[0][0]; - const double m11 = masses[i].inertiaMatrix[1][1]; - const double m22 = masses[i].inertiaMatrix[2][2]; + const double m00 = masses[i].inertiaMatrix(0,0); + const double m11 = masses[i].inertiaMatrix(1,1); + const double m22 = masses[i].inertiaMatrix(2,2); len[0] = sqrt(m11+m22-m00); len[1] = sqrt(m00+m22-m11); len[2] = sqrt(m00+m11-m22); @@ -255,10 +255,10 @@ type::Vec6 DiagonalMass::getMomentumVec3Impl( const for ( unsigned int i=0 ; i::loadFromFileRigidImpl(const string& filename) if( fscanf(file, "%lf", &(tmp)) < 1 ){ msg_error(this) << "error while reading file '" << filename << "'.\n"; } - m.inertiaMatrix[i][j]=tmp; + m.inertiaMatrix(i,j)=tmp; } } } @@ -243,9 +243,9 @@ void UniformMass::drawRigid3DImpl(const VisualParams* vparams) // So to get lx,ly,lz back we need to do // lx = sqrt(12/M * (m->_I(1,1)+m->_I(2,2)-m->_I(0,0))) // Note that RigidMass inertiaMatrix is already divided by M - const double m00 = d_vertexMass.getValue().inertiaMatrix[0][0]; - const double m11 = d_vertexMass.getValue().inertiaMatrix[1][1]; - const double m22 = d_vertexMass.getValue().inertiaMatrix[2][2]; + const double m00 = d_vertexMass.getValue().inertiaMatrix(0,0); + const double m11 = d_vertexMass.getValue().inertiaMatrix(1,1); + const double m22 = d_vertexMass.getValue().inertiaMatrix(2,2); len[0] = sqrt(m11+m22-m00); len[1] = sqrt(m00+m22-m11); len[2] = sqrt(m00+m11-m22); diff --git a/Sofa/Component/MechanicalLoad/Sofa.Component.MechanicalLoadConfig.cmake.in b/Sofa/Component/MechanicalLoad/Sofa.Component.MechanicalLoadConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/MechanicalLoad/Sofa.Component.MechanicalLoadConfig.cmake.in +++ b/Sofa/Component/MechanicalLoad/Sofa.Component.MechanicalLoadConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.inl index 49c6a8c2527..b40de9a6464 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.inl +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/EllipsoidForceField.inl @@ -135,8 +135,8 @@ void EllipsoidForceField::addForce(const sofa::core::MechanicalParams for (unsigned int ci = 0; ci < N; ++ci) { for (unsigned int cj = 0; cj < N; ++cj) - c.m[ci][cj] = grad[ci]*grad[cj] * (fact1 + fact3*inv_r2[cj]); - c.m[ci][ci] += fact2*inv_r2[ci]; + c.m(ci,cj) = grad[ci]*grad[cj] * (fact1 + fact3*inv_r2[cj]); + c.m(ci,ci) += fact2*inv_r2[ci]; } contacts->push_back(c); } diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.inl index c9af483eb15..02b8e5e91b5 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.inl +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/InteractionEllipsoidForceField.inl @@ -158,8 +158,8 @@ bool InteractionEllipsoidForceField::calcF(const Coord1& for (int ci = 0; ci < N; ++ci) { for (int cj = 0; cj < N; ++cj) - dfdx[ci][cj] = grad[ci]*grad[cj] * (fact1 + fact3*vars.vinv_r2[e][cj]); - dfdx[ci][ci] += fact2*vars.vinv_r2[e][ci]; + dfdx(ci,cj) = grad[ci]*grad[cj] * (fact1 + fact3*vars.vinv_r2[e][cj]); + dfdx(ci,ci) += fact2*vars.vinv_r2[e][ci]; } return true; } diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.cpp b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.cpp index 1bd72153c26..1385dc0e7f0 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.cpp +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.cpp @@ -135,38 +135,38 @@ void SurfacePressureForceField::addTriangleSurfacePres if (computeDerivatives) { Mat33 DcrossDA; - DcrossDA[0][0] = 0; - DcrossDA[0][1] = -bc[2]; - DcrossDA[0][2] = bc[1]; - DcrossDA[1][0] = bc[2]; - DcrossDA[1][1] = 0; - DcrossDA[1][2] = -bc[0]; - DcrossDA[2][0] = -bc[1]; - DcrossDA[2][1] = bc[0]; - DcrossDA[2][2] = 0; + DcrossDA(0,0) = 0; + DcrossDA(0,1) = -bc[2]; + DcrossDA(0,2) = bc[1]; + DcrossDA(1,0) = bc[2]; + DcrossDA(1,1) = 0; + DcrossDA(1,2) = -bc[0]; + DcrossDA(2,0) = -bc[1]; + DcrossDA(2,1) = bc[0]; + DcrossDA(2,2) = 0; Mat33 DcrossDB; - DcrossDB[0][0] = 0; - DcrossDB[0][1] = ac[2]; - DcrossDB[0][2] = -ac[1]; - DcrossDB[1][0] = -ac[2]; - DcrossDB[1][1] = 0; - DcrossDB[1][2] = ac[0]; - DcrossDB[2][0] = ac[1]; - DcrossDB[2][1] = -ac[0]; - DcrossDB[2][2] = 0; + DcrossDB(0,0) = 0; + DcrossDB(0,1) = ac[2]; + DcrossDB(0,2) = -ac[1]; + DcrossDB(1,0) = -ac[2]; + DcrossDB(1,1) = 0; + DcrossDB(1,2) = ac[0]; + DcrossDB(2,0) = ac[1]; + DcrossDB(2,1) = -ac[0]; + DcrossDB(2,2) = 0; Mat33 DcrossDC; - DcrossDC[0][0] = 0; - DcrossDC[0][1] = -ab[2]; - DcrossDC[0][2] = ab[1]; - DcrossDC[1][0] = ab[2]; - DcrossDC[1][1] = 0; - DcrossDC[1][2] = -ab[0]; - DcrossDC[2][0] = -ab[1]; - DcrossDC[2][1] = ab[0]; - DcrossDC[2][2] = 0; + DcrossDC(0,0) = 0; + DcrossDC(0,1) = -ab[2]; + DcrossDC(0,2) = ab[1]; + DcrossDC(1,0) = ab[2]; + DcrossDC(1,1) = 0; + DcrossDC(1,2) = -ab[0]; + DcrossDC(2,0) = -ab[1]; + DcrossDC(2,1) = ab[0]; + DcrossDC(2,2) = 0; for (unsigned int j = 0; j < 3; j++) { diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.inl index 95a4026e256..7635436a57f 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.inl +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/SurfacePressureForceField.inl @@ -258,7 +258,7 @@ void SurfacePressureForceField::addKToMatrix(const core::MechanicalPa { for (unsigned int c = 0; c < 3; c++) { - mat->add(offset + N * i + l, offset + N * v + c, kFact * Kiv[l][c]); + mat->add(offset + N * i + l, offset + N * v + c, kFact * Kiv(l,c)); } } } @@ -395,20 +395,20 @@ void SurfacePressureForceField::addTriangleSurfacePressure(unsigned i if (computeDerivatives) { Mat33 DcrossDA; - DcrossDA[0][0]=0; DcrossDA[0][1]=-bc[2]; DcrossDA[0][2]=bc[1]; - DcrossDA[1][0]=bc[2]; DcrossDA[1][1]=0; DcrossDA[1][2]=-bc[0]; - DcrossDA[2][0]=-bc[1]; DcrossDA[2][1]=bc[0]; DcrossDA[2][2]=0; + DcrossDA(0,0)=0; DcrossDA(0,1)=-bc[2]; DcrossDA(0,2)=bc[1]; + DcrossDA(1,0)=bc[2]; DcrossDA(1,1)=0; DcrossDA(1,2)=-bc[0]; + DcrossDA(2,0)=-bc[1]; DcrossDA(2,1)=bc[0]; DcrossDA(2,2)=0; Mat33 DcrossDB; - DcrossDB[0][0]=0; DcrossDB[0][1]=ac[2]; DcrossDB[0][2]=-ac[1]; - DcrossDB[1][0]=-ac[2]; DcrossDB[1][1]=0; DcrossDB[1][2]=ac[0]; - DcrossDB[2][0]=ac[1]; DcrossDB[2][1]=-ac[0]; DcrossDB[2][2]=0; + DcrossDB(0,0)=0; DcrossDB(0,1)=ac[2]; DcrossDB(0,2)=-ac[1]; + DcrossDB(1,0)=-ac[2]; DcrossDB(1,1)=0; DcrossDB(1,2)=ac[0]; + DcrossDB(2,0)=ac[1]; DcrossDB(2,1)=-ac[0]; DcrossDB(2,2)=0; Mat33 DcrossDC; - DcrossDC[0][0]=0; DcrossDC[0][1]=-ab[2]; DcrossDC[0][2]=ab[1]; - DcrossDC[1][0]=ab[2]; DcrossDC[1][1]=0; DcrossDC[1][2]=-ab[0]; - DcrossDC[2][0]=-ab[1]; DcrossDC[2][1]=ab[0]; DcrossDC[2][2]=0; + DcrossDC(0,0)=0; DcrossDC(0,1)=-ab[2]; DcrossDC(0,2)=ab[1]; + DcrossDC(1,0)=ab[2]; DcrossDC(1,1)=0; DcrossDC(1,2)=-ab[0]; + DcrossDC(2,0)=-ab[1]; DcrossDC(2,1)=ab[0]; DcrossDC(2,2)=0; for (unsigned int j = 0; j < 3; j++) { diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl index e2fd21f2716..ddb33a32be5 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TaitSurfacePressureForceField.inl @@ -336,9 +336,9 @@ template inline sofa::type::Mat<3,3,T> matCross( const sofa::type::Vec<3,T>& u ) { sofa::type::Mat<3,3,T> res(sofa::type::NOINIT); - res[0][0] = 0 ; res[0][1] = -u[2]; res[0][2] = u[1]; - res[1][0] = u[2]; res[1][1] = 0 ; res[1][2] = -u[0]; - res[2][0] = -u[1]; res[2][1] = u[0]; res[2][2] = 0 ; + res(0,0) = 0 ; res(0,1) = -u[2]; res(0,2) = u[1]; + res(1,0) = u[2]; res(1,1) = 0 ; res(1,2) = -u[0]; + res(2,0) = -u[1]; res(2,1) = u[0]; res(2,2) = 0 ; return res; } diff --git a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h index 666841cbb07..8aeffb3ad10 100644 --- a/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h +++ b/Sofa/Component/MechanicalLoad/src/sofa/component/mechanicalload/TrianglePressureForceField.h @@ -60,10 +60,6 @@ class TrianglePressureForceField : public core::behavior::ForceField /// 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; - core::objectmodel::lifecycle::RemovedData normal{ this, "v24.06", "v24.12", "normal", "Plan selection using normal, dmin, dmax has been removed. Triangles should be selected using an Engine.Select and passed using Data triangleList" }; - core::objectmodel::lifecycle::RemovedData dmin{ this, "v24.06", "v24.12", "dmin", "Plan selection using normal, dmin, dmax has been removed. Triangles should be selected using an Engine.Select and passed using Data triangleList" }; - core::objectmodel::lifecycle::RemovedData dmax{ this, "v24.06", "v24.12", "dmax", "Plan selection using normal, dmin, dmax has been removed. Triangles should be selected using an Engine.Select and passed using Data triangleList" }; - protected: class TrianglePressureInformation diff --git a/Sofa/Component/ODESolver/Backward/Sofa.Component.ODESolver.BackwardConfig.cmake.in b/Sofa/Component/ODESolver/Backward/Sofa.Component.ODESolver.BackwardConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/ODESolver/Backward/Sofa.Component.ODESolver.BackwardConfig.cmake.in +++ b/Sofa/Component/ODESolver/Backward/Sofa.Component.ODESolver.BackwardConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/BDFOdeSolver.cpp b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/BDFOdeSolver.cpp index 583971b02df..635a16bb571 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/BDFOdeSolver.cpp +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/BDFOdeSolver.cpp @@ -111,6 +111,10 @@ void BDFOdeSolver::computeLinearMultiStepCoefficients(const std::deque& s void BDFOdeSolver::recomputeCoefficients(std::size_t order, SReal dt) { assert(m_timeList.size() == order + 1); + + SOFA_UNUSED(order); + SOFA_UNUSED(dt); + computeLinearMultiStepCoefficients(m_timeList, m_a_coef, m_b_coef); } diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp index e97bce25adf..85de14bca27 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.cpp @@ -188,6 +188,9 @@ void StaticSolver::solve(const core::ExecParams* params, SReal dt, core::MultiVe return; } + SOFA_UNUSED(dt); + SOFA_UNUSED(vResult); + // Create the vector and mechanical operations tools. These are used to execute special // operations (multiplication, additions, etc.) on multi-vectors (a vector that is stored // in different buffers inside the mechanical objects) diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.h b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.h index ffdc2c9a0dc..09e3e562005 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.h +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/StaticSolver.h @@ -141,12 +141,12 @@ class SOFA_COMPONENT_ODESOLVER_BACKWARD_API StaticSolver : std::optional value; }; - SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_newton_iterations; - SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_absolute_correction_tolerance_threshold; - SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_relative_correction_tolerance_threshold; - SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_absolute_residual_tolerance_threshold; - SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_relative_residual_tolerance_threshold; - SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_should_diverge_when_residual_is_growing; + SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_newton_iterations; + SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_absolute_correction_tolerance_threshold; + SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_relative_correction_tolerance_threshold; + SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_absolute_residual_tolerance_threshold; + SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_relative_residual_tolerance_threshold; + SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() NewtonRaphsonDeprecatedData d_should_diverge_when_residual_is_growing; }; } diff --git a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/config.h.in b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/config.h.in index c879ae48d79..28eee686445 100644 --- a/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/config.h.in +++ b/Sofa/Component/ODESolver/Backward/src/sofa/component/odesolver/backward/config.h.in @@ -39,8 +39,8 @@ namespace sofa::component::odesolver::backward #ifdef SOFA_BUILD_SOFA_COMPONENT_ODESOLVER_BACKWARD -#define SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() +#define SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() #else -#define SOFA_ATTRIBUTE_DEPRECATED__NEWTONRAPHSON_IN_STATICSOLVER() \ - SOFA_ATTRIBUTE_DEPRECATED("v25.06", "v25.12", "The Data are defined in the NewtonRaphsonSolver component.") +#define SOFA_ATTRIBUTE_DISABLED__NEWTONRAPHSON_IN_STATICSOLVER() \ + SOFA_ATTRIBUTE_DISABLED("v25.06", "v25.12", "The Data are defined in the NewtonRaphsonSolver component.") #endif diff --git a/Sofa/Component/ODESolver/Backward/tests/NewtonRaphsonSolver_test.cpp b/Sofa/Component/ODESolver/Backward/tests/NewtonRaphsonSolver_test.cpp index 4579eee7b92..f09e53f68a6 100644 --- a/Sofa/Component/ODESolver/Backward/tests/NewtonRaphsonSolver_test.cpp +++ b/Sofa/Component/ODESolver/Backward/tests/NewtonRaphsonSolver_test.cpp @@ -30,7 +30,7 @@ namespace sofa struct NewtonRaphsonSquareRootTest : public testing::NumericTest { - void onSetUp() override + void doSetUp() override { root = simulation::getSimulation()->createNewNode("root"); @@ -224,7 +224,7 @@ struct NewtonRaphsonTest : public testing::BaseSimulationTest component::odesolver::backward::NewtonRaphsonSolver* m_solver { nullptr }; component::statecontainer::MechanicalObject* m_state { nullptr }; - void onSetUp() override + void doSetUp() override { sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Direct"); sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); diff --git a/Sofa/Component/ODESolver/Forward/Sofa.Component.ODESolver.ForwardConfig.cmake.in b/Sofa/Component/ODESolver/Forward/Sofa.Component.ODESolver.ForwardConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/ODESolver/Forward/Sofa.Component.ODESolver.ForwardConfig.cmake.in +++ b/Sofa/Component/ODESolver/Forward/Sofa.Component.ODESolver.ForwardConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in b/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in index b864e73913d..22aa1378b93 100644 --- a/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in +++ b/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTODESOLVER_TARGETS @SOFACOMPONENTODESOLVER_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTODESOLVER_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Playback/Sofa.Component.PlaybackConfig.cmake.in b/Sofa/Component/Playback/Sofa.Component.PlaybackConfig.cmake.in index 029bb1bad05..2872270eadc 100644 --- a/Sofa/Component/Playback/Sofa.Component.PlaybackConfig.cmake.in +++ b/Sofa/Component/Playback/Sofa.Component.PlaybackConfig.cmake.in @@ -5,10 +5,11 @@ set(SOFA_COMPONENT_IO_MISC_HAVE_ZLIB @SOFA_COMPONENT_IO_MISC_HAVE_ZLIB@) -find_package(Sofa.Simulation.Common QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Common QUIET REQUIRED) if (SOFA_COMPONENT_IO_MISC_HAVE_ZLIB) - find_package(ZLIB QUIET REQUIRED) + sofa_find_package(ZLIB QUIET REQUIRED) endif() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/SceneUtility/Sofa.Component.SceneUtilityConfig.cmake.in b/Sofa/Component/SceneUtility/Sofa.Component.SceneUtilityConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/SceneUtility/Sofa.Component.SceneUtilityConfig.cmake.in +++ b/Sofa/Component/SceneUtility/Sofa.Component.SceneUtilityConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Setting/Sofa.Component.SettingConfig.cmake.in b/Sofa/Component/Setting/Sofa.Component.SettingConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Setting/Sofa.Component.SettingConfig.cmake.in +++ b/Sofa/Component/Setting/Sofa.Component.SettingConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Sofa.ComponentConfig.cmake.in b/Sofa/Component/Sofa.ComponentConfig.cmake.in index 7de696ae3e2..5e8951aae58 100644 --- a/Sofa/Component/Sofa.ComponentConfig.cmake.in +++ b/Sofa/Component/Sofa.ComponentConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENT_TARGETS @SOFACOMPONENT_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENT_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/Sofa.Component.SolidMechanics.FEM.ElasticConfig.cmake.in b/Sofa/Component/SolidMechanics/FEM/Elastic/Sofa.Component.SolidMechanics.FEM.ElasticConfig.cmake.in index 75fb826abe9..5e94811a2f4 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/Sofa.Component.SolidMechanics.FEM.ElasticConfig.cmake.in +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/Sofa.Component.SolidMechanics.FEM.ElasticConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") 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 b9def063f0f..62c8572a7a3 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 @@ -255,7 +255,7 @@ void BeamFEMForceField::addDForce(const sofa::core::MechanicalParams template typename BeamFEMForceField::Real BeamFEMForceField::pseudoDeterminantForCoef ( const type::Mat<2, 3, Real>& M ) { - return M[0][1]*M[1][2] - M[1][1]*M[0][2] - M[0][0]*M[1][2] + M[1][0]*M[0][2] + M[0][0]*M[1][1] - M[1][0]*M[0][1]; + return M(0,1)*M(1,2) - M(1,1)*M(0,2) - M(0,0)*M(1,2) + M(1,0)*M(0,2) + M(0,0)*M(1,1) - M(1,0)*M(0,1); } template @@ -293,31 +293,31 @@ void BeamFEMForceField::computeStiffness(int i, Index , Index ) // Define stiffness matrix 'k' in local coordinates k_loc.clear(); - k_loc[6][6] = k_loc[0][0] = _E*_A/_L; - k_loc[7][7] = k_loc[1][1] = (Real)(12.0*EIz/(L3*(1.0+phiy))); - k_loc[8][8] = k_loc[2][2] = (Real)(12.0*EIy/(L3*(1.0+phiz))); - k_loc[9][9] = k_loc[3][3] = _G*_J/_L; - k_loc[10][10] = k_loc[4][4] = (Real)((4.0+phiz)*EIy/(_L*(1.0+phiz))); - k_loc[11][11] = k_loc[5][5] = (Real)((4.0+phiy)*EIz/(_L*(1.0+phiy))); - - k_loc[4][2] = (Real)(-6.0*EIy/(L2*(1.0+phiz))); - k_loc[5][1] = (Real)( 6.0*EIz/(L2*(1.0+phiy))); - k_loc[6][0] = -k_loc[0][0]; - k_loc[7][1] = -k_loc[1][1]; - k_loc[7][5] = -k_loc[5][1]; - k_loc[8][2] = -k_loc[2][2]; - k_loc[8][4] = -k_loc[4][2]; - k_loc[9][3] = -k_loc[3][3]; - k_loc[10][2] = k_loc[4][2]; - k_loc[10][4] = (Real)((2.0-phiz)*EIy/(_L*(1.0+phiz))); - k_loc[10][8] = -k_loc[4][2]; - k_loc[11][1] = k_loc[5][1]; - k_loc[11][5] = (Real)((2.0-phiy)*EIz/(_L*(1.0+phiy))); - k_loc[11][7] = -k_loc[5][1]; + k_loc(6,6) = k_loc(0,0) = _E*_A/_L; + k_loc(7,7) = k_loc(1,1) = (Real)(12.0*EIz/(L3*(1.0+phiy))); + k_loc(8,8) = k_loc(2,2) = (Real)(12.0*EIy/(L3*(1.0+phiz))); + k_loc(9,9) = k_loc(3,3) = _G*_J/_L; + k_loc(10,10) = k_loc(4,4) = (Real)((4.0+phiz)*EIy/(_L*(1.0+phiz))); + k_loc(11,11) = k_loc(5,5) = (Real)((4.0+phiy)*EIz/(_L*(1.0+phiy))); + + k_loc(4,2) = (Real)(-6.0*EIy/(L2*(1.0+phiz))); + k_loc(5,1) = (Real)( 6.0*EIz/(L2*(1.0+phiy))); + k_loc(6,0) = -k_loc(0,0); + k_loc(7,1) = -k_loc(1,1); + k_loc(7,5) = -k_loc(5,1); + k_loc(8,2) = -k_loc(2,2); + k_loc(8,4) = -k_loc(4,2); + k_loc(9,3) = -k_loc(3,3); + k_loc(10,2) = k_loc(4,2); + k_loc(10,4) = (Real)((2.0-phiz)*EIy/(_L*(1.0+phiz))); + k_loc(10,8) = -k_loc(4,2); + k_loc(11,1) = k_loc(5,1); + k_loc(11,5) = (Real)((2.0-phiy)*EIz/(_L*(1.0+phiy))); + k_loc(11,7) = -k_loc(5,1); for (int i=0; i<=10; i++) for (int j=i+1; j<12; j++) - k_loc[i][j] = k_loc[j][i]; + k_loc(i,j) = k_loc(j,i); } inline type::Quat qDiff(type::Quat a, const type::Quat& b) @@ -542,13 +542,13 @@ void BeamFEMForceField::addKToMatrix(sofa::linearalgebra::BaseMatrix for (int i=0; i<3; i++) for (int j=0; j<3; j++) { - K.elems[i+x1][j+y1] += m[i][j]; - K.elems[j+y1][i+x1] += m[i][j]; + K(i+x1,j+y1) += m(i,j); + K(j+y1,i+x1) += m(i,j); } if (x1 == y1) for (int i=0; i<3; i++) for (int j=0; j<3; j++) - K.elems[i+x1][j+y1] *= SReal(0.5); + K(i+x1,j+y1) *= SReal(0.5); } } @@ -642,13 +642,13 @@ void BeamFEMForceField::buildStiffnessMatrix(core::behavior::Stiffnes for (int i=0; i<3; i++) for (int j=0; j<3; j++) { - K.elems[i+x1][j+y1] += m[i][j]; - K.elems[j+y1][i+x1] += m[i][j]; + K(i+x1,j+y1) += m(i,j); + K(j+y1,i+x1) += m(i,j); } if (x1 == y1) for (int i=0; i<3; i++) for (int j=0; j<3; j++) - K.elems[i+x1][j+y1] *= SReal(0.5); + K(i+x1,j+y1) *= SReal(0.5); } } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl index 1f90de5e5d4..434e54e7261 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.inl @@ -51,7 +51,7 @@ void FastTetrahedralCorotationalForceField::createTetrahedronRestInfo auto [lambda, mu] = Inherited::toLameParameters(_3DMat, youngModulusElement, poissonRatioElement); - typename DataTypes::Real volume,val; + typename DataTypes::Real val; typename DataTypes::Coord point[4]; //shapeVector[4]; const typename DataTypes::VecCoord restPosition=this->mstate->read(core::vec_id::read_access::restPosition)->getValue(); @@ -63,20 +63,20 @@ void FastTetrahedralCorotationalForceField::createTetrahedronRestInfo // store the point position for(j=0; j<4; ++j) point[j]=(restPosition)[t[j]]; - /// compute 6 times the rest volume - volume=dot(cross(point[1]-point[0],point[2]-point[0]),point[0]-point[3]); + + const auto tetrahedronVolume = -geometry::Tetrahedron::signedVolume(point[0],point[1],point[2],point[3]); /// store the rest volume - my_tinfo.restVolume=volume/6; - mu*=fabs(volume)/6; - lambda*=fabs(volume)/6; + my_tinfo.restVolume = tetrahedronVolume; + mu *= fabs(tetrahedronVolume); + lambda *= fabs(tetrahedronVolume); // store shape vectors at the rest configuration for(j=0; j<4; ++j) { if ((j%2)==0) - my_tinfo.shapeVector[j]=cross(point[(j+2)%4] - point[(j+1)%4],point[(j+3)%4] - point[(j+1)%4])/volume; + my_tinfo.shapeVector[j] = cross(point[(j+2)%4] - point[(j+1)%4],point[(j+3)%4] - point[(j+1)%4])/(tetrahedronVolume * 6); else - my_tinfo.shapeVector[j]= -cross(point[(j+2)%4] - point[(j+1)%4],point[(j+3)%4] - point[(j+1)%4])/volume; + my_tinfo.shapeVector[j] = -cross(point[(j+2)%4] - point[(j+1)%4],point[(j+3)%4] - point[(j+1)%4])/(tetrahedronVolume * 6); } /// compute the vertex stiffness of the linear elastic material, needed for addKToMatrix @@ -88,14 +88,14 @@ void FastTetrahedralCorotationalForceField::createTetrahedronRestInfo { for(n=m; n<3; ++n) { - my_tinfo.linearDfDxDiag[j][m][n]=lambda*my_tinfo.shapeVector[j][n]*my_tinfo.shapeVector[j][m]+ + my_tinfo.linearDfDxDiag[j](m,n)=lambda*my_tinfo.shapeVector[j][n]*my_tinfo.shapeVector[j][m]+ mu*my_tinfo.shapeVector[j][n]*my_tinfo.shapeVector[j][m]; if (m==n) { - my_tinfo.linearDfDxDiag[j][m][m]+=Real(val); + my_tinfo.linearDfDxDiag[j](m,m)+=Real(val); } else - my_tinfo.linearDfDxDiag[j][n][m]=my_tinfo.linearDfDxDiag[j][m][n]; + my_tinfo.linearDfDxDiag[j](n,m)=my_tinfo.linearDfDxDiag[j](m,n); } } } @@ -116,12 +116,12 @@ void FastTetrahedralCorotationalForceField::createTetrahedronRestInfo { for(n=0; n<3; ++n) { - my_tinfo.linearDfDx[j][m][n]=lambda*my_tinfo.shapeVector[k][n]*my_tinfo.shapeVector[l][m]+ + my_tinfo.linearDfDx[j](m,n)=lambda*my_tinfo.shapeVector[k][n]*my_tinfo.shapeVector[l][m]+ mu*my_tinfo.shapeVector[l][n]*my_tinfo.shapeVector[k][m]; if (m==n) { - my_tinfo.linearDfDx[j][m][m]+=Real(val); + my_tinfo.linearDfDx[j](m,m)+=Real(val); } } } @@ -256,7 +256,7 @@ void FastTetrahedralCorotationalForceField::updateTopologyInformation for (unsigned int j=0; j<6; ++j) { /// store the information about the orientation of the edge : 1 if the edge orientation matches the orientation in getLocalEdgesInTetrahedron - /// ie edgesInTetrahedronArray[6][2] = {{0,1}, {0,2}, {0,3}, {1,2}, {1,3}, {2,3}}; + /// ie edgesInTetrahedronArray(6,2) = {{0,1}, {0,2}, {0,3}, {1,2}, {1,3}, {2,3}}; if (ta[this->l_topology->getLocalEdgesInTetrahedron(j)[0]] == this->l_topology->getEdge(tea[j])[0]) tetinfo.edgeOrientation[j] = 1; else @@ -277,15 +277,15 @@ void FastTetrahedralCorotationalForceField::computeQRRotation( Mat3x3 const Coord edgez = cross( edgex, edgey ).normalized(); edgey = cross( edgez, edgex ); //edgey is unit vector because edgez and edgex are orthogonal unit vectors - r[0][0] = edgex[0]; - r[0][1] = edgex[1]; - r[0][2] = edgex[2]; - r[1][0] = edgey[0]; - r[1][1] = edgey[1]; - r[1][2] = edgey[2]; - r[2][0] = edgez[0]; - r[2][1] = edgez[1]; - r[2][2] = edgez[2]; + r(0,0) = edgex[0]; + r(0,1) = edgex[1]; + r(0,2) = edgex[2]; + r(1,0) = edgey[0]; + r(1,1) = edgey[1]; + r(1,2) = edgey[2]; + r(2,0) = edgez[0]; + r(2,1) = edgez[1]; + r(2,2) = edgez[2]; } template @@ -313,7 +313,7 @@ void FastTetrahedralCorotationalForceField::addForce(const sofa::core const core::topology::BaseMeshTopology::Tetrahedron &tetra = tetrahedra[i]; for (int j = 0; j < 4; ++j) - tetraVertex[j] = x[tetra[j]]; + tetraVertex[j] = x[tetra[j]]; // compute current tetrahedron displacement for (j=0; j<6; ++j) @@ -331,7 +331,7 @@ void FastTetrahedralCorotationalForceField::addForce(const sofa::core { for (l=0; l<3; ++l) { - deformationGradient[k][l]= displ[0][k]*sv[l]; + deformationGradient(k,l)= displ[0][k]*sv[l]; } } for (j=1; j<3; ++j) @@ -341,7 +341,7 @@ void FastTetrahedralCorotationalForceField::addForce(const sofa::core { for (l=0; l<3; ++l) { - deformationGradient[k][l]+= displ[j][k]*sv[l]; + deformationGradient(k,l)+= displ[j][k]*sv[l]; } } } @@ -496,7 +496,7 @@ void FastTetrahedralCorotationalForceField::buildStiffnessMatrix( TetrahedronRestInformation& tetinfo = tetrahedronInf[i]; const core::topology::BaseMeshTopology::EdgesInTetrahedron &tea = this->l_topology->getEdgesInTetrahedron(i); - for (sofa::Size j=0; j < EdgesInTetrahedron::size(); ++j) + for (sofa::Size j=0; j < tea.size(); ++j) { unsigned int edgeID = tea[j]; @@ -633,7 +633,7 @@ void FastTetrahedralCorotationalForceField::addKToMatrix(sofa::linear matRow = offset + 3*i + m; for (int n = 0; n < 3; n++) { matCol = offset + 3*i + n; - mat->add(matRow, matCol, -kFactor*tmp[m][n]); + mat->add(matRow, matCol, -kFactor*tmp(m,n)); } } } @@ -649,8 +649,8 @@ void FastTetrahedralCorotationalForceField::addKToMatrix(sofa::linear matRow = offset + 3*edge[0] + m; for (int n = 0; n < 3; n++) { matCol = offset + 3*edge[1] + n; - mat->add(matRow, matCol, -kFactor*tmp[n][m]); - mat->add(matCol, matRow, -kFactor*tmp[n][m]); + mat->add(matRow, matCol, -kFactor*tmp(n,m)); + mat->add(matCol, matRow, -kFactor*tmp(n,m)); } } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl index 8cc000680a6..949d5421c4f 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.inl @@ -57,14 +57,14 @@ HexahedralFEMForceField::HexahedralFEMForceField() , d_hexahedronInfo(initData(&d_hexahedronInfo, "hexahedronInfo", "Internal hexahedron data")) { - _coef[0][0]= -1; _coef[0][1]= -1; _coef[0][2]= -1; - _coef[1][0]= 1; _coef[1][1]= -1; _coef[1][2]= -1; - _coef[2][0]= 1; _coef[2][1]= 1; _coef[2][2]= -1; - _coef[3][0]= -1; _coef[3][1]= 1; _coef[3][2]= -1; - _coef[4][0]= -1; _coef[4][1]= -1; _coef[4][2]= 1; - _coef[5][0]= 1; _coef[5][1]= -1; _coef[5][2]= 1; - _coef[6][0]= 1; _coef[6][1]= 1; _coef[6][2]= 1; - _coef[7][0]= -1; _coef[7][1]= 1; _coef[7][2]= 1; + _coef(0,0)= -1; _coef(0,1)= -1; _coef(0,2)= -1; + _coef(1,0)= 1; _coef(1,1)= -1; _coef(1,2)= -1; + _coef(2,0)= 1; _coef(2,1)= 1; _coef(2,2)= -1; + _coef(3,0)= -1; _coef(3,1)= 1; _coef(3,2)= -1; + _coef(4,0)= -1; _coef(4,1)= -1; _coef(4,2)= 1; + _coef(5,0)= 1; _coef(5,1)= -1; _coef(5,2)= 1; + _coef(6,0)= 1; _coef(6,1)= 1; _coef(6,2)= 1; + _coef(7,0)= -1; _coef(7,1)= 1; _coef(7,2)= 1; } template @@ -214,9 +214,9 @@ void HexahedralFEMForceField::computeElementStiffness( ElementStiffne Mat33 J_1; // only accurate for orthogonal regular hexa J_1.fill( 0.0 ); Coord l = nodes[6] - nodes[0]; - J_1[0][0]=2.0f / l[0]; - J_1[1][1]=2.0f / l[1]; - J_1[2][2]=2.0f / l[2]; + J_1(0,0)=2.0f / l[0]; + J_1(1,1)=2.0f / l[1]; + J_1(2,2)=2.0f / l[2]; Real vol = ((nodes[1]-nodes[0]).norm()*(nodes[3]-nodes[0]).norm()*(nodes[4]-nodes[0]).norm()); vol /= 8.0; // ??? @@ -226,24 +226,24 @@ void HexahedralFEMForceField::computeElementStiffness( ElementStiffne for(int i=0; i<8; ++i) { - Mat33 k = vol*integrateStiffness( _coef[i][0], _coef[i][1],_coef[i][2], _coef[i][0], _coef[i][1],_coef[i][2], M[0][0], M[0][1],M[3][3], J_1 ); + Mat33 k = vol*integrateStiffness( _coef(i,0), _coef(i,1),_coef(i,2), _coef(i,0), _coef(i,1),_coef(i,2), M(0,0), M(0,1),M(3,3), J_1 ); for(int m=0; m<3; ++m) { for(int l=0; l<3; ++l) { - K[i*3+m][i*3+l] += k[m][l]; + K(i*3+m,i*3+l) += k(m,l); } } for(int j=i+1; j<8; ++j) { - Mat33 k = vol*integrateStiffness( _coef[i][0], _coef[i][1],_coef[i][2], _coef[j][0], _coef[j][1],_coef[j][2], M[0][0], M[0][1],M[3][3], J_1 ); + Mat33 k = vol*integrateStiffness( _coef(i,0), _coef(i,1),_coef(i,2), _coef(j,0), _coef(j,1),_coef(j,2), M(0,0), M(0,1),M(3,3), J_1 ); for(int m=0; m<3; ++m) for(int l=0; l<3; ++l) { - K[i*3+m][j*3+l] += k[m][l]; + K(i*3+m,j*3+l) += k(m,l); } } } @@ -251,19 +251,19 @@ void HexahedralFEMForceField::computeElementStiffness( ElementStiffne for(int i=0; i<24; ++i) for(int j=i+1; j<24; ++j) { - K[j][i] = K[i][j]; + K(j,i) = K(i,j); } } - + template typename HexahedralFEMForceField::Mat33 HexahedralFEMForceField::integrateStiffness( int signx0, int signy0, int signz0, int signx1, int signy1, int signz1, const Real u, const Real v, const Real w, const Mat33& J_1 ) { Mat33 K; - Real t1 = J_1[0][0]*J_1[0][0]; + Real t1 = J_1(0,0)*J_1(0,0); Real t2 = t1*signx0; Real t3 = (Real)(signy0*signz0); Real t4 = t2*t3; @@ -282,27 +282,27 @@ typename HexahedralFEMForceField::Mat33 HexahedralFEMForceField::Mat33 HexahedralFEMForceField void HexahedralFEMForceField::computeMaterialStiffness(MaterialStiffness &m, double youngModulus, double poissonRatio) { - m[0][0] = m[1][1] = m[2][2] = 1; - m[0][1] = m[0][2] = m[1][0]= m[1][2] = m[2][0] = m[2][1] = (Real)(poissonRatio/(1-poissonRatio)); - m[0][3] = m[0][4] = m[0][5] = 0; - m[1][3] = m[1][4] = m[1][5] = 0; - m[2][3] = m[2][4] = m[2][5] = 0; - m[3][0] = m[3][1] = m[3][2] = m[3][4] = m[3][5] = 0; - m[4][0] = m[4][1] = m[4][2] = m[4][3] = m[4][5] = 0; - m[5][0] = m[5][1] = m[5][2] = m[5][3] = m[5][4] = 0; - m[3][3] = m[4][4] = m[5][5] = (Real)((1-2*poissonRatio)/(2*(1-poissonRatio))); + m(0,0) = m(1,1) = m(2,2) = 1; + m(0,1) = m(0,2) = m(1,0)= m(1,2) = m(2,0) = m(2,1) = (Real)(poissonRatio/(1-poissonRatio)); + m(0,3) = m(0,4) = m(0,5) = 0; + m(1,3) = m(1,4) = m(1,5) = 0; + m(2,3) = m(2,4) = m(2,5) = 0; + m(3,0) = m(3,1) = m(3,2) = m(3,4) = m(3,5) = 0; + m(4,0) = m(4,1) = m(4,2) = m(4,3) = m(4,5) = 0; + m(5,0) = m(5,1) = m(5,2) = m(5,3) = m(5,4) = 0; + m(3,3) = m(4,4) = m(5,5) = (Real)((1-2*poissonRatio)/(2*(1-poissonRatio))); m *= (Real)((youngModulus*(1-poissonRatio))/((1+poissonRatio)*(1-2*poissonRatio))); } @@ -416,15 +416,15 @@ void HexahedralFEMForceField::computeRotationLarge( Transformation &r edgey = cross( edgez, edgex ); //edgey is unit vector because edgez and edgex are orthogonal unit vectors - r[0][0] = edgex[0]; - r[0][1] = edgex[1]; - r[0][2] = edgex[2]; - r[1][0] = edgey[0]; - r[1][1] = edgey[1]; - r[1][2] = edgey[2]; - r[2][0] = edgez[0]; - r[2][1] = edgez[1]; - r[2][2] = edgez[2]; + r(0,0) = edgex[0]; + r(0,1) = edgex[1]; + r(0,2) = edgex[2]; + r(1,0) = edgey[0]; + r(1,1) = edgey[1]; + r(1,2) = edgey[2]; + r(2,0) = edgez[0]; + r(2,1) = edgez[1]; + r(2,2) = edgez[2]; } template @@ -510,22 +510,22 @@ void HexahedralFEMForceField::computeRotationPolar( Transformation &r { Transformation A; Coord Edge =(nodes[1]-nodes[0] + nodes[2]-nodes[3] + nodes[5]-nodes[4] + nodes[6]-nodes[7])*.25; - A[0][0] = Edge[0]; - A[0][1] = Edge[1]; - A[0][2] = Edge[2]; + A(0,0) = Edge[0]; + A(0,1) = Edge[1]; + A(0,2) = Edge[2]; Edge = (nodes[3]-nodes[0] + nodes[2]-nodes[1] + nodes[7]-nodes[4] + nodes[6]-nodes[5])*.25; - A[1][0] = Edge[0]; - A[1][1] = Edge[1]; - A[1][2] = Edge[2]; + A(1,0) = Edge[0]; + A(1,1) = Edge[1]; + A(1,2) = Edge[2]; Edge = (nodes[4]-nodes[0] + nodes[5]-nodes[1] + nodes[7]-nodes[3] + nodes[6]-nodes[2])*.25; - A[2][0] = Edge[0]; - A[2][1] = Edge[1]; - A[2][2] = Edge[2]; + A(2,0) = Edge[0]; + A(2,1) = Edge[1]; + A(2,2) = Edge[2]; Mat33 HT; for(int k=0; k<3; ++k) for(int j=0; j<3; ++j) - HT[k][j]=A[k][j]; + HT(k,j)=A(k,j); helper::Decompose::polarDecomposition(HT, r); } @@ -601,12 +601,12 @@ void HexahedralFEMForceField::addKToMatrix(sofa::linearalgebra::BaseM for (n2=0; n2<8; n2++) { node2 = this->l_topology->getHexahedron(e)[n2]; - Mat33 tmp = hexahedronInf[e].rotation.multTranspose( Mat33(Coord(Ke[3*n1+0][3*n2+0],Ke[3*n1+0][3*n2+1],Ke[3*n1+0][3*n2+2]), - Coord(Ke[3*n1+1][3*n2+0],Ke[3*n1+1][3*n2+1],Ke[3*n1+1][3*n2+2]), - Coord(Ke[3*n1+2][3*n2+0],Ke[3*n1+2][3*n2+1],Ke[3*n1+2][3*n2+2])) ) * hexahedronInf[e].rotation; + Mat33 tmp = hexahedronInf[e].rotation.multTranspose( Mat33(Coord(Ke(3*n1+0,3*n2+0),Ke(3*n1+0,3*n2+1),Ke(3*n1+0,3*n2+2)), + Coord(Ke(3*n1+1,3*n2+0),Ke(3*n1+1,3*n2+1),Ke(3*n1+1,3*n2+2)), + Coord(Ke(3*n1+2,3*n2+0),Ke(3*n1+2,3*n2+1),Ke(3*n1+2,3*n2+2))) ) * hexahedronInf[e].rotation; for(i=0; i<3; i++) for (j=0; j<3; j++) - matrix->add(offset+3*node1+i, offset+3*node2+j, - tmp[i][j]*kFact); + matrix->add(offset+3*node1+i, offset+3*node2+j, - tmp(i,j)*kFact); } } } @@ -636,9 +636,9 @@ void HexahedralFEMForceField::buildStiffnessMatrix(core::behavior::St { const Index node2 = hexahedra[e][n2]; const Mat33 tmp = hexahedronInf[e].rotation.multTranspose( - Mat33(Coord(Ke[3 * n1 + 0][3 * n2 + 0], Ke[3 * n1 + 0][3 * n2 + 1], Ke[3 * n1 + 0][3 * n2 + 2]), - Coord(Ke[3 * n1 + 1][3 * n2 + 0], Ke[3 * n1 + 1][3 * n2 + 1], Ke[3 * n1 + 1][3 * n2 + 2]), - Coord(Ke[3 * n1 + 2][3 * n2 + 0], Ke[3 * n1 + 2][3 * n2 + 1], Ke[3 * n1 + 2][3 * n2 + 2]))) + Mat33(Coord(Ke(3 * n1 + 0,3 * n2 + 0), Ke(3 * n1 + 0,3 * n2 + 1), Ke(3 * n1 + 0,3 * n2 + 2)), + Coord(Ke(3 * n1 + 1,3 * n2 + 0), Ke(3 * n1 + 1,3 * n2 + 1), Ke(3 * n1 + 1,3 * n2 + 2)), + Coord(Ke(3 * n1 + 2,3 * n2 + 0), Ke(3 * n1 + 2,3 * n2 + 1), Ke(3 * n1 + 2,3 * n2 + 2)))) * hexahedronInf[e].rotation; dfdx(3 * node1, 3 * node2) += - tmp; } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl index 968e72cd24e..d65b5794ad9 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.inl @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include @@ -114,9 +114,9 @@ void HexahedralFEMForceFieldAndMass::computeLumpedMasses( ) { for(int j=0; j<8*3; ++j) { - lumpedMasses[ hexahedra[i][w] ][0] += mass[w*3 ][j]; - lumpedMasses[ hexahedra[i][w] ][1] += mass[w*3+1][j]; - lumpedMasses[ hexahedra[i][w] ][2] += mass[w*3+2][j]; + lumpedMasses[ hexahedra[i][w] ][0] += mass(w*3 ,j); + lumpedMasses[ hexahedra[i][w] ][1] += mass(w*3+1,j); + lumpedMasses[ hexahedra[i][w] ][2] += mass(w*3+2,j); } } } @@ -168,36 +168,36 @@ void HexahedralFEMForceFieldAndMass::computeElementMass( ElementMass for(int i=0; i<8; ++i) { - Real mass = totalMass * integrateVolume(this->_coef[i][0], - this->_coef[i][1], - this->_coef[i][2], + Real mass = totalMass * integrateVolume(this->_coef(i,0), + this->_coef(i,1), + this->_coef(i,2), 2.0f/l[0], 2.0f/l[1], 2.0f/l[2]); - Mass[i*3][i*3] += mass; - Mass[i*3+1][i*3+1] += mass; - Mass[i*3+2][i*3+2] += mass; + Mass(i*3,i*3) += mass; + Mass(i*3+1,i*3+1) += mass; + Mass(i*3+2,i*3+2) += mass; for(int j=i+1; j<8; ++j) { - Real mass = totalMass * integrateVolume(this->_coef[i][0], - this->_coef[i][1], - this->_coef[i][2], + Real mass = totalMass * integrateVolume(this->_coef(i,0), + this->_coef(i,1), + this->_coef(i,2), 2.0f/l[0], 2.0f/l[1], 2.0f/l[2]); - Mass[i*3][j*3] += mass; - Mass[i*3+1][j*3+1] += mass; - Mass[i*3+2][j*3+2] += mass; + Mass(i*3,j*3) += mass; + Mass(i*3+1,j*3+1) += mass; + Mass(i*3+2,j*3+2) += mass; } } for(int i=0; i<24; ++i) for(int j=i+1; j<24; ++j) { - Mass[j][i] = Mass[i][j]; + Mass(j,i) = Mass(i,j); } } @@ -273,12 +273,12 @@ void HexahedralFEMForceFieldAndMass::addMToMatrix(sofa::linearalgebra { node2 = hexahedra[e][n2]; - Mat33 tmp = Mat33(Coord(Me[3*n1+0][3*n2+0],Me[3*n1+0][3*n2+1],Me[3*n1+0][3*n2+2]), - Coord(Me[3*n1+1][3*n2+0],Me[3*n1+1][3*n2+1],Me[3*n1+1][3*n2+2]), - Coord(Me[3*n1+2][3*n2+0],Me[3*n1+2][3*n2+1],Me[3*n1+2][3*n2+2])); + Mat33 tmp = Mat33(Coord(Me(3*n1+0,3*n2+0),Me(3*n1+0,3*n2+1),Me(3*n1+0,3*n2+2)), + Coord(Me(3*n1+1,3*n2+0),Me(3*n1+1,3*n2+1),Me(3*n1+1,3*n2+2)), + Coord(Me(3*n1+2,3*n2+0),Me(3*n1+2,3*n2+1),Me(3*n1+2,3*n2+2))); for(i=0; i<3; i++) for (j=0; j<3; j++) - mat->add(offset+3*node1+i, offset+3*node2+j, tmp[i][j]*mFact); + mat->add(offset+3*node1+i, offset+3*node2+j, tmp(i,j)*mFact); } } } @@ -313,12 +313,12 @@ void HexahedralFEMForceFieldAndMass::addKToMatrix(sofa::linearalgebra { node2 = hexa[n2]; - Mat33 tmp = it->rotation.multTranspose( Mat33(Coord(Ke[3*n1+0][3*n2+0],Ke[3*n1+0][3*n2+1],Ke[3*n1+0][3*n2+2]), - Coord(Ke[3*n1+1][3*n2+0],Ke[3*n1+1][3*n2+1],Ke[3*n1+1][3*n2+2]), - Coord(Ke[3*n1+2][3*n2+0],Ke[3*n1+2][3*n2+1],Ke[3*n1+2][3*n2+2])) ) * it->rotation; + Mat33 tmp = it->rotation.multTranspose( Mat33(Coord(Ke(3*n1+0,3*n2+0),Ke(3*n1+0,3*n2+1),Ke(3*n1+0,3*n2+2)), + Coord(Ke(3*n1+1,3*n2+0),Ke(3*n1+1,3*n2+1),Ke(3*n1+1,3*n2+2)), + Coord(Ke(3*n1+2,3*n2+0),Ke(3*n1+2,3*n2+1),Ke(3*n1+2,3*n2+2))) ) * it->rotation; for(i=0; i<3; i++) for (j=0; j<3; j++) - matrix->add(offset+3*node1+i, offset+3*node2+j, - tmp[i][j]*kFact); + matrix->add(offset+3*node1+i, offset+3*node2+j, - tmp(i,j)*kFact); } } } @@ -364,20 +364,20 @@ void HexahedralFEMForceFieldAndMass::addMBKToMatrix (const core::Mech node2 = hexa[n2]; // add M to matrix - Mat33 tmp = Mat33 ( Coord ( Me[3*n1+0][3*n2+0], Me[3*n1+0][3*n2+1], Me[3*n1+0][3*n2+2] ), - Coord ( Me[3*n1+1][3*n2+0], Me[3*n1+1][3*n2+1], Me[3*n1+1][3*n2+2] ), - Coord ( Me[3*n1+2][3*n2+0], Me[3*n1+2][3*n2+1], Me[3*n1+2][3*n2+2] ) ); + Mat33 tmp = Mat33 ( Coord ( Me(3*n1+0,3*n2+0), Me(3*n1+0,3*n2+1), Me(3*n1+0,3*n2+2) ), + Coord ( Me(3*n1+1,3*n2+0), Me(3*n1+1,3*n2+1), Me(3*n1+1,3*n2+2) ), + Coord ( Me(3*n1+2,3*n2+0), Me(3*n1+2,3*n2+1), Me(3*n1+2,3*n2+2) ) ); for ( i = 0; i < 3; i++ ) for ( j = 0; j < 3; j++ ) - r.matrix->add ( r.offset + 3*node1 + i, r.offset + 3*node2 + j, tmp[i][j]*mFactor); + r.matrix->add ( r.offset + 3*node1 + i, r.offset + 3*node2 + j, tmp(i,j)*mFactor); // add K to matrix - tmp = it->rotation.multTranspose ( Mat33 ( Coord ( Ke[3*n1+0][3*n2+0], Ke[3*n1+0][3*n2+1], Ke[3*n1+0][3*n2+2] ), - Coord ( Ke[3*n1+1][3*n2+0], Ke[3*n1+1][3*n2+1], Ke[3*n1+1][3*n2+2] ), - Coord ( Ke[3*n1+2][3*n2+0], Ke[3*n1+2][3*n2+1], Ke[3*n1+2][3*n2+2] ) ) ) * it->rotation; + tmp = it->rotation.multTranspose ( Mat33 ( Coord ( Ke(3*n1+0,3*n2+0), Ke(3*n1+0,3*n2+1), Ke(3*n1+0,3*n2+2) ), + Coord ( Ke(3*n1+1,3*n2+0), Ke(3*n1+1,3*n2+1), Ke(3*n1+1,3*n2+2) ), + Coord ( Ke(3*n1+2,3*n2+0), Ke(3*n1+2,3*n2+1), Ke(3*n1+2,3*n2+2) ) ) ) * it->rotation; for ( i = 0; i < 3; i++ ) for ( j = 0; j < 3; j++ ) - r.matrix->add ( r.offset + 3*node1 + i, r.offset + 3*node2 + j, - tmp[i][j]*kFactor); + r.matrix->add ( r.offset + 3*node1 + i, r.offset + 3*node2 + j, - tmp(i,j)*kFactor); } } } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl index c19f55ab44a..27de3f99fd9 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl @@ -63,30 +63,30 @@ HexahedronFEMForceField::HexahedronFEMForceField() , data(new HexahedronFEMForceFieldInternalData()) { data->initPtrData(this); - _coef[0][0]=-1; - _coef[1][0]=1; - _coef[2][0]=1; - _coef[3][0]=-1; - _coef[4][0]=-1; - _coef[5][0]=1; - _coef[6][0]=1; - _coef[7][0]=-1; - _coef[0][1]=-1; - _coef[1][1]=-1; - _coef[2][1]=1; - _coef[3][1]=1; - _coef[4][1]=-1; - _coef[5][1]=-1; - _coef[6][1]=1; - _coef[7][1]=1; - _coef[0][2]=-1; - _coef[1][2]=-1; - _coef[2][2]=-1; - _coef[3][2]=-1; - _coef[4][2]=1; - _coef[5][2]=1; - _coef[6][2]=1; - _coef[7][2]=1; + _coef(0,0)=-1; + _coef(1,0)=1; + _coef(2,0)=1; + _coef(3,0)=-1; + _coef(4,0)=-1; + _coef(5,0)=1; + _coef(6,0)=1; + _coef(7,0)=-1; + _coef(0,1)=-1; + _coef(1,1)=-1; + _coef(2,1)=1; + _coef(3,1)=1; + _coef(4,1)=-1; + _coef(5,1)=-1; + _coef(6,1)=1; + _coef(7,1)=1; + _coef(0,2)=-1; + _coef(1,2)=-1; + _coef(2,2)=-1; + _coef(3,2)=-1; + _coef(4,2)=1; + _coef(5,2)=1; + _coef(6,2)=1; + _coef(7,2)=1; _alreadyInit=false; } @@ -325,8 +325,8 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne // with Bi = part of B related to node i: Bi = [ [ dNi/dx 0 0 ] [ 0 dNi/dy 0 ] [ 0 0 dNi/dz ] [ dNi/dy dNi/dx 0 ] [ 0 dNi/dz dNi/dy ] [ dNi/dz 0 dNi/dx ] ] // This integral can be estimated using 8 gauss quadrature points (x1,x2,x3)=(+-1/sqrt(3),+-1/sqrt(3),+-sqrt(3)) K.fill( 0.0 ); - Mat33 J; // J[i][j] = dXi/dxj - Mat33 J_1; // J_1[i][j] = dxi/dXj + Mat33 J; // J(i,j) = dXi/dxj + Mat33 J_1; // J_1(i,j) = dxi/dXj Mat33 J_1t; Real detJ = (Real)1.0; // check if the hexaedra is a parallelepiped @@ -339,9 +339,9 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne isParallel = true; for (int c=0; c<3; ++c) { - J[c][0] = lx[c]/2; - J[c][1] = ly[c]/2; - J[c][2] = lz[c]/2; + J(c,0) = lx[c]/2; + J(c,1) = ly[c]/2; + J(c,2) = lz[c]/2; } detJ = type::determinant(J); const bool canInvert = J_1.invert(J); @@ -353,12 +353,12 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne << "invJ = " << J_1 << msgendl << "detJ = " << detJ << msgendl; } - const Real U = M[0][0]; - const Real V = M[0][1]; + const Real U = M(0,0); + const Real V = M(0,1); #ifdef MAT_STIFFNESS_USE_W - const Real W = M[3][3]; + const Real W = M(3,3); #else - const Real W = M[2][2]; + const Real W = M(2,2); #endif const double inv_sqrt3 = 1.0/sqrt(3.0); for (int gx1=-1; gx1<=1; gx1+=2) @@ -367,17 +367,17 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne { double x1 = gx1*inv_sqrt3; double x2 = gx2*inv_sqrt3; - double x3 = gx3*inv_sqrt3; + double x3 = gx3*inv_sqrt3; // compute jacobian matrix - //Mat33 J; // J[i][j] = dXi/dxj - //Mat33 J_1; // J_1[i][j] = dxi/dXj + //Mat33 J; // J(i,j) = dXi/dxj + //Mat33 J_1; // J_1(i,j) = dxi/dXj if (!isParallel) { for (int c=0; c<3; ++c) { - J[c][0] = (Real)( (nodes[1][c]-nodes[0][c])*(1-x2)*(1-x3)/8+(nodes[2][c]-nodes[3][c])*(1+x2)*(1-x3)/8+(nodes[5][c]-nodes[4][c])*(1-x2)*(1+x3)/8+(nodes[6][c]-nodes[7][c])*(1+x2)*(1+x3)/8); - J[c][1] =(Real)( (nodes[3][c]-nodes[0][c])*(1-x1)*(1-x3)/8+(nodes[2][c]-nodes[1][c])*(1+x1)*(1-x3)/8+(nodes[7][c]-nodes[4][c])*(1-x1)*(1+x3)/8+(nodes[6][c]-nodes[5][c])*(1+x1)*(1+x3)/8); - J[c][2] =(Real)( (nodes[4][c]-nodes[0][c])*(1-x1)*(1-x2)/8+(nodes[5][c]-nodes[1][c])*(1+x1)*(1-x2)/8+(nodes[6][c]-nodes[2][c])*(1+x1)*(1+x2)/8+(nodes[7][c]-nodes[3][c])*(1-x1)*(1+x2)/8); + J(c,0) = (Real)( (nodes[1][c]-nodes[0][c])*(1-x2)*(1-x3)/8+(nodes[2][c]-nodes[3][c])*(1+x2)*(1-x3)/8+(nodes[5][c]-nodes[4][c])*(1-x2)*(1+x3)/8+(nodes[6][c]-nodes[7][c])*(1+x2)*(1+x3)/8); + J(c,1) =(Real)( (nodes[3][c]-nodes[0][c])*(1-x1)*(1-x3)/8+(nodes[2][c]-nodes[1][c])*(1+x1)*(1-x3)/8+(nodes[7][c]-nodes[4][c])*(1-x1)*(1+x3)/8+(nodes[6][c]-nodes[5][c])*(1+x1)*(1+x3)/8); + J(c,2) =(Real)( (nodes[4][c]-nodes[0][c])*(1-x1)*(1-x2)/8+(nodes[5][c]-nodes[1][c])*(1+x1)*(1-x2)/8+(nodes[6][c]-nodes[2][c])*(1+x1)*(1+x2)/8+(nodes[7][c]-nodes[3][c])*(1-x1)*(1+x2)/8); } detJ = type::determinant(J); const bool canInvert = J_1.invert(J); @@ -394,16 +394,16 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne Real qz[8]; for(int i=0; i<8; ++i) { - // Ni = 1/8 (1+_coef[i][0]x1)(1+_coef[i][1]x2)(1+_coef[i][2]x3) + // Ni = 1/8 (1+_coef(i,0)x1)(1+_coef(i,1)x2)(1+_coef(i,2)x3) // qxi = dNi/dx = dNi/dx1 dx1/dx + dNi/dx2 dx2/dx + dNi/dx3 dx3/dx - Real dNi_dx1 =(Real)( (_coef[i][0])*(1+_coef[i][1]*x2)*(1+_coef[i][2]*x3)/8.0); - Real dNi_dx2 =(Real)((1+_coef[i][0]*x1)*(_coef[i][1])*(1+_coef[i][2]*x3)/8.0); - Real dNi_dx3 =(Real)((1+_coef[i][0]*x1)*(1+_coef[i][1]*x2)*(_coef[i][2])/8.0); + Real dNi_dx1 =(Real)( (_coef(i,0))*(1+_coef(i,1)*x2)*(1+_coef(i,2)*x3)/8.0); + Real dNi_dx2 =(Real)((1+_coef(i,0)*x1)*(_coef(i,1))*(1+_coef(i,2)*x3)/8.0); + Real dNi_dx3 =(Real)((1+_coef(i,0)*x1)*(1+_coef(i,1)*x2)*(_coef(i,2))/8.0); dmsg_info_when(verbose) << "dN"<::computeElementStiffness( ElementStiffne for(int i=0; i<8; ++i) { type::Mat<6,3,Real> MBi; - MBi[0][0] = U * qx[i]; MBi[0][1] = V * qy[i]; MBi[0][2] = V * qz[i]; - MBi[1][0] = V * qx[i]; MBi[1][1] = U * qy[i]; MBi[1][2] = V * qz[i]; - MBi[2][0] = V * qx[i]; MBi[2][1] = V * qy[i]; MBi[2][2] = U * qz[i]; - MBi[3][0] = W * qy[i]; MBi[3][1] = W * qx[i]; MBi[3][2] = (Real)0; - MBi[4][0] = (Real)0; MBi[4][1] = W * qz[i]; MBi[4][2] = W * qy[i]; - MBi[5][0] = W * qz[i]; MBi[5][1] = (Real)0; MBi[5][2] = W * qx[i]; + MBi(0,0) = U * qx[i]; MBi(0,1) = V * qy[i]; MBi(0,2) = V * qz[i]; + MBi(1,0) = V * qx[i]; MBi(1,1) = U * qy[i]; MBi(1,2) = V * qz[i]; + MBi(2,0) = V * qx[i]; MBi(2,1) = V * qy[i]; MBi(2,2) = U * qz[i]; + MBi(3,0) = W * qy[i]; MBi(3,1) = W * qx[i]; MBi(3,2) = (Real)0; + MBi(4,0) = (Real)0; MBi(4,1) = W * qz[i]; MBi(4,2) = W * qy[i]; + MBi(5,0) = W * qz[i]; MBi(5,1) = (Real)0; MBi(5,2) = W * qx[i]; dmsg_info_when(verbose) << "MB"<::computeElementStiffness( ElementStiffne for(int m=0; m<3; ++m) for(int l=0; l<3; ++l) { - K[i*3+m][j*3+l] += k[l][m]; + K(i*3+m,j*3+l) += k(l,m); } } } @@ -453,7 +453,7 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne for(int i=0; i<24; ++i) for(int j=i+1; j<24; ++j) { - K[j][i] = K[i][j]; + K(j,i) = K(i,j); } ElementStiffness K1 = K; K.fill( 0.0 ); @@ -461,9 +461,9 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne //Mat33 J_1; // only accurate for orthogonal regular hexa J_1.fill( 0.0 ); Coord l = nodes[6] - nodes[0]; - J_1[0][0]=2.0f / l[0]; - J_1[1][1]=2.0f / l[1]; - J_1[2][2]=2.0f / l[2]; + J_1(0,0)=2.0f / l[0]; + J_1(1,1)=2.0f / l[1]; + J_1(2,2)=2.0f / l[2]; Real vol = ((nodes[1]-nodes[0]).norm()*(nodes[3]-nodes[0]).norm()*(nodes[4]-nodes[0]).norm()); @@ -475,24 +475,24 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne for(int i=0; i<8; ++i) { - Mat33 k = integrateStiffness( _coef[i][0], _coef[i][1],_coef[i][2], _coef[i][0], _coef[i][1],_coef[i][2], M[0][0], M[0][1],M[3][3], J_1 )*vol; + Mat33 k = integrateStiffness( _coef(i,0), _coef(i,1),_coef(i,2), _coef(i,0), _coef(i,1),_coef(i,2), M(0,0), M(0,1),M(3,3), J_1 )*vol; for(int m=0; m<3; ++m) for(int l=0; l<3; ++l) { - K[i*3+m][i*3+l] += k[m][l]; + K(i*3+m,i*3+l) += k(m,l); } for(int j=i+1; j<8; ++j) { - Mat33 k = integrateStiffness( _coef[i][0], _coef[i][1],_coef[i][2], _coef[j][0], _coef[j][1],_coef[j][2], M[0][0], M[0][1],M[3][3], J_1 )*vol; + Mat33 k = integrateStiffness( _coef(i,0), _coef(i,1),_coef(i,2), _coef(j,0), _coef(j,1),_coef(j,2), M(0,0), M(0,1),M(3,3), J_1 )*vol; for(int m=0; m<3; ++m) for(int l=0; l<3; ++l) { - K[i*3+m][j*3+l] += k[m][l]; + K(i*3+m,j*3+l) += k(m,l); } } } @@ -500,7 +500,7 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne for(int i=0; i<24; ++i) for(int j=i+1; j<24; ++j) { - K[j][i] = K[i][j]; + K(j,i) = K(i,j); } #ifdef GENERIC_STIFFNESS_MATRIX @@ -525,7 +525,7 @@ void HexahedronFEMForceField::computeElementStiffness( ElementStiffne for(int jcomp=0; jcomp<3; jcomp++) { int jmatrix=jnode*3+jcomp; - tmp<::Mat33 HexahedronFEMForceField::Mat33 HexahedronFEMForceField::Mat33 HexahedronFEMForceField::Mat33 HexahedronFEMForceField::Mat33 HexahedronFEMForceField::Mat33 HexahedronFEMForceField void HexahedronFEMForceField::computeMaterialStiffness(sofa::Index i) { const auto poissonRatio = this->getPoissonRatioInElement(i); - _materialsStiffnesses[i][0][0] = _materialsStiffnesses[i][1][1] = _materialsStiffnesses[i][2][2] = 1; - _materialsStiffnesses[i][0][1] = _materialsStiffnesses[i][0][2] = _materialsStiffnesses[i][1][0] - = _materialsStiffnesses[i][1][2] = _materialsStiffnesses[i][2][0] = - _materialsStiffnesses[i][2][1] = poissonRatio / (1 - poissonRatio); - _materialsStiffnesses[i][0][3] = _materialsStiffnesses[i][0][4] = _materialsStiffnesses[i][0][5] = 0; - _materialsStiffnesses[i][1][3] = _materialsStiffnesses[i][1][4] = _materialsStiffnesses[i][1][5] = 0; - _materialsStiffnesses[i][2][3] = _materialsStiffnesses[i][2][4] = _materialsStiffnesses[i][2][5] = 0; - _materialsStiffnesses[i][3][0] = _materialsStiffnesses[i][3][1] = _materialsStiffnesses[i][3][2] = _materialsStiffnesses[i][3][4] = _materialsStiffnesses[i][3][5] = 0; - _materialsStiffnesses[i][4][0] = _materialsStiffnesses[i][4][1] = _materialsStiffnesses[i][4][2] = _materialsStiffnesses[i][4][3] = _materialsStiffnesses[i][4][5] = 0; - _materialsStiffnesses[i][5][0] = _materialsStiffnesses[i][5][1] = _materialsStiffnesses[i][5][2] = _materialsStiffnesses[i][5][3] = _materialsStiffnesses[i][5][4] = 0; - _materialsStiffnesses[i][3][3] = _materialsStiffnesses[i][4][4] = _materialsStiffnesses[i][5][5] = (1- 2 * poissonRatio) / (2 * (1 - poissonRatio)); + _materialsStiffnesses[i](0,0) = _materialsStiffnesses[i](1,1) = _materialsStiffnesses[i](2,2) = 1; + _materialsStiffnesses[i](0,1) = _materialsStiffnesses[i](0,2) = _materialsStiffnesses[i](1,0) + = _materialsStiffnesses[i](1,2) = _materialsStiffnesses[i](2,0) = + _materialsStiffnesses[i](2,1) = poissonRatio / (1 - poissonRatio); + _materialsStiffnesses[i](0,3) = _materialsStiffnesses[i](0,4) = _materialsStiffnesses[i](0,5) = 0; + _materialsStiffnesses[i](1,3) = _materialsStiffnesses[i](1,4) = _materialsStiffnesses[i](1,5) = 0; + _materialsStiffnesses[i](2,3) = _materialsStiffnesses[i](2,4) = _materialsStiffnesses[i](2,5) = 0; + _materialsStiffnesses[i](3,0) = _materialsStiffnesses[i](3,1) = _materialsStiffnesses[i](3,2) = _materialsStiffnesses[i](3,4) = _materialsStiffnesses[i](3,5) = 0; + _materialsStiffnesses[i](4,0) = _materialsStiffnesses[i](4,1) = _materialsStiffnesses[i](4,2) = _materialsStiffnesses[i](4,3) = _materialsStiffnesses[i](4,5) = 0; + _materialsStiffnesses[i](5,0) = _materialsStiffnesses[i](5,1) = _materialsStiffnesses[i](5,2) = _materialsStiffnesses[i](5,3) = _materialsStiffnesses[i](5,4) = 0; + _materialsStiffnesses[i](3,3) = _materialsStiffnesses[i](4,4) = _materialsStiffnesses[i](5,5) = (1- 2 * poissonRatio) / (2 * (1 - poissonRatio)); _materialsStiffnesses[i] *= (this->getYoungModulusInElement(i) * (1 - poissonRatio)) / ((1 + poissonRatio) * (1 - 2 * poissonRatio)); // S = [ U V V 0 0 0 ] // [ V U V 0 0 0 ] @@ -824,15 +824,15 @@ void HexahedronFEMForceField::computeRotationLarge( Transformation &r edgey = cross( edgez, edgex ); //edgey is unit vector because edgez and edgex are orthogonal unit vectors - r[0][0] = edgex[0]; - r[0][1] = edgex[1]; - r[0][2] = edgex[2]; - r[1][0] = edgey[0]; - r[1][1] = edgey[1]; - r[1][2] = edgey[2]; - r[2][0] = edgez[0]; - r[2][1] = edgez[1]; - r[2][2] = edgez[2]; + r(0,0) = edgex[0]; + r(0,1) = edgex[1]; + r(0,2) = edgex[2]; + r(1,0) = edgey[0]; + r(1,1) = edgey[1]; + r(1,2) = edgey[2]; + r(2,0) = edgez[0]; + r(2,1) = edgez[1]; + r(2,2) = edgez[2]; } template @@ -922,27 +922,27 @@ void HexahedronFEMForceField::computeRotationPolar( Transformation &r { Transformation A; Coord Edge =(nodes[1]-nodes[0] + nodes[2]-nodes[3] + nodes[5]-nodes[4] + nodes[6]-nodes[7])*.25; - A[0][0] = Edge[0]; - A[0][1] = Edge[1]; - A[0][2] = Edge[2]; + A(0,0) = Edge[0]; + A(0,1) = Edge[1]; + A(0,2) = Edge[2]; Edge = (nodes[3]-nodes[0] + nodes[2]-nodes[1] + nodes[7]-nodes[4] + nodes[6]-nodes[5])*.25; - A[1][0] = Edge[0]; - A[1][1] = Edge[1]; - A[1][2] = Edge[2]; + A(1,0) = Edge[0]; + A(1,1) = Edge[1]; + A(1,2) = Edge[2]; Edge = (nodes[4]-nodes[0] + nodes[5]-nodes[1] + nodes[7]-nodes[3] + nodes[6]-nodes[2])*.25; - A[2][0] = Edge[0]; - A[2][1] = Edge[1]; - A[2][2] = Edge[2]; + A(2,0) = Edge[0]; + A(2,1) = Edge[1]; + A(2,2) = Edge[2]; Mat33 HT; for(int k=0; k<3; ++k) for(int j=0; j<3; ++j) - HT[k][j]=A[k][j]; + HT(k,j)=A(k,j); helper::Decompose::polarDecomposition(HT, r); -} +} template @@ -950,8 +950,8 @@ void HexahedronFEMForceField::getNodeRotation(Transformation& R, unsi { core::topology::BaseMeshTopology::HexahedraAroundVertex liste_hexa = this->l_topology->getHexahedraAroundVertex(nodeIdx); - R[0][0] = R[1][1] = R[2][2] = 1.0 ; - R[0][1] = R[0][2] = R[1][0] = R[1][2] = R[2][0] = R[2][1] = 0.0 ; + R(0,0) = R(1,1) = R(2,2) = 1.0 ; + R(0,1) = R(0,2) = R(1,0) = R(1,2) = R(2,0) = R(2,1) = 0.0 ; std::size_t numHexa=liste_hexa.size(); @@ -964,9 +964,9 @@ void HexahedronFEMForceField::getNodeRotation(Transformation& R, unsi } // on "moyenne" - R[0][0] = R[0][0]/numHexa ; R[0][1] = R[0][1]/numHexa ; R[0][2] = R[0][2]/numHexa ; - R[1][0] = R[1][0]/numHexa ; R[1][1] = R[1][1]/numHexa ; R[1][2] = R[1][2]/numHexa ; - R[2][0] = R[2][0]/numHexa ; R[2][1] = R[2][1]/numHexa ; R[2][2] = R[2][2]/numHexa ; + R(0,0) = R(0,0)/numHexa ; R(0,1) = R(0,1)/numHexa ; R(0,2) = R(0,2)/numHexa ; + R(1,0) = R(1,0)/numHexa ; R(1,1) = R(1,1)/numHexa ; R(1,2) = R(1,2)/numHexa ; + R(2,0) = R(2,0)/numHexa ; R(2,1) = R(2,1)/numHexa ; R(2,2) = R(2,2)/numHexa ; type::Mat<3,3,Real> Rmoy; helper::Decompose::polarDecomposition( R, Rmoy ); @@ -990,7 +990,7 @@ void HexahedronFEMForceField::getRotations(linearalgebra::BaseMatrix for(sofa::Index i=0; i<3; i++) { const sofa::Index ind = e * 9 + j * 3 + i; - diag->getVector()[ind] = float(R[j][i]); + diag->getVector()[ind] = float(R(j,i)); } } } @@ -1006,7 +1006,7 @@ void HexahedronFEMForceField::getRotations(linearalgebra::BaseMatrix for(sofa::Index i=0; i<3; i++) { const sofa::Index ind = e * 9 + j * 3 + i; - diag->getVector()[ind] = R[j][i]; + diag->getVector()[ind] = R(j,i); } } } @@ -1018,9 +1018,9 @@ void HexahedronFEMForceField::getRotations(linearalgebra::BaseMatrix Transformation t; getNodeRotation(t,i); const int e = offset+i*3; - rotations->set(e+0,e+0,t[0][0]); rotations->set(e+0,e+1,t[0][1]); rotations->set(e+0,e+2,t[0][2]); - rotations->set(e+1,e+0,t[1][0]); rotations->set(e+1,e+1,t[1][1]); rotations->set(e+1,e+2,t[1][2]); - rotations->set(e+2,e+0,t[2][0]); rotations->set(e+2,e+1,t[2][1]); rotations->set(e+2,e+2,t[2][2]); + rotations->set(e+0,e+0,t(0,0)); rotations->set(e+0,e+1,t(0,1)); rotations->set(e+0,e+2,t(0,2)); + rotations->set(e+1,e+0,t(1,0)); rotations->set(e+1,e+1,t(1,1)); rotations->set(e+1,e+2,t(1,2)); + rotations->set(e+2,e+0,t(2,0)); rotations->set(e+2,e+1,t(2,1)); rotations->set(e+2,e+2,t(2,2)); } } } @@ -1135,9 +1135,9 @@ void HexahedronFEMForceField::addKToMatrix(sofa::linearalgebra::BaseM const auto node2 = element[n2]; const Mat33 tmp = Rot.multTranspose( Mat33( - Coord(Ke[3*n1+0][3*n2+0],Ke[3*n1+0][3*n2+1],Ke[3*n1+0][3*n2+2]), - Coord(Ke[3*n1+1][3*n2+0],Ke[3*n1+1][3*n2+1],Ke[3*n1+1][3*n2+2]), - Coord(Ke[3*n1+2][3*n2+0],Ke[3*n1+2][3*n2+1],Ke[3*n1+2][3*n2+2])) ) * Rot; + Coord(Ke(3*n1+0,3*n2+0),Ke(3*n1+0,3*n2+1),Ke(3*n1+0,3*n2+2)), + Coord(Ke(3*n1+1,3*n2+0),Ke(3*n1+1,3*n2+1),Ke(3*n1+1,3*n2+2)), + Coord(Ke(3*n1+2,3*n2+0),Ke(3*n1+2,3*n2+1),Ke(3*n1+2,3*n2+2))) ) * Rot; matrix->add( offset + 3 * node1, offset + 3 * node2, tmp * (-kFact)); } @@ -1170,9 +1170,9 @@ void HexahedronFEMForceField::buildStiffnessMatrix(core::behavior::St const auto node2 = element[n2]; const Mat33 tmp = Rot.multTranspose( Mat33( - Coord(Ke[3*n1+0][3*n2+0],Ke[3*n1+0][3*n2+1],Ke[3*n1+0][3*n2+2]), - Coord(Ke[3*n1+1][3*n2+0],Ke[3*n1+1][3*n2+1],Ke[3*n1+1][3*n2+2]), - Coord(Ke[3*n1+2][3*n2+0],Ke[3*n1+2][3*n2+1],Ke[3*n1+2][3*n2+2])) ) * Rot; + Coord(Ke(3*n1+0,3*n2+0),Ke(3*n1+0,3*n2+1),Ke(3*n1+0,3*n2+2)), + Coord(Ke(3*n1+1,3*n2+0),Ke(3*n1+1,3*n2+1),Ke(3*n1+1,3*n2+2)), + Coord(Ke(3*n1+2,3*n2+0),Ke(3*n1+2,3*n2+1),Ke(3*n1+2,3*n2+2))) ) * Rot; dfdx(3 * node1, 3 * node2) += - tmp; } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl index a06b21128b0..e4e7253a6e8 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.inl @@ -91,9 +91,9 @@ void HexahedronFEMForceFieldAndMass::init( ) { for(int j=0; j<8*3; ++j) { - _lumpedMasses[ (*it)[w] ][0] += mass[w*3 ][j]; - _lumpedMasses[ (*it)[w] ][1] += mass[w*3+1][j]; - _lumpedMasses[ (*it)[w] ][2] += mass[w*3+2][j]; + _lumpedMasses[ (*it)[w] ][0] += mass(w*3 ,j); + _lumpedMasses[ (*it)[w] ][1] += mass(w*3+1,j); + _lumpedMasses[ (*it)[w] ][2] += mass(w*3+2,j); } } } @@ -141,28 +141,28 @@ void HexahedronFEMForceFieldAndMass::computeElementMass( ElementMass for(int i=0; i<8; ++i) { - Real mass = vol * integrateMass(this->_coef[i][0], this->_coef[i][1],this->_coef[i][2], 2.0f/l[0], 2.0f/l[1], 2.0f/l[2]); + Real mass = vol * integrateMass(this->_coef(i,0), this->_coef(i,1),this->_coef(i,2), 2.0f/l[0], 2.0f/l[1], 2.0f/l[2]); - Mass[i*3][i*3] += mass; - Mass[i*3+1][i*3+1] += mass; - Mass[i*3+2][i*3+2] += mass; + Mass(i*3,i*3) += mass; + Mass(i*3+1,i*3+1) += mass; + Mass(i*3+2,i*3+2) += mass; for(int j=i+1; j<8; ++j) { - Real mass = vol * integrateMass(this->_coef[i][0], this->_coef[i][1],this->_coef[i][2], 2.0f/l[0], 2.0f/l[1], 2.0f/l[2]); + Real mass = vol * integrateMass(this->_coef(i,0), this->_coef(i,1),this->_coef(i,2), 2.0f/l[0], 2.0f/l[1], 2.0f/l[2]); - Mass[i*3][j*3] += mass; - Mass[i*3+1][j*3+1] += mass; - Mass[i*3+2][j*3+2] += mass; + Mass(i*3,j*3) += mass; + Mass(i*3+1,j*3+1) += mass; + Mass(i*3+2,j*3+2) += mass; } } for(int i=0; i<24; ++i) for(int j=i+1; j<24; ++j) { - Mass[j][i] = Mass[i][j]; + Mass(j,i) = Mass(i,j); } Mass *= (Real)stiffnessFactor; @@ -244,12 +244,12 @@ void HexahedronFEMForceFieldAndMass::addMToMatrix(sofa::linearalgebra { node2 = (*it)[n2]; - Mat33 tmp = Mat33(Coord(Me[3*n1+0][3*n2+0],Me[3*n1+0][3*n2+1],Me[3*n1+0][3*n2+2]), - Coord(Me[3*n1+1][3*n2+0],Me[3*n1+1][3*n2+1],Me[3*n1+1][3*n2+2]), - Coord(Me[3*n1+2][3*n2+0],Me[3*n1+2][3*n2+1],Me[3*n1+2][3*n2+2])); + Mat33 tmp = Mat33(Coord(Me(3*n1+0,3*n2+0),Me(3*n1+0,3*n2+1),Me(3*n1+0,3*n2+2)), + Coord(Me(3*n1+1,3*n2+0),Me(3*n1+1,3*n2+1),Me(3*n1+1,3*n2+2)), + Coord(Me(3*n1+2,3*n2+0),Me(3*n1+2,3*n2+1),Me(3*n1+2,3*n2+2))); for(i=0; i<3; i++) for (j=0; j<3; j++) - mat->add(offset+3*node1+i, offset+3*node2+j, tmp[i][j]*mFact); + mat->add(offset+3*node1+i, offset+3*node2+j, tmp(i,j)*mFact); } } } @@ -279,9 +279,9 @@ void HexahedronFEMForceFieldAndMass::buildMassMatrix(sofa::core::beha { const int node2 = (*it)[n2]; - const Mat33 tmp = Mat33(Coord(Me[3*n1+0][3*n2+0],Me[3*n1+0][3*n2+1],Me[3*n1+0][3*n2+2]), - Coord(Me[3*n1+1][3*n2+0],Me[3*n1+1][3*n2+1],Me[3*n1+1][3*n2+2]), - Coord(Me[3*n1+2][3*n2+0],Me[3*n1+2][3*n2+1],Me[3*n1+2][3*n2+2])); + const Mat33 tmp = Mat33(Coord(Me(3*n1+0,3*n2+0),Me(3*n1+0,3*n2+1),Me(3*n1+0,3*n2+2)), + Coord(Me(3*n1+1,3*n2+0),Me(3*n1+1,3*n2+1),Me(3*n1+1,3*n2+2)), + Coord(Me(3*n1+2,3*n2+0),Me(3*n1+2,3*n2+1),Me(3*n1+2,3*n2+2))); matrices->add(3 * node1, 3 * node2, tmp); } } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl index 018f6e0805c..d03287b4903 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.inl @@ -241,7 +241,7 @@ void QuadBendingFEMForceField::computeDisplacementSmall(Displacement Coord deform_t0 = p[idx0]-centroid; // translation in x direction of node 0 Coord deform_t1 = p[idx1]-centroid; // translation in x direction of node 1 Coord deform_t2 = p[idx2]-centroid; // translation in x direction of node 2 - Coord deform_t3 = p[idx3]-centroid; // translation in x direction of node 3 + Coord deform_t3 = p[idx3]-centroid; // translation in x direction of node 3 D[0] = quadInf[elementIndex].InitialPosElements[0][0] - deform_t0[0]; @@ -253,18 +253,18 @@ void QuadBendingFEMForceField::computeDisplacementSmall(Displacement D[5] = quadInf[elementIndex].InitialPosElements[1][0] - deform_t1[0]; D[6] = quadInf[elementIndex].InitialPosElements[1][1] - deform_t1[1]; D[7] = quadInf[elementIndex].InitialPosElements[1][2] - deform_t1[2]; - D[8] = 0; + D[8] = 0; D[9] = 0; D[10] = quadInf[elementIndex].InitialPosElements[2][0] - deform_t2[0]; D[11] = quadInf[elementIndex].InitialPosElements[2][1] - deform_t2[1]; D[12] = quadInf[elementIndex].InitialPosElements[2][2] - deform_t2[2]; - D[13] = 0; + D[13] = 0; D[14] = 0; D[15] = quadInf[elementIndex].InitialPosElements[3][0] - deform_t3[0]; D[16] = quadInf[elementIndex].InitialPosElements[3][1] - deform_t3[1]; D[17] = quadInf[elementIndex].InitialPosElements[3][2] - deform_t3[2]; - D[18] = 0; + D[18] = 0; D[19] = 0; d_quadInfo.endEdit(); @@ -283,29 +283,29 @@ void QuadBendingFEMForceField::computeBendingStrainDisplacement(Strai const Real m = -1; const Real n = -1; // Bmi : membrance stiffness matrices (Gauss integration 2x2) - Jb[0][0] = Jb[2][1] = m * (1 + n * gauss2) / (4 * l); // J[idx0][0][0] = (1*(-1)*(1+(-1)*gauss2))/(4*l) - Jb[1][1] = Jb[2][0] = n * (1 + m * gauss1) / (4 * h); // J[idx0][1][1] = (1*(-1)*(1+(-1)*gauss1))/(4*h) + Jb(0,0) = Jb(2,1) = m * (1 + n * gauss2) / (4 * l); // J(idx0,0,0) = (1*(-1)*(1+(-1)*gauss2))/(4*l) + Jb(1,1) = Jb(2,0) = n * (1 + m * gauss1) / (4 * h); // J(idx0,1,1) = (1*(-1)*(1+(-1)*gauss1))/(4*h) } else if (idx == 1) { const Real m = 1; const Real n = -1; - Jb[8][5] = Jb[10][6] = m * (1 + n * gauss2) / (4 * l); // Ni/x : J[idx0][0][0] = (1*(-1)*(1+(-1)*gauss2))/(4*l) - Jb[9][6] = Jb[10][5] = n * (1 + m * gauss1) / (4 * h); // Ni/y : J[idx0][1][1] = (1*(-1)*(1+(-1)*gauss1))/(4*h) + Jb(8,5) = Jb(10,6) = m * (1 + n * gauss2) / (4 * l); // Ni/x : J(idx0,0,0) = (1*(-1)*(1+(-1)*gauss2))/(4*l) + Jb(9,6) = Jb(10,5) = n * (1 + m * gauss1) / (4 * h); // Ni/y : J(idx0,1,1) = (1*(-1)*(1+(-1)*gauss1))/(4*h) } else if (idx == 2) { const Real m = 1; const Real n = 1; - Jb[16][10] = Jb[18][11] = m * (1 + n * gauss2) / (4 * l); // Ni/x : J[idx0][0][0] = (1*(-1)*(1+(-1)*gauss2))/(4*l) - Jb[17][11] = Jb[18][10] = n * (1 + m * gauss1) / (4 * h); // Ni/y : J[idx0][1][1] = (1*(-1)*(1+(-1)*gauss1))/(4*h) + Jb(16,10) = Jb(18,11) = m * (1 + n * gauss2) / (4 * l); // Ni/x : J(idx0,0,0) = (1*(-1)*(1+(-1)*gauss2))/(4*l) + Jb(17,11) = Jb(18,10) = n * (1 + m * gauss1) / (4 * h); // Ni/y : J(idx0,1,1) = (1*(-1)*(1+(-1)*gauss1))/(4*h) } else if (idx == 3) { const Real m = -1; const Real n = 1; - Jb[24][15] = Jb[26][16] = m * (1 + n * gauss2) / (4 * l); // Ni/x : J[idx0][0][0] = (1*(-1)*(1+(-1)*gauss2))/(4*l) - Jb[25][16] = Jb[26][15] = n * (1 + m * gauss1) / (4 * h); // Ni/y : J[idx0][1][1] = (1*(-1)*(1+(-1)*gauss1))/(4*h) + Jb(24,15) = Jb(26,16) = m * (1 + n * gauss2) / (4 * l); // Ni/x : J(idx0,0,0) = (1*(-1)*(1+(-1)*gauss2))/(4*l) + Jb(25,16) = Jb(26,15) = n * (1 + m * gauss1) / (4 * h); // Ni/y : J(idx0,1,1) = (1*(-1)*(1+(-1)*gauss1))/(4*h) } @@ -324,45 +324,45 @@ void QuadBendingFEMForceField::computeShearStrainDisplacement(StrainD { const Real m = -1, n = -1; // Bbi : bending stiffness matrices (Gauss integration 1x1) - Js[3][3] = Js[5][4] = m / (4 * l); //gauss2 = 0 - Js[4][4] = Js[5][3] = n / (4 * h); //gauss1 = 0 + Js(3,3) = Js(5,4) = m / (4 * l); //gauss2 = 0 + Js(4,4) = Js(5,3) = n / (4 * h); //gauss1 = 0 // Bsi : shear stiffness matrices (Gauss integration 1x1) - Js[6][2] = m / (4 * l); //gauss2 = 0 - Js[7][2] = n / (4 * h); //gauss1 = 0 - Js[6][3] = Js[7][4] = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 + Js(6,2) = m / (4 * l); //gauss2 = 0 + Js(7,2) = n / (4 * h); //gauss1 = 0 + Js(6,3) = Js(7,4) = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 } else if (idx == 1) { const Real m = 1, n = -1; // Bbi : bending stiffness matrices (Gauss integration 1x1) - Js[11][8] = Js[13][9] = m / (4 * l); //gauss2 = 0 - Js[12][9] = Js[13][8] = n / (4 * h); //gauss1 = 0 + Js(11,8) = Js(13,9) = m / (4 * l); //gauss2 = 0 + Js(12,9) = Js(13,8) = n / (4 * h); //gauss1 = 0 // Bsi : shear stiffness matrices (Gauss integration 1x1) - Js[14][7] = m / (4 * l); //gauss2 = 0 - Js[15][7] = n / (4 * h); //gauss1 = 0 - Js[14][8] = Js[15][9] = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 + Js(14,7) = m / (4 * l); //gauss2 = 0 + Js(15,7) = n / (4 * h); //gauss1 = 0 + Js(14,8) = Js(15,9) = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 } else if (idx == 2) { const Real m = 1, n = 1; // Bbi : bending stiffness matrices (Gauss integration 1x1) - Js[19][13] = Js[21][14] = m / (4 * l); //gauss2 = 0 - Js[20][14] = Js[21][13] = n / (4 * h); //gauss1 = 0 + Js(19,13) = Js(21,14) = m / (4 * l); //gauss2 = 0 + Js(20,14) = Js(21,13) = n / (4 * h); //gauss1 = 0 // Bsi : shear stiffness matrices (Gauss integration 1x1) - Js[22][12] = m / (4 * l); //gauss2 = 0 - Js[23][12] = n / (4 * h); //gauss1 = 0 - Js[22][13] = Js[23][14] = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 + Js(22,12) = m / (4 * l); //gauss2 = 0 + Js(23,12) = n / (4 * h); //gauss1 = 0 + Js(22,13) = Js(23,14) = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 } else if (idx == 3) { const Real m = -1, n = 1; // Bbi : bending stiffness matrices (Gauss integration 1x1) - Js[27][18] = Js[29][19] = m / (4 * l); //gauss2 = 0 - Js[28][19] = Js[29][18] = n / (4 * h); //gauss1 = 0 + Js(27,18) = Js(29,19) = m / (4 * l); //gauss2 = 0 + Js(28,19) = Js(29,18) = n / (4 * h); //gauss1 = 0 // Bsi : shear stiffness matrices (Gauss integration 1x1) - Js[30][17] = m / (4 * l); //gauss2 = 0 - Js[31][17] = n / (4 * h); //gauss1 = 0 - Js[30][18] = Js[31][19] = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 + Js(30,17) = m / (4 * l); //gauss2 = 0 + Js(31,17) = n / (4 * h); //gauss1 = 0 + Js(30,18) = Js(31,19) = -static_cast(1) / static_cast(4); // -Ni : gauss1 = 0 va gauss2 = 0 } } } @@ -386,11 +386,11 @@ void QuadBendingFEMForceField::computeBendingMaterialStiffness(int i, Real thickness = d_thickness.getValue(); // Membrance material stiffness Cm - qinfo->BendingmaterialMatrix[0][0] = y * thickness / (1 - p * p); - qinfo->BendingmaterialMatrix[0][1] = p * y * thickness / (1 - p * p); - qinfo->BendingmaterialMatrix[1][0] = p * y * thickness / (1 - p * p); - qinfo->BendingmaterialMatrix[1][1] = y * thickness / (1 - p * p); - qinfo->BendingmaterialMatrix[2][2] = y * thickness * (1 - p) / (2 - 2 * p * p); + qinfo->BendingmaterialMatrix(0,0) = y * thickness / (1 - p * p); + qinfo->BendingmaterialMatrix(0,1) = p * y * thickness / (1 - p * p); + qinfo->BendingmaterialMatrix(1,0) = p * y * thickness / (1 - p * p); + qinfo->BendingmaterialMatrix(1,1) = y * thickness / (1 - p * p); + qinfo->BendingmaterialMatrix(2,2) = y * thickness * (1 - p) / (2 - 2 * p * p); d_quadInfo.endEdit(); } @@ -414,14 +414,14 @@ void QuadBendingFEMForceField::computeShearMaterialStiffness(int i, I constexpr Real k = static_cast(5) / static_cast(6); // Bending material stiffness Cb - qinfo->ShearmaterialMatrix[3][3] = y * thickness * thickness * thickness / (12 - 12 * p * p); - qinfo->ShearmaterialMatrix[3][4] = p * y * thickness * thickness * thickness / (12 - 12 * p * p); - qinfo->ShearmaterialMatrix[4][3] = p * y * thickness * thickness * thickness / (12 - 12 * p * p); - qinfo->ShearmaterialMatrix[4][4] = y * thickness * thickness * thickness / (12 - 12 * p * p); - qinfo->ShearmaterialMatrix[5][5] = (p * y * thickness * thickness * thickness) * (1 - p) / (24 - 24 * p * p); + qinfo->ShearmaterialMatrix(3,3) = y * thickness * thickness * thickness / (12 - 12 * p * p); + qinfo->ShearmaterialMatrix(3,4) = p * y * thickness * thickness * thickness / (12 - 12 * p * p); + qinfo->ShearmaterialMatrix(4,3) = p * y * thickness * thickness * thickness / (12 - 12 * p * p); + qinfo->ShearmaterialMatrix(4,4) = y * thickness * thickness * thickness / (12 - 12 * p * p); + qinfo->ShearmaterialMatrix(5,5) = (p * y * thickness * thickness * thickness) * (1 - p) / (24 - 24 * p * p); // Shear material stiffness Cs - qinfo->ShearmaterialMatrix[6][6] = k * y * thickness / (2 + 2 * p); - qinfo->ShearmaterialMatrix[7][7] = k * y * thickness / (2 + 2 * p); + qinfo->ShearmaterialMatrix(6,6) = k * y * thickness / (2 + 2 * p); + qinfo->ShearmaterialMatrix(7,7) = k * y * thickness / (2 + 2 * p); d_quadInfo.endEdit(); } @@ -481,30 +481,30 @@ void QuadBendingFEMForceField::computeElementStiffness( Stiffness &K, { for (int j = 0; j < 4; j++) { - Kb0[5*i][5*j]=length*height*(Jb0_t[5*i][8*i]*Cb[0][0]*Jb0[8*j][5*j]+Jb0_t[5*i][8*i+2]*Cb[2][2]*Jb0[8*j+2][5*j])*wb; - Kb0[5*i][5*j+1]=length*height*(Jb0_t[5*i][8*i]*Cb[0][1]*Jb0[8*j+1][5*j+1]+Jb0_t[5*i][8*i+2]*Cb[2][2]*Jb0[8*j+2][5*j+1])*wb; - Kb0[5*i+1][5*j]=length*height*(Jb0_t[5*i+1][8*i+1]*Cb[1][0]*Jb0[8*j][5*j]+Jb0_t[5*i+1][8*i+2]*Cb[2][2]*Jb0[8*j+2][5*j])*wb; - Kb0[5*i+1][5*j+1]=length*height*(Jb0_t[5*i+1][8*i+1]*Cb[1][1]*Jb0[8*j+1][5*j+1]+Jb0_t[5*i+1][8*i+2]*Cb[2][2]*Jb0[8*j+2][5*j+1])*wb; - - Kb1[5*i][5*j]=length*height*(Jb1_t[5*i][8*i]*Cb[0][0]*Jb1[8*j][5*j]+Jb1_t[5*i][8*i+2]*Cb[2][2]*Jb1[8*j+2][5*j])*wb; - Kb1[5*i][5*j+1]=length*height*(Jb1_t[5*i][8*i]*Cb[0][1]*Jb1[8*j+1][5*j+1]+Jb1_t[5*i][8*i+2]*Cb[2][2]*Jb1[8*j+2][5*j+1])*wb; - Kb1[5*i+1][5*j]=length*height*(Jb1_t[5*i+1][8*i+1]*Cb[1][0]*Jb1[8*j][5*j]+Jb1_t[5*i+1][8*i+2]*Cb[2][2]*Jb1[8*j+2][5*j])*wb; - Kb1[5*i+1][5*j+1]=length*height*(Jb1_t[5*i+1][8*i+1]*Cb[1][1]*Jb1[8*j+1][5*j+1]+Jb1_t[5*i+1][8*i+2]*Cb[2][2]*Jb1[8*j+2][5*j+1])*wb; - - Kb2[5*i][5*j]=length*height*(Jb2_t[5*i][8*i]*Cb[0][0]*Jb2[8*j][5*j]+Jb2_t[5*i][8*i+2]*Cb[2][2]*Jb2[8*j+2][5*j])*wb; - Kb2[5*i][5*j+1]=length*height*(Jb2_t[5*i][8*i]*Cb[0][1]*Jb2[8*j+1][5*j+1]+Jb2_t[5*i][8*i+2]*Cb[2][2]*Jb2[8*j+2][5*j+1])*wb; - Kb2[5*i+1][5*j]=length*height*(Jb2_t[5*i+1][8*i+1]*Cb[1][0]*Jb2[8*j][5*j]+Jb2_t[5*i+1][8*i+2]*Cb[2][2]*Jb2[8*j+2][5*j])*wb; - Kb2[5*i+1][5*j+1]=length*height*(Jb2_t[5*i+1][8*i+1]*Cb[1][1]*Jb2[8*j+1][5*j+1]+Jb2_t[5*i+1][8*i+2]*Cb[2][2]*Jb2[8*j+2][5*j+1])*wb; - - Kb3[5*i][5*j]=length*height*(Jb3_t[5*i][8*i]*Cb[0][0]*Jb3[8*j][5*j]+Jb3_t[5*i][8*i+2]*Cb[2][2]*Jb3[8*j+2][5*j])*wb; - Kb3[5*i][5*j+1]=length*height*(Jb3_t[5*i][8*i]*Cb[0][1]*Jb3[8*j+1][5*j+1]+Jb3_t[5*i][8*i+2]*Cb[2][2]*Jb3[8*j+2][5*j+1])*wb; - Kb3[5*i+1][5*j]=length*height*(Jb3_t[5*i+1][8*i+1]*Cb[1][0]*Jb3[8*j][5*j]+Jb3_t[5*i+1][8*i+2]*Cb[2][2]*Jb3[8*j+2][5*j])*wb; - Kb3[5*i+1][5*j+1]=length*height*(Jb3_t[5*i+1][8*i+1]*Cb[1][1]*Jb3[8*j+1][5*j+1]+Jb3_t[5*i+1][8*i+2]*Cb[2][2]*Jb3[8*j+2][5*j+1])*wb; - - Kb[5*i][5*j] = Kb0[5*i][5*j]+Kb1[5*i][5*j]+Kb2[5*i][5*j]+Kb3[5*i][5*j]; - Kb[5*i][5*j+1] = Kb0[5*i][5*j+1]+Kb1[5*i][5*j+1]+Kb2[5*i][5*j+1]+Kb3[5*i][5*j+1]; - Kb[5*i+1][5*j] = Kb0[5*i+1][5*j]+Kb1[5*i+1][5*j]+Kb2[5*i+1][5*j]+Kb3[5*i+1][5*j]; - Kb[5*i+1][5*j+1] = Kb0[5*i+1][5*j+1]+Kb1[5*i+1][5*j+1]+Kb2[5*i+1][5*j+1]+Kb3[5*i+1][5*j+1]; + Kb0(5*i,5*j)=length*height*(Jb0_t(5*i,8*i)*Cb(0,0)*Jb0(8*j,5*j)+Jb0_t(5*i,8*i+2)*Cb(2,2)*Jb0(8*j+2,5*j))*wb; + Kb0(5*i,5*j+1)=length*height*(Jb0_t(5*i,8*i)*Cb(0,1)*Jb0(8*j+1,5*j+1)+Jb0_t(5*i,8*i+2)*Cb(2,2)*Jb0(8*j+2,5*j+1))*wb; + Kb0(5*i+1,5*j)=length*height*(Jb0_t(5*i+1,8*i+1)*Cb(1,0)*Jb0(8*j,5*j)+Jb0_t(5*i+1,8*i+2)*Cb(2,2)*Jb0(8*j+2,5*j))*wb; + Kb0(5*i+1,5*j+1)=length*height*(Jb0_t(5*i+1,8*i+1)*Cb(1,1)*Jb0(8*j+1,5*j+1)+Jb0_t(5*i+1,8*i+2)*Cb(2,2)*Jb0(8*j+2,5*j+1))*wb; + + Kb1(5*i,5*j)=length*height*(Jb1_t(5*i,8*i)*Cb(0,0)*Jb1(8*j,5*j)+Jb1_t(5*i,8*i+2)*Cb(2,2)*Jb1(8*j+2,5*j))*wb; + Kb1(5*i,5*j+1)=length*height*(Jb1_t(5*i,8*i)*Cb(0,1)*Jb1(8*j+1,5*j+1)+Jb1_t(5*i,8*i+2)*Cb(2,2)*Jb1(8*j+2,5*j+1))*wb; + Kb1(5*i+1,5*j)=length*height*(Jb1_t(5*i+1,8*i+1)*Cb(1,0)*Jb1(8*j,5*j)+Jb1_t(5*i+1,8*i+2)*Cb(2,2)*Jb1(8*j+2,5*j))*wb; + Kb1(5*i+1,5*j+1)=length*height*(Jb1_t(5*i+1,8*i+1)*Cb(1,1)*Jb1(8*j+1,5*j+1)+Jb1_t(5*i+1,8*i+2)*Cb(2,2)*Jb1(8*j+2,5*j+1))*wb; + + Kb2(5*i,5*j)=length*height*(Jb2_t(5*i,8*i)*Cb(0,0)*Jb2(8*j,5*j)+Jb2_t(5*i,8*i+2)*Cb(2,2)*Jb2(8*j+2,5*j))*wb; + Kb2(5*i,5*j+1)=length*height*(Jb2_t(5*i,8*i)*Cb(0,1)*Jb2(8*j+1,5*j+1)+Jb2_t(5*i,8*i+2)*Cb(2,2)*Jb2(8*j+2,5*j+1))*wb; + Kb2(5*i+1,5*j)=length*height*(Jb2_t(5*i+1,8*i+1)*Cb(1,0)*Jb2(8*j,5*j)+Jb2_t(5*i+1,8*i+2)*Cb(2,2)*Jb2(8*j+2,5*j))*wb; + Kb2(5*i+1,5*j+1)=length*height*(Jb2_t(5*i+1,8*i+1)*Cb(1,1)*Jb2(8*j+1,5*j+1)+Jb2_t(5*i+1,8*i+2)*Cb(2,2)*Jb2(8*j+2,5*j+1))*wb; + + Kb3(5*i,5*j)=length*height*(Jb3_t(5*i,8*i)*Cb(0,0)*Jb3(8*j,5*j)+Jb3_t(5*i,8*i+2)*Cb(2,2)*Jb3(8*j+2,5*j))*wb; + Kb3(5*i,5*j+1)=length*height*(Jb3_t(5*i,8*i)*Cb(0,1)*Jb3(8*j+1,5*j+1)+Jb3_t(5*i,8*i+2)*Cb(2,2)*Jb3(8*j+2,5*j+1))*wb; + Kb3(5*i+1,5*j)=length*height*(Jb3_t(5*i+1,8*i+1)*Cb(1,0)*Jb3(8*j,5*j)+Jb3_t(5*i+1,8*i+2)*Cb(2,2)*Jb3(8*j+2,5*j))*wb; + Kb3(5*i+1,5*j+1)=length*height*(Jb3_t(5*i+1,8*i+1)*Cb(1,1)*Jb3(8*j+1,5*j+1)+Jb3_t(5*i+1,8*i+2)*Cb(2,2)*Jb3(8*j+2,5*j+1))*wb; + + Kb(5*i,5*j) = Kb0(5*i,5*j)+Kb1(5*i,5*j)+Kb2(5*i,5*j)+Kb3(5*i,5*j); + Kb(5*i,5*j+1) = Kb0(5*i,5*j+1)+Kb1(5*i,5*j+1)+Kb2(5*i,5*j+1)+Kb3(5*i,5*j+1); + Kb(5*i+1,5*j) = Kb0(5*i+1,5*j)+Kb1(5*i+1,5*j)+Kb2(5*i+1,5*j)+Kb3(5*i+1,5*j); + Kb(5*i+1,5*j+1) = Kb0(5*i+1,5*j+1)+Kb1(5*i+1,5*j+1)+Kb2(5*i+1,5*j+1)+Kb3(5*i+1,5*j+1); } } @@ -525,15 +525,15 @@ void QuadBendingFEMForceField::computeElementStiffness( Stiffness &K, { for (int j = 0; j < 4; j++) { - Ks[5*i+2][5*j+2] = length*height*(Js_t[5*i+2][8*i+6]*Cs[6][6]*Js[8*j+6][5*j+2]+Js_t[5*i+2][8*i+7]*Cs[7][7]*Js[8*j+7][5*j+2])*ws*ws; - Ks[5*i+2][5*j+3] = length*height*(Js_t[5*i+2][8*i+6]*Cs[6][6]*Js[8*j+6][5*j+3])*ws*ws; - Ks[5*i+2][5*j+4] = length*height*(Js_t[5*i+2][8*i+7]*Cs[7][7]*Js[8*j+7][5*j+4])*ws*ws; - Ks[5*i+3][5*j+2] = length*height*(Js_t[5*i+3][8*i+6]*Cs[6][6]*Js[8*j+6][5*j+2])*ws*ws; - Ks[5*i+3][5*j+3] = length*height*(Js_t[5*i+3][8*i+3]*Cs[3][3]*Js[8*j+3][5*j+3]+Js_t[5*i+3][8*i+5]*Cs[5][5]*Js[8*j+5][5*j+3]+Js_t[5*i+3][8*i+6]*Cs[6][6]*Js[8*j+6][5*j+3])*ws*ws; - Ks[5*i+3][5*j+4] = length*height*(Js_t[5*i+3][8*i+3]*Cs[3][4]*Js[8*j+4][5*j+4]+Js_t[5*i+3][8*i+5]*Cs[5][5]*Js[8*j+5][5*j+4])*ws*ws; - Ks[5*i+4][5*j+2] = length*height*(Js_t[5*i+4][8*i+7]*Cs[7][7]*Js[8*j+7][5*j+2])*ws*ws; - Ks[5*i+4][5*j+3] = length*height*(Js_t[5*i+4][8*i+4]*Cs[4][3]*Js[8*j+3][5*j+3]+Js_t[5*i+4][8*i+5]*Cs[5][5]*Js[8*j+5][5*j+3])*ws*ws; - Ks[5*i+4][5*j+4] = length*height*(Js_t[5*i+4][8*i+4]*Cs[4][4]*Js[8*j+4][5*j+4]+Js_t[5*i+4][8*i+5]*Cs[5][5]*Js[8*j+5][5*j+4]+Js_t[5*i+4][8*i+7]*Cs[7][7]*Js[8*j+7][5*j+4])*ws*ws; + Ks(5*i+2,5*j+2) = length*height*(Js_t(5*i+2,8*i+6)*Cs(6,6)*Js(8*j+6,5*j+2)+Js_t(5*i+2,8*i+7)*Cs(7,7)*Js(8*j+7,5*j+2))*ws*ws; + Ks(5*i+2,5*j+3) = length*height*(Js_t(5*i+2,8*i+6)*Cs(6,6)*Js(8*j+6,5*j+3))*ws*ws; + Ks(5*i+2,5*j+4) = length*height*(Js_t(5*i+2,8*i+7)*Cs(7,7)*Js(8*j+7,5*j+4))*ws*ws; + Ks(5*i+3,5*j+2) = length*height*(Js_t(5*i+3,8*i+6)*Cs(6,6)*Js(8*j+6,5*j+2))*ws*ws; + Ks(5*i+3,5*j+3) = length*height*(Js_t(5*i+3,8*i+3)*Cs(3,3)*Js(8*j+3,5*j+3)+Js_t(5*i+3,8*i+5)*Cs(5,5)*Js(8*j+5,5*j+3)+Js_t(5*i+3,8*i+6)*Cs(6,6)*Js(8*j+6,5*j+3))*ws*ws; + Ks(5*i+3,5*j+4) = length*height*(Js_t(5*i+3,8*i+3)*Cs(3,4)*Js(8*j+4,5*j+4)+Js_t(5*i+3,8*i+5)*Cs(5,5)*Js(8*j+5,5*j+4))*ws*ws; + Ks(5*i+4,5*j+2) = length*height*(Js_t(5*i+4,8*i+7)*Cs(7,7)*Js(8*j+7,5*j+2))*ws*ws; + Ks(5*i+4,5*j+3) = length*height*(Js_t(5*i+4,8*i+4)*Cs(4,3)*Js(8*j+3,5*j+3)+Js_t(5*i+4,8*i+5)*Cs(5,5)*Js(8*j+5,5*j+3))*ws*ws; + Ks(5*i+4,5*j+4) = length*height*(Js_t(5*i+4,8*i+4)*Cs(4,4)*Js(8*j+4,5*j+4)+Js_t(5*i+4,8*i+5)*Cs(5,5)*Js(8*j+5,5*j+4)+Js_t(5*i+4,8*i+7)*Cs(7,7)*Js(8*j+7,5*j+4))*ws*ws; } } @@ -558,26 +558,26 @@ void QuadBendingFEMForceField::computeForce(Displacement &F, Index el computeElementStiffness(K, elementIndex); //F = K * D; // Only calculate translational deformation corresponding to Forces F[0](Fx) F[1](Fy) F[2](Fz) - F[0]=K[0][0]*D[0]+K[0][1]*D[1]+K[0][5]*D[5]+K[0][6]*D[6]+K[0][10]*D[10]+K[0][11]*D[11]+K[0][15]*D[15]+K[0][16]*D[16]; - F[1]=K[1][0]*D[0]+K[1][1]*D[1]+K[1][5]*D[5]+K[1][6]*D[6]+K[1][10]*D[10]+K[1][11]*D[11]+K[1][15]*D[15]+K[1][16]*D[16]; - F[2]=K[2][2]*D[2]+K[2][7]*D[7]+K[2][12]*D[12]+K[2][17]*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 + F[0]=K(0,0)*D[0]+K(0,1)*D[1]+K(0,5)*D[5]+K(0,6)*D[6]+K(0,10)*D[10]+K(0,11)*D[11]+K(0,15)*D[15]+K(0,16)*D[16]; + F[1]=K(1,0)*D[0]+K(1,1)*D[1]+K(1,5)*D[5]+K(1,6)*D[6]+K(1,10)*D[10]+K(1,11)*D[11]+K(1,15)*D[15]+K(1,16)*D[16]; + F[2]=K(2,2)*D[2]+K(2,7)*D[7]+K(2,12)*D[12]+K(2,17)*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 F[3]=0; F[4]=0; - F[5]=K[5][0]*D[0]+K[5][1]*D[1]+K[5][5]*D[5]+K[5][6]*D[6]+K[5][10]*D[10]+K[5][11]*D[11]+K[5][15]*D[15]+K[5][16]*D[16]; - F[6]=K[6][0]*D[0]+K[6][1]*D[1]+K[6][5]*D[5]+K[6][6]*D[6]+K[6][10]*D[10]+K[6][11]*D[11]+K[6][15]*D[15]+K[6][16]*D[16]; - F[7]=K[7][2]*D[2]+K[7][7]*D[7]+K[7][12]*D[12]+K[7][17]*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 + F[5]=K(5,0)*D[0]+K(5,1)*D[1]+K(5,5)*D[5]+K(5,6)*D[6]+K(5,10)*D[10]+K(5,11)*D[11]+K(5,15)*D[15]+K(5,16)*D[16]; + F[6]=K(6,0)*D[0]+K(6,1)*D[1]+K(6,5)*D[5]+K(6,6)*D[6]+K(6,10)*D[10]+K(6,11)*D[11]+K(6,15)*D[15]+K(6,16)*D[16]; + F[7]=K(7,2)*D[2]+K(7,7)*D[7]+K(7,12)*D[12]+K(7,17)*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 F[8]=0; F[9]=0; - F[10]=K[10][0]*D[0]+K[10][1]*D[1]+K[10][5]*D[5]+K[10][6]*D[6]+K[10][10]*D[10]+K[10][11]*D[11]+K[10][15]*D[15]+K[10][16]*D[16]; - F[11]=K[11][0]*D[0]+K[11][1]*D[1]+K[11][5]*D[5]+K[11][6]*D[6]+K[11][10]*D[10]+K[11][11]*D[11]+K[11][15]*D[15]+K[11][16]*D[16]; - F[12]=K[12][2]*D[2]+K[12][7]*D[7]+K[12][12]*D[12]+K[12][17]*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 + F[10]=K(10,0)*D[0]+K(10,1)*D[1]+K(10,5)*D[5]+K(10,6)*D[6]+K(10,10)*D[10]+K(10,11)*D[11]+K(10,15)*D[15]+K(10,16)*D[16]; + F[11]=K(11,0)*D[0]+K(11,1)*D[1]+K(11,5)*D[5]+K(11,6)*D[6]+K(11,10)*D[10]+K(11,11)*D[11]+K(11,15)*D[15]+K(11,16)*D[16]; + F[12]=K(12,2)*D[2]+K(12,7)*D[7]+K(12,12)*D[12]+K(12,17)*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 F[13]=0; F[14]=0; - F[15]=K[15][0]*D[0]+K[15][1]*D[1]+K[15][5]*D[5]+K[15][6]*D[6]+K[15][10]*D[10]+K[15][11]*D[11]+K[15][15]*D[15]+K[15][16]*D[16]; - F[16]=K[16][0]*D[0]+K[16][1]*D[1]+K[16][5]*D[5]+K[16][6]*D[6]+K[16][10]*D[10]+K[16][11]*D[11]+K[16][15]*D[15]+K[16][16]*D[16]; - F[17]=K[17][2]*D[2]+K[17][7]*D[7]+K[17][12]*D[12]+K[17][17]*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 + F[15]=K(15,0)*D[0]+K(15,1)*D[1]+K(15,5)*D[5]+K(15,6)*D[6]+K(15,10)*D[10]+K(15,11)*D[11]+K(15,15)*D[15]+K(15,16)*D[16]; + F[16]=K(16,0)*D[0]+K(16,1)*D[1]+K(16,5)*D[5]+K(16,6)*D[6]+K(16,10)*D[10]+K(16,11)*D[11]+K(16,15)*D[15]+K(16,16)*D[16]; + F[17]=K(17,2)*D[2]+K(17,7)*D[7]+K(17,12)*D[12]+K(17,17)*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 F[18]=0; - F[19]=0; //F[19]=K[19][2]*D[2]+K[19][7]*D[7]+K[19][12]*D[12]+K[19][17]*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 + F[19]=0; //F[19]=K(19,2)*D[2]+K(19,7)*D[7]+K(19,12)*D[12]+K(19,17)*D[17]; //Assume: D[3]=D[4]=D[8]=D[9]=D[13]=D[14]=D[18]=D[19]=0 quadInf[elementIndex].stiffness = K; d_quadInfo.endEdit(); diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl index 224fd673b60..41ab9602883 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.inl @@ -247,76 +247,76 @@ void TetrahedralCorotationalFEMForceField::computeStrainDisplacement( // shape functions matrix type::Mat<2, 3, Real> M; - M[0][0] = b[1]; - M[0][1] = c[1]; - M[0][2] = d[1]; - M[1][0] = b[2]; - M[1][1] = c[2]; - M[1][2] = d[2]; - J[0][0] = J[1][3] = J[2][5] = - peudo_determinant_for_coef( M ); - M[0][0] = b[0]; - M[0][1] = c[0]; - M[0][2] = d[0]; - J[0][3] = J[1][1] = J[2][4] = peudo_determinant_for_coef( M ); - M[1][0] = b[1]; - M[1][1] = c[1]; - M[1][2] = d[1]; - J[0][5] = J[1][4] = J[2][2] = - peudo_determinant_for_coef( M ); - - M[0][0] = c[1]; - M[0][1] = d[1]; - M[0][2] = a[1]; - M[1][0] = c[2]; - M[1][1] = d[2]; - M[1][2] = a[2]; - J[3][0] = J[4][3] = J[5][5] = peudo_determinant_for_coef( M ); - M[0][0] = c[0]; - M[0][1] = d[0]; - M[0][2] = a[0]; - J[3][3] = J[4][1] = J[5][4] = - peudo_determinant_for_coef( M ); - M[1][0] = c[1]; - M[1][1] = d[1]; - M[1][2] = a[1]; - J[3][5] = J[4][4] = J[5][2] = peudo_determinant_for_coef( M ); - - M[0][0] = d[1]; - M[0][1] = a[1]; - M[0][2] = b[1]; - M[1][0] = d[2]; - M[1][1] = a[2]; - M[1][2] = b[2]; - J[6][0] = J[7][3] = J[8][5] = - peudo_determinant_for_coef( M ); - M[0][0] = d[0]; - M[0][1] = a[0]; - M[0][2] = b[0]; - J[6][3] = J[7][1] = J[8][4] = peudo_determinant_for_coef( M ); - M[1][0] = d[1]; - M[1][1] = a[1]; - M[1][2] = b[1]; - J[6][5] = J[7][4] = J[8][2] = - peudo_determinant_for_coef( M ); - - M[0][0] = a[1]; - M[0][1] = b[1]; - M[0][2] = c[1]; - M[1][0] = a[2]; - M[1][1] = b[2]; - M[1][2] = c[2]; - J[9][0] = J[10][3] = J[11][5] = peudo_determinant_for_coef( M ); - M[0][0] = a[0]; - M[0][1] = b[0]; - M[0][2] = c[0]; - J[9][3] = J[10][1] = J[11][4] = - peudo_determinant_for_coef( M ); - M[1][0] = a[1]; - M[1][1] = b[1]; - M[1][2] = c[1]; - J[9][5] = J[10][4] = J[11][2] = peudo_determinant_for_coef( M ); + M(0,0) = b[1]; + M(0,1) = c[1]; + M(0,2) = d[1]; + M(1,0) = b[2]; + M(1,1) = c[2]; + M(1,2) = d[2]; + J(0,0) = J(1,3) = J(2,5) = - peudo_determinant_for_coef( M ); + M(0,0) = b[0]; + M(0,1) = c[0]; + M(0,2) = d[0]; + J(0,3) = J(1,1) = J(2,4) = peudo_determinant_for_coef( M ); + M(1,0) = b[1]; + M(1,1) = c[1]; + M(1,2) = d[1]; + J(0,5) = J(1,4) = J(2,2) = - peudo_determinant_for_coef( M ); + + M(0,0) = c[1]; + M(0,1) = d[1]; + M(0,2) = a[1]; + M(1,0) = c[2]; + M(1,1) = d[2]; + M(1,2) = a[2]; + J(3,0) = J(4,3) = J(5,5) = peudo_determinant_for_coef( M ); + M(0,0) = c[0]; + M(0,1) = d[0]; + M(0,2) = a[0]; + J(3,3) = J(4,1) = J(5,4) = - peudo_determinant_for_coef( M ); + M(1,0) = c[1]; + M(1,1) = d[1]; + M(1,2) = a[1]; + J(3,5) = J(4,4) = J(5,2) = peudo_determinant_for_coef( M ); + + M(0,0) = d[1]; + M(0,1) = a[1]; + M(0,2) = b[1]; + M(1,0) = d[2]; + M(1,1) = a[2]; + M(1,2) = b[2]; + J(6,0) = J(7,3) = J(8,5) = - peudo_determinant_for_coef( M ); + M(0,0) = d[0]; + M(0,1) = a[0]; + M(0,2) = b[0]; + J(6,3) = J(7,1) = J(8,4) = peudo_determinant_for_coef( M ); + M(1,0) = d[1]; + M(1,1) = a[1]; + M(1,2) = b[1]; + J(6,5) = J(7,4) = J(8,2) = - peudo_determinant_for_coef( M ); + + M(0,0) = a[1]; + M(0,1) = b[1]; + M(0,2) = c[1]; + M(1,0) = a[2]; + M(1,1) = b[2]; + M(1,2) = c[2]; + J(9,0) = J(10,3) = J(11,5) = peudo_determinant_for_coef( M ); + M(0,0) = a[0]; + M(0,1) = b[0]; + M(0,2) = c[0]; + J(9,3) = J(10,1) = J(11,4) = - peudo_determinant_for_coef( M ); + M(1,0) = a[1]; + M(1,1) = b[1]; + M(1,2) = c[1]; + J(9,5) = J(10,4) = J(11,2) = peudo_determinant_for_coef( M ); // 0 - J[0][1] = J[0][2] = J[0][4] = J[1][0] = J[1][2] = J[1][5] = J[2][0] = J[2][1] = J[2][3] = 0; - J[3][1] = J[3][2] = J[3][4] = J[4][0] = J[4][2] = J[4][5] = J[5][0] = J[5][1] = J[5][3] = 0; - J[6][1] = J[6][2] = J[6][4] = J[7][0] = J[7][2] = J[7][5] = J[8][0] = J[8][1] = J[8][3] = 0; - J[9][1] = J[9][2] = J[9][4] = J[10][0] = J[10][2] = J[10][5] = J[11][0] = J[11][1] = J[11][3] = 0; + J(0,1) = J(0,2) = J(0,4) = J(1,0) = J(1,2) = J(1,5) = J(2,0) = J(2,1) = J(2,3) = 0; + J(3,1) = J(3,2) = J(3,4) = J(4,0) = J(4,2) = J(4,5) = J(5,0) = J(5,1) = J(5,3) = 0; + J(6,1) = J(6,2) = J(6,4) = J(7,0) = J(7,2) = J(7,5) = J(8,0) = J(8,1) = J(8,3) = 0; + J(9,1) = J(9,2) = J(9,4) = J(10,0) = J(10,2) = J(10,5) = J(11,0) = J(11,1) = J(11,3) = 0; //m_deq( J, 1.2 ); //hack for stability ?? } @@ -324,7 +324,7 @@ void TetrahedralCorotationalFEMForceField::computeStrainDisplacement( template typename TetrahedralCorotationalFEMForceField::Real TetrahedralCorotationalFEMForceField::peudo_determinant_for_coef ( const type::Mat<2, 3, Real>& M ) { - return M[0][1]*M[1][2] - M[1][1]*M[0][2] - M[0][0]*M[1][2] + M[1][0]*M[0][2] + M[0][0]*M[1][1] - M[1][0]*M[0][1]; + return M(0,1)*M(1,2) - M(1,1)*M(0,2) - M(0,0)*M(1,2) + M(1,0)*M(0,2) + M(0,0)*M(1,1) - M(1,0)*M(0,1); } template @@ -343,8 +343,8 @@ void TetrahedralCorotationalFEMForceField::computeStiffnessMatrix( St { for (int j = 0; j < 3; ++j) { - RR[i][j] = RR[i + 3][j + 3] = RR[i + 6][j + 6] = RR[i + 9][j + 9] = Rot[i][j]; - RRt[i][j] = RRt[i + 3][j + 3] = RRt[i + 6][j + 6] = RRt[i + 9][j + 9] = Rot[j][i]; + RR(i,j) = RR(i + 3,j + 3) = RR(i + 6,j + 6) = RR(i + 9,j + 9) = Rot(i,j); + RRt(i,j) = RRt(i + 3,j + 3) = RRt(i + 6,j + 6) = RRt(i + 9,j + 9) = Rot(j,i); } } @@ -372,39 +372,28 @@ void TetrahedralCorotationalFEMForceField::computeMaterialStiffness(i const Real youngModulus = youngModulusElement*(Real)localStiffnessFactor; const Real poissonRatio = this->getPoissonRatioInElement(tetrahedronId); - materialMatrix[0][0] = materialMatrix[1][1] = materialMatrix[2][2] = 1; - materialMatrix[0][1] = materialMatrix[0][2] = materialMatrix[1][0] = - materialMatrix[1][2] = materialMatrix[2][0] = materialMatrix[2][1] = poissonRatio/(1-poissonRatio); - materialMatrix[0][3] = materialMatrix[0][4] = materialMatrix[0][5] = 0; - materialMatrix[1][3] = materialMatrix[1][4] = materialMatrix[1][5] = 0; - materialMatrix[2][3] = materialMatrix[2][4] = materialMatrix[2][5] = 0; - materialMatrix[3][0] = materialMatrix[3][1] = materialMatrix[3][2] = - materialMatrix[3][4] = materialMatrix[3][5] = 0; - materialMatrix[4][0] = materialMatrix[4][1] = materialMatrix[4][2] = - materialMatrix[4][3] = materialMatrix[4][5] = 0; - materialMatrix[5][0] = materialMatrix[5][1] = materialMatrix[5][2] = - materialMatrix[5][3] = materialMatrix[5][4] = 0; - materialMatrix[3][3] = materialMatrix[4][4] = materialMatrix[5][5] = + materialMatrix(0,0) = materialMatrix(1,1) = materialMatrix(2,2) = 1; + materialMatrix(0,1) = materialMatrix(0,2) = materialMatrix(1,0) = + materialMatrix(1,2) = materialMatrix(2,0) = materialMatrix(2,1) = poissonRatio/(1-poissonRatio); + materialMatrix(0,3) = materialMatrix(0,4) = materialMatrix(0,5) = 0; + materialMatrix(1,3) = materialMatrix(1,4) = materialMatrix(1,5) = 0; + materialMatrix(2,3) = materialMatrix(2,4) = materialMatrix(2,5) = 0; + materialMatrix(3,0) = materialMatrix(3,1) = materialMatrix(3,2) = + materialMatrix(3,4) = materialMatrix(3,5) = 0; + materialMatrix(4,0) = materialMatrix(4,1) = materialMatrix(4,2) = + materialMatrix(4,3) = materialMatrix(4,5) = 0; + materialMatrix(5,0) = materialMatrix(5,1) = materialMatrix(5,2) = + materialMatrix(5,3) = materialMatrix(5,4) = 0; + materialMatrix(3,3) = materialMatrix(4,4) = materialMatrix(5,5) = (1-2*poissonRatio)/(2*(1-poissonRatio)); materialMatrix *= (youngModulus*(1-poissonRatio))/((1+poissonRatio)*(1-2*poissonRatio)); // divide by 36 times volumes of the element - const VecCoord X0=this->mstate->read(core::vec_id::read_access::restPosition)->getValue(); - - Coord A = (X0)[b] - (X0)[a]; - Coord B = (X0)[c] - (X0)[a]; - Coord C = (X0)[d] - (X0)[a]; - Coord AB = cross(A, B); - Real volumes6 = fabs( dot( AB, C ) ); - if (volumes6<0) - { - msg_error() << "Negative volume for tetra " << a << ',' << b << ',' << c << ',' << d << "> = " << volumes6 / 6; - } - // materialMatrix /= (volumes6);//*6 christian - // @TODO: in TetrahedronFEMForceField, the stiffness matrix is divided by 6 compared to the code in TetrahedralCorotationalFEMForceField. Check which is the correct one... - // FF: there is normally a factor 1/6v in the strain-displacement matrix. Times transpose makes 1/36v². Integrating across the volume multiplies by v, so the factor is 1/36v - materialMatrix /= (volumes6*6); + const VecCoord& X0=this->mstate->read(core::vec_id::read_access::restPosition)->getValue(); + const auto tetrahedronVolume = geometry::Tetrahedron::volume( + X0[a], X0[b], X0[c], X0[d]); + materialMatrix /= tetrahedronVolume * 36; } template @@ -417,92 +406,92 @@ inline void TetrahedralCorotationalFEMForceField::computeForce( Displ // Unit of force = kg m s^-2 /* We have these zeros - K[0][3] K[0][4] K[0][5] - K[1][3] K[1][4] K[1][5] - K[2][3] K[2][4] K[2][5] - K[3][0] K[3][1] K[3][2] K[3][4] K[3][5] - K[4][0] K[4][1] K[4][2] K[4][3] K[4][5] - K[5][0] K[5][1] K[5][2] K[5][3] K[5][4] - - - J[0][1] J[0][2] J[0][4] - J[1][0] J[1][2] J[1][5] - J[2][0] J[2][1] J[2][3] - J[3][1] J[3][2] J[3][4] - J[4][0] J[4][2] J[4][5] - J[5][0] J[5][1] J[5][3] - J[6][1] J[6][2] J[6][4] - J[7][0] J[7][2] J[7][5] - J[8][0] J[8][1] J[8][3] - J[9][1] J[9][2] J[9][4] - J[10][0] J[10][2] J[10][5] - J[11][0] J[11][1] J[11][3] + K(0,3) K(0,4) K(0,5) + K(1,3) K(1,4) K(1,5) + K(2,3) K(2,4) K(2,5) + K(3,0) K(3,1) K(3,2) K(3,4) K(3,5) + K(4,0) K(4,1) K(4,2) K(4,3) K(4,5) + K(5,0) K(5,1) K(5,2) K(5,3) K(5,4) + + + J(0,1) J(0,2) J(0,4) + J(1,0) J(1,2) J(1,5) + J(2,0) J(2,1) J(2,3) + J(3,1) J(3,2) J(3,4) + J(4,0) J(4,2) J(4,5) + J(5,0) J(5,1) J(5,3) + J(6,1) J(6,2) J(6,4) + J(7,0) J(7,2) J(7,5) + J(8,0) J(8,1) J(8,3) + J(9,1) J(9,2) J(9,4) + J(10,0) J(10,2) J(10,5) + J(11,0) J(11,1) J(11,3) */ type::VecNoInit<6,Real> JtD; - JtD[0] = J[ 0][0]*Depl[ 0]+/*J[ 1][0]*Depl[ 1]+ J[ 2][0]*Depl[ 2]+*/ - J[ 3][0]*Depl[ 3]+/*J[ 4][0]*Depl[ 4]+ J[ 5][0]*Depl[ 5]+*/ - J[ 6][0]*Depl[ 6]+/*J[ 7][0]*Depl[ 7]+ J[ 8][0]*Depl[ 8]+*/ - J[ 9][0]*Depl[ 9] /*J[10][0]*Depl[10]+ J[11][0]*Depl[11]*/; - JtD[1] = /*J[ 0][1]*Depl[ 0]+*/J[ 1][1]*Depl[ 1]+/*J[ 2][1]*Depl[ 2]+*/ - /*J[ 3][1]*Depl[ 3]+*/J[ 4][1]*Depl[ 4]+/*J[ 5][1]*Depl[ 5]+*/ - /*J[ 6][1]*Depl[ 6]+*/J[ 7][1]*Depl[ 7]+/*J[ 8][1]*Depl[ 8]+*/ - /*J[ 9][1]*Depl[ 9]+*/J[10][1]*Depl[10] /*J[11][1]*Depl[11]*/; - JtD[2] = /*J[ 0][2]*Depl[ 0]+ J[ 1][2]*Depl[ 1]+*/J[ 2][2]*Depl[ 2]+ - /*J[ 3][2]*Depl[ 3]+ J[ 4][2]*Depl[ 4]+*/J[ 5][2]*Depl[ 5]+ - /*J[ 6][2]*Depl[ 6]+ J[ 7][2]*Depl[ 7]+*/J[ 8][2]*Depl[ 8]+ - /*J[ 9][2]*Depl[ 9]+ J[10][2]*Depl[10]+*/J[11][2]*Depl[11] ; - JtD[3] = J[ 0][3]*Depl[ 0]+ J[ 1][3]*Depl[ 1]+/*J[ 2][3]*Depl[ 2]+*/ - J[ 3][3]*Depl[ 3]+ J[ 4][3]*Depl[ 4]+/*J[ 5][3]*Depl[ 5]+*/ - J[ 6][3]*Depl[ 6]+ J[ 7][3]*Depl[ 7]+/*J[ 8][3]*Depl[ 8]+*/ - J[ 9][3]*Depl[ 9]+ J[10][3]*Depl[10] /*J[11][3]*Depl[11]*/; - JtD[4] = /*J[ 0][4]*Depl[ 0]+*/J[ 1][4]*Depl[ 1]+ J[ 2][4]*Depl[ 2]+ - /*J[ 3][4]*Depl[ 3]+*/J[ 4][4]*Depl[ 4]+ J[ 5][4]*Depl[ 5]+ - /*J[ 6][4]*Depl[ 6]+*/J[ 7][4]*Depl[ 7]+ J[ 8][4]*Depl[ 8]+ - /*J[ 9][4]*Depl[ 9]+*/J[10][4]*Depl[10]+ J[11][4]*Depl[11] ; - JtD[5] = J[ 0][5]*Depl[ 0]+/*J[ 1][5]*Depl[ 1]*/ J[ 2][5]*Depl[ 2]+ - J[ 3][5]*Depl[ 3]+/*J[ 4][5]*Depl[ 4]*/ J[ 5][5]*Depl[ 5]+ - J[ 6][5]*Depl[ 6]+/*J[ 7][5]*Depl[ 7]*/ J[ 8][5]*Depl[ 8]+ - J[ 9][5]*Depl[ 9]+/*J[10][5]*Depl[10]*/ J[11][5]*Depl[11]; + JtD[0] = J( 0,0)*Depl[ 0]+/*J( 1,0)*Depl[ 1]+ J( 2,0)*Depl[ 2]+*/ + J( 3,0)*Depl[ 3]+/*J( 4,0)*Depl[ 4]+ J( 5,0)*Depl[ 5]+*/ + J( 6,0)*Depl[ 6]+/*J( 7,0)*Depl[ 7]+ J( 8,0)*Depl[ 8]+*/ + J( 9,0)*Depl[ 9] /*J(10,0)*Depl[10]+ J(11,0)*Depl[11]*/; + JtD[1] = /*J( 0,1)*Depl[ 0]+*/J( 1,1)*Depl[ 1]+/*J( 2,1)*Depl[ 2]+*/ + /*J( 3,1)*Depl[ 3]+*/J( 4,1)*Depl[ 4]+/*J( 5,1)*Depl[ 5]+*/ + /*J( 6,1)*Depl[ 6]+*/J( 7,1)*Depl[ 7]+/*J( 8,1)*Depl[ 8]+*/ + /*J( 9,1)*Depl[ 9]+*/J(10,1)*Depl[10] /*J(11,1)*Depl[11]*/; + JtD[2] = /*J( 0,2)*Depl[ 0]+ J( 1,2)*Depl[ 1]+*/J( 2,2)*Depl[ 2]+ + /*J( 3,2)*Depl[ 3]+ J( 4,2)*Depl[ 4]+*/J( 5,2)*Depl[ 5]+ + /*J( 6,2)*Depl[ 6]+ J( 7,2)*Depl[ 7]+*/J( 8,2)*Depl[ 8]+ + /*J( 9,2)*Depl[ 9]+ J(10,2)*Depl[10]+*/J(11,2)*Depl[11] ; + JtD[3] = J( 0,3)*Depl[ 0]+ J( 1,3)*Depl[ 1]+/*J( 2,3)*Depl[ 2]+*/ + J( 3,3)*Depl[ 3]+ J( 4,3)*Depl[ 4]+/*J( 5,3)*Depl[ 5]+*/ + J( 6,3)*Depl[ 6]+ J( 7,3)*Depl[ 7]+/*J( 8,3)*Depl[ 8]+*/ + J( 9,3)*Depl[ 9]+ J(10,3)*Depl[10] /*J(11,3)*Depl[11]*/; + JtD[4] = /*J( 0,4)*Depl[ 0]+*/J( 1,4)*Depl[ 1]+ J( 2,4)*Depl[ 2]+ + /*J( 3,4)*Depl[ 3]+*/J( 4,4)*Depl[ 4]+ J( 5,4)*Depl[ 5]+ + /*J( 6,4)*Depl[ 6]+*/J( 7,4)*Depl[ 7]+ J( 8,4)*Depl[ 8]+ + /*J( 9,4)*Depl[ 9]+*/J(10,4)*Depl[10]+ J(11,4)*Depl[11] ; + JtD[5] = J( 0,5)*Depl[ 0]+/*J( 1,5)*Depl[ 1]*/ J( 2,5)*Depl[ 2]+ + J( 3,5)*Depl[ 3]+/*J( 4,5)*Depl[ 4]*/ J( 5,5)*Depl[ 5]+ + J( 6,5)*Depl[ 6]+/*J( 7,5)*Depl[ 7]*/ J( 8,5)*Depl[ 8]+ + J( 9,5)*Depl[ 9]+/*J(10,5)*Depl[10]*/ J(11,5)*Depl[11]; type::VecNoInit<6,Real> KJtD; - KJtD[0] = K[0][0]*JtD[0]+ K[0][1]*JtD[1]+ K[0][2]*JtD[2] - /*K[0][3]*JtD[3]+ K[0][4]*JtD[4]+ K[0][5]*JtD[5]*/; - KJtD[1] = K[1][0]*JtD[0]+ K[1][1]*JtD[1]+ K[1][2]*JtD[2] - /*K[1][3]*JtD[3]+ K[1][4]*JtD[4]+ K[1][5]*JtD[5]*/; - KJtD[2] = K[2][0]*JtD[0]+ K[2][1]*JtD[1]+ K[2][2]*JtD[2] - /*K[2][3]*JtD[3]+ K[2][4]*JtD[4]+ K[2][5]*JtD[5]*/; - KJtD[3] = /*K[3][0]*JtD[0]+ K[3][1]*JtD[1]+ K[3][2]*JtD[2]+*/ - K[3][3]*JtD[3] /*K[3][4]*JtD[4]+ K[3][5]*JtD[5]*/; - KJtD[4] = /*K[4][0]*JtD[0]+ K[4][1]*JtD[1]+ K[4][2]*JtD[2]+*/ - /*K[4][3]*JtD[3]+*/K[4][4]*JtD[4] /*K[4][5]*JtD[5]*/; - KJtD[5] = /*K[5][0]*JtD[0]+ K[5][1]*JtD[1]+ K[5][2]*JtD[2]+*/ - /*K[5][3]*JtD[3]+ K[5][4]*JtD[4]+*/K[5][5]*JtD[5] ; - - F[ 0] = J[ 0][0]*KJtD[0]+/*J[ 0][1]*KJtD[1]+ J[ 0][2]*KJtD[2]+*/ - J[ 0][3]*KJtD[3]+/*J[ 0][4]*KJtD[4]+*/J[ 0][5]*KJtD[5] ; - F[ 1] = /*J[ 1][0]*KJtD[0]+*/J[ 1][1]*KJtD[1]+/*J[ 1][2]*KJtD[2]+*/ - J[ 1][3]*KJtD[3]+ J[ 1][4]*KJtD[4] /*J[ 1][5]*KJtD[5]*/; - F[ 2] = /*J[ 2][0]*KJtD[0]+ J[ 2][1]*KJtD[1]+*/J[ 2][2]*KJtD[2]+ - /*J[ 2][3]*KJtD[3]+*/J[ 2][4]*KJtD[4]+ J[ 2][5]*KJtD[5] ; - F[ 3] = J[ 3][0]*KJtD[0]+/*J[ 3][1]*KJtD[1]+ J[ 3][2]*KJtD[2]+*/ - J[ 3][3]*KJtD[3]+/*J[ 3][4]*KJtD[4]+*/J[ 3][5]*KJtD[5] ; - F[ 4] = /*J[ 4][0]*KJtD[0]+*/J[ 4][1]*KJtD[1]+/*J[ 4][2]*KJtD[2]+*/ - J[ 4][3]*KJtD[3]+ J[ 4][4]*KJtD[4] /*J[ 4][5]*KJtD[5]*/; - F[ 5] = /*J[ 5][0]*KJtD[0]+ J[ 5][1]*KJtD[1]+*/J[ 5][2]*KJtD[2]+ - /*J[ 5][3]*KJtD[3]+*/J[ 5][4]*KJtD[4]+ J[ 5][5]*KJtD[5] ; - F[ 6] = J[ 6][0]*KJtD[0]+/*J[ 6][1]*KJtD[1]+ J[ 6][2]*KJtD[2]+*/ - J[ 6][3]*KJtD[3]+/*J[ 6][4]*KJtD[4]+*/J[ 6][5]*KJtD[5] ; - F[ 7] = /*J[ 7][0]*KJtD[0]+*/J[ 7][1]*KJtD[1]+/*J[ 7][2]*KJtD[2]+*/ - J[ 7][3]*KJtD[3]+ J[ 7][4]*KJtD[4] /*J[ 7][5]*KJtD[5]*/; - F[ 8] = /*J[ 8][0]*KJtD[0]+ J[ 8][1]*KJtD[1]+*/J[ 8][2]*KJtD[2]+ - /*J[ 8][3]*KJtD[3]+*/J[ 8][4]*KJtD[4]+ J[ 8][5]*KJtD[5] ; - F[ 9] = J[ 9][0]*KJtD[0]+/*J[ 9][1]*KJtD[1]+ J[ 9][2]*KJtD[2]+*/ - J[ 9][3]*KJtD[3]+/*J[ 9][4]*KJtD[4]+*/J[ 9][5]*KJtD[5] ; - F[10] = /*J[10][0]*KJtD[0]+*/J[10][1]*KJtD[1]+/*J[10][2]*KJtD[2]+*/ - J[10][3]*KJtD[3]+ J[10][4]*KJtD[4] /*J[10][5]*KJtD[5]*/; - F[11] = /*J[11][0]*KJtD[0]+ J[11][1]*KJtD[1]+*/J[11][2]*KJtD[2]+ - /*J[11][3]*KJtD[3]+*/J[11][4]*KJtD[4]+ J[11][5]*KJtD[5] ; + KJtD[0] = K(0,0)*JtD[0]+ K(0,1)*JtD[1]+ K(0,2)*JtD[2] + /*K(0,3)*JtD[3]+ K(0,4)*JtD[4]+ K(0,5)*JtD[5]*/; + KJtD[1] = K(1,0)*JtD[0]+ K(1,1)*JtD[1]+ K(1,2)*JtD[2] + /*K(1,3)*JtD[3]+ K(1,4)*JtD[4]+ K(1,5)*JtD[5]*/; + KJtD[2] = K(2,0)*JtD[0]+ K(2,1)*JtD[1]+ K(2,2)*JtD[2] + /*K(2,3)*JtD[3]+ K(2,4)*JtD[4]+ K(2,5)*JtD[5]*/; + KJtD[3] = /*K(3,0)*JtD[0]+ K(3,1)*JtD[1]+ K(3,2)*JtD[2]+*/ + K(3,3)*JtD[3] /*K(3,4)*JtD[4]+ K(3,5)*JtD[5]*/; + KJtD[4] = /*K(4,0)*JtD[0]+ K(4,1)*JtD[1]+ K(4,2)*JtD[2]+*/ + /*K(4,3)*JtD[3]+*/K(4,4)*JtD[4] /*K(4,5)*JtD[5]*/; + KJtD[5] = /*K(5,0)*JtD[0]+ K(5,1)*JtD[1]+ K(5,2)*JtD[2]+*/ + /*K(5,3)*JtD[3]+ K(5,4)*JtD[4]+*/K(5,5)*JtD[5] ; + + F[ 0] = J( 0,0)*KJtD[0]+/*J( 0,1)*KJtD[1]+ J( 0,2)*KJtD[2]+*/ + J( 0,3)*KJtD[3]+/*J( 0,4)*KJtD[4]+*/J( 0,5)*KJtD[5] ; + F[ 1] = /*J( 1,0)*KJtD[0]+*/J( 1,1)*KJtD[1]+/*J( 1,2)*KJtD[2]+*/ + J( 1,3)*KJtD[3]+ J( 1,4)*KJtD[4] /*J( 1,5)*KJtD[5]*/; + F[ 2] = /*J( 2,0)*KJtD[0]+ J( 2,1)*KJtD[1]+*/J( 2,2)*KJtD[2]+ + /*J( 2,3)*KJtD[3]+*/J( 2,4)*KJtD[4]+ J( 2,5)*KJtD[5] ; + F[ 3] = J( 3,0)*KJtD[0]+/*J( 3,1)*KJtD[1]+ J( 3,2)*KJtD[2]+*/ + J( 3,3)*KJtD[3]+/*J( 3,4)*KJtD[4]+*/J( 3,5)*KJtD[5] ; + F[ 4] = /*J( 4,0)*KJtD[0]+*/J( 4,1)*KJtD[1]+/*J( 4,2)*KJtD[2]+*/ + J( 4,3)*KJtD[3]+ J( 4,4)*KJtD[4] /*J( 4,5)*KJtD[5]*/; + F[ 5] = /*J( 5,0)*KJtD[0]+ J( 5,1)*KJtD[1]+*/J( 5,2)*KJtD[2]+ + /*J( 5,3)*KJtD[3]+*/J( 5,4)*KJtD[4]+ J( 5,5)*KJtD[5] ; + F[ 6] = J( 6,0)*KJtD[0]+/*J( 6,1)*KJtD[1]+ J( 6,2)*KJtD[2]+*/ + J( 6,3)*KJtD[3]+/*J( 6,4)*KJtD[4]+*/J( 6,5)*KJtD[5] ; + F[ 7] = /*J( 7,0)*KJtD[0]+*/J( 7,1)*KJtD[1]+/*J( 7,2)*KJtD[2]+*/ + J( 7,3)*KJtD[3]+ J( 7,4)*KJtD[4] /*J( 7,5)*KJtD[5]*/; + F[ 8] = /*J( 8,0)*KJtD[0]+ J( 8,1)*KJtD[1]+*/J( 8,2)*KJtD[2]+ + /*J( 8,3)*KJtD[3]+*/J( 8,4)*KJtD[4]+ J( 8,5)*KJtD[5] ; + F[ 9] = J( 9,0)*KJtD[0]+/*J( 9,1)*KJtD[1]+ J( 9,2)*KJtD[2]+*/ + J( 9,3)*KJtD[3]+/*J( 9,4)*KJtD[4]+*/J( 9,5)*KJtD[5] ; + F[10] = /*J(10,0)*KJtD[0]+*/J(10,1)*KJtD[1]+/*J(10,2)*KJtD[2]+*/ + J(10,3)*KJtD[3]+ J(10,4)*KJtD[4] /*J(10,5)*KJtD[5]*/; + F[11] = /*J(11,0)*KJtD[0]+ J(11,1)*KJtD[1]+*/J(11,2)*KJtD[2]+ + /*J(11,3)*KJtD[3]+*/J(11,4)*KJtD[4]+ J(11,5)*KJtD[5] ; } template @@ -516,95 +505,95 @@ inline void TetrahedralCorotationalFEMForceField::computeForce( Displ // Unit of force = kg m s^-2 /* We have these zeros - K[0][3] K[0][4] K[0][5] - K[1][3] K[1][4] K[1][5] - K[2][3] K[2][4] K[2][5] - K[3][0] K[3][1] K[3][2] K[3][4] K[3][5] - K[4][0] K[4][1] K[4][2] K[4][3] K[4][5] - K[5][0] K[5][1] K[5][2] K[5][3] K[5][4] - - - J[0][1] J[0][2] J[0][4] - J[1][0] J[1][2] J[1][5] - J[2][0] J[2][1] J[2][3] - J[3][1] J[3][2] J[3][4] - J[4][0] J[4][2] J[4][5] - J[5][0] J[5][1] J[5][3] - J[6][1] J[6][2] J[6][4] - J[7][0] J[7][2] J[7][5] - J[8][0] J[8][1] J[8][3] - J[9][1] J[9][2] J[9][4] - J[10][0] J[10][2] J[10][5] - J[11][0] J[11][1] J[11][3] + K(0,3) K(0,4) K(0,5) + K(1,3) K(1,4) K(1,5) + K(2,3) K(2,4) K(2,5) + K(3,0) K(3,1) K(3,2) K(3,4) K(3,5) + K(4,0) K(4,1) K(4,2) K(4,3) K(4,5) + K(5,0) K(5,1) K(5,2) K(5,3) K(5,4) + + + J(0,1) J(0,2) J(0,4) + J(1,0) J(1,2) J(1,5) + J(2,0) J(2,1) J(2,3) + J(3,1) J(3,2) J(3,4) + J(4,0) J(4,2) J(4,5) + J(5,0) J(5,1) J(5,3) + J(6,1) J(6,2) J(6,4) + J(7,0) J(7,2) J(7,5) + J(8,0) J(8,1) J(8,3) + J(9,1) J(9,2) J(9,4) + J(10,0) J(10,2) J(10,5) + J(11,0) J(11,1) J(11,3) */ type::VecNoInit<6,Real> JtD; - JtD[0] = J[ 0][0]*Depl[ 0]+/*J[ 1][0]*Depl[ 1]+ J[ 2][0]*Depl[ 2]+*/ - J[ 3][0]*Depl[ 3]+/*J[ 4][0]*Depl[ 4]+ J[ 5][0]*Depl[ 5]+*/ - J[ 6][0]*Depl[ 6]+/*J[ 7][0]*Depl[ 7]+ J[ 8][0]*Depl[ 8]+*/ - J[ 9][0]*Depl[ 9] /*J[10][0]*Depl[10]+ J[11][0]*Depl[11]*/; - JtD[1] = /*J[ 0][1]*Depl[ 0]+*/J[ 1][1]*Depl[ 1]+/*J[ 2][1]*Depl[ 2]+*/ - /*J[ 3][1]*Depl[ 3]+*/J[ 4][1]*Depl[ 4]+/*J[ 5][1]*Depl[ 5]+*/ - /*J[ 6][1]*Depl[ 6]+*/J[ 7][1]*Depl[ 7]+/*J[ 8][1]*Depl[ 8]+*/ - /*J[ 9][1]*Depl[ 9]+*/J[10][1]*Depl[10] /*J[11][1]*Depl[11]*/; - JtD[2] = /*J[ 0][2]*Depl[ 0]+ J[ 1][2]*Depl[ 1]+*/J[ 2][2]*Depl[ 2]+ - /*J[ 3][2]*Depl[ 3]+ J[ 4][2]*Depl[ 4]+*/J[ 5][2]*Depl[ 5]+ - /*J[ 6][2]*Depl[ 6]+ J[ 7][2]*Depl[ 7]+*/J[ 8][2]*Depl[ 8]+ - /*J[ 9][2]*Depl[ 9]+ J[10][2]*Depl[10]+*/J[11][2]*Depl[11] ; - JtD[3] = J[ 0][3]*Depl[ 0]+ J[ 1][3]*Depl[ 1]+/*J[ 2][3]*Depl[ 2]+*/ - J[ 3][3]*Depl[ 3]+ J[ 4][3]*Depl[ 4]+/*J[ 5][3]*Depl[ 5]+*/ - J[ 6][3]*Depl[ 6]+ J[ 7][3]*Depl[ 7]+/*J[ 8][3]*Depl[ 8]+*/ - J[ 9][3]*Depl[ 9]+ J[10][3]*Depl[10] /*J[11][3]*Depl[11]*/; - JtD[4] = /*J[ 0][4]*Depl[ 0]+*/J[ 1][4]*Depl[ 1]+ J[ 2][4]*Depl[ 2]+ - /*J[ 3][4]*Depl[ 3]+*/J[ 4][4]*Depl[ 4]+ J[ 5][4]*Depl[ 5]+ - /*J[ 6][4]*Depl[ 6]+*/J[ 7][4]*Depl[ 7]+ J[ 8][4]*Depl[ 8]+ - /*J[ 9][4]*Depl[ 9]+*/J[10][4]*Depl[10]+ J[11][4]*Depl[11] ; - JtD[5] = J[ 0][5]*Depl[ 0]+/*J[ 1][5]*Depl[ 1]*/ J[ 2][5]*Depl[ 2]+ - J[ 3][5]*Depl[ 3]+/*J[ 4][5]*Depl[ 4]*/ J[ 5][5]*Depl[ 5]+ - J[ 6][5]*Depl[ 6]+/*J[ 7][5]*Depl[ 7]*/ J[ 8][5]*Depl[ 8]+ - J[ 9][5]*Depl[ 9]+/*J[10][5]*Depl[10]*/ J[11][5]*Depl[11]; + JtD[0] = J( 0,0)*Depl[ 0]+/*J( 1,0)*Depl[ 1]+ J( 2,0)*Depl[ 2]+*/ + J( 3,0)*Depl[ 3]+/*J( 4,0)*Depl[ 4]+ J( 5,0)*Depl[ 5]+*/ + J( 6,0)*Depl[ 6]+/*J( 7,0)*Depl[ 7]+ J( 8,0)*Depl[ 8]+*/ + J( 9,0)*Depl[ 9] /*J(10,0)*Depl[10]+ J(11,0)*Depl[11]*/; + JtD[1] = /*J( 0,1)*Depl[ 0]+*/J( 1,1)*Depl[ 1]+/*J( 2,1)*Depl[ 2]+*/ + /*J( 3,1)*Depl[ 3]+*/J( 4,1)*Depl[ 4]+/*J( 5,1)*Depl[ 5]+*/ + /*J( 6,1)*Depl[ 6]+*/J( 7,1)*Depl[ 7]+/*J( 8,1)*Depl[ 8]+*/ + /*J( 9,1)*Depl[ 9]+*/J(10,1)*Depl[10] /*J(11,1)*Depl[11]*/; + JtD[2] = /*J( 0,2)*Depl[ 0]+ J( 1,2)*Depl[ 1]+*/J( 2,2)*Depl[ 2]+ + /*J( 3,2)*Depl[ 3]+ J( 4,2)*Depl[ 4]+*/J( 5,2)*Depl[ 5]+ + /*J( 6,2)*Depl[ 6]+ J( 7,2)*Depl[ 7]+*/J( 8,2)*Depl[ 8]+ + /*J( 9,2)*Depl[ 9]+ J(10,2)*Depl[10]+*/J(11,2)*Depl[11] ; + JtD[3] = J( 0,3)*Depl[ 0]+ J( 1,3)*Depl[ 1]+/*J( 2,3)*Depl[ 2]+*/ + J( 3,3)*Depl[ 3]+ J( 4,3)*Depl[ 4]+/*J( 5,3)*Depl[ 5]+*/ + J( 6,3)*Depl[ 6]+ J( 7,3)*Depl[ 7]+/*J( 8,3)*Depl[ 8]+*/ + J( 9,3)*Depl[ 9]+ J(10,3)*Depl[10] /*J(11,3)*Depl[11]*/; + JtD[4] = /*J( 0,4)*Depl[ 0]+*/J( 1,4)*Depl[ 1]+ J( 2,4)*Depl[ 2]+ + /*J( 3,4)*Depl[ 3]+*/J( 4,4)*Depl[ 4]+ J( 5,4)*Depl[ 5]+ + /*J( 6,4)*Depl[ 6]+*/J( 7,4)*Depl[ 7]+ J( 8,4)*Depl[ 8]+ + /*J( 9,4)*Depl[ 9]+*/J(10,4)*Depl[10]+ J(11,4)*Depl[11] ; + JtD[5] = J( 0,5)*Depl[ 0]+/*J( 1,5)*Depl[ 1]*/ J( 2,5)*Depl[ 2]+ + J( 3,5)*Depl[ 3]+/*J( 4,5)*Depl[ 4]*/ J( 5,5)*Depl[ 5]+ + J( 6,5)*Depl[ 6]+/*J( 7,5)*Depl[ 7]*/ J( 8,5)*Depl[ 8]+ + J( 9,5)*Depl[ 9]+/*J(10,5)*Depl[10]*/ J(11,5)*Depl[11]; type::VecNoInit<6,Real> KJtD; - KJtD[0] = K[0][0]*JtD[0]+ K[0][1]*JtD[1]+ K[0][2]*JtD[2] - /*K[0][3]*JtD[3]+ K[0][4]*JtD[4]+ K[0][5]*JtD[5]*/; - KJtD[1] = K[1][0]*JtD[0]+ K[1][1]*JtD[1]+ K[1][2]*JtD[2] - /*K[1][3]*JtD[3]+ K[1][4]*JtD[4]+ K[1][5]*JtD[5]*/; - KJtD[2] = K[2][0]*JtD[0]+ K[2][1]*JtD[1]+ K[2][2]*JtD[2] - /*K[2][3]*JtD[3]+ K[2][4]*JtD[4]+ K[2][5]*JtD[5]*/; - KJtD[3] = /*K[3][0]*JtD[0]+ K[3][1]*JtD[1]+ K[3][2]*JtD[2]+*/ - K[3][3]*JtD[3] /*K[3][4]*JtD[4]+ K[3][5]*JtD[5]*/; - KJtD[4] = /*K[4][0]*JtD[0]+ K[4][1]*JtD[1]+ K[4][2]*JtD[2]+*/ - /*K[4][3]*JtD[3]+*/K[4][4]*JtD[4] /*K[4][5]*JtD[5]*/; - KJtD[5] = /*K[5][0]*JtD[0]+ K[5][1]*JtD[1]+ K[5][2]*JtD[2]+*/ - /*K[5][3]*JtD[3]+ K[5][4]*JtD[4]+*/K[5][5]*JtD[5] ; + KJtD[0] = K(0,0)*JtD[0]+ K(0,1)*JtD[1]+ K(0,2)*JtD[2] + /*K(0,3)*JtD[3]+ K(0,4)*JtD[4]+ K(0,5)*JtD[5]*/; + KJtD[1] = K(1,0)*JtD[0]+ K(1,1)*JtD[1]+ K(1,2)*JtD[2] + /*K(1,3)*JtD[3]+ K(1,4)*JtD[4]+ K(1,5)*JtD[5]*/; + KJtD[2] = K(2,0)*JtD[0]+ K(2,1)*JtD[1]+ K(2,2)*JtD[2] + /*K(2,3)*JtD[3]+ K(2,4)*JtD[4]+ K(2,5)*JtD[5]*/; + KJtD[3] = /*K(3,0)*JtD[0]+ K(3,1)*JtD[1]+ K(3,2)*JtD[2]+*/ + K(3,3)*JtD[3] /*K(3,4)*JtD[4]+ K(3,5)*JtD[5]*/; + KJtD[4] = /*K(4,0)*JtD[0]+ K(4,1)*JtD[1]+ K(4,2)*JtD[2]+*/ + /*K(4,3)*JtD[3]+*/K(4,4)*JtD[4] /*K(4,5)*JtD[5]*/; + KJtD[5] = /*K(5,0)*JtD[0]+ K(5,1)*JtD[1]+ K(5,2)*JtD[2]+*/ + /*K(5,3)*JtD[3]+ K(5,4)*JtD[4]+*/K(5,5)*JtD[5] ; KJtD *= fact; - F[ 0] = J[ 0][0]*KJtD[0]+/*J[ 0][1]*KJtD[1]+ J[ 0][2]*KJtD[2]+*/ - J[ 0][3]*KJtD[3]+/*J[ 0][4]*KJtD[4]+*/J[ 0][5]*KJtD[5] ; - F[ 1] = /*J[ 1][0]*KJtD[0]+*/J[ 1][1]*KJtD[1]+/*J[ 1][2]*KJtD[2]+*/ - J[ 1][3]*KJtD[3]+ J[ 1][4]*KJtD[4] /*J[ 1][5]*KJtD[5]*/; - F[ 2] = /*J[ 2][0]*KJtD[0]+ J[ 2][1]*KJtD[1]+*/J[ 2][2]*KJtD[2]+ - /*J[ 2][3]*KJtD[3]+*/J[ 2][4]*KJtD[4]+ J[ 2][5]*KJtD[5] ; - F[ 3] = J[ 3][0]*KJtD[0]+/*J[ 3][1]*KJtD[1]+ J[ 3][2]*KJtD[2]+*/ - J[ 3][3]*KJtD[3]+/*J[ 3][4]*KJtD[4]+*/J[ 3][5]*KJtD[5] ; - F[ 4] = /*J[ 4][0]*KJtD[0]+*/J[ 4][1]*KJtD[1]+/*J[ 4][2]*KJtD[2]+*/ - J[ 4][3]*KJtD[3]+ J[ 4][4]*KJtD[4] /*J[ 4][5]*KJtD[5]*/; - F[ 5] = /*J[ 5][0]*KJtD[0]+ J[ 5][1]*KJtD[1]+*/J[ 5][2]*KJtD[2]+ - /*J[ 5][3]*KJtD[3]+*/J[ 5][4]*KJtD[4]+ J[ 5][5]*KJtD[5] ; - F[ 6] = J[ 6][0]*KJtD[0]+/*J[ 6][1]*KJtD[1]+ J[ 6][2]*KJtD[2]+*/ - J[ 6][3]*KJtD[3]+/*J[ 6][4]*KJtD[4]+*/J[ 6][5]*KJtD[5] ; - F[ 7] = /*J[ 7][0]*KJtD[0]+*/J[ 7][1]*KJtD[1]+/*J[ 7][2]*KJtD[2]+*/ - J[ 7][3]*KJtD[3]+ J[ 7][4]*KJtD[4] /*J[ 7][5]*KJtD[5]*/; - F[ 8] = /*J[ 8][0]*KJtD[0]+ J[ 8][1]*KJtD[1]+*/J[ 8][2]*KJtD[2]+ - /*J[ 8][3]*KJtD[3]+*/J[ 8][4]*KJtD[4]+ J[ 8][5]*KJtD[5] ; - F[ 9] = J[ 9][0]*KJtD[0]+/*J[ 9][1]*KJtD[1]+ J[ 9][2]*KJtD[2]+*/ - J[ 9][3]*KJtD[3]+/*J[ 9][4]*KJtD[4]+*/J[ 9][5]*KJtD[5] ; - F[10] = /*J[10][0]*KJtD[0]+*/J[10][1]*KJtD[1]+/*J[10][2]*KJtD[2]+*/ - J[10][3]*KJtD[3]+ J[10][4]*KJtD[4] /*J[10][5]*KJtD[5]*/; - F[11] = /*J[11][0]*KJtD[0]+ J[11][1]*KJtD[1]+*/J[11][2]*KJtD[2]+ - /*J[11][3]*KJtD[3]+*/J[11][4]*KJtD[4]+ J[11][5]*KJtD[5] ; + F[ 0] = J( 0,0)*KJtD[0]+/*J( 0,1)*KJtD[1]+ J( 0,2)*KJtD[2]+*/ + J( 0,3)*KJtD[3]+/*J( 0,4)*KJtD[4]+*/J( 0,5)*KJtD[5] ; + F[ 1] = /*J( 1,0)*KJtD[0]+*/J( 1,1)*KJtD[1]+/*J( 1,2)*KJtD[2]+*/ + J( 1,3)*KJtD[3]+ J( 1,4)*KJtD[4] /*J( 1,5)*KJtD[5]*/; + F[ 2] = /*J( 2,0)*KJtD[0]+ J( 2,1)*KJtD[1]+*/J( 2,2)*KJtD[2]+ + /*J( 2,3)*KJtD[3]+*/J( 2,4)*KJtD[4]+ J( 2,5)*KJtD[5] ; + F[ 3] = J( 3,0)*KJtD[0]+/*J( 3,1)*KJtD[1]+ J( 3,2)*KJtD[2]+*/ + J( 3,3)*KJtD[3]+/*J( 3,4)*KJtD[4]+*/J( 3,5)*KJtD[5] ; + F[ 4] = /*J( 4,0)*KJtD[0]+*/J( 4,1)*KJtD[1]+/*J( 4,2)*KJtD[2]+*/ + J( 4,3)*KJtD[3]+ J( 4,4)*KJtD[4] /*J( 4,5)*KJtD[5]*/; + F[ 5] = /*J( 5,0)*KJtD[0]+ J( 5,1)*KJtD[1]+*/J( 5,2)*KJtD[2]+ + /*J( 5,3)*KJtD[3]+*/J( 5,4)*KJtD[4]+ J( 5,5)*KJtD[5] ; + F[ 6] = J( 6,0)*KJtD[0]+/*J( 6,1)*KJtD[1]+ J( 6,2)*KJtD[2]+*/ + J( 6,3)*KJtD[3]+/*J( 6,4)*KJtD[4]+*/J( 6,5)*KJtD[5] ; + F[ 7] = /*J( 7,0)*KJtD[0]+*/J( 7,1)*KJtD[1]+/*J( 7,2)*KJtD[2]+*/ + J( 7,3)*KJtD[3]+ J( 7,4)*KJtD[4] /*J( 7,5)*KJtD[5]*/; + F[ 8] = /*J( 8,0)*KJtD[0]+ J( 8,1)*KJtD[1]+*/J( 8,2)*KJtD[2]+ + /*J( 8,3)*KJtD[3]+*/J( 8,4)*KJtD[4]+ J( 8,5)*KJtD[5] ; + F[ 9] = J( 9,0)*KJtD[0]+/*J( 9,1)*KJtD[1]+ J( 9,2)*KJtD[2]+*/ + J( 9,3)*KJtD[3]+/*J( 9,4)*KJtD[4]+*/J( 9,5)*KJtD[5] ; + F[10] = /*J(10,0)*KJtD[0]+*/J(10,1)*KJtD[1]+/*J(10,2)*KJtD[2]+*/ + J(10,3)*KJtD[3]+ J(10,4)*KJtD[4] /*J(10,5)*KJtD[5]*/; + F[11] = /*J(11,0)*KJtD[0]+ J(11,1)*KJtD[1]+*/J(11,2)*KJtD[2]+ + /*J(11,3)*KJtD[3]+*/J(11,4)*KJtD[4]+ J(11,5)*KJtD[5] ; } ////////////////////////////////////////////////////////////////////// @@ -661,10 +650,10 @@ void TetrahedralCorotationalFEMForceField::accumulateForceSmall( Vect else { Transformation Rot; - Rot[0][0]=Rot[1][1]=Rot[2][2]=1; - Rot[0][1]=Rot[0][2]=0; - Rot[1][0]=Rot[1][2]=0; - Rot[2][0]=Rot[2][1]=0; + Rot(0,0)=Rot(1,1)=Rot(2,2)=1; + Rot(0,1)=Rot(0,2)=0; + Rot(1,0)=Rot(1,2)=0; + Rot(2,0)=Rot(2,1)=0; StiffnessMatrix JKJt,tmp; @@ -686,7 +675,7 @@ void TetrahedralCorotationalFEMForceField::accumulateForceSmall( Vect for(int j=0; j<12; ++j) { - if(JKJt[i][j]!=0) + if(JKJt(i,j)!=0) { int col = t[j/3]*3+j%3; @@ -699,9 +688,9 @@ void TetrahedralCorotationalFEMForceField::accumulateForceSmall( Vect } if( result==_stiffnesses[row].end() ) - _stiffnesses[row].push_back( Col_Value(col,JKJt[i][j] ) ); + _stiffnesses[row].push_back( Col_Value(col,JKJt(i,j) ) ); else - (*result).second += JKJt[i][j]; + (*result).second += JKJt(i,j); } } } @@ -764,15 +753,15 @@ inline void TetrahedralCorotationalFEMForceField::computeRotationLarg const Coord edgez = cross( edgex, edgey ).normalized(); edgey = cross( edgez, edgex ); //edgey is unit vector because edgez and edgex are orthogonal unit vectors - r[0][0] = edgex[0]; - r[0][1] = edgex[1]; - r[0][2] = edgex[2]; - r[1][0] = edgey[0]; - r[1][1] = edgey[1]; - r[1][2] = edgey[2]; - r[2][0] = edgez[0]; - r[2][1] = edgez[1]; - r[2][2] = edgez[2]; + r(0,0) = edgex[0]; + r(0,1) = edgex[1]; + r(0,2) = edgex[2]; + r(1,0) = edgey[0]; + r(1,1) = edgey[1]; + r(1,2) = edgey[2]; + r(2,0) = edgez[0]; + r(2,1) = edgez[1]; + r(2,2) = edgez[2]; } template @@ -809,8 +798,8 @@ inline void TetrahedralCorotationalFEMForceField::getRotation(Transfo Coord ex,ey,ez; for(int i=0; i<3; i++) { - ex[i]=R[0][i]; - ey[i]=R[1][i]; + ex[i]=R(0,i); + ey[i]=R(1,i); } ex.normalize(); ey.normalize(); @@ -823,9 +812,9 @@ inline void TetrahedralCorotationalFEMForceField::getRotation(Transfo for(int i=0; i<3; i++) { - R[0][i]=ex[i]; - R[1][i]=ey[i]; - R[2][i]=ez[i]; + R(0,i)=ex[i]; + R(1,i)=ey[i]; + R(2,i)=ez[i]; } } @@ -835,10 +824,10 @@ inline void TetrahedralCorotationalFEMForceField::getElementStiffness const type::vector::TetrahedronInformation>& tetraInf = d_tetrahedronInfo.getValue(); Transformation Rot; StiffnessMatrix JKJt,tmp; - Rot[0][0]=Rot[1][1]=Rot[2][2]=1; - Rot[0][1]=Rot[0][2]=0; - Rot[1][0]=Rot[1][2]=0; - Rot[2][0]=Rot[2][1]=0; + Rot(0,0)=Rot(1,1)=Rot(2,2)=1; + Rot(0,1)=Rot(0,2)=0; + Rot(1,0)=Rot(1,2)=0; + Rot(2,0)=Rot(2,1)=0; computeStiffnessMatrix(JKJt,tmp,tetraInf[elementIndex].materialMatrix, tetraInf[elementIndex].strainDisplacementTransposedMatrix,Rot); for(int i=0; i<12; i++) { @@ -880,9 +869,9 @@ void TetrahedralCorotationalFEMForceField::initLarge(int i, Index&a, const core::topology::BaseMeshTopology::Tetrahedron tetra = { a, b, c, d }; for (Index k = 0; k < 4; k++) { Index ix = tetra[k]; - matVert[k][0] = 1.0; + matVert(k,0) = 1.0; for (Index l = 1; l < 4; l++) - matVert[k][l] = X0[ix][l - 1]; + matVert(k,l) = X0[ix][l - 1]; } [[maybe_unused]] const bool canInvert = type::invertMatrix(tetrahedronInf[i].elemShapeFun, matVert); @@ -931,18 +920,18 @@ void TetrahedralCorotationalFEMForceField::accumulateForceLarge( Vect if(d_updateStiffnessMatrix.getValue()) { StrainDisplacementTransposed& J = tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix; - J[0][0] = J[1][3] = J[2][5] = ( - deforme[2][1]*deforme[3][2] ); - J[1][1] = J[0][3] = J[2][4] = ( deforme[2][0]*deforme[3][2] - deforme[1][0]*deforme[3][2] ); - J[2][2] = J[0][5] = J[1][4] = ( deforme[2][1]*deforme[3][0] - deforme[2][0]*deforme[3][1] + deforme[1][0]*deforme[3][1] - deforme[1][0]*deforme[2][1] ); + J(0,0) = J(1,3) = J(2,5) = ( - deforme[2][1]*deforme[3][2] ); + J(1,1) = J(0,3) = J(2,4) = ( deforme[2][0]*deforme[3][2] - deforme[1][0]*deforme[3][2] ); + J(2,2) = J(0,5) = J(1,4) = ( deforme[2][1]*deforme[3][0] - deforme[2][0]*deforme[3][1] + deforme[1][0]*deforme[3][1] - deforme[1][0]*deforme[2][1] ); - J[3][0] = J[4][3] = J[5][5] = ( deforme[2][1]*deforme[3][2] ); - J[4][1] = J[3][3] = J[5][4] = ( - deforme[2][0]*deforme[3][2] ); - J[5][2] = J[3][5] = J[4][4] = ( - deforme[2][1]*deforme[3][0] + deforme[2][0]*deforme[3][1] ); + J(3,0) = J(4,3) = J(5,5) = ( deforme[2][1]*deforme[3][2] ); + J(4,1) = J(3,3) = J(5,4) = ( - deforme[2][0]*deforme[3][2] ); + J(5,2) = J(3,5) = J(4,4) = ( - deforme[2][1]*deforme[3][0] + deforme[2][0]*deforme[3][1] ); - J[7][1] = J[6][3] = J[8][4] = ( deforme[1][0]*deforme[3][2] ); - J[8][2] = J[6][5] = J[7][4] = ( - deforme[1][0]*deforme[3][1] ); + J(7,1) = J(6,3) = J(8,4) = ( deforme[1][0]*deforme[3][2] ); + J(8,2) = J(6,5) = J(7,4) = ( - deforme[1][0]*deforme[3][1] ); - J[11][2] = J[9][5] = J[10][4] = ( deforme[1][0]*deforme[2][1] ); + J(11,2) = J(9,5) = J(10,4) = ( deforme[1][0]*deforme[2][1] ); } if(!d_assembling.getValue()) @@ -954,9 +943,9 @@ void TetrahedralCorotationalFEMForceField::accumulateForceLarge( Vect } else { - tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix[6][0] = 0; - tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix[9][0] = 0; - tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix[10][1] = 0; + tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix(6,0) = 0; + tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix(9,0) = 0; + tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix(10,1) = 0; StiffnessMatrix RJKJt, RJKJtRt; computeStiffnessMatrix(RJKJt,RJKJtRt,tetrahedronInf[elementIndex].materialMatrix, tetrahedronInf[elementIndex].strainDisplacementTransposedMatrix,tetrahedronInf[elementIndex].rotation); @@ -990,11 +979,11 @@ void TetrahedralCorotationalFEMForceField::accumulateForceLarge( Vect if( result==_stiffnesses[row].end() ) { - _stiffnesses[row].push_back( Col_Value(col,RJKJtRt[i][j] ) ); + _stiffnesses[row].push_back( Col_Value(col,RJKJtRt(i,j) ) ); } else { - (*result).second += RJKJtRt[i][j]; + (*result).second += RJKJtRt(i,j); } } } @@ -1061,9 +1050,9 @@ void TetrahedralCorotationalFEMForceField::initPolar(int i, Index& a, type::vector::TetrahedronInformation>& tetrahedronInf = *(d_tetrahedronInfo.beginEdit()); Transformation A; - A[0] = (X0)[b]-(X0)[a]; - A[1] = (X0)[c]-(X0)[a]; - A[2] = (X0)[d]-(X0)[a]; + A(0) = (X0)[b]-(X0)[a]; + A(1) = (X0)[c]-(X0)[a]; + A(2) = (X0)[d]-(X0)[a]; tetrahedronInf[i].initialTransformation = A; Transformation R_0_1; @@ -1085,9 +1074,9 @@ void TetrahedralCorotationalFEMForceField::accumulateForcePolar( Vect const core::topology::BaseMeshTopology::Tetrahedron t=this->l_topology->getTetrahedron(elementIndex); Transformation A; - A[0] = p[t[1]]-p[t[0]]; - A[1] = p[t[2]]-p[t[0]]; - A[2] = p[t[3]]-p[t[0]]; + A(0) = p[t[1]]-p[t[0]]; + A(1) = p[t[2]]-p[t[0]]; + A(2) = p[t[3]]-p[t[0]]; Transformation R_0_2; helper::Decompose::polarDecomposition(A, R_0_2); @@ -1189,24 +1178,24 @@ void TetrahedralCorotationalFEMForceField::computeBBox(const core::Ex { SOFA_UNUSED(params); - if( !onlyVisible ) return; + if( !onlyVisible ) return; - helper::ReadAccessor x = this->mstate->read(core::vec_id::write_access::position); + helper::ReadAccessor x = this->mstate->read(core::vec_id::write_access::position); - static const Real max_real = std::numeric_limits::max(); - static const Real min_real = std::numeric_limits::lowest(); - Real maxBBox[3] = {min_real,min_real,min_real}; - Real minBBox[3] = {max_real,max_real,max_real}; + static const Real max_real = std::numeric_limits::max(); + static const Real min_real = std::numeric_limits::lowest(); + Real maxBBox[3] = {min_real,min_real,min_real}; + Real minBBox[3] = {max_real,max_real,max_real}; for (std::size_t i=0; i maxBBox[c]) maxBBox[c] = (Real)x[i][c]; - else if (x[i][c] < minBBox[c]) minBBox[c] = (Real)x[i][c]; - } - } - - this->f_bbox.setValue(sofa::type::TBoundingBox(minBBox,maxBBox)); + { + for (int c=0; c<3; c++) + { + if (x[i][c] > maxBBox[c]) maxBBox[c] = (Real)x[i][c]; + else if (x[i][c] < minBBox[c]) minBBox[c] = (Real)x[i][c]; + } + } + + this->f_bbox.setValue(sofa::type::TBoundingBox(minBBox,maxBBox)); } @@ -1264,22 +1253,22 @@ void TetrahedralCorotationalFEMForceField::computeVonMisesStress() /// compute gradU for (Index k = 0; k < 3; k++) { for (Index l = 0; l < 3; l++) { - gradU[k][l] = 0.0; + gradU(k,l) = 0.0; for (Index m = 0; m < 4; m++) - gradU[k][l] += shf[l + 1][m] * D[3 * m + k]; + gradU(k,l) += shf(l + 1,m) * D[3 * m + k]; } } type::Mat<3, 3, Real> strain = Real(0.5) * (gradU + gradU.transposed()); for (Index j = 0; j < 3; j++) - vStrain[j] = strain[j][j]; - vStrain[3] = strain[1][2]; - vStrain[4] = strain[0][2]; - vStrain[5] = strain[0][1]; + vStrain[j] = strain(j,j); + vStrain[3] = strain(1,2); + vStrain[4] = strain(0,2); + vStrain[5] = strain(0,1); - Real lambda = tetraInfo.materialMatrix[0][1]; - Real mu = tetraInfo.materialMatrix[3][3]; + Real lambda = tetraInfo.materialMatrix(0,1); + Real mu = tetraInfo.materialMatrix(3,3); /// stress type::VecNoInit<6, Real> s; // VoigtTensor @@ -1426,10 +1415,10 @@ void TetrahedralCorotationalFEMForceField::addKToMatrix(sofa::lineara const type::vector::TetrahedronInformation>& tetrahedronInf = d_tetrahedronInfo.getValue(); - Rot[0][0]=Rot[1][1]=Rot[2][2]=1; - Rot[0][1]=Rot[0][2]=0; - Rot[1][0]=Rot[1][2]=0; - Rot[2][0]=Rot[2][1]=0; + Rot(0,0)=Rot(1,1)=Rot(2,2)=1; + Rot(0,1)=Rot(0,2)=0; + Rot(1,0)=Rot(1,2)=0; + Rot(2,0)=Rot(2,1)=0; const sofa::core::topology::BaseMeshTopology::SeqTetrahedra& tetras = this->l_topology->getTetrahedra(); for(int IT=0 ; IT != (int)tetras.size() ; ++IT) { @@ -1497,10 +1486,10 @@ void TetrahedralCorotationalFEMForceField::printStiffnessMatrix(int i Transformation Rot; StiffnessMatrix JKJt,tmp; - Rot[0][0]=Rot[1][1]=Rot[2][2]=1; - Rot[0][1]=Rot[0][2]=0; - Rot[1][0]=Rot[1][2]=0; - Rot[2][0]=Rot[2][1]=0; + Rot(0,0)=Rot(1,1)=Rot(2,2)=1; + Rot(0,1)=Rot(0,2)=0; + Rot(1,0)=Rot(1,2)=0; + Rot(2,0)=Rot(2,1)=0; computeStiffnessMatrix(JKJt,tmp,tetrahedronInf[idTetra].materialMatrix,tetrahedronInf[idTetra].strainDisplacementTransposedMatrix,Rot); } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl index 58610469489..a30d6341968 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl @@ -137,75 +137,75 @@ inline void TetrahedronFEMForceField::computeStrainDisplacement( Stra // shape functions matrix type::Mat<2, 3, Real> M; - M[0][0] = b[1]; - M[0][1] = c[1]; - M[0][2] = d[1]; - M[1][0] = b[2]; - M[1][1] = c[2]; - M[1][2] = d[2]; - J[0][0] = J[1][3] = J[2][5] = - peudo_determinant_for_coef( M ); - M[0][0] = b[0]; - M[0][1] = c[0]; - M[0][2] = d[0]; - J[0][3] = J[1][1] = J[2][4] = peudo_determinant_for_coef( M ); - M[1][0] = b[1]; - M[1][1] = c[1]; - M[1][2] = d[1]; - J[0][5] = J[1][4] = J[2][2] = - peudo_determinant_for_coef( M ); - - M[0][0] = c[1]; - M[0][1] = d[1]; - M[0][2] = a[1]; - M[1][0] = c[2]; - M[1][1] = d[2]; - M[1][2] = a[2]; - J[3][0] = J[4][3] = J[5][5] = peudo_determinant_for_coef( M ); - M[0][0] = c[0]; - M[0][1] = d[0]; - M[0][2] = a[0]; - J[3][3] = J[4][1] = J[5][4] = - peudo_determinant_for_coef( M ); - M[1][0] = c[1]; - M[1][1] = d[1]; - M[1][2] = a[1]; - J[3][5] = J[4][4] = J[5][2] = peudo_determinant_for_coef( M ); - - M[0][0] = d[1]; - M[0][1] = a[1]; - M[0][2] = b[1]; - M[1][0] = d[2]; - M[1][1] = a[2]; - M[1][2] = b[2]; - J[6][0] = J[7][3] = J[8][5] = - peudo_determinant_for_coef( M ); - M[0][0] = d[0]; - M[0][1] = a[0]; - M[0][2] = b[0]; - J[6][3] = J[7][1] = J[8][4] = peudo_determinant_for_coef( M ); - M[1][0] = d[1]; - M[1][1] = a[1]; - M[1][2] = b[1]; - J[6][5] = J[7][4] = J[8][2] = - peudo_determinant_for_coef( M ); - - M[0][0] = a[1]; - M[0][1] = b[1]; - M[0][2] = c[1]; - M[1][0] = a[2]; - M[1][1] = b[2]; - M[1][2] = c[2]; - J[9][0] = J[10][3] = J[11][5] = peudo_determinant_for_coef( M ); - M[0][0] = a[0]; - M[0][1] = b[0]; - M[0][2] = c[0]; - J[9][3] = J[10][1] = J[11][4] = - peudo_determinant_for_coef( M ); - M[1][0] = a[1]; - M[1][1] = b[1]; - M[1][2] = c[1]; - J[9][5] = J[10][4] = J[11][2] = peudo_determinant_for_coef( M ); + M(0,0) = b[1]; + M(0,1) = c[1]; + M(0,2) = d[1]; + M(1,0) = b[2]; + M(1,1) = c[2]; + M(1,2) = d[2]; + J(0,0) = J(1,3) = J(2,5) = - peudo_determinant_for_coef( M ); + M(0,0) = b[0]; + M(0,1) = c[0]; + M(0,2) = d[0]; + J(0,3) = J(1,1) = J(2,4) = peudo_determinant_for_coef( M ); + M(1,0) = b[1]; + M(1,1) = c[1]; + M(1,2) = d[1]; + J(0,5) = J(1,4) = J(2,2) = - peudo_determinant_for_coef( M ); + + M(0,0) = c[1]; + M(0,1) = d[1]; + M(0,2) = a[1]; + M(1,0) = c[2]; + M(1,1) = d[2]; + M(1,2) = a[2]; + J(3,0) = J(4,3) = J(5,5) = peudo_determinant_for_coef( M ); + M(0,0) = c[0]; + M(0,1) = d[0]; + M(0,2) = a[0]; + J(3,3) = J(4,1) = J(5,4) = - peudo_determinant_for_coef( M ); + M(1,0) = c[1]; + M(1,1) = d[1]; + M(1,2) = a[1]; + J(3,5) = J(4,4) = J(5,2) = peudo_determinant_for_coef( M ); + + M(0,0) = d[1]; + M(0,1) = a[1]; + M(0,2) = b[1]; + M(1,0) = d[2]; + M(1,1) = a[2]; + M(1,2) = b[2]; + J(6,0) = J(7,3) = J(8,5) = - peudo_determinant_for_coef( M ); + M(0,0) = d[0]; + M(0,1) = a[0]; + M(0,2) = b[0]; + J(6,3) = J(7,1) = J(8,4) = peudo_determinant_for_coef( M ); + M(1,0) = d[1]; + M(1,1) = a[1]; + M(1,2) = b[1]; + J(6,5) = J(7,4) = J(8,2) = - peudo_determinant_for_coef( M ); + + M(0,0) = a[1]; + M(0,1) = b[1]; + M(0,2) = c[1]; + M(1,0) = a[2]; + M(1,1) = b[2]; + M(1,2) = c[2]; + J(9,0) = J(10,3) = J(11,5) = peudo_determinant_for_coef( M ); + M(0,0) = a[0]; + M(0,1) = b[0]; + M(0,2) = c[0]; + J(9,3) = J(10,1) = J(11,4) = - peudo_determinant_for_coef( M ); + M(1,0) = a[1]; + M(1,1) = b[1]; + M(1,2) = c[1]; + J(9,5) = J(10,4) = J(11,2) = peudo_determinant_for_coef( M ); } template typename TetrahedronFEMForceField::Real TetrahedronFEMForceField::peudo_determinant_for_coef ( const type::Mat<2, 3, Real>& M ) { - return M[0][1]*M[1][2] - M[1][1]*M[0][2] - M[0][0]*M[1][2] + M[1][0]*M[0][2] + M[0][0]*M[1][1] - M[1][0]*M[0][1]; + return M(0,1)*M(1,2) - M(1,1)*M(0,2) - M(0,0)*M(1,2) + M(1,0)*M(0,2) + M(0,0)*M(1,1) - M(1,0)*M(0,1); } template @@ -223,8 +223,8 @@ void TetrahedronFEMForceField::computeStiffnessMatrix( StiffnessMatri for(int i=0; i<3; ++i) for(int j=0; j<3; ++j) { - RR[i][j]=RR[i+3][j+3]=RR[i+6][j+6]=RR[i+9][j+9]=Rot[i][j]; - RRt[i][j]=RRt[i+3][j+3]=RRt[i+6][j+6]=RRt[i+9][j+9]=Rot[j][i]; + RR(i,j)=RR(i+3,j+3)=RR(i+6,j+6)=RR(i+9,j+9)=Rot(i,j); + RRt(i,j)=RRt(i+3,j+3)=RRt(i+6,j+6)=RRt(i+9,j+9)=Rot(j,i); } S = RR*JKJt; @@ -241,10 +241,10 @@ inline void TetrahedronFEMForceField::getElementStiffnessMatrix(Real* } Transformation Rot; StiffnessMatrix JKJt,tmp; - Rot[0][0]=Rot[1][1]=Rot[2][2]=1; - Rot[0][1]=Rot[0][2]=0; - Rot[1][0]=Rot[1][2]=0; - Rot[2][0]=Rot[2][1]=0; + Rot(0,0)=Rot(1,1)=Rot(2,2)=1; + Rot(0,1)=Rot(0,2)=0; + Rot(1,0)=Rot(1,2)=0; + Rot(2,0)=Rot(2,1)=0; computeStiffnessMatrix(JKJt,tmp,materialsStiffnesses[elementIndex], strainDisplacements[elementIndex],_initialRotations[elementIndex]); for(int i=0; i<12; i++) { @@ -261,40 +261,33 @@ void TetrahedronFEMForceField::computeMaterialStiffness(Index i, Inde const Real youngModulus = (localStiffnessFactor.empty() ? 1.0f : localStiffnessFactor[i*localStiffnessFactor.size()/_indexedElements->size()])*youngModulusElement; const Real poissonRatio = this->getPoissonRatioInElement(i); - materialsStiffnesses[i][0][0] = materialsStiffnesses[i][1][1] = materialsStiffnesses[i][2][2] = 1; - materialsStiffnesses[i][0][1] = materialsStiffnesses[i][0][2] = materialsStiffnesses[i][1][0] - = materialsStiffnesses[i][1][2] = materialsStiffnesses[i][2][0] = - materialsStiffnesses[i][2][1] = poissonRatio/(1-poissonRatio); - materialsStiffnesses[i][0][3] = materialsStiffnesses[i][0][4] = materialsStiffnesses[i][0][5] = 0; - materialsStiffnesses[i][1][3] = materialsStiffnesses[i][1][4] = materialsStiffnesses[i][1][5] = 0; - materialsStiffnesses[i][2][3] = materialsStiffnesses[i][2][4] = materialsStiffnesses[i][2][5] = 0; - materialsStiffnesses[i][3][0] = materialsStiffnesses[i][3][1] = materialsStiffnesses[i][3][2] = materialsStiffnesses[i][3][4] = materialsStiffnesses[i][3][5] = 0; - materialsStiffnesses[i][4][0] = materialsStiffnesses[i][4][1] = materialsStiffnesses[i][4][2] = materialsStiffnesses[i][4][3] = materialsStiffnesses[i][4][5] = 0; - materialsStiffnesses[i][5][0] = materialsStiffnesses[i][5][1] = materialsStiffnesses[i][5][2] = materialsStiffnesses[i][5][3] = materialsStiffnesses[i][5][4] = 0; - materialsStiffnesses[i][3][3] = materialsStiffnesses[i][4][4] = materialsStiffnesses[i][5][5] = (1-2*poissonRatio)/(2*(1-poissonRatio)); + materialsStiffnesses[i](0,0) = materialsStiffnesses[i](1,1) = materialsStiffnesses[i](2,2) = 1; + materialsStiffnesses[i](0,1) = materialsStiffnesses[i](0,2) = materialsStiffnesses[i](1,0) + = materialsStiffnesses[i](1,2) = materialsStiffnesses[i](2,0) = + materialsStiffnesses[i](2,1) = poissonRatio/(1-poissonRatio); + materialsStiffnesses[i](0,3) = materialsStiffnesses[i](0,4) = materialsStiffnesses[i](0,5) = 0; + materialsStiffnesses[i](1,3) = materialsStiffnesses[i](1,4) = materialsStiffnesses[i](1,5) = 0; + materialsStiffnesses[i](2,3) = materialsStiffnesses[i](2,4) = materialsStiffnesses[i](2,5) = 0; + materialsStiffnesses[i](3,0) = materialsStiffnesses[i](3,1) = materialsStiffnesses[i](3,2) = materialsStiffnesses[i](3,4) = materialsStiffnesses[i](3,5) = 0; + materialsStiffnesses[i](4,0) = materialsStiffnesses[i](4,1) = materialsStiffnesses[i](4,2) = materialsStiffnesses[i](4,3) = materialsStiffnesses[i](4,5) = 0; + materialsStiffnesses[i](5,0) = materialsStiffnesses[i](5,1) = materialsStiffnesses[i](5,2) = materialsStiffnesses[i](5,3) = materialsStiffnesses[i](5,4) = 0; + materialsStiffnesses[i](3,3) = materialsStiffnesses[i](4,4) = materialsStiffnesses[i](5,5) = (1-2*poissonRatio)/(2*(1-poissonRatio)); materialsStiffnesses[i] *= (youngModulus*(1-poissonRatio))/((1+poissonRatio)*(1-2*poissonRatio)); if ( isComputeVonMisesStressMethodSet() ) { - elemLambda[i] = materialsStiffnesses[i][0][1]; - elemMu[i] = materialsStiffnesses[i][3][3]; + elemLambda[i] = materialsStiffnesses[i](0,1); + elemMu[i] = materialsStiffnesses[i](3,3); } // divide by 36 times volumes of the element const VecCoord &initialPoints=d_initialPoints.getValue(); - Coord A = initialPoints[b] - initialPoints[a]; - Coord B = initialPoints[c] - initialPoints[a]; - Coord C = initialPoints[d] - initialPoints[a]; - Coord AB = cross(A, B); - Real volumes6 = fabs( dot( AB, C ) ); + const auto tetrahedronVolume = geometry::Tetrahedron::volume( + initialPoints[a], initialPoints[b], initialPoints[c], initialPoints[d]); - m_restVolume += volumes6/6; - if (volumes6<0) - { - msg_error() << "Negative volume for tetra "< = "< @@ -311,54 +304,54 @@ inline void TetrahedronFEMForceField::computeForce( Displacement &F, F = J*(K*(J.multTranspose(Depl))); #else /* We have these zeros - K[0][3] K[0][4] K[0][5] - K[1][3] K[1][4] K[1][5] - K[2][3] K[2][4] K[2][5] - K[3][0] K[3][1] K[3][2] K[3][4] K[3][5] - K[4][0] K[4][1] K[4][2] K[4][3] K[4][5] - K[5][0] K[5][1] K[5][2] K[5][3] K[5][4] - - - J[0][1] J[0][2] J[0][4] - J[1][0] J[1][2] J[1][5] - J[2][0] J[2][1] J[2][3] - J[3][1] J[3][2] J[3][4] - J[4][0] J[4][2] J[4][5] - J[5][0] J[5][1] J[5][3] - J[6][1] J[6][2] J[6][4] - J[7][0] J[7][2] J[7][5] - J[8][0] J[8][1] J[8][3] - J[9][1] J[9][2] J[9][4] - J[10][0] J[10][2] J[10][5] - J[11][0] J[11][1] J[11][3] + K(0,3) K(0,4) K(0,5) + K(1,3) K(1,4) K(1,5) + K(2,3) K(2,4) K(2,5) + K(3,0) K(3,1) K(3,2) K(3,4) K(3,5) + K(4,0) K(4,1) K(4,2) K(4,3) K(4,5) + K(5,0) K(5,1) K(5,2) K(5,3) K(5,4) + + + J(0,1) J(0,2) J(0,4) + J(1,0) J(1,2) J(1,5) + J(2,0) J(2,1) J(2,3) + J(3,1) J(3,2) J(3,4) + J(4,0) J(4,2) J(4,5) + J(5,0) J(5,1) J(5,3) + J(6,1) J(6,2) J(6,4) + J(7,0) J(7,2) J(7,5) + J(8,0) J(8,1) J(8,3) + J(9,1) J(9,2) J(9,4) + J(10,0) J(10,2) J(10,5) + J(11,0) J(11,1) J(11,3) */ VoigtTensor JtD; - JtD[0] = J[ 0][0]*Depl[ 0]+/*J[ 1][0]*Depl[ 1]+ J[ 2][0]*Depl[ 2]+*/ - J[ 3][0]*Depl[ 3]+/*J[ 4][0]*Depl[ 4]+ J[ 5][0]*Depl[ 5]+*/ - J[ 6][0]*Depl[ 6]+/*J[ 7][0]*Depl[ 7]+ J[ 8][0]*Depl[ 8]+*/ - J[ 9][0]*Depl[ 9] /*J[10][0]*Depl[10]+ J[11][0]*Depl[11]*/; - JtD[1] = /*J[ 0][1]*Depl[ 0]+*/J[ 1][1]*Depl[ 1]+/*J[ 2][1]*Depl[ 2]+*/ - /*J[ 3][1]*Depl[ 3]+*/J[ 4][1]*Depl[ 4]+/*J[ 5][1]*Depl[ 5]+*/ - /*J[ 6][1]*Depl[ 6]+*/J[ 7][1]*Depl[ 7]+/*J[ 8][1]*Depl[ 8]+*/ - /*J[ 9][1]*Depl[ 9]+*/J[10][1]*Depl[10] /*J[11][1]*Depl[11]*/; - JtD[2] = /*J[ 0][2]*Depl[ 0]+ J[ 1][2]*Depl[ 1]+*/J[ 2][2]*Depl[ 2]+ - /*J[ 3][2]*Depl[ 3]+ J[ 4][2]*Depl[ 4]+*/J[ 5][2]*Depl[ 5]+ - /*J[ 6][2]*Depl[ 6]+ J[ 7][2]*Depl[ 7]+*/J[ 8][2]*Depl[ 8]+ - /*J[ 9][2]*Depl[ 9]+ J[10][2]*Depl[10]+*/J[11][2]*Depl[11] ; - JtD[3] = J[ 0][3]*Depl[ 0]+ J[ 1][3]*Depl[ 1]+/*J[ 2][3]*Depl[ 2]+*/ - J[ 3][3]*Depl[ 3]+ J[ 4][3]*Depl[ 4]+/*J[ 5][3]*Depl[ 5]+*/ - J[ 6][3]*Depl[ 6]+ J[ 7][3]*Depl[ 7]+/*J[ 8][3]*Depl[ 8]+*/ - J[ 9][3]*Depl[ 9]+ J[10][3]*Depl[10] /*J[11][3]*Depl[11]*/; - JtD[4] = /*J[ 0][4]*Depl[ 0]+*/J[ 1][4]*Depl[ 1]+ J[ 2][4]*Depl[ 2]+ - /*J[ 3][4]*Depl[ 3]+*/J[ 4][4]*Depl[ 4]+ J[ 5][4]*Depl[ 5]+ - /*J[ 6][4]*Depl[ 6]+*/J[ 7][4]*Depl[ 7]+ J[ 8][4]*Depl[ 8]+ - /*J[ 9][4]*Depl[ 9]+*/J[10][4]*Depl[10]+ J[11][4]*Depl[11] ; - JtD[5] = J[ 0][5]*Depl[ 0]+/*J[ 1][5]*Depl[ 1]*/ J[ 2][5]*Depl[ 2]+ - J[ 3][5]*Depl[ 3]+/*J[ 4][5]*Depl[ 4]*/ J[ 5][5]*Depl[ 5]+ - J[ 6][5]*Depl[ 6]+/*J[ 7][5]*Depl[ 7]*/ J[ 8][5]*Depl[ 8]+ - J[ 9][5]*Depl[ 9]+/*J[10][5]*Depl[10]*/ J[11][5]*Depl[11]; + JtD[0] = J( 0,0)*Depl[ 0]+/*J( 1,0)*Depl[ 1]+ J( 2,0)*Depl[ 2]+*/ + J( 3,0)*Depl[ 3]+/*J( 4,0)*Depl[ 4]+ J( 5,0)*Depl[ 5]+*/ + J( 6,0)*Depl[ 6]+/*J( 7,0)*Depl[ 7]+ J( 8,0)*Depl[ 8]+*/ + J( 9,0)*Depl[ 9] /*J(10,0)*Depl[10]+ J(11,0)*Depl[11]*/; + JtD[1] = /*J( 0,1)*Depl[ 0]+*/J( 1,1)*Depl[ 1]+/*J( 2,1)*Depl[ 2]+*/ + /*J( 3,1)*Depl[ 3]+*/J( 4,1)*Depl[ 4]+/*J( 5,1)*Depl[ 5]+*/ + /*J( 6,1)*Depl[ 6]+*/J( 7,1)*Depl[ 7]+/*J( 8,1)*Depl[ 8]+*/ + /*J( 9,1)*Depl[ 9]+*/J(10,1)*Depl[10] /*J(11,1)*Depl[11]*/; + JtD[2] = /*J( 0,2)*Depl[ 0]+ J( 1,2)*Depl[ 1]+*/J( 2,2)*Depl[ 2]+ + /*J( 3,2)*Depl[ 3]+ J( 4,2)*Depl[ 4]+*/J( 5,2)*Depl[ 5]+ + /*J( 6,2)*Depl[ 6]+ J( 7,2)*Depl[ 7]+*/J( 8,2)*Depl[ 8]+ + /*J( 9,2)*Depl[ 9]+ J(10,2)*Depl[10]+*/J(11,2)*Depl[11] ; + JtD[3] = J( 0,3)*Depl[ 0]+ J( 1,3)*Depl[ 1]+/*J( 2,3)*Depl[ 2]+*/ + J( 3,3)*Depl[ 3]+ J( 4,3)*Depl[ 4]+/*J( 5,3)*Depl[ 5]+*/ + J( 6,3)*Depl[ 6]+ J( 7,3)*Depl[ 7]+/*J( 8,3)*Depl[ 8]+*/ + J( 9,3)*Depl[ 9]+ J(10,3)*Depl[10] /*J(11,3)*Depl[11]*/; + JtD[4] = /*J( 0,4)*Depl[ 0]+*/J( 1,4)*Depl[ 1]+ J( 2,4)*Depl[ 2]+ + /*J( 3,4)*Depl[ 3]+*/J( 4,4)*Depl[ 4]+ J( 5,4)*Depl[ 5]+ + /*J( 6,4)*Depl[ 6]+*/J( 7,4)*Depl[ 7]+ J( 8,4)*Depl[ 8]+ + /*J( 9,4)*Depl[ 9]+*/J(10,4)*Depl[10]+ J(11,4)*Depl[11] ; + JtD[5] = J( 0,5)*Depl[ 0]+/*J( 1,5)*Depl[ 1]*/ J( 2,5)*Depl[ 2]+ + J( 3,5)*Depl[ 3]+/*J( 4,5)*Depl[ 4]*/ J( 5,5)*Depl[ 5]+ + J( 6,5)*Depl[ 6]+/*J( 7,5)*Depl[ 7]*/ J( 8,5)*Depl[ 8]+ + J( 9,5)*Depl[ 9]+/*J(10,5)*Depl[10]*/ J(11,5)*Depl[11]; // eventually remove a part of the strain to simulate plasticity if(d_plasticMaxThreshold.getValue() > 0 ) @@ -380,43 +373,43 @@ inline void TetrahedronFEMForceField::computeForce( Displacement &F, VoigtTensor KJtD; - KJtD[0] = K[0][0]*JtD[0]+ K[0][1]*JtD[1]+ K[0][2]*JtD[2] - /*K[0][3]*JtD[3]+ K[0][4]*JtD[4]+ K[0][5]*JtD[5]*/; - KJtD[1] = K[1][0]*JtD[0]+ K[1][1]*JtD[1]+ K[1][2]*JtD[2] - /*K[1][3]*JtD[3]+ K[1][4]*JtD[4]+ K[1][5]*JtD[5]*/; - KJtD[2] = K[2][0]*JtD[0]+ K[2][1]*JtD[1]+ K[2][2]*JtD[2] - /*K[2][3]*JtD[3]+ K[2][4]*JtD[4]+ K[2][5]*JtD[5]*/; - KJtD[3] = /*K[3][0]*JtD[0]+ K[3][1]*JtD[1]+ K[3][2]*JtD[2]+*/ - K[3][3]*JtD[3] /*K[3][4]*JtD[4]+ K[3][5]*JtD[5]*/; - KJtD[4] = /*K[4][0]*JtD[0]+ K[4][1]*JtD[1]+ K[4][2]*JtD[2]+*/ - /*K[4][3]*JtD[3]+*/K[4][4]*JtD[4] /*K[4][5]*JtD[5]*/; - KJtD[5] = /*K[5][0]*JtD[0]+ K[5][1]*JtD[1]+ K[5][2]*JtD[2]+*/ - /*K[5][3]*JtD[3]+ K[5][4]*JtD[4]+*/K[5][5]*JtD[5] ; - - F[ 0] = J[ 0][0]*KJtD[0]+/*J[ 0][1]*KJtD[1]+ J[ 0][2]*KJtD[2]+*/ - J[ 0][3]*KJtD[3]+/*J[ 0][4]*KJtD[4]+*/J[ 0][5]*KJtD[5] ; - F[ 1] = /*J[ 1][0]*KJtD[0]+*/J[ 1][1]*KJtD[1]+/*J[ 1][2]*KJtD[2]+*/ - J[ 1][3]*KJtD[3]+ J[ 1][4]*KJtD[4] /*J[ 1][5]*KJtD[5]*/; - F[ 2] = /*J[ 2][0]*KJtD[0]+ J[ 2][1]*KJtD[1]+*/J[ 2][2]*KJtD[2]+ - /*J[ 2][3]*KJtD[3]+*/J[ 2][4]*KJtD[4]+ J[ 2][5]*KJtD[5] ; - F[ 3] = J[ 3][0]*KJtD[0]+/*J[ 3][1]*KJtD[1]+ J[ 3][2]*KJtD[2]+*/ - J[ 3][3]*KJtD[3]+/*J[ 3][4]*KJtD[4]+*/J[ 3][5]*KJtD[5] ; - F[ 4] = /*J[ 4][0]*KJtD[0]+*/J[ 4][1]*KJtD[1]+/*J[ 4][2]*KJtD[2]+*/ - J[ 4][3]*KJtD[3]+ J[ 4][4]*KJtD[4] /*J[ 4][5]*KJtD[5]*/; - F[ 5] = /*J[ 5][0]*KJtD[0]+ J[ 5][1]*KJtD[1]+*/J[ 5][2]*KJtD[2]+ - /*J[ 5][3]*KJtD[3]+*/J[ 5][4]*KJtD[4]+ J[ 5][5]*KJtD[5] ; - F[ 6] = J[ 6][0]*KJtD[0]+/*J[ 6][1]*KJtD[1]+ J[ 6][2]*KJtD[2]+*/ - J[ 6][3]*KJtD[3]+/*J[ 6][4]*KJtD[4]+*/J[ 6][5]*KJtD[5] ; - F[ 7] = /*J[ 7][0]*KJtD[0]+*/J[ 7][1]*KJtD[1]+/*J[ 7][2]*KJtD[2]+*/ - J[ 7][3]*KJtD[3]+ J[ 7][4]*KJtD[4] /*J[ 7][5]*KJtD[5]*/; - F[ 8] = /*J[ 8][0]*KJtD[0]+ J[ 8][1]*KJtD[1]+*/J[ 8][2]*KJtD[2]+ - /*J[ 8][3]*KJtD[3]+*/J[ 8][4]*KJtD[4]+ J[ 8][5]*KJtD[5] ; - F[ 9] = J[ 9][0]*KJtD[0]+/*J[ 9][1]*KJtD[1]+ J[ 9][2]*KJtD[2]+*/ - J[ 9][3]*KJtD[3]+/*J[ 9][4]*KJtD[4]+*/J[ 9][5]*KJtD[5] ; - F[10] = /*J[10][0]*KJtD[0]+*/J[10][1]*KJtD[1]+/*J[10][2]*KJtD[2]+*/ - J[10][3]*KJtD[3]+ J[10][4]*KJtD[4] /*J[10][5]*KJtD[5]*/; - F[11] = /*J[11][0]*KJtD[0]+ J[11][1]*KJtD[1]+*/J[11][2]*KJtD[2]+ - /*J[11][3]*KJtD[3]+*/J[11][4]*KJtD[4]+ J[11][5]*KJtD[5] ; + KJtD[0] = K(0,0)*JtD[0]+ K(0,1)*JtD[1]+ K(0,2)*JtD[2] + /*K(0,3)*JtD[3]+ K(0,4)*JtD[4]+ K(0,5)*JtD[5]*/; + KJtD[1] = K(1,0)*JtD[0]+ K(1,1)*JtD[1]+ K(1,2)*JtD[2] + /*K(1,3)*JtD[3]+ K(1,4)*JtD[4]+ K(1,5)*JtD[5]*/; + KJtD[2] = K(2,0)*JtD[0]+ K(2,1)*JtD[1]+ K(2,2)*JtD[2] + /*K(2,3)*JtD[3]+ K(2,4)*JtD[4]+ K(2,5)*JtD[5]*/; + KJtD[3] = /*K(3,0)*JtD[0]+ K(3,1)*JtD[1]+ K(3,2)*JtD[2]+*/ + K(3,3)*JtD[3] /*K(3,4)*JtD[4]+ K(3,5)*JtD[5]*/; + KJtD[4] = /*K(4,0)*JtD[0]+ K(4,1)*JtD[1]+ K(4,2)*JtD[2]+*/ + /*K(4,3)*JtD[3]+*/K(4,4)*JtD[4] /*K(4,5)*JtD[5]*/; + KJtD[5] = /*K(5,0)*JtD[0]+ K(5,1)*JtD[1]+ K(5,2)*JtD[2]+*/ + /*K(5,3)*JtD[3]+ K(5,4)*JtD[4]+*/K(5,5)*JtD[5] ; + + F[ 0] = J( 0,0)*KJtD[0]+/*J( 0,1)*KJtD[1]+ J( 0,2)*KJtD[2]+*/ + J( 0,3)*KJtD[3]+/*J( 0,4)*KJtD[4]+*/J( 0,5)*KJtD[5] ; + F[ 1] = /*J( 1,0)*KJtD[0]+*/J( 1,1)*KJtD[1]+/*J( 1,2)*KJtD[2]+*/ + J( 1,3)*KJtD[3]+ J( 1,4)*KJtD[4] /*J( 1,5)*KJtD[5]*/; + F[ 2] = /*J( 2,0)*KJtD[0]+ J( 2,1)*KJtD[1]+*/J( 2,2)*KJtD[2]+ + /*J( 2,3)*KJtD[3]+*/J( 2,4)*KJtD[4]+ J( 2,5)*KJtD[5] ; + F[ 3] = J( 3,0)*KJtD[0]+/*J( 3,1)*KJtD[1]+ J( 3,2)*KJtD[2]+*/ + J( 3,3)*KJtD[3]+/*J( 3,4)*KJtD[4]+*/J( 3,5)*KJtD[5] ; + F[ 4] = /*J( 4,0)*KJtD[0]+*/J( 4,1)*KJtD[1]+/*J( 4,2)*KJtD[2]+*/ + J( 4,3)*KJtD[3]+ J( 4,4)*KJtD[4] /*J( 4,5)*KJtD[5]*/; + F[ 5] = /*J( 5,0)*KJtD[0]+ J( 5,1)*KJtD[1]+*/J( 5,2)*KJtD[2]+ + /*J( 5,3)*KJtD[3]+*/J( 5,4)*KJtD[4]+ J( 5,5)*KJtD[5] ; + F[ 6] = J( 6,0)*KJtD[0]+/*J( 6,1)*KJtD[1]+ J( 6,2)*KJtD[2]+*/ + J( 6,3)*KJtD[3]+/*J( 6,4)*KJtD[4]+*/J( 6,5)*KJtD[5] ; + F[ 7] = /*J( 7,0)*KJtD[0]+*/J( 7,1)*KJtD[1]+/*J( 7,2)*KJtD[2]+*/ + J( 7,3)*KJtD[3]+ J( 7,4)*KJtD[4] /*J( 7,5)*KJtD[5]*/; + F[ 8] = /*J( 8,0)*KJtD[0]+ J( 8,1)*KJtD[1]+*/J( 8,2)*KJtD[2]+ + /*J( 8,3)*KJtD[3]+*/J( 8,4)*KJtD[4]+ J( 8,5)*KJtD[5] ; + F[ 9] = J( 9,0)*KJtD[0]+/*J( 9,1)*KJtD[1]+ J( 9,2)*KJtD[2]+*/ + J( 9,3)*KJtD[3]+/*J( 9,4)*KJtD[4]+*/J( 9,5)*KJtD[5] ; + F[10] = /*J(10,0)*KJtD[0]+*/J(10,1)*KJtD[1]+/*J(10,2)*KJtD[2]+*/ + J(10,3)*KJtD[3]+ J(10,4)*KJtD[4] /*J(10,5)*KJtD[5]*/; + F[11] = /*J(11,0)*KJtD[0]+ J(11,1)*KJtD[1]+*/J(11,2)*KJtD[2]+ + /*J(11,3)*KJtD[3]+*/J(11,4)*KJtD[4]+ J(11,5)*KJtD[5] ; #endif } @@ -436,94 +429,94 @@ inline void TetrahedronFEMForceField::computeForce( Displacement &F, F *= fact; #else /* We have these zeros - K[0][3] K[0][4] K[0][5] - K[1][3] K[1][4] K[1][5] - K[2][3] K[2][4] K[2][5] - K[3][0] K[3][1] K[3][2] K[3][4] K[3][5] - K[4][0] K[4][1] K[4][2] K[4][3] K[4][5] - K[5][0] K[5][1] K[5][2] K[5][3] K[5][4] - - - J[0][1] J[0][2] J[0][4] - J[1][0] J[1][2] J[1][5] - J[2][0] J[2][1] J[2][3] - J[3][1] J[3][2] J[3][4] - J[4][0] J[4][2] J[4][5] - J[5][0] J[5][1] J[5][3] - J[6][1] J[6][2] J[6][4] - J[7][0] J[7][2] J[7][5] - J[8][0] J[8][1] J[8][3] - J[9][1] J[9][2] J[9][4] - J[10][0] J[10][2] J[10][5] - J[11][0] J[11][1] J[11][3] + K(0,3) K(0,4) K(0,5) + K(1,3) K(1,4) K(1,5) + K(2,3) K(2,4) K(2,5) + K(3,0) K(3,1) K(3,2) K(3,4) K(3,5) + K(4,0) K(4,1) K(4,2) K(4,3) K(4,5) + K(5,0) K(5,1) K(5,2) K(5,3) K(5,4) + + + J(0,1) J(0,2) J(0,4) + J(1,0) J(1,2) J(1,5) + J(2,0) J(2,1) J(2,3) + J(3,1) J(3,2) J(3,4) + J(4,0) J(4,2) J(4,5) + J(5,0) J(5,1) J(5,3) + J(6,1) J(6,2) J(6,4) + J(7,0) J(7,2) J(7,5) + J(8,0) J(8,1) J(8,3) + J(9,1) J(9,2) J(9,4) + J(10,0) J(10,2) J(10,5) + J(11,0) J(11,1) J(11,3) */ type::VecNoInit<6,Real> JtD; - JtD[0] = J[ 0][0]*Depl[ 0]+/*J[ 1][0]*Depl[ 1]+ J[ 2][0]*Depl[ 2]+*/ - J[ 3][0]*Depl[ 3]+/*J[ 4][0]*Depl[ 4]+ J[ 5][0]*Depl[ 5]+*/ - J[ 6][0]*Depl[ 6]+/*J[ 7][0]*Depl[ 7]+ J[ 8][0]*Depl[ 8]+*/ - J[ 9][0]*Depl[ 9] /*J[10][0]*Depl[10]+ J[11][0]*Depl[11]*/; - JtD[1] = /*J[ 0][1]*Depl[ 0]+*/J[ 1][1]*Depl[ 1]+/*J[ 2][1]*Depl[ 2]+*/ - /*J[ 3][1]*Depl[ 3]+*/J[ 4][1]*Depl[ 4]+/*J[ 5][1]*Depl[ 5]+*/ - /*J[ 6][1]*Depl[ 6]+*/J[ 7][1]*Depl[ 7]+/*J[ 8][1]*Depl[ 8]+*/ - /*J[ 9][1]*Depl[ 9]+*/J[10][1]*Depl[10] /*J[11][1]*Depl[11]*/; - JtD[2] = /*J[ 0][2]*Depl[ 0]+ J[ 1][2]*Depl[ 1]+*/J[ 2][2]*Depl[ 2]+ - /*J[ 3][2]*Depl[ 3]+ J[ 4][2]*Depl[ 4]+*/J[ 5][2]*Depl[ 5]+ - /*J[ 6][2]*Depl[ 6]+ J[ 7][2]*Depl[ 7]+*/J[ 8][2]*Depl[ 8]+ - /*J[ 9][2]*Depl[ 9]+ J[10][2]*Depl[10]+*/J[11][2]*Depl[11] ; - JtD[3] = J[ 0][3]*Depl[ 0]+ J[ 1][3]*Depl[ 1]+/*J[ 2][3]*Depl[ 2]+*/ - J[ 3][3]*Depl[ 3]+ J[ 4][3]*Depl[ 4]+/*J[ 5][3]*Depl[ 5]+*/ - J[ 6][3]*Depl[ 6]+ J[ 7][3]*Depl[ 7]+/*J[ 8][3]*Depl[ 8]+*/ - J[ 9][3]*Depl[ 9]+ J[10][3]*Depl[10] /*J[11][3]*Depl[11]*/; - JtD[4] = /*J[ 0][4]*Depl[ 0]+*/J[ 1][4]*Depl[ 1]+ J[ 2][4]*Depl[ 2]+ - /*J[ 3][4]*Depl[ 3]+*/J[ 4][4]*Depl[ 4]+ J[ 5][4]*Depl[ 5]+ - /*J[ 6][4]*Depl[ 6]+*/J[ 7][4]*Depl[ 7]+ J[ 8][4]*Depl[ 8]+ - /*J[ 9][4]*Depl[ 9]+*/J[10][4]*Depl[10]+ J[11][4]*Depl[11] ; - JtD[5] = J[ 0][5]*Depl[ 0]+/*J[ 1][5]*Depl[ 1]*/ J[ 2][5]*Depl[ 2]+ - J[ 3][5]*Depl[ 3]+/*J[ 4][5]*Depl[ 4]*/ J[ 5][5]*Depl[ 5]+ - J[ 6][5]*Depl[ 6]+/*J[ 7][5]*Depl[ 7]*/ J[ 8][5]*Depl[ 8]+ - J[ 9][5]*Depl[ 9]+/*J[10][5]*Depl[10]*/ J[11][5]*Depl[11]; + JtD[0] = J( 0,0)*Depl[ 0]+/*J( 1,0)*Depl[ 1]+ J( 2,0)*Depl[ 2]+*/ + J( 3,0)*Depl[ 3]+/*J( 4,0)*Depl[ 4]+ J( 5,0)*Depl[ 5]+*/ + J( 6,0)*Depl[ 6]+/*J( 7,0)*Depl[ 7]+ J( 8,0)*Depl[ 8]+*/ + J( 9,0)*Depl[ 9] /*J(10,0)*Depl[10]+ J(11,0)*Depl[11]*/; + JtD[1] = /*J( 0,1)*Depl[ 0]+*/J( 1,1)*Depl[ 1]+/*J( 2,1)*Depl[ 2]+*/ + /*J( 3,1)*Depl[ 3]+*/J( 4,1)*Depl[ 4]+/*J( 5,1)*Depl[ 5]+*/ + /*J( 6,1)*Depl[ 6]+*/J( 7,1)*Depl[ 7]+/*J( 8,1)*Depl[ 8]+*/ + /*J( 9,1)*Depl[ 9]+*/J(10,1)*Depl[10] /*J(11,1)*Depl[11]*/; + JtD[2] = /*J( 0,2)*Depl[ 0]+ J( 1,2)*Depl[ 1]+*/J( 2,2)*Depl[ 2]+ + /*J( 3,2)*Depl[ 3]+ J( 4,2)*Depl[ 4]+*/J( 5,2)*Depl[ 5]+ + /*J( 6,2)*Depl[ 6]+ J( 7,2)*Depl[ 7]+*/J( 8,2)*Depl[ 8]+ + /*J( 9,2)*Depl[ 9]+ J(10,2)*Depl[10]+*/J(11,2)*Depl[11] ; + JtD[3] = J( 0,3)*Depl[ 0]+ J( 1,3)*Depl[ 1]+/*J( 2,3)*Depl[ 2]+*/ + J( 3,3)*Depl[ 3]+ J( 4,3)*Depl[ 4]+/*J( 5,3)*Depl[ 5]+*/ + J( 6,3)*Depl[ 6]+ J( 7,3)*Depl[ 7]+/*J( 8,3)*Depl[ 8]+*/ + J( 9,3)*Depl[ 9]+ J(10,3)*Depl[10] /*J(11,3)*Depl[11]*/; + JtD[4] = /*J( 0,4)*Depl[ 0]+*/J( 1,4)*Depl[ 1]+ J( 2,4)*Depl[ 2]+ + /*J( 3,4)*Depl[ 3]+*/J( 4,4)*Depl[ 4]+ J( 5,4)*Depl[ 5]+ + /*J( 6,4)*Depl[ 6]+*/J( 7,4)*Depl[ 7]+ J( 8,4)*Depl[ 8]+ + /*J( 9,4)*Depl[ 9]+*/J(10,4)*Depl[10]+ J(11,4)*Depl[11] ; + JtD[5] = J( 0,5)*Depl[ 0]+/*J( 1,5)*Depl[ 1]*/ J( 2,5)*Depl[ 2]+ + J( 3,5)*Depl[ 3]+/*J( 4,5)*Depl[ 4]*/ J( 5,5)*Depl[ 5]+ + J( 6,5)*Depl[ 6]+/*J( 7,5)*Depl[ 7]*/ J( 8,5)*Depl[ 8]+ + J( 9,5)*Depl[ 9]+/*J(10,5)*Depl[10]*/ J(11,5)*Depl[11]; type::VecNoInit<6,Real> KJtD; - KJtD[0] = K[0][0]*JtD[0]+ K[0][1]*JtD[1]+ K[0][2]*JtD[2] - /*K[0][3]*JtD[3]+ K[0][4]*JtD[4]+ K[0][5]*JtD[5]*/; - KJtD[1] = K[1][0]*JtD[0]+ K[1][1]*JtD[1]+ K[1][2]*JtD[2] - /*K[1][3]*JtD[3]+ K[1][4]*JtD[4]+ K[1][5]*JtD[5]*/; - KJtD[2] = K[2][0]*JtD[0]+ K[2][1]*JtD[1]+ K[2][2]*JtD[2] - /*K[2][3]*JtD[3]+ K[2][4]*JtD[4]+ K[2][5]*JtD[5]*/; - KJtD[3] = /*K[3][0]*JtD[0]+ K[3][1]*JtD[1]+ K[3][2]*JtD[2]+*/ - K[3][3]*JtD[3] /*K[3][4]*JtD[4]+ K[3][5]*JtD[5]*/; - KJtD[4] = /*K[4][0]*JtD[0]+ K[4][1]*JtD[1]+ K[4][2]*JtD[2]+*/ - /*K[4][3]*JtD[3]+*/K[4][4]*JtD[4] /*K[4][5]*JtD[5]*/; - KJtD[5] = /*K[5][0]*JtD[0]+ K[5][1]*JtD[1]+ K[5][2]*JtD[2]+*/ - /*K[5][3]*JtD[3]+ K[5][4]*JtD[4]+*/K[5][5]*JtD[5] ; + KJtD[0] = K(0,0)*JtD[0]+ K(0,1)*JtD[1]+ K(0,2)*JtD[2] + /*K(0,3)*JtD[3]+ K(0,4)*JtD[4]+ K(0,5)*JtD[5]*/; + KJtD[1] = K(1,0)*JtD[0]+ K(1,1)*JtD[1]+ K(1,2)*JtD[2] + /*K(1,3)*JtD[3]+ K(1,4)*JtD[4]+ K(1,5)*JtD[5]*/; + KJtD[2] = K(2,0)*JtD[0]+ K(2,1)*JtD[1]+ K(2,2)*JtD[2] + /*K(2,3)*JtD[3]+ K(2,4)*JtD[4]+ K(2,5)*JtD[5]*/; + KJtD[3] = /*K(3,0)*JtD[0]+ K(3,1)*JtD[1]+ K(3,2)*JtD[2]+*/ + K(3,3)*JtD[3] /*K(3,4)*JtD[4]+ K(3,5)*JtD[5]*/; + KJtD[4] = /*K(4,0)*JtD[0]+ K(4,1)*JtD[1]+ K(4,2)*JtD[2]+*/ + /*K(4,3)*JtD[3]+*/K(4,4)*JtD[4] /*K(4,5)*JtD[5]*/; + KJtD[5] = /*K(5,0)*JtD[0]+ K(5,1)*JtD[1]+ K(5,2)*JtD[2]+*/ + /*K(5,3)*JtD[3]+ K(5,4)*JtD[4]+*/K(5,5)*JtD[5] ; KJtD *= fact; - F[ 0] = J[ 0][0]*KJtD[0]+/*J[ 0][1]*KJtD[1]+ J[ 0][2]*KJtD[2]+*/ - J[ 0][3]*KJtD[3]+/*J[ 0][4]*KJtD[4]+*/J[ 0][5]*KJtD[5] ; - F[ 1] = /*J[ 1][0]*KJtD[0]+*/J[ 1][1]*KJtD[1]+/*J[ 1][2]*KJtD[2]+*/ - J[ 1][3]*KJtD[3]+ J[ 1][4]*KJtD[4] /*J[ 1][5]*KJtD[5]*/; - F[ 2] = /*J[ 2][0]*KJtD[0]+ J[ 2][1]*KJtD[1]+*/J[ 2][2]*KJtD[2]+ - /*J[ 2][3]*KJtD[3]+*/J[ 2][4]*KJtD[4]+ J[ 2][5]*KJtD[5] ; - F[ 3] = J[ 3][0]*KJtD[0]+/*J[ 3][1]*KJtD[1]+ J[ 3][2]*KJtD[2]+*/ - J[ 3][3]*KJtD[3]+/*J[ 3][4]*KJtD[4]+*/J[ 3][5]*KJtD[5] ; - F[ 4] = /*J[ 4][0]*KJtD[0]+*/J[ 4][1]*KJtD[1]+/*J[ 4][2]*KJtD[2]+*/ - J[ 4][3]*KJtD[3]+ J[ 4][4]*KJtD[4] /*J[ 4][5]*KJtD[5]*/; - F[ 5] = /*J[ 5][0]*KJtD[0]+ J[ 5][1]*KJtD[1]+*/J[ 5][2]*KJtD[2]+ - /*J[ 5][3]*KJtD[3]+*/J[ 5][4]*KJtD[4]+ J[ 5][5]*KJtD[5] ; - F[ 6] = J[ 6][0]*KJtD[0]+/*J[ 6][1]*KJtD[1]+ J[ 6][2]*KJtD[2]+*/ - J[ 6][3]*KJtD[3]+/*J[ 6][4]*KJtD[4]+*/J[ 6][5]*KJtD[5] ; - F[ 7] = /*J[ 7][0]*KJtD[0]+*/J[ 7][1]*KJtD[1]+/*J[ 7][2]*KJtD[2]+*/ - J[ 7][3]*KJtD[3]+ J[ 7][4]*KJtD[4] /*J[ 7][5]*KJtD[5]*/; - F[ 8] = /*J[ 8][0]*KJtD[0]+ J[ 8][1]*KJtD[1]+*/J[ 8][2]*KJtD[2]+ - /*J[ 8][3]*KJtD[3]+*/J[ 8][4]*KJtD[4]+ J[ 8][5]*KJtD[5] ; - F[ 9] = J[ 9][0]*KJtD[0]+/*J[ 9][1]*KJtD[1]+ J[ 9][2]*KJtD[2]+*/ - J[ 9][3]*KJtD[3]+/*J[ 9][4]*KJtD[4]+*/J[ 9][5]*KJtD[5] ; - F[10] = /*J[10][0]*KJtD[0]+*/J[10][1]*KJtD[1]+/*J[10][2]*KJtD[2]+*/ - J[10][3]*KJtD[3]+ J[10][4]*KJtD[4] /*J[10][5]*KJtD[5]*/; - F[11] = /*J[11][0]*KJtD[0]+ J[11][1]*KJtD[1]+*/J[11][2]*KJtD[2]+ - /*J[11][3]*KJtD[3]+*/J[11][4]*KJtD[4]+ J[11][5]*KJtD[5] ; + F[ 0] = J( 0,0)*KJtD[0]+/*J( 0,1)*KJtD[1]+ J( 0,2)*KJtD[2]+*/ + J( 0,3)*KJtD[3]+/*J( 0,4)*KJtD[4]+*/J( 0,5)*KJtD[5] ; + F[ 1] = /*J( 1,0)*KJtD[0]+*/J( 1,1)*KJtD[1]+/*J( 1,2)*KJtD[2]+*/ + J( 1,3)*KJtD[3]+ J( 1,4)*KJtD[4] /*J( 1,5)*KJtD[5]*/; + F[ 2] = /*J( 2,0)*KJtD[0]+ J( 2,1)*KJtD[1]+*/J( 2,2)*KJtD[2]+ + /*J( 2,3)*KJtD[3]+*/J( 2,4)*KJtD[4]+ J( 2,5)*KJtD[5] ; + F[ 3] = J( 3,0)*KJtD[0]+/*J( 3,1)*KJtD[1]+ J( 3,2)*KJtD[2]+*/ + J( 3,3)*KJtD[3]+/*J( 3,4)*KJtD[4]+*/J( 3,5)*KJtD[5] ; + F[ 4] = /*J( 4,0)*KJtD[0]+*/J( 4,1)*KJtD[1]+/*J( 4,2)*KJtD[2]+*/ + J( 4,3)*KJtD[3]+ J( 4,4)*KJtD[4] /*J( 4,5)*KJtD[5]*/; + F[ 5] = /*J( 5,0)*KJtD[0]+ J( 5,1)*KJtD[1]+*/J( 5,2)*KJtD[2]+ + /*J( 5,3)*KJtD[3]+*/J( 5,4)*KJtD[4]+ J( 5,5)*KJtD[5] ; + F[ 6] = J( 6,0)*KJtD[0]+/*J( 6,1)*KJtD[1]+ J( 6,2)*KJtD[2]+*/ + J( 6,3)*KJtD[3]+/*J( 6,4)*KJtD[4]+*/J( 6,5)*KJtD[5] ; + F[ 7] = /*J( 7,0)*KJtD[0]+*/J( 7,1)*KJtD[1]+/*J( 7,2)*KJtD[2]+*/ + J( 7,3)*KJtD[3]+ J( 7,4)*KJtD[4] /*J( 7,5)*KJtD[5]*/; + F[ 8] = /*J( 8,0)*KJtD[0]+ J( 8,1)*KJtD[1]+*/J( 8,2)*KJtD[2]+ + /*J( 8,3)*KJtD[3]+*/J( 8,4)*KJtD[4]+ J( 8,5)*KJtD[5] ; + F[ 9] = J( 9,0)*KJtD[0]+/*J( 9,1)*KJtD[1]+ J( 9,2)*KJtD[2]+*/ + J( 9,3)*KJtD[3]+/*J( 9,4)*KJtD[4]+*/J( 9,5)*KJtD[5] ; + F[10] = /*J(10,0)*KJtD[0]+*/J(10,1)*KJtD[1]+/*J(10,2)*KJtD[2]+*/ + J(10,3)*KJtD[3]+ J(10,4)*KJtD[4] /*J(10,5)*KJtD[5]*/; + F[11] = /*J(11,0)*KJtD[0]+ J(11,1)*KJtD[1]+*/J(11,2)*KJtD[2]+ + /*J(11,3)*KJtD[3]+*/J(11,4)*KJtD[4]+ J(11,5)*KJtD[5] ; #endif } @@ -571,10 +564,10 @@ inline void TetrahedronFEMForceField::accumulateForceSmall( Vector& f else if(d_plasticMaxThreshold.getValue() <= 0 ) { Transformation Rot; - Rot[0][0]=Rot[1][1]=Rot[2][2]=1; - Rot[0][1]=Rot[0][2]=0; - Rot[1][0]=Rot[1][2]=0; - Rot[2][0]=Rot[2][1]=0; + Rot(0,0)=Rot(1,1)=Rot(2,2)=1; + Rot(0,1)=Rot(0,2)=0; + Rot(1,0)=Rot(1,2)=0; + Rot(2,0)=Rot(2,1)=0; StiffnessMatrix JKJt,tmp; @@ -595,7 +588,7 @@ inline void TetrahedronFEMForceField::accumulateForceSmall( Vector& f for(int j=0; j<12; ++j) { - if(JKJt[i][j]!=0) + if(JKJt(i,j)!=0) { Index col = index[j/3]*3+j%3; // search if the vertex is already take into account by another element @@ -607,9 +600,9 @@ inline void TetrahedronFEMForceField::accumulateForceSmall( Vector& f } if( result==_stiffnesses[row].end() ) - _stiffnesses[row].push_back( Col_Value(col,JKJt[i][j] ) ); + _stiffnesses[row].push_back( Col_Value(col,JKJt(i,j) ) ); else - (*result).second += JKJt[i][j]; + (*result).second += JKJt(i,j); } } } @@ -677,38 +670,38 @@ inline SReal TetrahedronFEMForceField::getPotentialEnergy(const core: /// The following may be doing F = J*(K*(J.multTranspose(D))) ? VoigtTensor JtD; - JtD[0] = J[ 0][0]*D[ 0]+ J[ 3][0]*D[ 3]+ J[ 6][0]*D[ 6]+ J[ 9][0]*D[ 9]; - JtD[1] = J[ 1][1]*D[ 1]+ J[ 4][1]*D[ 4]+ J[ 7][1]*D[ 7]+ J[10][1]*D[10]; - JtD[2] = J[ 2][2]*D[ 2]+ J[ 5][2]*D[ 5]+ J[ 8][2]*D[ 8]+ J[11][2]*D[11]; - JtD[3] = J[ 0][3]*D[ 0]+ J[ 1][3]*D[ 1]+ J[ 3][3]*D[ 3]+ J[ 4][3]*D[ 4]+ - J[ 6][3]*D[ 6]+ J[ 7][3]*D[ 7]+ J[ 9][3]*D[ 9]+ J[10][3]*D[10]; - JtD[4] = J[ 1][4]*D[ 1]+ J[ 2][4]*D[ 2]+ J[ 4][4]*D[ 4]+ J[ 5][4]*D[ 5]+ - J[ 7][4]*D[ 7]+ J[ 8][4]*D[ 8]+ J[10][4]*D[10]+ J[11][4]*D[11]; - JtD[5] = J[ 0][5]*D[ 0]+ J[ 2][5]*D[ 2]+ J[ 3][5]*D[ 3]+ J[ 5][5]*D[ 5]+ - J[ 6][5]*D[ 6]+ J[ 8][5]*D[ 8]+ J[ 9][5]*D[ 9]+ J[11][5]*D[11]; + JtD[0] = J( 0,0)*D[ 0]+ J( 3,0)*D[ 3]+ J( 6,0)*D[ 6]+ J( 9,0)*D[ 9]; + JtD[1] = J( 1,1)*D[ 1]+ J( 4,1)*D[ 4]+ J( 7,1)*D[ 7]+ J(10,1)*D[10]; + JtD[2] = J( 2,2)*D[ 2]+ J( 5,2)*D[ 5]+ J( 8,2)*D[ 8]+ J(11,2)*D[11]; + JtD[3] = J( 0,3)*D[ 0]+ J( 1,3)*D[ 1]+ J( 3,3)*D[ 3]+ J( 4,3)*D[ 4]+ + J( 6,3)*D[ 6]+ J( 7,3)*D[ 7]+ J( 9,3)*D[ 9]+ J(10,3)*D[10]; + JtD[4] = J( 1,4)*D[ 1]+ J( 2,4)*D[ 2]+ J( 4,4)*D[ 4]+ J( 5,4)*D[ 5]+ + J( 7,4)*D[ 7]+ J( 8,4)*D[ 8]+ J(10,4)*D[10]+ J(11,4)*D[11]; + JtD[5] = J( 0,5)*D[ 0]+ J( 2,5)*D[ 2]+ J( 3,5)*D[ 3]+ J( 5,5)*D[ 5]+ + J( 6,5)*D[ 6]+ J( 8,5)*D[ 8]+ J( 9,5)*D[ 9]+ J(11,5)*D[11]; VoigtTensor KJtD; - KJtD[0] = K[0][0]*JtD[0]+ K[0][1]*JtD[1]+ K[0][2]*JtD[2]; - KJtD[1] = K[1][0]*JtD[0]+ K[1][1]*JtD[1]+ K[1][2]*JtD[2]; - KJtD[2] = K[2][0]*JtD[0]+ K[2][1]*JtD[1]+ K[2][2]*JtD[2]; - KJtD[3] = K[3][3]*JtD[3] ; - KJtD[4] = K[4][4]*JtD[4]; - KJtD[5] = K[5][5]*JtD[5] ; - - F[ 0] = J[ 0][0]*KJtD[0]+ J[ 0][3]*KJtD[3]+ J[ 0][5]*KJtD[5]; - F[ 1] = J[ 1][1]*KJtD[1]+ J[ 1][3]*KJtD[3]+ J[ 1][4]*KJtD[4]; - F[ 2] = J[ 2][2]*KJtD[2]+ J[ 2][4]*KJtD[4]+ J[ 2][5]*KJtD[5]; - F[ 3] = J[ 3][0]*KJtD[0]+ J[ 3][3]*KJtD[3]+ J[ 3][5]*KJtD[5]; - F[ 4] = J[ 4][1]*KJtD[1]+ J[ 4][3]*KJtD[3]+ J[ 4][ - 4]*KJtD[4]; - F[ 5] = J[ 5][2]*KJtD[2]+ J[ 5][4]*KJtD[4]+ J[ 5][5]*KJtD[5]; - F[ 6] = J[ 6][0]*KJtD[0]+ J[ 6][3]*KJtD[3]+ J[ 6][5]*KJtD[5]; - F[ 7] = J[ 7][1]*KJtD[1]+ J[ 7][3]*KJtD[3]+ J[ 7][4]*KJtD[4]; - F[ 8] = J[ 8][2]*KJtD[2]+ J[ 8][4]*KJtD[4]+ J[ 8][5]*KJtD[5]; - F[ 9] = J[ 9][0]*KJtD[0]+ J[ 9][3]*KJtD[3]+ J[ 9][5]*KJtD[5]; - F[10] = J[10][1]*KJtD[1]+ J[10][3]*KJtD[3]+ J[10][4]*KJtD[4]; - F[11] = J[11][2]*KJtD[2]+ J[11][4]*KJtD[4]+ J[11][5]*KJtD[5]; + KJtD[0] = K(0,0)*JtD[0]+ K(0,1)*JtD[1]+ K(0,2)*JtD[2]; + KJtD[1] = K(1,0)*JtD[0]+ K(1,1)*JtD[1]+ K(1,2)*JtD[2]; + KJtD[2] = K(2,0)*JtD[0]+ K(2,1)*JtD[1]+ K(2,2)*JtD[2]; + KJtD[3] = K(3,3)*JtD[3] ; + KJtD[4] = K(4,4)*JtD[4]; + KJtD[5] = K(5,5)*JtD[5] ; + + F[ 0] = J( 0,0)*KJtD[0]+ J( 0,3)*KJtD[3]+ J( 0,5)*KJtD[5]; + F[ 1] = J( 1,1)*KJtD[1]+ J( 1,3)*KJtD[3]+ J( 1,4)*KJtD[4]; + F[ 2] = J( 2,2)*KJtD[2]+ J( 2,4)*KJtD[4]+ J( 2,5)*KJtD[5]; + F[ 3] = J( 3,0)*KJtD[0]+ J( 3,3)*KJtD[3]+ J( 3,5)*KJtD[5]; + F[ 4] = J( 4,1)*KJtD[1]+ J( 4,3)*KJtD[3]+ J( 4, + 4)*KJtD[4]; + F[ 5] = J( 5,2)*KJtD[2]+ J( 5,4)*KJtD[4]+ J( 5,5)*KJtD[5]; + F[ 6] = J( 6,0)*KJtD[0]+ J( 6,3)*KJtD[3]+ J( 6,5)*KJtD[5]; + F[ 7] = J( 7,1)*KJtD[1]+ J( 7,3)*KJtD[3]+ J( 7,4)*KJtD[4]; + F[ 8] = J( 8,2)*KJtD[2]+ J( 8,4)*KJtD[4]+ J( 8,5)*KJtD[5]; + F[ 9] = J( 9,0)*KJtD[0]+ J( 9,3)*KJtD[3]+ J( 9,5)*KJtD[5]; + F[10] = J(10,1)*KJtD[1]+ J(10,3)*KJtD[3]+ J(10,4)*KJtD[4]; + F[11] = J(11,2)*KJtD[2]+ J(11,4)*KJtD[4]+ J(11,5)*KJtD[5]; // Compute potentialEnergy energyPotential += dot(Deriv( F[0], F[1], F[2] ) ,-Deriv( D[0], D[1], D[2])); @@ -771,15 +764,15 @@ inline void TetrahedronFEMForceField::computeRotationLarge( Transform const Coord edgez = cross( edgex, edgey ).normalized(); edgey = cross( edgez, edgex ); //edgey is unit vector because edgez and edgex are orthogonal unit vectors - r[0][0] = edgex[0]; - r[0][1] = edgex[1]; - r[0][2] = edgex[2]; - r[1][0] = edgey[0]; - r[1][1] = edgey[1]; - r[1][2] = edgey[2]; - r[2][0] = edgez[0]; - r[2][1] = edgez[1]; - r[2][2] = edgez[2]; + r(0,0) = edgex[0]; + r(0,1) = edgex[1]; + r(0,2) = edgex[2]; + r(1,0) = edgey[0]; + r(1,1) = edgey[1]; + r(1,2) = edgey[2]; + r(2,0) = edgez[0]; + r(2,1) = edgez[1]; + r(2,2) = edgez[2]; // TODO handle degenerated cases like in the SVD method } @@ -790,19 +783,19 @@ inline void TetrahedronFEMForceField::getRotation(Mat33& R, unsigned { if(method == SMALL) { - R[0][0] = 1.0 ; R[1][1] = 1.0 ; R[2][2] = 1.0 ; - R[0][1] = 0.0 ; R[0][2] = 0.0 ; - R[1][0] = 0.0 ; R[1][2] = 0.0 ; - R[2][0] = 0.0 ; R[2][1] = 0.0 ; + R(0,0) = 1.0 ; R(1,1) = 1.0 ; R(2,2) = 1.0 ; + R(0,1) = 0.0 ; R(0,2) = 0.0 ; + R(1,0) = 0.0 ; R(1,2) = 0.0 ; + R(2,0) = 0.0 ; R(2,1) = 0.0 ; msg_warning() << "getRotation called but no rotation computed because case== SMALL"; return; } core::topology::BaseMeshTopology::TetrahedraAroundVertex liste_tetra = this->l_topology->getTetrahedraAroundVertex(nodeIdx); - R[0][0] = 0.0 ; R[0][1] = 0.0 ; R[0][2] = 0.0 ; - R[1][0] = 0.0 ; R[1][1] = 0.0 ; R[1][2] = 0.0 ; - R[2][0] = 0.0 ; R[2][1] = 0.0 ; R[2][2] = 0.0 ; + R(0,0) = 0.0 ; R(0,1) = 0.0 ; R(0,2) = 0.0 ; + R(1,0) = 0.0 ; R(1,1) = 0.0 ; R(1,2) = 0.0 ; + R(2,0) = 0.0 ; R(2,1) = 0.0 ; R(2,2) = 0.0 ; std::size_t numTetra=liste_tetra.size(); if (numTetra==0) @@ -815,8 +808,8 @@ inline void TetrahedronFEMForceField::getRotation(Mat33& R, unsigned } else { - R[0][0] = R[1][1] = R[2][2] = 1.0 ; - R[0][1] = R[0][2] = R[1][0] = R[1][2] = R[2][0] = R[2][1] = 0.0 ; + R(0,0) = R(1,1) = R(2,2) = 1.0 ; + R(0,1) = R(0,2) = R(1,0) = R(1,2) = R(2,0) = R(2,1) = 0.0 ; } return; } @@ -829,9 +822,9 @@ inline void TetrahedronFEMForceField::getRotation(Mat33& R, unsigned } // on "moyenne" - R[0][0] = R[0][0]/numTetra ; R[0][1] = R[0][1]/numTetra ; R[0][2] = R[0][2]/numTetra ; - R[1][0] = R[1][0]/numTetra ; R[1][1] = R[1][1]/numTetra ; R[1][2] = R[1][2]/numTetra ; - R[2][0] = R[2][0]/numTetra ; R[2][1] = R[2][1]/numTetra ; R[2][2] = R[2][2]/numTetra ; + R(0,0) = R(0,0)/numTetra ; R(0,1) = R(0,1)/numTetra ; R(0,2) = R(0,2)/numTetra ; + R(1,0) = R(1,0)/numTetra ; R(1,1) = R(1,1)/numTetra ; R(1,2) = R(1,2)/numTetra ; + R(2,0) = R(2,0)/numTetra ; R(2,1) = R(2,1)/numTetra ; R(2,2) = R(2,2)/numTetra ; type::Mat<3,3,Real> Rmoy; helper::Decompose::polarDecomposition( R, Rmoy ); @@ -914,18 +907,18 @@ inline void TetrahedronFEMForceField::accumulateForceLarge( Vector& f Displacement F; if(d_updateStiffnessMatrix.getValue()) { - strainDisplacements[elementIndex][0][0] = ( - deforme[2][1]*deforme[3][2] ); - strainDisplacements[elementIndex][1][1] = ( deforme[2][0]*deforme[3][2] - deforme[1][0]*deforme[3][2] ); - strainDisplacements[elementIndex][2][2] = ( deforme[2][1]*deforme[3][0] - deforme[2][0]*deforme[3][1] + deforme[1][0]*deforme[3][1] - deforme[1][0]*deforme[2][1] ); + strainDisplacements[elementIndex](0,0) = ( - deforme[2][1]*deforme[3][2] ); + strainDisplacements[elementIndex](1,1) = ( deforme[2][0]*deforme[3][2] - deforme[1][0]*deforme[3][2] ); + strainDisplacements[elementIndex](2,2) = ( deforme[2][1]*deforme[3][0] - deforme[2][0]*deforme[3][1] + deforme[1][0]*deforme[3][1] - deforme[1][0]*deforme[2][1] ); - strainDisplacements[elementIndex][3][0] = ( deforme[2][1]*deforme[3][2] ); - strainDisplacements[elementIndex][4][1] = ( - deforme[2][0]*deforme[3][2] ); - strainDisplacements[elementIndex][5][2] = ( - deforme[2][1]*deforme[3][0] + deforme[2][0]*deforme[3][1] ); + strainDisplacements[elementIndex](3,0) = ( deforme[2][1]*deforme[3][2] ); + strainDisplacements[elementIndex](4,1) = ( - deforme[2][0]*deforme[3][2] ); + strainDisplacements[elementIndex](5,2) = ( - deforme[2][1]*deforme[3][0] + deforme[2][0]*deforme[3][1] ); - strainDisplacements[elementIndex][7][1] = ( deforme[1][0]*deforme[3][2] ); - strainDisplacements[elementIndex][8][2] = ( - deforme[1][0]*deforme[3][1] ); + strainDisplacements[elementIndex](7,1) = ( deforme[1][0]*deforme[3][2] ); + strainDisplacements[elementIndex](8,2) = ( - deforme[1][0]*deforme[3][1] ); - strainDisplacements[elementIndex][11][2] = ( deforme[1][0]*deforme[2][1] ); + strainDisplacements[elementIndex](11,2) = ( deforme[1][0]*deforme[2][1] ); } if(!d_assembling.getValue()) @@ -937,9 +930,9 @@ inline void TetrahedronFEMForceField::accumulateForceLarge( Vector& f } else if(d_plasticMaxThreshold.getValue() <= 0 ) { - strainDisplacements[elementIndex][6][0] = 0; - strainDisplacements[elementIndex][9][0] = 0; - strainDisplacements[elementIndex][10][1] = 0; + strainDisplacements[elementIndex](6,0) = 0; + strainDisplacements[elementIndex](9,0) = 0; + strainDisplacements[elementIndex](10,1) = 0; StiffnessMatrix RJKJt, RJKJtRt; computeStiffnessMatrix(RJKJt,RJKJtRt,materialsStiffnesses[elementIndex], strainDisplacements[elementIndex],rotations[elementIndex]); @@ -972,11 +965,11 @@ inline void TetrahedronFEMForceField::accumulateForceLarge( Vector& f if( result==_stiffnesses[row].end() ) { - _stiffnesses[row].push_back( Col_Value(col,RJKJtRt[i][j] ) ); + _stiffnesses[row].push_back( Col_Value(col,RJKJtRt(i,j) ) ); } else { - (*result).second += RJKJtRt[i][j]; + (*result).second += RJKJtRt(i,j); } } } @@ -1002,9 +995,9 @@ void TetrahedronFEMForceField::initPolar(Index i, Index& a, Index&b, { const VecCoord &initialPoints=d_initialPoints.getValue(); Transformation A; - A[0] = initialPoints[b]-initialPoints[a]; - A[1] = initialPoints[c]-initialPoints[a]; - A[2] = initialPoints[d]-initialPoints[a]; + A(0) = initialPoints[b]-initialPoints[a]; + A(1) = initialPoints[c]-initialPoints[a]; + A(2) = initialPoints[d]-initialPoints[a]; //_initialTransformation[i] = A; Transformation R_0_1; @@ -1035,9 +1028,9 @@ inline void TetrahedronFEMForceField::accumulateForcePolar( Vector& f Element index = *elementIt; Transformation A; - A[0] = p[index[1]]-p[index[0]]; - A[1] = p[index[2]]-p[index[0]]; - A[2] = p[index[3]]-p[index[0]]; + A(0) = p[index[1]]-p[index[0]]; + A(1) = p[index[2]]-p[index[0]]; + A(2) = p[index[3]]-p[index[0]]; Transformation R_0_2; helper::Decompose::polarDecomposition( A, R_0_2 ); @@ -1096,9 +1089,9 @@ void TetrahedronFEMForceField::initSVD(Index i, Index& a, Index&b, In { const VecCoord &initialPoints=d_initialPoints.getValue(); Transformation A; - A[0] = initialPoints[b]-initialPoints[a]; - A[1] = initialPoints[c]-initialPoints[a]; - A[2] = initialPoints[d]-initialPoints[a]; + A(0) = initialPoints[b]-initialPoints[a]; + A(1) = initialPoints[c]-initialPoints[a]; + A(2) = initialPoints[d]-initialPoints[a]; const bool canInvert = _initialTransformation[i].invert( A ); assert(canInvert); SOFA_UNUSED(canInvert); @@ -1138,9 +1131,9 @@ inline void TetrahedronFEMForceField::accumulateForceSVD( Vector& f, Element index = *elementIt; Transformation A; - A[0] = p[index[1]]-p[index[0]]; - A[1] = p[index[2]]-p[index[0]]; - A[2] = p[index[3]]-p[index[0]]; + A(0) = p[index[1]]-p[index[0]]; + A(1) = p[index[2]]-p[index[0]]; + A(2) = p[index[3]]-p[index[0]]; type::Mat<3,3,Real> R_0_2; @@ -1203,21 +1196,21 @@ inline void TetrahedronFEMForceField::applyStiffnessCorotational( Vec Displacement X; // rotate by rotations[i] transposed - X[0] = rotations[i][0][0] * x[a][0] + rotations[i][1][0] * x[a][1] + rotations[i][2][0] * x[a][2]; - X[1] = rotations[i][0][1] * x[a][0] + rotations[i][1][1] * x[a][1] + rotations[i][2][1] * x[a][2]; - X[2] = rotations[i][0][2] * x[a][0] + rotations[i][1][2] * x[a][1] + rotations[i][2][2] * x[a][2]; + X[0] = rotations[i](0,0) * x[a][0] + rotations[i](1,0) * x[a][1] + rotations[i](2,0) * x[a][2]; + X[1] = rotations[i](0,1) * x[a][0] + rotations[i](1,1) * x[a][1] + rotations[i](2,1) * x[a][2]; + X[2] = rotations[i](0,2) * x[a][0] + rotations[i](1,2) * x[a][1] + rotations[i](2,2) * x[a][2]; - X[3] = rotations[i][0][0] * x[b][0] + rotations[i][1][0] * x[b][1] + rotations[i][2][0] * x[b][2]; - X[4] = rotations[i][0][1] * x[b][0] + rotations[i][1][1] * x[b][1] + rotations[i][2][1] * x[b][2]; - X[5] = rotations[i][0][2] * x[b][0] + rotations[i][1][2] * x[b][1] + rotations[i][2][2] * x[b][2]; + X[3] = rotations[i](0,0) * x[b][0] + rotations[i](1,0) * x[b][1] + rotations[i](2,0) * x[b][2]; + X[4] = rotations[i](0,1) * x[b][0] + rotations[i](1,1) * x[b][1] + rotations[i](2,1) * x[b][2]; + X[5] = rotations[i](0,2) * x[b][0] + rotations[i](1,2) * x[b][1] + rotations[i](2,2) * x[b][2]; - X[6] = rotations[i][0][0] * x[c][0] + rotations[i][1][0] * x[c][1] + rotations[i][2][0] * x[c][2]; - X[7] = rotations[i][0][1] * x[c][0] + rotations[i][1][1] * x[c][1] + rotations[i][2][1] * x[c][2]; - X[8] = rotations[i][0][2] * x[c][0] + rotations[i][1][2] * x[c][1] + rotations[i][2][2] * x[c][2]; + X[6] = rotations[i](0,0) * x[c][0] + rotations[i](1,0) * x[c][1] + rotations[i](2,0) * x[c][2]; + X[7] = rotations[i](0,1) * x[c][0] + rotations[i](1,1) * x[c][1] + rotations[i](2,1) * x[c][2]; + X[8] = rotations[i](0,2) * x[c][0] + rotations[i](1,2) * x[c][1] + rotations[i](2,2) * x[c][2]; - X[9] = rotations[i][0][0] * x[d][0] + rotations[i][1][0] * x[d][1] + rotations[i][2][0] * x[d][2]; - X[10] = rotations[i][0][1] * x[d][0] + rotations[i][1][1] * x[d][1] + rotations[i][2][1] * x[d][2]; - X[11] = rotations[i][0][2] * x[d][0] + rotations[i][1][2] * x[d][1] + rotations[i][2][2] * x[d][2]; + X[9] = rotations[i](0,0) * x[d][0] + rotations[i](1,0) * x[d][1] + rotations[i](2,0) * x[d][2]; + X[10] = rotations[i](0,1) * x[d][0] + rotations[i](1,1) * x[d][1] + rotations[i](2,1) * x[d][2]; + X[11] = rotations[i](0,2) * x[d][0] + rotations[i](1,2) * x[d][1] + rotations[i](2,2) * x[d][2]; Displacement F; @@ -1225,21 +1218,21 @@ inline void TetrahedronFEMForceField::applyStiffnessCorotational( Vec // rotate by rotations[i] - f[a][0] -= rotations[i][0][0] * F[0] + rotations[i][0][1] * F[1] + rotations[i][0][2] * F[2]; - f[a][1] -= rotations[i][1][0] * F[0] + rotations[i][1][1] * F[1] + rotations[i][1][2] * F[2]; - f[a][2] -= rotations[i][2][0] * F[0] + rotations[i][2][1] * F[1] + rotations[i][2][2] * F[2]; + f[a][0] -= rotations[i](0,0) * F[0] + rotations[i](0,1) * F[1] + rotations[i](0,2) * F[2]; + f[a][1] -= rotations[i](1,0) * F[0] + rotations[i](1,1) * F[1] + rotations[i](1,2) * F[2]; + f[a][2] -= rotations[i](2,0) * F[0] + rotations[i](2,1) * F[1] + rotations[i](2,2) * F[2]; - f[b][0] -= rotations[i][0][0] * F[3] + rotations[i][0][1] * F[4] + rotations[i][0][2] * F[5]; - f[b][1] -= rotations[i][1][0] * F[3] + rotations[i][1][1] * F[4] + rotations[i][1][2] * F[5]; - f[b][2] -= rotations[i][2][0] * F[3] + rotations[i][2][1] * F[4] + rotations[i][2][2] * F[5]; + f[b][0] -= rotations[i](0,0) * F[3] + rotations[i](0,1) * F[4] + rotations[i](0,2) * F[5]; + f[b][1] -= rotations[i](1,0) * F[3] + rotations[i](1,1) * F[4] + rotations[i](1,2) * F[5]; + f[b][2] -= rotations[i](2,0) * F[3] + rotations[i](2,1) * F[4] + rotations[i](2,2) * F[5]; - f[c][0] -= rotations[i][0][0] * F[6] + rotations[i][0][1] * F[7] + rotations[i][0][2] * F[8]; - f[c][1] -= rotations[i][1][0] * F[6] + rotations[i][1][1] * F[7] + rotations[i][1][2] * F[8]; - f[c][2] -= rotations[i][2][0] * F[6] + rotations[i][2][1] * F[7] + rotations[i][2][2] * F[8]; + f[c][0] -= rotations[i](0,0) * F[6] + rotations[i](0,1) * F[7] + rotations[i](0,2) * F[8]; + f[c][1] -= rotations[i](1,0) * F[6] + rotations[i](1,1) * F[7] + rotations[i](1,2) * F[8]; + f[c][2] -= rotations[i](2,0) * F[6] + rotations[i](2,1) * F[7] + rotations[i](2,2) * F[8]; - f[d][0] -= rotations[i][0][0] * F[9] + rotations[i][0][1] * F[10] + rotations[i][0][2] * F[11]; - f[d][1] -= rotations[i][1][0] * F[9] + rotations[i][1][1] * F[10] + rotations[i][1][2] * F[11]; - f[d][2] -= rotations[i][2][0] * F[9] + rotations[i][2][1] * F[10] + rotations[i][2][2] * F[11]; + f[d][0] -= rotations[i](0,0) * F[9] + rotations[i](0,1) * F[10] + rotations[i](0,2) * F[11]; + f[d][1] -= rotations[i](1,0) * F[9] + rotations[i](1,1) * F[10] + rotations[i](1,2) * F[11]; + f[d][2] -= rotations[i](2,0) * F[9] + rotations[i](2,1) * F[10] + rotations[i](2,2) * F[11]; } @@ -1539,9 +1532,9 @@ inline void TetrahedronFEMForceField::reinit() for (Index k = 0; k < 4; k++) { Index ix = (*it)[k]; - matVert[k][0] = 1.0; + matVert(k,0) = 1.0; for (Index l = 1; l < 4; l++) - matVert[k][l] = X0[ix][l-1]; + matVert(k,l) = X0[ix][l-1]; } const bool canInvert = type::invertMatrix(elemShapeFun[i], matVert); @@ -1961,7 +1954,7 @@ void TetrahedronFEMForceField::addKToMatrix(sofa::linearalgebra::Base { for (sofa::Index j=0; j < S; j++) { - tmpBlock[n1][n2][i][j] = - tmp[n1*S+i][n2*S+j]*k; + tmpBlock[n1][n2](i,j) = - tmp(n1*S+i,n2*S+j)*k; } } } @@ -2072,7 +2065,7 @@ void TetrahedronFEMForceField::getRotations(linearalgebra::BaseMatrix for(int i=0; i<3; i++) { const Index ind = e * 9 + j * 3 + i; - diag->getVector()[ind] = (float)R[j][i]; + diag->getVector()[ind] = (float)R(j,i); } } } @@ -2088,7 +2081,7 @@ void TetrahedronFEMForceField::getRotations(linearalgebra::BaseMatrix for(int i=0; i<3; i++) { const Index ind = e * 9 + j * 3 + i; - diag->getVector()[ind] = R[j][i]; + diag->getVector()[ind] = R(j,i); } } } @@ -2100,9 +2093,9 @@ void TetrahedronFEMForceField::getRotations(linearalgebra::BaseMatrix Transformation t; getRotation(t,i); const int e = offset+i*3; - rotations->set(e+0,e+0,t[0][0]); rotations->set(e+0,e+1,t[0][1]); rotations->set(e+0,e+2,t[0][2]); - rotations->set(e+1,e+0,t[1][0]); rotations->set(e+1,e+1,t[1][1]); rotations->set(e+1,e+2,t[1][2]); - rotations->set(e+2,e+0,t[2][0]); rotations->set(e+2,e+1,t[2][1]); rotations->set(e+2,e+2,t[2][2]); + rotations->set(e+0,e+0,t(0,0)); rotations->set(e+0,e+1,t(0,1)); rotations->set(e+0,e+2,t(0,2)); + rotations->set(e+1,e+0,t(1,0)); rotations->set(e+1,e+1,t(1,1)); rotations->set(e+1,e+2,t(1,2)); + rotations->set(e+2,e+0,t(2,0)); rotations->set(e+2,e+1,t(2,1)); rotations->set(e+2,e+2,t(2,2)); } } } @@ -2248,19 +2241,19 @@ void TetrahedronFEMForceField::computeVonMisesStress() /// compute gradU for (Index k = 0; k < 3; k++) { for (Index l = 0; l < 3; l++) { - gradU[k][l] = 0.0; + gradU(k,l) = 0.0; for (Index m = 0; m < 4; m++) - gradU[k][l] += shf[l+1][m] * U[(*it)[m]][k]; + gradU(k,l) += shf(l+1,m) * U[(*it)[m]][k]; } } Mat33 strain = ((Real)0.5)*(gradU + gradU.transposed() + gradU.transposed()*gradU); for (Index i = 0; i < 3; i++) - vStrain[i] = strain[i][i]; - vStrain[3] = strain[1][2]; - vStrain[4] = strain[0][2]; - vStrain[5] = strain[0][1]; + vStrain[i] = strain(i,i); + vStrain[3] = strain(1,2); + vStrain[4] = strain(0,2); + vStrain[5] = strain(0,1); } if (d_computeVonMisesStress.getValue() == 1) { @@ -2301,9 +2294,9 @@ void TetrahedronFEMForceField::computeVonMisesStress() else // POLAR / SVD { Transformation A; - A[0] = X[index[1]]-X[index[0]]; - A[1] = X[index[2]]-X[index[0]]; - A[2] = X[index[3]]-X[index[0]]; + A(0) = X[index[1]]-X[index[0]]; + A(1) = X[index[2]]-X[index[0]]; + A(2) = X[index[3]]-X[index[0]]; helper::Decompose::polarDecomposition( A, R_0_2 ); @@ -2333,19 +2326,19 @@ void TetrahedronFEMForceField::computeVonMisesStress() /// compute gradU for (Index k = 0; k < 3; k++) { for (Index l = 0; l < 3; l++) { - gradU[k][l] = 0.0; + gradU(k,l) = 0.0; for (Index m = 0; m < 4; m++) - gradU[k][l] += shf[l+1][m] * D[3*m+k]; + gradU(k,l) += shf(l+1,m) * D[3*m+k]; } } Mat33 strain = Real(0.5)*(gradU + gradU.transposed()); for (Index i = 0; i < 3; i++) - vStrain[i] = strain[i][i]; - vStrain[3] = strain[1][2]; - vStrain[4] = strain[0][2]; - vStrain[5] = strain[0][1]; + vStrain[i] = strain(i,i); + vStrain[3] = strain(1,2); + vStrain[4] = strain(0,2); + vStrain[5] = strain(0,1); } Real lambda=elemLambda[el]; diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl index 7fa8efb8208..3348ff01e90 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl @@ -97,11 +97,11 @@ void TriangleFEMForceField::init() _strainDisplacements.resize(_indexedElements->size()); _rotations.resize(_indexedElements->size()); - if (method == SMALL) + if (method == SMALL) { initSmall(); } - else + else { initLarge(); } @@ -119,11 +119,11 @@ void TriangleFEMForceField::reinit() else if (d_method.getValue() == "large") method = LARGE; - if (method == SMALL) + if (method == SMALL) { // initSmall(); // useful ? The rotations are recomputed later } - else + else { initLarge(); // compute the per-element strain-displacement matrices } @@ -204,33 +204,34 @@ void TriangleFEMForceField::computeMaterialStiffnesses() const Real Estrain = this->getYoungModulusInElement(i) / ((1 + _p) * (1 - 2 * _p)); const Real Estress = this->getYoungModulusInElement(i) / (1 - _p * _p); - const Real triangleVolume = (Real)0.5 * d_thickness.getValue() * cross(p[b] - p[a], p[c] - p[a]).norm(); + const Real triangleArea = sofa::geometry::Triangle::area(p[a], p[b], p[c]); + const Real triangleVolume = d_thickness.getValue() * triangleArea; if (d_planeStrain.getValue() == true) { - _materialsStiffnesses[i][0][0] = _1_p; - _materialsStiffnesses[i][0][1] = _p; - _materialsStiffnesses[i][0][2] = 0; - _materialsStiffnesses[i][1][0] = _p; - _materialsStiffnesses[i][1][1] = _1_p; - _materialsStiffnesses[i][1][2] = 0; - _materialsStiffnesses[i][2][0] = 0; - _materialsStiffnesses[i][2][1] = 0; - _materialsStiffnesses[i][2][2] = 0.5f - _p; + _materialsStiffnesses[i](0,0) = _1_p; + _materialsStiffnesses[i](0,1) = _p; + _materialsStiffnesses[i](0,2) = 0; + _materialsStiffnesses[i](1,0) = _p; + _materialsStiffnesses[i](1,1) = _1_p; + _materialsStiffnesses[i](1,2) = 0; + _materialsStiffnesses[i](2,0) = 0; + _materialsStiffnesses[i](2,1) = 0; + _materialsStiffnesses[i](2,2) = 0.5f - _p; _materialsStiffnesses[i] *= Estrain * triangleVolume; } else // plane stress { - _materialsStiffnesses[i][0][0] = 1; - _materialsStiffnesses[i][0][1] = _p; - _materialsStiffnesses[i][0][2] = 0; - _materialsStiffnesses[i][1][0] = _p; - _materialsStiffnesses[i][1][1] = 1; - _materialsStiffnesses[i][1][2] = 0; - _materialsStiffnesses[i][2][0] = 0; - _materialsStiffnesses[i][2][1] = 0; - _materialsStiffnesses[i][2][2] = 0.5f * (_1_p); + _materialsStiffnesses[i](0,0) = 1; + _materialsStiffnesses[i](0,1) = _p; + _materialsStiffnesses[i](0,2) = 0; + _materialsStiffnesses[i](1,0) = _p; + _materialsStiffnesses[i](1,1) = 1; + _materialsStiffnesses[i](1,2) = 0; + _materialsStiffnesses[i](2,0) = 0; + _materialsStiffnesses[i](2,1) = 0; + _materialsStiffnesses[i](2,2) = 0.5f * (_1_p); _materialsStiffnesses[i] *= Estress * triangleVolume; } @@ -446,7 +447,7 @@ void TriangleFEMForceField::accumulateForceLarge(VecCoord& f, const V msg_error() << e.what(); sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); break; - } + } // compute strain type::Vec<3, Real> strain(type::NOINIT); @@ -571,7 +572,7 @@ void TriangleFEMForceField::draw(const core::visual::VisualParams* vp } - + template void TriangleFEMForceField::computeElementStiffnessMatrix(StiffnessMatrix& S, StiffnessMatrix& SR, const MaterialStiffness& K, const StrainDisplacement& J, const Transformation& Rot) @@ -592,7 +593,7 @@ void TriangleFEMForceField::computeElementStiffnessMatrix(StiffnessMa // copy the block in the expanded matrix for (unsigned k = 0; k < 2; k++) for (unsigned l = 0; l < 2; l++) - Ke[3 * i + k][3 * j + l] = JKJt[2 * i + k][2 * j + l]; + Ke(3 * i + k,3 * j + l) = JKJt(2 * i + k,2 * j + l); } } @@ -601,8 +602,8 @@ void TriangleFEMForceField::computeElementStiffnessMatrix(StiffnessMa for (int i = 0; i < 3; ++i) for (int j = 0; j < 3; ++j) { - RR[i][j] = RR[i + 3][j + 3] = RR[i + 6][j + 6] = Rot[i][j]; - RRt[i][j] = RRt[i + 3][j + 3] = RRt[i + 6][j + 6] = Rot[j][i]; + RR(i,j) = RR(i + 3,j + 3) = RR(i + 6,j + 6) = Rot(i,j); + RRt(i,j) = RRt(i + 3,j + 3) = RRt(i + 6,j + 6) = Rot(j,i); } S = RR * Ke; diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMUtils.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMUtils.inl index e0fc7224363..51f7271373c 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMUtils.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMUtils.inl @@ -65,15 +65,15 @@ constexpr void TriangleFEMUtils::computeRotationLarge(Transformation& const Coord edgez = cross(edgex, edgey).normalized(); edgey = cross(edgez, edgex); //edgey is unit vector because edgez and edgex are orthogonal unit vectors - r[0][0] = edgex[0]; - r[0][1] = edgex[1]; - r[0][2] = edgex[2]; - r[1][0] = edgey[0]; - r[1][1] = edgey[1]; - r[1][2] = edgey[2]; - r[2][0] = edgez[0]; - r[2][1] = edgez[1]; - r[2][2] = edgez[2]; + r(0,0) = edgex[0]; + r(0,1) = edgex[1]; + r(0,2) = edgex[2]; + r(1,0) = edgey[0]; + r(1,1) = edgey[1]; + r(1,2) = edgey[2]; + r(2,0) = edgez[0]; + r(2,1) = edgez[1]; + r(2,2) = edgez[2]; } @@ -104,22 +104,22 @@ constexpr void TriangleFEMUtils::computeDisplacementLarge(Displacemen // --- Compute force as: F = J * stress // Notes: Optimisations: The following values are 0 (per computeStrainDisplacement ) // \ 0 1 2 -// 0 J[0][0] 0 J[0][2] -// 1 0 J[1][1] J[1][2] -// 2 J[2][0] 0 J[2][2] -// 3 0 J[3][1] J[3][2] -// 4 0 0 J[4][2] -// 5 0 J[5][1] 0 +// 0 J(0,0) 0 J(0,2) +// 1 0 J(1,1) J(1,2) +// 2 J(2,0) 0 J(2,2) +// 3 0 J(3,1) J(3,2) +// 4 0 0 J(4,2) +// 5 0 J(5,1) 0 // -------------------------------------------------------------------------------------- template constexpr void TriangleFEMUtils::computeForceLarge(Displacement& F, const StrainDisplacement& J, const type::Vec<3, Real>& stress) const { - F[0] = J[0][0] * stress[0] + J[0][2] * stress[2]; - F[1] = J[1][1] * stress[1] + J[1][2] * stress[2]; - F[2] = J[2][0] * stress[0] + J[2][2] * stress[2]; - F[3] = J[3][1] * stress[1] + J[3][2] * stress[2]; - F[4] = J[4][2] * stress[2]; - F[5] = J[5][1] * stress[1]; + F[0] = J(0,0) * stress[0] + J(0,2) * stress[2]; + F[1] = J(1,1) * stress[1] + J(1,2) * stress[2]; + F[2] = J(2,0) * stress[0] + J(2,2) * stress[2]; + F[3] = J(3,1) * stress[1] + J(3,2) * stress[2]; + F[4] = J(4,2) * stress[2]; + F[5] = J(5,1) * stress[1]; } @@ -148,29 +148,29 @@ constexpr void TriangleFEMUtils::computeStrainDisplacementGlobal(Stra const Real y23 = (pB[1] - pC[1]) * invDet; const Real y31 = (pC[1] - pA[1]) * invDet; - J[0][0] = y23; - J[0][1] = 0; - J[0][2] = x32; + J(0,0) = y23; + J(0,1) = 0; + J(0,2) = x32; - J[1][0] = 0; - J[1][1] = x32; - J[1][2] = y23; + J(1,0) = 0; + J(1,1) = x32; + J(1,2) = y23; - J[2][0] = y31; - J[2][1] = 0; - J[2][2] = x13; + J(2,0) = y31; + J(2,1) = 0; + J(2,2) = x13; - J[3][0] = 0; - J[3][1] = x13; - J[3][2] = y31; + J(3,0) = 0; + J(3,1) = x13; + J(3,2) = y31; - J[4][0] = y12; - J[4][1] = 0; - J[4][2] = x21; + J(4,0) = y12; + J(4,1) = 0; + J(4,2) = x21; - J[5][0] = 0; - J[5][1] = x21; - J[5][2] = y12; + J(5,0) = 0; + J(5,1) = x21; + J(5,2) = y12; } @@ -207,17 +207,17 @@ constexpr void TriangleFEMUtils::computeStrainDisplacementGlobal(Stra // Real gamma3 = 1/c[1] // // The transpose of the strain-displacement matrix is thus: -// J[0][0] = J[1][2] = beta1 -// J[0][1] = J[1][0] = 0 -// J[0][2] = J[1][1] = gamma1 +// J(0,0) = J(1,2) = beta1 +// J(0,1) = J(1,0) = 0 +// J(0,2) = J(1,1) = gamma1 // -// J[2][0] = J[3][2] = beta2 -// J[2][1] = J[3][0] = 0 -// J[2][2] = J[3][1] = gamma2 +// J(2,0) = J(3,2) = beta2 +// J(2,1) = J(3,0) = 0 +// J(2,2) = J(3,1) = gamma2 // -// J[4][0] = J[5][2] = 0 -// J[4][1] = J[5][0] = 0 -// J[4][2] = J[5][1] = gamma3 +// J(4,0) = J(5,2) = 0 +// J(4,1) = J(5,0) = 0 +// J(4,2) = J(5,1) = gamma3 // -------------------------------------------------------------------------------------------------------------------------- template constexpr void TriangleFEMUtils::computeStrainDisplacementLocal(StrainDisplacement& J, const Coord& pB, const Coord& pC) const @@ -232,13 +232,13 @@ constexpr void TriangleFEMUtils::computeStrainDisplacementLocal(Strai } const Real invDet = 1 / determinant; - J[0][0] = J[1][2] = -pC[1] * invDet; - J[0][2] = J[1][1] = (pC[0] - pB[0]) * invDet; - J[2][0] = J[3][2] = pC[1] * invDet; - J[2][2] = J[3][1] = -pC[0] * invDet; - J[4][0] = J[5][2] = 0; - J[4][2] = J[5][1] = pB[0] * invDet; - J[1][0] = J[3][0] = J[5][0] = J[0][1] = J[2][1] = J[4][1] = 0; + J(0,0) = J(1,2) = -pC[1] * invDet; + J(0,2) = J(1,1) = (pC[0] - pB[0]) * invDet; + J(2,0) = J(3,2) = pC[1] * invDet; + J(2,2) = J(3,1) = -pC[0] * invDet; + J(4,0) = J(5,2) = 0; + J(4,2) = J(5,1) = pB[0] * invDet; + J(1,0) = J(3,0) = J(5,0) = J(0,1) = J(2,1) = J(4,1) = 0; } @@ -247,9 +247,9 @@ constexpr void TriangleFEMUtils::computeStrainDisplacementLocal(Strai // --- Strain = StrainDisplacement (Jt) * Displacement (D) = JtD = Bd // Notes: Optimisations (@param fullMethod = false): The following values are 0 (per StrainDisplacement ) // | \ 0 1 2 3 4 5 | -// | 0 Jt[0][0] 0 Jt[0][2] 0 0 0 | -// | 1 0 Jt[1][1] 0 Jt[1][3] 0 Jt[1][5] | -// | 2 Jt[2][0] Jt[2][1] Jt[2][2] Jt[2][3] Jt[2][4] 0 | +// | 0 Jt(0,0) 0 Jt(0,2) 0 0 0 | +// | 1 0 Jt(1,1) 0 Jt(1,3) 0 Jt(1,5) | +// | 2 Jt(2,0) Jt(2,1) Jt(2,2) Jt(2,3) Jt(2,4) 0 | // -------------------------------------------------------------------------------------------------------- template constexpr void TriangleFEMUtils::computeStrain(type::Vec<3, Real>& strain, const StrainDisplacement& J, const Displacement& D, bool fullMethod) const @@ -261,9 +261,9 @@ constexpr void TriangleFEMUtils::computeStrain(type::Vec<3, Real>& st else { // Use directly J to avoid computing Jt - strain[0] = J[0][0] * D[0] + J[2][0] * D[2]; - strain[1] = J[1][1] * D[1] + J[3][1] * D[3] + J[5][1] * D[5]; - strain[2] = J[0][2] * D[0] + J[1][2] * D[1] + J[2][2] * D[2] + J[3][2] * D[3] + J[4][2] * D[4]; + strain[0] = J(0,0) * D[0] + J(2,0) * D[2]; + strain[1] = J(1,1) * D[1] + J(3,1) * D[3] + J(5,1) * D[5]; + strain[2] = J(0,2) * D[0] + J(1,2) * D[1] + J(2,2) * D[2] + J(3,2) * D[3] + J(4,2) * D[4]; } } @@ -273,9 +273,9 @@ constexpr void TriangleFEMUtils::computeStrain(type::Vec<3, Real>& st // --- Stress = MaterialStiffnesses (K) * Strain = KJtD = KBd // Notes: Optimisations (@param fullMethod = false): The following values are 0 (per MaterialStiffnesses ) // | \ 0 1 2 | -// | 0 K[0][0] K[0][1] 0 | -// | 1 K[1][0] K[1][1] 0 | -// | 2 0 0 K[2][2] | +// | 0 K(0,0) K(0,1) 0 | +// | 1 K(1,0) K(1,1) 0 | +// | 2 0 0 K(2,2) | // -------------------------------------------------------------------------------------------------------- template constexpr void TriangleFEMUtils::computeStress(type::Vec<3, Real>& stress, const MaterialStiffness& K, const type::Vec<3, Real>& strain, bool fullMethod) const @@ -286,9 +286,9 @@ constexpr void TriangleFEMUtils::computeStress(type::Vec<3, Real>& st } else { - stress[0] = K[0][0] * strain[0] + K[0][1] * strain[1]; - stress[1] = K[1][0] * strain[0] + K[1][1] * strain[1]; - stress[2] = K[2][2] * strain[2]; + stress[0] = K(0,0) * strain[0] + K(0,1) * strain[1]; + stress[1] = K(1,0) * strain[0] + K(1,1) * strain[1]; + stress[2] = K(2,2) * strain[2]; } } diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.inl index 918c563cc9c..bf5060e9e6b 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.inl @@ -272,16 +272,16 @@ void TriangularAnisotropicFEMForceField::computeMaterialStiffness(int Real K16 = s * c3 * (Q11-Q12-2*Q66) + s3 * c * (Q12-Q22+2*Q66); Real K26 = s3 * c * (Q11-Q12-2*Q66) + s * c3 * (Q12-Q22+2*Q66); Real K66 = c2 * s2 * (Q11+Q22-2*Q12-2*Q66) + (c4+s4) * Q66; - - tinfo->materialMatrix[0][0] = K11; - tinfo->materialMatrix[0][1] = K12; - tinfo->materialMatrix[0][2] = K16; - tinfo->materialMatrix[1][0] = K12; - tinfo->materialMatrix[1][1] = K22; - tinfo->materialMatrix[1][2] = K26; - tinfo->materialMatrix[2][0] = K16; - tinfo->materialMatrix[2][1] = K26; - tinfo->materialMatrix[2][2] = K66; + + tinfo->materialMatrix(0,0) = K11; + tinfo->materialMatrix(0,1) = K12; + tinfo->materialMatrix(0,2) = K16; + tinfo->materialMatrix(1,0) = K12; + tinfo->materialMatrix(1,1) = K22; + tinfo->materialMatrix(1,2) = K26; + tinfo->materialMatrix(2,0) = K16; + tinfo->materialMatrix(2,1) = K26; + tinfo->materialMatrix(2,2) = K66; d_localFiberDirection.endEdit(); Inherited::d_triangleInfo.endEdit(); diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl index 1b5b2040195..7e958c8c3cf 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.inl @@ -352,7 +352,7 @@ void TriangularFEMForceField::computeElementStiffnessMatrix(type::Mat // copy the block in the expanded matrix for (unsigned k = 0; k < 2; k++) for (unsigned l = 0; l < 2; l++) - Ke[3 * i + k][3 * j + l] = JKJt[2 * i + k][2 * j + l]; + Ke(3 * i + k,3 * j + l) = JKJt(2 * i + k,2 * j + l); } } @@ -361,8 +361,8 @@ void TriangularFEMForceField::computeElementStiffnessMatrix(type::Mat for (int i = 0; i < 3; ++i) for (int j = 0; j < 3; ++j) { - RR[i][j] = RR[i + 3][j + 3] = RR[i + 6][j + 6] = Rot[i][j]; - RRt[i][j] = RRt[i + 3][j + 3] = RRt[i + 6][j + 6] = Rot[j][i]; + RR(i,j) = RR(i + 3,j + 3) = RR(i + 6,j + 6) = Rot(i,j); + RRt(i,j) = RRt(i + 3,j + 3) = RRt(i + 6,j + 6) = Rot(j,i); } S = RR * Ke; @@ -471,8 +471,8 @@ void TriangularFEMForceField::getRotation(Transformation& R, Index no Coord ex, ey, ez; for (int i = 0; i < 3; i++) { - ex[i] = R[0][i]; - ey[i] = R[1][i]; + ex[i] = R(0,i); + ey[i] = R(1,i); } ex.normalize(); ey.normalize(); @@ -485,9 +485,9 @@ void TriangularFEMForceField::getRotation(Transformation& R, Index no for (int i = 0; i < 3; i++) { - R[0][i] = ex[i]; - R[1][i] = ey[i]; - R[2][i] = ez[i]; + R(0,i) = ex[i]; + R(1,i) = ey[i]; + R(2,i) = ez[i]; } d_triangleInfo.endEdit(); } @@ -537,8 +537,8 @@ void TriangularFEMForceField::getRotations() Coord ex, ey, ez; for (int i = 0; i < 3; i++) { - ex[i] = vinfo->rotation[0][i]; - ey[i] = vinfo->rotation[1][i]; + ex[i] = vinfo->rotation(0,i); + ey[i] = vinfo->rotation(1,i); } ex.normalize(); ey.normalize(); @@ -551,9 +551,9 @@ void TriangularFEMForceField::getRotations() for (int i = 0; i < 3; i++) { - vinfo->rotation[0][i] = ex[i]; - vinfo->rotation[1][i] = ey[i]; - vinfo->rotation[2][i] = ez[i]; + vinfo->rotation(0,i) = ex[i]; + vinfo->rotation(1,i) = ey[i]; + vinfo->rotation(2,i) = ez[i]; } } d_triangleInfo.endEdit(); @@ -720,15 +720,15 @@ void TriangularFEMForceField::computeMaterialStiffness(int i, Index&/ const Real y = this->getYoungModulusInElement(i); const Real p = this->getPoissonRatioInElement(i); - tinfo->materialMatrix[0][0] = 1; - tinfo->materialMatrix[0][1] = p; - tinfo->materialMatrix[0][2] = 0; - tinfo->materialMatrix[1][0] = p; - tinfo->materialMatrix[1][1] = 1; - tinfo->materialMatrix[1][2] = 0; - tinfo->materialMatrix[2][0] = 0; - tinfo->materialMatrix[2][1] = 0; - tinfo->materialMatrix[2][2] = (1.0f - p) * 0.5f; + tinfo->materialMatrix(0,0) = 1; + tinfo->materialMatrix(0,1) = p; + tinfo->materialMatrix(0,2) = 0; + tinfo->materialMatrix(1,0) = p; + tinfo->materialMatrix(1,1) = 1; + tinfo->materialMatrix(1,2) = 0; + tinfo->materialMatrix(2,0) = 0; + tinfo->materialMatrix(2,1) = 0; + tinfo->materialMatrix(2,2) = (1.0f - p) * 0.5f; tinfo->materialMatrix *= (y / (1.0f - p * p)) * tinfo->area; diff --git a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl index 7a20cbfd300..9e72bafe428 100644 --- a/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl +++ b/Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.inl @@ -407,25 +407,25 @@ void TriangularFEMForceFieldOptim::addKToMatrix(sofa::linearalgebra:: const Real fG = factor * gamma; const Real fGM = factor * (gamma+mu); const Real fM_2 = factor * (0.5f*mu); - KJt[0][0] = fGM * ti.cy ; KJt[0][1] = fG *(-ti.cx); KJt[0][2] = 0; KJt[0][3] = fG *ti.bx; - KJt[1][0] = fG * ti.cy ; KJt[1][1] = fGM *(-ti.cx); KJt[1][2] = 0; KJt[1][3] = fGM *ti.bx; - KJt[2][0] = fM_2 *(-ti.cx); KJt[2][1] = fM_2 *( ti.cy); KJt[2][2] = fM_2 *ti.bx; KJt[2][3] = 0; + KJt(0,0) = fGM * ti.cy ; KJt(0,1) = fG *(-ti.cx); KJt(0,2) = 0; KJt(0,3) = fG *ti.bx; + KJt(1,0) = fG * ti.cy ; KJt(1,1) = fGM *(-ti.cx); KJt(1,2) = 0; KJt(1,3) = fGM *ti.bx; + KJt(2,0) = fM_2 *(-ti.cx); KJt(2,1) = fM_2 *( ti.cy); KJt(2,2) = fM_2 *ti.bx; KJt(2,3) = 0; sofa::type::MatNoInit<2,2,Real> JKJt11, JKJt12, JKJt22; - JKJt11[0][0] = ti.cy*KJt[0][0] - ti.cx*KJt[2][0]; - JKJt11[0][1] = ti.cy*KJt[0][1] - ti.cx*KJt[2][1]; - JKJt11[1][0] = JKJt11[0][1]; //ti.cy*KJt[2][0] - ti.cx*KJt[1][0]; - JKJt11[1][1] = ti.cy*KJt[2][1] - ti.cx*KJt[1][1]; + JKJt11(0,0) = ti.cy*KJt(0,0) - ti.cx*KJt(2,0); + JKJt11(0,1) = ti.cy*KJt(0,1) - ti.cx*KJt(2,1); + JKJt11(1,0) = JKJt11(0,1); //ti.cy*KJt(2,0) - ti.cx*KJt(1,0); + JKJt11(1,1) = ti.cy*KJt(2,1) - ti.cx*KJt(1,1); - JKJt12[0][0] = -ti.cx*KJt[2][2]; - JKJt12[0][1] = ti.cy*KJt[0][3]; - JKJt12[1][0] = ti.cy*KJt[2][2]; - JKJt12[1][1] = -ti.cx*KJt[1][3]; + JKJt12(0,0) = -ti.cx*KJt(2,2); + JKJt12(0,1) = ti.cy*KJt(0,3); + JKJt12(1,0) = ti.cy*KJt(2,2); + JKJt12(1,1) = -ti.cx*KJt(1,3); - JKJt22[0][0] = ti.bx*KJt[2][2]; - JKJt22[0][1] = 0; //ti.bx*KJt[2][3]; - JKJt22[1][0] = 0; //ti.bx*KJt[1][2]; - JKJt22[1][1] = ti.bx*KJt[1][3]; + JKJt22(0,0) = ti.bx*KJt(2,2); + JKJt22(0,1) = 0; //ti.bx*KJt(2,3); + JKJt22(1,0) = 0; //ti.bx*KJt(1,2); + JKJt22(1,1) = ti.bx*KJt(1,3); sofa::type::MatNoInit<2,2,Real> JKJt00, JKJt01, JKJt02; // fA = -fB-fC, dxB/dxA = -1, dxC/dxA = -1 @@ -483,25 +483,25 @@ void TriangularFEMForceFieldOptim::buildStiffnessMatrix(core::behavio const Real fG = factor * gamma; const Real fGM = factor * (gamma + mu); const Real fM_2 = factor * mu / 2; - KJt[0][0] = fGM * ti.cy ; KJt[0][1] = fG *(-ti.cx); KJt[0][2] = 0; KJt[0][3] = fG *ti.bx; - KJt[1][0] = fG * ti.cy ; KJt[1][1] = fGM *(-ti.cx); KJt[1][2] = 0; KJt[1][3] = fGM *ti.bx; - KJt[2][0] = fM_2 *(-ti.cx); KJt[2][1] = fM_2 *( ti.cy); KJt[2][2] = fM_2 *ti.bx; KJt[2][3] = 0; + KJt(0,0) = fGM * ti.cy ; KJt(0,1) = fG *(-ti.cx); KJt(0,2) = 0; KJt(0,3) = fG *ti.bx; + KJt(1,0) = fG * ti.cy ; KJt(1,1) = fGM *(-ti.cx); KJt(1,2) = 0; KJt(1,3) = fGM *ti.bx; + KJt(2,0) = fM_2 *(-ti.cx); KJt(2,1) = fM_2 *( ti.cy); KJt(2,2) = fM_2 *ti.bx; KJt(2,3) = 0; sofa::type::MatNoInit<2, 2, Real> JKJt11, JKJt12, JKJt22; - JKJt11[0][0] = ti.cy * KJt[0][0] - ti.cx * KJt[2][0]; - JKJt11[0][1] = ti.cy * KJt[0][1] - ti.cx * KJt[2][1]; - JKJt11[1][0] = JKJt11[0][1]; //ti.cy*KJt[2][0] - ti.cx*KJt[1][0]; - JKJt11[1][1] = ti.cy * KJt[2][1] - ti.cx * KJt[1][1]; + JKJt11(0,0) = ti.cy * KJt(0,0) - ti.cx * KJt(2,0); + JKJt11(0,1) = ti.cy * KJt(0,1) - ti.cx * KJt(2,1); + JKJt11(1,0) = JKJt11(0,1); //ti.cy*KJt(2,0) - ti.cx*KJt(1,0); + JKJt11(1,1) = ti.cy * KJt(2,1) - ti.cx * KJt(1,1); - JKJt12[0][0] = -ti.cx * KJt[2][2]; - JKJt12[0][1] = ti.cy * KJt[0][3]; - JKJt12[1][0] = ti.cy * KJt[2][2]; - JKJt12[1][1] = -ti.cx * KJt[1][3]; + JKJt12(0,0) = -ti.cx * KJt(2,2); + JKJt12(0,1) = ti.cy * KJt(0,3); + JKJt12(1,0) = ti.cy * KJt(2,2); + JKJt12(1,1) = -ti.cx * KJt(1,3); - JKJt22[0][0] = ti.bx * KJt[2][2]; - JKJt22[0][1] = 0; //ti.bx*KJt[2][3]; - JKJt22[1][0] = 0; //ti.bx*KJt[1][2]; - JKJt22[1][1] = ti.bx * KJt[1][3]; + JKJt22(0,0) = ti.bx * KJt(2,2); + JKJt22(0,1) = 0; //ti.bx*KJt(2,3); + JKJt22(1,0) = 0; //ti.bx*KJt(1,2); + JKJt22(1,1) = ti.bx * KJt(1,3); sofa::type::MatNoInit<2,2,Real> JKJt00, JKJt01, JKJt02; // fA = -fB-fC, dxB/dxA = -1, dxC/dxA = -1 @@ -706,9 +706,9 @@ typename TriangularFEMForceFieldOptim::MaterialStiffness TriangularFE const auto [mu, gamma] = computeMuGamma(this->getYoungModulusInElement(elemId), this->getPoissonRatioInElement(elemId)); MaterialStiffness mat; - mat[0][0] = mat[1][1] = gamma + mu; - mat[0][1] = mat[1][0] = gamma; - mat[2][2] = (Real)(0.5) * mu; + mat(0,0) = mat(1,1) = gamma + mu; + mat(0,1) = mat(1,0) = gamma; + mat(2,2) = (Real)(0.5) * mu; return mat; } diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/Sofa.Component.SolidMechanics.FEM.HyperElasticConfig.cmake.in b/Sofa/Component/SolidMechanics/FEM/HyperElastic/Sofa.Component.SolidMechanics.FEM.HyperElasticConfig.cmake.in index 75fb826abe9..5e94811a2f4 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/Sofa.Component.SolidMechanics.FEM.HyperElasticConfig.cmake.in +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/Sofa.Component.SolidMechanics.FEM.HyperElasticConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl index ed8d2eaafd7..2f3b4245ba9 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/StandardTetrahedralFEMForceField.inl @@ -311,7 +311,7 @@ void StandardTetrahedralFEMForceField::addForce(const core::Mechanica sv=tetInfo->shapeVector[1]; for (k=0;k<3;++k) { for (l=0;l<3;++l) { - deformationGradient[k][l]=dp[0][k]*sv[l]; + deformationGradient(k,l)=dp[0][k]*sv[l]; } } for (j=1;j<3;++j) { @@ -319,7 +319,7 @@ void StandardTetrahedralFEMForceField::addForce(const core::Mechanica sv=tetInfo->shapeVector[j+1]; for (k=0;k<3;++k) { for (l=0;l<3;++l) { - deformationGradient[k][l]+=dp[j][k]*sv[l]; + deformationGradient(k,l)+=dp[j][k]*sv[l]; } } } @@ -328,29 +328,29 @@ void StandardTetrahedralFEMForceField::addForce(const core::Mechanica for (int alpha=0; alpha<4; ++alpha){ Coord sva=tetInfo->shapeVector[alpha]; Matrix63 matBa; - matBa[0][0]=deformationGradient[0][0]*sva[0]; - matBa[0][1]=deformationGradient[1][0]*sva[0]; - matBa[0][2]=deformationGradient[2][0]*sva[0]; + matBa(0,0)=deformationGradient(0,0)*sva[0]; + matBa(0,1)=deformationGradient(1,0)*sva[0]; + matBa(0,2)=deformationGradient(2,0)*sva[0]; - matBa[2][0]=deformationGradient[0][1]*sva[1]; - matBa[2][1]=deformationGradient[1][1]*sva[1]; - matBa[2][2]=deformationGradient[2][1]*sva[1]; + matBa(2,0)=deformationGradient(0,1)*sva[1]; + matBa(2,1)=deformationGradient(1,1)*sva[1]; + matBa(2,2)=deformationGradient(2,1)*sva[1]; - matBa[5][0]=deformationGradient[0][2]*sva[2]; - matBa[5][1]=deformationGradient[1][2]*sva[2]; - matBa[5][2]=deformationGradient[2][2]*sva[2]; + matBa(5,0)=deformationGradient(0,2)*sva[2]; + matBa(5,1)=deformationGradient(1,2)*sva[2]; + matBa(5,2)=deformationGradient(2,2)*sva[2]; - matBa[1][0]=(deformationGradient[0][0]*sva[1]+deformationGradient[0][1]*sva[0]); - matBa[1][1]=(deformationGradient[1][0]*sva[1]+deformationGradient[1][1]*sva[0]); - matBa[1][2]=(deformationGradient[2][0]*sva[1]+deformationGradient[2][1]*sva[0]); + matBa(1,0)=(deformationGradient(0,0)*sva[1]+deformationGradient(0,1)*sva[0]); + matBa(1,1)=(deformationGradient(1,0)*sva[1]+deformationGradient(1,1)*sva[0]); + matBa(1,2)=(deformationGradient(2,0)*sva[1]+deformationGradient(2,1)*sva[0]); - matBa[3][0]=(deformationGradient[0][2]*sva[0]+deformationGradient[0][0]*sva[2]); - matBa[3][1]=(deformationGradient[1][2]*sva[0]+deformationGradient[1][0]*sva[2]); - matBa[3][2]=(deformationGradient[2][2]*sva[0]+deformationGradient[2][0]*sva[2]); + matBa(3,0)=(deformationGradient(0,2)*sva[0]+deformationGradient(0,0)*sva[2]); + matBa(3,1)=(deformationGradient(1,2)*sva[0]+deformationGradient(1,0)*sva[2]); + matBa(3,2)=(deformationGradient(2,2)*sva[0]+deformationGradient(2,0)*sva[2]); - matBa[4][0]=(deformationGradient[0][1]*sva[2]+deformationGradient[0][2]*sva[1]); - matBa[4][1]=(deformationGradient[1][1]*sva[2]+deformationGradient[1][2]*sva[1]); - matBa[4][2]=(deformationGradient[2][1]*sva[2]+deformationGradient[2][2]*sva[1]); + matBa(4,0)=(deformationGradient(0,1)*sva[2]+deformationGradient(0,2)*sva[1]); + matBa(4,1)=(deformationGradient(1,1)*sva[2]+deformationGradient(1,2)*sva[1]); + matBa(4,2)=(deformationGradient(2,1)*sva[2]+deformationGradient(2,2)*sva[1]); matB[alpha]=matBa; } @@ -418,7 +418,7 @@ void StandardTetrahedralFEMForceField::addForce(const core::Mechanica // Calculates the dS/dC tensor 6*6 myMaterial->ElasticityTensor(tetInfo,globalParameters,outputTensor); Matrix63 mBl=matB[l]; - mBl[1][0]/=2;mBl[1][1]/=2;mBl[1][2]/=2;mBl[3][0]/=2;mBl[3][1]/=2;mBl[3][2]/=2;mBl[4][0]/=2;mBl[4][1]/=2;mBl[4][2]/=2; + mBl(1,0)/=2;mBl(1,1)/=2;mBl(1,2)/=2;mBl(3,0)/=2;mBl(3,1)/=2;mBl(3,2)/=2;mBl(4,0)/=2;mBl(4,1)/=2;mBl(4,2)/=2; N=(matB[k].transposed()*outputTensor*mBl); @@ -427,8 +427,8 @@ void StandardTetrahedralFEMForceField::addForce(const core::Mechanica Coord vectSD=SPK*svk; productSD=dot(vectSD,svl); - M[0][1]=M[0][2]=M[1][0]=M[1][2]=M[2][0]=M[2][1]=0; - M[0][0]=M[1][1]=M[2][2]=(Real)productSD; + M(0,1)=M(0,2)=M(1,0)=M(1,2)=M(2,0)=M(2,1)=0; + M(0,0)=M(1,1)=M(2,2)=(Real)productSD; edgeDfDx += (M+N.transposed())*tetInfo->restVolume; @@ -524,9 +524,10 @@ void StandardTetrahedralFEMForceField::addDForce(const core::Mechanic deltax= dx[v0] - dx[v1]; dv0 = einfo->DfDx * deltax; // do the transpose multiply: - dv1[0] = (Real)(deltax[0]*einfo->DfDx[0][0] + deltax[1]*einfo->DfDx[1][0] + deltax[2]*einfo->DfDx[2][0]); - dv1[1] = (Real)(deltax[0]*einfo->DfDx[0][1] + deltax[1]*einfo->DfDx[1][1] + deltax[2]*einfo->DfDx[2][1]); - dv1[2] = (Real)(deltax[0]*einfo->DfDx[0][2] + deltax[1]*einfo->DfDx[1][2] + deltax[2]*einfo->DfDx[2][2]); + dv1[0] = (Real)(deltax[0]*einfo->DfDx(0,0) + deltax[1]*einfo->DfDx(1,0) + deltax[2]*einfo->DfDx(2,0)); + dv1[1] = (Real)(deltax[0]*einfo->DfDx(0,1) + deltax[1]*einfo->DfDx(1,1) + deltax[2]*einfo->DfDx(2,1)); + dv1[2] = (Real)(deltax[0]*einfo->DfDx(0,2) + deltax[1]*einfo->DfDx(1,2) + deltax[2]*einfo->DfDx(2,2)); + // add forces df[v0] += dv1 * kFactor; df[v1] -= dv0 * kFactor; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl index 34a5f4b2a51..bc189571653 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/TetrahedronHyperelasticityFEMForceField.inl @@ -310,7 +310,7 @@ void TetrahedronHyperelasticityFEMForceField::addForce(const core::Me { for (l = 0; l < 3; ++l) { - tetInfo->m_deformationGradient[k][l] = dp[0][k] * sv[l]; + tetInfo->m_deformationGradient(k,l) = dp[0][k] * sv[l]; } } for (j = 1; j < 3; ++j) @@ -321,7 +321,7 @@ void TetrahedronHyperelasticityFEMForceField::addForce(const core::Me { for (l = 0; l < 3; ++l) { - tetInfo->m_deformationGradient[k][l] += dp[j][k] * sv[l]; + tetInfo->m_deformationGradient(k,l) += dp[j][k] * sv[l]; } } } @@ -418,9 +418,9 @@ void TetrahedronHyperelasticityFEMForceField::updateTangentMatrix() { for (int n = m; n < 3; n++) { - inputTensor[0](m, n) = svl[m] * df[0][n] + df[0][m] * svl[n]; - inputTensor[1](m, n) = svl[m] * df[1][n] + df[1][m] * svl[n]; - inputTensor[2](m, n) = svl[m] * df[2][n] + df[2][m] * svl[n]; + inputTensor[0](m, n) = svl[m] * df(0,n) + df(0,m) * svl[n]; + inputTensor[1](m, n) = svl[m] * df(1,n) + df(1,m) * svl[n]; + inputTensor[2](m, n) = svl[m] * df(2,n) + df(2,m) * svl[n]; } } @@ -433,7 +433,7 @@ void TetrahedronHyperelasticityFEMForceField::updateTangentMatrix() //Nv.clear(); for (int u = 0; u < 3; u++) { - Nv[u][m] = vectortemp[u]; + Nv(u,m) = vectortemp[u]; } N += Nv.transposed(); } @@ -444,8 +444,8 @@ void TetrahedronHyperelasticityFEMForceField::updateTangentMatrix() const Coord vectSD = tetInfo->m_SPKTensorGeneral * svk; productSD = dot(vectSD, svl); - M[0][1] = M[0][2] = M[1][0] = M[1][2] = M[2][0] = M[2][1] = 0; - M[0][0] = M[1][1] = M[2][2] = (Real)productSD; + M(0,1) = M(0,2) = M(1,0) = M(1,2) = M(2,0) = M(2,1) = 0; + M(0,0) = M(1,1) = M(2,2) = (Real)productSD; edgeDfDx += (M+N)*tetInfo->m_restVolume; @@ -486,9 +486,9 @@ void TetrahedronHyperelasticityFEMForceField::addDForce(const core::M deltax = dx[v0] - dx[v1]; dv0 = einfo->DfDx * deltax; // do the transpose multiply: - dv1[0] = (Real)(deltax[0] * einfo->DfDx[0][0] + deltax[1] * einfo->DfDx[1][0] + deltax[2] * einfo->DfDx[2][0]); - dv1[1] = (Real)(deltax[0] * einfo->DfDx[0][1] + deltax[1] * einfo->DfDx[1][1] + deltax[2] * einfo->DfDx[2][1]); - dv1[2] = (Real)(deltax[0] * einfo->DfDx[0][2] + deltax[1] * einfo->DfDx[1][2] + deltax[2] * einfo->DfDx[2][2]); + dv1[0] = (Real)(deltax[0] * einfo->DfDx(0,0) + deltax[1] * einfo->DfDx(1,0) + deltax[2] * einfo->DfDx(2,0)); + dv1[1] = (Real)(deltax[0] * einfo->DfDx(0,1) + deltax[1] * einfo->DfDx(1,1) + deltax[2] * einfo->DfDx(2,1)); + dv1[2] = (Real)(deltax[0] * einfo->DfDx(0,2) + deltax[1] * einfo->DfDx(1,2) + deltax[2] * einfo->DfDx(2,2)); // add forces df[v0] += dv1 * kFactor; df[v1] -= dv0 * kFactor; @@ -527,10 +527,10 @@ void TetrahedronHyperelasticityFEMForceField::addKToMatrix(sofa::line { for (unsigned int j = 0; j < 3; j++) { - mat->add(N0 + i, N0 + j, + einfo->DfDx[j][i] * k); - mat->add(N0 + i, N1 + j, - einfo->DfDx[j][i] * k); - mat->add(N1 + i, N0 + j, - einfo->DfDx[i][j] * k); - mat->add(N1 + i, N1 + j, + einfo->DfDx[i][j] * k); + mat->add(N0 + i, N0 + j, + einfo->DfDx(j,i) * k); + mat->add(N0 + i, N1 + j, - einfo->DfDx(j,i) * k); + mat->add(N1 + i, N0 + j, - einfo->DfDx(i,j) * k); + mat->add(N1 + i, N1 + j, + einfo->DfDx(i,j) * k); } } } @@ -568,10 +568,10 @@ void TetrahedronHyperelasticityFEMForceField::buildStiffnessMatrix( { for(j=0; j<3; j++) { - dfdx(N0+i, N0+j) += einfo->DfDx[j][i]; - dfdx(N0+i, N1+j) += - einfo->DfDx[j][i]; - dfdx(N1+i, N0+j) += - einfo->DfDx[i][j]; - dfdx(N1+i, N1+j) += + einfo->DfDx[i][j]; + dfdx(N0+i, N0+j) += einfo->DfDx(j,i); + dfdx(N0+i, N1+j) += - einfo->DfDx(j,i); + dfdx(N1+i, N0+j) += - einfo->DfDx(i,j); + dfdx(N1+i, N1+j) += + einfo->DfDx(i,j); } } } diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h index 552ab1af8f8..8deec627491 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/BoyceAndArruda.h @@ -112,18 +112,18 @@ class BoyceAndArruda : public HyperelasticMaterial{ CC=_C; CC[1]+=_C[1];CC[3]+=_C[3];CC[4]+=_C[4]; Matrix6 C_H_C; - C_H_C[0][0]=_C[0]*_C[0]; C_H_C[1][1]=_C[1]*_C[1]+_C[0]*_C[2]; C_H_C[2][2]=_C[2]*_C[2]; C_H_C[3][3]=_C[3]*_C[3]+_C[0]*_C[5]; C_H_C[4][4]=_C[4]*_C[4]+_C[2]*_C[5]; - C_H_C[5][5]=_C[5]*_C[5]; - C_H_C[1][0]=_C[0]*_C[1];C_H_C[0][1]=2*C_H_C[1][0]; - C_H_C[2][0]=C_H_C[0][2]=_C[1]*_C[1]; C_H_C[5][0]=C_H_C[0][5]=_C[3]*_C[3]; - C_H_C[3][0]=_C[0]*_C[3];C_H_C[0][3]=2*C_H_C[3][0]; C_H_C[4][0]=_C[1]*_C[3];C_H_C[0][4]=2*C_H_C[4][0]; - C_H_C[1][2]=_C[2]*_C[1];C_H_C[2][1]=2*C_H_C[1][2]; C_H_C[1][5]=_C[3]*_C[4];C_H_C[5][1]=2*C_H_C[1][5]; - C_H_C[3][1]=C_H_C[1][3]=_C[0]*_C[4]+_C[1]*_C[3]; C_H_C[1][4]=C_H_C[4][1]=_C[1]*_C[4]+_C[2]*_C[3]; - C_H_C[3][2]=_C[4]*_C[1];C_H_C[2][3]=2*C_H_C[3][2]; C_H_C[4][2]=_C[4]*_C[2];C_H_C[2][4]=2*C_H_C[4][2]; - C_H_C[2][5]=C_H_C[5][2]=_C[4]*_C[4]; - C_H_C[3][5]=_C[3]*_C[5];C_H_C[5][3]=2*C_H_C[3][5]; - C_H_C[4][3]=C_H_C[3][4]=_C[3]*_C[4]+_C[5]*_C[1]; - C_H_C[4][5]=_C[4]*_C[5];C_H_C[5][4]=2*C_H_C[4][5]; + C_H_C(0,0)=_C[0]*_C[0]; C_H_C(1,1)=_C[1]*_C[1]+_C[0]*_C[2]; C_H_C(2,2)=_C[2]*_C[2]; C_H_C(3,3)=_C[3]*_C[3]+_C[0]*_C[5]; C_H_C(4,4)=_C[4]*_C[4]+_C[2]*_C[5]; + C_H_C(5,5)=_C[5]*_C[5]; + C_H_C(1,0)=_C[0]*_C[1];C_H_C(0,1)=2*C_H_C(1,0); + C_H_C(2,0)=C_H_C(0,2)=_C[1]*_C[1]; C_H_C(5,0)=C_H_C(0,5)=_C[3]*_C[3]; + C_H_C(3,0)=_C[0]*_C[3];C_H_C(0,3)=2*C_H_C(3,0); C_H_C(4,0)=_C[1]*_C[3];C_H_C(0,4)=2*C_H_C(4,0); + C_H_C(1,2)=_C[2]*_C[1];C_H_C(2,1)=2*C_H_C(1,2); C_H_C(1,5)=_C[3]*_C[4];C_H_C(5,1)=2*C_H_C(1,5); + C_H_C(3,1)=C_H_C(1,3)=_C[0]*_C[4]+_C[1]*_C[3]; C_H_C(1,4)=C_H_C(4,1)=_C[1]*_C[4]+_C[2]*_C[3]; + C_H_C(3,2)=_C[4]*_C[1];C_H_C(2,3)=2*C_H_C(3,2); C_H_C(4,2)=_C[4]*_C[2];C_H_C(2,4)=2*C_H_C(4,2); + C_H_C(2,5)=C_H_C(5,2)=_C[4]*_C[4]; + C_H_C(3,5)=_C[3]*_C[5];C_H_C(5,3)=2*C_H_C(3,5); + C_H_C(4,3)=C_H_C(3,4)=_C[3]*_C[4]+_C[5]*_C[1]; + C_H_C(4,5)=_C[4]*_C[5];C_H_C(5,4)=2*C_H_C(4,5); Matrix6 trC_HC_; trC_HC_[0]=_C[0]*CC; trC_HC_[1]=_C[1]*CC; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h index d334712b8c3..b4d7e9fe647 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Costa.h @@ -145,18 +145,18 @@ class Costa: public HyperelasticMaterial CC=_C; CC[1]+=_C[1];CC[3]+=_C[3];CC[4]+=_C[4]; Matrix6 C_H_C; - C_H_C[0][0]=_C[0]*_C[0]; C_H_C[1][1]=_C[1]*_C[1]+_C[0]*_C[2]; C_H_C[2][2]=_C[2]*_C[2]; C_H_C[3][3]=_C[3]*_C[3]+_C[0]*_C[5]; C_H_C[4][4]=_C[4]*_C[4]+_C[2]*_C[5]; - C_H_C[5][5]=_C[5]*_C[5]; - C_H_C[1][0]=_C[0]*_C[1];C_H_C[0][1]=2*C_H_C[1][0]; - C_H_C[2][0]=C_H_C[0][2]=_C[1]*_C[1]; C_H_C[5][0]=C_H_C[0][5]=_C[3]*_C[3]; - C_H_C[3][0]=_C[0]*_C[3];C_H_C[0][3]=2*C_H_C[3][0]; C_H_C[4][0]=_C[1]*_C[3];C_H_C[0][4]=2*C_H_C[4][0]; - C_H_C[1][2]=_C[2]*_C[1];C_H_C[2][1]=2*C_H_C[1][2]; C_H_C[1][5]=_C[3]*_C[4];C_H_C[5][1]=2*C_H_C[1][5]; - C_H_C[3][1]=C_H_C[1][3]=_C[0]*_C[4]+_C[1]*_C[3]; C_H_C[1][4]=C_H_C[4][1]=_C[1]*_C[4]+_C[2]*_C[3]; - C_H_C[3][2]=_C[4]*_C[1];C_H_C[2][3]=2*C_H_C[3][2]; C_H_C[4][2]=_C[4]*_C[2];C_H_C[2][4]=2*C_H_C[4][2]; - C_H_C[2][5]=C_H_C[5][2]=_C[4]*_C[4]; - C_H_C[3][5]=_C[3]*_C[5];C_H_C[5][3]=2*C_H_C[3][5]; - C_H_C[4][3]=C_H_C[3][4]=_C[3]*_C[4]+_C[5]*_C[1]; - C_H_C[4][5]=_C[4]*_C[5];C_H_C[5][4]=2*C_H_C[4][5]; + C_H_C(0,0)=_C[0]*_C[0]; C_H_C(1,1)=_C[1]*_C[1]+_C[0]*_C[2]; C_H_C(2,2)=_C[2]*_C[2]; C_H_C(3,3)=_C[3]*_C[3]+_C[0]*_C[5]; C_H_C(4,4)=_C[4]*_C[4]+_C[2]*_C[5]; + C_H_C(5,5)=_C[5]*_C[5]; + C_H_C(1,0)=_C[0]*_C[1];C_H_C(0,1)=2*C_H_C(1,0); + C_H_C(2,0)=C_H_C(0,2)=_C[1]*_C[1]; C_H_C(5,0)=C_H_C(0,5)=_C[3]*_C[3]; + C_H_C(3,0)=_C[0]*_C[3];C_H_C(0,3)=2*C_H_C(3,0); C_H_C(4,0)=_C[1]*_C[3];C_H_C(0,4)=2*C_H_C(4,0); + C_H_C(1,2)=_C[2]*_C[1];C_H_C(2,1)=2*C_H_C(1,2); C_H_C(1,5)=_C[3]*_C[4];C_H_C(5,1)=2*C_H_C(1,5); + C_H_C(3,1)=C_H_C(1,3)=_C[0]*_C[4]+_C[1]*_C[3]; C_H_C(1,4)=C_H_C(4,1)=_C[1]*_C[4]+_C[2]*_C[3]; + C_H_C(3,2)=_C[4]*_C[1];C_H_C(2,3)=2*C_H_C(3,2); C_H_C(4,2)=_C[4]*_C[2];C_H_C(2,4)=2*C_H_C(4,2); + C_H_C(2,5)=C_H_C(5,2)=_C[4]*_C[4]; + C_H_C(3,5)=_C[3]*_C[5];C_H_C(5,3)=2*C_H_C(3,5); + C_H_C(4,3)=C_H_C(3,4)=_C[3]*_C[4]+_C[5]*_C[1]; + C_H_C(4,5)=_C[4]*_C[5];C_H_C(5,4)=2*C_H_C(4,5); Matrix6 trC_HC_; trC_HC_[0]=_C[0]*CC; trC_HC_[1]=_C[1]*CC; @@ -190,7 +190,7 @@ class Costa: public HyperelasticMaterial trUEHUE[4]=UE[4]*UUE; trUEHUE[5]=UE[5]*UUE; Matrix6 U; - U[0][0]=bff;U[0][0]=bff;U[1][1]=bfs;U[2][2]=bss;U[3][3]=bfn;U[4][4]=bsn;U[5][5]=bnn; + U(0,0)=bff;U(0,0)=bff;U(1,1)=bfs;U(2,2)=bss;U(3,3)=bfn;U(4,4)=bsn;U(5,5)=bnn; outputTensor=(((trUE_HC_-trC_HC_*(Real)(2.0/3.0)*Q)*(Real)(-2.0/3.0)+U/(Real)2.0+C_H_C*(Real)(2.0/3.0)*Q-trC_HUE_*(Real)(2.0/3.0))*(a*pow(sinfo->J,(Real)(-4.0/3.0))*exp(Qbar)) +(trUEHUE-trC_HUE_*(Real)(2.0/3.0)*Q -trUE_HC_*(Real)(2.0/3.0)*Q*Q+trC_HC_*(Real)(4.0/9.0)*Q*Q)*a*pow(sinfo->J,(Real)(-8.0/3.0))*exp(Qbar)+ trC_HC_*k0/(Real)2.0*sinfo->J*(log(sinfo->J)+(Real)1)-C_H_C*sinfo->J*log(sinfo->J))*2; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h index bab2cf34451..6ca630eb70c 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/MooneyRivlin.h @@ -145,36 +145,36 @@ class MooneyRivlin : public HyperelasticMaterial C[3] += sinfo->deformationTensor[3]; C[4] += sinfo->deformationTensor[4]; Matrix6 C_H_C; - C_H_C[0][0] = _C[0]*_C[0]; - C_H_C[1][1] = _C[1]*_C[1]+_C[0]*_C[2]; - C_H_C[2][2] = _C[2]*_C[2]; - C_H_C[3][3] = _C[3]*_C[3]+_C[0]*_C[5]; - C_H_C[4][4] = _C[4]*_C[4]+_C[2]*_C[5]; - C_H_C[5][5] = _C[5]*_C[5]; - C_H_C[1][0] = _C[0]*_C[1]; - C_H_C[0][1] = 2*C_H_C[1][0]; - C_H_C[2][0] = C_H_C[0][2] = _C[1]*_C[1]; - C_H_C[5][0] = C_H_C[0][5] = _C[3]*_C[3]; - C_H_C[3][0] = _C[0]*_C[3]; - C_H_C[0][3] = 2*C_H_C[3][0]; - C_H_C[4][0] = _C[1]*_C[3]; - C_H_C[0][4] = 2*C_H_C[4][0]; - C_H_C[1][2] = _C[2]*_C[1]; - C_H_C[2][1] = 2*C_H_C[1][2]; - C_H_C[1][5] = _C[3]*_C[4]; - C_H_C[5][1] = 2*C_H_C[1][5]; - C_H_C[3][1] = C_H_C[1][3] = _C[0]*_C[4]+_C[1]*_C[3]; - C_H_C[1][4] = C_H_C[4][1] = _C[1]*_C[4]+_C[2]*_C[3]; - C_H_C[3][2] = _C[4]*_C[1]; - C_H_C[2][3] = 2*C_H_C[3][2]; - C_H_C[4][2] = _C[4]*_C[2]; - C_H_C[2][4] = 2*C_H_C[4][2]; - C_H_C[2][5] = C_H_C[5][2] = _C[4]*_C[4]; - C_H_C[3][5] = _C[3]*_C[5]; - C_H_C[5][3] = 2*C_H_C[3][5]; - C_H_C[4][3] = C_H_C[3][4] = _C[3]*_C[4]+_C[5]*_C[1]; - C_H_C[4][5] = _C[4]*_C[5]; - C_H_C[5][4] = 2*C_H_C[4][5]; + C_H_C(0,0) = _C[0]*_C[0]; + C_H_C(1,1) = _C[1]*_C[1]+_C[0]*_C[2]; + C_H_C(2,2) = _C[2]*_C[2]; + C_H_C(3,3) = _C[3]*_C[3]+_C[0]*_C[5]; + C_H_C(4,4) = _C[4]*_C[4]+_C[2]*_C[5]; + C_H_C(5,5) = _C[5]*_C[5]; + C_H_C(1,0) = _C[0]*_C[1]; + C_H_C(0,1) = 2*C_H_C(1,0); + C_H_C(2,0) = C_H_C(0,2) = _C[1]*_C[1]; + C_H_C(5,0) = C_H_C(0,5) = _C[3]*_C[3]; + C_H_C(3,0) = _C[0]*_C[3]; + C_H_C(0,3) = 2*C_H_C(3,0); + C_H_C(4,0) = _C[1]*_C[3]; + C_H_C(0,4) = 2*C_H_C(4,0); + C_H_C(1,2) = _C[2]*_C[1]; + C_H_C(2,1) = 2*C_H_C(1,2); + C_H_C(1,5) = _C[3]*_C[4]; + C_H_C(5,1) = 2*C_H_C(1,5); + C_H_C(3,1) = C_H_C(1,3) = _C[0]*_C[4]+_C[1]*_C[3]; + C_H_C(1,4) = C_H_C(4,1) = _C[1]*_C[4]+_C[2]*_C[3]; + C_H_C(3,2) = _C[4]*_C[1]; + C_H_C(2,3) = 2*C_H_C(3,2); + C_H_C(4,2) = _C[4]*_C[2]; + C_H_C(2,4) = 2*C_H_C(4,2); + C_H_C(2,5) = C_H_C(5,2) = _C[4]*_C[4]; + C_H_C(3,5) = _C[3]*_C[5]; + C_H_C(5,3) = 2*C_H_C(3,5); + C_H_C(4,3) = C_H_C(3,4) = _C[3]*_C[4]+_C[5]*_C[1]; + C_H_C(4,5) = _C[4]*_C[5]; + C_H_C(5,4) = 2*C_H_C(4,5); Matrix6 trC_HC_; trC_HC_[0] = _C[0]*CC; trC_HC_[1] = _C[1]*CC; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/NeoHookean.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/NeoHookean.h index c6c9992f461..f8a7a65d86d 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/NeoHookean.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/NeoHookean.h @@ -138,36 +138,36 @@ class NeoHookean : public HyperelasticMaterial CC[4] += inverse_C[4]; Matrix6 C_H_C; - C_H_C[0][0] = inverse_C[0] * inverse_C[0]; - C_H_C[1][1] = inverse_C[1] * inverse_C[1] + inverse_C[0] * inverse_C[2]; - C_H_C[2][2] = inverse_C[2] * inverse_C[2]; - C_H_C[3][3] = inverse_C[3] * inverse_C[3] + inverse_C[0] * inverse_C[5]; - C_H_C[4][4] = inverse_C[4] * inverse_C[4] + inverse_C[2] * inverse_C[5]; - C_H_C[5][5] = inverse_C[5] * inverse_C[5]; - C_H_C[1][0] = inverse_C[0] * inverse_C[1]; - C_H_C[0][1] = 2 * C_H_C[1][0]; - C_H_C[2][0] = C_H_C[0][2] = inverse_C[1] * inverse_C[1]; - C_H_C[5][0] = C_H_C[0][5] = inverse_C[3] * inverse_C[3]; - C_H_C[3][0] = inverse_C[0] * inverse_C[3]; - C_H_C[0][3] = 2 * C_H_C[3][0]; - C_H_C[4][0] = inverse_C[1] * inverse_C[3]; - C_H_C[0][4] = 2 * C_H_C[4][0]; - C_H_C[1][2] = inverse_C[2] * inverse_C[1]; - C_H_C[2][1] = 2 * C_H_C[1][2]; - C_H_C[1][5] = inverse_C[3] * inverse_C[4]; - C_H_C[5][1] = 2 * C_H_C[1][5]; - C_H_C[3][1] = C_H_C[1][3] = inverse_C[0] * inverse_C[4] + inverse_C[1] * inverse_C[3]; - C_H_C[1][4] = C_H_C[4][1] = inverse_C[1] * inverse_C[4] + inverse_C[2] * inverse_C[3]; - C_H_C[3][2] = inverse_C[4] * inverse_C[1]; - C_H_C[2][3] = 2 * C_H_C[3][2]; - C_H_C[4][2] = inverse_C[4] * inverse_C[2]; - C_H_C[2][4] = 2 * C_H_C[4][2]; - C_H_C[2][5] = C_H_C[5][2] = inverse_C[4] * inverse_C[4]; - C_H_C[3][5] = inverse_C[3] * inverse_C[5]; - C_H_C[5][3] = 2 * C_H_C[3][5]; - C_H_C[4][3] = C_H_C[3][4] = inverse_C[3] * inverse_C[4] + inverse_C[5] * inverse_C[1]; - C_H_C[4][5] = inverse_C[4] * inverse_C[5]; - C_H_C[5][4] = 2 * C_H_C[4][5]; + C_H_C(0,0) = inverse_C[0] * inverse_C[0]; + C_H_C(1,1) = inverse_C[1] * inverse_C[1] + inverse_C[0] * inverse_C[2]; + C_H_C(2,2) = inverse_C[2] * inverse_C[2]; + C_H_C(3,3) = inverse_C[3] * inverse_C[3] + inverse_C[0] * inverse_C[5]; + C_H_C(4,4) = inverse_C[4] * inverse_C[4] + inverse_C[2] * inverse_C[5]; + C_H_C(5,5) = inverse_C[5] * inverse_C[5]; + C_H_C(1,0) = inverse_C[0] * inverse_C[1]; + C_H_C(0,1) = 2 * C_H_C(1,0); + C_H_C(2,0) = C_H_C(0,2) = inverse_C[1] * inverse_C[1]; + C_H_C(5,0) = C_H_C(0,5) = inverse_C[3] * inverse_C[3]; + C_H_C(3,0) = inverse_C[0] * inverse_C[3]; + C_H_C(0,3) = 2 * C_H_C(3,0); + C_H_C(4,0) = inverse_C[1] * inverse_C[3]; + C_H_C(0,4) = 2 * C_H_C(4,0); + C_H_C(1,2) = inverse_C[2] * inverse_C[1]; + C_H_C(2,1) = 2 * C_H_C(1,2); + C_H_C(1,5) = inverse_C[3] * inverse_C[4]; + C_H_C(5,1) = 2 * C_H_C(1,5); + C_H_C(3,1) = C_H_C(1,3) = inverse_C[0] * inverse_C[4] + inverse_C[1] * inverse_C[3]; + C_H_C(1,4) = C_H_C(4,1) = inverse_C[1] * inverse_C[4] + inverse_C[2] * inverse_C[3]; + C_H_C(3,2) = inverse_C[4] * inverse_C[1]; + C_H_C(2,3) = 2 * C_H_C(3,2); + C_H_C(4,2) = inverse_C[4] * inverse_C[2]; + C_H_C(2,4) = 2 * C_H_C(4,2); + C_H_C(2,5) = C_H_C(5,2) = inverse_C[4] * inverse_C[4]; + C_H_C(3,5) = inverse_C[3] * inverse_C[5]; + C_H_C(5,3) = 2 * C_H_C(3,5); + C_H_C(4,3) = C_H_C(3,4) = inverse_C[3] * inverse_C[4] + inverse_C[5] * inverse_C[1]; + C_H_C(4,5) = inverse_C[4] * inverse_C[5]; + C_H_C(5,4) = 2 * C_H_C(4,5); Matrix6 trC_HC_; trC_HC_[0] = inverse_C[0] * CC; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h index 19dc7f947a9..5f22c44b1de 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/Ogden.h @@ -179,38 +179,38 @@ class Ogden: public HyperelasticMaterial CC=_C; CC[1]+=_C[1]; CC[3]+=_C[3]; CC[4]+=_C[4]; Matrix6 C_H_C; - C_H_C[0][0]=_C[0]*_C[0]; C_H_C[1][1]=_C[1]*_C[1]+_C[0]*_C[2]; C_H_C[2][2]=_C[2]*_C[2]; C_H_C[3][3]=_C[3]*_C[3]+_C[0]*_C[5]; C_H_C[4][4]=_C[4]*_C[4]+_C[2]*_C[5]; - C_H_C[5][5]=_C[5]*_C[5]; - C_H_C[1][0]=_C[0]*_C[1]; C_H_C[0][1]=2*C_H_C[1][0]; - C_H_C[2][0]=C_H_C[0][2]=_C[1]*_C[1]; C_H_C[5][0]=C_H_C[0][5]=_C[3]*_C[3]; - C_H_C[3][0]=_C[0]*_C[3]; C_H_C[0][3]=2*C_H_C[3][0]; C_H_C[4][0]=_C[1]*_C[3]; C_H_C[0][4]=2*C_H_C[4][0]; - C_H_C[1][2]=_C[2]*_C[1]; C_H_C[2][1]=2*C_H_C[1][2]; C_H_C[1][5]=_C[3]*_C[4]; C_H_C[5][1]=2*C_H_C[1][5]; - C_H_C[3][1]=C_H_C[1][3]=_C[0]*_C[4]+_C[1]*_C[3]; C_H_C[1][4]=C_H_C[4][1]=_C[1]*_C[4]+_C[2]*_C[3]; - C_H_C[3][2]=_C[4]*_C[1]; C_H_C[2][3]=2*C_H_C[3][2]; C_H_C[4][2]=_C[4]*_C[2]; C_H_C[2][4]=2*C_H_C[4][2]; - C_H_C[2][5]=C_H_C[5][2]=_C[4]*_C[4]; - C_H_C[3][5]=_C[3]*_C[5]; C_H_C[5][3]=2*C_H_C[3][5]; - C_H_C[4][3]=C_H_C[3][4]=_C[3]*_C[4]+_C[5]*_C[1]; - C_H_C[4][5]=_C[4]*_C[5]; C_H_C[5][4]=2*C_H_C[4][5]; + C_H_C(0,0)=_C[0]*_C[0]; C_H_C(1,1)=_C[1]*_C[1]+_C[0]*_C[2]; C_H_C(2,2)=_C[2]*_C[2]; C_H_C(3,3)=_C[3]*_C[3]+_C[0]*_C[5]; C_H_C(4,4)=_C[4]*_C[4]+_C[2]*_C[5]; + C_H_C(5,5)=_C[5]*_C[5]; + C_H_C(1,0)=_C[0]*_C[1]; C_H_C(0,1)=2*C_H_C(1,0); + C_H_C(2,0)=C_H_C(0,2)=_C[1]*_C[1]; C_H_C(5,0)=C_H_C(0,5)=_C[3]*_C[3]; + C_H_C(3,0)=_C[0]*_C[3]; C_H_C(0,3)=2*C_H_C(3,0); C_H_C(4,0)=_C[1]*_C[3]; C_H_C(0,4)=2*C_H_C(4,0); + C_H_C(1,2)=_C[2]*_C[1]; C_H_C(2,1)=2*C_H_C(1,2); C_H_C(1,5)=_C[3]*_C[4]; C_H_C(5,1)=2*C_H_C(1,5); + C_H_C(3,1)=C_H_C(1,3)=_C[0]*_C[4]+_C[1]*_C[3]; C_H_C(1,4)=C_H_C(4,1)=_C[1]*_C[4]+_C[2]*_C[3]; + C_H_C(3,2)=_C[4]*_C[1]; C_H_C(2,3)=2*C_H_C(3,2); C_H_C(4,2)=_C[4]*_C[2]; C_H_C(2,4)=2*C_H_C(4,2); + C_H_C(2,5)=C_H_C(5,2)=_C[4]*_C[4]; + C_H_C(3,5)=_C[3]*_C[5]; C_H_C(5,3)=2*C_H_C(3,5); + C_H_C(4,3)=C_H_C(3,4)=_C[3]*_C[4]+_C[5]*_C[1]; + C_H_C(4,5)=_C[4]*_C[5]; C_H_C(5,4)=2*C_H_C(4,5); Matrix6 trC_HC_; - trC_HC_[0]=_C[0]*CC; - trC_HC_[1]=_C[1]*CC; - trC_HC_[2]=_C[2]*CC; - trC_HC_[3]=_C[3]*CC; - trC_HC_[4]=_C[4]*CC; - trC_HC_[5]=_C[5]*CC; + trC_HC_(0)=_C[0]*CC; + trC_HC_(1)=_C[1]*CC; + trC_HC_(2)=_C[2]*CC; + trC_HC_(3)=_C[3]*CC; + trC_HC_(4)=_C[4]*CC; + trC_HC_(5)=_C[5]*CC; Matrix6 Calpha_H_Calpha; - Calpha_H_Calpha[0][0]=Calpha_2[0]*Calpha_2[0]; Calpha_H_Calpha[1][1]=Calpha_2[1]*Calpha_2[1]+Calpha_2[0]*Calpha_2[2]; Calpha_H_Calpha[2][2]=Calpha_2[2]*Calpha_2[2]; Calpha_H_Calpha[3][3]=Calpha_2[3]*Calpha_2[3]+Calpha_2[0]*Calpha_2[5]; Calpha_H_Calpha[4][4]=Calpha_2[4]*Calpha_2[4]+Calpha_2[2]*Calpha_2[5]; - Calpha_H_Calpha[5][5]=Calpha_2[5]*Calpha_2[5]; - Calpha_H_Calpha[1][0]=Calpha_2[0]*Calpha_2[1]; Calpha_H_Calpha[0][1]=2*Calpha_H_Calpha[1][0]; - Calpha_H_Calpha[2][0]=Calpha_H_Calpha[0][2]=Calpha_2[1]*Calpha_2[1]; Calpha_H_Calpha[5][0]=Calpha_H_Calpha[0][5]=Calpha_2[3]*Calpha_2[3]; - Calpha_H_Calpha[3][0]=Calpha_2[0]*Calpha_2[3]; Calpha_H_Calpha[0][3]=2*Calpha_H_Calpha[3][0]; Calpha_H_Calpha[4][0]=Calpha_2[1]*Calpha_2[3]; Calpha_H_Calpha[0][4]=2*Calpha_H_Calpha[4][0]; - Calpha_H_Calpha[1][2]=Calpha_2[2]*Calpha_2[1]; Calpha_H_Calpha[2][1]=2*Calpha_H_Calpha[1][2]; Calpha_H_Calpha[1][5]=Calpha_2[3]*Calpha_2[4]; Calpha_H_Calpha[5][1]=2*Calpha_H_Calpha[1][5]; - Calpha_H_Calpha[3][1]=Calpha_H_Calpha[1][3]=Calpha_2[0]*Calpha_2[4]+Calpha_2[1]*Calpha_2[3]; Calpha_H_Calpha[1][4]=Calpha_H_Calpha[4][1]=Calpha_2[1]*Calpha_2[4]+Calpha_2[2]*Calpha_2[3]; - Calpha_H_Calpha[3][2]=Calpha_2[4]*Calpha_2[1]; Calpha_H_Calpha[2][3]=2*Calpha_H_Calpha[3][2]; Calpha_H_Calpha[4][2]=Calpha_2[4]*Calpha_2[2]; Calpha_H_Calpha[2][4]=2*Calpha_H_Calpha[4][2]; - Calpha_H_Calpha[2][5]=Calpha_H_Calpha[5][2]=Calpha_2[4]*Calpha_2[4]; - Calpha_H_Calpha[3][5]=Calpha_2[3]*Calpha_2[5]; Calpha_H_Calpha[5][3]=2*Calpha_H_Calpha[3][5]; - Calpha_H_Calpha[4][3]=Calpha_H_Calpha[3][4]=Calpha_2[3]*Calpha_2[4]+Calpha_2[5]*Calpha_2[1]; - Calpha_H_Calpha[4][5]=Calpha_2[4]*Calpha_2[5]; Calpha_H_Calpha[5][4]=2*Calpha_H_Calpha[4][5]; + Calpha_H_Calpha(0,0)=Calpha_2[0]*Calpha_2[0]; Calpha_H_Calpha(1,1)=Calpha_2[1]*Calpha_2[1]+Calpha_2[0]*Calpha_2[2]; Calpha_H_Calpha(2,2)=Calpha_2[2]*Calpha_2[2]; Calpha_H_Calpha(3,3)=Calpha_2[3]*Calpha_2[3]+Calpha_2[0]*Calpha_2[5]; Calpha_H_Calpha(4,4)=Calpha_2[4]*Calpha_2[4]+Calpha_2[2]*Calpha_2[5]; + Calpha_H_Calpha(5,5)=Calpha_2[5]*Calpha_2[5]; + Calpha_H_Calpha(1,0)=Calpha_2[0]*Calpha_2[1]; Calpha_H_Calpha(0,1)=2*Calpha_H_Calpha(1,0); + Calpha_H_Calpha(2,0)=Calpha_H_Calpha(0,2)=Calpha_2[1]*Calpha_2[1]; Calpha_H_Calpha(5,0)=Calpha_H_Calpha(0,5)=Calpha_2[3]*Calpha_2[3]; + Calpha_H_Calpha(3,0)=Calpha_2[0]*Calpha_2[3]; Calpha_H_Calpha(0,3)=2*Calpha_H_Calpha(3,0); Calpha_H_Calpha(4,0)=Calpha_2[1]*Calpha_2[3]; Calpha_H_Calpha(0,4)=2*Calpha_H_Calpha(4,0); + Calpha_H_Calpha(1,2)=Calpha_2[2]*Calpha_2[1]; Calpha_H_Calpha(2,1)=2*Calpha_H_Calpha(1,2); Calpha_H_Calpha(1,5)=Calpha_2[3]*Calpha_2[4]; Calpha_H_Calpha(5,1)=2*Calpha_H_Calpha(1,5); + Calpha_H_Calpha(3,1)=Calpha_H_Calpha(1,3)=Calpha_2[0]*Calpha_2[4]+Calpha_2[1]*Calpha_2[3]; Calpha_H_Calpha(1,4)=Calpha_H_Calpha(4,1)=Calpha_2[1]*Calpha_2[4]+Calpha_2[2]*Calpha_2[3]; + Calpha_H_Calpha(3,2)=Calpha_2[4]*Calpha_2[1]; Calpha_H_Calpha(2,3)=2*Calpha_H_Calpha(3,2); Calpha_H_Calpha(4,2)=Calpha_2[4]*Calpha_2[2]; Calpha_H_Calpha(2,4)=2*Calpha_H_Calpha(4,2); + Calpha_H_Calpha(2,5)=Calpha_H_Calpha(5,2)=Calpha_2[4]*Calpha_2[4]; + Calpha_H_Calpha(3,5)=Calpha_2[3]*Calpha_2[5]; Calpha_H_Calpha(5,3)=2*Calpha_H_Calpha(3,5); + Calpha_H_Calpha(4,3)=Calpha_H_Calpha(3,4)=Calpha_2[3]*Calpha_2[4]+Calpha_2[5]*Calpha_2[1]; + Calpha_H_Calpha(4,5)=Calpha_2[4]*Calpha_2[5]; Calpha_H_Calpha(5,4)=2*Calpha_H_Calpha(4,5); Matrix6 trCalpha_HC_; trCalpha_HC_[0]=Calpha_1[0]*CC; trCalpha_HC_[1]=Calpha_1[1]*CC; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/StableNeoHookean.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/StableNeoHookean.h index 0729ef28e0d..7cc42444ec2 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/StableNeoHookean.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/StableNeoHookean.h @@ -149,36 +149,36 @@ class StableNeoHookean : public HyperelasticMaterial CC[4] += inverse_C[4]; Matrix6 C_H_C; - C_H_C[0][0] = inverse_C[0] * inverse_C[0]; - C_H_C[1][1] = inverse_C[1] * inverse_C[1] + inverse_C[0] * inverse_C[2]; - C_H_C[2][2] = inverse_C[2] * inverse_C[2]; - C_H_C[3][3] = inverse_C[3] * inverse_C[3] + inverse_C[0] * inverse_C[5]; - C_H_C[4][4] = inverse_C[4] * inverse_C[4] + inverse_C[2] * inverse_C[5]; - C_H_C[5][5] = inverse_C[5] * inverse_C[5]; - C_H_C[1][0] = inverse_C[0] * inverse_C[1]; - C_H_C[0][1] = 2 * C_H_C[1][0]; - C_H_C[2][0] = C_H_C[0][2] = inverse_C[1] * inverse_C[1]; - C_H_C[5][0] = C_H_C[0][5] = inverse_C[3] * inverse_C[3]; - C_H_C[3][0] = inverse_C[0] * inverse_C[3]; - C_H_C[0][3] = 2 * C_H_C[3][0]; - C_H_C[4][0] = inverse_C[1] * inverse_C[3]; - C_H_C[0][4] = 2 * C_H_C[4][0]; - C_H_C[1][2] = inverse_C[2] * inverse_C[1]; - C_H_C[2][1] = 2 * C_H_C[1][2]; - C_H_C[1][5] = inverse_C[3] * inverse_C[4]; - C_H_C[5][1] = 2 * C_H_C[1][5]; - C_H_C[3][1] = C_H_C[1][3] = inverse_C[0] * inverse_C[4] + inverse_C[1] * inverse_C[3]; - C_H_C[1][4] = C_H_C[4][1] = inverse_C[1] * inverse_C[4] + inverse_C[2] * inverse_C[3]; - C_H_C[3][2] = inverse_C[4] * inverse_C[1]; - C_H_C[2][3] = 2 * C_H_C[3][2]; - C_H_C[4][2] = inverse_C[4] * inverse_C[2]; - C_H_C[2][4] = 2 * C_H_C[4][2]; - C_H_C[2][5] = C_H_C[5][2] = inverse_C[4] * inverse_C[4]; - C_H_C[3][5] = inverse_C[3] * inverse_C[5]; - C_H_C[5][3] = 2 * C_H_C[3][5]; - C_H_C[4][3] = C_H_C[3][4] = inverse_C[3] * inverse_C[4] + inverse_C[5] * inverse_C[1]; - C_H_C[4][5] = inverse_C[4] * inverse_C[5]; - C_H_C[5][4] = 2 * C_H_C[4][5]; + C_H_C(0,0) = inverse_C[0] * inverse_C[0]; + C_H_C(1,1) = inverse_C[1] * inverse_C[1] + inverse_C[0] * inverse_C[2]; + C_H_C(2,2) = inverse_C[2] * inverse_C[2]; + C_H_C(3,3) = inverse_C[3] * inverse_C[3] + inverse_C[0] * inverse_C[5]; + C_H_C(4,4) = inverse_C[4] * inverse_C[4] + inverse_C[2] * inverse_C[5]; + C_H_C(5,5) = inverse_C[5] * inverse_C[5]; + C_H_C(1,0) = inverse_C[0] * inverse_C[1]; + C_H_C(0,1) = 2 * C_H_C(1,0); + C_H_C(2,0) = C_H_C(0,2) = inverse_C[1] * inverse_C[1]; + C_H_C(5,0) = C_H_C(0,5) = inverse_C[3] * inverse_C[3]; + C_H_C(3,0) = inverse_C[0] * inverse_C[3]; + C_H_C(0,3) = 2 * C_H_C(3,0); + C_H_C(4,0) = inverse_C[1] * inverse_C[3]; + C_H_C(0,4) = 2 * C_H_C(4,0); + C_H_C(1,2) = inverse_C[2] * inverse_C[1]; + C_H_C(2,1) = 2 * C_H_C(1,2); + C_H_C(1,5) = inverse_C[3] * inverse_C[4]; + C_H_C(5,1) = 2 * C_H_C(1,5); + C_H_C(3,1) = C_H_C(1,3) = inverse_C[0] * inverse_C[4] + inverse_C[1] * inverse_C[3]; + C_H_C(1,4) = C_H_C(4,1) = inverse_C[1] * inverse_C[4] + inverse_C[2] * inverse_C[3]; + C_H_C(3,2) = inverse_C[4] * inverse_C[1]; + C_H_C(2,3) = 2 * C_H_C(3,2); + C_H_C(4,2) = inverse_C[4] * inverse_C[2]; + C_H_C(2,4) = 2 * C_H_C(4,2); + C_H_C(2,5) = C_H_C(5,2) = inverse_C[4] * inverse_C[4]; + C_H_C(3,5) = inverse_C[3] * inverse_C[5]; + C_H_C(5,3) = 2 * C_H_C(3,5); + C_H_C(4,3) = C_H_C(3,4) = inverse_C[3] * inverse_C[4] + inverse_C[5] * inverse_C[1]; + C_H_C(4,5) = inverse_C[4] * inverse_C[5]; + C_H_C(5,4) = 2 * C_H_C(4,5); Matrix6 trC_HC_; trC_HC_[0] = inverse_C[0] * CC; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h index 78649290c6d..64215a98afa 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/src/sofa/component/solidmechanics/fem/hyperelastic/material/VerondaWestman.h @@ -147,36 +147,36 @@ class VerondaWestman : public HyperelasticMaterial C[3] += sinfo->deformationTensor[3]; C[4] += sinfo->deformationTensor[4]; Matrix6 C_H_C; - C_H_C[0][0] = _C[0]*_C[0]; - C_H_C[1][1] = _C[1]*_C[1]+_C[0]*_C[2]; - C_H_C[2][2] = _C[2]*_C[2]; - C_H_C[3][3] = _C[3]*_C[3]+_C[0]*_C[5]; - C_H_C[4][4] = _C[4]*_C[4]+_C[2]*_C[5]; - C_H_C[5][5] = _C[5]*_C[5]; - C_H_C[1][0] = _C[0]*_C[1]; - C_H_C[0][1] = 2*C_H_C[1][0]; - C_H_C[2][0] = C_H_C[0][2] = _C[1]*_C[1]; - C_H_C[5][0] = C_H_C[0][5] = _C[3]*_C[3]; - C_H_C[3][0] = _C[0]*_C[3]; - C_H_C[0][3] = 2*C_H_C[3][0]; - C_H_C[4][0] = _C[1]*_C[3]; - C_H_C[0][4] = 2*C_H_C[4][0]; - C_H_C[1][2] = _C[2]*_C[1]; - C_H_C[2][1] = 2*C_H_C[1][2]; - C_H_C[1][5] = _C[3]*_C[4]; - C_H_C[5][1] = 2*C_H_C[1][5]; - C_H_C[3][1] = C_H_C[1][3] = _C[0]*_C[4]+_C[1]*_C[3]; - C_H_C[1][4] = C_H_C[4][1] = _C[1]*_C[4]+_C[2]*_C[3]; - C_H_C[3][2] = _C[4]*_C[1]; - C_H_C[2][3] = 2*C_H_C[3][2]; - C_H_C[4][2] = _C[4]*_C[2]; - C_H_C[2][4] = 2*C_H_C[4][2]; - C_H_C[2][5] = C_H_C[5][2] = _C[4]*_C[4]; - C_H_C[3][5] = _C[3]*_C[5]; - C_H_C[5][3] = 2*C_H_C[3][5]; - C_H_C[4][3] = C_H_C[3][4] = _C[3]*_C[4]+_C[5]*_C[1]; - C_H_C[4][5] = _C[4]*_C[5]; - C_H_C[5][4] = 2*C_H_C[4][5]; + C_H_C(0,0) = _C[0]*_C[0]; + C_H_C(1,1) = _C[1]*_C[1]+_C[0]*_C[2]; + C_H_C(2,2) = _C[2]*_C[2]; + C_H_C(3,3) = _C[3]*_C[3]+_C[0]*_C[5]; + C_H_C(4,4) = _C[4]*_C[4]+_C[2]*_C[5]; + C_H_C(5,5) = _C[5]*_C[5]; + C_H_C(1,0) = _C[0]*_C[1]; + C_H_C(0,1) = 2*C_H_C(1,0); + C_H_C(2,0) = C_H_C(0,2) = _C[1]*_C[1]; + C_H_C(5,0) = C_H_C(0,5) = _C[3]*_C[3]; + C_H_C(3,0) = _C[0]*_C[3]; + C_H_C(0,3) = 2*C_H_C(3,0); + C_H_C(4,0) = _C[1]*_C[3]; + C_H_C(0,4) = 2*C_H_C(4,0); + C_H_C(1,2) = _C[2]*_C[1]; + C_H_C(2,1) = 2*C_H_C(1,2); + C_H_C(1,5) = _C[3]*_C[4]; + C_H_C(5,1) = 2*C_H_C(1,5); + C_H_C(3,1) = C_H_C(1,3) = _C[0]*_C[4]+_C[1]*_C[3]; + C_H_C(1,4) = C_H_C(4,1) = _C[1]*_C[4]+_C[2]*_C[3]; + C_H_C(3,2) = _C[4]*_C[1]; + C_H_C(2,3) = 2*C_H_C(3,2); + C_H_C(4,2) = _C[4]*_C[2]; + C_H_C(2,4) = 2*C_H_C(4,2); + C_H_C(2,5) = C_H_C(5,2) = _C[4]*_C[4]; + C_H_C(3,5) = _C[3]*_C[5]; + C_H_C(5,3) = 2*C_H_C(3,5); + C_H_C(4,3) = C_H_C(3,4) = _C[3]*_C[4]+_C[5]*_C[1]; + C_H_C(4,5) = _C[4]*_C[5]; + C_H_C(5,4) = 2*C_H_C(4,5); Matrix6 trC_HC_; trC_HC_[0] = _C[0]*CC; trC_HC_[1] = _C[1]*CC; diff --git a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp index cc3e31494ea..d25be8240d3 100644 --- a/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp +++ b/Sofa/Component/SolidMechanics/FEM/HyperElastic/tests/Material_test.cpp @@ -205,7 +205,7 @@ void testElasticityTensorFromSecondPiolaKirchhoff( // for (sofa::Size j = 0; j < Matrix6::size(); ++j) for (sofa::Size j : {0, 2, 5}) //only the diagonal terms { - EXPECT_NEAR(elasticityTensor[i][j], elasticityTensorApprox[j], 1e-7) << "i = " << i << ", j = " << j; + EXPECT_NEAR(elasticityTensor(i,j), elasticityTensorApprox[j], 1e-7) << "i = " << i << ", j = " << j; } } } diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/Sofa.Component.SolidMechanics.FEM.NonUniformConfig.cmake.in b/Sofa/Component/SolidMechanics/FEM/NonUniform/Sofa.Component.SolidMechanics.FEM.NonUniformConfig.cmake.in index 9b550a36a18..0f3324c2806 100644 --- a/Sofa/Component/SolidMechanics/FEM/NonUniform/Sofa.Component.SolidMechanics.FEM.NonUniformConfig.cmake.in +++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/Sofa.Component.SolidMechanics.FEM.NonUniformConfig.cmake.in @@ -3,10 +3,11 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.SolidMechanics.FEM.Elastic QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.SolidMechanics.FEM.Elastic QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl index 15d578c5cc6..04f2d67efa8 100644 --- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl +++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMForceFieldAndMass.inl @@ -65,7 +65,7 @@ const bool HexahedronCompositeFEMForceFieldAndMass::IS_CONSTRAINED_27 template const int HexahedronCompositeFEMForceFieldAndMass::FineHexa_FineNode_IndiceForCutAssembling_27[27]= -{0, 0, 1, 1, 2, 3, 3, 4, 2, 5, 6, 7 ,8, 9, 10, 11, 12, 13, 4 ,14, 5, 15, 16, 17, 7, 18, 6}; +{0, 0, 1, 1, 2, 3, 3, 4, 2, 5, 6, 7 ,8, 9, 10, 11, 12, 13, 4 ,14, 5, 15, 16, 17, 7, 18, 6}; @@ -373,17 +373,17 @@ const float HexahedronCompositeFEMForceFieldAndMass::MIDDLE_INTERPOLA template const int HexahedronCompositeFEMForceFieldAndMass::MIDDLE_AXES[27]= { - 0, 1, 0, - 2, 3, 2, - 0, 1, 0, + 0, 1, 0, + 2, 3, 2, + 0, 1, 0, - 3, 2, 3, - 1, 0, 1, - 3, 2, 3, + 3, 2, 3, + 1, 0, 1, + 3, 2, 3, - 0, 1, 0, - 2, 3, 2, - 0, 1, 0 + 0, 1, 0, + 2, 3, 2, + 0, 1, 0 }; @@ -596,7 +596,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesDirect // idx for assembly if( !map_idxq_idxass[ hexa[w] ] ) { - map_idxq_idxass[ hexa[w] ] = /*FineHexa_FineNode_IndiceForAssembling[i][w];*/idxass; + map_idxq_idxass[ hexa[w] ] = /*FineHexa_FineNode_IndiceForAssembling(i,w);*/idxass; idxass++; } } @@ -615,8 +615,8 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesDirect for(int m=0; m<3; ++m) for(int n=0; n<3; ++n) { - assembledStiffness(v1 * 3 + m, v2 * 3 + n) += finestStiffnesses[i][j*3+m][k*3+n]; - assembledMass(v1 * 3 + m, v2 * 3 + n) += finestMasses[i][j*3+m][k*3+n]; + assembledStiffness(v1 * 3 + m, v2 * 3 + n) += finestStiffnesses[i](j*3+m,k*3+n); + assembledMass(v1 * 3 + m, v2 * 3 + n) += finestMasses[i](j*3+m,k*3+n); } } } @@ -772,7 +772,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesDirect { for(Size j=0; j<8*3; ++j) { - if( mask(i,j) /*WEIGHT_MASK[i][j]*/ ) + if( mask(i,j) /*WEIGHT_MASK(i,j)*/ ) WBmeca(i,j) = WB(i,j); } } @@ -799,8 +799,8 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesDirect for(int i=0; i<8*3; ++i) for(int j=0; j<8*3; ++j) { - K[i][j]=(Real)Kc(i,j); - M[i][j]=(Real)Mc(i,j); + K(i,j)=(Real)Kc(i,j); + M(i,j)=(Real)Mc(i,j); } if( !d_completeInterpolation.getValue() ) // take WBmeca as the object interpolation { @@ -814,9 +814,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesDirect { for( int k=0; k<8*3; ++k) { - _finalWeights[finestChildren[i]].second[j*3 ][k] = (Real)WB( map_idxq_idxass[ hexa[j] ]*3 ,k); - _finalWeights[finestChildren[i]].second[j*3+1][k] = (Real)WB( map_idxq_idxass[ hexa[j] ]*3+1 ,k); - _finalWeights[finestChildren[i]].second[j*3+2][k] = (Real)WB( map_idxq_idxass[ hexa[j] ]*3+2 ,k); + _finalWeights[finestChildren[i]].second(j*3 ,k) = (Real)WB( map_idxq_idxass[ hexa[j] ]*3 ,k); + _finalWeights[finestChildren[i]].second(j*3+1,k) = (Real)WB( map_idxq_idxass[ hexa[j] ]*3+1 ,k); + _finalWeights[finestChildren[i]].second(j*3+2,k) = (Real)WB( map_idxq_idxass[ hexa[j] ]*3+2 ,k); } } _finalWeights[finestChildren[i]].first = elementIndice; @@ -917,9 +917,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int m=0; m<3; ++m) for(int n=0; n<3; ++n) { - assembledStiffness[ v1*3+m ][ v2*3+n ] += finerK[i][j*3+m][k*3+n]; - assembledStiffnessWithRigidVoid[ v1*3+m ][ v2*3+n ] += finerK[i][j*3+m][k*3+n]; - assembledMass[ v1*3+m ][ v2*3+n ] += finerM[i][j*3+m][k*3+n]; + assembledStiffness( v1*3+m , v2*3+n ) += finerK[i](j*3+m,k*3+n); + assembledStiffnessWithRigidVoid( v1*3+m , v2*3+n ) += finerK[i](j*3+m,k*3+n); + assembledMass( v1*3+m , v2*3+n ) += finerM[i](j*3+m,k*3+n); } } } @@ -937,7 +937,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int m=0; m<3; ++m) for(int n=0; n<3; ++n) { - assembledStiffnessWithRigidVoid[ v1*3+m ][ v2*3+n ] += RIGID_STIFFNESS[j*3+m][k*3+n]; + assembledStiffnessWithRigidVoid( v1*3+m , v2*3+n ) += RIGID_STIFFNESS[j*3+m][k*3+n]; } } } @@ -960,7 +960,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs { for(int m=0; m<3; ++m) for(int n=0; n<3; ++n) - Kg[ lig*3+m ][ col*3+n ] = assembledStiffnessWithRigidVoid[lig*3+m][i*3+n]; + Kg( lig*3+m , col*3+n ) = assembledStiffnessWithRigidVoid(lig*3+m,i*3+n); } } else @@ -969,7 +969,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs { for(int m=0; m<3; ++m) for(int n=0; n<3; ++n) - A[ lig*3+m ][ col*3+n ] = assembledStiffnessWithRigidVoid[lig*3+m][i*3+n]; + A( lig*3+m , col*3+n ) = assembledStiffnessWithRigidVoid(lig*3+m,i*3+n); } } @@ -979,9 +979,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs // put -G entries into A for(int i=0; i<8; ++i) // for all constrained nodes { - A[ CoarseToFine[i]*3 ][ (27-8+i)*3 ] = -1.0; - A[ CoarseToFine[i]*3+1 ][ (27-8+i)*3+1 ] = -1.0; - A[ CoarseToFine[i]*3+2 ][ (27-8+i)*3+2 ] = -1.0; + A( CoarseToFine[i]*3 , (27-8+i)*3 ) = -1.0; + A( CoarseToFine[i]*3+1 , (27-8+i)*3+1 ) = -1.0; + A( CoarseToFine[i]*3+2 , (27-8+i)*3+2 ) = -1.0; } const bool canInvert = Ainv.invert(A); assert(canInvert); @@ -990,7 +990,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int i=0; i<27-8; ++i) { for(int m=0; m<3; ++m) - Ainvf[i*3+m] = - Ainv.line( i*3+m ); + Ainvf(i*3+m) = - Ainv.line( i*3+m ); } type::Mat<(27-8)*3, 8*3, Real> W; @@ -1003,9 +1003,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs int idx = i/3; int mod = i%3; if( IS_CONSTRAINED_27[idx] ) - WB[ i ][ FineHexa_FineNode_IndiceForCutAssembling_27[idx]*3+mod ] = 1.0; + WB( i )[ FineHexa_FineNode_IndiceForCutAssembling_27[idx]*3+mod ] = 1.0; else - WB[ i ] = W[ FineHexa_FineNode_IndiceForCutAssembling_27[idx]*3+mod ]; + WB( i ) = W( FineHexa_FineNode_IndiceForCutAssembling_27[idx]*3+mod ); } // apply the mask to take only concerned values (an edge stays an edge, a face stays a face, if corner=1 opposite borders=0....) @@ -1015,7 +1015,7 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int j=0; j<8*3; ++j) { if( WEIGHT_MASK[i][j] ) - WBmeca[i][j]=WB[i][j]; + WBmeca(i,j)=WB(i,j); } } @@ -1026,11 +1026,11 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs { for(int j=0; j<8*3; ++j) { - sum_wbmeca[i] += WBmeca[i][j]; + sum_wbmeca[i] += WBmeca(i,j); } for(int j=0; j<8*3; ++j) { - WBmeca[i][j] /= sum_wbmeca[i]; + WBmeca(i,j) /= sum_wbmeca[i]; } } @@ -1050,10 +1050,10 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int j=0; j<8*3; ++j) { if( !WEIGHT_MASK_CROSSED_DIFF[i][j] ) - WB[i][j] = WBmeca[i][j]; + WB(i,j) = WBmeca(i,j); else { - WB[i][j] = (Real)(WB[i][j] / fabs(WB[i][j]) * WEIGHT_MASK_CROSSED_DIFF[i][j] * poissonRatio * .3); + WB(i,j) = (Real)(WB(i,j) / fabs(WB(i,j)) * WEIGHT_MASK_CROSSED_DIFF[i][j] * poissonRatio * .3); } } } @@ -1066,9 +1066,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs { for(int i=0; i<8; ++i) { - _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildren[elem]][i*3 ] = WB [ FineHexa_FineNode_IndiceForAssembling[ elem ][ i ]*3 ]; - _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildren[elem]][i*3+1] = WB [ FineHexa_FineNode_IndiceForAssembling[ elem ][ i ]*3+1]; - _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildren[elem]][i*3+2] = WB [ FineHexa_FineNode_IndiceForAssembling[ elem ][ i ]*3+2]; + _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildren[elem]](i*3 ) = WB ( FineHexa_FineNode_IndiceForAssembling[ elem ][ i ]*3 ); + _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildren[elem]](i*3+1) = WB ( FineHexa_FineNode_IndiceForAssembling[ elem ][ i ]*3+1); + _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildren[elem]](i*3+2) = WB ( FineHexa_FineNode_IndiceForAssembling[ elem ][ i ]*3+2); } } } @@ -1246,9 +1246,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int m=0; m<3; ++m) for(int n=0; n<3; ++n) { - assembledStiffness( v1*3+m, v2*3+n) += finerK[i][c][j*3+m][k*3+n]; - assembledStiffnessStatic( v1*3+m, v2*3+n) += finerK[i][c][j*3+m][k*3+n]; - assembledMass( v1*3+m, v2*3+n) += finerM[i][c][j*3+m][k*3+n]; + assembledStiffness( v1*3+m, v2*3+n) += finerK[i][c](j*3+m, k*3+n); + assembledStiffnessStatic( v1*3+m, v2*3+n) += finerK[i][c](j*3+m, k*3+n); + assembledMass( v1*3+m, v2*3+n) += finerM[i][c](j*3+m, k*3+n); } } } @@ -1453,8 +1453,8 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs for(int i=0; i<8*3; ++i) for(int j=0; j<8*3; ++j) { - K[i][j]=(Real)Kc(i,j); - M[i][j]=(Real)Mc(i,j); + K(i,j)=(Real)Kc(i,j); + M(i,j)=(Real)Mc(i,j); } if( !d_completeInterpolation.getValue() ) // take WBmeca as the object interpolation @@ -1472,9 +1472,9 @@ void HexahedronCompositeFEMForceFieldAndMass::computeMechanicalMatricesRecurs { for( int l=0; l<8*3; ++l) // toutes les cols de W { - _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildrenRamificationOriginal[i][j]][k*3 ][l] = (Real)WB( map_idxq_idxass[ finehexa[k] ]*3 ,l); - _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildrenRamificationOriginal[i][j]][k*3+1][l] = (Real)WB( map_idxq_idxass[ finehexa[k] ]*3+1 ,l); - _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildrenRamificationOriginal[i][j]][k*3+2][l] = (Real)WB( map_idxq_idxass[ finehexa[k] ]*3+2 ,l); + _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildrenRamificationOriginal[i][j]](k*3 , l) = (Real)WB( map_idxq_idxass[ finehexa[k] ]*3 ,l); + _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildrenRamificationOriginal[i][j]](k*3+1 , l) = (Real)WB( map_idxq_idxass[ finehexa[k] ]*3+1 ,l); + _weights[this->d_nbVirtualFinerLevels.getValue()-level-1][finerChildrenRamificationOriginal[i][j]](k*3+2 , l) = (Real)WB( map_idxq_idxass[ finehexa[k] ]*3+2 ,l); } } } diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.inl b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.inl index ef8a4492aae..a269d48a5a1 100644 --- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.inl +++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/HexahedronCompositeFEMMapping.inl @@ -169,7 +169,7 @@ void HexahedronCompositeFEMMapping::init() // // // for(int j=0;j<8;++j) -// if( fabs( (*it).second[0][j*3] ) > 1.0e-5 || fabs( (*it).second[1][j*3+1] ) > 1.0e-5 || fabs( (*it).second[2][j*3+2] ) > 1.0e-5 ) +// if( fabs( (*it).second(0,j*3) ) > 1.0e-5 || fabs( (*it).second(1,j*3+1) ) > 1.0e-5 || fabs( (*it).second(2,j*3+2) ) > 1.0e-5 ) // // // } @@ -226,7 +226,7 @@ void HexahedronCompositeFEMMapping::apply( const sofa::core::Mecha // type::Quat meanRotation; for(std::map< int, Weight >::iterator it = _finestWeights[i].begin(); it!=_finestWeights[i].end(); ++it) { -// meanRotation += _rotations[ _finestWeights[i][j].first ]; +// meanRotation += _rotations[ _finestWeights(i,j).first ]; Transformation& rotation = _rotations[(*it).first ]; _qFine[i] += rotation.multTranspose( _qFine0[i] + (*it).second * coarseDisplacements[ (*it).first ] ); diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl index ac9b2e4e4e3..39e22d56080 100644 --- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl +++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedralFEMForceFieldAndMass.inl @@ -113,16 +113,16 @@ void NonUniformHexahedralFEMForceFieldAndMass::reinit() for(unsigned int u=0; u<8; ++u) for(unsigned int v=0; v<8; ++v) { - M[u][v] = (Real) (_material.mass/216.0); + M(u,v) = (Real) (_material.mass/216.0); const unsigned int q = u ^ v; - if ((q&1)==((q&2) >> 1)) M[u][v] *= (Real) 2.0; - if (!((q&2) >> 1)) M[u][v] *= (Real) 2.0; - if (!(q>>2)) M[u][v] *= (Real) 2.0; + if ((q&1)==((q&2) >> 1)) M(u,v) *= (Real) 2.0; + if (!((q&2) >> 1)) M(u,v) *= (Real) 2.0; + if (!(q>>2)) M(u,v) *= (Real) 2.0; for(unsigned int k=0; k<3; ++k) for(unsigned int j=0; j<3; ++j) - _material.M[3*u+k][3*v+j] = (Real)((k%3==j%3)?M[u][v]:0.0); + _material.M(3*u+k,3*v+j) = (Real)((k%3==j%3)?M(u,v):0.0); } _H.resize(level+1); @@ -146,14 +146,14 @@ void NonUniformHexahedralFEMForceFieldAndMass::reinit() const float z = fineNodeSize * (k + (w>>2)); // entree dans la matrice pour le sommet w - _H[currLevel][idx][w][0] = (1-x) * (1-y) * (1-z); - _H[currLevel][idx][w][1] = (x) * (1-y) * (1-z); - _H[currLevel][idx][w][3] = (1-x) * (y) * (1-z); - _H[currLevel][idx][w][2] = (x) * (y) * (1-z); - _H[currLevel][idx][w][4] = (1-x) * (1-y) * (z); - _H[currLevel][idx][w][5] = (x) * (1-y) * (z); - _H[currLevel][idx][w][7] = (1-x) * (y) * (z); - _H[currLevel][idx][w][6] = (x) * (y) * (z); + _H[currLevel][idx](w, 0) = (1-x) * (1-y) * (1-z); + _H[currLevel][idx](w, 1) = (x) * (1-y) * (1-z); + _H[currLevel][idx](w, 3) = (1-x) * (y) * (1-z); + _H[currLevel][idx](w, 2) = (x) * (y) * (1-z); + _H[currLevel][idx](w, 4) = (1-x) * (1-y) * (z); + _H[currLevel][idx](w, 5) = (x) * (1-y) * (z); + _H[currLevel][idx](w, 7) = (1-x) * (y) * (z); + _H[currLevel][idx](w, 6) = (x) * (y) * (z); } } } @@ -296,9 +296,9 @@ void NonUniformHexahedralFEMForceFieldAndMass::handleHexaAdded(const core::to { for(int j=0; j<8*3; ++j) { - lumpedMasses[ hexahedra[hexaId][w] ][0] += mass[w*3 ][j]; - lumpedMasses[ hexahedra[hexaId][w] ][1] += mass[w*3+1][j]; - lumpedMasses[ hexahedra[hexaId][w] ][2] += mass[w*3+2][j]; + lumpedMasses[ hexahedra[hexaId][w] ][0] += mass(w*3 ,j); + lumpedMasses[ hexahedra[hexaId][w] ][1] += mass(w*3+1,j); + lumpedMasses[ hexahedra[hexaId][w] ][2] += mass(w*3+2,j); } } } @@ -342,9 +342,9 @@ void NonUniformHexahedralFEMForceFieldAndMass::handleHexaRemoved(const core:: { for(int j=0; j<8*3; ++j) { - lumpedMasses[ hexahedra[hexaId][w] ][0] -= mass[w*3 ][j]; - lumpedMasses[ hexahedra[hexaId][w] ][1] -= mass[w*3+1][j]; - lumpedMasses[ hexahedra[hexaId][w] ][2] -= mass[w*3+2][j]; + lumpedMasses[ hexahedra[hexaId][w] ][0] -= mass(w*3 ,j); + lumpedMasses[ hexahedra[hexaId][w] ][1] -= mass(w*3+1,j); + lumpedMasses[ hexahedra[hexaId][w] ][2] -= mass(w*3+2,j); } } } @@ -409,9 +409,9 @@ void NonUniformHexahedralFEMForceFieldAndMass::handleMultilevelModif(const co { for(int j=0; j<8*3; ++j) { - lumpedMasses[ hexahedra[hexaId][w] ][0] -= M[w*3 ][j]; - lumpedMasses[ hexahedra[hexaId][w] ][1] -= M[w*3+1][j]; - lumpedMasses[ hexahedra[hexaId][w] ][2] -= M[w*3+2][j]; + lumpedMasses[ hexahedra[hexaId][w] ][0] -= M(w*3 ,j); + lumpedMasses[ hexahedra[hexaId][w] ][1] -= M(w*3+1,j); + lumpedMasses[ hexahedra[hexaId][w] ][2] -= M(w*3+2,j); } } } @@ -801,7 +801,7 @@ void NonUniformHexahedralFEMForceFieldAndMass::addHtfineHtoCoarse( for(int k=0; k<24; ++k) { if(j%3==k%3) - A[i][j] += fine[i][k] * H[k/3][j/3]; // A = fine * H + A(i,j) += fine(i,k) * H(k/3,j/3); // A = fine * H } for(int i=0; i<24; i++) @@ -809,7 +809,7 @@ void NonUniformHexahedralFEMForceFieldAndMass::addHtfineHtoCoarse( for(int k=0; k<24; ++k) { if(i%3==k%3) - coarse[i][j] += H[k/3][i/3] * A[k][j]; // HtfineH = Ht * A + coarse(i,j) += H(k/3,i/3) * A(k,j); // HtfineH = Ht * A } } @@ -826,7 +826,7 @@ void NonUniformHexahedralFEMForceFieldAndMass::subtractHtfineHfromCoarse( for(int k=0; k<24; ++k) { if(j%3==k%3) - A[i][j] += fine[i][k] * H[k/3][j/3]; // A = fine * H + A(i,j) += fine(i,k) * H(k/3,j/3); // A = fine * H } for(int i=0; i<24; i++) @@ -834,7 +834,7 @@ void NonUniformHexahedralFEMForceFieldAndMass::subtractHtfineHfromCoarse( for(int k=0; k<24; ++k) { if(i%3==k%3) - coarse[i][j] -= H[k/3][i/3] * A[k][j]; // HtfineH = Ht * A + coarse(i,j) -= H(k/3,i/3) * A(k,j); // HtfineH = Ht * A } } @@ -852,7 +852,7 @@ void NonUniformHexahedralFEMForceFieldAndMass::computeHtfineH( for(int k=0; k<24; ++k) { if(j%3==k%3) - A[i][j] += fine[i][k] * H[k/3][j/3]; // A = fine * H + A(i,j) += fine(i,k) * H(k/3,j/3); // A = fine * H } for(int i=0; i<24; i++) @@ -860,7 +860,7 @@ void NonUniformHexahedralFEMForceFieldAndMass::computeHtfineH( for(int k=0; k<24; ++k) { if(i%3==k%3) - HtfineH[i][j] += H[k/3][i/3] * A[k][j]; // HtfineH = Ht * A + HtfineH(i,j) += H(k/3,i/3) * A(k,j); // HtfineH = Ht * A } } @@ -989,24 +989,24 @@ void NonUniformHexahedralFEMForceFieldAndMass::addMBKdx(const core::M for (unsigned n2=0; n2<8; n2++) { // add M to matrix - Mat33 tmp( Deriv ( Me[3*n1+0][3*n2+0]*mFactor, Me[3*n1+0][3*n2+1]*mFactor, Me[3*n1+0][3*n2+2]*mFactor ), - Deriv ( Me[3*n1+1][3*n2+0]*mFactor, Me[3*n1+1][3*n2+1]*mFactor, Me[3*n1+1][3*n2+2]*mFactor ), - Deriv ( Me[3*n1+2][3*n2+0]*mFactor, Me[3*n1+2][3*n2+1]*mFactor, Me[3*n1+2][3*n2+2]*mFactor ) + Mat33 tmp( Deriv ( Me(3*n1+0,3*n2+0)*mFactor, Me(3*n1+0,3*n2+1)*mFactor, Me(3*n1+0,3*n2+2)*mFactor ), + Deriv ( Me(3*n1+1,3*n2+0)*mFactor, Me(3*n1+1,3*n2+1)*mFactor, Me(3*n1+1,3*n2+2)*mFactor ), + Deriv ( Me(3*n1+2,3*n2+0)*mFactor, Me(3*n1+2,3*n2+1)*mFactor, Me(3*n1+2,3*n2+2)*mFactor ) ); // sub K to matrix tmp -= Mat33( - Deriv ( Ke[3*n1+0][3*n2+0]*kFactor, Ke[3*n1+0][3*n2+1]*kFactor, Ke[3*n1+0][3*n2+2]*kFactor ), - Deriv ( Ke[3*n1+1][3*n2+0]*kFactor, Ke[3*n1+1][3*n2+1]*kFactor, Ke[3*n1+1][3*n2+2]*kFactor ), - Deriv ( Ke[3*n1+2][3*n2+0]*kFactor, Ke[3*n1+2][3*n2+1]*kFactor, Ke[3*n1+2][3*n2+2]*kFactor ) ); + Deriv ( Ke(3*n1+0,3*n2+0)*kFactor, Ke(3*n1+0,3*n2+1)*kFactor, Ke(3*n1+0,3*n2+2)*kFactor ), + Deriv ( Ke(3*n1+1,3*n2+0)*kFactor, Ke(3*n1+1,3*n2+1)*kFactor, Ke(3*n1+1,3*n2+2)*kFactor ), + Deriv ( Ke(3*n1+2,3*n2+0)*kFactor, Ke(3*n1+2,3*n2+1)*kFactor, Ke(3*n1+2,3*n2+2)*kFactor ) ); // rotate the matrix tmp = Re * tmp * Ret; // store the matrix - MBKe[3*n1+0][3*n2+0] = tmp[0][0], MBKe[3*n1+0][3*n2+1] = tmp[0][1], MBKe[3*n1+0][3*n2+2] = tmp[0][2]; - MBKe[3*n1+1][3*n2+0] = tmp[1][0], MBKe[3*n1+1][3*n2+1] = tmp[1][1], MBKe[3*n1+1][3*n2+2] = tmp[1][2]; - MBKe[3*n1+2][3*n2+0] = tmp[2][0], MBKe[3*n1+2][3*n2+1] = tmp[2][1], MBKe[3*n1+2][3*n2+2] = tmp[2][2]; + MBKe(3*n1+0,3*n2+0) = tmp(0,0), MBKe(3*n1+0,3*n2+1) = tmp(0,1), MBKe(3*n1+0,3*n2+2) = tmp(0,2); + MBKe(3*n1+1,3*n2+0) = tmp(1,0), MBKe(3*n1+1,3*n2+1) = tmp(1,1), MBKe(3*n1+1,3*n2+2) = tmp(1,2); + MBKe(3*n1+2,3*n2+0) = tmp(2,0), MBKe(3*n1+2,3*n2+1) = tmp(2,1), MBKe(3*n1+2,3*n2+2) = tmp(2,2); } } diff --git a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl index 16bb1be8da9..9f4bb642cf9 100644 --- a/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl +++ b/Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl @@ -179,9 +179,9 @@ void NonUniformHexahedronFEMForceFieldAndMass::init() { for(int j=0; j<8*3; ++j) { - this->_lumpedMasses[ (*it)[w] ][0] += mass[w*3 ][j]; - this->_lumpedMasses[ (*it)[w] ][1] += mass[w*3+1][j]; - this->_lumpedMasses[ (*it)[w] ][2] += mass[w*3+2][j]; + this->_lumpedMasses[ (*it)[w] ][0] += mass(w*3 ,j); + this->_lumpedMasses[ (*it)[w] ][1] += mass(w*3+1,j); + this->_lumpedMasses[ (*it)[w] ][2] += mass(w*3+2,j); } } } @@ -230,7 +230,7 @@ void NonUniformHexahedronFEMForceFieldAndMass::computeMechanicalMatricesByCon computeClassicalMechanicalMatrices(K,M,elementIndice,this->_sparseGrid->getNbVirtualFinerLevels()-level); else { - type::fixed_array finerChildren; + type::fixed_array finerChildren; if (level == 0) { finerChildren = this->_sparseGrid->_hierarchicalCubeMap[elementIndice]; @@ -242,7 +242,7 @@ void NonUniformHexahedronFEMForceFieldAndMass::computeMechanicalMatricesByCon for ( int i=0; i<8; ++i) //for 8 virtual finer element { - if (finerChildren[i] != -1) + if (finerChildren[i] != sofa::InvalidID) { ElementStiffness finerK; ElementMass finerM; @@ -292,15 +292,15 @@ void NonUniformHexahedronFEMForceFieldAndMass::addFineToCoarse( ElementStiffn for(int i=0; i<24; i++) for(int j=0; j<24; j++) { - A[i][j] = j%3==0 ? fine[i][0] *(Real) FINE_TO_COARSE[indice][0][j/3] : Real(0.0); + A(i,j) = j%3==0 ? fine(i,0) *(Real) FINE_TO_COARSE[indice][0][j/3] : Real(0.0); for(int k=1; k<24; k++) - A[i][j] += j%3==k%3 ? fine[i][k] * (Real)FINE_TO_COARSE[indice][k/3][j/3] : Real(0.0); + A(i,j) += j%3==k%3 ? fine(i,k) * (Real)FINE_TO_COARSE[indice][k/3][j/3] : Real(0.0); } for(int i=0; i<24; i++) for(int j=0; j<24; j++) for(int k=0; k<24; k++) - coarse[i][j] += i%3==k%3 ? (Real)FINE_TO_COARSE[indice][k/3][i/3] * A[k][j] : Real(0.0); // FINE_TO_COARSE[indice] transposed + coarse(i,j) += i%3==k%3 ? (Real)FINE_TO_COARSE[indice][k/3][i/3] * A(k,j) : Real(0.0); // FINE_TO_COARSE[indice] transposed } @@ -401,15 +401,15 @@ const float NonUniformHexahedronFEMForceFieldAndMass::FINE_TO_COARSE[8][8][8] template void NonUniformHexahedronFEMForceFieldAndMass::computeMaterialStiffness(MaterialStiffness &m, double youngModulus, double poissonRatio) { - m[0][0] = m[1][1] = m[2][2] = 1; - m[0][1] = m[0][2] = m[1][0]= m[1][2] = m[2][0] = m[2][1] = (Real)(poissonRatio/(1-poissonRatio)); - m[0][3] = m[0][4] = m[0][5] = 0; - m[1][3] = m[1][4] = m[1][5] = 0; - m[2][3] = m[2][4] = m[2][5] = 0; - m[3][0] = m[3][1] = m[3][2] = m[3][4] = m[3][5] = 0; - m[4][0] = m[4][1] = m[4][2] = m[4][3] = m[4][5] = 0; - m[5][0] = m[5][1] = m[5][2] = m[5][3] = m[5][4] = 0; - m[3][3] = m[4][4] = m[5][5] = (Real)((1-2*poissonRatio)/(2*(1-poissonRatio))); + m(0,0) = m(1,1) = m(2,2) = 1; + m(0,1) = m(0,2) = m(1,0)= m(1,2) = m(2,0) = m(2,1) = (Real)(poissonRatio/(1-poissonRatio)); + m(0,3) = m(0,4) = m(0,5) = 0; + m(1,3) = m(1,4) = m(1,5) = 0; + m(2,3) = m(2,4) = m(2,5) = 0; + m(3,0) = m(3,1) = m(3,2) = m(3,4) = m(3,5) = 0; + m(4,0) = m(4,1) = m(4,2) = m(4,3) = m(4,5) = 0; + m(5,0) = m(5,1) = m(5,2) = m(5,3) = m(5,4) = 0; + m(3,3) = m(4,4) = m(5,5) = (Real)((1-2*poissonRatio)/(2*(1-poissonRatio))); m *= (Real)((youngModulus*(1-poissonRatio))/((1+poissonRatio)*(1-2*poissonRatio))); } diff --git a/Sofa/Component/SolidMechanics/FEM/Sofa.Component.SolidMechanics.FEMConfig.cmake.in b/Sofa/Component/SolidMechanics/FEM/Sofa.Component.SolidMechanics.FEMConfig.cmake.in index 9e70b3ed997..3181df336e9 100644 --- a/Sofa/Component/SolidMechanics/FEM/Sofa.Component.SolidMechanics.FEMConfig.cmake.in +++ b/Sofa/Component/SolidMechanics/FEM/Sofa.Component.SolidMechanics.FEMConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTSOLIDMECHANICSFEM_TARGETS @SOFACOMPONENTSOLIDMECHANICSFEM_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTSOLIDMECHANICSFEM_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/SolidMechanics/Sofa.Component.SolidMechanicsConfig.cmake.in b/Sofa/Component/SolidMechanics/Sofa.Component.SolidMechanicsConfig.cmake.in index 4e5d938a4b6..25eeb564ad9 100644 --- a/Sofa/Component/SolidMechanics/Sofa.Component.SolidMechanicsConfig.cmake.in +++ b/Sofa/Component/SolidMechanics/Sofa.Component.SolidMechanicsConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTSOLIDMECHANICS_TARGETS @SOFACOMPONENTSOLIDMECHANICS_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTSOLIDMECHANICS_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/SolidMechanics/Spring/Sofa.Component.SolidMechanics.SpringConfig.cmake.in b/Sofa/Component/SolidMechanics/Spring/Sofa.Component.SolidMechanics.SpringConfig.cmake.in index d029cb847f9..ebfde0e84be 100644 --- a/Sofa/Component/SolidMechanics/Spring/Sofa.Component.SolidMechanics.SpringConfig.cmake.in +++ b/Sofa/Component/SolidMechanics/Spring/Sofa.Component.SolidMechanics.SpringConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.inl index 5ccd4f0d392..5e798211b63 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/FastTriangularBendingSprings.inl @@ -549,7 +549,7 @@ void FastTriangularBendingSprings<_DataTypes>::EdgeSpring::getStiffness( Stiffne for( unsigned j=0; j<4; j++ ) for( unsigned k=0; k<4; k++ ) { - K[j*3][k*3] = K[j*3+1][k*3+1] = K[j*3+2][k*3+2] = -lambda * alpha[j] * alpha[k]; + K(j*3,k*3) = K(j*3+1,k*3+1) = K(j*3+2,k*3+2) = -lambda * alpha[j] * alpha[k]; } } 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 e75c0dde5b5..56e9e9b0bbf 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 @@ -258,10 +258,10 @@ class GearSpringForceField : public core::behavior::PairInteractionForceField::addSpringForce( SReal& /*potentialEnergy*/ Vector axis1,axis2; for(unsigned int i=0; i::addSpringForce( SReal& /*potentialEnergy* { Mat M; Mp1p2.writeRotationMatrix(M); - Real crossnorm=sqrt(M[1][0]*M[1][0]+M[2][0]*M[2][0]); - Real thet=atan2(crossnorm,M[0][0]); + Real crossnorm=sqrt(M(1,0)*M(1,0)+M(2,0)*M(2,0)); + Real thet=atan2(crossnorm,M(0,0)); fR0[0]=spring.torsion[0]*spring.KR[0]; // soft constraint - fR0[1]=-M[2][0]*thet*spring.KR[1]; - fR0[2]=M[1][0]*thet*spring.KR[2]; + fR0[1]=-M(2,0)*thet*spring.KR[1]; + fR0[2]=M(1,0)*thet*spring.KR[2]; } else if(!spring.freeMovements[3] && spring.freeMovements[4] && !spring.freeMovements[5] && spring.torsion[1]>spring.limitAngles[2] && spring.torsion[1]spring.limitAngles[4] && spring.torsion[2]::ComputeJacobian(unsigned int stiffn { for(unsigned int secondIndex = 0; secondIndex < m_dimension; secondIndex++) { - jacobMatrix[firstIndex][secondIndex] = (polynomialDerivativeRes - polynomialForceRes) * + jacobMatrix(firstIndex,secondIndex) = (polynomialDerivativeRes - polynomialForceRes) * m_weightedCoordinateDifference[springIndex][firstIndex] * m_weightedCoordinateDifference[springIndex][secondIndex]; } - jacobMatrix[firstIndex][firstIndex] += polynomialForceRes; + jacobMatrix(firstIndex,firstIndex) += polynomialForceRes; } for(unsigned int firstIndex = 0; firstIndex < m_dimension; firstIndex++) { for(unsigned int secondIndex = 0; secondIndex < m_dimension; secondIndex++) { - msg_info() << "for indices " << firstIndex << " and " << secondIndex << " the values is: " << jacobMatrix[firstIndex][secondIndex]; + msg_info() << "for indices " << firstIndex << " and " << secondIndex << " the values is: " << jacobMatrix(firstIndex,secondIndex); } } } @@ -422,7 +422,7 @@ void PolynomialSpringsForceField::addKToMatrix(const core::Mechanical { for (unsigned int j = 0; j < m_dimension; j++) { - Real stiffnessDeriv = jacobMatrix[i][j] * kFact; + Real stiffnessDeriv = jacobMatrix(i,j) * kFact; mat->add(offset + m_dimension * firstIndex + i, offset + m_dimension * firstIndex + j, -stiffnessDeriv); mat->add(offset + m_dimension * firstIndex + i, offset + m_dimension * secondIndex + j, stiffnessDeriv); mat->add(offset + m_dimension * secondIndex + i, offset + m_dimension * firstIndex + j, stiffnessDeriv); @@ -447,7 +447,7 @@ void PolynomialSpringsForceField::addKToMatrix(const core::Mechanical { for (unsigned int j = 0; j < m_dimension; j++) { - Real stiffnessDeriv = jacobMatrix[i][j] * kFact; + Real stiffnessDeriv = jacobMatrix(i,j) * kFact; mref11.matrix->add(mref11.offset + m_dimension * firstIndex + i, mref11.offset + m_dimension * firstIndex + j, -stiffnessDeriv); mref12.matrix->add(mref12.offRow + m_dimension * firstIndex + i, mref12.offCol + m_dimension * secondIndex + j, stiffnessDeriv); mref21.matrix->add(mref21.offRow + m_dimension * secondIndex + i, mref21.offCol + m_dimension * firstIndex + j, stiffnessDeriv); @@ -479,7 +479,7 @@ void PolynomialSpringsForceField::buildStiffnessMatrix(core::behavior { for (unsigned int j = 0; j < m_dimension; j++) { - Real stiffnessDeriv = jacobMatrix[i][j]; + Real stiffnessDeriv = jacobMatrix(i,j); dfdx(m_dimension * firstIndex + i, m_dimension * firstIndex + j) += - stiffnessDeriv; dfdx(m_dimension * firstIndex + i, m_dimension * secondIndex + j) += stiffnessDeriv; dfdx(m_dimension * secondIndex + i, m_dimension * firstIndex + j) += stiffnessDeriv; @@ -513,7 +513,7 @@ void PolynomialSpringsForceField::buildStiffnessMatrix(core::behavior { for (unsigned int j = 0; j < m_dimension; j++) { - Real stiffnessDeriv = jacobMatrix[i][j]; + Real stiffnessDeriv = jacobMatrix(i,j); df1_dx1(m_dimension * firstIndex + i, m_dimension * firstIndex + j) += -stiffnessDeriv; df1_dx2(m_dimension * firstIndex + i, m_dimension * secondIndex + j) += stiffnessDeriv; df2_dx1(m_dimension * secondIndex + i, m_dimension * firstIndex + j) += stiffnessDeriv; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.inl index f15d473cb32..b1e6df35014 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/QuadularBendingSprings.inl @@ -471,7 +471,7 @@ auto QuadularBendingSprings::computeLocalJacobian(EdgeInformation& ei Mat jacobian = (einfo.ks - tgt) * sofa::type::dyad(direction, direction); for (int j = 0; j < N; ++j) { - jacobian[j][j] += tgt; + jacobian(j,j) += tgt; } return jacobian; } diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.inl index 16bcd4fb93a..ee52be6721a 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/RepulsiveSpringForceField.inl @@ -68,9 +68,9 @@ void RepulsiveSpringForceField::addForce(const sofa::core::Mechanical { for( int k=0; k::addForce(const sofa::core::Mechanical Mat& m = this->dfdx[i]; for( int j=0; j class SpringForceField : public core::behavior::PairInteractionForceField @@ -150,8 +153,8 @@ class SpringForceField : public core::behavior::PairInteractionForceField static void addToMatrix(Matrix* globalMatrix, const unsigned int offsetRow, const unsigned int offsetCol, const Mat& localMatrix); diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl index 7f4b01a67cc..9c39af3121f 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/SpringForceField.inl @@ -546,9 +546,9 @@ auto SpringForceField::computeSpringForce( { for(sofa::Index k=0; kforce = std::make_pair(force, -force); @@ -670,7 +670,7 @@ void SpringForceField::addToMatrix(Matrix* globalMatrix, { for (sofa::Index j = 0; j < N; ++j) { - globalMatrix->add(offsetRow + i, offsetCol + j, (Real)localMatrix[i][j]); + globalMatrix->add(offsetRow + i, offsetCol + j, (Real)localMatrix(i,j)); } } } @@ -697,7 +697,7 @@ void SpringForceField::addKToMatrix(const core::MechanicalParams* mpa { for (sofa::Index j=0; jadd(p1+i,p1+j, -k); mat.matrix->add(p1+i,p2+j, k); mat.matrix->add(p2+i,p1+j, k);//or mat->add(p1+j,p2+i, k); @@ -754,7 +754,7 @@ void SpringForceField::buildStiffnessMatrix(core::behavior::Stiffness { for (sofa::Index j = 0; j < N; ++j) { - const auto k = m[i][j]; + const auto k = m(i,j); dfdx(p1+i, p1+j) += -k; dfdx(p1+i, p2+j) += k; dfdx(p2+i, p1+j) += k; diff --git a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.inl b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.inl index 15348346ac9..df48f9e9fed 100644 --- a/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.inl +++ b/Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/TriangleBendingSprings.inl @@ -46,9 +46,11 @@ template void TriangleBendingSprings::addSpring( unsigned a, unsigned b ) { const VecCoord& x =this->mstate1->read(core::vec_id::read_access::position)->getValue(); - Real s = (Real)this->d_ks.getValue()[0]; - Real d = (Real)this->d_kd.getValue()[0]; - Real l = (x[a]-x[b]).norm(); + const auto& ks = this->d_ks.getValue(); + const auto& kd = this->d_kd.getValue(); + const Real s = (ks.empty()) ? defaultSpringStiffness : ks[0]; + const Real d = (kd.empty()) ? defaultSpringDamping : kd[0]; + const Real l = (x[a]-x[b]).norm(); this->SpringForceField::addSpring(a,b, s, d, l ); } @@ -106,7 +108,6 @@ template void TriangleBendingSprings::init() { this->mstate1 = this->mstate2 = dynamic_cast*>( this->getContext()->getMechanicalState() ); - SpringForceField::clear(); // Set the bending springs @@ -127,24 +128,26 @@ void TriangleBendingSprings::init() } const sofa::core::topology::BaseMeshTopology::SeqTriangles& triangles = topology->getTriangles(); - for( unsigned i= 0; id_ks.getValue(); + const auto& kd = this->d_kd.getValue(); + const auto stiffness = (ks.empty()) ? defaultSpringStiffness : ks[0]; + const auto damping = (kd.empty()) ? defaultSpringDamping : kd[0]; + + SpringForceField::clear(triangles.size()); + this->d_ks.setValue({stiffness}); + this->d_kd.setValue({damping}); + + for (const auto& face : triangles) + { + registerTriangle(face[0], face[1], face[2], edgeMap); } const sofa::core::topology::BaseMeshTopology::SeqQuads& quads = topology->getQuads(); - for( unsigned i= 0; i::applyEdgeCreation(Index , EdgeInformat { for (auto v=0; v::applyTriangleCreation(const sofa::type { for (auto v=0; v::addForce(const core::MechanicalParams* { for( int k=0; k::addForce(const core::MechanicalParams* { for( int k=0; k::createEdgeRestInformation(Index { for (v=0; v<3; ++v) { - ei.DfDx[u][v]=0; + ei.DfDx(u,v)=0; } } @@ -119,9 +119,9 @@ void TetrahedralTensorMassForceField::applyTetrahedronCreation(const { for (v=0; v<3; ++v) { - m[u][v]+= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; + m(u,v)+= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; } - m[u][u]+=val1; + m(u,u)+=val1; } } else @@ -130,9 +130,9 @@ void TetrahedralTensorMassForceField::applyTetrahedronCreation(const { for (v=0; v<3; ++v) { - m[v][u]+= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; + m(v,u)+= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; } - m[u][u]+=val1; + m(u,u)+=val1; } } @@ -199,9 +199,9 @@ void TetrahedralTensorMassForceField::applyTetrahedronDestruction(con { for (v=0; v<3; ++v) { - m[u][v]-= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; + m(u,v)-= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; } - m[u][u]-=val1; + m(u,u)-=val1; } } else @@ -210,9 +210,9 @@ void TetrahedralTensorMassForceField::applyTetrahedronDestruction(con { for (v=0; v<3; ++v) { - m[v][u]-= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; + m(v,u)+= lambdastar*shapeVector[l][u]*shapeVector[k][v]+mustar*shapeVector[k][u]*shapeVector[l][v]; } - m[u][u]-=val1; + m(u,u)-=val1; } } diff --git a/Sofa/Component/StateContainer/Sofa.Component.StateContainerConfig.cmake.in b/Sofa/Component/StateContainer/Sofa.Component.StateContainerConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/StateContainer/Sofa.Component.StateContainerConfig.cmake.in +++ b/Sofa/Component/StateContainer/Sofa.Component.StateContainerConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h index bc1b0339b61..7c193cd4407 100644 --- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h +++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h @@ -69,7 +69,6 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState 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 core::behavior::BaseMechanicalState::ConstraintBlock ConstraintBlock; protected: diff --git a/Sofa/Component/StateContainer/tests/MechanicalObjectVOp_test.cpp b/Sofa/Component/StateContainer/tests/MechanicalObjectVOp_test.cpp index a7be26a616e..c6aebaee0d4 100644 --- a/Sofa/Component/StateContainer/tests/MechanicalObjectVOp_test.cpp +++ b/Sofa/Component/StateContainer/tests/MechanicalObjectVOp_test.cpp @@ -39,7 +39,7 @@ struct MechanicalObjectVOpTest : public testing::BaseTest static constexpr Real_t forceCoefficient = 63; static constexpr Real_t freeVelocityCoefficient = 78; - void onSetUp() override + void doSetUp() override { m_mechanicalObject = core::objectmodel::New(); diff --git a/Sofa/Component/Topology/Container/Constant/Sofa.Component.Topology.Container.ConstantConfig.cmake.in b/Sofa/Component/Topology/Container/Constant/Sofa.Component.Topology.Container.ConstantConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Topology/Container/Constant/Sofa.Component.Topology.Container.ConstantConfig.cmake.in +++ b/Sofa/Component/Topology/Container/Constant/Sofa.Component.Topology.Container.ConstantConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Topology/Container/Dynamic/Sofa.Component.Topology.Container.DynamicConfig.cmake.in b/Sofa/Component/Topology/Container/Dynamic/Sofa.Component.Topology.Container.DynamicConfig.cmake.in index 680c31106ed..35254723f3e 100644 --- a/Sofa/Component/Topology/Container/Dynamic/Sofa.Component.Topology.Container.DynamicConfig.cmake.in +++ b/Sofa/Component/Topology/Container/Dynamic/Sofa.Component.Topology.Container.DynamicConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.h b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.h index 5dc95752369..40fb8f95b2c 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.h +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.h @@ -169,10 +169,6 @@ class EdgeSetGeometryAlgorithms : public PointSetGeometryAlgorithms /** return a pointer to the container of cubature points */ NumericalIntegrationDescriptor &getEdgeNumericalIntegrationDescriptor(); - - SOFA_ATTRIBUTE_DISABLED("v24.06", "v24.12", "Use the method computeEdgeSegmentIntersection returning a Coord") - bool computeEdgeSegmentIntersection(EdgeID edgeID, const type::Vec3& a, const type::Vec3& b, Real &baryCoef) = delete; - protected: Data showEdgeIndices; ///< Debug : view Edge indices. Data d_drawEdges; ///< if true, draw the edges in the topology. diff --git a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.inl b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.inl index 0e64855d305..332dff8b372 100644 --- a/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.inl +++ b/Sofa/Component/Topology/Container/Dynamic/src/sofa/component/topology/container/dynamic/EdgeSetGeometryAlgorithms.inl @@ -622,7 +622,7 @@ void EdgeSetGeometryAlgorithms< DataTypes >::computeLocalFrameEdgeWeights( type: // each edge vector adds e.et to the matrix for(unsigned j=0; j<3; j++) for(unsigned k=0; k<3; k++) - EEt[j][k] += edgeVec[e][k]*edgeVec[e][j]; + EEt(j,k) += edgeVec[e][k]*edgeVec[e][j]; } // decompose E.Et for system solution 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 89c1b2d54f9..420b894798d 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 @@ -54,6 +54,8 @@ EdgeSetTopologyContainer::EdgeSetTopologyContainer() void EdgeSetTopologyContainer::init() { + core::topology::TopologyContainer::init(); + const helper::ReadAccessor< Data< sofa::type::vector > > m_edge = d_edge; if (d_initPoints.isSet()) @@ -72,8 +74,6 @@ void EdgeSetTopologyContainer::init() } } - PointSetTopologyContainer::init(); - // only init if edges are present at init. if (!m_edge.empty()) computeCrossElementBuffers(); 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 b3eaa449099..54b02aa80fe 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 @@ -63,6 +63,8 @@ void HexahedronSetTopologyContainer::addHexa(Index a, Index b, Index c, Index d, void HexahedronSetTopologyContainer::init() { + core::topology::TopologyContainer::init(); + const helper::ReadAccessor< Data< sofa::type::vector > > m_hexahedron = d_hexahedron; if (d_initPoints.isSet()) 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 17aa993da41..3eb8784df6c 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 @@ -53,6 +53,8 @@ void QuadSetTopologyContainer::addQuad(Index a, Index b, Index c, Index d ) void QuadSetTopologyContainer::init() { + core::topology::TopologyContainer::init(); + const helper::ReadAccessor< Data< sofa::type::vector > > m_quads = d_quad; if (d_initPoints.isSet()) { @@ -356,7 +358,7 @@ const QuadSetTopologyContainer::EdgesInQuad &QuadSetTopologyContainer::getEdgesI if (id < m_edgesInQuad.size()) return m_edgesInQuad[id]; - return InvalidQuad; + return InvalidEdgesInQuad; } int QuadSetTopologyContainer::getVertexIndexInQuad(const Quad &t, PointID vertexIndex) const 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 a24ddef1e9e..a55c321fccb 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 @@ -59,6 +59,8 @@ void TetrahedronSetTopologyContainer::addTetra(Index a, Index b, Index c, Index void TetrahedronSetTopologyContainer::init() { + core::topology::TopologyContainer::init(); + const helper::ReadAccessor< Data< sofa::type::vector > > m_tetrahedron = d_tetrahedron; if (d_initPoints.isSet()) @@ -564,12 +566,13 @@ const TetrahedronSetTopologyContainer::EdgesInTetrahedron &TetrahedronSetTopolog return InvalidEdgesInTetrahedron; } -const TetrahedronSetTopologyContainer::TrianglesInTetrahedron &TetrahedronSetTopologyContainer::getTrianglesInTetrahedron(const TriangleID id) +const TetrahedronSetTopologyContainer::TrianglesInTetrahedron& +TetrahedronSetTopologyContainer::getTrianglesInTetrahedron(const TriangleID id) { if (id < m_trianglesInTetrahedron.size()) return m_trianglesInTetrahedron[id]; - return InvalidTetrahedron; + return InvalidTrianglesInTetrahedron; } int TetrahedronSetTopologyContainer::getVertexIndexInTetrahedron(const Tetrahedron &t, 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 c92e5eb0ba0..9ff133653cc 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 @@ -52,6 +52,8 @@ void TriangleSetTopologyContainer::addTriangle(Index a, Index b, Index c ) void TriangleSetTopologyContainer::init() { + core::topology::TopologyContainer::init(); + const helper::ReadAccessor< Data< sofa::type::vector > > m_triangle = d_triangle; if (d_initPoints.isSet()) @@ -544,7 +546,7 @@ const TriangleSetTopologyContainer::EdgesInTriangle &TriangleSetTopologyContaine if (id < m_edgesInTriangle.size()) return m_edgesInTriangle[id]; - return InvalidTriangle; + return InvalidEdgesInTriangles; } int TriangleSetTopologyContainer::getVertexIndexInTriangle(const Triangle &t, PointID vertexIndex) const diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/EdgeSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/EdgeSetTopology_test.cpp index c4b93694de5..f5ffeaca2b9 100644 --- a/Sofa/Component/Topology/Container/Dynamic/tests/EdgeSetTopology_test.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/tests/EdgeSetTopology_test.cpp @@ -139,8 +139,8 @@ bool EdgeSetTopology_test::testEdgeBuffers() EXPECT_EQ(m_topoCon->getEdges().size(), nbrEdge); //// The first 2 edges in this file should be : - sofa::type::fixed_array edgeTruth0(12, 17); - sofa::type::fixed_array edgeTruth1(4, 12); + sofa::type::fixed_array edgeTruth0({12, 17}); + sofa::type::fixed_array edgeTruth1({4, 12}); //// check edge buffer diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp index 249ebf220ef..dd7d94a07f0 100644 --- a/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/tests/HexahedronSetTopology_test.cpp @@ -103,8 +103,8 @@ bool HexahedronSetTopology_test::testHexahedronBuffers() EXPECT_EQ(topoCon->getEdges().size(), nbrEdge); // The first 2 elements in this file should be : - sofa::type::fixed_array elemTruth0(0, 1, 5, 4, 16, 17, 21, 20); - sofa::type::fixed_array elemTruth1(1, 2, 6, 5, 17, 18, 22, 21); + sofa::type::fixed_array elemTruth0({0, 1, 5, 4, 16, 17, 21, 20}); + sofa::type::fixed_array elemTruth1({1, 2, 6, 5, 17, 18, 22, 21}); // check topology element buffer @@ -199,7 +199,7 @@ bool HexahedronSetTopology_test::testQuadBuffers() for (size_t i = 0; i < quadInElem.size(); i++) EXPECT_EQ(quadInElem[i], quadInElemM[i]); - sofa::type::fixed_array quadInElemTruth(6, 7, 8, 9, 10, 3); + sofa::type::fixed_array quadInElemTruth({6, 7, 8, 9, 10, 3}); for (size_t i = 0; i edgeInElemTruth(22, 13, 18, 21, 26, 20, 27, 19, 25, 15); // Test only 10 out of 12 edges as no fixed_array<12> + sofa::type::fixed_array edgeInElemTruth({22, 13, 18, 21, 26, 20, 27, 19, 25, 15}); // Test only 10 out of 12 edges as no fixed_array<12> for (size_t i = 0; igetEdges().size(), nbrEdge); // The first 2 elements in this file should be : - sofa::type::fixed_array elemTruth0(3, 11, 5, 4); - sofa::type::fixed_array elemTruth1(11, 8, 6, 5); + sofa::type::fixed_array elemTruth0({3, 11, 5, 4}); + sofa::type::fixed_array elemTruth1({11, 8, 6, 5}); // check topology element buffer @@ -185,7 +185,7 @@ bool QuadSetTopology_test::testEdgeBuffers() for (size_t i = 0; i < edgeInElem.size(); i++) EXPECT_EQ(edgeInElem[i], edgeInElemM[i]); - sofa::type::fixed_array edgeInElemTruth(7, 8, 4, 9); + sofa::type::fixed_array edgeInElemTruth({7, 8, 4, 9}); for (int i = 0; i<4; ++i) EXPECT_EQ(edgeInElem[i], edgeInElemTruth[i]); diff --git a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp index 306e5e93eaa..2af0b459806 100644 --- a/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp +++ b/Sofa/Component/Topology/Container/Dynamic/tests/TetrahedronSetTopology_test.cpp @@ -105,8 +105,8 @@ bool TetrahedronSetTopology_test::testTetrahedronBuffers() EXPECT_EQ(topoCon->getEdges().size(), nbrEdge); // The first 2 elements in this file should be : - sofa::type::fixed_array elemTruth0(22, 2, 11, 25); - sofa::type::fixed_array elemTruth1(22, 2, 24, 11); + sofa::type::fixed_array elemTruth0({22, 2, 11, 25}); + sofa::type::fixed_array elemTruth1({22, 2, 24, 11}); // check topology element buffer @@ -199,7 +199,7 @@ bool TetrahedronSetTopology_test::testTriangleBuffers() for (size_t i = 0; i < triangleInElem.size(); i++) EXPECT_EQ(triangleInElem[i], triangleInElemM[i]); - sofa::type::fixed_array triangleInElemTruth(3, 2, 1, 0); + sofa::type::fixed_array triangleInElemTruth({3, 2, 1, 0}); for (size_t i = 0; i edgeInElemTruth(6, 10, 8, 9, 0, 11); + sofa::type::fixed_array edgeInElemTruth({6, 10, 8, 9, 0, 11}); for (size_t i = 0; igetEdges().size(), nbrEdge); // The first 2 triangles in this file should be : - sofa::type::fixed_array triTruth0(0, 18, 11); - sofa::type::fixed_array triTruth1(0, 4, 18); + sofa::type::fixed_array triTruth0({0, 18, 11}); + sofa::type::fixed_array triTruth1({0, 4, 18}); // check triangle buffer @@ -237,7 +237,7 @@ bool TriangleSetTopology_test::testEdgeBuffers() for (size_t i = 0; i < edgeInTri.size(); i++) EXPECT_EQ(edgeInTri[i], edgeInTriM[i]); - sofa::type::fixed_array edgeInTriTruth(5, 6, 3); + sofa::type::fixed_array edgeInTriTruth({5, 6, 3}); for (size_t i = 0; i (c, p, i) ); + hexahedraConnectedToThePoint[hexahedra[c][p]].emplace_back(type::fixed_array{c, p, i}); } c++; } @@ -721,7 +721,7 @@ void SparseGridRamificationTopology::buildFromFiner() { for(unsigned p=0; p<8; ++p) { - hexahedraConnectedToThePoint[hexahedra[c][p]].push_back( type::fixed_array (c, p, i) ); + hexahedraConnectedToThePoint[hexahedra[c][p]].emplace_back( type::fixed_array({c, p, i}) ); } c++; } diff --git a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp index cc9bcde67b8..071f39c0cd6 100644 --- a/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp +++ b/Sofa/Component/Topology/Container/Grid/src/sofa/component/topology/container/grid/SparseGridTopology.cpp @@ -132,7 +132,7 @@ void SparseGridTopology::init() _nodeAdjacency.resize(d_seqPoints.getValue().size() ); for(unsigned i=0; i < d_seqPoints.getValue().size(); ++i) - _nodeAdjacency[i].assign(InvalidID); + _nodeAdjacency[i].fill(InvalidID); if (_nodeAdjacency.empty()) { diff --git a/Sofa/Component/Topology/Container/Sofa.Component.Topology.ContainerConfig.cmake.in b/Sofa/Component/Topology/Container/Sofa.Component.Topology.ContainerConfig.cmake.in index b79f1095da4..abfd34424db 100644 --- a/Sofa/Component/Topology/Container/Sofa.Component.Topology.ContainerConfig.cmake.in +++ b/Sofa/Component/Topology/Container/Sofa.Component.Topology.ContainerConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTTOPOLOGYCONTAINER_TARGETS @SOFACOMPONENTTOPOLOGYCONTAINER_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTTOPOLOGYCONTAINER_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Topology/Mapping/Sofa.Component.Topology.MappingConfig.cmake.in b/Sofa/Component/Topology/Mapping/Sofa.Component.Topology.MappingConfig.cmake.in index 2a7e83ffaf4..41bb798192c 100644 --- a/Sofa/Component/Topology/Mapping/Sofa.Component.Topology.MappingConfig.cmake.in +++ b/Sofa/Component/Topology/Mapping/Sofa.Component.Topology.MappingConfig.cmake.in @@ -3,9 +3,10 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Topology/Sofa.Component.TopologyConfig.cmake.in b/Sofa/Component/Topology/Sofa.Component.TopologyConfig.cmake.in index 0cb81dd4e5f..3b880e8bbd6 100644 --- a/Sofa/Component/Topology/Sofa.Component.TopologyConfig.cmake.in +++ b/Sofa/Component/Topology/Sofa.Component.TopologyConfig.cmake.in @@ -5,8 +5,9 @@ set(SOFACOMPONENTTOPOLOGY_TARGETS @SOFACOMPONENTTOPOLOGY_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) foreach(target ${SOFACOMPONENTTOPOLOGY_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Topology/Utility/Sofa.Component.Topology.UtilityConfig.cmake.in b/Sofa/Component/Topology/Utility/Sofa.Component.Topology.UtilityConfig.cmake.in index 323c29496ff..67d91ec8b8d 100644 --- a/Sofa/Component/Topology/Utility/Sofa.Component.Topology.UtilityConfig.cmake.in +++ b/Sofa/Component/Topology/Utility/Sofa.Component.Topology.UtilityConfig.cmake.in @@ -3,12 +3,13 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Dynamic QUIET REQUIRED) set(SOFA_COMPONENT_TOPOLOGY_UTILITY_HAVE_ZLIB @SOFA_COMPONENT_TOPOLOGY_UTILITY_HAVE_ZLIB@) if (SOFA_COMPONENT_TOPOLOGY_UTILITY_HAVE_ZLIB) - find_package(ZLIB QUIET REQUIRED) + sofa_find_package(ZLIB QUIET REQUIRED) endif() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/Component/Visual/CMakeLists.txt b/Sofa/Component/Visual/CMakeLists.txt index d1a525f0c29..a3f9e277011 100644 --- a/Sofa/Component/Visual/CMakeLists.txt +++ b/Sofa/Component/Visual/CMakeLists.txt @@ -15,10 +15,15 @@ set(HEADER_FILES ${SOFACOMPONENTVISUAL_SOURCE_DIR}/TrailRenderer.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/TrailRenderer.inl ${SOFACOMPONENTVISUAL_SOURCE_DIR}/Visual3DText.h + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualBoundingBox.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualGrid.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualModelImpl.h + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualPointCloud.h + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualPointCloud.inl ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualStyle.h ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualTransform.h + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualVectorField.h + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualVectorField.inl ) set(SOURCE_FILES @@ -31,10 +36,13 @@ set(SOURCE_FILES ${SOFACOMPONENTVISUAL_SOURCE_DIR}/RecordedCamera.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/TrailRenderer.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/Visual3DText.cpp + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualBoundingBox.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualGrid.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualModelImpl.cpp + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualPointCloud.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualStyle.cpp ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualTransform.cpp + ${SOFACOMPONENTVISUAL_SOURCE_DIR}/VisualVectorField.cpp ) sofa_find_package(Sofa.Simulation.Core REQUIRED) diff --git a/Sofa/Component/Visual/Sofa.Component.VisualConfig.cmake.in b/Sofa/Component/Visual/Sofa.Component.VisualConfig.cmake.in index 4d22bdfe3d4..af1e9f571c4 100644 --- a/Sofa/Component/Visual/Sofa.Component.VisualConfig.cmake.in +++ b/Sofa/Component/Visual/Sofa.Component.VisualConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Core QUIET REQUIRED) -find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp index ebdba88b15e..89cfac00513 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp @@ -374,7 +374,7 @@ void BaseCamera::getModelViewMatrix(double mat[16]) //rotation for (unsigned int i = 0; i < 3; i++) for (unsigned int j = 0; j < 3; j++) - mat[i * 4 + j] = rot[i][j]; + mat[i * 4 + j] = rot(i,j); //translation type::Vec3 t = world_H_cam.inversed().getOrigin(); diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp similarity index 63% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cpp rename to Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp index 042d77da5b5..38cd758ffd0 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp @@ -19,25 +19,35 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include -#include "CudaParticlesRepulsionForceField.inl" -#include -#include -#include +#include +#include +#include +#include -namespace sofa::gpu::cuda +namespace sofa::component::visual { -int ParticlesRepulsionForceFieldCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") - .add< component::forcefield::ParticlesRepulsionForceField >() -#ifdef SOFA_GPU_CUDA_DOUBLE - .add< component::forcefield::ParticlesRepulsionForceField >() -#endif // SOFA_GPU_CUDA_DOUBLE - ; - -} // namespace sofa::gpu::cuda - +void registerVisualBoundingBox(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Display an Axis Aligned Bounding Box (AABB).") + .add< VisualBoundingBox >()); +} +VisualBoundingBox::VisualBoundingBox() + : d_color(initData(&d_color, sofa::type::RGBAColor::yellow(), "color", "Color of the lines of the box.")) + , d_thickness(initData(&d_thickness, 1.0f, "thickness", "Thickness of the lines of the box.")) +{ +} +void VisualBoundingBox::doDrawVisual(const core::visual::VisualParams* vparams) +{ + + const auto& bbox = f_bbox.getValue(); + vparams->drawTool()->disableLighting(); + vparams->drawTool()->setMaterial(d_color.getValue()); + vparams->drawTool()->drawBoundingBox(bbox.minBBox(), bbox.maxBBox(), d_thickness.getValue()); +} + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.h new file mode 100644 index 00000000000..d186da817a4 --- /dev/null +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.h @@ -0,0 +1,49 @@ +/****************************************************************************** +* 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 + +namespace sofa::component::visual +{ +/* + * Display an Axis Orientated Bounding Box. + */ +class SOFA_COMPONENT_VISUAL_API VisualBoundingBox : public core::visual::VisualModel +{ +public: + SOFA_CLASS(VisualBoundingBox, core::visual::VisualModel); + + VisualBoundingBox(); + ~VisualBoundingBox() override = default; + + Data d_color; ///< Color of the lines in the grid. default=yellow + Data d_thickness; ///< Thickness of the lines in the grid + +private: + void doDrawVisual(const core::visual::VisualParams*) override; + +}; + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h index e896bddb8ce..ef92f77d03c 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.h @@ -55,9 +55,9 @@ class SOFA_COMPONENT_VISUAL_API VisualModelImpl : public core::visual::VisualMod //Indices must be unsigned int for drawing using visual_index_type = unsigned int; - typedef type::fixed_array VisualEdge; - typedef type::fixed_array VisualTriangle; - typedef type::fixed_array VisualQuad; + typedef sofa::topology::Element VisualEdge; + typedef sofa::topology::Element VisualTriangle; + typedef sofa::topology::Element VisualQuad; typedef type::vector VecVisualEdge; typedef type::vector VecVisualTriangle; typedef type::vector VecVisualQuad; diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.cpp similarity index 74% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cpp rename to Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.cpp index 68a52f54bd7..d46e859f923 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.cpp @@ -19,25 +19,23 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include -#include "CudaSPHFluidForceField.inl" +#define SOFA_COMPONENT_VISUAL_VISUALPOINTCLOUD_CPP +#include #include -#include -#include - -namespace sofa::gpu::cuda +namespace sofa::component::visual { -int SPHFluidForceFieldCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") - .add< component::forcefield::SPHFluidForceField >() -#ifdef SOFA_GPU_CUDA_DOUBLE - .add< component::forcefield::SPHFluidForceField >() -#endif // SOFA_GPU_CUDA_DOUBLE - ; - -} // namespace sofa::gpu::cuda - +void registerVisualPointCloud(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Render a point cloud.") + .add>(true) + .add>() + ); +} +template class SOFA_COMPONENT_VISUAL_API VisualPointCloud; +template class SOFA_COMPONENT_VISUAL_API VisualPointCloud; +} diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.h new file mode 100644 index 00000000000..3ea86cc1831 --- /dev/null +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.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 + +namespace sofa::component::visual +{ + +inline constexpr sofa::helper::Item pointDrawMode{ + .key = "Point", .description = "Coordinates are displayed with points"}; +inline constexpr sofa::helper::Item sphereDrawMode{ + .key = "Sphere", .description = "Coordinates are displayed using spheres"}; +inline constexpr sofa::helper::Item frameDrawMode{ + .key = "Frame", .description = "Coordinates are displayed using oriented frames"}; + +template +concept hasWriteOpenGlMatrix = requires(typename DataTypes::Coord& c, float glTransform[16]) +{ + c.writeOpenGlMatrix(glTransform); +}; + +MAKE_SELECTABLE_ITEMS(RegularCoordDrawMode, + pointDrawMode, sphereDrawMode +); + +MAKE_SELECTABLE_ITEMS(OridentedCoordDrawMode, + pointDrawMode, sphereDrawMode, frameDrawMode +); + +template +using CoordDrawMode = std::conditional_t< + hasWriteOpenGlMatrix, + OridentedCoordDrawMode, + RegularCoordDrawMode>; + +template +class VisualPointCloud : public core::visual::VisualModel +{ +public: + SOFA_CLASS(VisualPointCloud, core::visual::VisualModel); + +private: + using VecCoord = VecCoord_t; + using Real = Real_t; + using VecFloat = sofa::type::vector; + using VecColor = sofa::type::vector; + using DrawMode = CoordDrawMode; + + static DrawMode defaultDrawMode(); + +public: + Data d_position; + Data d_drawMode; + Data d_pointSize; + Data d_sphereRadius; + Data d_color; + + Data d_showIndices; + Data d_indicesScale; + Data d_indicesColor; + + void computeBBox(const core::ExecParams*, bool) override; + +private: + VisualPointCloud(); + + void doDrawVisual(const core::visual::VisualParams* vparams) override; + + void drawFrames( + const core::visual::VisualParams* vparams, + type::RGBAColor color) requires hasWriteOpenGlMatrix; + + void drawIndices(const core::visual::VisualParams* vparams) const; + + type::vector convertCoord() const; +}; + + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.inl b/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.inl new file mode 100644 index 00000000000..28d7a4c2063 --- /dev/null +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualPointCloud.inl @@ -0,0 +1,189 @@ +/****************************************************************************** +* 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::visual +{ + +template +VisualPointCloud::VisualPointCloud() + : d_position(initData(&d_position, "position", "The position of the points to display")) + , d_drawMode(initData(&d_drawMode, "drawMode", ("The draw mode:\n" + DrawMode::dataDescription()).c_str())) + , d_pointSize(initData(&d_pointSize, 1.f, "pointSize", "The size of the points and frames")) + , d_sphereRadius(initData(&d_sphereRadius, "sphereRadius", "The radius list of the spheres")) + , d_color(initData(&d_color, "color", "The color of the points")) + , d_showIndices(initData(&d_showIndices, false, "showIndices", "Show the indices of the points")) + , d_indicesScale(initData(&d_indicesScale, 1.f, "indicesScale", "The scale of the indices")) + , d_indicesColor(initData(&d_indicesColor, "indicesColor", "The color of the indices")) +{ +} + +template +typename VisualPointCloud::DrawMode VisualPointCloud::defaultDrawMode() +{ + if constexpr (hasWriteOpenGlMatrix) + return DrawMode("Frame"); + else + return DrawMode("Point"); +} + + +template +void VisualPointCloud::computeBBox(const core::ExecParams* exec_params, bool cond) +{ + const auto position = sofa::helper::getReadAccessor(d_position); + const size_t positionSize = position.size(); + + if (positionSize <= 0) return; + + Real p[3]; + DataTypes::get(p[0], p[1], p[2], position[0]); + Real maxBBox[3] = {p[0], p[1], p[2]}; + Real minBBox[3] = {p[0], p[1], p[2]}; + + for (size_t i = 1; i < positionSize; i++) + { + DataTypes::get(p[0], p[1], p[2], position[i]); + for (int c = 0; c < 3; c++) + { + if (p[c] > maxBBox[c]) + maxBBox[c] = p[c]; + + else if (p[c] < minBBox[c]) + minBBox[c] = p[c]; + } + } + this->f_bbox.setValue(sofa::type::TBoundingBox(minBBox, maxBBox)); +} + +template +type::vector VisualPointCloud::convertCoord() const +{ + const auto position = sofa::helper::getReadAccessor(d_position); + + type::vector displayedPoints; + displayedPoints.reserve(position.size()); + for (const auto& point : position) + { + displayedPoints.push_back(DataTypes::getCPos(point)); + } + + return displayedPoints; +} + +template +void VisualPointCloud::doDrawVisual(const core::visual::VisualParams* vparams) +{ + const auto drawMode = d_drawMode.getValue(); + auto* drawTool = vparams->drawTool(); + + const auto color = d_color.getValue(); + + if (drawMode == DrawMode("Point") || drawMode == DrawMode("Sphere")) + { + if (drawMode == DrawMode("Point")) + { + drawTool->setLightingEnabled(false); + drawTool->drawPoints(convertCoord(), d_pointSize.getValue(), color); + } + else if (drawMode == DrawMode("Sphere")) + { + auto radius = sofa::helper::getWriteAccessor(d_sphereRadius); + const auto displayedPoints = convertCoord(); + + float defaultRadius = 1.f; + if (!radius.empty()) + { + defaultRadius = radius.back(); + } + radius.resize(displayedPoints.size(), defaultRadius); + + drawTool->setLightingEnabled(true); + drawTool->drawFakeSpheres(displayedPoints, radius.ref(), color); + } + } + else + { + if constexpr (hasWriteOpenGlMatrix) + { + if (drawMode == DrawMode("Frame")) + { + drawFrames(vparams, color); + } + } + } + + if (d_showIndices.getValue()) + { + drawIndices(vparams); + } +} + +template +void VisualPointCloud::drawIndices(const core::visual::VisualParams* vparams) const +{ + const float scale = static_cast( + (vparams->sceneBBox().maxBBox() - vparams->sceneBBox().minBBox()).norm() * + d_indicesScale.getValue()); + vparams->drawTool()->draw3DText_Indices(convertCoord(), scale, d_indicesColor.getValue()); +} + +template +void VisualPointCloud::drawFrames(const core::visual::VisualParams* vparams, + type::RGBAColor color) requires hasWriteOpenGlMatrix +{ + if constexpr (hasWriteOpenGlMatrix) + { + auto* drawTool = vparams->drawTool(); + const auto position = sofa::helper::getReadAccessor(d_position); + + const auto pointSize = d_pointSize.getValue(); + const bool isColorSet = d_color.isSet(); + + for (const auto& point : position) + { + drawTool->pushMatrix(); + + float glTransform[16]; + point.writeOpenGlMatrix(glTransform); + + drawTool->multMatrix(glTransform); + drawTool->scale(pointSize); + + if (isColorSet) + { + drawTool->drawFrame(type::Vec3(), type::Quat(), + type::Vec3(1_sreal, 1_sreal, 1_sreal), color); + } + else + { + drawTool->drawFrame(type::Vec3(), type::Quat(), + type::Vec3(1_sreal, 1_sreal, 1_sreal)); + } + drawTool->popMatrix(); + } + } +} + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp index 7c94dbcaa6d..f8348acb19d 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.cpp @@ -60,6 +60,16 @@ VisualStyle::VisualStyle() d_displayFlags.setWidget("widget_displayFlags"); } +void VisualStyle::init() +{ + updateVisualFlags(sofa::core::visual::VisualParams::defaultInstance()); +} + +void VisualStyle::bwdInit() +{ + applyBackupFlags(sofa::core::visual::VisualParams::defaultInstance()); +} + void VisualStyle::updateVisualFlags(VisualParams* vparams) { backupFlags = vparams->displayFlags(); diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h index 98432dfae1c..fa16fd4bbdc 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualStyle.h @@ -66,6 +66,8 @@ class SOFA_COMPONENT_VISUAL_API VisualStyle : public sofa::core::visual::BaseVis protected: VisualStyle(); public: + void init() override; + void bwdInit() override; void updateVisualFlags(VisualParams* ) override; void applyBackupFlags(VisualParams* ) override; diff --git a/applications/plugins/SofaAssimp/config.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.cpp similarity index 79% rename from applications/plugins/SofaAssimp/config.h rename to Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.cpp index dfd9044cb1a..8baa65e99bb 100644 --- a/applications/plugins/SofaAssimp/config.h +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.cpp @@ -19,20 +19,19 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#ifndef SOFAASSIMP_CONFIG_H -#define SOFAASSIMP_CONFIG_H +#include +#include -#include +namespace sofa::component::visual +{ -#define ASSIMP_PLUGIN_MAJOR_VERSION ${ASSIMP_PLUGIN_MAJOR_VERSION} -#define ASSIMP_PLUGIN_MINOR_VERSION ${ASSIMP_PLUGIN_MINOR_VERSION} +void registerVisualVectorField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("Render a vector field.") + .add>(true) + ); +} -#ifdef SOFA_BUILD_SOFAASSIMP -# define SOFA_TARGET SofaAssimp -# define SOFA_ASSIMP_API SOFA_EXPORT_DYNAMIC_LIBRARY -#else -# define SOFA_ASSIMP_API SOFA_IMPORT_DYNAMIC_LIBRARY -#endif - -#endif //SOFAASSIMP_CONFIG_H +template class SOFA_COMPONENT_VISUAL_API VisualVectorField; +} diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.h b/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.h new file mode 100644 index 00000000000..5a9b7ffc317 --- /dev/null +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.h @@ -0,0 +1,62 @@ +/****************************************************************************** +* 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::visual +{ + +MAKE_SELECTABLE_ITEMS(VectorFieldDrawMode, + sofa::helper::Item{.key = "Line", .description = "Coordinates are displayed using lines"}, + sofa::helper::Item{.key = "Cylinder", .description = "Coordinates are displayed using cylinders"}, + sofa::helper::Item{.key = "Arrow", .description = "Coordinates are displayed using arrows"}, +); + +template +class VisualVectorField : public core::visual::VisualModel +{ +public: + SOFA_CLASS(VisualVectorField, core::visual::VisualModel); + +private: + using VecCoord = VecCoord_t; + using VecDeriv = VecDeriv_t; + +public: + Data d_position; + Data d_vector; + Data d_vectorScale; + Data d_drawMode; + Data d_color; + + void computeBBox(const core::ExecParams*, bool) override; + +private: + VisualVectorField(); + + void doDrawVisual(const core::visual::VisualParams* vparams) override; +}; + + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.inl b/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.inl new file mode 100644 index 00000000000..2f3e8dd1fca --- /dev/null +++ b/Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.inl @@ -0,0 +1,99 @@ +/****************************************************************************** +* 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::visual +{ + +template +VisualVectorField::VisualVectorField() + : d_position(initData(&d_position, "position", "Starting position of the rendered vectors")) + , d_vector(initData(&d_vector, "vector", "List of vectors to render")) + , d_vectorScale(initData(&d_vectorScale, 1.0_sreal, "vectorScale", "Scaling factor applied on vectors for rendering")) + , d_drawMode(initData(&d_drawMode, VectorFieldDrawMode("Line"), "drawMode", ("Draw mode for the vectors" + VectorFieldDrawMode::dataDescription()).c_str())) + , d_color(initData(&d_color, sofa::type::RGBAColor::white(), "color", "Color of the vectors")) +{ +} + +template +void VisualVectorField::doDrawVisual(const core::visual::VisualParams* vparams) +{ + const auto position = sofa::helper::getReadAccessor(d_position); + const auto vector = sofa::helper::getReadAccessor(d_vector); + + const auto minSize = std::min(position.size(), vector.size()); + const auto vectorScale = d_vectorScale.getValue(); + + auto* drawTool = vparams->drawTool(); + const auto drawMode = d_drawMode.getValue(); + const auto color = d_color.getValue(); + + for (std::size_t i = 0; i < minSize; ++i) + { + const auto& start = position[i]; + const auto end = start + vectorScale * vector[i]; + + if (drawMode == VectorFieldDrawMode("Line")) + { + drawTool->drawLines(std::vector{{start, end}}, 1, color); + } + else if (drawMode == VectorFieldDrawMode("Cylinder")) + { + const float radius = static_cast(vectorScale * vector[i].norm() / 20.f); + drawTool->drawCylinder(start, end, radius, color); + } + else if (drawMode == VectorFieldDrawMode("Arrow")) + { + const float radius = static_cast(vectorScale * vector[i].norm() / 20.f); + drawTool->drawArrow(start, end, radius, color); + } + } +} + +template +void VisualVectorField::computeBBox(const core::ExecParams* exec_params, bool cond) +{ + const auto position = sofa::helper::getReadAccessor(d_position); + const auto vector = sofa::helper::getReadAccessor(d_vector); + + const auto minSize = std::min(position.size(), vector.size()); + if (minSize == 0) + { + return; + } + + const auto& vectorScale = d_vectorScale.getValue(); + + auto bbox = sofa::helper::getWriteOnlyAccessor(this->f_bbox); + for (size_t i = 0; i < minSize; i++) + { + const auto& start = position[i]; + const auto end = start + vectorScale * vector[i]; + + bbox.wref().include(start); + bbox.wref().include(end); + } +} + +} // namespace sofa::component::visual diff --git a/Sofa/Component/Visual/src/sofa/component/visual/init.cpp b/Sofa/Component/Visual/src/sofa/component/visual/init.cpp index c4060d561ac..27ee33e1bb0 100644 --- a/Sofa/Component/Visual/src/sofa/component/visual/init.cpp +++ b/Sofa/Component/Visual/src/sofa/component/visual/init.cpp @@ -33,10 +33,13 @@ extern void registerLineAxis(sofa::core::ObjectFactory* factory); extern void registerRecordedCamera(sofa::core::ObjectFactory* factory); extern void registerTrailRenderer(sofa::core::ObjectFactory* factory); extern void registerVisual3DText(sofa::core::ObjectFactory* factory); +extern void registerVisualBoundingBox(sofa::core::ObjectFactory* factory); extern void registerVisualGrid(sofa::core::ObjectFactory* factory); extern void registerVisualModelImpl(sofa::core::ObjectFactory* factory); +extern void registerVisualPointCloud(sofa::core::ObjectFactory* factory); extern void registerVisualStyle(sofa::core::ObjectFactory* factory); extern void registerVisualTransform(sofa::core::ObjectFactory* factory); +extern void registerVisualVectorField(sofa::core::ObjectFactory* factory); extern "C" { SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule(); @@ -63,16 +66,19 @@ const char* getModuleVersion() void registerObjects(sofa::core::ObjectFactory* factory) { registerCamera(factory); - registerInteractiveCamera(factory); registerCylinderVisualModel(factory); + registerInteractiveCamera(factory); registerLineAxis(factory); registerRecordedCamera(factory); registerTrailRenderer(factory); registerVisual3DText(factory); + registerVisualBoundingBox(factory); registerVisualGrid(factory); registerVisualModelImpl(factory); + registerVisualPointCloud(factory); registerVisualStyle(factory); registerVisualTransform(factory); + registerVisualVectorField(factory); } void init() diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp index 69d0ec4f219..28e561922a0 100644 --- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp +++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.cpp @@ -76,14 +76,19 @@ OglColorMap::OglColorMap() d_colorScheme.beginEdit()->setSelectedItem("HSV"); d_colorScheme.endEdit(); + c_colorSchemeCallback.addInput(&d_colorScheme); + c_colorSchemeCallback.addCallback([this]() + { + m_colorMap.setColorScheme(d_colorScheme.getValue().getSelectedItem()); + m_colorMap.reinit(); + + deleteTexture(); + }); } -OglColorMap::~OglColorMap() { - // Some components may use OglColorMap internally, in which case an OpenGL - // context might not exist. That's why this 'if' is here, to avoid calling - // an OpenGL function in a destructor unless strictly necessary. - if (texture != 0) - glDeleteTextures(1, &texture); +OglColorMap::~OglColorMap() +{ + deleteTexture(); } void OglColorMap::init() @@ -91,25 +96,31 @@ void OglColorMap::init() reinit(); } - void OglColorMap::reinit() { m_colorMap.setPaletteSize(d_paletteSize.getValue()); m_colorMap.setColorScheme(d_colorScheme.getValue().getSelectedItem()); m_colorMap.reinit(); - } +} OglColorMap* OglColorMap::getDefault() { static OglColorMap::SPtr defaultOglColorMap; - if (defaultOglColorMap == nullptr) { - defaultOglColorMap = sofa::core::objectmodel::New< OglColorMap >(); - std::string tmp(""); + if (defaultOglColorMap == nullptr) + { + defaultOglColorMap = sofa::core::objectmodel::New(); defaultOglColorMap->init(); } return defaultOglColorMap.get(); } +void OglColorMap::deleteTexture() +{ + if (texture != 0) + glDeleteTextures(1, &texture); + texture = 0; +} + void OglColorMap::doDrawVisual(const core::visual::VisualParams* vparams) { if (!d_showLegend.getValue()) return; diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h index 8a511c409ad..24bedbcb349 100644 --- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h +++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglColorMap.h @@ -31,7 +31,7 @@ #include #include #include - +#include namespace sofa::gl::component::rendering2d { @@ -52,6 +52,7 @@ class SOFA_GL_COMPONENT_RENDERING2D_API OglColorMap : public sofa::core::visual: public: Data d_paletteSize; ///< How many colors to use Data d_colorScheme; ///< Color scheme to use + core::objectmodel::DataCallback c_colorSchemeCallback; Data d_showLegend; ///< Activate rendering of color scale legend on the side Data d_legendOffset; ///< Draw the legend on screen with an x,y offset @@ -83,6 +84,7 @@ class SOFA_GL_COMPONENT_RENDERING2D_API OglColorMap : public sofa::core::visual: return m_colorMap.getColor(i); } + SOFA_ATTRIBUTE_DEPRECATED__OGLCOLORMAPGETDEFAULT() static OglColorMap* getDefault(); template @@ -109,6 +111,10 @@ class SOFA_GL_COMPONENT_RENDERING2D_API OglColorMap : public sofa::core::visual: in >> m.m_colorMap; return in; } + +private: + + void deleteTexture(); }; } // namespace sofa::gl::component::rendering2d diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglViewport.cpp b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglViewport.cpp index 308f5c65d16..7748a0a5239 100644 --- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglViewport.cpp +++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/OglViewport.cpp @@ -29,6 +29,7 @@ #include #include #include +#include namespace sofa::gl::component::rendering2d { @@ -353,7 +354,7 @@ void OglViewport::renderToViewport(core::visual::VisualParams* vp) vp->getModelViewMatrix(lastModelViewMatrix); vp->setProjectionMatrix(projectionMatrix); vp->setModelViewMatrix(modelViewMatrix); - vp->viewport() = Viewport(x0,y0,screenSize[0],screenSize[1]); + vp->viewport() = Viewport({x0, y0, helper::narrow_cast(screenSize[0]), helper::narrow_cast(screenSize[1])}); vp->pass() = core::visual::VisualParams::Std; simulation::VisualDrawVisitor vdv( vp ); vdv.setTags(this->getTags()); diff --git a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/config.h.in b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/config.h.in index bf5e2fcb99e..db372b30797 100644 --- a/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/config.h.in +++ b/Sofa/GL/Component/Rendering2D/src/sofa/gl/component/rendering2d/config.h.in @@ -37,3 +37,9 @@ namespace sofa::gl::component::rendering2d constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; } // namespace sofa::gl::component::rendering2d +#ifdef SOFA_BUILD_SOFA_GL_COMPONENT_RENDERING2D +#define SOFA_ATTRIBUTE_DEPRECATED__OGLCOLORMAPGETDEFAULT() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__OGLCOLORMAPGETDEFAULT() \ + SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.06", "") +#endif diff --git a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/DataDisplay.cpp b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/DataDisplay.cpp index 7e7e93ef1b3..f11279afa1c 100644 --- a/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/DataDisplay.cpp +++ b/Sofa/GL/Component/Rendering3D/src/sofa/gl/component/rendering3d/DataDisplay.cpp @@ -55,7 +55,7 @@ DataDisplay::DataDisplay() , d_shininess(initData(&d_shininess, -1.f, "shininess", "Shininess for rendering point-based data [0,128]. <0 means no specularity")) , d_transparency(initData(&d_transparency, Real(1.0), "transparency", "transparency draw objects with transparency, the value varies between 0. and 1. " "Where 1. means no transparency and 0 full transparency")) - , state(nullptr) + , l_colorMap(initLink("colorMap", "link to the color map")) , m_topology(nullptr) , l_topology(initLink("topology", "link to the topology container")) , m_oldMin(std::numeric_limits::max()) @@ -80,10 +80,30 @@ void DataDisplay::init() if (!m_topology) msg_info() << "No topology information, drawing just points."; - this->getContext()->get(colorMap); - if (!colorMap) { - msg_error() << "No ColorMap found, using default."; - colorMap = OglColorMap::getDefault(); + if (!l_colorMap) + { + l_colorMap.set(getContext()->get()); + + if (!l_colorMap) + { + if (const auto colorMap = sofa::core::objectmodel::New()) + { + getContext()->addObject(colorMap); + colorMap->setName( this->getContext()->getNameHelper().resolveName(colorMap->getClassName(), {})); + colorMap->f_printLog.setValue(this->f_printLog.getValue()); + l_colorMap.set(colorMap); + + msg_warning() << "A " << l_colorMap->getClassName() << " is required by " << this->getClassName() + << " but has not been found: a default " << l_colorMap->getClassName() + << " is automatically added in the scene for you. To remove this warning, add a " << l_colorMap->getClassName() << " in the scene."; + } + else + { + msg_fatal() << "A " << l_colorMap->getClassName() << " is required by " << this->getClassName() + << " but has not been found: a default " << l_colorMap->getClassName() + << " could not be automatically added in the scene. To remove this error, add a " << l_colorMap->getClassName() << " in the scene."; + } + } } } @@ -104,9 +124,10 @@ void DataDisplay::doDrawVisual(const core::visual::VisualParams* vparams) typedef sofa::type::RGBAColor RGBAColor; const float& transparency = d_transparency.getValue(); - glEnable ( GL_LIGHTING ); - glEnable(GL_BLEND); - glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + auto* drawTool = vparams->drawTool(); + + drawTool->enableLighting(); + drawTool->enableBlending(); bool bDrawPointData = false; bool bDrawCellData = false; @@ -242,8 +263,8 @@ void DataDisplay::doDrawVisual(const core::visual::VisualParams* vparams) if (bDrawCellData) { - glDisable( GL_LIGHTING ); - auto eval = colorMap->getEvaluator(min, max); + drawTool->disableLighting(); + auto eval = l_colorMap->getEvaluator(min, max); if( !triData.empty() ) { @@ -256,7 +277,7 @@ void DataDisplay::doDrawVisual(const core::visual::VisualParams* vparams) : eval(triData[i]); color[3] = transparency; const Triangle& t = m_topology->getTriangle(i); - vparams->drawTool()->drawTriangle( + drawTool->drawTriangle( x[ t[0] ], x[ t[1] ], x[ t[2] ], m_normals[ t[0] ], m_normals[ t[1] ], m_normals[ t[2] ], color, color, color); @@ -264,8 +285,7 @@ void DataDisplay::doDrawVisual(const core::visual::VisualParams* vparams) } else if( !pointTriData.empty() ) { - glEnable( GL_LIGHTING ); - // Triangles + std::vector colors; size_t nbTriangles = m_topology->getNbTriangles(); glBegin(GL_TRIANGLES); @@ -303,7 +323,8 @@ void DataDisplay::doDrawVisual(const core::visual::VisualParams* vparams) if( !quadData.empty() ) { - glDisable( GL_LIGHTING ); + drawTool->disableLighting(); + size_t nbQuads = m_topology->getNbQuads(); for (unsigned int i=0; igetQuad(i); - vparams->drawTool()->drawQuad( + drawTool->drawQuad( x[ t[0] ], x[ t[1] ], x[ t[2] ], x[ t[3] ], m_normals[ t[0] ], m_normals[ t[1] ], m_normals[ t[2] ], m_normals[ t[3] ], color, color, color, color); @@ -320,7 +341,7 @@ void DataDisplay::doDrawVisual(const core::visual::VisualParams* vparams) } else if( !pointQuadData.empty() ) { - glEnable( GL_LIGHTING ); + drawTool->enableLighting(); size_t nbQuads = m_topology->getNbQuads(); glBegin(GL_QUADS); for (unsigned int i=0; i eval = colorMap->getEvaluator(min, max); + helper::ColorMap::evaluator eval = l_colorMap->getEvaluator(min, max); // Just the points glPointSize(10); for (unsigned int i=0; idrawTool()->drawPoint(x[i], color); + drawTool->drawPoint(x[i], color); } } else if (bDrawPointData) { - helper::ColorMap::evaluator eval = colorMap->getEvaluator(min, max); + helper::ColorMap::evaluator eval = l_colorMap->getEvaluator(min, max); // Triangles @@ -454,11 +475,7 @@ void DataDisplay::computeNormals() for (sofa::core::topology::Topology::TriangleID i=0; igetNbTriangles(); ++i) { const Triangle &t = m_topology->getTriangle(i); - - const Coord& v1 = x[t[0]]; - const Coord& v2 = x[t[1]]; - const Coord& v3 = x[t[2]]; - const Coord n = cross(v2-v1, v3-v1); + const Coord n = sofa::geometry::Triangle::normal(x[t[0]], x[t[1]], x[t[2]]); m_normals[t[0]] += n; m_normals[t[1]] += n; @@ -473,20 +490,15 @@ void DataDisplay::computeNormals() const Coord & v2 = x[q[1]]; const Coord & v3 = x[q[2]]; const Coord & v4 = x[q[3]]; - const Coord n1 = cross(v2-v1, v4-v1); - const Coord n2 = cross(v3-v2, v1-v2); - const Coord n3 = cross(v4-v3, v2-v3); - const Coord n4 = cross(v1-v4, v3-v4); - - m_normals[q[0]] += n1; - m_normals[q[1]] += n2; - m_normals[q[2]] += n3; - m_normals[q[3]] += n4; + m_normals[q[0]] += sofa::geometry::Triangle::normal(v1, v2, v4); + m_normals[q[1]] += sofa::geometry::Triangle::normal(v2, v3, v1); + m_normals[q[2]] += sofa::geometry::Triangle::normal(v3, v4, v2); + m_normals[q[3]] += sofa::geometry::Triangle::normal(v4, v1, v3); } // normalization - for (size_t i=0; i d_shininess; ///< Shininess for rendering point-based data [0,128]. <0 means no specularity Data d_transparency; ///< Add transparency when we draw triangles (this allows to see inside the volume). - gl::component::rendering2d::OglColorMap *colorMap; - core::State *state; + SingleLink l_colorMap; core::topology::BaseMeshTopology* m_topology; /// Link to be set to the topology container in the component graph. diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglShader.cpp b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglShader.cpp index 940a204f73b..10d10fd8ab5 100644 --- a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglShader.cpp +++ b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglShader.cpp @@ -267,9 +267,9 @@ void OglShader::start() if (shaderVector[indexActiveShader.getValue()]->GetTessellationEvaluationShaderID() && !shaderVector[indexActiveShader.getValue()]->GetTessellationControlShaderID() && GLEW_ARB_tessellation_shader) { type::fixed_array levels; - levels.assign(tessellationOuterLevel.getValue()); + levels.fill(tessellationOuterLevel.getValue()); glPatchParameterfv(GL_PATCH_DEFAULT_OUTER_LEVEL, levels.data()); - levels.assign(tessellationInnerLevel.getValue()); + levels.fill(tessellationInnerLevel.getValue()); glPatchParameterfv(GL_PATCH_DEFAULT_INNER_LEVEL, levels.data()); } #endif diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglVariable.cpp b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglVariable.cpp index b196cc42c85..ab741d3ce1a 100644 --- a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglVariable.cpp +++ b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/OglVariable.cpp @@ -691,7 +691,7 @@ void OglMatrix4VectorVariable::pushValue() const std::string& idstr = id.getValue(); const type::vector& v = value.getValue(); - const float* vptr = v.empty() ? nullptr : &(v[0][0][0]); + const float* vptr = v.empty() ? nullptr : v[0].data(); const bool transp = transpose.getValue(); const int count = int(v.size()); for(std::set::iterator it = shaders.begin(), iend = shaders.end(); it!=iend; ++it) diff --git a/Sofa/GL/Sofa.GLConfig.cmake.in b/Sofa/GL/Sofa.GLConfig.cmake.in index 983040bfe15..9de9950dfc4 100644 --- a/Sofa/GL/Sofa.GLConfig.cmake.in +++ b/Sofa/GL/Sofa.GLConfig.cmake.in @@ -5,10 +5,11 @@ set(SOFA_GL_HAVE_GLEW @SOFA_GL_HAVE_GLEW@) -find_package(Sofa.Helper QUIET REQUIRED) -find_package(Sofa.DefaultType QUIET REQUIRED) -find_package(OpenGL QUIET REQUIRED) -find_package(GLEW QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Helper QUIET REQUIRED) +sofa_find_package(Sofa.DefaultType QUIET REQUIRED) +sofa_find_package(OpenGL QUIET REQUIRED) +sofa_find_package(GLEW QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/GL/src/sofa/gl/BasicShapes.h b/Sofa/GL/src/sofa/gl/BasicShapes.h index 4a6ee3c72c7..6a52d444ba7 100644 --- a/Sofa/GL/src/sofa/gl/BasicShapes.h +++ b/Sofa/GL/src/sofa/gl/BasicShapes.h @@ -129,7 +129,7 @@ void drawWireSphere(const V& center, const float& rad, const int subd1=8, const template void drawTorus(const float* coordinateMatrix, const float& bodyRad=0.0, const float& rad=1.0, const int precision=20, - const V& color=sofa::type::fixed_array(255,215,180)) + const V& color=sofa::type::fixed_array({255,215,180})) { glColor3ub(color.x(), color.y(), color.z()); // gluQuadricDrawStyle(quadric, GLU_FILL); diff --git a/Sofa/GL/src/sofa/gl/DrawToolGL.cpp b/Sofa/GL/src/sofa/gl/DrawToolGL.cpp index 26aba45cf75..5b26b3e7ad3 100644 --- a/Sofa/GL/src/sofa/gl/DrawToolGL.cpp +++ b/Sofa/GL/src/sofa/gl/DrawToolGL.cpp @@ -351,17 +351,24 @@ void DrawToolGL::drawTriangles(const std::vector &points, const std::vecto void DrawToolGL::drawTriangles(const std::vector &points, const std::vector< type::Vec3i > &index, const std::vector &normal, - const std::vector& colour) + const std::vector& colors) { - //todo ! - SOFA_UNUSED(points); - SOFA_UNUSED(index); - SOFA_UNUSED(normal); - SOFA_UNUSED(colour); + glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE); + glEnable(GL_COLOR_MATERIAL); + setMaterial(colors[0]); + glBegin(GL_TRIANGLES); + { + for (std::size_t i=0; i &points, const std::vector &normal, const std::vector< type::RGBAColor > &color) { diff --git a/Sofa/GL/src/sofa/gl/DrawToolGL.h b/Sofa/GL/src/sofa/gl/DrawToolGL.h index b0830adfbc4..b97d4fa055b 100644 --- a/Sofa/GL/src/sofa/gl/DrawToolGL.h +++ b/Sofa/GL/src/sofa/gl/DrawToolGL.h @@ -81,7 +81,7 @@ class SOFA_GL_API DrawToolGL : public helper::visual::DrawTool virtual void drawTriangles(const std::vector &points, const std::vector< type::Vec3i > &index, const std::vector &normal, - const std::vector& color) override; + const std::vector& colors) override; virtual void drawTriangles(const std::vector &points, const std::vector &normal, const std::vector< type::RGBAColor > &color) override; diff --git a/Sofa/GUI/Batch/src/sofa/gui/batch/BatchGUI.h b/Sofa/GUI/Batch/src/sofa/gui/batch/BatchGUI.h index 91cb614b775..34f61c8a8d6 100644 --- a/Sofa/GUI/Batch/src/sofa/gui/batch/BatchGUI.h +++ b/Sofa/GUI/Batch/src/sofa/gui/batch/BatchGUI.h @@ -23,6 +23,7 @@ #include #include +#include #include #include #include diff --git a/Sofa/GUI/Common/CMakeLists.txt b/Sofa/GUI/Common/CMakeLists.txt index 8f764ae8fb5..4b289be2ce7 100644 --- a/Sofa/GUI/Common/CMakeLists.txt +++ b/Sofa/GUI/Common/CMakeLists.txt @@ -5,23 +5,14 @@ find_package(cxxopts 3.1 QUIET) if(NOT cxxopts_FOUND AND SOFA_ALLOW_FETCH_DEPENDENCIES) message("Sofa.GUI.Common: DEPENDENCY cxxopts NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching cxxopts...") - include(FetchContent) - FetchContent_Declare(cxxopts + set(CXXOPTS_BUILD_EXAMPLES OFF CACHE INTERNAL "") + set(CXXOPTS_BUILD_TESTS OFF CACHE INTERNAL "") + set(CXXOPTS_ENABLE_INSTALL ON CACHE INTERNAL "") + + sofa_fetch_dependency(cxxopts GIT_REPOSITORY https://github.com/jarro2783/cxxopts GIT_TAG v3.1.1 ) - - FetchContent_GetProperties(cxxopts) - if(NOT cxxopts_POPULATED) - FetchContent_Populate(cxxopts) - - set(CXXOPTS_BUILD_EXAMPLES OFF CACHE INTERNAL "") - set(CXXOPTS_BUILD_TESTS OFF CACHE INTERNAL "") - set(CXXOPTS_ENABLE_INSTALL ON CACHE INTERNAL "") - message("Sofa.GUI.Common: adding subdirectory ${cxxopts_SOURCE_DIR}") - - add_subdirectory(${cxxopts_SOURCE_DIR} ${cxxopts_BINARY_DIR}) - endif() elseif (NOT cxxopts_FOUND) message(FATAL_ERROR "Sofa.GUI.Common: DEPENDENCY cxxopts NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install libcxxopts-dev (version>=3.1.0), or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.") endif() diff --git a/Sofa/GUI/Common/Sofa.GUI.CommonConfig.cmake.in b/Sofa/GUI/Common/Sofa.GUI.CommonConfig.cmake.in index 378090bb285..e53ec862902 100644 --- a/Sofa/GUI/Common/Sofa.GUI.CommonConfig.cmake.in +++ b/Sofa/GUI/Common/Sofa.GUI.CommonConfig.cmake.in @@ -5,16 +5,17 @@ set(SOFA_GUI_COMMON_HAVE_SOFA_GL @SOFA_GUI_COMMON_HAVE_SOFA_GL@) -find_package(Sofa.Simulation.Common REQUIRED) -find_package(Sofa.Component.Setting QUIET REQUIRED) -find_package(Sofa.Component.Collision.Response.Contact QUIET REQUIRED) -find_package(Sofa.GUI.Component QUIET REQUIRED) +find_package(Sofa.Config REQUIRED) +sofa_find_package(Sofa.Simulation.Common REQUIRED) +sofa_find_package(Sofa.Component.Setting QUIET REQUIRED) +sofa_find_package(Sofa.Component.Collision.Response.Contact QUIET REQUIRED) +sofa_find_package(Sofa.GUI.Component QUIET REQUIRED) if(NOT TARGET cxxopts) - find_package(cxxopts QUIET REQUIRED) + sofa_find_package(cxxopts QUIET REQUIRED) endif() if(SOFA_GUI_COMMON_HAVE_SOFA_GL) - find_package(Sofa.GL QUIET REQUIRED) + sofa_find_package(Sofa.GL QUIET REQUIRED) endif() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseGUI.cpp b/Sofa/GUI/Common/src/sofa/gui/common/BaseGUI.cpp index ad53e6ab34e..975c66d70a1 100644 --- a/Sofa/GUI/Common/src/sofa/gui/common/BaseGUI.cpp +++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseGUI.cpp @@ -35,6 +35,7 @@ #include #include +#include #include #include @@ -145,13 +146,13 @@ const std::string& BaseGUI::getScreenshotDirectoryPath() static void setDirectoryPath(std::string& outputVariable, const std::string& path, bool createIfNecessary) { - const bool pathExists = FileSystem::exists(path); + const bool pathExists = std::filesystem::exists(path); if (!pathExists && !createIfNecessary) { msg_error("BaseGUI") << "No such directory '" << path << "'"; } - else if (pathExists && !FileSystem::isDirectory(path)) + else if (pathExists && !std::filesystem::is_directory(path)) { msg_error("BaseGUI") << "Not a directory: " << path << "'"; } @@ -159,8 +160,10 @@ static void setDirectoryPath(std::string& outputVariable, const std::string& pat { if (!pathExists) { - FileSystem::createDirectory(path); - msg_info("BaseGUI") << "Created directory: " << path; + if(std::filesystem::create_directories(path)) + { + msg_info("BaseGUI") << "Created directory: " << path; + } } outputVariable = path; } diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp index 5e1f9f18c2d..e1ea31c185b 100644 --- a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp +++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp @@ -277,4 +277,132 @@ void BaseViewer::fitObjectBBox(sofa::core::objectmodel::BaseObject * object) redraw(); } +void BaseViewer::drawSelection(sofa::core::visual::VisualParams* vparams) +{ + assert(vparams && "call of drawSelection without a valid visual param is not allowed"); + + auto drawTool = vparams->drawTool(); + + if(currentSelection.empty()) + return; + + drawTool->setPolygonMode(0, false); + float screenHeight = vparams->viewport()[3]; + + for(auto current : currentSelection) + { + using sofa::type::Vec3; + using sofa::type::RGBAColor; + using sofa::defaulttype::RigidCoord; + using sofa::defaulttype::Rigid3Types; + + ////////////////////// Render when the selection is a Node /////////////////////////////// + auto node = castTo(current.get()); + if(node) + { + if(m_showSelectedNodeBoundingBox) + { + auto box = node->f_bbox.getValue(); + drawTool->drawBoundingBox(box.minBBox(), box.maxBBox(), 2.0); + } + + // If it is a node then it is not a BaseObject, so we can continue. + continue; + } + + ////////////////////// Render when the selection is a BaseObject ////////////////////////// + auto object = castTo(current.get()); + if(object) + { + sofa::type::BoundingBox box; + auto ownerNode = dynamic_cast(object->getContext()); + if(ownerNode) + { + box = ownerNode->f_bbox.getValue(); + } + + if(m_showSelectedObjectBoundingBox) + { + drawTool->drawBoundingBox(box.minBBox(), box.maxBBox(), 2.0); + } + + std::vector positions; + auto position = object->findData("position"); + if(position) + { + auto positionsData = dynamic_cast>*>(position); + if(positionsData) + { + positions = positionsData->getValue(); + if(m_showSelectedObjectBoundingBox){ + drawTool->drawPoints(positions, 2.0, RGBAColor::yellow()); + } + } + else + { + auto rigidPositions = dynamic_cast>>*>(position); + if(rigidPositions) + { + for(auto frame : rigidPositions->getValue()) + { + float targetScreenSize = 50.0; + float distance = (currentCamera->getPosition() - Rigid3Types::getCPos(frame)).norm(); + SReal scale = distance * tan(currentCamera->getFieldOfView() / 2.0f) * targetScreenSize / screenHeight; + drawTool->drawFrame(Rigid3Types::getCPos(frame), Rigid3Types::getCRot(frame), {scale, scale,scale}); + positions.push_back(Rigid3Types::getCPos(frame)); + } + } + } + } + + if(m_showSelectedObjectSurfaces && !positions.empty()) + { + auto triangles = object->findData("triangles"); + if(triangles) + { + auto d_triangles = dynamic_cast>*>(triangles); + if(d_triangles) + { + std::vector tripoints; + for(auto indices : d_triangles->getValue()) + { + if(indices[0] < positions.size() && + indices[1] < positions.size() && + indices[2] < positions.size()) + { + tripoints.push_back(positions[indices[0]]); + tripoints.push_back(positions[indices[1]]); + tripoints.push_back(positions[indices[1]]); + tripoints.push_back(positions[indices[2]]); + tripoints.push_back(positions[indices[2]]); + tripoints.push_back(positions[indices[0]]); + } + } + drawTool->drawLines(tripoints, 1.5, RGBAColor::fromFloat(1.0,1.0,1.0,0.7)); + } + } + } + + if(!positions.empty() && m_showSelectedObjectIndices) + { + const float scale = (box.maxBBox() - box.minBBox()).norm() * m_visualScaling; + drawTool->draw3DText_Indices(positions, scale, RGBAColor::white()); + } + + continue; + } + msg_error("BaseViewer") << "Only node and object can be selected, if you see this line please report to sofa-developement team"; + } +} + +void BaseViewer::setCurrentSelection(const std::set& selection) +{ + currentSelection = selection; +} + +const std::set &BaseViewer::getCurrentSelection() const +{ + return currentSelection; +} + } // namespace sofa::gui::common diff --git a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h index 6fb448907b4..356485fc0c7 100644 --- a/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h +++ b/Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.h @@ -121,7 +121,23 @@ class SOFA_GUI_COMMON_API BaseViewer /// the rendering pass is done here (have to be called in a loop) virtual void drawScene(void) = 0; + void drawSelection(sofa::core::visual::VisualParams* vparams); + + void setCurrentSelection(const std::set &selection); + const std::set& getCurrentSelection() const; + +public: + bool m_showSelectedNodeBoundingBox {true}; + bool m_showSelectedObjectBoundingBox {true}; + bool m_showSelectedObjectPositions {true}; + bool m_showSelectedObjectSurfaces {true}; + bool m_showSelectedObjectVolumes {true}; + bool m_showSelectedObjectIndices {true}; + float m_visualScaling {0.2}; + protected: + void drawIndices(const sofa::type::BoundingBox& bbox, const std::vector& positions); + /// internally called while the actual viewer needs a redraw (ie the camera changed) virtual void redraw() = 0; @@ -135,6 +151,7 @@ class SOFA_GUI_COMMON_API BaseViewer bool _video; bool m_isVideoButtonPressed; bool m_bShowAxis; + bool _fullScreen; int _background; bool initTexturesDone; @@ -153,6 +170,8 @@ class SOFA_GUI_COMMON_API BaseViewer int _mouseInteractorSavedPosY; std::string _screenshotDirectory; + + std::set currentSelection; }; } // namespace sofa::gui::common diff --git a/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h b/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h index c6fcb634d9b..1578cc27282 100644 --- a/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h +++ b/Sofa/GUI/Common/src/sofa/gui/common/GUIManager.h @@ -22,6 +22,7 @@ #pragma once #include +#include #include #include diff --git a/Sofa/GUI/Common/src/sofa/gui/common/OperationFactory.h b/Sofa/GUI/Common/src/sofa/gui/common/OperationFactory.h index f5033d66120..2787e90d1f0 100644 --- a/Sofa/GUI/Common/src/sofa/gui/common/OperationFactory.h +++ b/Sofa/GUI/Common/src/sofa/gui/common/OperationFactory.h @@ -69,10 +69,8 @@ class SOFA_GUI_COMMON_API OperationFactory } - SOFA_ATTRIBUTE_DEPRECATED__TYPO() static Operation* Instanciate(const std::string &name) - { - return Instantiate(name); - } + SOFA_ATTRIBUTE_DISABLED__TYPO() + static Operation* Instanciate(const std::string &name) = delete; static Operation* Instantiate(const std::string &name) { diff --git a/Sofa/GUI/Common/src/sofa/gui/common/config.h.in b/Sofa/GUI/Common/src/sofa/gui/common/config.h.in index 64ffad3ee9a..27d5615ee4c 100644 --- a/Sofa/GUI/Common/src/sofa/gui/common/config.h.in +++ b/Sofa/GUI/Common/src/sofa/gui/common/config.h.in @@ -35,8 +35,8 @@ #endif #ifdef SOFA_BUILD_SOFA_CORE -#define SOFA_ATTRIBUTE_DEPRECATED__TYPO() +#define SOFA_ATTRIBUTE_DISABLED__TYPO() #else -#define SOFA_ATTRIBUTE_DEPRECATED__TYPO() \ - SOFA_ATTRIBUTE_DEPRECATED("v25.06", "v25.12", "Use function Instantiate instead.") +#define SOFA_ATTRIBUTE_DISABLED__TYPO() \ + SOFA_ATTRIBUTE_DISABLED("v25.06", "v25.12", "Use function Instantiate instead.") #endif diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt index 13d079ae39e..97d3f52ebb0 100644 --- a/Sofa/framework/Config/CMakeLists.txt +++ b/Sofa/framework/Config/CMakeLists.txt @@ -241,16 +241,12 @@ endif() option(SOFA_TRACY "Compile SOFA with the Tracy profiler client" OFF) if (SOFA_TRACY) set(SOFA_TRACY_VERSION v0.11.1) - include(FetchContent) option(TRACY_STATIC "Whether to build Tracy as a static library" OFF) - FetchContent_Declare ( + sofa_fetch_dependency ( tracy GIT_REPOSITORY https://github.com/wolfpld/tracy.git GIT_TAG ${SOFA_TRACY_VERSION} - GIT_SHALLOW TRUE - GIT_PROGRESS TRUE ) - FetchContent_MakeAvailable (tracy) target_link_libraries(${PROJECT_NAME} PUBLIC TracyClient ) message(STATUS "SOFA is compiled with the Tracy profiler client. Use the Tracy server ${SOFA_TRACY_VERSION}.") endif() diff --git a/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake b/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake index 2038c25a30d..c34d3249cc5 100644 --- a/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake +++ b/Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake @@ -173,65 +173,30 @@ macro(sofa_add_generic directory name type) endif() endmacro() -### Macro to help external projects management -# It produces the correct naming for cmake flag generation and the actual name of the project -macro(get_name_from_source_dir) - get_filename_component(ProjectId ${CMAKE_CURRENT_LIST_DIR} NAME) - string(REPLACE "\." "_" fixed_name ${ProjectId}) - string(TOUPPER ${fixed_name} fixed_name) - - set(inner-project-name ${ProjectId}) - set(inner-project-name-upper ${fixed_name}) -endmacro() -### External projects management -# Thanks to http://crascit.com/2015/07/25/cmake-gtest/ -# -# Use this macro (subdirectory or plugin version) to add out-of-repository projects. -# Usage: -# 1. Add repository configuration in MyProjectDir/ExternalProjectConfig.cmake.in -# 2. Call sofa_add_subdirectory_external(MyProjectDir MyProjectName [ON,OFF] [FETCH_ONLY]) -# or sofa_add_plugin_external(MyProjectDir MyProjectName [ON,OFF] [FETCH_ONLY]) -# ON,OFF = execute the fetch by default + enable the fetched plugin (if calling sofa_add_plugin_external) -# FETCH_ONLY = do not "add_subdirectory" the fetched repository -# See plugins/SofaHighOrder for example -# -function(sofa_add_generic_external name type) - set(optionArgs FETCH_ONLY) - set(oneValueArgs DEFAULT_VALUE WHEN_TO_SHOW VALUE_IF_HIDDEN GIT_REF GIT_REPOSITORY) - set(multiValueArgs) - cmake_parse_arguments("ARG" "${optionArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) +macro(sofa_fetch_dependency name) - string(TOLOWER ${type} type_lower) + set(oneValueArgs GIT_TAG GIT_REPOSITORY FETCH_ENABLED ) + set(multiValueArgs "") + set(options DONT_BUILD) + cmake_parse_arguments("ARG" "${options}" "${oneValueArgs}" "${multiValueArgs}" "${ARGN}") - # Default value for fetch activation and for plugin activation (if adding a plugin) - set(active OFF) - if(${ARG_DEFAULT_VALUE}) - set(active ON) - endif() - - set(directory "${CMAKE_CURRENT_LIST_DIR}/${name}") + # Setup fetch directory + set(fetched_dir "${CMAKE_BINARY_DIR}/external_directories/fetched/${name}" ) + set(build_directory "${CMAKE_BINARY_DIR}/external_directories/fetched/${name}-build") # Create option string(REPLACE "\." "_" fixed_name ${name}) - string(TOUPPER ${PROJECT_NAME}_FETCH_${fixed_name} fetch_enabled) string(TOUPPER ${fixed_name} upper_name) - if(NOT "${ARG_WHEN_TO_SHOW}" STREQUAL "" AND NOT "${ARG_VALUE_IF_HIDDEN}" STREQUAL "") - cmake_dependent_option(${fetch_enabled} "Fetch/update ${name} repository." ${active} "${ARG_WHEN_TO_SHOW}" ${ARG_VALUE_IF_HIDDEN}) - else() - option(${fetch_enabled} "Fetch/update ${name} repository." ${active}) - endif() - - # Setup fetch directory - set(fetched_dir "${CMAKE_BINARY_DIR}/external_directories/fetched/${name}" ) - file(RELATIVE_PATH relative_path "${CMAKE_SOURCE_DIR}" "${directory}") + set(${upper_name}_GIT_REPOSITORY "${ARG_GIT_REPOSITORY}" CACHE STRING "Repository address" ) + set(${upper_name}_GIT_TAG "${ARG_GIT_TAG}" CACHE STRING "Branch or commit SHA to checkout" ) + set(${upper_name}_LOCAL_DIRECTORY "" CACHE STRING "Absolute path to a local folder containing the cloned repository") - # Fetch - if(${fetch_enabled}) - set(${upper_name}_GIT_REPOSITORY "${ARG_GIT_REPOSITORY}" CACHE STRING "Repository address" ) - set(${upper_name}_GIT_TAG "${ARG_GIT_REF}" CACHE STRING "Branch or commit SHA to checkout" ) + set(${fixed_name}_SOURCE_DIR "${fetched_dir}" CACHE STRING "" FORCE ) - message("Fetching ${type_lower} ${name} in ${fetched_dir}") + if( "${${upper_name}_LOCAL_DIRECTORY}" STREQUAL "" AND NOT FETCHCONTENT_FULLY_DISCONNECTED AND NOT FETCHCONTENT_UPDATES_DISCONNECTED AND NOT "${ARG_FETCH_ENABLED}" STREQUAL "OFF") + # Fetch + message("Fetching dependency ${name} in ${fetched_dir}") message(STATUS "Checkout reference ${${upper_name}_GIT_TAG} from repository ${${upper_name}_GIT_REPOSITORY} ") #Generate temporary folder to store project that will fetch the sources @@ -269,11 +234,85 @@ function(sofa_add_generic_external name type) file(APPEND "${fetched_dir}-temp/logs.txt" "${build_logs}") if(NOT generate_exitcode EQUAL 0 OR NOT build_exitcode EQUAL 0) - message(SEND_ERROR "Failed to fetch external repository ${name}." "\nSee logs in ${fetched_dir}/logs.txt") + message(SEND_ERROR "Failed to fetch external repository ${name}." "\nSee logs in ${fetched_dir}-temp/logs.txt") endif() + elseif (NOT ${upper_name}_LOCAL_DIRECTORY STREQUAL "") + if(EXISTS ${${upper_name}_LOCAL_DIRECTORY}) + message("${name}: Using local directory ${${upper_name}_LOCAL_DIRECTORY}.") + set(fetched_dir "${${upper_name}_LOCAL_DIRECTORY}") + else () + message(SEND_ERROR "${name}: Specified directory ${${upper_name}_LOCAL_DIRECTORY} doesn't exist." "\nPlease provide a directory containing the fetched project, or use option ${fetch_enabled} to automatically fetch it.") + endif () + endif() + + + # Add + if(NOT ARG_DONT_BUILD AND EXISTS "${fetched_dir}/.git" AND IS_DIRECTORY "${fetched_dir}/.git") + set(${fixed_name}_BUILD_DIR "${build_directory}" CACHE STRING "" FORCE) + add_subdirectory("${fetched_dir}" "${build_directory}") + message(STATUS "Adding subproject ${name} from sources at ${${fixed_name}_SOURCE_DIR}") + elseif(NOT ARG_DONT_BUILD AND NOT ${upper_name}_LOCAL_DIRECTORY STREQUAL "") + message(SEND_ERROR "Directory ${${upper_name}_LOCAL_DIRECTORY} given in ${upper_name}_LOCAL_DIRECTORY doesn't seem to be a right github repository.") + elseif (NOT ARG_DONT_BUILD AND FETCHCONTENT_FULLY_DISCONNECTED OR FETCHCONTENT_UPDATES_DISCONNECTED) + message(SEND_ERROR "FETCHCONTENT_FULLY_DISCONNECTED or FETCHCONTENT_UPDATES_DISCONNECTED is ON but the dependency hasn't been fetched correctly before. Please reconnect fetching mechanism or provide a local directory by setting ${upper_name}_LOCAL_DIRECTORY.") + endif() +endmacro() + + + +### External projects management +# Thanks to http://crascit.com/2015/07/25/cmake-gtest/ +# +# Use this macro (subdirectory or plugin version) to add out-of-repository projects. +# Usage: +# 1. Add repository configuration in MyProjectDir/ExternalProjectConfig.cmake.in +# 2. Call sofa_add_subdirectory_external(MyProjectDir MyProjectName [ON,OFF] [FETCH_ONLY]) +# or sofa_add_plugin_external(MyProjectDir MyProjectName [ON,OFF] [FETCH_ONLY]) +# ON,OFF = execute the fetch by default + enable the fetched plugin (if calling sofa_add_plugin_external) +# FETCH_ONLY = do not "add_subdirectory" the fetched repository +# See plugins/SofaHighOrder for example +# +function(sofa_add_generic_external name type) + set(optionArgs FETCH_ONLY) + set(oneValueArgs DEFAULT_VALUE WHEN_TO_SHOW VALUE_IF_HIDDEN GIT_REF GIT_REPOSITORY) + set(multiValueArgs) + cmake_parse_arguments("ARG" "${optionArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + string(TOLOWER ${type} type_lower) + + # Default value for fetch activation and for plugin activation (if adding a plugin) + set(active OFF) + if(${ARG_DEFAULT_VALUE}) + set(active ON) endif() + # Create option + string(REPLACE "\." "_" fixed_name ${name}) + string(TOUPPER ${fixed_name} upper_name) + string(TOUPPER ${PROJECT_NAME}_FETCH_${fixed_name} fetch_enabled) + + if(NOT "${ARG_WHEN_TO_SHOW}" STREQUAL "" AND NOT "${ARG_VALUE_IF_HIDDEN}" STREQUAL "") + cmake_dependent_option(${fetch_enabled} "Fetch/update ${name} repository." ${active} "${ARG_WHEN_TO_SHOW}" ${ARG_VALUE_IF_HIDDEN}) + else() + option(${fetch_enabled} "Fetch/update ${name} repository." ${active}) + endif() + + sofa_fetch_dependency("${name}" + GIT_TAG "${ARG_GIT_REF}" + GIT_REPOSITORY "${ARG_GIT_REPOSITORY}" + FETCH_ENABLED "${${fetch_enabled}}" + DONT_BUILD + ) + + # Setup fetch directory + if(NOT "${${upper_name}_LOCAL_DIRECTORY}" STREQUAL "") + set(fetched_dir "${${upper_name}_LOCAL_DIRECTORY}" ) + else () + set(fetched_dir "${CMAKE_BINARY_DIR}/external_directories/fetched/${name}" ) + endif () + set(directory "${CMAKE_CURRENT_LIST_DIR}/${name}") + file(RELATIVE_PATH relative_path "${CMAKE_SOURCE_DIR}" "${directory}") + # Add if(EXISTS "${fetched_dir}/.git" AND IS_DIRECTORY "${fetched_dir}/.git") if(NOT ARG_FETCH_ONLY AND "${type}" MATCHES ".*directory.*") diff --git a/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake b/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake index f07fe9a27d8..20573bb58b5 100644 --- a/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake +++ b/Sofa/framework/Config/cmake/SofaMacrosInstall.cmake @@ -29,7 +29,7 @@ include(CMakeParseLibraryList) # instead of being dispatched in SOFA install directory (between bin, libs, share, ...). # If not building through SOFA, RELOCATABLE has no effect. macro(sofa_create_package_with_targets) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES NO_AUTO_RESOURCES_INSTALL) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -46,6 +46,26 @@ macro(sofa_create_package_with_targets) list(APPEND child_args INCLUDE_INSTALL_DIR "${ARG_PACKAGE_NAME}") endif() + if(ARG_RELOCATABLE) + string(TOUPPER "${CMAKE_PROJECT_NAME}_${ARG_RELOCATABLE}_RELOCATABLE_PATH" global_relocatable_path) + if(${global_relocatable_path}) + set(plugin_relocatable_path "${${global_relocatable_path}}" ) + else() + message(WARNING "sofa_create_package_with_targets(${ARG_PACKAGE_NAME}) Relocatable type ${ARG_RELOCATABLE} is unknown. Either specify one of the following {applications, plugins, projects} or specify a custom RELOCATABLE_PATH") + endif() + + if(ARG_RELOCATABLE_PATH) + list(FIND child_args "RELOCATABLE_PATH" relPathNameId) + list(REMOVE_AT child_args ${relPathNameId}) + list(INSERT child_args ${relPathNameId} "${plugin_relocatable_path}") + else () + list(APPEND child_args RELOCATABLE_PATH) + list(APPEND child_args "${plugin_relocatable_path}") + endif () + endif() + + + sofa_create_package(${child_args}) sofa_add_targets_to_package(${child_args}) endmacro() @@ -79,7 +99,7 @@ endmacro() # instead of being dispatched in SOFA install directory (between bin, libs, share, ...). # If not building through SOFA, RELOCATABLE has no effect. macro(sofa_create_component_in_package_with_targets) - set(oneValueArgs COMPONENT_NAME COMPONENT_VERSION PACKAGE_NAME INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR RELOCATABLE) + set(oneValueArgs COMPONENT_NAME COMPONENT_VERSION PACKAGE_NAME INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -96,6 +116,24 @@ macro(sofa_create_component_in_package_with_targets) list(APPEND child_args INCLUDE_INSTALL_DIR "${ARG_PACKAGE_NAME}") endif() + if(ARG_RELOCATABLE) + string(TOUPPER "${CMAKE_PROJECT_NAME}_${ARG_RELOCATABLE}_RELOCATABLE_PATH" global_relocatable_path) + if(${global_relocatable_path}) + set(plugin_relocatable_path "${${global_relocatable_path}}" ) + else() + message(WARNING "sofa_create_component_in_package_with_targets(${ARG_PACKAGE_NAME}) Relocatable type ${ARG_RELOCATABLE} is unknown. Either specify one of the following {applications, plugins, projects} or specify a custom RELOCATABLE_PATH") + endif() + + if(ARG_RELOCATABLE_PATH) + list(FIND child_args "RELOCATABLE_PATH" relPathNameId) + list(REMOVE_AT child_args ${relPathNameId}) + list(INSERT child_args ${relPathNameId} "${plugin_relocatable_path}") + else () + list(APPEND child_args RELOCATABLE_PATH) + list(APPEND child_args "${plugin_relocatable_path}") + endif () + endif() + # Calling sofa_create_package like sofa_create_package_with_targets does # but with different values for PACKAGE_NAME and PACKAGE_VERSION # and a new PACKAGE_PARENT argument. @@ -146,7 +184,7 @@ endmacro() # # check_required_components(Foo Qux) macro(sofa_create_package) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION PACKAGE_PARENT INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION PACKAGE_PARENT INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -158,6 +196,15 @@ macro(sofa_create_package) endif() endforeach() + if(ARG_RELOCATABLE AND NOT ARG_RELOCATABLE_PATH) + string(TOUPPER "${CMAKE_PROJECT_NAME}_${ARG_RELOCATABLE}_RELOCATABLE_PATH" global_relocatable_path) + if(${global_relocatable_path}) + set(ARG_RELOCATABLE_PATH "${${global_relocatable_path}}" ) + else() + message(WARNING "sofa_create_component_in_package_with_targets(${ARG_PACKAGE_NAME}) Relocatable type ${ARG_RELOCATABLE} is unknown. Either specify one of the following {applications, plugins, projects} or specify a custom RELOCATABLE_PATH") + endif() + endif() + # Optional subpackage/namespace set(package_install_dir ${ARG_PACKAGE_NAME}) set(package_namespace "") @@ -184,7 +231,7 @@ macro(sofa_create_package) "### Expanded from \@PACKAGE_GUARD\@ by SofaMacrosInstall.cmake ###" "\n" "include_guard()" "\n" ) - if(ARG_RELOCATABLE) + if(ARG_RELOCATABLE_PATH) string(CONCAT PACKAGE_GUARD ${PACKAGE_GUARD} "list(APPEND CMAKE_LIBRARY_PATH \"\${CMAKE_CURRENT_LIST_DIR}/../../../bin\")" "\n" "list(APPEND CMAKE_LIBRARY_PATH \"\${CMAKE_CURRENT_LIST_DIR}/../../../lib\")" "\n" @@ -204,8 +251,8 @@ macro(sofa_create_package) ) install(FILES "${CMAKE_BINARY_DIR}/lib/cmake/${ARG_PACKAGE_NAME}Config.cmake" DESTINATION "lib/cmake/${package_install_dir}" COMPONENT headers) - if(ARG_RELOCATABLE) - sofa_set_project_install_relocatable(${package_install_dir} ${CMAKE_CURRENT_BINARY_DIR} ${ARG_RELOCATABLE}) + if(ARG_RELOCATABLE_PATH) + sofa_set_project_install_relocatable(${package_install_dir} ${CMAKE_CURRENT_BINARY_DIR} ${ARG_RELOCATABLE_PATH}) endif() sofa_install_git_infos(${ARG_PACKAGE_NAME} ${CMAKE_CURRENT_SOURCE_DIR}) @@ -224,7 +271,7 @@ endmacro() # Use AUTO_SET_TARGET_PROPERTIES to enable default properties setting # on all targets (see sofa_auto_set_target_properties). macro(sofa_add_targets_to_package) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE OPTIMIZE_BUILD_DIR) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE_PATH RELOCATABLE OPTIMIZE_BUILD_DIR) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES NO_AUTO_RESOURCES_INSTALL) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -304,7 +351,7 @@ endfunction() # - INCLUDE_DIRECTORIES: if not already set, add as PUBLIC include dirs # 2 BUILD_INTERFACE (source dir and build dir) and 1 INSTALL_INTERFACE (install dir) macro(sofa_auto_set_target_properties) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -327,7 +374,7 @@ endmacro() macro(sofa_auto_set_target_version) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -383,7 +430,7 @@ endmacro() macro(sofa_auto_set_target_compile_definitions) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -422,7 +469,7 @@ endmacro() macro(sofa_auto_set_target_include_directories) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -481,7 +528,7 @@ macro(sofa_auto_set_target_include_directories) target_include_directories(${target} ${TARGET_VISIBILITY} "$") endif() - if(ARG_RELOCATABLE) + if(ARG_RELOCATABLE_PATH) if(NOT "\$" IN_LIST target_include_dirs) target_include_directories(${target} ${TARGET_VISIBILITY} "$") endif() @@ -501,10 +548,11 @@ endmacro() macro(sofa_auto_set_target_rpath) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + # Required arguments foreach(arg ARG_TARGETS) if("${${arg}}" STREQUAL "") @@ -539,7 +587,7 @@ macro(sofa_auto_set_target_rpath) get_target_property(dep_reloc_install_dir ${dep} "RELOCATABLE_INSTALL_DIR") if(dep_reloc_install_dir) # the dependency is relocatable - if(ARG_RELOCATABLE) + if(ARG_RELOCATABLE_PATH) # current target is relocatable list(APPEND target_rpath "$ORIGIN/../../../${dep_reloc_install_dir}/lib" @@ -558,7 +606,7 @@ macro(sofa_auto_set_target_rpath) endif() else() # the dependency is NOT relocatable - if(ARG_RELOCATABLE) + if(ARG_RELOCATABLE_PATH) # current target is relocatable list(APPEND target_rpath "$ORIGIN/../../../lib" @@ -587,7 +635,7 @@ endmacro() # INCLUDE_INSTALL_DIR # Directory in which headers will be copied into /include/ macro(sofa_install_targets_in_package) - set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE OPTIMIZE_BUILD_DIR) + set(oneValueArgs PACKAGE_NAME PACKAGE_VERSION INCLUDE_ROOT_DIR INCLUDE_INSTALL_DIR INCLUDE_SOURCE_DIR EXAMPLE_INSTALL_DIR RELOCATABLE RELOCATABLE_PATH OPTIMIZE_BUILD_DIR) set(multiValueArgs TARGETS) set(optionalArgs AUTO_SET_TARGET_PROPERTIES NO_AUTO_RESOURCES_INSTALL) cmake_parse_arguments("ARG" "${optionalArgs}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) @@ -663,7 +711,7 @@ macro(sofa_install_targets_in_package) endif() # Finalize dirs - if(ARG_RELOCATABLE) + if(ARG_RELOCATABLE_PATH) set(header_install_dir "include/${header_relative_dir_for_build}") else() # headers install-dir tree = headers build-dir tree @@ -707,7 +755,7 @@ macro(sofa_install_targets_in_package) file(GLOB txt_files "*.txt" RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} LIST_DIRECTORIES false) list(FILTER txt_files EXCLUDE REGEX "CMakeLists.txt") file(GLOB md_files "*.md" RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} LIST_DIRECTORIES false) - if(ARG_RELOCATABLE) + if(ARG_RELOCATABLE_PATH) set(info_install_dir ".") else() set(info_install_dir "include/${ARG_INCLUDE_INSTALL_DIR}") diff --git a/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake b/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake index bb4aa5490cc..ad2ca12663c 100644 --- a/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake +++ b/Sofa/framework/Config/cmake/SofaMacrosUtils.cmake @@ -51,3 +51,4 @@ function(sofa_get_all_targets var) __get_all_targets_recursive(targets ${source_dir}) set(${var} ${targets} PARENT_SCOPE) endfunction() + diff --git a/Sofa/framework/Config/src/sofa/config.h.in b/Sofa/framework/Config/src/sofa/config.h.in index a5e01a9ac18..2b2828c5fdf 100644 --- a/Sofa/framework/Config/src/sofa/config.h.in +++ b/Sofa/framework/Config/src/sofa/config.h.in @@ -53,12 +53,12 @@ typedef double SReal; #endif /// User-defined literals allowing to convert any floating-point to a SReal -constexpr SReal operator"" _sreal(long double real) +constexpr SReal operator""_sreal(long double real) { return static_cast(real); } /// User-defined literals allowing to convert any integer to a SReal -constexpr SReal operator"" _sreal(unsigned long long int integer) +constexpr SReal operator""_sreal(unsigned long long int integer) { return static_cast(integer); } diff --git a/Sofa/framework/Core/CMakeLists.txt b/Sofa/framework/Core/CMakeLists.txt index 3574a69d674..a712ab08e63 100644 --- a/Sofa/framework/Core/CMakeLists.txt +++ b/Sofa/framework/Core/CMakeLists.txt @@ -58,6 +58,7 @@ set(HEADER_FILES ${SRC_ROOT}/behavior/BaseInteractionConstraint.h ${SRC_ROOT}/behavior/BaseInteractionForceField.h ${SRC_ROOT}/behavior/BaseInteractionProjectiveConstraintSet.h + ${SRC_ROOT}/behavior/BaseLagrangianConstraint.h ${SRC_ROOT}/behavior/BaseLinearSolver.h ${SRC_ROOT}/behavior/BaseLocalForceFieldMatrix.h ${SRC_ROOT}/behavior/BaseLocalMassMatrix.h @@ -68,8 +69,8 @@ set(HEADER_FILES ${SRC_ROOT}/behavior/BaseProjectiveConstraintSet.h ${SRC_ROOT}/behavior/BaseRotationFinder.h ${SRC_ROOT}/behavior/BaseVectorOperations.h - ${SRC_ROOT}/behavior/BlockType.h ${SRC_ROOT}/behavior/BlocMatrixWriter.h + ${SRC_ROOT}/behavior/BlockType.h ${SRC_ROOT}/behavior/Constraint.h ${SRC_ROOT}/behavior/Constraint.inl ${SRC_ROOT}/behavior/ConstraintCorrection.h @@ -79,11 +80,13 @@ set(HEADER_FILES ${SRC_ROOT}/behavior/DefaultMultiMatrixAccessor.h ${SRC_ROOT}/behavior/ForceField.h ${SRC_ROOT}/behavior/ForceField.inl + ${SRC_ROOT}/behavior/LagrangianConstraint.h + ${SRC_ROOT}/behavior/LagrangianConstraint.inl ${SRC_ROOT}/behavior/LinearSolver.h ${SRC_ROOT}/behavior/LinearSolverAccessor.h - ${SRC_ROOT}/behavior/MatrixAPICompatibility.h ${SRC_ROOT}/behavior/Mass.h ${SRC_ROOT}/behavior/Mass.inl + ${SRC_ROOT}/behavior/MatrixAPICompatibility.h ${SRC_ROOT}/behavior/MechanicalMatrix.h ${SRC_ROOT}/behavior/MechanicalState.h ${SRC_ROOT}/behavior/MechanicalState.inl @@ -105,10 +108,10 @@ set(HEADER_FILES ${SRC_ROOT}/behavior/ProjectiveConstraintSet.h ${SRC_ROOT}/behavior/ProjectiveConstraintSet.inl ${SRC_ROOT}/behavior/RotationFinder.h - ${SRC_ROOT}/behavior/StateAccessor.h ${SRC_ROOT}/behavior/SingleMatrixAccessor.h ${SRC_ROOT}/behavior/SingleStateAccessor.h ${SRC_ROOT}/behavior/SingleStateAccessor.inl + ${SRC_ROOT}/behavior/StateAccessor.h ${SRC_ROOT}/behavior/fwd.h ${SRC_ROOT}/collision/BroadPhaseDetection.h ${SRC_ROOT}/collision/CollisionAlgorithm.h @@ -234,23 +237,23 @@ set(SOURCE_FILES ${SRC_ROOT}/State.cpp ${SRC_ROOT}/VecId.cpp ${SRC_ROOT}/behavior/BaseAnimationLoop.cpp - ${SRC_ROOT}/behavior/BaseConstraint.cpp ${SRC_ROOT}/behavior/BaseConstraintCorrection.cpp ${SRC_ROOT}/behavior/BaseConstraintSet.cpp ${SRC_ROOT}/behavior/BaseForceField.cpp ${SRC_ROOT}/behavior/BaseInteractionForceField.cpp + ${SRC_ROOT}/behavior/BaseLagrangianConstraint.cpp ${SRC_ROOT}/behavior/BaseLinearSolver.cpp ${SRC_ROOT}/behavior/BaseMass.cpp ${SRC_ROOT}/behavior/BaseMatrixLinearSystem.cpp ${SRC_ROOT}/behavior/BaseMechanicalState.cpp ${SRC_ROOT}/behavior/BaseOrderingMethod.cpp ${SRC_ROOT}/behavior/BaseProjectiveConstraintSet.cpp - ${SRC_ROOT}/behavior/Constraint.cpp ${SRC_ROOT}/behavior/ConstraintCorrection.cpp ${SRC_ROOT}/behavior/ConstraintResolution.cpp ${SRC_ROOT}/behavior/ConstraintSolver.cpp ${SRC_ROOT}/behavior/DefaultMultiMatrixAccessor.cpp ${SRC_ROOT}/behavior/ForceField.cpp + ${SRC_ROOT}/behavior/LagrangianConstraint.cpp ${SRC_ROOT}/behavior/LinearSolver.cpp ${SRC_ROOT}/behavior/LinearSolverAccessor.cpp ${SRC_ROOT}/behavior/Mass.cpp diff --git a/Sofa/framework/Core/Sofa.CoreConfig.cmake.in b/Sofa/framework/Core/Sofa.CoreConfig.cmake.in index b566537aae3..870476aa080 100644 --- a/Sofa/framework/Core/Sofa.CoreConfig.cmake.in +++ b/Sofa/framework/Core/Sofa.CoreConfig.cmake.in @@ -5,9 +5,11 @@ set(SOFA_CORE_HAVE_SOFA_COMPONENT_COMPAT "@SOFA_CORE_HAVE_SOFA_COMPONENT_COMPAT@") -find_package(Sofa.Topology QUIET REQUIRED) -find_package(Sofa.Helper QUIET REQUIRED) -find_package(Sofa.DefaultType QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) + +sofa_find_package(Sofa.Topology QUIET REQUIRED) +sofa_find_package(Sofa.Helper QUIET REQUIRED) +sofa_find_package(Sofa.DefaultType QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Core/src/sofa/core/CollisionElement.h b/Sofa/framework/Core/src/sofa/core/CollisionElement.h index bb9dcd3cfe8..d28734a0dd6 100644 --- a/Sofa/framework/Core/src/sofa/core/CollisionElement.h +++ b/Sofa/framework/Core/src/sofa/core/CollisionElement.h @@ -261,7 +261,7 @@ class TCollisionElementIterator : public BaseCollisionElementIterator } /// Distance to the actual (visual) surface - [[nodiscard]] SReal getProximity() const { return model->getProximity(); } + [[nodiscard]] SReal getContactDistance() const { return model->getContactDistance(); } /// Contact stiffness [[nodiscard]] SReal getContactStiffness() const { return model->getContactStiffness(index); } diff --git a/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp b/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp index a752127333a..bbdd8ffde99 100644 --- a/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp +++ b/Sofa/framework/Core/src/sofa/core/CollisionModel.cpp @@ -22,6 +22,7 @@ #include #include #include +#include using sofa::type::RGBAColor ; @@ -104,7 +105,7 @@ CollisionModel::CollisionModel() , bMoving(initData(&bMoving, true, "moving", "flag indicating if this object is changing position between iterations")) , bSimulated(initData(&bSimulated, true, "simulated", "flag indicating if this object is controlled by a simulation")) , bSelfCollision(initData(&bSelfCollision, false, "selfCollision", "flag indication if the object can self collide")) - , proximity(initData(&proximity, 0.0_sreal, "proximity", "Distance to the actual (visual) surface")) + , d_contactDistance(initData(&d_contactDistance, 0.0_sreal, "contactDistance", "This distance is added along the normal of the collision element to apply 'skinning' effect for collision. The contact arise at this distance of the element.")) , contactStiffness(initData(&contactStiffness, 10.0_sreal, "contactStiffness", "Contact stiffness")) , contactFriction(initData(&contactFriction, 0.0_sreal, "contactFriction", "Contact friction coefficient (dry or viscous or unused depending on the contact method)")) , contactRestitution(initData(&contactRestitution, 0.0_sreal, "contactRestitution", "Contact coefficient of restitution")) @@ -118,6 +119,10 @@ CollisionModel::CollisionModel() , userData(nullptr) , l_collElemActiver(initLink("collisionElementActiver", "CollisionElementActiver component that activates or deactivates collision element(s) during execution")) { + + proximity.setOriginalData(&d_contactDistance); + addAlias(&d_contactDistance, "proximity"); + d_numberOfContacts.setReadOnly(true); } @@ -140,6 +145,50 @@ void CollisionModel::setPrevious(CollisionModel::SPtr val) val->next.set(this); } +void CollisionModel::draw(const core::visual::VisualParams* vparams) +{ + // don't draw if the component is not in valid state + if (isComponentStateInvalid()) + return; + + // don't draw if the component is not active + if(!isActive()) + return; + + struct DrawPrevious //RAII struct to draw the coarser collision model when exiting the scope + { + DrawPrevious(CollisionModel* previous, const core::visual::VisualParams* vparams) : m_previous(previous), m_vparams(vparams) {} + ~DrawPrevious() + { + if (m_previous && m_vparams->displayFlags().getShowBoundingCollisionModels()) + m_previous->draw(m_vparams); + } + CollisionModel* m_previous { nullptr }; + const core::visual::VisualParams* m_vparams { nullptr }; + } drawPrevious(previous, vparams); + + // don't draw if specified not to do so in the user interface + if (getNext() == nullptr) + { + if (!vparams->displayFlags().getShowCollisionModels()) + { + return; + } + } + else + { + if (!vparams->displayFlags().getShowBoundingCollisionModels()) + { + return; + } + } + + { + const auto stateLifeCycle = vparams->drawTool()->makeStateLifeCycle(); + drawCollisionModel(vparams); + } +} + /// Return the first (i.e. root) CollisionModel in the hierarchy. CollisionModel* CollisionModel::getFirst() { @@ -162,15 +211,16 @@ CollisionModel* CollisionModel::getLast() bool CollisionModel::canCollideWith(CollisionModel* model) { - if (model->getContext() == this->getContext()) // models are in the Node -> is self collision activated? + if (model->getContext() == + this->getContext()) // models are in the Node -> is self collision activated? return bSelfCollision.getValue(); const auto& myGroups = this->group.getValue(); - if (myGroups.empty()) // a collision model without any group always collides + if (myGroups.empty()) // a collision model without any group always collides return true; const auto& modelGroups = model->group.getValue(); - if (modelGroups.empty()) // a collision model without any group always collides + if (modelGroups.empty()) // a collision model without any group always collides return true; std::set::const_iterator myGroupsFirst = myGroups.cbegin(); @@ -199,7 +249,13 @@ bool CollisionModel::canCollideWith(CollisionModel* model) return true; } - +void CollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) +{ + for (sofa::Index i = 0; i < size; i++) + { + draw(vparams, i); + } +} bool CollisionModel::insertInNode( objectmodel::BaseNode* node ) { diff --git a/Sofa/framework/Core/src/sofa/core/CollisionModel.h b/Sofa/framework/Core/src/sofa/core/CollisionModel.h index 05305c352c6..65ffb246c1d 100644 --- a/Sofa/framework/Core/src/sofa/core/CollisionModel.h +++ b/Sofa/framework/Core/src/sofa/core/CollisionModel.h @@ -25,6 +25,8 @@ #include #include +#include + //todo(dmarchal 2018-06-19) I really wonder why a collision model has a dependency to a RGBAColors. #include @@ -273,7 +275,7 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject virtual void draw(const core::visual::VisualParams* /*vparams*/, Index /*index*/) {} /// Render the whole collision model. - void draw(const core::visual::VisualParams* ) override {} + void draw(const core::visual::VisualParams* vparams) final; /// Return the first (i.e. root) CollisionModel in the hierarchy. CollisionModel* getFirst(); @@ -304,7 +306,7 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject root->addSlave(pmodel); pmodel->setMoving(isMoving()); pmodel->setSimulated(isSimulated()); - pmodel->proximity.setParent(&proximity); + pmodel->d_contactDistance.setParent(&d_contactDistance); pmodel->group.beginEdit()->insert(group.getValue().begin(), group.getValue().end()); pmodel->group.endEdit(); @@ -318,9 +320,11 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject /// @name Experimental methods /// @{ + SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED() + [[nodiscard]] SReal getProximity() const { return getContactDistance(); } /// Get distance to the actual (visual) surface - [[nodiscard]] SReal getProximity() const { return proximity.getValue(); } + [[nodiscard]] SReal getContactDistance() const { return d_contactDistance.getValue(); } /// Get contact stiffness [[nodiscard]] SReal getContactStiffness(Index /*index*/) const { return contactStiffness.getValue(); } @@ -362,7 +366,10 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject void setColor4f(const float *c); /// Set of differents parameters - void setProximity (const SReal a) { proximity.setValue(a); } + void setContactDistance (const SReal a) { d_contactDistance.setValue(a); } + SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED() + void setProximity (const SReal a) { setContactDistance(a); } + void setContactResponse (const std::string &a) { contactResponse.setValue(a); } /// Returns an int corresponding to the type of this. @@ -388,8 +395,15 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject Data bSimulated; /// flag indication if the object can self collide Data bSelfCollision; + + + SOFA_ATTRIBUTE_RENAMED__COLLISIONMODEL_PROXIMITY() + objectmodel::lifecycle::RenamedData proximity; + /// Distance to the actual (visual) surface - Data proximity; + Data d_contactDistance; + + /// Default contact stiffness Data contactStiffness; /// Default contact friction (damping) coefficient @@ -429,6 +443,9 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject /// Pointer to the Controller component heritating from CollisionElementActiver SingleLink l_collElemActiver; + /// Render the whole collision model. + virtual void drawCollisionModel(const core::visual::VisualParams* vparams); + public: CollisionElementActiver *myCollElemActiver; ///< CollisionElementActiver that activate or deactivate collision element during execution diff --git a/Sofa/framework/Core/src/sofa/core/ConstraintOrder.h b/Sofa/framework/Core/src/sofa/core/ConstraintOrder.h index d239203fc03..b879981de6b 100644 --- a/Sofa/framework/Core/src/sofa/core/ConstraintOrder.h +++ b/Sofa/framework/Core/src/sofa/core/ConstraintOrder.h @@ -21,15 +21,21 @@ ******************************************************************************/ #pragma once +#include + namespace sofa::core { -/// Description of the order of the constraint +/// Description of the constraint order. +/// +/// The order corresponds to the derivative order of the constraint function. This information +/// tells which derivative is solved by the constraint solver. For example, solving only the +/// velocity-level will authorize constraint violation but will prevent further violation. enum class ConstraintOrder { - POS = 0, - VEL, - ACC, + POS = 0, //corresponds to the constraint function itself + VEL, //corresponds to the first derivative of the constraint function + ACC, //corresponds to the second derivative of the constraint function POS_AND_VEL }; diff --git a/Sofa/framework/Core/src/sofa/core/ConstraintParams.h b/Sofa/framework/Core/src/sofa/core/ConstraintParams.h index 14f3ac07409..845334d6e4c 100644 --- a/Sofa/framework/Core/src/sofa/core/ConstraintParams.h +++ b/Sofa/framework/Core/src/sofa/core/ConstraintParams.h @@ -41,8 +41,8 @@ class SOFA_CORE_API ConstraintParams : public sofa::core::ExecParams ConstraintParams& setOrder(ConstraintOrder o) { m_constOrder = o; return *this; } - /// Smooth contribution factor (for smooth constraints resolution) - double smoothFactor() const { return m_smoothFactor; } + /// Smooth contribution factor (for smooth constraints resolution) + SReal smoothFactor() const { return m_smoothFactor; } /// @} @@ -92,8 +92,8 @@ class SOFA_CORE_API ConstraintParams : public sofa::core::ExecParams /// @{ - /// Set smooth contribution factor (for smooth constraints resolution) - ConstraintParams& setSmoothFactor(double v) { m_smoothFactor = v; return *this; } + /// Set smooth contribution factor (for smooth constraints resolution) + ConstraintParams& setSmoothFactor(SReal v) { m_smoothFactor = v; return *this; } /// Returns ids of the position vectors const ConstMultiVecCoordId& x() const { return m_x; } @@ -180,8 +180,8 @@ class SOFA_CORE_API ConstraintParams : public sofa::core::ExecParams /// Description of the order of the constraint ConstraintOrder m_constOrder; - /// Smooth contribution factor (for smooth constraints resolution) - double m_smoothFactor; + /// Smooth contribution factor (for smooth constraints resolution) + SReal m_smoothFactor; }; } // namespace sofa::core diff --git a/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h b/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h index 19c11bd7657..4bea5f09dc9 100644 --- a/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h +++ b/Sofa/framework/Core/src/sofa/core/DevBaseMonitor.h @@ -24,4 +24,4 @@ #include //header moved in the plugin SofaValidation -SOFA_HEADER_DEPRECATED("v24.12", "v25.12", "SofaValidation/DevBaseMonitor.h") +SOFA_HEADER_DISABLED("v24.12", "v25.12", "SofaValidation/DevBaseMonitor.h") diff --git a/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp b/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp index 91c040e3b88..0c7da1296ea 100644 --- a/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp +++ b/Sofa/framework/Core/src/sofa/core/MatrixAccumulator.cpp @@ -27,13 +27,13 @@ namespace sofa::core void MatrixAccumulatorInterface::add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<1, 1, float>& value) { - add(row, col, value[0][0]); + add(row, col, value(0,0)); } void MatrixAccumulatorInterface::add(sofa::SignedIndex row, sofa::SignedIndex col, const sofa::type::Mat<1, 1, double>& value) { - add(row, col, value[0][0]); + add(row, col, value(0,0)); } void MatrixAccumulatorInterface::add(sofa::SignedIndex row, sofa::SignedIndex col, diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h index 2126496ac8e..40ca0fed60e 100644 --- a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h +++ b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h @@ -362,7 +362,7 @@ class SOFA_CORE_API ObjectRegistrationData entry.documentationURL = std::string(sofa::SOFA_DOCUMENTATION_URL) + std::string("components/"); entry.documentationURL += sofa::helper::join(modulePaths.begin() + 2, modulePaths.end(), [](const std::string& m){ return sofa::helper::downcaseString(m);}, "/"); - entry.documentationURL += "/" + sofa::helper::downcaseString(classname); + entry.documentationURL += std::string("/") + sofa::helper::downcaseString(classname); } } @@ -377,7 +377,7 @@ 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; }; diff --git a/Sofa/framework/Core/src/sofa/core/State.h b/Sofa/framework/Core/src/sofa/core/State.h index 4a84cc332a4..291aa1cdc1b 100644 --- a/Sofa/framework/Core/src/sofa/core/State.h +++ b/Sofa/framework/Core/src/sofa/core/State.h @@ -61,8 +61,6 @@ class State : public virtual BaseState typedef typename DataTypes::Coord Coord; /// Derivative values (velocity, forces, displacements). typedef typename DataTypes::Deriv Deriv; - /// Container of scalar values with the same API as sofa::type::vector. - typedef typename DataTypes::VecReal VecReal; /// Container of Coord values with the same API as sofa::type::vector. typedef typename DataTypes::VecCoord VecCoord; /// Container of Deriv values with the same API as sofa::type::vector. @@ -76,8 +74,6 @@ class State : public virtual BaseState //@{ typedef helper::ReadAccessor > ReadReal; typedef helper::WriteAccessor > WriteReal; - typedef helper::ReadAccessor > ReadVecReal; - typedef helper::WriteAccessor > WriteVecReal; typedef helper::ReadAccessor > ReadCoord; typedef helper::WriteAccessor > WriteCoord; diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h index ba176e79f8b..1f92946f6d4 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.h @@ -21,103 +21,11 @@ ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::core::behavior -{ +SOFA_HEADER_DEPRECATED("v25.12", "v26.12", "sofa/core/behavior/BaseLagrangianConstraint.h") -/** - * \brief Component computing constraints within a simulated body. - * - * This class defines the abstract API common to all constraints. - * A BaseConstraint computes constraints applied to one or more simulated body - * given its current position and velocity. - * - * Constraints can be internal to a given body (attached to one MechanicalState, - * see the Constraint class), or link several bodies together (such as contacts, - * see the InteractionConstraint class). - * - */ -class SOFA_CORE_API BaseConstraint : public BaseConstraintSet +namespace sofa::core::behavior { -public: - SOFA_ABSTRACT_CLASS(BaseConstraint, BaseConstraintSet); - SOFA_BASE_CAST_IMPLEMENTATION(BaseConstraint) - -protected: - BaseConstraint() {} - ~BaseConstraint() override {} - -private: - BaseConstraint(const BaseConstraint& n) = delete ; - BaseConstraint& operator=(const BaseConstraint& n) = delete ; - -public: - /// Get the ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. - int getGroup() const; - - /// Set the ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. - void setGroup(int g); - - typedef long long PersistentID; - typedef type::vector VecPersistentID; - typedef type::Vec<3,int> ConstCoord; - typedef type::vector VecConstCoord; - typedef type::Vec<3,double> ConstDeriv; - typedef type::vector VecConstDeriv; - typedef double ConstArea; - typedef type::vector VecConstArea; - - class ConstraintBlockInfo - { - public: - BaseConstraint* parent; - int const0; ///< index of first constraint - int nbLines; ///< how many dofs (i.e. lines in the matrix) are used by each constraint - int nbGroups; ///< how many groups of constraints are active - bool hasId; ///< true if this constraint has persistent ID information - bool hasPosition; ///< true if this constraint has coordinates information - bool hasDirection; ///< true if this constraint has direction information - bool hasArea; ///< true if this constraint has area information - int offsetId; ///< index of first constraint group info in vector of persistent ids and coordinates - int offsetPosition; ///< index of first constraint group info in vector of coordinates - int offsetDirection; ///< index of first constraint info in vector of directions - int offsetArea; ///< index of first constraint group info in vector of areas - ConstraintBlockInfo() : parent(nullptr), const0(0), nbLines(1), nbGroups(0), hasId(false), hasPosition(false), hasDirection(false), hasArea(false), offsetId(0), offsetPosition(0), offsetDirection(0), offsetArea(0) - {} - }; - typedef type::vector VecConstraintBlockInfo; - - /// Get information for each constraint: pointer to parent BaseConstraint, unique persistent ID, 3D position - /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...) - virtual void getConstraintInfo(const ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas); - - /// Add the corresponding ConstraintResolution using the offset parameter - /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...) - /// \param resTab is the result vector that contains the constraint resolution algorithms - virtual void getConstraintResolution(const ConstraintParams* cParams, std::vector &resTab, unsigned int &offset); - - virtual void getConstraintResolution(std::vector &resTab, unsigned int &offset); - - type::vector getIdentifiers() - { - type::vector ids = getBaseConstraintIdentifiers(); - ids.push_back("Base"); - return ids; - } - - virtual type::vector getBaseConstraintIdentifiers() = 0; - - - /// Store the constraint lambda at the constraint dofs at the given VecDerivId location. - /// res = J^t * lambda. - /// J is the sparse matrix containing the constraint jacobian that was used to build the constraint matrix ( see BaseConstraintSet::buildConstraintMatrix ). - /// \param cParams stores the id of the state vectors used during the constraint solving step. Mostly it helps retrieving the MatrixDerivId where - /// the constraint jacobian J is stored. - /// \param res is the state vector Id where to store the result. - /// \param lambda is the vector of scalar constraint impulses. The direction are stored in the MatrixDerivId stored in the cParams. - virtual void storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) = 0; -}; - -} // namespace sofa::core::behavior +using BaseConstraint SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.12", "BaseConstraint has been renamed to BaseLagrangianConstraint") = BaseLagrangianConstraint; +} diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.cpp b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.cpp index 60cdbc48173..d98535ce3a6 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.cpp +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.cpp @@ -21,11 +21,13 @@ ******************************************************************************/ #include +#include + namespace sofa::core::behavior { BaseConstraintCorrection::BaseConstraintCorrection(){} -BaseConstraintCorrection::~BaseConstraintCorrection(){} +BaseConstraintCorrection::~BaseConstraintCorrection() {} void BaseConstraintCorrection::rebuildSystem(SReal /*massFactor*/, SReal /*forceFactor*/){} @@ -49,6 +51,27 @@ void BaseConstraintCorrection::resetForUnbuiltResolution(SReal* /*f*/, std::list void BaseConstraintCorrection::addConstraintDisplacement(SReal* /*d*/, int /*begin*/, int /*end*/) {} void BaseConstraintCorrection::setConstraintDForce(SReal* /*df*/, int /*begin*/, int /*end*/, bool /*update*/) {} // f += df +SReal BaseConstraintCorrection::correctionFactor(const sofa::core::behavior::OdeSolver* solver, const ConstraintOrder& constraintOrder) +{ + if (solver) + { + switch (constraintOrder) + { + case core::ConstraintOrder::POS_AND_VEL : + case core::ConstraintOrder::POS : + return solver->getPositionIntegrationFactor(); + + case core::ConstraintOrder::ACC : + case core::ConstraintOrder::VEL : + return solver->getVelocityIntegrationFactor(); + + default : + break; + } + } + + return 1.0_sreal; +} } // namespace sofa::core::behavior diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.h index e7a57ae88d2..009fa56e56d 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraintCorrection.h @@ -24,6 +24,7 @@ #include #include #include +#include namespace sofa::core::behavior { @@ -43,6 +44,10 @@ class SOFA_CORE_API BaseConstraintCorrection : public virtual objectmodel::BaseO /// @name Compliance Matrix API /// @{ + /// Compute the compliance matrix projected in the constraint space and accumulate it into \p W + /// + /// The computation is W += J A^-1 J^T where J is the constraint Jacobian matrix and A is the + /// mechanical matrix virtual void addComplianceInConstraintSpace(const ConstraintParams *, linearalgebra::BaseMatrix* W) = 0; /// Fill the matrix m with the full Compliance Matrix @@ -105,7 +110,7 @@ class SOFA_CORE_API BaseConstraintCorrection : public virtual objectmodel::BaseO /// Rebuild the system using a mass and force factor /// Experimental API used to investigate convergence issues. - virtual void rebuildSystem(SReal /*massFactor*/, SReal /*forceFactor*/); + SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() virtual void rebuildSystem(SReal /*massFactor*/, SReal /*forceFactor*/); /// Compute the residual in the newton iterations due to the constraints forces /// i.e. compute Vecid::force() += J^t lambda @@ -117,6 +122,8 @@ class SOFA_CORE_API BaseConstraintCorrection : public virtual objectmodel::BaseO /// @name Unbuilt constraint system during resolution /// @{ + + /// Is the constraint managed by this constraint correction? virtual bool hasConstraintNumber(int /*index*/); virtual void resetForUnbuiltResolution(SReal* /*f*/, std::list& /*renumbering*/); virtual void addConstraintDisplacement(SReal* /*d*/, int /*begin*/, int /*end*/); @@ -128,6 +135,8 @@ class SOFA_CORE_API BaseConstraintCorrection : public virtual objectmodel::BaseO BaseConstraintCorrection(); ~BaseConstraintCorrection() override; + static SReal correctionFactor(const sofa::core::behavior::OdeSolver* solver, const ConstraintOrder& constraintOrder); + private: BaseConstraintCorrection(const BaseConstraintCorrection& n) = delete ; BaseConstraintCorrection& operator=(const BaseConstraintCorrection& n) = delete ; diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionConstraint.h index 9243cab1ef8..a437acca2d2 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionConstraint.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionConstraint.h @@ -21,7 +21,7 @@ ******************************************************************************/ #pragma once -#include +#include #include namespace sofa::core::behavior @@ -34,10 +34,10 @@ namespace sofa::core::behavior * bodies given their current positions and velocities. * */ -class SOFA_CORE_API BaseInteractionConstraint : public BaseConstraint, public virtual StateAccessor +class SOFA_CORE_API BaseInteractionConstraint : public BaseLagrangianConstraint, public virtual StateAccessor { public: - SOFA_ABSTRACT_CLASS2(BaseInteractionConstraint, BaseConstraint, StateAccessor); + SOFA_ABSTRACT_CLASS2(BaseInteractionConstraint, BaseLagrangianConstraint, StateAccessor); SOFA_BASE_CAST_IMPLEMENTATION(BaseInteractionConstraint) /// Get the first MechanicalState diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h index 52856e0adf0..a0a3b9c3552 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseInteractionProjectiveConstraintSet.h @@ -35,7 +35,7 @@ namespace sofa::core::behavior * bodies given their current positions and velocities. * */ -class SOFA_CORE_API BaseInteractionProjectiveConstraintSet : public BaseProjectiveConstraintSet, public virtual StateAccessor +class SOFA_CORE_API BaseInteractionProjectiveConstraintSet : public BaseProjectiveConstraintSet { public: SOFA_ABSTRACT_CLASS(BaseInteractionProjectiveConstraintSet, BaseProjectiveConstraintSet); diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.cpp b/Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.cpp similarity index 77% rename from Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.cpp rename to Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.cpp index 0d6ccf41939..14d07bd4b36 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseConstraint.cpp +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.cpp @@ -19,40 +19,36 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#include namespace sofa::core::behavior { -int BaseConstraint::getGroup() const +int BaseLagrangianConstraint::getGroup() const { return group.getValue(); } -void BaseConstraint::setGroup(int g) +void BaseLagrangianConstraint::setGroup(int g) { group.setValue(g); } -void BaseConstraint::getConstraintInfo(const ConstraintParams* cParams, VecConstraintBlockInfo& blocks, - VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) +void BaseLagrangianConstraint::getConstraintInfo(const ConstraintParams* cParams, VecConstraintBlockInfo& blocks, + VecPersistentID& ids) { SOFA_UNUSED(cParams); SOFA_UNUSED(blocks); SOFA_UNUSED(ids); - SOFA_UNUSED(positions); - SOFA_UNUSED(directions); - SOFA_UNUSED(areas); - } -void BaseConstraint::getConstraintResolution(const ConstraintParams* cParams, +void BaseLagrangianConstraint::getConstraintResolution(const ConstraintParams* cParams, std::vector& resTab, unsigned& offset) { getConstraintResolution(resTab, offset); SOFA_UNUSED(cParams); } -void BaseConstraint::getConstraintResolution(std::vector& resTab, unsigned& offset) +void BaseLagrangianConstraint::getConstraintResolution(std::vector& resTab, unsigned& offset) { SOFA_UNUSED(resTab); SOFA_UNUSED(offset); diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.h new file mode 100644 index 00000000000..29483011a2f --- /dev/null +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.h @@ -0,0 +1,119 @@ +/****************************************************************************** +* 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::core::behavior +{ + +/** + * \brief Component computing constraints within a simulated body. + * + * This class defines the abstract API common to all constraints. + * A BaseConstraint computes constraints applied to one or more simulated body + * given its current position and velocity. + * + * Constraints can be internal to a given body (attached to one MechanicalState, + * see the LagrangianConstraint class), or link several bodies together (such as contacts, + * see the InteractionConstraint class). + * + */ +class SOFA_CORE_API BaseLagrangianConstraint : public BaseConstraintSet +{ +public: + SOFA_ABSTRACT_CLASS(BaseLagrangianConstraint, BaseConstraintSet); + SOFA_BASE_CAST_IMPLEMENTATION(BaseLagrangianConstraint) + +protected: + BaseLagrangianConstraint() {} + ~BaseLagrangianConstraint() override {} + +private: + BaseLagrangianConstraint(const BaseLagrangianConstraint& n) = delete ; + BaseLagrangianConstraint& operator=(const BaseLagrangianConstraint& n) = delete ; + +public: + /// Get the ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. + int getGroup() const; + + /// Set the ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. + void setGroup(int g); + + typedef long long PersistentID; + typedef type::vector VecPersistentID; + + class ConstraintBlockInfo + { + public: + BaseLagrangianConstraint* parent; + int const0; ///< index of first constraint + int nbLines; ///< how many dofs (i.e. lines in the matrix) are used by each constraint + int nbGroups; ///< how many groups of constraints are active + bool hasId; ///< true if this constraint has persistent ID information + int offsetId; ///< index of first constraint group info in vector of persistent ids and coordinates + ConstraintBlockInfo() : parent(nullptr), const0(0), nbLines(1), nbGroups(0), hasId(false), offsetId(0) + {} + }; + typedef type::vector VecConstraintBlockInfo; + + /// Get information for each constraint: pointer to parent BaseConstraint, unique persistent ID, 3D position + /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...) + virtual void getConstraintInfo(const ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids); + + + //DEPRECATED(v25.06, v25.12) + typedef sofa::type::vector> VecConstCoord; + typedef sofa::type::vector> VecConstDeriv; + typedef sofa::type::vector VecConstArea; + SOFA_ATTRIBUTE_DISABLED__DELETED_ARGUMENTS() + virtual void getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) final = delete; + + /// Add the corresponding ConstraintResolution using the offset parameter + /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...) + /// \param resTab is the result vector that contains the constraint resolution algorithms + virtual void getConstraintResolution(const ConstraintParams* cParams, std::vector &resTab, unsigned int &offset); + + virtual void getConstraintResolution(std::vector &resTab, unsigned int &offset); + + type::vector getIdentifiers() + { + type::vector ids = getBaseConstraintIdentifiers(); + ids.push_back("Base"); + return ids; + } + + virtual type::vector getBaseConstraintIdentifiers() = 0; + + + /// Store the constraint lambda at the constraint dofs at the given VecDerivId location. + /// res = J^t * lambda. + /// J is the sparse matrix containing the constraint jacobian that was used to build the constraint matrix ( see BaseConstraintSet::buildConstraintMatrix ). + /// \param cParams stores the id of the state vectors used during the constraint solving step. Mostly it helps retrieving the MatrixDerivId where + /// the constraint jacobian J is stored. + /// \param res is the state vector Id where to store the result. + /// \param lambda is the vector of scalar constraint impulses. The direction are stored in the MatrixDerivId stored in the cParams. + virtual void storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) = 0; +}; + +} // namespace sofa::core::behavior diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h b/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h index 9344498e63f..462bb36afc9 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h @@ -36,7 +36,7 @@ namespace sofa::core::behavior * * This class only contains the data of the body and not any of its * active computations, which are handled by the Mass, ForceField, and - * Constraint components. + * LagrangianConstraint components. * * Two types of vectors are used : * \li \code VecCoord \endcode : containing positions. diff --git a/Sofa/framework/Core/src/sofa/core/behavior/BlocMatrixWriter.h b/Sofa/framework/Core/src/sofa/core/behavior/BlocMatrixWriter.h index 112400cb518..ebef82c787e 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/BlocMatrixWriter.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/BlocMatrixWriter.h @@ -55,7 +55,7 @@ class BlocMatrixWriter const unsigned int j0 = offsetC + bj*NC; for (unsigned int i=0; iadd(i0+i,j0+j,b[i][j]); + m->add(i0+i,j0+j,b(i,j)); } }; @@ -102,7 +102,7 @@ class BlocMatrixWriter const unsigned int j0 = offsetC + bj*NC; for (unsigned int i=0; iwblock(i0+i,j0+j,true) += (MReal)b[i][j]; + *m->wblock(i0+i,j0+j,true) += (MReal)b(i,j); } }; diff --git a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h b/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h index bc3c0a8ab35..3641d740e98 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/Constraint.h @@ -21,126 +21,12 @@ ******************************************************************************/ #pragma once -#include -#include -#include +#include -#include +SOFA_HEADER_DEPRECATED("v25.12", "v26.12", "sofa/core/behavior/LagrangianConstraint.h") namespace sofa::core::behavior { - -/** - * \brief Component computing constraints within a simulated body. - * - * This class define the abstract API common to constraints using a given type - * of DOFs. - * A Constraint computes constraints applied to one simulated body given its - * current position and velocity. - * - */ template -class Constraint : public BaseConstraint, public SingleStateAccessor -{ -public: - SOFA_CLASS2(SOFA_TEMPLATE(Constraint, DataTypes), BaseConstraint, SOFA_TEMPLATE(SingleStateAccessor, DataTypes)); - - typedef typename DataTypes::Real Real; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::VecDeriv VecDeriv; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Deriv Deriv; - typedef typename DataTypes::MatrixDeriv MatrixDeriv; - - typedef core::objectmodel::Data DataVecCoord; - typedef core::objectmodel::Data DataVecDeriv; - typedef core::objectmodel::Data DataMatrixDeriv; -protected: - Constraint(MechanicalState *mm = nullptr); - - ~Constraint() override; - - virtual void init() override; -public: - Data endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints - virtual bool isActive() const; ///< if false, the constraint does nothing - - using BaseConstraintSet::getConstraintViolation; - - /// Construct the Constraint violations vector of each constraint - /// - /// \param v is the result vector that contains the whole constraints violations - /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) - void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override; - - /// Construct the Constraint violations vector of each constraint - /// - /// \param resV is the result vector that contains the whole constraints violations - /// \param x is the position vector used to compute constraint position violation - /// \param v is the velocity vector used to compute constraint velocity violation - /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) - /// - /// This is the method that should be implemented by the component - virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) = 0; - - - /// Construct the Jacobian Matrix - /// - /// \param cId is the result constraint sparse matrix Id - /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it - /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) - void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override; - - /// Construct the Jacobian Matrix - /// - /// \param c is the result constraint sparse matrix - /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it - /// \param x is the position vector used for constraint equation computation - /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) - /// - /// This is the method that should be implemented by the component - virtual void buildConstraintMatrix(const ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) = 0; - - - void storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) override; - - /// Pre-construction check method called by ObjectFactory. - /// Check that DataTypes matches the MechanicalState. - template - static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg) - { - if (dynamic_cast*>(context->getMechanicalState()) == nullptr) { - arg->logError("No mechanical state with the datatype '" + std::string(DataTypes::Name()) + "' found in the context node."); - return false; - } - - return BaseObject::canCreate(obj, context, arg); - } - - virtual type::vector getBaseConstraintIdentifiers() override final - { - type::vector ids = getConstraintIdentifiers(); - ids.push_back("Constraint"); - return ids; - } - -protected: - - virtual type::vector getConstraintIdentifiers(){ return {}; } - - -private: - void storeLambda(const ConstraintParams* cParams, Data& resId, const Data& jacobian, const sofa::linearalgebra::BaseVector* lambda); -}; - -#if !defined(SOFA_CORE_BEHAVIOR_CONSTRAINT_CPP) -extern template class SOFA_CORE_API Constraint; -extern template class SOFA_CORE_API Constraint; -extern template class SOFA_CORE_API Constraint; -extern template class SOFA_CORE_API Constraint; -extern template class SOFA_CORE_API Constraint; -extern template class SOFA_CORE_API Constraint; - - -#endif -} // namespace sofa::core::behavior +using Constraint SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.12", "Constraint has been renamed to LagrangianConstraint") = LagrangianConstraint; +} diff --git a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/Constraint.inl index e80274dd83a..8cd5117155b 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.inl +++ b/Sofa/framework/Core/src/sofa/core/behavior/Constraint.inl @@ -21,75 +21,6 @@ ******************************************************************************/ #pragma once -#include -#include +#include -namespace sofa::core::behavior -{ - -template -Constraint::Constraint(MechanicalState *mm) - : Inherit1(), Inherit2(mm) - , endTime( initData(&endTime,(Real)-1,"endTime","The constraint stops acting after the given value.\nUse a negative value for infinite constraints") ) -{ -} - -template -Constraint::~Constraint() -{ -} - - -template -bool Constraint::isActive() const -{ - if( endTime.getValue()<0 ) return true; - return endTime.getValue()>getContext()->getTime(); -} - -template -void Constraint::init() -{ - Inherit1::init(); - Inherit2::init(); -} - -template -void Constraint::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) -{ - if (cParams) - { - getConstraintViolation(cParams, v, *cParams->readX(this->mstate.get()), *cParams->readV(this->mstate.get())); - } -} - - -template -void Constraint::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) -{ - if (cParams) - { - buildConstraintMatrix(cParams, *cId[this->mstate.get()].write(), cIndex, *cParams->readX(this->mstate.get())); - } -} - - -template -void Constraint::storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) -{ - if (cParams) - { - storeLambda(cParams, *res[this->mstate.get()].write(), *cParams->readJ(this->mstate.get()), lambda); - } -} - -template -void Constraint::storeLambda(const ConstraintParams*, Data& result, const Data& jacobian, const sofa::linearalgebra::BaseVector* lambda) -{ - auto res = sofa::helper::getWriteAccessor(result); - const MatrixDeriv& j = jacobian.getValue(); - j.multTransposeBaseVector(res, lambda ); // lambda is a vector of scalar value so block size is one. -} - - -} // namespace sofa::core::behavior +SOFA_HEADER_DEPRECATED("v25.12", "v26.12", "sofa/core/behavior/LagrangianConstraint.inl") diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.h b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.h index cdf18249e99..fe8502f0070 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.h @@ -24,7 +24,7 @@ #include #include #include - +#include namespace sofa::core::behavior { @@ -33,10 +33,12 @@ namespace sofa::core::behavior * Component computing constraint forces within a simulated body using the compliance method. */ template -class ConstraintCorrection : public BaseConstraintCorrection +class ConstraintCorrection : public BaseConstraintCorrection, public SingleStateAccessor { public: - SOFA_ABSTRACT_CLASS(SOFA_TEMPLATE(ConstraintCorrection, TDataTypes), BaseConstraintCorrection); + SOFA_ABSTRACT_CLASS2(SOFA_TEMPLATE(ConstraintCorrection, TDataTypes), + BaseConstraintCorrection, + SOFA_TEMPLATE(SingleStateAccessor, TDataTypes)) typedef TDataTypes DataTypes; typedef typename DataTypes::Real Real; @@ -50,12 +52,13 @@ class ConstraintCorrection : public BaseConstraintCorrection typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator; typedef typename DataTypes::MatrixDeriv::ColIterator MatrixDerivColIterator; + using SingleStateAccessor::mstate; + protected: /// Default Constructor explicit ConstraintCorrection(MechanicalState< DataTypes > *ms = nullptr) - : Inherit1() + : Inherit1(), Inherit2(ms) , l_constraintsolvers(initLink("constraintSolvers", "Constraint solvers using this constraint correction")) - , mstate(ms) {} /// Default Destructor @@ -150,19 +153,11 @@ class ConstraintCorrection : public BaseConstraintCorrection return BaseObject::canCreate(obj, context, arg); } - MechanicalState *getMState() const - { - return mstate; - } - void setMState(MechanicalState *_mstate) { mstate = _mstate; } -protected: - MechanicalState *mstate; - private: /// Converts constraint force from the constraints space to the motion space and accumulates it in f vector /// diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.inl b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.inl index 0a375b07d29..d9d596eee2a 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.inl +++ b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintCorrection.inl @@ -31,9 +31,12 @@ namespace sofa::core::behavior template< class DataTypes > void ConstraintCorrection< DataTypes >::init() { - Inherit1::init(); + Inherit2::init(); - mstate = dynamic_cast< behavior::MechanicalState< DataTypes >* >(getContext()->getMechanicalState()); + if (!mstate) + { + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + } } template< class DataTypes > @@ -80,10 +83,10 @@ void ConstraintCorrection< DataTypes >::applyMotionCorrection(const core::Constr { if (mstate) { - Data< VecCoord > *x_d = x[mstate].write(); - Data< VecDeriv > *v_d = v[mstate].write(); - Data< VecDeriv > *dx_d = dx[mstate].write(); - const Data< VecDeriv > *correction_d = correction[mstate].read(); + Data< VecCoord > *x_d = x[mstate.get()].write(); + Data< VecDeriv > *v_d = v[mstate.get()].write(); + Data< VecDeriv > *dx_d = dx[mstate.get()].write(); + const Data< VecDeriv > *correction_d = correction[mstate.get()].read(); if (x_d && v_d && dx_d && correction_d) { @@ -98,9 +101,9 @@ void ConstraintCorrection< DataTypes >::applyPositionCorrection(const core::Cons { if (mstate) { - Data< VecCoord > *x_d = x[mstate].write(); - Data< VecDeriv > *dx_d = dx[mstate].write(); - const Data< VecDeriv > *correction_d = correction[mstate].read(); + Data< VecCoord > *x_d = x[mstate.get()].write(); + Data< VecDeriv > *dx_d = dx[mstate.get()].write(); + const Data< VecDeriv > *correction_d = correction[mstate.get()].read(); if (x_d && dx_d && correction_d) { @@ -115,9 +118,9 @@ void ConstraintCorrection< DataTypes >::applyVelocityCorrection(const core::Cons { if (mstate) { - Data< VecDeriv >* v_d = v[mstate].write(); - Data< VecDeriv >* dv_d = dv[mstate].write(); - const Data< VecDeriv >* correction_d = correction[mstate].read(); + Data< VecDeriv >* v_d = v[mstate.get()].write(); + Data< VecDeriv >* dv_d = dv[mstate.get()].write(); + const Data< VecDeriv >* correction_d = correction[mstate.get()].read(); if (v_d && dv_d && correction_d) { @@ -133,7 +136,7 @@ void ConstraintCorrection< DataTypes >::applyPredictiveConstraintForce(const cor if (mstate) { addConstraintForceInMotionSpace(cparams, f, cparams->j(), lambda); - } + } } template< class DataTypes > @@ -141,8 +144,8 @@ void ConstraintCorrection< DataTypes >::addConstraintForceInMotionSpace(const co { if (mstate) { - Data< VecDeriv > *f_d = f[mstate].write(); - const Data< MatrixDeriv > * j_d = j[mstate].read(); + Data< VecDeriv > *f_d = f[mstate.get()].write(); + const Data< MatrixDeriv > * j_d = j[mstate.get()].read(); if (f_d && j_d) { addConstraintForceInMotionSpace(cparams,*f_d, *j_d, lambda); @@ -154,7 +157,7 @@ void ConstraintCorrection< DataTypes >::addConstraintForceInMotionSpace(const co template< class DataTypes > void ConstraintCorrection< DataTypes >::addConstraintForceInMotionSpace(const core::ConstraintParams*, Data< VecDeriv > &f, const Data< MatrixDeriv>& j, const linearalgebra::BaseVector *lambda) { - VecDeriv& force = *f.beginEdit(); + auto force = sofa::helper::getWriteAccessor(f); const size_t numDOFs = mstate->getSize(); const size_t fPrevSize = force.size(); @@ -162,30 +165,14 @@ void ConstraintCorrection< DataTypes >::addConstraintForceInMotionSpace(const co if (numDOFs > fPrevSize) { force.resize(numDOFs); - for (size_t i = fPrevSize; i < numDOFs; i++) + for (size_t i = fPrevSize; i < numDOFs; ++i) force[i] = Deriv(); } const MatrixDeriv& c = j.getValue(); - MatrixDerivRowConstIterator rowItEnd = c.end(); - - for (MatrixDerivRowConstIterator rowIt = c.begin(); rowIt != rowItEnd; ++rowIt) - { - const double lambdaC1 = lambda->element(rowIt.index()); - - if (lambdaC1 != 0.0) - { - MatrixDerivColConstIterator colItEnd = rowIt.end(); - - for (MatrixDerivColConstIterator colIt = rowIt.begin(); colIt != colItEnd; ++colIt) - { - force[colIt.index()] += colIt.val() * lambdaC1; - } - } - } - - f.endEdit(); + // force += J^T * lambda + c.multTransposeBaseVector(force, lambda); } } // namespace sofa::core::behavior diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintSolver.h b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintSolver.h index 89b209e1215..91b05c6f73b 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/ConstraintSolver.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/ConstraintSolver.h @@ -74,7 +74,7 @@ class SOFA_CORE_API ConstraintSolver : public virtual objectmodel::BaseObject * Rebuild the system using a mass and force factor. * Experimental API used to investigate convergence issues. */ - virtual void rebuildSystem(SReal /*massfactor*/, SReal /*forceFactor*/){} + SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() virtual void rebuildSystem(SReal /*massfactor*/, SReal /*forceFactor*/){} /** * Use the system previously built and solve it with the appropriate algorithm diff --git a/Sofa/framework/Core/src/sofa/core/behavior/ForceField.h b/Sofa/framework/Core/src/sofa/core/behavior/ForceField.h index 2af976c952c..c8bc6c8fd0d 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/ForceField.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/ForceField.h @@ -174,7 +174,7 @@ class ForceField : public BaseForceField, public SingleStateAccessor { const unsigned COLUMN = offset + S*nodeIndex[n2] +j; // j-th column associated with node n2 in BaseMatrix const unsigned column = S*n2+j; // j-th column associated with node n2 in the element matrix - bm->add( ROW,COLUMN, em[row][column]* scale ); + bm->add( ROW,COLUMN, em(row, column)* scale ); } } } diff --git a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.cpp b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.cpp similarity index 83% rename from Sofa/framework/Core/src/sofa/core/behavior/Constraint.cpp rename to Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.cpp index af0cef4e3f0..0341a1ce428 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/Constraint.cpp +++ b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.cpp @@ -26,12 +26,12 @@ namespace sofa::core::behavior { using namespace sofa::defaulttype; -template class SOFA_CORE_API Constraint; -template class SOFA_CORE_API Constraint; -template class SOFA_CORE_API Constraint; -template class SOFA_CORE_API Constraint; -template class SOFA_CORE_API Constraint; -template class SOFA_CORE_API Constraint; +template class SOFA_CORE_API LagrangianConstraint; +template class SOFA_CORE_API LagrangianConstraint; +template class SOFA_CORE_API LagrangianConstraint; +template class SOFA_CORE_API LagrangianConstraint; +template class SOFA_CORE_API LagrangianConstraint; +template class SOFA_CORE_API LagrangianConstraint; } // namespace sofa::core::behavior diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h new file mode 100644 index 00000000000..52aba30d714 --- /dev/null +++ b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.h @@ -0,0 +1,147 @@ +/****************************************************************************** +* 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::core::behavior +{ + +/** + * \brief Component computing constraints within a simulated body. + * + * This class defines the abstract API common to constraints using a given type + * of DOFs. + * A LagrangianConstraint computes constraints applied to one simulated body given its + * current position and velocity. + * + */ +template +class LagrangianConstraint : public BaseLagrangianConstraint, public SingleStateAccessor +{ +public: + SOFA_CLASS2(SOFA_TEMPLATE(LagrangianConstraint, DataTypes), BaseLagrangianConstraint, SOFA_TEMPLATE(SingleStateAccessor, DataTypes)); + + typedef typename DataTypes::Real Real; + typedef typename DataTypes::VecCoord VecCoord; + typedef typename DataTypes::VecDeriv VecDeriv; + typedef typename DataTypes::Coord Coord; + typedef typename DataTypes::Deriv Deriv; + typedef typename DataTypes::MatrixDeriv MatrixDeriv; + + typedef core::objectmodel::Data DataVecCoord; + typedef core::objectmodel::Data DataVecDeriv; + typedef core::objectmodel::Data DataMatrixDeriv; +protected: + LagrangianConstraint(MechanicalState *mm = nullptr); + + ~LagrangianConstraint() override; + + virtual void init() override; +public: + Data endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints + virtual bool isActive() const; ///< if false, the constraint does nothing + + using BaseConstraintSet::getConstraintViolation; + + /// Construct the Constraint violations vector of each constraint + /// + /// \param v is the result vector that contains the whole constraints violations + /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) + void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override; + + /// Construct the Constraint violations vector of each constraint + /// + /// \param resV is the result vector that contains the whole constraints violations + /// \param x is the position vector used to compute constraint position violation + /// \param v is the velocity vector used to compute constraint velocity violation + /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) + /// + /// This is the method that should be implemented by the component + virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) = 0; + + + /// Construct the Jacobian Matrix + /// + /// \param cId is the result constraint sparse matrix Id + /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it + /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) + void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override; + + /// Construct the Jacobian Matrix + /// + /// \param c is the result constraint sparse matrix + /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it + /// \param x is the position vector used for constraint equation computation + /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) + /// + /// This is the method that should be implemented by the component + virtual void buildConstraintMatrix(const ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) = 0; + + + void storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) override; + + /// Pre-construction check method called by ObjectFactory. + /// Check that DataTypes matches the MechanicalState. + template + static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg) + { + if (dynamic_cast*>(context->getMechanicalState()) == nullptr) { + arg->logError("No mechanical state with the datatype '" + std::string(DataTypes::Name()) + "' found in the context node."); + return false; + } + + return BaseObject::canCreate(obj, context, arg); + } + + virtual type::vector getBaseConstraintIdentifiers() override final + { + type::vector ids = getConstraintIdentifiers(); + ids.push_back("LagrangianConstraint"); + return ids; + } + +protected: + + virtual type::vector getConstraintIdentifiers(){ return {}; } + + +private: + void storeLambda(const ConstraintParams* cParams, Data& resId, const Data& jacobian, const sofa::linearalgebra::BaseVector* lambda); +}; + +#if !defined(SOFA_CORE_BEHAVIOR_CONSTRAINT_CPP) +extern template class SOFA_CORE_API LagrangianConstraint; +extern template class SOFA_CORE_API LagrangianConstraint; +extern template class SOFA_CORE_API LagrangianConstraint; +extern template class SOFA_CORE_API LagrangianConstraint; +extern template class SOFA_CORE_API LagrangianConstraint; +extern template class SOFA_CORE_API LagrangianConstraint; + + +#endif +} // namespace sofa::core::behavior diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl new file mode 100644 index 00000000000..f76acf95e3a --- /dev/null +++ b/Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.inl @@ -0,0 +1,95 @@ +/****************************************************************************** +* 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::core::behavior +{ + +template +LagrangianConstraint::LagrangianConstraint(MechanicalState *mm) + : Inherit1(), Inherit2(mm) + , endTime( initData(&endTime,(Real)-1,"endTime","The constraint stops acting after the given value.\nUse a negative value for infinite constraints") ) +{ +} + +template +LagrangianConstraint::~LagrangianConstraint() +{ +} + + +template +bool LagrangianConstraint::isActive() const +{ + if( endTime.getValue()<0 ) return true; + return endTime.getValue()>getContext()->getTime(); +} + +template +void LagrangianConstraint::init() +{ + Inherit1::init(); + Inherit2::init(); +} + +template +void LagrangianConstraint::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) +{ + if (cParams) + { + getConstraintViolation(cParams, v, *cParams->readX(this->mstate.get()), *cParams->readV(this->mstate.get())); + } +} + + +template +void LagrangianConstraint::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) +{ + if (cParams) + { + buildConstraintMatrix(cParams, *cId[this->mstate.get()].write(), cIndex, this->mstate->readPositions().ref()); + } +} + + +template +void LagrangianConstraint::storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) +{ + if (cParams) + { + storeLambda(cParams, *res[this->mstate.get()].write(), *cParams->readJ(this->mstate.get()), lambda); + } +} + +template +void LagrangianConstraint::storeLambda(const ConstraintParams*, Data& result, const Data& jacobian, const sofa::linearalgebra::BaseVector* lambda) +{ + auto res = sofa::helper::getWriteAccessor(result); + const MatrixDeriv& j = jacobian.getValue(); + j.multTransposeBaseVector(res, lambda ); // lambda is a vector of scalar value so block size is one. +} + + +} // namespace sofa::core::behavior diff --git a/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h b/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h index aec3d600dc8..894b139bfcb 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/LinearSolver.h @@ -52,7 +52,7 @@ class SOFA_CORE_API LinearSolver : public BaseLinearSolver /// Rebuild the system using a mass and force factor /// Experimental API used to investigate convergence issues. - virtual void rebuildSystem(SReal /*massFactor*/, SReal /*forceFactor*/){} + SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() virtual void rebuildSystem(SReal /*massFactor*/, SReal /*forceFactor*/){} /// Indicate if the solver update the system in parallel virtual bool isAsyncSolver() { return false; } diff --git a/Sofa/framework/Core/src/sofa/core/behavior/Mass.inl b/Sofa/framework/Core/src/sofa/core/behavior/Mass.inl index c802ed94c79..88f94b7bea5 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/Mass.inl +++ b/Sofa/framework/Core/src/sofa/core/behavior/Mass.inl @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/Sofa/framework/Core/src/sofa/core/behavior/MechanicalState.h b/Sofa/framework/Core/src/sofa/core/behavior/MechanicalState.h index 7c217c7573a..982768b6a36 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/MechanicalState.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/MechanicalState.h @@ -32,13 +32,12 @@ namespace sofa::core::behavior /** * \brief Component storing all state vectors of a simulated body (position, - * velocity, etc), using the datatype specified in the templace. + * velocity, etc), using the datatype specified in the template. * * The given DataTypes class should define the following internal types: * \li \code Real \endcode : scalar values (float or double). * \li \code Coord \endcode : position values. * \li \code Deriv \endcode : derivative values (velocity, forces, displacements). - * \li \code VecReal \endcode : container of scalar values with the same API as sofa::type::vector. * \li \code VecCoord \endcode : container of Coord values with the same API as sofa::type::vector. * \li \code VecDeriv \endcode : container of Deriv values with the same API as sofa::type::vector. * \li \code MatrixDeriv \endcode : vector of constraints. @@ -64,8 +63,6 @@ class MechanicalState : public BaseMechanicalState, public State typedef typename DataTypes::Coord Coord; /// Derivative values (velocity, forces, displacements). typedef typename DataTypes::Deriv Deriv; - /// Container of scalar values with the same API as sofa::type::vector. - typedef typename DataTypes::VecReal VecReal; /// Container of Coord values with the same API as sofa::type::vector. typedef typename DataTypes::VecCoord VecCoord; /// Container of Deriv values with the same API as sofa::type::vector. diff --git a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl index b30ac9047a2..a881ef7031a 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl +++ b/Sofa/framework/Core/src/sofa/core/behavior/MixedInteractionConstraint.inl @@ -62,7 +62,7 @@ void MixedInteractionConstraint::buildConstraintMatrix(c if (cParams) { buildConstraintMatrix(cParams, *cId[this->mstate1.get()].write(), *cId[this->mstate2.get()].write(), cIndex, - *cParams->readX(this->mstate1.get()), *cParams->readX(this->mstate2.get())); + this->mstate1->readPositions().ref(), this->mstate2->readPositions().ref()); } } diff --git a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl index 204b7678e46..7023b553922 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl +++ b/Sofa/framework/Core/src/sofa/core/behavior/PairInteractionConstraint.inl @@ -64,7 +64,8 @@ void PairInteractionConstraint::buildConstraintMatrix(const Constrain { if (cParams) { - buildConstraintMatrix(cParams, *cId[this->mstate1.get()].write(), *cId[this->mstate2.get()].write(), cIndex, *cParams->readX(this->mstate1.get()), *cParams->readX(this->mstate2.get())); + buildConstraintMatrix(cParams, *cId[this->mstate1.get()].write(), *cId[this->mstate2.get()].write(), cIndex, + this->mstate1->readPositions().ref(), this->mstate2->readPositions().ref()); } } diff --git a/Sofa/framework/Core/src/sofa/core/behavior/fwd.h b/Sofa/framework/Core/src/sofa/core/behavior/fwd.h index 11019c4f5d2..a6c4927f9ac 100644 --- a/Sofa/framework/Core/src/sofa/core/behavior/fwd.h +++ b/Sofa/framework/Core/src/sofa/core/behavior/fwd.h @@ -24,7 +24,7 @@ namespace sofa::core::behavior { class BaseAnimationLoop; - class BaseConstraint; + class BaseLagrangianConstraint; class BaseConstraintCorrection; class BaseController; class BaseForceField; diff --git a/Sofa/framework/Core/src/sofa/core/collision/Intersection.h b/Sofa/framework/Core/src/sofa/core/collision/Intersection.h index f884ab701c8..afd36626120 100644 --- a/Sofa/framework/Core/src/sofa/core/collision/Intersection.h +++ b/Sofa/framework/Core/src/sofa/core/collision/Intersection.h @@ -81,11 +81,6 @@ class ElementIntersector virtual int endIntersect(core::CollisionModel* model1, core::CollisionModel* model2, DetectionOutputVector* contacts) = 0; virtual std::string name() const = 0; - - SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() - virtual bool canIntersect(core::CollisionElementIterator, core::CollisionElementIterator) = delete; - SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() - virtual int intersect(core::CollisionElementIterator, core::CollisionElementIterator, DetectionOutputVector*) = delete; }; /// Table storing associations between types of collision models and intersectors implementing intersection tests diff --git a/Sofa/framework/Core/src/sofa/core/collision/Intersection.inl b/Sofa/framework/Core/src/sofa/core/collision/Intersection.inl index b882ee86361..192102573e8 100644 --- a/Sofa/framework/Core/src/sofa/core/collision/Intersection.inl +++ b/Sofa/framework/Core/src/sofa/core/collision/Intersection.inl @@ -36,10 +36,7 @@ public: typedef typename Elem1::Model Model1; typedef typename Elem2::Model Model2; MemberElementIntersector(T* ptr) : impl(ptr) {} - /// Test if 2 elements can collide. Note that this can be conservative (i.e. return true even when no collision is present) - SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() - bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2) = delete; - + /// Test if 2 elements can collide. Note that this can be conservative (i.e. return true even when no collision is present) bool canIntersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, const core::collision::Intersection* currentIntersection) override { Elem1 e1(elem1); @@ -61,9 +58,6 @@ public: } /// Compute the intersection between 2 elements. - SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() - int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, DetectionOutputVector* contacts) = delete; - int intersect(core::CollisionElementIterator elem1, core::CollisionElementIterator elem2, DetectionOutputVector* contacts, const core::collision::Intersection* currentIntersection) override { Elem1 e1(elem1); diff --git a/Sofa/framework/Core/src/sofa/core/config.h.in b/Sofa/framework/Core/src/sofa/core/config.h.in index a444e394817..2f31886b7a6 100644 --- a/Sofa/framework/Core/src/sofa/core/config.h.in +++ b/Sofa/framework/Core/src/sofa/core/config.h.in @@ -46,13 +46,6 @@ #endif // SOFA_CORE_TOPOLOGY_ENABLE_DEPRECATION_MESSAGE -#ifdef SOFA_BUILD_SOFA_CORE -#define SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() -#else -#define SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER() \ - SOFA_ATTRIBUTE_DISABLED("v24.06", "v24.12", "Intersection detection methods now needs the Intersection method as a parameter.") -#endif - #ifdef SOFA_BUILD_SOFA_CORE #define SOFA_ATTRIBUTE_DISABLED__COMPLIANT() #else @@ -84,7 +77,20 @@ #endif +#ifdef SOFA_BUILD_SOFA_CORE +#define SOFA_ATTRIBUTE_DISABLED__DELETED_ARGUMENTS() +#else +#define SOFA_ATTRIBUTE_DISABLED__DELETED_ARGUMENTS() \ + SOFA_ATTRIBUTE_DISABLED("v25.06", "v25.12", "Signature has changed, use 'getConstraintResolution(const ConstraintParams* cParams, std::vector &resTab, unsigned int &offset)' instead") +#endif + +#ifdef SOFA_BUILD_SOFA_CORE +#define SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__NAME_CHANGED() \ +SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.06", "Use getContactDistance or setContactDistance instead.") +#endif #ifdef SOFA_BUILD_SOFA_CORE @@ -125,3 +131,26 @@ #define SOFA_ATTRIBUTE_DISABLED__MAPPING_JACOBIAN() SOFA_ATTRIBUTE_DISABLED("v24.12", "v25.06", "Use the variable sofa::core::vec_id::read_access::mappingJacobian or sofa::core::vec_id::write_access::mappingJacobian instead") #endif + + +#ifdef SOFA_BUILD_SOFA_CORE +#define SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT() \ + SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.12", "Use toBaseLagrangianConstraint instead.") +#endif + +#ifdef SOFA_BUILD_SOFA_CORE +#define SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() +#else +#define SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() \ + SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.06", "It was an experimental function no longer used.") +#endif + + +#ifdef SOFA_BUILD_SOFA_CORE +#define SOFA_ATTRIBUTE_RENAMED__COLLISIONMODEL_PROXIMITY() +#else +#define SOFA_ATTRIBUTE_RENAMED__COLLISIONMODEL_PROXIMITY() \ + SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.12", "Data 'proximity' has been renamed to 'contactDistance'") +#endif \ No newline at end of file diff --git a/Sofa/framework/Core/src/sofa/core/fwd.cpp b/Sofa/framework/Core/src/sofa/core/fwd.cpp index f9f2a857d1a..6a2de45217e 100644 --- a/Sofa/framework/Core/src/sofa/core/fwd.cpp +++ b/Sofa/framework/Core/src/sofa/core/fwd.cpp @@ -43,7 +43,7 @@ #include #include #include -#include +#include #include diff --git a/Sofa/framework/Core/src/sofa/core/fwd.h b/Sofa/framework/Core/src/sofa/core/fwd.h index 83dcd7fec12..33b99fdc89c 100644 --- a/Sofa/framework/Core/src/sofa/core/fwd.h +++ b/Sofa/framework/Core/src/sofa/core/fwd.h @@ -100,7 +100,7 @@ class BaseForceField; class BaseMass; class BaseMechanicalState; class BaseAnimationLoop; -class BaseConstraint; +class BaseLagrangianConstraint; class BaseConstraintSet; class ConstraintSolver; class ConstraintResolution; @@ -110,6 +110,7 @@ class BaseInteractionForceField; class BaseProjectiveConstraintSet; class BaseInteractionProjectiveConstraintSet; class BaseInteractionConstraint; +class BaseMechanicalState; class LinearSolver; class MultiMatrixAccessor; diff --git a/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.cpp b/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.cpp index 535a8f2bfbf..1379f303555 100644 --- a/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.cpp +++ b/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.cpp @@ -21,12 +21,6 @@ ******************************************************************************/ #include #include -#include -#include -#include - -#include - namespace sofa::core::loader { @@ -564,7 +558,7 @@ void MeshLoader::updatePoints() { if (d_onlyAttachedPoints.getValue()) { - std::set attachedPoints; + std::set attachedPoints; { const helper::ReadAccessor > > elems = d_edges; for (Size i = 0; i < elems.size(); ++i) @@ -627,12 +621,12 @@ void MeshLoader::updatePoints() return; // all points are attached } helper::WriteAccessor > > waPositions = d_positions; - type::vector old2new; + type::vector old2new; old2new.resize(waPositions.size()); - Topology::ElemID p = 0; - for (std::set::const_iterator it = attachedPoints.begin(), itend = attachedPoints.end(); it != itend; ++it) + sofa::Index p = 0; + for (std::set::const_iterator it = attachedPoints.begin(), itend = attachedPoints.end(); it != itend; ++it) { - const Topology::ElemID newp = *it; + const sofa::Index newp = *it; old2new[newp] = p; if (p != newp) { @@ -790,7 +784,7 @@ void MeshLoader::addEdge(type::vector& pEdges, const Edge& p) pEdges.push_back(p); } -void MeshLoader::addEdge(type::vector& pEdges, Topology::EdgeID p0, Topology::EdgeID p1) +void MeshLoader::addEdge(type::vector& pEdges, sofa::Index p0, sofa::Index p1) { addEdge(pEdges, Edge(p0, p1)); } @@ -809,7 +803,7 @@ void MeshLoader::addTriangle(type::vector& pTriangles, const Triangle } } -void MeshLoader::addTriangle(type::vector& pTriangles, Topology::TriangleID p0, Topology::TriangleID p1, Topology::TriangleID p2) +void MeshLoader::addTriangle(type::vector& pTriangles, sofa::Index p0, sofa::Index p1, sofa::Index p2) { addTriangle(pTriangles, Triangle(p0, p1, p2)); } @@ -829,16 +823,16 @@ void MeshLoader::addQuad(type::vector& pQuads, const Quad& p) } } -void MeshLoader::addQuad(type::vector& pQuads, Topology::QuadID p0, Topology::QuadID p1, Topology::QuadID p2, Topology::QuadID p3) +void MeshLoader::addQuad(type::vector& pQuads, sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3) { addQuad(pQuads, Quad(p0, p1, p2, p3)); } -void MeshLoader::addPolygon(type::vector< type::vector >& pPolygons, const type::vector& p) +void MeshLoader::addPolygon(type::vector< type::vector >& pPolygons, const type::vector& p) { if (d_flipNormals.getValue()) { - type::vector revertP(p.size()); + type::vector revertP(p.size()); std::reverse_copy(p.begin(), p.end(), revertP.begin()); pPolygons.push_back(revertP); @@ -855,14 +849,14 @@ void MeshLoader::addTetrahedron(type::vector< Tetrahedron >& pTetrahedra, const pTetrahedra.push_back(p); } -void MeshLoader::addTetrahedron(type::vector< Tetrahedron >& pTetrahedra, Topology::TetrahedronID p0, Topology::TetrahedronID p1, Topology::TetrahedronID p2, Topology::TetrahedronID p3) +void MeshLoader::addTetrahedron(type::vector< Tetrahedron >& pTetrahedra, sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3) { addTetrahedron(pTetrahedra, Tetrahedron(p0, p1, p2, p3)); } void MeshLoader::addHexahedron(type::vector< Hexahedron >& pHexahedra, - Topology::HexahedronID p0, Topology::HexahedronID p1, Topology::HexahedronID p2, Topology::HexahedronID p3, - Topology::HexahedronID p4, Topology::HexahedronID p5, Topology::HexahedronID p6, Topology::HexahedronID p7) + sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3, + sofa::Index p4, sofa::Index p5, sofa::Index p6, sofa::Index p7) { addHexahedron(pHexahedra, Hexahedron(p0, p1, p2, p3, p4, p5, p6, p7)); } @@ -873,8 +867,8 @@ void MeshLoader::addHexahedron(type::vector< Hexahedron >& pHexahedra, const Hex } void MeshLoader::addPentahedron(type::vector< Pentahedron >& pPentahedra, - Topology::ElemID p0, Topology::ElemID p1, Topology::ElemID p2, Topology::ElemID p3, - Topology::ElemID p4, Topology::ElemID p5) + sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3, + sofa::Index p4, sofa::Index p5) { addPentahedron(pPentahedra, Pentahedron(p0, p1, p2, p3, p4, p5)); } @@ -885,7 +879,7 @@ void MeshLoader::addPentahedron(type::vector< Pentahedron >& pPentahedra, const } void MeshLoader::addPyramid(type::vector< Pyramid >& pPyramids, - Topology::ElemID p0, Topology::ElemID p1, Topology::ElemID p2, Topology::ElemID p3, Topology::ElemID p4) + sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3, sofa::Index p4) { addPyramid(pPyramids, Pyramid(p0, p1, p2, p3, p4)); } diff --git a/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.h b/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.h index f15f4af3974..4f1373380c1 100644 --- a/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.h +++ b/Sofa/framework/Core/src/sofa/core/loader/MeshLoader.h @@ -22,10 +22,17 @@ #pragma once #include -#include #include #include -#include + +#include +#include +#include +#include +#include +#include +#include +#include namespace sofa::helper::io { @@ -38,6 +45,14 @@ namespace sofa::core::loader using sofa::type::PrimitiveGroup; using topology::Topology; +using sofa::topology::Edge; +using sofa::topology::Triangle; +using sofa::topology::Quad; +using sofa::topology::Tetrahedron; +using sofa::topology::Hexahedron; +using sofa::topology::Pentahedron; +using sofa::topology::Pyramid; + class SOFA_CORE_API MeshLoader : public BaseLoader { public: @@ -45,14 +60,8 @@ class SOFA_CORE_API MeshLoader : public BaseLoader SOFA_ABSTRACT_CLASS(MeshLoader, BaseLoader); - typedef topology::Topology::Edge Edge; - typedef topology::Topology::Triangle Triangle; - typedef topology::Topology::Quad Quad; - typedef topology::Topology::Tetrahedron Tetrahedron; - typedef topology::Topology::Hexahedron Hexahedron; - typedef topology::Topology::Pentahedron Pentahedron; - typedef topology::Topology::Pyramid Pyramid; - typedef topology::Topology::PointID PointID; + typedef sofa::Index PointID; + /* specify for each control point lying on an edge : the control point index, the index of the edge, the 2 integers specifying the position within this edge (i.e. 11 for a quadratic edge, 13 within a quartic edge).. */ typedef sofa::type::fixed_array HighOrderEdgePosition; @@ -145,7 +154,7 @@ class SOFA_CORE_API MeshLoader : public BaseLoader Data< type::vector< Edge > > d_edges; ///< Edges of the mesh loaded Data< type::vector< Triangle > > d_triangles; ///< Triangles of the mesh loaded Data< type::vector< Quad > > d_quads; ///< Quads of the mesh loaded - Data< type::vector< type::vector > > d_polygons; ///< Polygons of the mesh loaded + Data< type::vector< type::vector > > d_polygons; ///< Polygons of the mesh loaded Data< type::vector< HighOrderEdgePosition > > d_highOrderEdgePositions; ///< High order edge points of the mesh loaded Data< type::vector< HighOrderTrianglePosition > > d_highOrderTrianglePositions; ///< High order triangle points of the mesh loaded Data< type::vector< HighOrderQuadPosition > > d_highOrderQuadPositions; ///< High order quad points of the mesh loaded @@ -201,32 +210,32 @@ class SOFA_CORE_API MeshLoader : public BaseLoader void addPolyline(type::vector& pPolylines, Polyline p); void addEdge(type::vector& pEdges, const Edge& p); - void addEdge(type::vector& pEdges, Topology::EdgeID p0, Topology::EdgeID p1); + void addEdge(type::vector& pEdges, sofa::Index p0, sofa::Index p1); void addTriangle(type::vector& pTriangles, const Triangle& p); - void addTriangle(type::vector& pTriangles, Topology::TriangleID p0, Topology::TriangleID p1, Topology::TriangleID p2); + void addTriangle(type::vector& pTriangles, sofa::Index p0, sofa::Index p1, sofa::Index p2); void addQuad(type::vector& pQuads, const Quad& p); - void addQuad(type::vector& pQuads, Topology::QuadID p0, Topology::QuadID p1, Topology::QuadID p2, Topology::QuadID p3); + void addQuad(type::vector& pQuads, sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3); - void addPolygon(type::vector< type::vector >& pPolygons, const type::vector& p); + void addPolygon(type::vector< type::vector >& pPolygons, const type::vector& p); void addTetrahedron(type::vector& pTetrahedra, const Tetrahedron& p); - void addTetrahedron(type::vector& pTetrahedra, Topology::TetrahedronID p0, Topology::TetrahedronID p1, Topology::TetrahedronID p2, Topology::TetrahedronID p3); + void addTetrahedron(type::vector& pTetrahedra, sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3); void addHexahedron(type::vector< Hexahedron>& pHexahedra, const Hexahedron& p); void addHexahedron(type::vector< Hexahedron>& pHexahedra, - Topology::HexahedronID p0, Topology::HexahedronID p1, Topology::HexahedronID p2, Topology::HexahedronID p3, - Topology::HexahedronID p4, Topology::HexahedronID p5, Topology::HexahedronID p6, Topology::HexahedronID p7); + sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3, + sofa::Index p4, sofa::Index p5, sofa::Index p6, sofa::Index p7); void addPentahedron(type::vector< Pentahedron>& pPentahedra, const Pentahedron& p); void addPentahedron(type::vector< Pentahedron>& pPentahedra, - Topology::ElemID p0, Topology::ElemID p1, Topology::ElemID p2, Topology::ElemID p3, - Topology::ElemID p4, Topology::ElemID p5); + sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3, + sofa::Index p4, sofa::Index p5); void addPyramid(type::vector< Pyramid>& pPyramids, const Pyramid& p); void addPyramid(type::vector< Pyramid>& pPyramids, - Topology::ElemID p0, Topology::ElemID p1, Topology::ElemID p2, Topology::ElemID p3, Topology::ElemID p4); + sofa::Index p0, sofa::Index p1, sofa::Index p2, sofa::Index p3, sofa::Index p4); /// Temporary method that will copy all buffers from a io::Mesh into the corresponding Data. Will be removed as soon as work on unifying meshloader is finished void copyMeshToData(helper::io::Mesh& _mesh); diff --git a/Sofa/framework/Core/src/sofa/core/loader/VoxelLoader.cpp b/Sofa/framework/Core/src/sofa/core/loader/VoxelLoader.cpp index 74696919ec5..f56f4c49984 100644 --- a/Sofa/framework/Core/src/sofa/core/loader/VoxelLoader.cpp +++ b/Sofa/framework/Core/src/sofa/core/loader/VoxelLoader.cpp @@ -54,7 +54,7 @@ void VoxelLoader::addHexahedron(type::vector< type::fixed_array unsigned int p0, unsigned int p1, unsigned int p2, unsigned int p3, unsigned int p4, unsigned int p5, unsigned int p6, unsigned int p7) { - addHexahedron(pHexahedra, type::fixed_array (p0, p1, p2, p3, p4, p5, p6, p7)); + addHexahedron(pHexahedra, type::fixed_array({p0, p1, p2, p3, p4, p5, p6, p7})); } void VoxelLoader::addHexahedron(type::vector< type::fixed_array >* pHexahedra, const type::fixed_array &p) diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h index ab1acf57676..ae3b2285b6c 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Base.h @@ -355,6 +355,7 @@ class SOFA_CORE_API Base : public IntrusiveObject ComponentState getComponentState() const { return d_componentState.getValue() ; } bool isComponentStateValid() const { return d_componentState.getValue() == ComponentState::Valid; } + bool isComponentStateInvalid() const { return d_componentState.getValue() == ComponentState::Invalid; } ///@} @@ -425,7 +426,7 @@ class SOFA_CORE_API Base : public IntrusiveObject SOFA_BASE_CAST_DEFINITION( behavior, BaseProjectiveConstraintSet ) SOFA_BASE_CAST_DEFINITION( behavior, BaseInteractionProjectiveConstraintSet ) SOFA_BASE_CAST_DEFINITION( behavior, BaseConstraintSet ) - SOFA_BASE_CAST_DEFINITION( behavior, BaseConstraint ) + SOFA_BASE_CAST_DEFINITION( behavior, BaseLagrangianConstraint ) SOFA_BASE_CAST_DEFINITION( visual, VisualModel ) SOFA_BASE_CAST_DEFINITION( visual, VisualManager ) SOFA_BASE_CAST_DEFINITION( visual, VisualLoop ) @@ -442,6 +443,9 @@ class SOFA_CORE_API Base : public IntrusiveObject #undef SOFA_BASE_CAST_DEFINITION + SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT() virtual const behavior::BaseLagrangianConstraint* toBaseConstraint() const { return toBaseLagrangianConstraint(); } \ + SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT() virtual behavior::BaseLagrangianConstraint* toBaseConstraint() { return toBaseLagrangianConstraint(); } + /// @} }; diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp index 6cdd40f0692..390116d17ef 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp @@ -119,14 +119,11 @@ void BaseObject::parse( BaseObjectDescription* arg ) void BaseObject::setSrc(const std::string &valueString, std::vector< std::string > *attributeList) { - const BaseObject* loader = nullptr; - std::size_t posAt = valueString.rfind('@'); if (posAt == std::string::npos) posAt = 0; - std::string objectName; - objectName = valueString.substr(posAt+1); - loader = getContext()->get(objectName); + const std::string objectName = valueString.substr(posAt + 1); + const BaseObject* loader = getContext()->get(objectName); if (!loader) { msg_error() << "Source object \"" << valueString << "\" NOT FOUND."; @@ -137,16 +134,13 @@ void BaseObject::setSrc(const std::string &valueString, std::vector< std::string void BaseObject::setSrc(const std::string &valueString, const BaseObject *loader, std::vector< std::string > *attributeList) { - const BaseObject* obj = this; - BaseObject::MapData dataLoaderMap = loader->m_aliasData; - BaseObject::MapData::iterator it_map; if (attributeList != nullptr) { - for (std::size_t j = 0; jsize(); ++j) + for (const auto& attribute : *attributeList) { - it_map = dataLoaderMap.find ((*attributeList)[j]); + const auto it_map = dataLoaderMap.find (attribute); if (it_map != dataLoaderMap.end()) dataLoaderMap.erase (it_map); } @@ -154,29 +148,28 @@ void BaseObject::setSrc(const std::string &valueString, const BaseObject *loader // -- Temporary patch, using exceptions. TODO: use a flag to set Data not to be automatically linked. -- //{ - it_map = dataLoaderMap.find ("type"); - if (it_map != dataLoaderMap.end()) - dataLoaderMap.erase (it_map); - - it_map = dataLoaderMap.find ("filename"); - if (it_map != dataLoaderMap.end()) - dataLoaderMap.erase (it_map); + for (const auto& specialString : {"type", "filename"}) + { + if (const auto it_map = dataLoaderMap.find (specialString); it_map != dataLoaderMap.end()) + { + dataLoaderMap.erase (it_map); + } + } //} - - for (it_map = dataLoaderMap.begin(); it_map != dataLoaderMap.end(); ++it_map) + for (auto& [loaderDataStr, loaderData] : dataLoaderMap) { - BaseData* data = obj->findData( (*it_map).first ); + BaseData* data = this->findData(loaderDataStr); if (data != nullptr) { - if (!(*it_map).second->isAutoLink()) + if (!loaderData->isAutoLink()) { msg_info() << "Disabling autolink for Data '" << data->getName() << "'"; } else { - std::string linkPath = valueString+"."+(*it_map).first; - data->setParent( (*it_map).second, linkPath); + const std::string linkPath = valueString + "." + loaderDataStr; + data->setParent(loaderData, linkPath); } } } diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Context.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/Context.cpp index 1bc2b619271..2c9c3ec331f 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/Context.cpp +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Context.cpp @@ -130,7 +130,6 @@ void Context::copyContext(const Context& c) // *this = c; copySimulationContext(c); - } @@ -140,9 +139,6 @@ void Context::copySimulationContext(const Context& c) setDt(c.getDt()); setTime(c.getTime()); setAnimate(c.getAnimate()); - - - } } // namespace sofa::core::objectmodel diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h b/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h index d79e04eb4fb..ff947990e93 100644 --- a/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h +++ b/Sofa/framework/Core/src/sofa/core/objectmodel/Data.h @@ -28,6 +28,7 @@ #include #include #include +#include namespace sofa { namespace core::objectmodel diff --git a/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.cpp b/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.cpp index ed012fc1c23..002780fea68 100644 --- a/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.cpp +++ b/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.cpp @@ -235,35 +235,6 @@ SOFA_CORE_API std::istream& operator >> (std::istream& in, PointAncestorElem& /* return in; } -template -SOFA_CORE_API std::ostream& operator << (std::ostream& out, const ElemAncestorElem& d) -{ - out << d.pointSrcElems << " " << d.srcElems.size() << " " << d.srcElems << "\n"; - return out; -} - -template -SOFA_CORE_API std::istream& operator >> (std::istream& in, ElemAncestorElem& /*d*/) -{ - /* - in >> d.pointSrcElems; - int nsrc = 0; - in >> nsrc; - if (nsrc > 0) - { - d.srcElems.resize(nsrc); - for (unsigned int i = 0; i < nsrc; ++i) - in >> d.srcElems[i]; - } - */ - return in; -} - -template SOFA_CORE_API std::ostream& operator<< (std::ostream& out, const ElemAncestorElem<2>& d); -template SOFA_CORE_API std::ostream& operator<< (std::ostream& out, const ElemAncestorElem<3>& d); -template SOFA_CORE_API std::ostream& operator<< (std::ostream& out, const ElemAncestorElem<4>& d); -template SOFA_CORE_API std::ostream& operator<< (std::ostream& out, const ElemAncestorElem<8>& d); - TopologyChange::~TopologyChange() { } diff --git a/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h b/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h index ab4983c4c22..c00c61923c7 100644 --- a/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h +++ b/Sofa/framework/Core/src/sofa/core/topology/TopologyChange.h @@ -188,9 +188,17 @@ struct ElemAncestorElem }; template -SOFA_CORE_API std::ostream& operator << (std::ostream& out, const ElemAncestorElem& d); +std::ostream& operator << (std::ostream& out, const ElemAncestorElem& d) +{ + out << d.pointSrcElems << " " << d.srcElems.size() << " " << d.srcElems << "\n"; + return out; +} + template -SOFA_CORE_API std::istream& operator >> (std::istream& in, ElemAncestorElem& d); +std::istream& operator >> (std::istream& in, ElemAncestorElem& d) +{ + return in; +} typedef ElemAncestorElem<2> EdgeAncestorElem; typedef ElemAncestorElem<3> TriangleAncestorElem; diff --git a/Sofa/framework/Core/src/sofa/core/visual/DisplayFlags.h b/Sofa/framework/Core/src/sofa/core/visual/DisplayFlags.h index 862b438f613..a0887677d61 100644 --- a/Sofa/framework/Core/src/sofa/core/visual/DisplayFlags.h +++ b/Sofa/framework/Core/src/sofa/core/visual/DisplayFlags.h @@ -48,6 +48,7 @@ namespace sofa::core::visual * | |--collision * | | |--collisionmodels * | | |--boundingcollisionmodels +* | | |--detectionoutputs * | |--mapping * | | |--visualmappings * | | |--mechanicalmappings @@ -88,7 +89,7 @@ class SOFA_CORE_API DisplayFlags DisplayFlags& setShowBehaviorModels(tristate v=true) { m_showBehaviorModels.setValue(v); return (*this); } DisplayFlags& setShowForceFields(tristate v=true) { m_showForceFields.setValue(v); return (*this); } DisplayFlags& setShowInteractionForceFields(tristate v=true) { m_showInteractionForceFields.setValue(v); return (*this); } - DisplayFlags& setShowCollision(tristate v=true ) { m_showCollisionModels.setValue(v); return (*this); } + DisplayFlags& setShowCollision(tristate v=true ) { m_showCollision.setValue(v); return (*this); } DisplayFlags& setShowCollisionModels(tristate v=true) { m_showCollisionModels.setValue(v); return (*this); } DisplayFlags& setShowBoundingCollisionModels(tristate v=true) { m_showBoundingCollisionModels.setValue(v); return (*this); } DisplayFlags& setShowDetectionOutputs(tristate v=true) { m_showDetectionOutputs.setValue(v); return (*this); } diff --git a/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h b/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h index ff7715a5b15..a88b1ad9e1a 100644 --- a/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h +++ b/Sofa/framework/Core/src/sofa/core/visual/VisualModel.h @@ -52,9 +52,6 @@ class SOFA_CORE_API VisualModel : public virtual objectmodel::BaseObject /** * \brief Display the VisualModel object. - * - * TODO(dmarchal, 2023-06-09): Deprecate VI and use NVI design pattern: In one year, remove the virtual keyword so that everyone - * will have to override doDrawVisual; */ virtual void drawVisual(const VisualParams* /*vparams*/) final; diff --git a/Sofa/framework/Core/test/loader/MeshLoader_test.cpp b/Sofa/framework/Core/test/loader/MeshLoader_test.cpp index ba7996d8bcc..2105ce57a01 100644 --- a/Sofa/framework/Core/test/loader/MeshLoader_test.cpp +++ b/Sofa/framework/Core/test/loader/MeshLoader_test.cpp @@ -69,10 +69,10 @@ class MeshLoader_test : public BaseTest meshLoader.addPosition((my_positions.wref()), 0.,0.,1.); MeshTestLoader::waTtriangles my_triangles(meshLoader.d_triangles); - meshLoader.addTriangle((my_triangles.wref()), MeshLoader::Triangle(0,1,2)); + meshLoader.addTriangle((my_triangles.wref()), topology::Triangle(0,1,2)); MeshTestLoader::waTetrahedra my_tetrahedra(meshLoader.d_tetrahedra); - meshLoader.addTetrahedron((my_tetrahedra.wref()), MeshLoader::Tetrahedron(0,1,2,3) ); + meshLoader.addTetrahedron((my_tetrahedra.wref()), topology::Tetrahedron(0,1,2,3) ); } diff --git a/Sofa/framework/Core/test/objectmodel/Data_test.cpp b/Sofa/framework/Core/test/objectmodel/Data_test.cpp index 63b7e0ecd81..8f9986e660d 100644 --- a/Sofa/framework/Core/test/objectmodel/Data_test.cpp +++ b/Sofa/framework/Core/test/objectmodel/Data_test.cpp @@ -46,6 +46,9 @@ class Data_test : public BaseTest Data dataVec3; Data> dataVectorVec3; + Data> dataArray3i; + Data>> dataVecArray3i; + Data > dataEdge; Data > dataHexahedron; Data > dataPentahedron; @@ -77,6 +80,11 @@ TEST_F(Data_test, validInfo) EXPECT_TRUE(defaulttype::DataTypeInfo >::ValidInfo); EXPECT_TRUE(defaulttype::DataTypeInfo >::ValidInfo); EXPECT_TRUE(defaulttype::DataTypeInfo >::ValidInfo); + + + using array3i = sofa::type::fixed_array; + EXPECT_TRUE(defaulttype::DataTypeInfo::ValidInfo); + EXPECT_TRUE(defaulttype::DataTypeInfo>::ValidInfo); } TEST_F(Data_test, dataTypeName) @@ -122,6 +130,9 @@ TEST_F(Data_test, getValueTypeString) EXPECT_EQ(dataVectorVec3.getValueTypeString(), "vector"); } + EXPECT_EQ(dataArray3i.getValueTypeString(), "fixed_array"); + EXPECT_EQ(dataVecArray3i.getValueTypeString(), "vector>"); + EXPECT_EQ(dataEdge.getValueTypeString(), "Edge"); EXPECT_EQ(dataHexahedron.getValueTypeString(), "Hexahedron"); EXPECT_EQ(dataPentahedron.getValueTypeString(), "Pentahedron"); @@ -161,5 +172,27 @@ TEST_F(Data_test, getNameWithValueTypeInfo) EXPECT_EQ(dataVec3.getValueTypeInfo()->name(), "Vec3f"); EXPECT_EQ(dataVectorVec3.getValueTypeInfo()->name(), "vector"); } + + EXPECT_EQ(dataArray3i.getValueTypeInfo()->name(), "fixed_array"); + EXPECT_EQ(dataVecArray3i.getValueTypeInfo()->name(), "vector>"); + + + EXPECT_EQ(dataEdge.getValueTypeInfo()->name(), "Edge"); + EXPECT_EQ(dataHexahedron.getValueTypeInfo()->name(), "Hexahedron"); + EXPECT_EQ(dataPentahedron.getValueTypeInfo()->name(), "Pentahedron"); + // EXPECT_EQ(dataPoint.getValueTypeInfo()->name(), "Point"); + EXPECT_EQ(dataPyramid.getValueTypeInfo()->name(), "Pyramid"); + EXPECT_EQ(dataQuad.getValueTypeInfo()->name(), "Quad"); + EXPECT_EQ(dataTetrahedron.getValueTypeInfo()->name(), "Tetrahedron"); + EXPECT_EQ(dataTriangle.getValueTypeInfo()->name(), "Triangle"); + + EXPECT_EQ(dataVecEdge.getValueTypeInfo()->name(), "vector"); + EXPECT_EQ(dataVecHexahedron.getValueTypeInfo()->name(), "vector"); + EXPECT_EQ(dataVecPentahedron.getValueTypeInfo()->name(), "vector"); + // EXPECT_EQ(dataVecPoint.getValueTypeInfo()->name(), "vector"); + EXPECT_EQ(dataVecPyramid.getValueTypeInfo()->name(), "vector"); + EXPECT_EQ(dataVecQuad.getValueTypeInfo()->name(), "vector"); + EXPECT_EQ(dataVecTetrahedron.getValueTypeInfo()->name(), "vector"); + EXPECT_EQ(dataVecTriangle.getValueTypeInfo()->name(), "vector"); } }// namespace sofa diff --git a/Sofa/framework/DefaultType/Sofa.DefaultTypeConfig.cmake.in b/Sofa/framework/DefaultType/Sofa.DefaultTypeConfig.cmake.in index bc454139ce2..df230520ef2 100644 --- a/Sofa/framework/DefaultType/Sofa.DefaultTypeConfig.cmake.in +++ b/Sofa/framework/DefaultType/Sofa.DefaultTypeConfig.cmake.in @@ -3,9 +3,10 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Helper QUIET REQUIRED) -find_package(Sofa.LinearAlgebra REQUIRED) -find_package(Eigen3 QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Helper QUIET REQUIRED) +sofa_find_package(Sofa.LinearAlgebra REQUIRED) +sofa_find_package(Eigen3 QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidCoord.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidCoord.h index 00b9f8f6873..d925ee07cb6 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidCoord.h +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/RigidCoord.h @@ -282,9 +282,9 @@ class RigidCoord<3,real> template void fromMatrix(const Mat& m) { - center[0] = m[0][3]; - center[1] = m[1][3]; - center[2] = m[2][3]; + center[0] = m(0,3); + center[1] = m(1,3); + center[2] = m(2,3); sofa::type::Mat<3, 3, Real> rot; rot = m; orientation.fromMatrix(rot); } @@ -306,9 +306,9 @@ class RigidCoord<3,real> { m.identity(); orientation.toHomogeneousMatrix(m); - m[0][3] = center[0]; - m[1][3] = center[1]; - m[2][3] = center[2]; + m(0,3) = center[0]; + m(1,3) = center[1]; + m(2,3) = center[2]; } /// create a homogeneous vector from a 3d vector @@ -637,17 +637,17 @@ class RigidCoord<2,real> template void writeRotationMatrix(Mat& m) const { - m[0][0] = (typename Mat::Real)cos(orientation); m[0][1] = (typename Mat::Real) - sin(orientation); - m[1][0] = (typename Mat::Real)sin(orientation); m[1][1] = (typename Mat::Real) cos(orientation); + m(0,0) = (typename Mat::Real)cos(orientation); m(0,1) = (typename Mat::Real) - sin(orientation); + m(1,0) = (typename Mat::Real)sin(orientation); m(1,1) = (typename Mat::Real) cos(orientation); } /// Set from the given matrix template void fromMatrix(const Mat& m) { - center[0] = m[0][2]; - center[1] = m[1][2]; - orientation = atan2(m[1][0], m[0][0]); + center[0] = m(0,2); + center[1] = m(1,2); + orientation = atan2(m(1,0), m(0,0)); } /// Write to the given matrix @@ -656,8 +656,8 @@ class RigidCoord<2,real> { m.identity(); writeRotationMatrix(m); - m[0][2] = center[0]; - m[1][2] = center[1]; + m(0,2) = center[0]; + m(1,2) = center[1]; } diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.inl b/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.inl index 2306827c805..0edb1999602 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.inl +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/SolidTypes.inl @@ -88,20 +88,20 @@ typename SolidTypes::ArticulatedInertia SolidTypes::ArticulatedInertia::op template typename SolidTypes::ArticulatedInertia& SolidTypes::ArticulatedInertia::operator = (const RigidInertia& Ri ) { - // H[0][0]=0; - // H[0][1]=-Ri.h[2]; - // H[0][2]= Ri.h[1]; - // H[1][0]= Ri.h[2]; - // H[1][1]=0; - // H[1][2]=-Ri.h[0]; - // H[2][0]=-Ri.h[1]; - // H[2][1]= Ri.h[0]; - // H[2][2]=0; + // H(0,0)=0; + // H(0,1)=-Ri.h[2]; + // H(0,2)= Ri.h[1]; + // H(1,0)= Ri.h[2]; + // H(1,1)=0; + // H(1,2)=-Ri.h[0]; + // H(2,0)=-Ri.h[1]; + // H(2,1)= Ri.h[0]; + // H(2,2)=0; H = crossM( Ri.h ); for( int i=0; i<3; i++ ) for( int j=0; j<3; j++ ) - M[i][j]= i==j ? Ri.m : 0; + M(i,j)= i==j ? Ri.m : 0; I=Ri.I; return *this; @@ -135,10 +135,10 @@ void SolidTypes::ArticulatedInertia::copyTo( Mat66& m ) const { for( int j=0; j<3; j++ ) { - m[i][j] = H[j][i]; - m[i][j+3] = M[i][j]; - m[i+3][j] = I[i][j]; - m[i+3][j+3] = H[i][j]; + m(i,j) = H(j,i); + m(i,j+3) = M(i,j); + m(i+3,j) = I(i,j); + m(i+3,j+3) = H(i,j); } } } @@ -155,7 +155,7 @@ typename SolidTypes::Vec SolidTypes::mult( const typename SolidTypes::M { r[i]=0; for( int j=0; j<3; ++j ) - r[i]+=m[i][j] * v[j]; + r[i]+=m(i,j) * v[j]; } return r; } @@ -168,7 +168,7 @@ typename SolidTypes::Vec SolidTypes::multTrans( const typename SolidTypes< { r[i]=0; for( int j=0; j<3; ++j ) - r[i]+=m[j][i] * v[j]; + r[i]+=m(j,i) * v[j]; } return r; } @@ -178,15 +178,15 @@ template typename SolidTypes::Mat3x3 SolidTypes::crossM( const typename SolidTypes::Vec& v ) { typename SolidTypes::Mat3x3 m; - m[0][0]=0; - m[0][1]=-v[2]; - m[0][2]= v[1]; - m[1][0]= v[2]; - m[1][1]=0; - m[1][2]=-v[0]; - m[2][0]=-v[1]; - m[2][1]= v[0]; - m[2][2]=0; + m(0,0)=0; + m(0,1)=-v[2]; + m(0,2)= v[1]; + m(1,0)= v[2]; + m(1,1)=0; + m(1,2)=-v[0]; + m(2,0)=-v[1]; + m(2,1)= v[0]; + m(2,2)=0; return m; } @@ -203,7 +203,7 @@ typename SolidTypes::Mat3x3 SolidTypes::dyad( const Vec& u, const Vec& v ) Mat3x3 m; for( int i=0; i<3; i++ ) for( int j=0; j<3; j++ ) - m[i][j] = u[i]*v[j]; + m(i,j) = u[i]*v[j]; return m; } diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/TypeInfo_FixedArray.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/TypeInfo_FixedArray.h index 29baaddc5b6..a68e18b20b2 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/TypeInfo_FixedArray.h +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/TypeInfo_FixedArray.h @@ -29,7 +29,7 @@ namespace sofa::defaulttype { -template +template struct DataTypeInfo< sofa::type::fixed_array > : public FixedArrayTypeInfo > { static std::string name() { std::ostringstream o; o << "fixed_array<" << DataTypeInfo::name() << "," << N << ">"; return o.str(); } diff --git a/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/FixedArrayTypeInfo.h b/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/FixedArrayTypeInfo.h index cfd44fe4f4b..f4e55f12ead 100644 --- a/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/FixedArrayTypeInfo.h +++ b/Sofa/framework/DefaultType/src/sofa/defaulttype/typeinfo/models/FixedArrayTypeInfo.h @@ -23,11 +23,15 @@ #include #include +#include namespace sofa::defaulttype { -template +template< + class TDataType, + sofa::Size static_size = sofa::type::trait::staticSize +> struct FixedArrayTypeInfo { typedef TDataType DataType; @@ -51,7 +55,7 @@ struct FixedArrayTypeInfo enum { Size = static_size * BaseTypeInfo::Size }; static sofa::Size size() { - return DataType::size() * BaseTypeInfo::size(); + return static_size * BaseTypeInfo::size(); } static sofa::Size byteSize() @@ -66,7 +70,7 @@ struct FixedArrayTypeInfo else { sofa::Size s = 0; - for (sofa::Size i=0; i()))>, @@ -53,6 +53,24 @@ struct Tetrahedron > [[nodiscard]] static constexpr auto volume(const Node& n0, const Node& n1, const Node& n2, const Node& n3) + { + return std::abs(signedVolume(n0, n1, n2, n3)); + } + + /** + * @brief Compute the signed volume of a tetrahedron + * @remark This function is not generic + * @tparam Node a container of the type sofa::type::Vec3 (needed for cross(), dot(), operator-) + * @tparam T scalar + * @param n0,n1,n2,n3 nodes of the tetrahedron + * @return Signed volume of the tetrahedron (a T scalar) + */ + template()))>, + typename = std::enable_if_t> + > + [[nodiscard]] + static constexpr auto signedVolume(const Node& n0, const Node& n1, const Node& n2, const Node& n3) { constexpr Node n{}; static_assert(std::distance(std::begin(n), std::end(n)) == 3, "volume can only be computed in 3 dimensions."); @@ -61,8 +79,7 @@ struct Tetrahedron const auto b = n2 - n0; const auto c = n3 - n0; - return std::abs(sofa::type::dot(sofa::type::cross(a, b), c) / static_cast(6)); - + return sofa::type::dot(sofa::type::cross(a, b), c) / static_cast(6); } }; diff --git a/Sofa/framework/Geometry/src/sofa/geometry/proximity/SegmentTriangle.h b/Sofa/framework/Geometry/src/sofa/geometry/proximity/SegmentTriangle.h index 0ef11775847..c44f32cb862 100644 --- a/Sofa/framework/Geometry/src/sofa/geometry/proximity/SegmentTriangle.h +++ b/Sofa/framework/Geometry/src/sofa/geometry/proximity/SegmentTriangle.h @@ -52,15 +52,15 @@ constexpr bool computeClosestPointsSegmentAndTriangle( constexpr T zero = static_cast(0); constexpr T one = static_cast(1); - A[0][3] = one; A[0][4] = zero; - A[1][3] = one; A[1][4] = zero; - A[2][3] = zero; A[2][4] = one; - A[3][0] = -one; A[3][1] = -one; A[3][2] = zero; A[3][3] = zero; A[3][4] = zero; - A[4][0] = zero; A[4][1] = zero; A[4][2] = -one; A[4][3] = zero; A[4][4] = zero; + A(0,3) = one; A(0,4) = zero; + A(1,3) = one; A(1,4) = zero; + A(2,3) = zero; A(2,4) = one; + A(3,0) = -one; A(3,1) = -one; A(3,2) = zero; A(3,3) = zero; A(3,4) = zero; + A(4,0) = zero; A(4,1) = zero; A(4,2) = -one; A(4,3) = zero; A(4,4) = zero; - A[0][0] = dot(P0P1,P0P1); A[0][1] = dot(P0P2,P0P1); A[0][2] = -dot(Q0Q1,P0P1); - A[1][0] = dot(P0P1,P0P2); A[1][1] = dot(P0P2,P0P2); A[1][2] = -dot(Q0Q1,P0P2); - A[2][0] = -dot(P0P1,Q0Q1); A[2][1] = -dot(P0P2,Q0Q1); A[2][2] = dot(Q0Q1,Q0Q1); + A(0,0) = dot(P0P1,P0P1); A(0,1) = dot(P0P2,P0P1); A(0,2) = -dot(Q0Q1,P0P1); + A(1,0) = dot(P0P1,P0P2); A(1,1) = dot(P0P2,P0P2); A(1,2) = -dot(Q0Q1,P0P2); + A(2,0) = -dot(P0P1,Q0Q1); A(2,1) = -dot(P0P2,Q0Q1); A(2,2) = dot(Q0Q1,Q0Q1); b[3] = one; b[4] = one; diff --git a/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in b/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in index 3dba800cfe3..72532cdfcbb 100644 --- a/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in +++ b/Sofa/framework/Helper/Sofa.HelperConfig.cmake.in @@ -4,10 +4,10 @@ @PACKAGE_INIT@ find_package(Sofa.Config QUIET REQUIRED) -find_package(Sofa.Type QUIET REQUIRED) -find_package(Sofa.Topology QUIET REQUIRED) +sofa_find_package(Sofa.Type QUIET REQUIRED) +sofa_find_package(Sofa.Topology QUIET REQUIRED) -find_package(Eigen3 QUIET REQUIRED) +sofa_find_package(Eigen3 QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp index 57f59417aef..a07f6cb8669 100644 --- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp @@ -25,14 +25,14 @@ namespace sofa::helper::lifecycle { -const std::map > deprecatedComponents = { +std::map > deprecatedComponents = { {"RayTraceDetection", Deprecated("v21.06", "v21.12")}, {"BruteForceDetection", Deprecated("v21.06", "v21.12")}, {"DirectSAP", Deprecated("v21.06", "v21.12")}, {"RigidRigidMapping", Deprecated("v23.06", "v23.12", "You can use the component RigidMapping with template='Rigid3,Rigid3' instead.")}, }; -const std::map > movedComponents = { +std::map > movedComponents = { // SofaValidation was pluginized in #1302 {"CompareState", Pluginized("v20.06", "SofaValidation")}, {"CompareTopology", Pluginized("v20.06", "SofaValidation")}, @@ -619,7 +619,7 @@ const std::map > movedComponents = { { "OglCylinderModel", Moved("v24.12", "Sofa.GL.Component.Rendering3D", "Sofa.Component.Visual")} }; -const std::map > uncreatableComponents = { +std::map > uncreatableComponents = { /***********************/ // REMOVED SINCE v25.06 @@ -723,7 +723,7 @@ const std::map > uncreatableComponents }; -const std::map< std::string, Renamed, std::less<> > renamedComponents = { +std::map< std::string, Renamed, std::less<> > renamedComponents = { // Change Constraint naming #4302 {"AffineMovementConstraint", Renamed("v24.06","v25.06","AffineMovementProjectiveConstraint")}, {"AttachConstraint", Renamed("v24.06","v25.06","AttachProjectiveConstraint")}, @@ -757,7 +757,7 @@ const std::map< std::string, Renamed, std::less<> > renamedComponents = { }; -const std::map< std::string, Dealiased, std::less<> > dealiasedComponents = { +std::map< std::string, Dealiased, std::less<> > dealiasedComponents = { {"MasterConstraintSolver", Dealiased("v24.12","ConstraintAnimationLoop")}, {"FreeMotionMasterSolver", Dealiased("v24.12","FreeMotionAnimationLoop")}, {"MultiStepMasterSolver", Dealiased("v24.12","MultiStepAnimationLoop")}, diff --git a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h index d4f800e2e87..6ce6b4f9bf9 100644 --- a/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h +++ b/Sofa/framework/Helper/src/sofa/helper/ComponentChange.h @@ -189,10 +189,10 @@ class SOFA_HELPER_API Dealiased : public ComponentChange std::string m_originalName; }; -extern SOFA_HELPER_API const std::map< std::string, Deprecated, std::less<> > deprecatedComponents; -extern SOFA_HELPER_API const std::map< std::string, ComponentChange, std::less<> > movedComponents; -extern SOFA_HELPER_API const std::map< std::string, Renamed, std::less<> > renamedComponents; -extern SOFA_HELPER_API const std::map< std::string, ComponentChange, std::less<> > uncreatableComponents; -extern SOFA_HELPER_API const std::map< std::string, Dealiased, std::less<> > dealiasedComponents; +extern SOFA_HELPER_API std::map< std::string, Deprecated, std::less<> > deprecatedComponents; +extern SOFA_HELPER_API std::map< std::string, ComponentChange, std::less<> > movedComponents; +extern SOFA_HELPER_API std::map< std::string, Renamed, std::less<> > renamedComponents; +extern SOFA_HELPER_API std::map< std::string, ComponentChange, std::less<> > uncreatableComponents; +extern SOFA_HELPER_API std::map< std::string, Dealiased, std::less<> > dealiasedComponents; } // namespace sofa::helper::lifecycle diff --git a/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h b/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h index 704f260c6d0..37ef2a5b25c 100644 --- a/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h +++ b/Sofa/framework/Helper/src/sofa/helper/GenerateRigid.h @@ -138,26 +138,26 @@ void generateRigid(Rigid3MassType& mass, type::Vec3& center, const helper::io::M center = {afIntegral[1]/afIntegral[0],afIntegral[2]/afIntegral[0],afIntegral[3]/afIntegral[0]}; // inertia relative to world origin - mass.inertiaMatrix[0][0] = afIntegral[5] + afIntegral[6]; - mass.inertiaMatrix[0][1] = -afIntegral[7]; - mass.inertiaMatrix[0][2] = -afIntegral[9]; - mass.inertiaMatrix[1][0] = mass.inertiaMatrix[0][1]; - mass.inertiaMatrix[1][1] = afIntegral[4] + afIntegral[6]; - mass.inertiaMatrix[1][2] = -afIntegral[8]; - mass.inertiaMatrix[2][0] = mass.inertiaMatrix[0][2]; - mass.inertiaMatrix[2][1] = mass.inertiaMatrix[1][2]; - mass.inertiaMatrix[2][2] = afIntegral[4] + afIntegral[5]; + mass.inertiaMatrix(0,0) = afIntegral[5] + afIntegral[6]; + mass.inertiaMatrix(0,1) = -afIntegral[7]; + mass.inertiaMatrix(0,2) = -afIntegral[9]; + mass.inertiaMatrix(1,0) = mass.inertiaMatrix(0,1); + mass.inertiaMatrix(1,1) = afIntegral[4] + afIntegral[6]; + mass.inertiaMatrix(1,2) = -afIntegral[8]; + mass.inertiaMatrix(2,0) = mass.inertiaMatrix(0,2); + mass.inertiaMatrix(2,1) = mass.inertiaMatrix(1,2); + mass.inertiaMatrix(2,2) = afIntegral[4] + afIntegral[5]; // inertia relative to center of mass - mass.inertiaMatrix[0][0] -= mass.mass*(center[1]*center[1] + center[2]*center[2]); - mass.inertiaMatrix[0][1] += mass.mass*center[0]*center[1]; - mass.inertiaMatrix[0][2] += mass.mass*center[2]*center[0]; - mass.inertiaMatrix[1][0] = mass.inertiaMatrix[0][1]; - mass.inertiaMatrix[1][1] -= mass.mass*(center[2]*center[2] + center[0]*center[0]); - mass.inertiaMatrix[1][2] += mass.mass*center[1]*center[2]; - mass.inertiaMatrix[2][0] = mass.inertiaMatrix[0][2]; - mass.inertiaMatrix[2][1] = mass.inertiaMatrix[1][2]; - mass.inertiaMatrix[2][2] -= mass.mass*(center[0]*center[0] + center[1]*center[1]); + mass.inertiaMatrix(0,0) -= mass.mass*(center[1]*center[1] + center[2]*center[2]); + mass.inertiaMatrix(0,1) += mass.mass*center[0]*center[1]; + mass.inertiaMatrix(0,2) += mass.mass*center[2]*center[0]; + mass.inertiaMatrix(1,0) = mass.inertiaMatrix(0,1); + mass.inertiaMatrix(1,1) -= mass.mass*(center[2]*center[2] + center[0]*center[0]); + mass.inertiaMatrix(1,2) += mass.mass*center[1]*center[2]; + mass.inertiaMatrix(2,0) = mass.inertiaMatrix(0,2); + mass.inertiaMatrix(2,1) = mass.inertiaMatrix(1,2); + mass.inertiaMatrix(2,2) -= mass.mass*(center[0]*center[0] + center[1]*center[1]); mass.inertiaMatrix /= mass.mass; } @@ -252,7 +252,7 @@ void generateRigid( GenerateRigidInfo& res const SReal threshold = type::trace( res.inertia ) * 1e-6; // if not diagonal, extracting principal axes basis to get the corresponding rotation with a diagonal inertia - if( res.inertia[0][1]>threshold || res.inertia[0][2]>threshold || res.inertia[1][2]>threshold ) + if( res.inertia(0,1)>threshold || res.inertia(0,2)>threshold || res.inertia(1,2)>threshold ) { type::Matrix3 U; Decompose::eigenDecomposition_iterative( res.inertia, U, res.inertia_diagonal ); @@ -261,17 +261,17 @@ void generateRigid( GenerateRigidInfo& res if( type::determinant( U ) < 0 ) // reflexion { // made it a rotation by negating a column - U[0][0] = -U[0][0]; - U[1][0] = -U[1][0]; - U[2][0] = -U[2][0]; + U(0,0) = -U(0,0); + U(1,0) = -U(1,0); + U(2,0) = -U(2,0); } res.inertia_rotation.fromMatrix( U ); } else { - res.inertia_diagonal[0] = res.inertia[0][0]; - res.inertia_diagonal[1] = res.inertia[1][1]; - res.inertia_diagonal[2] = res.inertia[2][2]; + res.inertia_diagonal[0] = res.inertia(0,0); + res.inertia_diagonal[1] = res.inertia(1,1); + res.inertia_diagonal[2] = res.inertia(2,2); res.inertia_rotation.clear(); } } diff --git a/Sofa/framework/Helper/src/sofa/helper/MatEigen.h b/Sofa/framework/Helper/src/sofa/helper/MatEigen.h index 9ac6e9d5b9c..27c303cf14e 100644 --- a/Sofa/framework/Helper/src/sofa/helper/MatEigen.h +++ b/Sofa/framework/Helper/src/sofa/helper/MatEigen.h @@ -38,7 +38,7 @@ Eigen::Matrix eigenMat( const type::Mat< NumRows, NumCol Eigen::Matrix emat; for(Size i=0; i sofaMat( const Eigen::Matrix mat; for(Size i=0; i OptionsGroup::getItemNames() +{ + return textItems; +} +/////////////////////////////////////// void OptionsGroup::setItemName(const unsigned int id_item, const std::string& name ) { - textItems[id_item] = name; + if(id_item < textItems.size()) + { + textItems[id_item] = name; + } } /////////////////////////////////////// int OptionsGroup::isInOptionsList(const std::string & tempostring) const diff --git a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h index c1a84dad32a..8423f2d0a40 100644 --- a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h +++ b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.h @@ -71,6 +71,9 @@ public : ///Set the name of the id-th item void setItemName( unsigned int id_item, const std::string& name ); + ///Get the vector of names available + type::vector getItemNames(); + template void setNames(const std::initializer_list& list); @@ -100,7 +103,7 @@ public : protected: - type::vector textItems ; + type::vector textItems ; unsigned int selectedItem ; template void buildFromContainer(const T& list); diff --git a/Sofa/framework/Helper/src/sofa/helper/Utils.cpp b/Sofa/framework/Helper/src/sofa/helper/Utils.cpp index 3d1b6b6b4bd..07bec0ae288 100644 --- a/Sofa/framework/Helper/src/sofa/helper/Utils.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/Utils.cpp @@ -210,13 +210,72 @@ std::map Utils::readBasicIniFile(const std::string& pa } // no standard/portable way -const std::string& Utils::getUserLocalDirectory() +const std::string& Utils::getUserHomeDirectory() { - auto computeUserHomeDirectory = []() { -// Windows: "LocalAppData" directory i.e ${HOME}\AppData\Local -#ifdef WIN32 +#ifdef WIN32 // Windows: ${HOME} + const char* homeDir = std::getenv("USERPROFILE"); + return std::string(homeDir); +#elif defined(__APPLE__) // macOS : ${HOME} (usually /Users/username) + glob_t globbuf; + if (glob("~", GLOB_TILDE, nullptr, &globbuf) == 0) + { + std::string result(globbuf.gl_pathv[0]); + globfree(&globbuf); + return result; + } + else // Unable to expand tilde, fallback to env method + { + const char* homeDir; + + // if HOME is defined + if ((homeDir = std::getenv("HOME")) != nullptr) + { + return std::string(homeDir); + } + else + { + return std::string(""); + } + } +#else // Linux: ${HOME} + const char* homeDir; + + // if HOME is defined + if ((homeDir = std::getenv("HOME")) == nullptr) + { + // else system calls are used + homeDir = getpwuid(getuid())->pw_dir; + } + + return std::string(homeDir); + +#endif + }; + + static std::string homeDir = FileSystem::cleanPath(computeUserHomeDirectory()); + return homeDir; +} + +const std::string& Utils::getSofaDataDirectory() +{ + constexpr std::string_view sofaDataDirSuffix = "SOFAData"; + + static std::string sofaDataDirectory = FileSystem::append(getUserHomeDirectory(), sofaDataDirSuffix); + FileSystem::cleanPath(sofaDataDirectory); + FileSystem::ensureFolderExists(sofaDataDirectory); + + return sofaDataDirectory; +} + + +// no standard/portable way +const std::string& Utils::getUserLocalDirectory() +{ + auto computeUserLocalDirectory = []() + { +#ifdef WIN32 // Windows: "LocalAppData" directory i.e ${HOME}\AppData\Local std::wstring wresult; wchar_t* path = nullptr; const auto hr = SHGetKnownFolderPath(FOLDERID_LocalAppData, 0, nullptr, &path); @@ -230,61 +289,49 @@ const std::string& Utils::getUserLocalDirectory() } return sofa::helper::narrowString(wresult); - #elif defined(__APPLE__) // macOS : ${HOME}/Library/Application Support // https://stackoverflow.com/questions/5123361/finding-library-application-support-from-c - - char path[PATH_MAX]; - auto state = sysdir_start_search_path_enumeration(SYSDIR_DIRECTORY_APPLICATION_SUPPORT, - SYSDIR_DOMAIN_MASK_USER); - if ((state = sysdir_get_next_search_path_enumeration(state, path))) - { - glob_t globbuf; - if (glob(path, GLOB_TILDE, nullptr, &globbuf) == 0) - { - std::string result(globbuf.gl_pathv[0]); - globfree(&globbuf); - return result; - } - else - { - // "Unable to expand tilde" - return std::string(""); - } - } - else - { - // "Failed to get settings folder" - return std::string(""); - } - + + char path[PATH_MAX]; + auto state = sysdir_start_search_path_enumeration(SYSDIR_DIRECTORY_APPLICATION_SUPPORT, + SYSDIR_DOMAIN_MASK_USER); + if ((state = sysdir_get_next_search_path_enumeration(state, path))) + { + glob_t globbuf; + if (glob(path, GLOB_TILDE, nullptr, &globbuf) == 0) + { + std::string result(globbuf.gl_pathv[0]); + globfree(&globbuf); + return result; + } + else + { + // "Unable to expand tilde" + return std::string(""); + } + } + else + { + // "Failed to get settings folder" + return std::string(""); + } #else // Linux: either ${XDG_CONFIG_HOME} if defined, or ${HOME}/.config (should be equivalent) const char* configDir; // if env.var XDG_CONFIG_HOME is defined if ((configDir = std::getenv("XDG_CONFIG_HOME")) == nullptr) { - const char* homeDir; - - // else if HOME is defined - if ((homeDir = std::getenv("HOME")) == nullptr) - { - // else system calls are used - homeDir = getpwuid(getuid())->pw_dir; - } - - return std::string(homeDir) + std::string("/.config"); + return FileSystem::append(getUserHomeDirectory(), ".config"); } else { return std::string(configDir); } - #endif }; - static std::string homeDir = FileSystem::cleanPath(computeUserHomeDirectory()); - return homeDir; + static std::string userLocalDir = FileSystem::cleanPath(computeUserLocalDirectory()); + return userLocalDir; } const std::string& Utils::getSofaUserLocalDirectory() diff --git a/Sofa/framework/Helper/src/sofa/helper/Utils.h b/Sofa/framework/Helper/src/sofa/helper/Utils.h index 93fca9ff8d9..caecf763e3e 100644 --- a/Sofa/framework/Helper/src/sofa/helper/Utils.h +++ b/Sofa/framework/Helper/src/sofa/helper/Utils.h @@ -75,6 +75,12 @@ static const std::string& getExecutablePath(); /// @brief Get the path to the directory of the executable that is currently running. static const std::string& getExecutableDirectory(); +/// @brief Get the path to the current user home directory. +static const std::string& getUserHomeDirectory(); + +/// @brief Get the path to the SOFA data directory into the current user home directory. +static const std::string& getSofaDataDirectory(); + /// @brief Get the path to the current user local config directory. static const std::string& getUserLocalDirectory(); diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h index fdf801a9ed6..fecc44c8c68 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessor.h @@ -72,7 +72,7 @@ class ReadAccessor const_reference operator* () const { return *vref; } }; -template +template class ReadAccessor : public ReadAccessorFixedArray< FixedArrayLikeType > { diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h index 71cf83fac57..1945503a5a2 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/ReadAccessorFixedArray.h @@ -21,14 +21,14 @@ ******************************************************************************/ #pragma once -#include +#include #include namespace sofa::helper { ////////////////////////// ReadAccessor for wrapping around fixed array like object ////////////////////// /// ReadAccessor implementation class for fixed array types -template +template class ReadAccessorFixedArray { public: @@ -48,7 +48,7 @@ class ReadAccessorFixedArray ReadAccessorFixedArray(const container_type& container) : vref(&container) {} bool empty() const { return false; } - size_type size() const { return T::static_size; } + size_type size() const { return sofa::type::trait::staticSize; } const_reference operator[](size_type i) const { return (*vref)[i]; } const_iterator begin() const { return vref->begin(); } diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h index 23b4695b7ef..d7de00f3669 100644 --- a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h +++ b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessor.h @@ -83,7 +83,7 @@ class WriteAccessor } }; -template +template class WriteAccessor : public WriteAccessorFixedArray< FixedArrayLikeType > { diff --git a/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h b/Sofa/framework/Helper/src/sofa/helper/accessor/WriteAccessorFixedArray.h index 5f6cc826d3c..9b6668c6250 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: @@ -48,7 +48,7 @@ class WriteAccessorFixedArray ////// Capacity ////// bool empty() const { return false; } - size_type size() const { return T::static_size; } + size_type size() const { return sofa::type::trait::staticSize; } ////// Element access ////// reference operator[](size_type pos) { return (*vref)[pos]; } diff --git a/Sofa/framework/Helper/src/sofa/helper/config.h.in b/Sofa/framework/Helper/src/sofa/helper/config.h.in index 69368c79b44..a35f4ac2374 100644 --- a/Sofa/framework/Helper/src/sofa/helper/config.h.in +++ b/Sofa/framework/Helper/src/sofa/helper/config.h.in @@ -55,9 +55,9 @@ #endif // SOFA_BUILD_SOFA_HELPER #ifdef SOFA_BUILD_SOFA_HELPER -#define SOFA_HELPER_FILESYSTEM_FINDORCREATEAVALIDPATH_DEPRECATED() +#define SOFA_HELPER_FILESYSTEM_FINDORCREATEAVALIDPATH_DISABLED() #else -#define SOFA_HELPER_FILESYSTEM_FINDORCREATEAVALIDPATH_DEPRECATED() \ -SOFA_ATTRIBUTE_DEPRECATED( \ +#define SOFA_HELPER_FILESYSTEM_FINDORCREATEAVALIDPATH_DISABLED() \ +SOFA_ATTRIBUTE_DISABLED( \ "v25.06", "v25.12", "It is not clear that this function works on folders or files. Use ensureFolderExists or ensureFolderForFileExists instead.") #endif // SOFA_BUILD_SOFA_HELPER diff --git a/Sofa/framework/Helper/src/sofa/helper/decompose.inl b/Sofa/framework/Helper/src/sofa/helper/decompose.inl index 4e3994db2dc..e2819f03720 100644 --- a/Sofa/framework/Helper/src/sofa/helper/decompose.inl +++ b/Sofa/framework/Helper/src/sofa/helper/decompose.inl @@ -43,17 +43,17 @@ void Decompose::getRotation( Mat<3,3,Real>& r, Vec<3,Real>& edgex, Vec<3,R edgez.normalize(); edgey = cross( edgez, edgex ); - r[0][0] = edgex[0]; r[0][1] = edgey[0]; r[0][2] = edgez[0]; - r[1][0] = edgex[1]; r[1][1] = edgey[1]; r[1][2] = edgez[1]; - r[2][0] = edgex[2]; r[2][1] = edgey[2]; r[2][2] = edgez[2]; + r(0,0) = edgex[0]; r(0,1) = edgey[0]; r(0,2) = edgez[0]; + r(1,0) = edgex[1]; r(1,1) = edgey[1]; r(1,2) = edgez[1]; + r(2,0) = edgex[2]; r(2,1) = edgey[2]; r(2,2) = edgez[2]; } template void Decompose::QRDecomposition( const type::Mat<3,3,Real> &M, type::Mat<3,3,Real> &R ) { - Vec<3,Real> edgex( M[0][0], M[1][0], M[2][0] ); - Vec<3,Real> edgey( M[0][1], M[1][1], M[2][1] ); + Vec<3,Real> edgex( M(0,0), M(1,0), M(2,0) ); + Vec<3,Real> edgey( M(0,1), M(1,1), M(2,1) ); getRotation( R, edgex, edgey ); } @@ -61,25 +61,25 @@ void Decompose::QRDecomposition( const type::Mat<3,3,Real> &M, type::Mat<3 template void Decompose::QRDecomposition( const type::Mat<3,2,Real> &M, type::Mat<3,2,Real> &r ) { - Vec<3,Real> edgex( M[0][0], M[1][0], M[2][0] ); - Vec<3,Real> edgey( M[0][1], M[1][1], M[2][1] ); + Vec<3,Real> edgex( M(0,0), M(1,0), M(2,0) ); + Vec<3,Real> edgey( M(0,1), M(1,1), M(2,1) ); edgex.normalize(); Vec<3,Real> edgez = cross( edgex, edgey ); edgez.normalize(); edgey = cross( edgez, edgex ); - r[0][0] = edgex[0]; r[0][1] = edgey[0]; - r[1][0] = edgex[1]; r[1][1] = edgey[1]; - r[2][0] = edgex[2]; r[2][1] = edgey[2]; + r(0,0) = edgex[0]; r(0,1) = edgey[0]; + r(1,0) = edgex[1]; r(1,1) = edgey[1]; + r(2,0) = edgex[2]; r(2,1) = edgey[2]; } template void Decompose::QRDecomposition( const type::Mat<2,2,Real> &M, type::Mat<2,2,Real> &r ) { - Vec<2,Real> edgex( M[0][0], M[1][0] ); edgex.normalize(); - r[0][0] = edgex[0]; r[1][0] = edgex[1]; - r[0][1] = -edgex[1]; r[1][1] = edgex[0]; + Vec<2,Real> edgex( M(0,0), M(1,0) ); edgex.normalize(); + r(0,0) = edgex[0]; r(1,0) = edgex[1]; + r(0,1) = -edgex[1]; r(1,1) = edgex[0]; } template @@ -87,8 +87,8 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,3,Real> &M, type { bool degenerated; - Vec<3,Real> edgex( M[0][0], M[1][0], M[2][0] ); - Vec<3,Real> edgey( M[0][1], M[1][1], M[2][1] ); + Vec<3,Real> edgex( M(0,0), M(1,0), M(2,0) ); + Vec<3,Real> edgey( M(0,1), M(1,1), M(2,1) ); Vec<3,Real> edgez; Real nx = edgex.norm2(); @@ -99,7 +99,7 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,3,Real> &M, type degenerated = true; if( ny < zeroTolerance() ) { - edgez.set( M[0][2], M[1][2], M[2][2] ); + edgez.set( M(0,2), M(1,2), M(2,2) ); Real nz = edgez.norm2(); if( nz < zeroTolerance() ) // edgex, edgey, edgez are null -> collapsed to a point @@ -150,7 +150,7 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,3,Real> &M, type { edgey.normalizeWithNorm( helper::rsqrt(ny) ); - edgez.set( M[0][2], M[1][2], M[2][2] ); + edgez.set( M(0,2), M(1,2), M(2,2) ); Real nz = edgez.norm2(); if( nz < zeroTolerance() ) // collapsed to edgey @@ -206,7 +206,7 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,3,Real> &M, type { degenerated = true; - edgez.set( M[0][2], M[1][2], M[2][2] ); + edgez.set( M(0,2), M(1,2), M(2,2) ); Real nz = edgez.norm2(); if( nz < zeroTolerance() ) // collapsed to edgex @@ -263,9 +263,9 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,3,Real> &M, type } } - R[0][0] = edgex[0]; R[0][1] = edgey[0]; R[0][2] = edgez[0]; - R[1][0] = edgex[1]; R[1][1] = edgey[1]; R[1][2] = edgez[1]; - R[2][0] = edgex[2]; R[2][1] = edgey[2]; R[2][2] = edgez[2]; + R(0,0) = edgex[0]; R(0,1) = edgey[0]; R(0,2) = edgez[0]; + R(1,0) = edgex[1]; R(1,1) = edgey[1]; R(1,2) = edgez[1]; + R(2,0) = edgex[2]; R(2,1) = edgey[2]; R(2,2) = edgez[2]; return degenerated; } @@ -276,8 +276,8 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,2,Real> &M, type { bool degenerated; - Vec<3,Real> edgex( M[0][0], M[1][0], M[2][0] ); - Vec<3,Real> edgey( M[0][1], M[1][1], M[2][1] ); + Vec<3,Real> edgex( M(0,0), M(1,0), M(2,0) ); + Vec<3,Real> edgey( M(0,1), M(1,1), M(2,1) ); Real nx = edgex.norm2(); Real ny = edgey.norm2(); @@ -286,9 +286,9 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,2,Real> &M, type { if( ny < zeroTolerance() ) // edgex, edgey are null -> collapsed to a point { - r[0][0] = 1; r[0][1] = 0; - r[1][0] = 0; r[1][1] = 1; - r[2][0] = 0; r[2][1] = 0; + r(0,0) = 1; r(0,1) = 0; + r(1,0) = 0; r(1,1) = 1; + r(2,0) = 0; r(2,1) = 0; return true; } else // collapsed to edgey @@ -379,9 +379,9 @@ bool Decompose::QRDecomposition_stable( const type::Mat<3,2,Real> &M, type } } - r[0][0] = edgex[0]; r[0][1] = edgey[0]; - r[1][0] = edgex[1]; r[1][1] = edgey[1]; - r[2][0] = edgex[2]; r[2][1] = edgey[2]; + r(0,0) = edgex[0]; r(0,1) = edgey[0]; + r(1,0) = edgex[1]; r(1,1) = edgey[1]; + r(2,0) = edgex[2]; r(2,1) = edgey[2]; return degenerated; } @@ -392,18 +392,18 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type { bool degenerated; - Vec<2,Real> edge( M[0][0], M[1][0] ); + Vec<2,Real> edge( M(0,0), M(1,0) ); Real n = edge.norm2(); if( n < zeroTolerance() ) { - edge.set( M[0][1], M[1][1] ); + edge.set( M(0,1), M(1,1) ); n = edge.norm2(); if( n < zeroTolerance() ) { // collapsed to a point - r[0][0] = 1; r[1][0] = 0; - r[0][1] = 0; r[1][1] = 1; + r(0,0) = 1; r(1,0) = 0; + r(0,1) = 0; r(1,1) = 1; degenerated = true; } @@ -411,8 +411,8 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type { // edgex collapsed but edgey not collapsed edge /= helper::rsqrt(n); - r[0][0] = edge[1]; r[1][0] = -edge[0]; - r[0][1] = edge[0]; r[1][1] = edge[1]; + r(0,0) = edge[1]; r(1,0) = -edge[0]; + r(0,1) = edge[0]; r(1,1) = edge[1]; degenerated = true; } @@ -421,8 +421,8 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type { // edgex not collapsed edge /= helper::rsqrt(n); - r[0][0] = edge[0]; r[1][0] = edge[1]; - r[0][1] = -edge[1]; r[1][1] = edge[0]; + r(0,0) = edge[0]; r(1,0) = edge[1]; + r(0,1) = -edge[1]; r(1,1) = edge[0]; degenerated = false; // todo test edgey? } @@ -451,7 +451,7 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // Real sum, max = 0; // for (int i=0; i<3; i++) // { -// sum = (Real)(fabs(M[i][0])+fabs(M[i][1])+fabs(M[i][2])); +// sum = (Real)(fabs(M(i,0))+fabs(M(i,1))+fabs(M(i,2))); // if (max::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // Real sum, max = 0; // for (int i=0; i<3; i++) // { -// sum = (Real)(fabs(M[0][i])+fabs(M[1][i])+fabs(M[2][i])); +// sum = (Real)(fabs(M(0,i))+fabs(M(1,i))+fabs(M(2,i))); // if (max::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // for (int i=0; i<3; i++) // for (int j=0; j<3; j++) // { -// abs = M[i][j]; if (abs<0.0) abs = -abs; +// abs = M(i,j); if (abs<0.0) abs = -abs; // if (abs>max) {max = abs; col = j;} // } // return col; @@ -500,9 +500,9 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type //{ // for (int i=0; i<3; i++) // { -// Real s = u[0]*M[0][i] + u[1]*M[1][i] + u[2]*M[2][i]; +// Real s = u[0]*M(0,i) + u[1]*M(1,i) + u[2]*M(2,i); // for (int j=0; j<3; j++) -// M[j][i] -= u[j]*s; +// M(j,i) -= u[j]*s; // } //} @@ -513,7 +513,7 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // { // Real s = dot(u, M[i]); // for (int j=0; j<3; j++) -// M[i][j] -= u[j]*s; +// M(i,j) -= u[j]*s; // } //} @@ -527,12 +527,12 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // /* If rank(M) is 1, we should find a non-zero column in M */ // col = find_max_col(M); // if (col<0) return; /* Rank is 0 */ -// v1[0] = M[0][col]; v1[1] = M[1][col]; v1[2] = M[2][col]; +// v1[0] = M(0,col); v1[1] = M(1,col); v1[2] = M(2,col); // make_reflector(v1, v1); reflect_cols(M, v1); -// v2[0] = M[2][0]; v2[1] = M[2][1]; v2[2] = M[2][2]; +// v2[0] = M(2,0); v2[1] = M(2,1); v2[2] = M(2,2); // make_reflector(v2, v2); reflect_rows(M, v2); -// s = M[2][2]; -// if (s<0.0) Q[2][2] = -1.0; +// s = M(2,2); +// if (s<0.0) Q(2,2) = -1.0; // reflect_cols(Q, v1); reflect_rows(Q, v2); //} @@ -546,22 +546,22 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // /* If rank(M) is 2, we should find a non-zero column in MadjT */ // col = find_max_col(MadjT); // if (col<0) {do_rank1(M, Q); return;} /* Rank<2 */ -// v1[0] = MadjT[0][col]; v1[1] = MadjT[1][col]; v1[2] = MadjT[2][col]; +// v1[0] = MadjT(0,col); v1[1] = MadjT(1,col); v1[2] = MadjT(2,col); // make_reflector(v1, v1); reflect_cols(M, v1); // v2 = cross(M[0], M[1]); // make_reflector(v2, v2); reflect_rows(M, v2); -// w = M[0][0]; x = M[0][1]; y = M[1][0]; z = M[1][1]; +// w = M(0,0); x = M(0,1); y = M(1,0); z = M(1,1); // if (w*z>x*y) // { // c = z+w; s = y-x; d = sqrt(c*c+s*s); c = c/d; s = s/d; -// Q[0][0] = Q[1][1] = c; Q[0][1] = -(Q[1][0] = s); +// Q(0,0) = Q(1,1) = c; Q(0,1) = -(Q(1,0) = s); // } // else // { // c = z-w; s = y+x; d = sqrt(c*c+s*s); c = c/d; s = s/d; -// Q[0][0] = -(Q[1][1] = c); Q[0][1] = Q[1][0] = s; +// Q(0,0) = -(Q(1,1) = c); Q(0,1) = Q(1,0) = s; // } -// Q[0][2] = Q[2][0] = Q[1][2] = Q[2][1] = 0.0; Q[2][2] = 1.0; +// Q(0,2) = Q(2,0) = Q(1,2) = Q(2,1) = 0.0; Q(2,2) = 1.0; // reflect_cols(Q, v1); reflect_rows(Q, v2); //} @@ -597,7 +597,7 @@ bool Decompose::QRDecomposition_stable( const type::Mat<2,2,Real> &M, type // S = Mk*M; // for (int i=0; i<3; i++) // for (int j=i+1; j<3; j++) -// S[i][j] = S[j][i] = ((Real)0.5)*(S[i][j]+S[j][i]); +// S(i,j) = S(j,i) = ((Real)0.5)*(S(i,j)+S(j,i)); // return (det); //} @@ -624,11 +624,11 @@ Real Decompose::polarDecomposition( const type::Mat<3,3,Real>& M, type::Ma type::Mat<3,3,Real> MadjTk; // row 2 x row 3 - MadjTk[0] = cross( Mk[1], Mk[2] ); + MadjTk(0) = cross( Mk(1), Mk(2) ); // row 3 x row 1 - MadjTk[1] = cross( Mk[2], Mk[0] ); + MadjTk(1) = cross( Mk(2), Mk(0) ); // row 1 x row 2 - MadjTk[2] = cross( Mk[0], Mk[1] ); + MadjTk(2) = cross( Mk(0), Mk(1) ); det = Mk(0,0) * MadjTk(0,0) + Mk(0,1) * MadjTk(0,1) + Mk(0,2) * MadjTk(0,2); if (det == 0.0) @@ -726,17 +726,17 @@ Real Decompose::polarDecomposition( const type::Mat<3,3,Real>& M, type::Ma template void Decompose::polarDecomposition( const type::Mat<2,2,Real>& M, type::Mat<2,2,Real>& Q ) { - Q[0][0] = M[1][1]; - Q[0][1] = -M[1][0]; - Q[1][0] = -M[0][1]; - Q[1][1] = M[0][0]; + Q(0,0) = M(1,1); + Q(0,1) = -M(1,0); + Q(1,0) = -M(0,1); + Q(1,1) = M(0,0); Q = M + ( determinant( M ) < 0 ? (Real)-1.0 : (Real)1.0 ) * Q; for (unsigned int i=0; i<2; i++) { - Real normColi = sqrt(Q[0][i]*Q[0][i] + Q[1][i] * Q[1][i] ); - Q[0][i] *= (1/normColi); - Q[1][i] *= (1/normColi); + Real normColi = sqrt(Q(0,i)*Q(0,i) + Q(1,i) * Q(1,i) ); + Q(0,i) *= (1/normColi); + Q(1,i) *= (1/normColi); } } @@ -805,9 +805,9 @@ template type::Mat<3,3,Real> Decompose::skewMat( const type::Vec<3,Real>& v ) { type::Mat<3,3,Real> M; - M[0][1] = -v[2]; M[1][0] = -M[0][1]; - M[0][2] = v[1]; M[2][0] = -M[0][2]; - M[1][2] = -v[0]; M[2][1] = -M[1][2]; + M(0,1) = -v[2]; M(1,0) = -M(0,1); + M(0,2) = v[1]; M(2,0) = -M(0,2); + M(1,2) = -v[0]; M(2,1) = -M(1,2); return M; } @@ -815,9 +815,9 @@ template type::Vec<3,Real> Decompose::skewVec( const type::Mat<3,3,Real>& M ) { type::Vec<3,Real> v; - v[0] = (Real)0.5 * ( M[2][1] - M[1][2] ); - v[1] = (Real)0.5 * ( M[0][2] - M[2][0] ); - v[2] = (Real)0.5 * ( M[1][0] - M[0][1] ); + v[0] = (Real)0.5 * ( M(2,1) - M(1,2) ); + v[1] = (Real)0.5 * ( M(0,2) - M(2,0) ); + v[2] = (Real)0.5 * ( M(1,0) - M(0,1) ); return v; } @@ -828,9 +828,9 @@ void Decompose::polarDecompositionGradient_G( const type::Mat<3,3,Real>& Q type::Mat<3,3,Real> G = -S; Real trace = type::trace( S ); - G[0][0] += trace; - G[1][1] += trace; - G[2][2] += trace; + G(0,0) += trace; + G(1,1) += trace; + G(2,2) += trace; G = G.multTransposed( Q ); @@ -852,15 +852,15 @@ void Decompose::polarDecompositionGradient_dQ( const type::Mat<3,3,Real>& template void Decompose::polarDecompositionGradient_dQOverdM(const type::Mat<3,3,Real> &Q, const type::Mat<3,3,Real> &invG, type::Mat<9,9,Real>& J) { -J[0][0]=(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*Q[1][0]+(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*Q[2][0]; J[0][1]=(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*Q[1][1]+(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*Q[2][1]; J[0][2]=(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*Q[1][2]+(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*Q[2][2]; J[0][3]=(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*Q[0][0]+(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*Q[2][0]; J[0][4]=(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*Q[0][1]+(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*Q[2][1]; J[0][5]=(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*Q[0][2]+(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*Q[2][2]; J[0][6]=(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*Q[0][0]+(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*Q[1][0]; J[0][7]=(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*Q[0][1]+(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*Q[1][1]; J[0][8]=(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*Q[0][2]+(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*Q[1][2]; -J[1][0]=(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*Q[1][0]+(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*Q[2][0]; J[1][1]=(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*Q[1][1]+(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*Q[2][1]; J[1][2]=(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*Q[1][2]+(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*Q[2][2]; J[1][3]=(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*Q[0][0]+(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*Q[2][0]; J[1][4]=(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*Q[0][1]+(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*Q[2][1]; J[1][5]=(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*Q[0][2]+(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*Q[2][2]; J[1][6]=(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*Q[0][0]+(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*Q[1][0]; J[1][7]=(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*Q[0][1]+(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*Q[1][1]; J[1][8]=(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*Q[0][2]+(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*Q[1][2]; -J[2][0]=(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*Q[1][0]+(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*Q[2][0]; J[2][1]=(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*Q[1][1]+(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*Q[2][1]; J[2][2]=(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*Q[1][2]+(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*Q[2][2]; J[2][3]=(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*Q[0][0]+(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*Q[2][0]; J[2][4]=(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*Q[0][1]+(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*Q[2][1]; J[2][5]=(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*Q[0][2]+(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*Q[2][2]; J[2][6]=(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*Q[0][0]+(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*Q[1][0]; J[2][7]=(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*Q[0][1]+(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*Q[1][1]; J[2][8]=(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*Q[0][2]+(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*Q[1][2]; -J[3][0]=(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*Q[1][0]+(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*Q[2][0]; J[3][1]=(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*Q[1][1]+(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*Q[2][1]; J[3][2]=(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*Q[1][2]+(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*Q[2][2]; J[3][3]=(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*Q[0][0]+(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*Q[2][0]; J[3][4]=(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*Q[0][1]+(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*Q[2][1]; J[3][5]=(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*Q[0][2]+(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*Q[2][2]; J[3][6]=(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*Q[0][0]+(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*Q[1][0]; J[3][7]=(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*Q[0][1]+(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*Q[1][1]; J[3][8]=(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*Q[0][2]+(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*Q[1][2]; -J[4][0]=(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*Q[1][0]+(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*Q[2][0]; J[4][1]=(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*Q[1][1]+(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*Q[2][1]; J[4][2]=(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*Q[1][2]+(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*Q[2][2]; J[4][3]=(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*Q[0][0]+(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*Q[2][0]; J[4][4]=(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*Q[0][1]+(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*Q[2][1]; J[4][5]=(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*Q[0][2]+(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*Q[2][2]; J[4][6]=(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*Q[0][0]+(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*Q[1][0]; J[4][7]=(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*Q[0][1]+(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*Q[1][1]; J[4][8]=(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*Q[0][2]+(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*Q[1][2]; -J[5][0]=(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*Q[1][0]+(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*Q[2][0]; J[5][1]=(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*Q[1][1]+(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*Q[2][1]; J[5][2]=(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*Q[1][2]+(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*Q[2][2]; J[5][3]=(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*Q[0][0]+(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*Q[2][0]; J[5][4]=(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*Q[0][1]+(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*Q[2][1]; J[5][5]=(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*Q[0][2]+(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*Q[2][2]; J[5][6]=(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*Q[0][0]+(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*Q[1][0]; J[5][7]=(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*Q[0][1]+(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*Q[1][1]; J[5][8]=(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*Q[0][2]+(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*Q[1][2]; -J[6][0]=(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*Q[1][0]+(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*Q[2][0]; J[6][1]=(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*Q[1][1]+(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*Q[2][1]; J[6][2]=(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*Q[1][2]+(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*Q[2][2]; J[6][3]=(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*Q[0][0]+(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*Q[2][0]; J[6][4]=(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*Q[0][1]+(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*Q[2][1]; J[6][5]=(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*Q[0][2]+(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*Q[2][2]; J[6][6]=(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*Q[0][0]+(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*Q[1][0]; J[6][7]=(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*Q[0][1]+(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*Q[1][1]; J[6][8]=(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*Q[0][2]+(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*Q[1][2]; -J[7][0]=(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*Q[1][0]+(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*Q[2][0]; J[7][1]=(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*Q[1][1]+(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*Q[2][1]; J[7][2]=(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*Q[1][2]+(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*Q[2][2]; J[7][3]=(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*Q[0][0]+(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*Q[2][0]; J[7][4]=(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*Q[0][1]+(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*Q[2][1]; J[7][5]=(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*Q[0][2]+(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*Q[2][2]; J[7][6]=(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*Q[0][0]+(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*Q[1][0]; J[7][7]=(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*Q[0][1]+(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*Q[1][1]; J[7][8]=(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*Q[0][2]+(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*Q[1][2]; -J[8][0]=(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*Q[1][0]+(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*Q[2][0]; J[8][1]=(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*Q[1][1]+(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*Q[2][1]; J[8][2]=(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*Q[1][2]+(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*Q[2][2]; J[8][3]=(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*Q[0][0]+(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*Q[2][0]; J[8][4]=(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*Q[0][1]+(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*Q[2][1]; J[8][5]=(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*Q[0][2]+(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*Q[2][2]; J[8][6]=(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*Q[0][0]+(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*Q[1][0]; J[8][7]=(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*Q[0][1]+(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*Q[1][1]; J[8][8]=(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*Q[0][2]+(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*Q[1][2]; +J(0,0)=(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*Q(1,0)+(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*Q(2,0); J(0,1)=(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*Q(1,1)+(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*Q(2,1); J(0,2)=(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*Q(1,2)+(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*Q(2,2); J(0,3)=(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*Q(0,0)+(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*Q(2,0); J(0,4)=(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*Q(0,1)+(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*Q(2,1); J(0,5)=(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*Q(0,2)+(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*Q(2,2); J(0,6)=(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*Q(0,0)+(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*Q(1,0); J(0,7)=(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*Q(0,1)+(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*Q(1,1); J(0,8)=(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*Q(0,2)+(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*Q(1,2); +J(1,0)=(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*Q(1,0)+(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*Q(2,0); J(1,1)=(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*Q(1,1)+(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*Q(2,1); J(1,2)=(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*Q(1,2)+(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*Q(2,2); J(1,3)=(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*Q(0,0)+(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*Q(2,0); J(1,4)=(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*Q(0,1)+(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*Q(2,1); J(1,5)=(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*Q(0,2)+(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*Q(2,2); J(1,6)=(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*Q(0,0)+(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*Q(1,0); J(1,7)=(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*Q(0,1)+(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*Q(1,1); J(1,8)=(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*Q(0,2)+(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*Q(1,2); +J(2,0)=(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*Q(1,0)+(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*Q(2,0); J(2,1)=(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*Q(1,1)+(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*Q(2,1); J(2,2)=(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*Q(1,2)+(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*Q(2,2); J(2,3)=(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*Q(0,0)+(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*Q(2,0); J(2,4)=(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*Q(0,1)+(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*Q(2,1); J(2,5)=(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*Q(0,2)+(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*Q(2,2); J(2,6)=(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*Q(0,0)+(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*Q(1,0); J(2,7)=(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*Q(0,1)+(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*Q(1,1); J(2,8)=(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*Q(0,2)+(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*Q(1,2); +J(3,0)=(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*Q(1,0)+(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*Q(2,0); J(3,1)=(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*Q(1,1)+(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*Q(2,1); J(3,2)=(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*Q(1,2)+(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*Q(2,2); J(3,3)=(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*Q(0,0)+(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*Q(2,0); J(3,4)=(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*Q(0,1)+(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*Q(2,1); J(3,5)=(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*Q(0,2)+(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*Q(2,2); J(3,6)=(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*Q(0,0)+(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*Q(1,0); J(3,7)=(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*Q(0,1)+(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*Q(1,1); J(3,8)=(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*Q(0,2)+(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*Q(1,2); +J(4,0)=(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*Q(1,0)+(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*Q(2,0); J(4,1)=(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*Q(1,1)+(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*Q(2,1); J(4,2)=(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*Q(1,2)+(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*Q(2,2); J(4,3)=(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*Q(0,0)+(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*Q(2,0); J(4,4)=(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*Q(0,1)+(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*Q(2,1); J(4,5)=(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*Q(0,2)+(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*Q(2,2); J(4,6)=(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*Q(0,0)+(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*Q(1,0); J(4,7)=(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*Q(0,1)+(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*Q(1,1); J(4,8)=(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*Q(0,2)+(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*Q(1,2); +J(5,0)=(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*Q(1,0)+(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*Q(2,0); J(5,1)=(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*Q(1,1)+(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*Q(2,1); J(5,2)=(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*Q(1,2)+(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*Q(2,2); J(5,3)=(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*Q(0,0)+(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*Q(2,0); J(5,4)=(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*Q(0,1)+(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*Q(2,1); J(5,5)=(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*Q(0,2)+(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*Q(2,2); J(5,6)=(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*Q(0,0)+(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*Q(1,0); J(5,7)=(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*Q(0,1)+(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*Q(1,1); J(5,8)=(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*Q(0,2)+(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*Q(1,2); +J(6,0)=(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*Q(1,0)+(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*Q(2,0); J(6,1)=(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*Q(1,1)+(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*Q(2,1); J(6,2)=(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*Q(1,2)+(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*Q(2,2); J(6,3)=(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*Q(0,0)+(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*Q(2,0); J(6,4)=(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*Q(0,1)+(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*Q(2,1); J(6,5)=(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*Q(0,2)+(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*Q(2,2); J(6,6)=(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*Q(0,0)+(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*Q(1,0); J(6,7)=(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*Q(0,1)+(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*Q(1,1); J(6,8)=(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*Q(0,2)+(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*Q(1,2); +J(7,0)=(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*Q(1,0)+(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*Q(2,0); J(7,1)=(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*Q(1,1)+(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*Q(2,1); J(7,2)=(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*Q(1,2)+(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*Q(2,2); J(7,3)=(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*Q(0,0)+(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*Q(2,0); J(7,4)=(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*Q(0,1)+(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*Q(2,1); J(7,5)=(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*Q(0,2)+(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*Q(2,2); J(7,6)=(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*Q(0,0)+(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*Q(1,0); J(7,7)=(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*Q(0,1)+(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*Q(1,1); J(7,8)=(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*Q(0,2)+(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*Q(1,2); +J(8,0)=(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*Q(1,0)+(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*Q(2,0); J(8,1)=(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*Q(1,1)+(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*Q(2,1); J(8,2)=(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*Q(1,2)+(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*Q(2,2); J(8,3)=(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*Q(0,0)+(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*Q(2,0); J(8,4)=(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*Q(0,1)+(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*Q(2,1); J(8,5)=(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*Q(0,2)+(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*Q(2,2); J(8,6)=(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*Q(0,0)+(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*Q(1,0); J(8,7)=(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*Q(0,1)+(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*Q(1,1); J(8,8)=(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*Q(0,2)+(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*Q(1,2); } // another method based on the relation : M=QS -> dQ = (dM - Q dS)S^-1 -> dQ = (dM - dSOverdM.dM)S^-1 -> dQ = JdM @@ -893,15 +893,15 @@ void Decompose::polarDecompositionGradient_dS( const type::Mat<3,3,Real>& template void Decompose::polarDecompositionGradient_dSOverdM(const type::Mat<3,3,Real> &Q, const type::Mat<3,3,Real> &M, const type::Mat<3,3,Real>& invG, type::Mat<9,9,Real>& J) { -J[0][0]=Q[0][0]*(1-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][0]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][0])+Q[1][0]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][0]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][0])+Q[2][0]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][0]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][0]); J[0][1]=Q[0][0]*(-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][0]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][0])+Q[1][0]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][0]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][0])+Q[2][0]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][0]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][0]); J[0][2]=Q[0][0]*(-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][0]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][0])+Q[1][0]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][0]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][0])+Q[2][0]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][0]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][0]); J[0][3]=Q[0][0]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][0]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][0])+Q[1][0]*(1-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][0]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][0])+Q[2][0]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][0]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][0]); J[0][4]=Q[0][0]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][0]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][0])+Q[1][0]*(-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][0]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][0])+Q[2][0]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][0]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][0]); J[0][5]=Q[0][0]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][0]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][0])+Q[1][0]*(-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][0]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][0])+Q[2][0]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][0]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][0]); J[0][6]=Q[0][0]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][0]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][0])+Q[1][0]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][0]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][0])+Q[2][0]*(1-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][0]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][0]); J[0][7]=Q[0][0]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][0]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][0])+Q[1][0]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][0]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][0])+Q[2][0]*(-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][0]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][0]); J[0][8]=Q[0][0]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][0]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][0])+Q[1][0]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][0]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][0])+Q[2][0]*(-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][0]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][0]); -J[1][0]=Q[0][0]*(-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][1]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][1])+Q[1][0]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][1]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][1])+Q[2][0]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][1]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][1]); J[1][1]=Q[0][0]*(1-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][1]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][1])+Q[1][0]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][1]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][1])+Q[2][0]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][1]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][1]); J[1][2]=Q[0][0]*(-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][1]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][1])+Q[1][0]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][1]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][1])+Q[2][0]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][1]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][1]); J[1][3]=Q[0][0]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][1]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][1])+Q[1][0]*(-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][1]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][1])+Q[2][0]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][1]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][1]); J[1][4]=Q[0][0]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][1]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][1])+Q[1][0]*(1-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][1]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][1])+Q[2][0]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][1]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][1]); J[1][5]=Q[0][0]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][1]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][1])+Q[1][0]*(-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][1]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][1])+Q[2][0]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][1]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][1]); J[1][6]=Q[0][0]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][1]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][1])+Q[1][0]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][1]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][1])+Q[2][0]*(-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][1]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][1]); J[1][7]=Q[0][0]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][1]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][1])+Q[1][0]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][1]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][1])+Q[2][0]*(1-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][1]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][1]); J[1][8]=Q[0][0]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][1]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][1])+Q[1][0]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][1]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][1])+Q[2][0]*(-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][1]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][1]); -J[2][0]=Q[0][0]*(-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][2]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][2])+Q[1][0]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][2]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][2])+Q[2][0]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][2]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][2]); J[2][1]=Q[0][0]*(-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][2]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][2])+Q[1][0]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][2]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][2])+Q[2][0]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][2]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][2]); J[2][2]=Q[0][0]*(1-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][2]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][2])+Q[1][0]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][2]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][2])+Q[2][0]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][2]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][2]); J[2][3]=Q[0][0]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][2]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][2])+Q[1][0]*(-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][2]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][2])+Q[2][0]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][2]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][2]); J[2][4]=Q[0][0]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][2]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][2])+Q[1][0]*(-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][2]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][2])+Q[2][0]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][2]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][2]); J[2][5]=Q[0][0]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][2]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][2])+Q[1][0]*(1-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][2]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][2])+Q[2][0]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][2]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][2]); J[2][6]=Q[0][0]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][2]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][2])+Q[1][0]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][2]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][2])+Q[2][0]*(-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][2]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][2]); J[2][7]=Q[0][0]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][2]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][2])+Q[1][0]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][2]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][2])+Q[2][0]*(-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][2]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][2]); J[2][8]=Q[0][0]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][2]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][2])+Q[1][0]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][2]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][2])+Q[2][0]*(1-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][2]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][2]); -J(3)=J(1); //J[3][0]=Q[0][1]*(1-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][0]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][0])+Q[1][1]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][0]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][0])+Q[2][1]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][0]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][0]); J[3][1]=Q[0][1]*(-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][0]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][0])+Q[1][1]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][0]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][0])+Q[2][1]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][0]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][0]); J[3][2]=Q[0][1]*(-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][0]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][0])+Q[1][1]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][0]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][0])+Q[2][1]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][0]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][0]); J[3][3]=Q[0][1]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][0]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][0])+Q[1][1]*(1-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][0]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][0])+Q[2][1]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][0]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][0]); J[3][4]=Q[0][1]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][0]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][0])+Q[1][1]*(-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][0]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][0])+Q[2][1]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][0]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][0]); J[3][5]=Q[0][1]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][0]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][0])+Q[1][1]*(-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][0]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][0])+Q[2][1]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][0]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][0]); J[3][6]=Q[0][1]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][0]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][0])+Q[1][1]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][0]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][0])+Q[2][1]*(1-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][0]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][0]); J[3][7]=Q[0][1]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][0]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][0])+Q[1][1]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][0]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][0])+Q[2][1]*(-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][0]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][0]); J[3][8]=Q[0][1]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][0]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][0])+Q[1][1]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][0]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][0])+Q[2][1]*(-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][0]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][0]); -J[4][0]=Q[0][1]*(-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][1]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][1])+Q[1][1]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][1]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][1])+Q[2][1]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][1]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][1]); J[4][1]=Q[0][1]*(1-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][1]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][1])+Q[1][1]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][1]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][1])+Q[2][1]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][1]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][1]); J[4][2]=Q[0][1]*(-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][1]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][1])+Q[1][1]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][1]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][1])+Q[2][1]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][1]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][1]); J[4][3]=Q[0][1]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][1]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][1])+Q[1][1]*(-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][1]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][1])+Q[2][1]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][1]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][1]); J[4][4]=Q[0][1]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][1]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][1])+Q[1][1]*(1-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][1]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][1])+Q[2][1]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][1]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][1]); J[4][5]=Q[0][1]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][1]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][1])+Q[1][1]*(-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][1]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][1])+Q[2][1]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][1]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][1]); J[4][6]=Q[0][1]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][1]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][1])+Q[1][1]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][1]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][1])+Q[2][1]*(-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][1]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][1]); J[4][7]=Q[0][1]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][1]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][1])+Q[1][1]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][1]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][1])+Q[2][1]*(1-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][1]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][1]); J[4][8]=Q[0][1]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][1]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][1])+Q[1][1]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][1]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][1])+Q[2][1]*(-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][1]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][1]); -J[5][0]=Q[0][1]*(-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][2]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][2])+Q[1][1]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][2]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][2])+Q[2][1]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][2]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][2]); J[5][1]=Q[0][1]*(-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][2]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][2])+Q[1][1]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][2]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][2])+Q[2][1]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][2]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][2]); J[5][2]=Q[0][1]*(1-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][2]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][2])+Q[1][1]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][2]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][2])+Q[2][1]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][2]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][2]); J[5][3]=Q[0][1]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][2]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][2])+Q[1][1]*(-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][2]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][2])+Q[2][1]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][2]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][2]); J[5][4]=Q[0][1]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][2]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][2])+Q[1][1]*(-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][2]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][2])+Q[2][1]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][2]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][2]); J[5][5]=Q[0][1]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][2]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][2])+Q[1][1]*(1-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][2]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][2])+Q[2][1]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][2]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][2]); J[5][6]=Q[0][1]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][2]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][2])+Q[1][1]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][2]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][2])+Q[2][1]*(-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][2]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][2]); J[5][7]=Q[0][1]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][2]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][2])+Q[1][1]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][2]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][2])+Q[2][1]*(-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][2]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][2]); J[5][8]=Q[0][1]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][2]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][2])+Q[1][1]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][2]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][2])+Q[2][1]*(1-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][2]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][2]); -J(6)=J(2); //J[6][0]=Q[0][2]*(1-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][0]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][0])+Q[1][2]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][0]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][0])+Q[2][2]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][0]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][0]); J[6][1]=Q[0][2]*(-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][0]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][0])+Q[1][2]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][0]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][0])+Q[2][2]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][0]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][0]); J[6][2]=Q[0][2]*(-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][0]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][0])+Q[1][2]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][0]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][0])+Q[2][2]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][0]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][0]); J[6][3]=Q[0][2]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][0]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][0])+Q[1][2]*(1-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][0]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][0])+Q[2][2]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][0]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][0]); J[6][4]=Q[0][2]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][0]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][0])+Q[1][2]*(-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][0]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][0])+Q[2][2]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][0]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][0]); J[6][5]=Q[0][2]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][0]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][0])+Q[1][2]*(-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][0]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][0])+Q[2][2]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][0]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][0]); J[6][6]=Q[0][2]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][0]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][0])+Q[1][2]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][0]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][0])+Q[2][2]*(1-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][0]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][0]); J[6][7]=Q[0][2]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][0]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][0])+Q[1][2]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][0]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][0])+Q[2][2]*(-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][0]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][0]); J[6][8]=Q[0][2]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][0]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][0])+Q[1][2]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][0]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][0])+Q[2][2]*(-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][0]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][0]); -J(7)=J(5); //J[7][0]=Q[0][2]*(-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][1]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][1])+Q[1][2]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][1]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][1])+Q[2][2]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][1]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][1]); J[7][1]=Q[0][2]*(1-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][1]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][1])+Q[1][2]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][1]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][1])+Q[2][2]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][1]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][1]); J[7][2]=Q[0][2]*(-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][1]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][1])+Q[1][2]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][1]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][1])+Q[2][2]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][1]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][1]); J[7][3]=Q[0][2]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][1]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][1])+Q[1][2]*(-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][1]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][1])+Q[2][2]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][1]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][1]); J[7][4]=Q[0][2]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][1]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][1])+Q[1][2]*(1-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][1]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][1])+Q[2][2]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][1]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][1]); J[7][5]=Q[0][2]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][1]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][1])+Q[1][2]*(-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][1]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][1])+Q[2][2]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][1]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][1]); J[7][6]=Q[0][2]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][1]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][1])+Q[1][2]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][1]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][1])+Q[2][2]*(-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][1]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][1]); J[7][7]=Q[0][2]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][1]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][1])+Q[1][2]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][1]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][1])+Q[2][2]*(1-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][1]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][1]); J[7][8]=Q[0][2]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][1]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][1])+Q[1][2]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][1]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][1])+Q[2][2]*(-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][1]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][1]); -J[8][0]=Q[0][2]*(-(invG[2][1]*Q[0][2]-invG[2][2]*Q[0][1])*M[1][2]-(-invG[1][1]*Q[0][2]+invG[1][2]*Q[0][1])*M[2][2])+Q[1][2]*(-(-invG[2][1]*Q[0][2]+invG[2][2]*Q[0][1])*M[0][2]-(invG[0][1]*Q[0][2]-invG[0][2]*Q[0][1])*M[2][2])+Q[2][2]*(-(invG[1][1]*Q[0][2]-invG[1][2]*Q[0][1])*M[0][2]-(-invG[0][1]*Q[0][2]+invG[0][2]*Q[0][1])*M[1][2]); J[8][1]=Q[0][2]*(-(-invG[2][0]*Q[0][2]+invG[2][2]*Q[0][0])*M[1][2]-(invG[1][0]*Q[0][2]-invG[1][2]*Q[0][0])*M[2][2])+Q[1][2]*(-(invG[2][0]*Q[0][2]-invG[2][2]*Q[0][0])*M[0][2]-(-invG[0][0]*Q[0][2]+invG[0][2]*Q[0][0])*M[2][2])+Q[2][2]*(-(-invG[1][0]*Q[0][2]+invG[1][2]*Q[0][0])*M[0][2]-(invG[0][0]*Q[0][2]-invG[0][2]*Q[0][0])*M[1][2]); J[8][2]=Q[0][2]*(1-(invG[2][0]*Q[0][1]-invG[2][1]*Q[0][0])*M[1][2]-(-invG[1][0]*Q[0][1]+invG[1][1]*Q[0][0])*M[2][2])+Q[1][2]*(-(-invG[2][0]*Q[0][1]+invG[2][1]*Q[0][0])*M[0][2]-(invG[0][0]*Q[0][1]-invG[0][1]*Q[0][0])*M[2][2])+Q[2][2]*(-(invG[1][0]*Q[0][1]-invG[1][1]*Q[0][0])*M[0][2]-(-invG[0][0]*Q[0][1]+invG[0][1]*Q[0][0])*M[1][2]); J[8][3]=Q[0][2]*(-(invG[2][1]*Q[1][2]-invG[2][2]*Q[1][1])*M[1][2]-(-invG[1][1]*Q[1][2]+invG[1][2]*Q[1][1])*M[2][2])+Q[1][2]*(-(-invG[2][1]*Q[1][2]+invG[2][2]*Q[1][1])*M[0][2]-(invG[0][1]*Q[1][2]-invG[0][2]*Q[1][1])*M[2][2])+Q[2][2]*(-(invG[1][1]*Q[1][2]-invG[1][2]*Q[1][1])*M[0][2]-(-invG[0][1]*Q[1][2]+invG[0][2]*Q[1][1])*M[1][2]); J[8][4]=Q[0][2]*(-(-invG[2][0]*Q[1][2]+invG[2][2]*Q[1][0])*M[1][2]-(invG[1][0]*Q[1][2]-invG[1][2]*Q[1][0])*M[2][2])+Q[1][2]*(-(invG[2][0]*Q[1][2]-invG[2][2]*Q[1][0])*M[0][2]-(-invG[0][0]*Q[1][2]+invG[0][2]*Q[1][0])*M[2][2])+Q[2][2]*(-(-invG[1][0]*Q[1][2]+invG[1][2]*Q[1][0])*M[0][2]-(invG[0][0]*Q[1][2]-invG[0][2]*Q[1][0])*M[1][2]); J[8][5]=Q[0][2]*(-(invG[2][0]*Q[1][1]-invG[2][1]*Q[1][0])*M[1][2]-(-invG[1][0]*Q[1][1]+invG[1][1]*Q[1][0])*M[2][2])+Q[1][2]*(1-(-invG[2][0]*Q[1][1]+invG[2][1]*Q[1][0])*M[0][2]-(invG[0][0]*Q[1][1]-invG[0][1]*Q[1][0])*M[2][2])+Q[2][2]*(-(invG[1][0]*Q[1][1]-invG[1][1]*Q[1][0])*M[0][2]-(-invG[0][0]*Q[1][1]+invG[0][1]*Q[1][0])*M[1][2]); J[8][6]=Q[0][2]*(-(invG[2][1]*Q[2][2]-invG[2][2]*Q[2][1])*M[1][2]-(-invG[1][1]*Q[2][2]+invG[1][2]*Q[2][1])*M[2][2])+Q[1][2]*(-(-invG[2][1]*Q[2][2]+invG[2][2]*Q[2][1])*M[0][2]-(invG[0][1]*Q[2][2]-invG[0][2]*Q[2][1])*M[2][2])+Q[2][2]*(-(invG[1][1]*Q[2][2]-invG[1][2]*Q[2][1])*M[0][2]-(-invG[0][1]*Q[2][2]+invG[0][2]*Q[2][1])*M[1][2]); J[8][7]=Q[0][2]*(-(-invG[2][0]*Q[2][2]+invG[2][2]*Q[2][0])*M[1][2]-(invG[1][0]*Q[2][2]-invG[1][2]*Q[2][0])*M[2][2])+Q[1][2]*(-(invG[2][0]*Q[2][2]-invG[2][2]*Q[2][0])*M[0][2]-(-invG[0][0]*Q[2][2]+invG[0][2]*Q[2][0])*M[2][2])+Q[2][2]*(-(-invG[1][0]*Q[2][2]+invG[1][2]*Q[2][0])*M[0][2]-(invG[0][0]*Q[2][2]-invG[0][2]*Q[2][0])*M[1][2]); J[8][8]=Q[0][2]*(-(invG[2][0]*Q[2][1]-invG[2][1]*Q[2][0])*M[1][2]-(-invG[1][0]*Q[2][1]+invG[1][1]*Q[2][0])*M[2][2])+Q[1][2]*(-(-invG[2][0]*Q[2][1]+invG[2][1]*Q[2][0])*M[0][2]-(invG[0][0]*Q[2][1]-invG[0][1]*Q[2][0])*M[2][2])+Q[2][2]*(1-(invG[1][0]*Q[2][1]-invG[1][1]*Q[2][0])*M[0][2]-(-invG[0][0]*Q[2][1]+invG[0][1]*Q[2][0])*M[1][2]); +J(0,0)=Q(0,0)*(1-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,0)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,0))+Q(1,0)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,0)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,0))+Q(2,0)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,0)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,0)); J(0,1)=Q(0,0)*(-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,0)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,0))+Q(1,0)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,0)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,0))+Q(2,0)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,0)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,0)); J(0,2)=Q(0,0)*(-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,0)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,0))+Q(1,0)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,0)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,0))+Q(2,0)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,0)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,0)); J(0,3)=Q(0,0)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,0)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,0))+Q(1,0)*(1-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,0)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,0))+Q(2,0)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,0)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,0)); J(0,4)=Q(0,0)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,0)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,0))+Q(1,0)*(-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,0)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,0))+Q(2,0)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,0)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,0)); J(0,5)=Q(0,0)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,0)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,0))+Q(1,0)*(-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,0)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,0))+Q(2,0)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,0)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,0)); J(0,6)=Q(0,0)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,0)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,0))+Q(1,0)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,0)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,0))+Q(2,0)*(1-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,0)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,0)); J(0,7)=Q(0,0)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,0)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,0))+Q(1,0)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,0)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,0))+Q(2,0)*(-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,0)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,0)); J(0,8)=Q(0,0)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,0)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,0))+Q(1,0)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,0)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,0))+Q(2,0)*(-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,0)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,0)); +J(1,0)=Q(0,0)*(-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,1)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,1))+Q(1,0)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,1)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,1))+Q(2,0)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,1)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,1)); J(1,1)=Q(0,0)*(1-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,1)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,1))+Q(1,0)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,1)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,1))+Q(2,0)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,1)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,1)); J(1,2)=Q(0,0)*(-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,1)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,1))+Q(1,0)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,1)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,1))+Q(2,0)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,1)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,1)); J(1,3)=Q(0,0)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,1)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,1))+Q(1,0)*(-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,1)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,1))+Q(2,0)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,1)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,1)); J(1,4)=Q(0,0)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,1)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,1))+Q(1,0)*(1-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,1)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,1))+Q(2,0)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,1)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,1)); J(1,5)=Q(0,0)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,1)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,1))+Q(1,0)*(-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,1)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,1))+Q(2,0)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,1)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,1)); J(1,6)=Q(0,0)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,1)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,1))+Q(1,0)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,1)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,1))+Q(2,0)*(-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,1)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,1)); J(1,7)=Q(0,0)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,1)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,1))+Q(1,0)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,1)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,1))+Q(2,0)*(1-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,1)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,1)); J(1,8)=Q(0,0)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,1)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,1))+Q(1,0)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,1)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,1))+Q(2,0)*(-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,1)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,1)); +J(2,0)=Q(0,0)*(-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,2)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,2))+Q(1,0)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,2)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,2))+Q(2,0)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,2)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,2)); J(2,1)=Q(0,0)*(-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,2)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,2))+Q(1,0)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,2)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,2))+Q(2,0)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,2)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,2)); J(2,2)=Q(0,0)*(1-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,2)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,2))+Q(1,0)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,2)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,2))+Q(2,0)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,2)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,2)); J(2,3)=Q(0,0)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,2)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,2))+Q(1,0)*(-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,2)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,2))+Q(2,0)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,2)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,2)); J(2,4)=Q(0,0)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,2)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,2))+Q(1,0)*(-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,2)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,2))+Q(2,0)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,2)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,2)); J(2,5)=Q(0,0)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,2)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,2))+Q(1,0)*(1-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,2)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,2))+Q(2,0)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,2)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,2)); J(2,6)=Q(0,0)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,2)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,2))+Q(1,0)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,2)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,2))+Q(2,0)*(-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,2)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,2)); J(2,7)=Q(0,0)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,2)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,2))+Q(1,0)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,2)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,2))+Q(2,0)*(-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,2)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,2)); J(2,8)=Q(0,0)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,2)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,2))+Q(1,0)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,2)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,2))+Q(2,0)*(1-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,2)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,2)); +J(3)=J(1); //J(3,0)=Q(0,1)*(1-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,0)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,0))+Q(1,1)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,0)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,0))+Q(2,1)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,0)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,0)); J(3,1)=Q(0,1)*(-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,0)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,0))+Q(1,1)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,0)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,0))+Q(2,1)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,0)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,0)); J(3,2)=Q(0,1)*(-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,0)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,0))+Q(1,1)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,0)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,0))+Q(2,1)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,0)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,0)); J(3,3)=Q(0,1)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,0)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,0))+Q(1,1)*(1-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,0)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,0))+Q(2,1)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,0)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,0)); J(3,4)=Q(0,1)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,0)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,0))+Q(1,1)*(-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,0)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,0))+Q(2,1)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,0)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,0)); J(3,5)=Q(0,1)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,0)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,0))+Q(1,1)*(-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,0)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,0))+Q(2,1)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,0)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,0)); J(3,6)=Q(0,1)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,0)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,0))+Q(1,1)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,0)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,0))+Q(2,1)*(1-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,0)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,0)); J(3,7)=Q(0,1)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,0)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,0))+Q(1,1)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,0)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,0))+Q(2,1)*(-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,0)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,0)); J(3,8)=Q(0,1)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,0)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,0))+Q(1,1)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,0)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,0))+Q(2,1)*(-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,0)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,0)); +J(4,0)=Q(0,1)*(-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,1)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,1))+Q(1,1)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,1)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,1))+Q(2,1)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,1)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,1)); J(4,1)=Q(0,1)*(1-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,1)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,1))+Q(1,1)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,1)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,1))+Q(2,1)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,1)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,1)); J(4,2)=Q(0,1)*(-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,1)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,1))+Q(1,1)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,1)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,1))+Q(2,1)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,1)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,1)); J(4,3)=Q(0,1)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,1)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,1))+Q(1,1)*(-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,1)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,1))+Q(2,1)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,1)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,1)); J(4,4)=Q(0,1)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,1)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,1))+Q(1,1)*(1-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,1)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,1))+Q(2,1)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,1)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,1)); J(4,5)=Q(0,1)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,1)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,1))+Q(1,1)*(-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,1)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,1))+Q(2,1)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,1)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,1)); J(4,6)=Q(0,1)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,1)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,1))+Q(1,1)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,1)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,1))+Q(2,1)*(-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,1)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,1)); J(4,7)=Q(0,1)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,1)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,1))+Q(1,1)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,1)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,1))+Q(2,1)*(1-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,1)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,1)); J(4,8)=Q(0,1)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,1)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,1))+Q(1,1)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,1)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,1))+Q(2,1)*(-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,1)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,1)); +J(5,0)=Q(0,1)*(-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,2)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,2))+Q(1,1)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,2)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,2))+Q(2,1)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,2)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,2)); J(5,1)=Q(0,1)*(-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,2)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,2))+Q(1,1)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,2)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,2))+Q(2,1)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,2)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,2)); J(5,2)=Q(0,1)*(1-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,2)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,2))+Q(1,1)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,2)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,2))+Q(2,1)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,2)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,2)); J(5,3)=Q(0,1)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,2)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,2))+Q(1,1)*(-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,2)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,2))+Q(2,1)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,2)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,2)); J(5,4)=Q(0,1)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,2)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,2))+Q(1,1)*(-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,2)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,2))+Q(2,1)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,2)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,2)); J(5,5)=Q(0,1)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,2)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,2))+Q(1,1)*(1-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,2)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,2))+Q(2,1)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,2)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,2)); J(5,6)=Q(0,1)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,2)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,2))+Q(1,1)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,2)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,2))+Q(2,1)*(-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,2)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,2)); J(5,7)=Q(0,1)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,2)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,2))+Q(1,1)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,2)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,2))+Q(2,1)*(-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,2)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,2)); J(5,8)=Q(0,1)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,2)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,2))+Q(1,1)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,2)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,2))+Q(2,1)*(1-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,2)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,2)); +J(6)=J(2); //J(6,0)=Q(0,2)*(1-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,0)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,0))+Q(1,2)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,0)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,0))+Q(2,2)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,0)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,0)); J(6,1)=Q(0,2)*(-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,0)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,0))+Q(1,2)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,0)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,0))+Q(2,2)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,0)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,0)); J(6,2)=Q(0,2)*(-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,0)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,0))+Q(1,2)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,0)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,0))+Q(2,2)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,0)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,0)); J(6,3)=Q(0,2)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,0)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,0))+Q(1,2)*(1-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,0)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,0))+Q(2,2)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,0)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,0)); J(6,4)=Q(0,2)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,0)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,0))+Q(1,2)*(-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,0)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,0))+Q(2,2)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,0)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,0)); J(6,5)=Q(0,2)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,0)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,0))+Q(1,2)*(-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,0)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,0))+Q(2,2)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,0)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,0)); J(6,6)=Q(0,2)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,0)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,0))+Q(1,2)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,0)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,0))+Q(2,2)*(1-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,0)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,0)); J(6,7)=Q(0,2)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,0)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,0))+Q(1,2)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,0)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,0))+Q(2,2)*(-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,0)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,0)); J(6,8)=Q(0,2)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,0)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,0))+Q(1,2)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,0)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,0))+Q(2,2)*(-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,0)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,0)); +J(7)=J(5); //J(7,0)=Q(0,2)*(-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,1)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,1))+Q(1,2)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,1)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,1))+Q(2,2)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,1)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,1)); J(7,1)=Q(0,2)*(1-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,1)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,1))+Q(1,2)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,1)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,1))+Q(2,2)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,1)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,1)); J(7,2)=Q(0,2)*(-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,1)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,1))+Q(1,2)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,1)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,1))+Q(2,2)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,1)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,1)); J(7,3)=Q(0,2)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,1)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,1))+Q(1,2)*(-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,1)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,1))+Q(2,2)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,1)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,1)); J(7,4)=Q(0,2)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,1)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,1))+Q(1,2)*(1-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,1)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,1))+Q(2,2)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,1)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,1)); J(7,5)=Q(0,2)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,1)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,1))+Q(1,2)*(-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,1)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,1))+Q(2,2)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,1)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,1)); J(7,6)=Q(0,2)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,1)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,1))+Q(1,2)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,1)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,1))+Q(2,2)*(-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,1)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,1)); J(7,7)=Q(0,2)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,1)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,1))+Q(1,2)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,1)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,1))+Q(2,2)*(1-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,1)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,1)); J(7,8)=Q(0,2)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,1)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,1))+Q(1,2)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,1)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,1))+Q(2,2)*(-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,1)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,1)); +J(8,0)=Q(0,2)*(-(invG(2,1)*Q(0,2)-invG(2,2)*Q(0,1))*M(1,2)-(-invG(1,1)*Q(0,2)+invG(1,2)*Q(0,1))*M(2,2))+Q(1,2)*(-(-invG(2,1)*Q(0,2)+invG(2,2)*Q(0,1))*M(0,2)-(invG(0,1)*Q(0,2)-invG(0,2)*Q(0,1))*M(2,2))+Q(2,2)*(-(invG(1,1)*Q(0,2)-invG(1,2)*Q(0,1))*M(0,2)-(-invG(0,1)*Q(0,2)+invG(0,2)*Q(0,1))*M(1,2)); J(8,1)=Q(0,2)*(-(-invG(2,0)*Q(0,2)+invG(2,2)*Q(0,0))*M(1,2)-(invG(1,0)*Q(0,2)-invG(1,2)*Q(0,0))*M(2,2))+Q(1,2)*(-(invG(2,0)*Q(0,2)-invG(2,2)*Q(0,0))*M(0,2)-(-invG(0,0)*Q(0,2)+invG(0,2)*Q(0,0))*M(2,2))+Q(2,2)*(-(-invG(1,0)*Q(0,2)+invG(1,2)*Q(0,0))*M(0,2)-(invG(0,0)*Q(0,2)-invG(0,2)*Q(0,0))*M(1,2)); J(8,2)=Q(0,2)*(1-(invG(2,0)*Q(0,1)-invG(2,1)*Q(0,0))*M(1,2)-(-invG(1,0)*Q(0,1)+invG(1,1)*Q(0,0))*M(2,2))+Q(1,2)*(-(-invG(2,0)*Q(0,1)+invG(2,1)*Q(0,0))*M(0,2)-(invG(0,0)*Q(0,1)-invG(0,1)*Q(0,0))*M(2,2))+Q(2,2)*(-(invG(1,0)*Q(0,1)-invG(1,1)*Q(0,0))*M(0,2)-(-invG(0,0)*Q(0,1)+invG(0,1)*Q(0,0))*M(1,2)); J(8,3)=Q(0,2)*(-(invG(2,1)*Q(1,2)-invG(2,2)*Q(1,1))*M(1,2)-(-invG(1,1)*Q(1,2)+invG(1,2)*Q(1,1))*M(2,2))+Q(1,2)*(-(-invG(2,1)*Q(1,2)+invG(2,2)*Q(1,1))*M(0,2)-(invG(0,1)*Q(1,2)-invG(0,2)*Q(1,1))*M(2,2))+Q(2,2)*(-(invG(1,1)*Q(1,2)-invG(1,2)*Q(1,1))*M(0,2)-(-invG(0,1)*Q(1,2)+invG(0,2)*Q(1,1))*M(1,2)); J(8,4)=Q(0,2)*(-(-invG(2,0)*Q(1,2)+invG(2,2)*Q(1,0))*M(1,2)-(invG(1,0)*Q(1,2)-invG(1,2)*Q(1,0))*M(2,2))+Q(1,2)*(-(invG(2,0)*Q(1,2)-invG(2,2)*Q(1,0))*M(0,2)-(-invG(0,0)*Q(1,2)+invG(0,2)*Q(1,0))*M(2,2))+Q(2,2)*(-(-invG(1,0)*Q(1,2)+invG(1,2)*Q(1,0))*M(0,2)-(invG(0,0)*Q(1,2)-invG(0,2)*Q(1,0))*M(1,2)); J(8,5)=Q(0,2)*(-(invG(2,0)*Q(1,1)-invG(2,1)*Q(1,0))*M(1,2)-(-invG(1,0)*Q(1,1)+invG(1,1)*Q(1,0))*M(2,2))+Q(1,2)*(1-(-invG(2,0)*Q(1,1)+invG(2,1)*Q(1,0))*M(0,2)-(invG(0,0)*Q(1,1)-invG(0,1)*Q(1,0))*M(2,2))+Q(2,2)*(-(invG(1,0)*Q(1,1)-invG(1,1)*Q(1,0))*M(0,2)-(-invG(0,0)*Q(1,1)+invG(0,1)*Q(1,0))*M(1,2)); J(8,6)=Q(0,2)*(-(invG(2,1)*Q(2,2)-invG(2,2)*Q(2,1))*M(1,2)-(-invG(1,1)*Q(2,2)+invG(1,2)*Q(2,1))*M(2,2))+Q(1,2)*(-(-invG(2,1)*Q(2,2)+invG(2,2)*Q(2,1))*M(0,2)-(invG(0,1)*Q(2,2)-invG(0,2)*Q(2,1))*M(2,2))+Q(2,2)*(-(invG(1,1)*Q(2,2)-invG(1,2)*Q(2,1))*M(0,2)-(-invG(0,1)*Q(2,2)+invG(0,2)*Q(2,1))*M(1,2)); J(8,7)=Q(0,2)*(-(-invG(2,0)*Q(2,2)+invG(2,2)*Q(2,0))*M(1,2)-(invG(1,0)*Q(2,2)-invG(1,2)*Q(2,0))*M(2,2))+Q(1,2)*(-(invG(2,0)*Q(2,2)-invG(2,2)*Q(2,0))*M(0,2)-(-invG(0,0)*Q(2,2)+invG(0,2)*Q(2,0))*M(2,2))+Q(2,2)*(-(-invG(1,0)*Q(2,2)+invG(1,2)*Q(2,0))*M(0,2)-(invG(0,0)*Q(2,2)-invG(0,2)*Q(2,0))*M(1,2)); J(8,8)=Q(0,2)*(-(invG(2,0)*Q(2,1)-invG(2,1)*Q(2,0))*M(1,2)-(-invG(1,0)*Q(2,1)+invG(1,1)*Q(2,0))*M(2,2))+Q(1,2)*(-(-invG(2,0)*Q(2,1)+invG(2,1)*Q(2,0))*M(0,2)-(invG(0,0)*Q(2,1)-invG(0,1)*Q(2,0))*M(2,2))+Q(2,2)*(1-(invG(1,0)*Q(2,1)-invG(1,1)*Q(2,0))*M(0,2)-(-invG(0,0)*Q(2,1)+invG(0,1)*Q(2,0))*M(1,2)); } @@ -954,14 +954,14 @@ bool Decompose::polarDecomposition_stable_Gradient_dQ( const type::Mat<3,3 Real A = Sdiag[i] + Sdiag[j]; if( /*helper::rabs*/( A ) < zeroTolerance() ) // only the smallest eigen-value should be negative so abs should not be necessary { - //omega[i][j] = (Real)0; + //omega(i,j) = (Real)0; return false; } else { - omega[i][j] = ( UtdMV[i][j] - UtdMV[j][i] ) / A; + omega(i,j) = ( UtdMV(i,j) - UtdMV(j,i) ) / A; } - omega[j][i] = -omega[i][j]; + omega(j,i) = -omega(i,j); } dQ = U * omega * V; @@ -979,8 +979,8 @@ bool Decompose::polarDecompositionGradient_dQ( const type::Mat<3,2,Real>& if( /*helper::rabs*/( A ) < zeroTolerance() ) return false; - omega[0][1] = ( UtdMV[0][1] - UtdMV[1][0] ) / A; - omega[1][0] = -omega[0][1]; + omega(0,1) = ( UtdMV(0,1) - UtdMV(1,0) ) / A; + omega(1,0) = -omega(0,1); dQ = U * omega * V; @@ -998,7 +998,7 @@ bool Decompose::polarDecomposition_stable_Gradient_dQOverdM( const type::M for( int i=0 ; i<3 ; ++i ) // line of dM for( int j=0 ; j<3 ; ++j ) // col of dM { - for( int k=0 ; k<3 ; ++k ) // resolve 3 2x2 systems to find omegaU[i][j] & omegaV[i][j] + for( int k=0 ; k<3 ; ++k ) // resolve 3 2x2 systems to find omegaU(i,j) & omegaV(i,j) { int l=(k+1)%3; @@ -1010,12 +1010,12 @@ bool Decompose::polarDecomposition_stable_Gradient_dQOverdM( const type::M } else { - omega[i][j][k][l] = ( U[i][k]*V[l][j] - U[i][l]*V[k][j] ) / A; + omega(i,j)(k,l) = ( U(i,k)*V(l,j) - U(i,l)*V(k,j) ) / A; } - omega[i][j][l][k] = -omega[i][j][k][l]; // skew-symmetric (antisymmetric) + omega(i,j)(l,k) = -omega(i,j)(k,l); // skew-symmetric (antisymmetric) } - omega[i][j] = U * omega[i][j] * V; + omega(i,j) = U * omega(i,j) * V; } @@ -1025,7 +1025,7 @@ bool Decompose::polarDecomposition_stable_Gradient_dQOverdM( const type::M for( int k=0 ; k<3 ; ++k ) for( int l=0 ; l<3 ; ++l ) { - dQOverdM[i*3+j][k*3+l] = omega[k][l][i][j]; + dQOverdM(i*3+j,k*3+l) = omega(k,l)(i,j); } return true; @@ -1046,10 +1046,10 @@ bool Decompose::polarDecompositionGradient_dQOverdM( const type::Mat<3,2,R Mat<2,2,Real> omega; - omega[0][1] = ( U[i][0]*V[1][j] - U[i][1]*V[0][j] ) / A; - omega[1][0] = -omega[0][1]; // skew-symmetric (antisymmetric) + omega(0,1) = ( U(i,0)*V(1,j) - U(i,1)*V(0,j) ) / A; + omega(1,0) = -omega(0,1); // skew-symmetric (antisymmetric) - dQdMij[i][j] = U * omega * V; + dQdMij(i,j) = U * omega * V; } // transposed and reformatted in plain matrice @@ -1057,7 +1057,7 @@ bool Decompose::polarDecompositionGradient_dQOverdM( const type::Mat<3,2,R for( int l=0 ; l<2 ; ++l ) for( int j=0 ; j<2 ; ++j ) for( int i=0 ; i<3 ; ++i ) - dQOverdM[i*2+j][k*2+l] = dQdMij[k][l][i][j]; + dQOverdM(i*2+j,k*2+l) = dQdMij(k,l)(i,j); return true; } @@ -1073,12 +1073,12 @@ void Decompose::ComputeRoots(const Mat<3,3,Real>& A, double root[3]) static const Real msRoot3 = helper::rsqrt((Real)3.0); // Convert the unique matrix entries to double precision. - const double a00 = (double)A[0][0]; - const double a01 = (double)A[0][1]; - const double a02 = (double)A[0][2]; - const double a11 = (double)A[1][1]; - const double a12 = (double)A[1][2]; - const double a22 = (double)A[2][2]; + const double a00 = (double)A(0,0); + const double a01 = (double)A(0,1); + const double a02 = (double)A(0,2); + const double a11 = (double)A(1,1); + const double a12 = (double)A(1,2); + const double a22 = (double)A(2,2); // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0. The // eigenvalues are the roots to this equation, all guaranteed to be @@ -1170,7 +1170,7 @@ bool Decompose::PositiveRank(Mat<3,3,Real>& M, Real& maxEntry, Vec<3,Real> { for (int col = row; col < 3; ++col) { - Real absValue = helper::rabs(M[row][col]); + Real absValue = helper::rabs(M(row,col)); if (absValue > maxEntry) { maxEntry = absValue; @@ -1337,28 +1337,28 @@ void Decompose::eigenDecomposition( const type::Mat<3,3,Real> &A, type::Ma // Scale the matrix so its entries are in [-1,1]. The scaling is applied // only when at least one matrix entry has magnitude larger than 1. Mat<3,3,Real> AScaled = A; - Real maxValue = helper::rabs( AScaled[0][0] ); - Real absValue = helper::rabs( AScaled[0][1] ); + Real maxValue = helper::rabs( AScaled(0,0) ); + Real absValue = helper::rabs( AScaled(0,1) ); if( absValue > maxValue ) { maxValue = absValue; } - absValue = helper::rabs( AScaled[0][2] ); + absValue = helper::rabs( AScaled(0,2) ); if( absValue > maxValue ) { maxValue = absValue; } - absValue = helper::rabs( AScaled[1][1] ); + absValue = helper::rabs( AScaled(1,1) ); if( absValue > maxValue ) { maxValue = absValue; } - absValue = helper::rabs( AScaled[1][2] ); + absValue = helper::rabs( AScaled(1,2) ); if( absValue > maxValue ) { maxValue = absValue; } - absValue = helper::rabs(AScaled[2][2]); + absValue = helper::rabs(AScaled(2,2)); if( absValue > maxValue ) { maxValue = absValue; @@ -1371,7 +1371,7 @@ void Decompose::eigenDecomposition( const type::Mat<3,3,Real> &A, type::Ma for( i = 0; i < 3; ++i ) for( j = 0; j < 3; ++j ) { - AScaled[i][j] *= invMaxValue; + AScaled(i,j) *= invMaxValue; } } @@ -1387,9 +1387,9 @@ void Decompose::eigenDecomposition( const type::Mat<3,3,Real> &A, type::Ma for( i = 0; i < 3; ++i ) { Mat<3,3,Real> M = AScaled; - M[0][0] -= diag[i]; - M[1][1] -= diag[i]; - M[2][2] -= diag[i]; + M(0,0) -= diag[i]; + M(1,1) -= diag[i]; + M(2,2) -= diag[i]; if( !PositiveRank( M, maxEntry[i], maxRow[i] ) ) { // Rescale back to the original size. @@ -1450,34 +1450,34 @@ void Decompose::eigenDecomposition( const type::Mat<3,3,Real> &A, type::Ma template void Decompose::eigenDecomposition( const type::Mat<2,2,Real> &A, type::Mat<2,2,Real> &V, type::Vec<2,Real> &diag ) { - Real inv2 = A[0][0] + A[1][1]; // trace(A) + Real inv2 = A(0,0) + A(1,1); // trace(A) Real inv1 = inv2 * (Real)0.5; // trace(A) / 2 inv2 = helper::rsqrt( inv2*inv2*(Real)0.25 - determinant( A ) ); // sqrt( tr(A)*tr(A) / 4 - det(A) ) diag[0] = inv1 + inv2; diag[1] = inv1 - inv2; - if( helper::rabs( A[1][0] ) < zeroTolerance() ) // c == 0 + if( helper::rabs( A(1,0) ) < zeroTolerance() ) // c == 0 { - if( helper::rabs( A[0][1] ) < zeroTolerance() ) // b == 0 + if( helper::rabs( A(0,1) ) < zeroTolerance() ) // b == 0 { V.identity(); return; } else { - V[0].set( A[0][1], diag[0] - A[0][0] ); V[0].normalize(); - V[1].set( A[0][1], diag[1] - A[0][0] ); V[1].normalize(); + V[0].set( A(0,1), diag[0] - A(0,0) ); V[0].normalize(); + V[1].set( A(0,1), diag[1] - A(0,0) ); V[1].normalize(); } } else { - V[0][0] = diag[0] - A[1][1]; - V[0][1] = diag[1] - A[1][1]; - V[1][0] = V[1][1] = A[1][0]; + V(0,0) = diag[0] - A(1,1); + V(0,1) = diag[1] - A(1,1); + V(1,0) = V(1,1) = A(1,0); - V[0].set( diag[0] - A[1][1], A[1][0] ); V[0].normalize(); - V[1].set( diag[1] - A[1][1], A[1][0] ); V[1].normalize(); + V[0].set( diag[0] - A(1,1), A(1,0) ); V[0].normalize(); + V[1].set( diag[1] - A(1,1), A(1,0) ); V[1].normalize(); } V.transpose(); @@ -1544,9 +1544,9 @@ void Decompose::QLAlgorithm( type::Vec &diag, type::Vec::eigenDecomposition_iterative( const type::Mat<3,3,Real> &M ///// Tridiagonalize ////////////////////// - const Real &fM00 = M[0][0]; - Real fM01 = M[0][1]; - Real fM02 = M[0][2]; - const Real &fM11 = M[1][1]; - const Real &fM12 = M[1][2]; - const Real &fM22 = M[2][2]; + const Real &fM00 = M(0,0); + Real fM01 = M(0,1); + Real fM02 = M(0,2); + const Real &fM11 = M(1,1); + const Real &fM12 = M(1,2); + const Real &fM22 = M(2,2); diag[0] = fM00; subDiag[2] = (Real)0.0; @@ -1588,9 +1588,9 @@ void Decompose::eigenDecomposition_iterative( const type::Mat<3,3,Real> &M diag[2] = fM22-fM02*fQ; subDiag[0] = fLength; subDiag[1] = fM12-fM01*fQ; - V[0][0] = (Real)1.0; V[0][1] = (Real)0.0; V[0][2] = (Real)0.0; - V[1][0] = (Real)0.0; V[1][1] = fM01; V[1][2] = fM02; - V[2][0] = (Real)0.0; V[2][1] = fM02; V[2][2] = -fM01; + V(0,0) = (Real)1.0; V(0,1) = (Real)0.0; V(0,2) = (Real)0.0; + V(1,0) = (Real)0.0; V(1,1) = fM01; V(1,2) = fM02; + V(2,0) = (Real)0.0; V(2,1) = fM02; V(2,2) = -fM01; } else { @@ -1618,9 +1618,9 @@ void Decompose::eigenDecomposition_iterative( const type::Mat<2,2,Real> &M Vec<2,Real> subDiag; // matrix is already tridiagonal - diag[0] = M[0][0]; - diag[1] = M[1][1]; - subDiag[0] = M[0][1]; + diag[0] = M(0,0); + diag[1] = M(1,1); + subDiag[0] = M(0,1); subDiag[1] = 0.0; V.identity(); @@ -1671,7 +1671,7 @@ bool Decompose::SVD_stable( const type::Mat<3,3,Real> &F, type::Mat<3,3,Re // if V is a reflexion -> made it a rotation by negating a column if( determinant(V) < (Real)0 ) for( int i=0 ; i<3; ++i ) - V[i][0] = -V[i][0]; + V(i,0) = -V(i,0); // the numbers of strain values too close to 0 indicates the kind of degenerescence int degenerated = 0; @@ -1753,10 +1753,10 @@ bool Decompose::SVD_stable( const type::Mat<3,3,Real> &F, type::Mat<3,3,Re { U = F * V.multDiagonal( S_1 ); - Vec<3,Real> c = cross( Vec<3,Real>(U[0][Sorder[1]],U[1][Sorder[1]],U[2][Sorder[1]]), Vec<3,Real>(U[0][Sorder[2]],U[1][Sorder[2]],U[2][Sorder[2]]) ); - U[0][Sorder[0]] = c[0]; - U[1][Sorder[0]] = c[1]; - U[2][Sorder[0]] = c[2]; + Vec<3,Real> c = cross( Vec<3,Real>(U(0, Sorder[1]),U(1, Sorder[1]),U(2, Sorder[1])), Vec<3,Real>(U(0, Sorder[2]),U(1, Sorder[2]),U(2,Sorder[2])) ); + U(0,Sorder[0]) = c[0]; + U(1,Sorder[0]) = c[1]; + U(2,Sorder[0]) = c[2]; break; } case 2: // 2 null values -> collapsed to an edge -> keeps the valid edge and build 2 orthogonal vectors @@ -1765,7 +1765,7 @@ bool Decompose::SVD_stable( const type::Mat<3,3,Real> &F, type::Mat<3,3,Re // TODO: check if there is a more efficient way to do this - Vec<3,Real> edge0, edge1, edge2( U[0][Sorder[2]], U[1][Sorder[2]], U[2][Sorder[2]] ); + Vec<3,Real> edge0, edge1, edge2( U(0,Sorder[2]), U(1,Sorder[0]), U(2,Sorder[0]) ); // check the main direction of edge2 to try to take a not too close arbitrary vector Real abs0 = helper::rabs( edge2[0] ); @@ -1798,13 +1798,13 @@ bool Decompose::SVD_stable( const type::Mat<3,3,Real> &F, type::Mat<3,3,Re edge1.normalize(); edge0 = cross( edge1, edge2 ); - U[0][Sorder[0]] = edge0[0]; - U[1][Sorder[0]] = edge0[1]; - U[2][Sorder[0]] = edge0[2]; + U(0,Sorder[0]) = edge0[0]; + U(1,Sorder[0]) = edge0[1]; + U(2,Sorder[0]) = edge0[2]; - U[0][Sorder[1]] = edge1[0]; - U[1][Sorder[1]] = edge1[1]; - U[2][Sorder[1]] = edge1[2]; + U(0,Sorder[1]) = edge1[0]; + U(1,Sorder[1]) = edge1[1]; + U(2,Sorder[1]) = edge1[2]; break; } @@ -1818,9 +1818,9 @@ bool Decompose::SVD_stable( const type::Mat<3,3,Real> &F, type::Mat<3,3,Re // un-inverting the element -> made U a rotation by negating a column if( inverted ) { - U[0][Sorder[0]] *= (Real)-1; - U[1][Sorder[0]] *= (Real)-1; - U[2][Sorder[0]] *= (Real)-1; + U(0,Sorder[0]) *= (Real)-1; + U(1,Sorder[0]) *= (Real)-1; + U(2,Sorder[0]) *= (Real)-1; S[Sorder[0]] *= (Real)-1; } @@ -1839,7 +1839,7 @@ bool Decompose::SVD_stable( const type::Mat<2,2,Real> &F, type::Mat<2,2,Re // if V is a reflexion -> made it a rotation by negating a column if( determinant(V) < (Real)0 ) for( int i=0 ; i<2; ++i ) - V[i][0] = -V[i][0]; + V(i,0) = -V(i,0); // the numbers of strain values too close to 0 indicates the kind of degenerescence int degenerated = 0; @@ -1872,7 +1872,7 @@ bool Decompose::SVD_stable( const type::Mat<2,2,Real> &F, type::Mat<2,2,Re int min, max; if( S[0] > S[1] ) { min=1; max=0; } else { min=0; max=1; } // eigen values order - Vec<3,Real> edge0, edge1( U[0][max], U[1][max], U[2][max] ), edge2; + Vec<3,Real> edge0, edge1( U(0,max), U(1,max), U(2,max) ), edge2; // check the main direction of edge2 to try to take a not too close arbitrary vector Real abs0 = helper::rabs( edge1[0] ); @@ -1905,9 +1905,9 @@ bool Decompose::SVD_stable( const type::Mat<2,2,Real> &F, type::Mat<2,2,Re edge2.normalize(); edge0 = cross( edge1, edge2 ); - U[0][min] = edge0[0]; - U[1][min] = edge0[1]; - U[2][min] = edge0[2]; + U(0,min) = edge0[0]; + U(1,min) = edge0[1]; + U(2,min) = edge0[2]; break; } @@ -1915,10 +1915,10 @@ bool Decompose::SVD_stable( const type::Mat<2,2,Real> &F, type::Mat<2,2,Re { int min, max; if( S[0] > S[1] ) { min=1; max=0; } else { min=0; max=1; } // eigen values order - U[0][min] = 1; - U[1][min] = 0; - U[0][max] = 0; - U[1][max] = 1; + U(0,min) = 1; + U(1,min) = 0; + U(0,max) = 0; + U(1,max) = 1; break; } } @@ -1930,8 +1930,8 @@ bool Decompose::SVD_stable( const type::Mat<2,2,Real> &F, type::Mat<2,2,Re { int min = S[0] > S[1] ? 1 : 0; // min eigen value index - U[0][min] *= (Real)-1; - U[1][min] *= (Real)-1; + U(0,min) *= (Real)-1; + U(1,min) *= (Real)-1; S[min] *= (Real)-1; } @@ -1977,7 +1977,7 @@ bool Decompose::SVD_stable( const type::Mat<3,2,Real> &F, type::Mat<3,2,Re // if V is a reflexion -> made it a rotation by negating a column if( determinant(V) < (Real)0 ) for( int i=0 ; i<2; ++i ) - V[i][0] = -V[i][0]; + V(i,0) = -V(i,0); // the numbers of strain values too close to 0 indicates the kind of degenerescence int degenerated = 0; @@ -2012,7 +2012,7 @@ bool Decompose::SVD_stable( const type::Mat<3,2,Real> &F, type::Mat<3,2,Re int min, max; if( S[0] > S[1] ) { min=1; max=0; } else { min=0; max=1; } // eigen values order - Vec<3,Real> edge0, edge1( U[0][max], U[1][max], U[2][max] ), edge2; + Vec<3,Real> edge0, edge1( U(0,max), U(1,max), U(2,max) ), edge2; // check the main direction of edge2 to try to take a not too close arbitrary vector Real abs0 = helper::rabs( edge1[0] ); @@ -2045,9 +2045,9 @@ bool Decompose::SVD_stable( const type::Mat<3,2,Real> &F, type::Mat<3,2,Re edge2.normalize(); edge0 = cross( edge1, edge2 ); - U[0][min] = edge0[0]; - U[1][min] = edge0[1]; - U[2][min] = edge0[2]; + U(0,min) = edge0[0]; + U(1,min) = edge0[1]; + U(2,min) = edge0[2]; break; } @@ -2055,12 +2055,12 @@ bool Decompose::SVD_stable( const type::Mat<3,2,Real> &F, type::Mat<3,2,Re { int min, max; if( S[0] > S[1] ) { min=1; max=0; } else { min=0; max=1; } // eigen values order - U[0][min] = 1; - U[1][min] = 0; - U[2][min] = 0; - U[0][max] = 0; - U[1][max] = 1; - U[2][max] = 0; + U(0,min) = 1; + U(1,min) = 0; + U(2,min) = 0; + U(0,max) = 0; + U(1,max) = 1; + U(2,max) = 0; break; } } @@ -2079,13 +2079,13 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons for( int i=0 ; i<3 ; ++i ) // line of dM for( int j=0 ; j<3 ; ++j ) // col of dM { - for( int k=0 ; k<3 ; ++k ) // resolve 3 2x2 systems to find omegaU[i][j] & omegaV[i][j] + for( int k=0 ; k<3 ; ++k ) // resolve 3 2x2 systems to find omegaU(i,j) & omegaV(i,j) { int l=(k+1)%3; type::Mat<2,2,Real> A, invA; - A[0][0] = A[1][1] = S[l]; - A[0][1] = A[1][0] = S[k]; - type::Vec<2,Real> v( U[i][k]*V[l][j], -U[i][l]*V[k][j] ), w; + A(0,0) = A(1,1) = S[l]; + A(0,1) = A(1,0) = S[k]; + type::Vec<2,Real> v( U(i,k)*V(l,j), -U(i,l)*V(k,j) ), w; if( helper::rabs( S[k]-S[l] ) > zeroTolerance() ) { @@ -2101,8 +2101,8 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons #else // Tikhonov regularization w = (AtA + I)^-1 At v (suggested in "Invertible Isotropic Hyperelasticity using SVD Gradients", F Sin, Y Zhu, Y Li, D Schroeder, J Barbič, Poster SCA 2011) type::Mat<2,2,Real> AtA = A.multTranspose( A ); - AtA[0][0] += (Real)1; - AtA[1][1] += (Real)1; + AtA(0,0) += (Real)1; + AtA(1,1) += (Real)1; const bool canInvert = invA.invert( AtA ); assert(canInvert); SOFA_UNUSED(canInvert); @@ -2110,14 +2110,14 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons #endif } - //dU[k*3+l][i*3+j] = w[0]; dU[l*3+k][i*3+j] = -w[0]; - //dV[k*3+l][i*3+j] = w[1]; dV[l*3+k][i*3+j] = -w[1]; + //dU(k*3+l,i*3+j) = w[0]; dU(l*3+k,i*3+j) = -w[0]; + //dV(k*3+l,i*3+j) = w[1]; dV(l*3+k,i*3+j) = -w[1]; - omegaU[i][j][k][l] = w[0]; omegaU[i][j][l][k] = -w[0]; - omegaV[i][j][k][l] = w[1]; omegaV[i][j][l][k] = -w[1]; + omegaU(i,j)(k,l) = w[0]; omegaU(i,j)(l,k) = -w[0]; + omegaV(i,j)(k,l) = w[1]; omegaV(i,j)(l,k) = -w[1]; } - omegaU[i][j] = U * omegaU[i][j]; - omegaV[i][j] = omegaV[i][j] * V; + omegaU(i,j) = U * omegaU(i,j); + omegaV(i,j) = omegaV(i,j) * V; } @@ -2126,8 +2126,8 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons // for( int k=0 ; k<3 ; ++k ) // for( int l=0 ; l<3 ; ++l ) // { -// dU[i][j] += omegaU[i*3+j][k*3+l] * dM[k][l]; -// dV[i][j] += omegaV[i*3+j][k*3+l] * dM[k][l]; +// dU(i,j) += omegaU(i*3+j,k*3+l) * dM(k,l); +// dV(i,j) += omegaV(i*3+j,k*3+l) * dM(k,l); // } // transposed and reformatted in 9x9 matrices @@ -2136,13 +2136,13 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons for( int k=0 ; k<3 ; ++k ) for( int l=0 ; l<3 ; ++l ) { - //dU[i][j] += omegaU[k][l][i][j] * dM[k][l]; - //dV[i][j] += omegaV[k][l][i][j] * dM[k][l]; + //dU(i,j) += omegaU(k,l,i,j) * dM(k,l); + //dV(i,j) += omegaV(k,l,i,j) * dM(k,l); - //dUOverdM[i][j][k][l] = omegaU[k][l][i][j]; + //dUOverdM(i,j,k,l) = omegaU(k,l,i,j); - dUOverdM[i*3+j][k*3+l] = omegaU[k][l][i][j]; - dVOverdM[i*3+j][k*3+l] = omegaV[k][l][i][j]; + dUOverdM(i*3+j,k*3+l) = omegaU(k,l)(i,j); + dVOverdM(i*3+j,k*3+l) = omegaV(k,l)(i,j); } // for( int i=0 ; i<3 ; ++i ) @@ -2150,8 +2150,8 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,3,Real> &U, cons // for( int k=0 ; k<3 ; ++k ) // for( int l=0 ; l<3 ; ++l ) // { -// //dU[i][j] += dUOverdM[i][j][k][l] * dM[k][l]; -// dU[i][j] += dUOverdM[i*3+j][k*3+l] * dM[k][l]; +// //dU(i,j) += dUOverdM(i,j,k,l) * dM(k,l); +// dU(i,j) += dUOverdM(i*3+j,k*3+l) * dM(k,l); // } return true; @@ -2171,9 +2171,9 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,2,Real> &U, cons { Mat<2,2,Real> omegaU, omegaV; type::Mat<2,2,Real> A, invA; - A[0][0] = A[1][1] = S[1]; - A[0][1] = A[1][0] = S[0]; - type::Vec<2,Real> v( U[i][0]*V[1][j], -U[i][1]*V[0][j] ), w; + A(0,0) = A(1,1) = S[1]; + A(0,1) = A(1,0) = S[0]; + type::Vec<2,Real> v( U(i,0)*V(1,j), -U(i,1)*V(0,j) ), w; if( helper::rabs( S[0]-S[1] ) > zeroTolerance() ) { @@ -2189,8 +2189,8 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,2,Real> &U, cons #else // Tikhonov regularization w = (AtA + I)^-1 At v (suggested in "Invertible Isotropic Hyperelasticity using SVD Gradients", F Sin, Y Zhu, Y Li, D Schroeder, J Barbič, Poster SCA 2011) type::Mat<2,2,Real> AtA = A.multTranspose( A ); - AtA[0][0] += (Real)1; - AtA[1][1] += (Real)1; + AtA(0,0) += (Real)1; + AtA(1,1) += (Real)1; const bool canInvert = invA.invert( AtA ); assert(canInvert); SOFA_UNUSED(canInvert); @@ -2198,11 +2198,11 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,2,Real> &U, cons #endif } - omegaU[0][1] = w[0]; omegaU[1][0] = -w[0]; - omegaV[0][1] = w[1]; omegaV[1][0] = -w[1]; + omegaU(0,1) = w[0]; omegaU(1,0) = -w[0]; + omegaV(0,1) = w[1]; omegaV(1,0) = -w[1]; - dUdMij[i][j] = U * omegaU; - dVdMij[i][j] = omegaV * V; + dUdMij(i,j) = U * omegaU; + dVdMij(i,j) = omegaV * V; } // transposed and reformatted in plain matrices @@ -2211,10 +2211,10 @@ bool Decompose::SVDGradient_dUdVOverdM( const type::Mat<3,2,Real> &U, cons for( int j=0 ; j<2 ; ++j ) { for( int i=0 ; i<3 ; ++i ) - dUOverdM[i*2+j][k*2+l] = dUdMij[k][l][i][j]; + dUOverdM(i*2+j,k*2+l) = dUdMij(k,l)(i,j); for( int i=0 ; i<2 ; ++i ) - dVOverdM[i*2+j][k*2+l] = dVdMij[k][l][i][j]; + dVOverdM(i*2+j,k*2+l) = dVdMij(k,l)(i,j); } return true; @@ -2231,9 +2231,9 @@ bool Decompose::SVDGradient_dUdV( const type::Mat<3,3,Real> &U, const type { int j=(i+1)%3; type::Mat<2,2,Real> A, invA; - A[0][0] = A[1][1] = S[j]; - A[0][1] = A[1][0] = S[i]; - type::Vec<2,Real> v( UtdMV[i][j], -UtdMV[j][i] ), w; + A(0,0) = A(1,1) = S[j]; + A(0,1) = A(1,0) = S[i]; + type::Vec<2,Real> v( UtdMV(i,j), -UtdMV(j,i) ), w; if( helper::rabs( S[i]-S[j] ) > zeroTolerance() ) { @@ -2249,8 +2249,8 @@ bool Decompose::SVDGradient_dUdV( const type::Mat<3,3,Real> &U, const type #else // Tikhonov regularization w = (AtA + I)^-1 At v (suggested in "Invertible Isotropic Hyperelasticity using SVD Gradients", F Sin, Y Zhu, Y Li, D Schroeder, J Barbič, Poster SCA 2011) type::Mat<2,2,Real> AtA = A.multTranspose( A ); - AtA[0][0] += (Real)1; - AtA[1][1] += (Real)1; + AtA(0,0) += (Real)1; + AtA(1,1) += (Real)1; const bool canInvert = invA.invert( AtA ); assert(canInvert); SOFA_UNUSED(canInvert); @@ -2258,8 +2258,8 @@ bool Decompose::SVDGradient_dUdV( const type::Mat<3,3,Real> &U, const type #endif } - omegaU[i][j] = w[0]; omegaU[j][i] = -w[0]; - omegaV[i][j] = w[1]; omegaV[j][i] = -w[1]; + omegaU(i,j) = w[0]; omegaU(j,i) = -w[0]; + omegaV(i,j) = w[1]; omegaV(j,i) = -w[1]; } dU = U * omegaU; @@ -2277,9 +2277,9 @@ bool Decompose::SVDGradient_dUdV( const type::Mat<3,2,Real> &U, const type type::Mat<2,2,Real> omegaV; type::Mat<2,2,Real> A, invA; - A[0][0] = A[1][1] = S[1]; - A[0][1] = A[1][0] = S[0]; - type::Vec<2,Real> v( UtdMV[0][1], -UtdMV[1][0] ), w; + A(0,0) = A(1,1) = S[1]; + A(0,1) = A(1,0) = S[0]; + type::Vec<2,Real> v( UtdMV(0,1), -UtdMV(1,0) ), w; if( helper::rabs( S[0]-S[1] ) > zeroTolerance() ) { @@ -2295,8 +2295,8 @@ bool Decompose::SVDGradient_dUdV( const type::Mat<3,2,Real> &U, const type #else // Tikhonov regularization w = (AtA + I)^-1 At v (suggested in "Invertible Isotropic Hyperelasticity using SVD Gradients", F Sin, Y Zhu, Y Li, D Schroeder, J Barbič, Poster SCA 2011) type::Mat<2,2,Real> AtA = A.multTranspose( A ); - AtA[0][0] += (Real)1; - AtA[1][1] += (Real)1; + AtA(0,0) += (Real)1; + AtA(1,1) += (Real)1; const bool canInvert = invA.invert( AtA ); assert(canInvert); SOFA_UNUSED(canInvert); @@ -2304,8 +2304,8 @@ bool Decompose::SVDGradient_dUdV( const type::Mat<3,2,Real> &U, const type #endif } - omegaU[0][1] = w[0]; omegaU[1][0] = -w[0]; - omegaV[0][1] = w[1]; omegaV[1][0] = -w[1]; + omegaU(0,1) = w[0]; omegaU(1,0) = -w[0]; + omegaV(0,1) = w[1]; omegaV(1,0) = -w[1]; dU = U * omegaU; dV = omegaV * V; @@ -2348,15 +2348,15 @@ int dsyevc3( const type::Mat<3,3,Real> &A, type::Vec<3,Real> &w) // | a d f | // A = | d* b e | // | f* e* c | - Real de = A[0][1] * A[1][2]; // d * e - Real dd = helper::SQR(A[0][1]); // d^2 - Real ee = helper::SQR(A[1][2]); // e^2 - Real ff = helper::SQR(A[0][2]); // f^2 - m = A[0][0] + A[1][1] + A[2][2]; - c1 = (A[0][0]*A[1][1] + A[0][0]*A[2][2] + A[1][1]*A[2][2]) // a*b + a*c + b*c - d^2 - e^2 - f^2 + Real de = A(0,1) * A(1,2); // d * e + Real dd = helper::SQR(A(0,1)); // d^2 + Real ee = helper::SQR(A(1,2)); // e^2 + Real ff = helper::SQR(A(0,2)); // f^2 + m = A(0,0) + A(1,1) + A(2,2); + c1 = (A(0,0)*A(1,1) + A(0,0)*A(2,2) + A(1,1)*A(2,2)) // a*b + a*c + b*c - d^2 - e^2 - f^2 - (dd + ee + ff); - c0 = A[2][2]*dd + A[0][0]*ee + A[1][1]*ff - A[0][0]*A[1][1]*A[2][2] - - static_cast(2.0) * A[0][2]*de; // c*d^2 + a*e^2 + b*f^2 - a*b*c - 2*f*d*e) + c0 = A(2,2)*dd + A(0,0)*ee + A(1,1)*ff - A(0,0)*A(1,1)*A(2,2) + - static_cast(2.0) * A(0,2)*de; // c*d^2 + a*e^2 + b*f^2 - a*b*c - 2*f*d*e) Real p, sqrt_p, q, c, s, phi; p = helper::SQR(m) - static_cast(3.0) * c1; @@ -2402,22 +2402,22 @@ inline void dsytrd3(const type::Mat<3,3,Real> &A, type::Mat<3,3,Real> &Q, type:: #ifndef EVALS_ONLY for (int i=0; i < n; i++) { - Q[i][i] = 1.0; + Q(i,i) = 1.0; for (int j=0; j < i; j++) - Q[i][j] = Q[j][i] = 0.0; + Q(i,j) = Q(j,i) = 0.0; } #endif // Bring first row and column to the desired form - h = helper::SQR(A[0][1]) + helper::SQR(A[0][2]); - if (A[0][1] > 0) + h = helper::SQR(A(0,1)) + helper::SQR(A(0,2)); + if (A(0,1) > 0) g = -sqrt(h); else g = sqrt(h); e[0] = g; - f = g * A[0][1]; - u[1] = A[0][1] - g; - u[2] = A[0][2]; + f = g * A(0,1); + u[1] = A(0,1) - g; + u[2] = A(0,2); omega = h - f; if (omega > 0.0) @@ -2426,7 +2426,7 @@ inline void dsytrd3(const type::Mat<3,3,Real> &A, type::Mat<3,3,Real> &Q, type:: K = 0.0; for (int i=1; i < n; i++) { - f = A[1][i] * u[1] + A[i][2] * u[2]; + f = A(1,i) * u[1] + A(i,2) * u[2]; q[i] = omega * f; // p K += u[i] * f; // u* A u } @@ -2435,9 +2435,9 @@ inline void dsytrd3(const type::Mat<3,3,Real> &A, type::Mat<3,3,Real> &Q, type:: for (int i=1; i < n; i++) q[i] = q[i] - K * u[i]; - d[0] = A[0][0]; - d[1] = A[1][1] - static_cast(2.0)*q[1]*u[1]; - d[2] = A[2][2] - static_cast(2.0)*q[2]*u[2]; + d[0] = A(0,0); + d[1] = A(1,1) - static_cast(2.0)*q[1]*u[1]; + d[2] = A(2,2) - static_cast(2.0)*q[2]*u[2]; // Store inverse Householder transformation in Q #ifndef EVALS_ONLY @@ -2445,18 +2445,18 @@ inline void dsytrd3(const type::Mat<3,3,Real> &A, type::Mat<3,3,Real> &Q, type:: { f = omega * u[j]; for (int i=1; i < n; i++) - Q[i][j] = Q[i][j] - f*u[i]; + Q(i,j) = Q(i,j) - f*u[i]; } #endif - // Calculate updated A[1][2] and store it in e[1] - e[1] = A[1][2] - q[1]*u[2] - u[1]*q[2]; + // Calculate updated A(1,2) and store it in e[1] + e[1] = A(1,2) - q[1]*u[2] - u[1]*q[2]; } else { for (int i=0; i < n; i++) - d[i] = A[i][i]; - e[1] = A[1][2]; + d[i] = A(i,i); + e[1] = A(1,2); } } @@ -2549,9 +2549,9 @@ int dsyevq3(const type::Mat<3,3,Real> &A, type::Mat<3,3,Real> &Q, type::Vec<3,Re #ifndef EVALS_ONLY for (int k=0; k < n; k++) { - t = Q[k][i+1]; - Q[k][i+1] = s*Q[k][i] + c*t; - Q[k][i] = c*Q[k][i] - s*t; + t = Q(k,i+1); + Q(k,i+1) = s*Q(k,i) + c*t; + Q(k,i) = c*Q(k,i) - s*t; } #endif } @@ -2609,8 +2609,8 @@ int Decompose::symmetricDiagonalization( const type::Mat<3,3,Real> &A, typ dsyevc3(A, w); #ifndef EVALS_ONLY -// n0 = SQR(A[0][0]) + SQR(A[0][1]) + SQR(A[0][2]); -// n1 = SQR(A[0][1]) + SQR(A[1][1]) + SQR(A[1][2]); +// n0 = SQR(A(0,0)) + SQR(A(0,1)) + SQR(A(0,2)); +// n1 = SQR(A(0,1)) + SQR(A(1,1)) + SQR(A(1,2)); t = fabs(w[0]); if ((u=fabs(w[1])) > t) @@ -2624,19 +2624,19 @@ int Decompose::symmetricDiagonalization( const type::Mat<3,3,Real> &A, typ error = static_cast(256.0) * std::numeric_limits::epsilon() * helper::SQR(u); // error = 256.0 * std::numeric_limits::epsilon() * (n0 + u) * (n1 + u); - Q[0][1] = A[0][1]*A[1][2] - A[0][2]*A[1][1]; - Q[1][1] = A[0][2]*A[0][1] - A[1][2]*A[0][0]; - Q[2][1] = SQR(A[0][1]); + Q(0,1) = A(0,1)*A(1,2) - A(0,2)*A(1,1); + Q(1,1) = A(0,2)*A(0,1) - A(1,2)*A(0,0); + Q(2,1) = SQR(A(0,1)); // Calculate first eigenvector by the formula // v[0] = (A - w[0]).e1 x (A - w[0]).e2 - Q[0][0] = Q[0][1] + A[0][2]*w[0]; - Q[1][0] = Q[1][1] + A[1][2]*w[0]; - Q[2][0] = (A[0][0] - w[0]) * (A[1][1] - w[0]) - Q[2][1]; - norm = helper::SQR(Q[0][0]) + helper::SQR(Q[1][0]) + helper::SQR(Q[2][0]); + Q(0,0) = Q(0,1) + A(0,2)*w[0]; + Q(1,0) = Q(1,1) + A(1,2)*w[0]; + Q(2,0) = (A(0,0) - w[0]) * (A(1,1) - w[0]) - Q(2,1); + norm = helper::SQR(Q(0,0)) + helper::SQR(Q(1,0)) + helper::SQR(Q(2,0)); // If vectors are nearly linearly dependent, or if there might have - // been large cancellations in the calculation of A[i][i] - w[0], fall + // been large cancellations in the calculation of A(i,i) - w[0], fall // back to QL algorithm // Note that this simultaneously ensures that multiple eigenvalues do // not cause problems: If w[0] = w[1], then A - w[0] * I has rank 1, @@ -2647,29 +2647,29 @@ int Decompose::symmetricDiagonalization( const type::Mat<3,3,Real> &A, typ { norm = sqrt(static_cast(1.0) / norm); for (j=0; j < 3; j++) - Q[j][0] = Q[j][0] * norm; + Q(j,0) = Q(j,0) * norm; } // Calculate second eigenvector by the formula // v[1] = (A - w[1]).e1 x (A - w[1]).e2 - Q[0][1] = Q[0][1] + A[0][2]*w[1]; - Q[1][1] = Q[1][1] + A[1][2]*w[1]; - Q[2][1] = (A[0][0] - w[1]) * (A[1][1] - w[1]) - Q[2][1]; - norm = helper::SQR(Q[0][1]) + helper::SQR(Q[1][1]) + helper::SQR(Q[2][1]); + Q(0,1) = Q(0,1) + A(0,2)*w[1]; + Q(1,1) = Q(1,1) + A(1,2)*w[1]; + Q(2,1) = (A(0,0) - w[1]) * (A(1,1) - w[1]) - Q(2,1); + norm = helper::SQR(Q(0,1)) + helper::SQR(Q(1,1)) + helper::SQR(Q(2,1)); if (norm <= error) return dsyevq3(A, Q, w); else { norm = sqrt(static_cast(1.0) / norm); for (j=0; j < 3; j++) - Q[j][1] = Q[j][1] * norm; + Q(j,1) = Q(j,1) * norm; } // Calculate third eigenvector according to // v[2] = v[0] x v[1] - Q[0][2] = Q[1][0]*Q[2][1] - Q[2][0]*Q[1][1]; - Q[1][2] = Q[2][0]*Q[0][1] - Q[0][0]*Q[2][1]; - Q[2][2] = Q[0][0]*Q[1][1] - Q[1][0]*Q[0][1]; + Q(0,2) = Q(1,0)*Q(2,1) - Q(2,0)*Q(1,1); + Q(1,2) = Q(2,0)*Q(0,1) - Q(0,0)*Q(2,1); + Q(2,2) = Q(0,0)*Q(1,1) - Q(1,0)*Q(0,1); #endif return 0; @@ -2775,7 +2775,7 @@ void Decompose::PSDProjection( type::Mat<2,2,Real> &A ) { type::Mat<2,2,Real> Q; type::Vec<2,Real> w; - dsyev2( (Real)A[0][0], (Real)A[0][1], (Real)A[1][1], w[0], w[1], Q[0][0], Q[1][0] ); + dsyev2( (Real)A(0,0), (Real)A(0,1), (Real)A(1,1), w[0], w[1], Q(0,0), Q(1,0) ); bool modified = false; for( int i=0 ; i<2 ; ++i ) @@ -2783,8 +2783,8 @@ void Decompose::PSDProjection( type::Mat<2,2,Real> &A ) if( modified ) { - Q[1][1] = Q[0][0]; - Q[0][1] = -Q[1][0]; + Q(1,1) = Q(0,0); + Q(0,1) = -Q(1,0); A = Q.multDiagonal( w ).multTransposed( Q ); // A = Q*wId*Q^T } @@ -2797,7 +2797,7 @@ void Decompose::PSDProjection( Real& A00, Real& A01, Real& A10, Real& A11 { type::Mat<2,2,Real> Q; type::Vec<2,Real> w; - dsyev2( A00, A01, A11, w[0], w[1], Q[0][0], Q[1][0] ); + dsyev2( A00, A01, A11, w[0], w[1], Q(0,0), Q(1,0) ); bool modified = false; for( int i=0 ; i<2 ; ++i ) @@ -2805,16 +2805,16 @@ void Decompose::PSDProjection( Real& A00, Real& A01, Real& A10, Real& A11 if( modified ) { - Q[1][1] = Q[0][0]; - Q[0][1] = -Q[1][0]; + Q(1,1) = Q(0,0); + Q(0,1) = -Q(1,0); type::Mat<2,2,Real> tmp = Q.multDiagonal( w ); // A = Q*wId*Q^T - A00 = Q[0][0]*tmp[0][0] + Q[0][1]*tmp[0][1]; - A01 = A10 = Q[1][0]*tmp[0][0] + Q[1][1]*tmp[1][1]; - A11 = Q[1][0]*tmp[1][0] + Q[1][1]*tmp[1][1]; + A00 = Q(0,0)*tmp(0,0) + Q(0,1)*tmp(0,1); + A01 = A10 = Q(1,0)*tmp(0,0) + Q(1,1)*tmp(1,1); + A11 = Q(1,0)*tmp(1,0) + Q(1,1)*tmp(1,1); } } @@ -2850,7 +2850,7 @@ void Decompose::NSDProjection( type::Mat<2,2,Real> &A ) { type::Mat<2,2,Real> Q; type::Vec<2,Real> w; - dsyev2( (Real)A[0][0], (Real)A[0][1], (Real)A[1][1], w[0], w[1], Q[0][0], Q[1][0] ); + dsyev2( (Real)A(0,0), (Real)A(0,1), (Real)A(1,1), w[0], w[1], Q(0,0), Q(1,0) ); bool modified = false; for( int i=0 ; i<2 ; ++i ) @@ -2858,8 +2858,8 @@ void Decompose::NSDProjection( type::Mat<2,2,Real> &A ) if( modified ) { - Q[1][1] = Q[0][0]; - Q[0][1] = -Q[1][0]; + Q(1,1) = Q(0,0); + Q(0,1) = -Q(1,0); A = Q.multDiagonal( w ).multTransposed( Q ); // A = Q*wId*Q^T } @@ -2872,7 +2872,7 @@ void Decompose::NSDProjection( Real& A00, Real& A01, Real& A10, Real& A11 { type::Mat<2,2,Real> Q; type::Vec<2,Real> w; - dsyev2( A00, A01, A11, w[0], w[1], Q[0][0], Q[1][0] ); + dsyev2( A00, A01, A11, w[0], w[1], Q(0,0), Q(1,0) ); bool modified = false; for( int i=0 ; i<2 ; ++i ) @@ -2880,16 +2880,16 @@ void Decompose::NSDProjection( Real& A00, Real& A01, Real& A10, Real& A11 if( modified ) { - Q[1][1] = Q[0][0]; - Q[0][1] = -Q[1][0]; + Q(1,1) = Q(0,0); + Q(0,1) = -Q(1,0); type::Mat<2,2,Real> tmp = Q.multDiagonal( w ); // A = Q*wId*Q^T - A00 = Q[0][0]*tmp[0][0] + Q[0][1]*tmp[0][1]; - A01 = A10 = Q[1][0]*tmp[0][0] + Q[1][1]*tmp[1][1]; - A11 = Q[1][0]*tmp[1][0] + Q[1][1]*tmp[1][1]; + A00 = Q(0,0)*tmp(0,0) + Q(0,1)*tmp(0,1); + A01 = A10 = Q(1,0)*tmp(0,0) + Q(1,1)*tmp(1,1); + A11 = Q(1,0)*tmp(1,0) + Q(1,1)*tmp(1,1); } } diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp index dfd888f7de4..35f5971dfc5 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileRepository.cpp @@ -102,7 +102,8 @@ FileRepository DataRepository( "SOFA_DATA_PATH", { Utils::getSofaPathTo("share/sofa"), - Utils::getSofaPathTo("share/sofa/examples") + Utils::getSofaPathTo("share/sofa/examples"), + Utils::getSofaPathTo("share/sofa/icons") }, { { Utils::getSofaPathTo("etc/sofa.ini"), {"SHARE_DIR", "EXAMPLES_DIR"} } diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp index dc776e08c3c..e41aec5b5a1 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp @@ -376,18 +376,6 @@ std::string FileSystem::removeExtraBackSlashes(const std::string& path) return str; } - -std::string FileSystem::findOrCreateAValidPath(const std::string path) -{ - if( FileSystem::exists(path) ) - return path ; - - const std::string parentPath = FileSystem::getParentDirectory(path) ; - const std::string currentFile = FileSystem::stripDirectory(path) ; - FileSystem::createDirectory(append(findOrCreateAValidPath( parentPath ), currentFile)) ; - return path ; -} - void FileSystem::ensureFolderExists(const std::string& pathToFolder) { if (!FileSystem::exists(pathToFolder)) diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.h b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.h index cb0646ee67d..e42e7acb031 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.h +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.h @@ -101,8 +101,8 @@ static bool removeFile(const std::string& path); /// @brief check that all element in the path exists or create them. (This function accepts relative paths) /// /// @return the valid path. -SOFA_HELPER_FILESYSTEM_FINDORCREATEAVALIDPATH_DEPRECATED() -static std::string findOrCreateAValidPath(const std::string path); +SOFA_HELPER_FILESYSTEM_FINDORCREATEAVALIDPATH_DISABLED() +static std::string findOrCreateAValidPath(const std::string path) = delete; /// @brief Ensures that a folder exists at the specified path. If the folder does not exist, it will be created. /// diff --git a/Sofa/framework/Helper/test/NameDecoder_test.cpp b/Sofa/framework/Helper/test/NameDecoder_test.cpp index dd6efea3aa2..401fb8a87d5 100644 --- a/Sofa/framework/Helper/test/NameDecoder_test.cpp +++ b/Sofa/framework/Helper/test/NameDecoder_test.cpp @@ -123,10 +123,10 @@ TEST(NameDecoder_test, templateClass) //template type itself templated with 2 template parameters, including one composed of two words. Template parameter is an alias using D = sofa::type::fixed_array; - EXPECT_NE(getDecodeTypeName >().find("TemplateClass >().find("TemplateClass >(), "TemplateClass"); EXPECT_EQ(getDecodeNamespaceName >(), ""); - EXPECT_NE(getDecodeTemplateName >().find("fixed_array >().find("array >(), "TemplateClass<_UnderscoreClass>"); @@ -195,4 +195,4 @@ TEST(NameDecoder_test, namespaceNestedTemplateClass) using C = sofa::__sofa__::OuterTemplateClass >::Inner_Template_Class >; EXPECT_EQ(getDecodeClassName(), "Inner_Template_Class"); EXPECT_EQ(getDecodeNamespaceName(), "sofa::__sofa__"); -} \ No newline at end of file +} diff --git a/Sofa/framework/Helper/test/Utils_test.cpp b/Sofa/framework/Helper/test/Utils_test.cpp index f790ce7364f..6d1daa0db26 100644 --- a/Sofa/framework/Helper/test/Utils_test.cpp +++ b/Sofa/framework/Helper/test/Utils_test.cpp @@ -81,6 +81,12 @@ TEST(UtilsTest, getSofaUserLocalDirectory) EXPECT_TRUE(path.find("SOFA") != std::string::npos); } +TEST(UtilsTest, getSofaDataDirectory) +{ + const std::string path = Utils::getSofaDataDirectory(); + EXPECT_TRUE(path.find("SOFAData") != std::string::npos); +} + TEST(UtilsTest, readBasicIniFile_nonexistentFile) { // this test will raise an error on purpose diff --git a/Sofa/framework/Helper/test/accessor/ReadAccessor.cpp b/Sofa/framework/Helper/test/accessor/ReadAccessor.cpp index 07ed67193fd..1b18a5770d6 100644 --- a/Sofa/framework/Helper/test/accessor/ReadAccessor.cpp +++ b/Sofa/framework/Helper/test/accessor/ReadAccessor.cpp @@ -62,15 +62,17 @@ class ReadAccessorFixedArray_test : public ::testing::Test }; using FixedArrayTypes = ::testing::Types < - sofa::type::fixed_array, sofa::type::Vec < 2, float >, sofa::type::Mat<3, 3>>; + sofa::type::fixed_array, + sofa::type::Vec < 2, float >, + sofa::type::Mat<3, 3> +>; TYPED_TEST_SUITE(ReadAccessorFixedArray_test, FixedArrayTypes); TYPED_TEST(ReadAccessorFixedArray_test, tests ) { sofa::helper::ReadAccessor accessor(this->m_array); - - EXPECT_EQ(TypeParam::static_size, accessor.size()); + EXPECT_EQ(this->m_array.size(), accessor.size()); EXPECT_EQ(accessor.begin(), this->m_array.begin()); EXPECT_EQ(accessor.end(), this->m_array.end()); diff --git a/Sofa/framework/Helper/test/accessor/WriteAccessor.cpp b/Sofa/framework/Helper/test/accessor/WriteAccessor.cpp index a2b19f23303..90f8836f643 100644 --- a/Sofa/framework/Helper/test/accessor/WriteAccessor.cpp +++ b/Sofa/framework/Helper/test/accessor/WriteAccessor.cpp @@ -117,15 +117,16 @@ class WriteAccessorFixedArray_test : public ::testing::Test }; using FixedArrayTypes = ::testing::Types < - sofa::type::fixed_array, sofa::type::Vec < 2, float >, sofa::type::Mat<3, 3>>; + sofa::type::fixed_array, + sofa::type::Vec < 2, float >, + sofa::type::Mat<3, 3>>; TYPED_TEST_SUITE(WriteAccessorFixedArray_test, FixedArrayTypes); TYPED_TEST(WriteAccessorFixedArray_test, tests ) { sofa::helper::WriteAccessor accessor(this->m_array); - - EXPECT_EQ(TypeParam::static_size, accessor.size()); + EXPECT_EQ(this->m_array.size(), accessor.size()); EXPECT_EQ(accessor.begin(), this->m_array.begin()); EXPECT_EQ(accessor.end(), this->m_array.end()); diff --git a/Sofa/framework/Helper/test/system/PluginManager_test.cpp b/Sofa/framework/Helper/test/system/PluginManager_test.cpp index c27aee28fe9..453c9ccb243 100644 --- a/Sofa/framework/Helper/test/system/PluginManager_test.cpp +++ b/Sofa/framework/Helper/test/system/PluginManager_test.cpp @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include using sofa::testing::BaseTest; @@ -319,7 +319,7 @@ TEST_F(PluginManager_test, failingPlugin) EXPECT_TRUE(sofa::core::ObjectFactory::getInstance()->hasCreator("ComponentFailingPlugin")); sofa::core::objectmodel::BaseObjectDescription description("ComponentFailingPlugin", "ComponentFailingPlugin"); - const auto tmpNode = sofa::core::objectmodel::New("tmp"); + const auto tmpNode = sofa::core::objectmodel::New("tmp"); EXPECT_EQ(sofa::core::ObjectFactory::getInstance()->createObject(tmpNode.get(), &description), nullptr); EXPECT_FALSE(description.getErrors().empty()); diff --git a/Sofa/framework/LinearAlgebra/Sofa.LinearAlgebraConfig.cmake.in b/Sofa/framework/LinearAlgebra/Sofa.LinearAlgebraConfig.cmake.in index ee370c5bd06..dd8e508a635 100644 --- a/Sofa/framework/LinearAlgebra/Sofa.LinearAlgebraConfig.cmake.in +++ b/Sofa/framework/LinearAlgebra/Sofa.LinearAlgebraConfig.cmake.in @@ -3,14 +3,15 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Type QUIET REQUIRED) -find_package(Sofa.Helper QUIET REQUIRED) -find_package(Eigen3 QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Type QUIET REQUIRED) +sofa_find_package(Sofa.Helper QUIET REQUIRED) +sofa_find_package(Eigen3 QUIET REQUIRED) set(SOFA_LINEARALGEBRA_HAVE_OPENMP @SOFA_LINEARALGEBRA_HAVE_OPENMP@) if (SOFA_LINEARALGEBRA_HAVE_OPENMP) - find_package(OpenMP QUIET REQUIRED) + sofa_find_package(OpenMP QUIET REQUIRED) endif() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BTDMatrix.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BTDMatrix.h index 441b1dd0217..2fe10a76af8 100644 --- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BTDMatrix.h +++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BTDMatrix.h @@ -53,7 +53,7 @@ class BTDMatrix : public linearalgebra::BaseMatrix type::Mat r; for (Index i=0; iclear(); } - const T& element(Index i, Index j) const { return (*this)[i][j]; } - void set(Index i, Index j, const T& v) { (*this)[i][j] = v; } - void add(Index i, Index j, const T& v) { (*this)[i][j] += v; } + const T& element(Index i, Index j) const { return (*this)(i,j); } + void set(Index i, Index j, const T& v) { (*this)(i,j) = v; } + void add(Index i, Index j, const T& v) { (*this)(i,j) += v; } void operator=(const type::Mat& v) { type::Mat::operator=(v); @@ -79,7 +79,7 @@ class BTDMatrix : public linearalgebra::BaseMatrix type::Mat r; for (Index i=0; i operator-(const type::Mat& m) const @@ -210,7 +210,7 @@ class BTDMatrix : public linearalgebra::BaseMatrix { for (Index j=0; j::element(Index i, Index j) const const Index bj = j / BSIZE; j = j % BSIZE; const Index bindex = bj - bi + 1; if (bindex >= 3) return (SReal)0; - return data[bi*3+bindex][i][j]; + return data[bi*3+bindex](i,j); } template @@ -176,7 +176,7 @@ void BTDMatrix:: set(Index i, Index j, double v) const Index bj = j / BSIZE; j = j % BSIZE; const Index bindex = bj - bi + 1; if (bindex >= 3) return; - data[bi*3+bindex][i][j] = (Real)v; + data[bi*3+bindex](i,j) = (Real)v; } template @@ -186,7 +186,7 @@ void BTDMatrix::add(Index i, Index j, double v) const Index bj = j / BSIZE; j = j % BSIZE; const Index bindex = bj - bi + 1; if (bindex >= 3) return; - data[bi*3+bindex][i][j] += (Real)v; + data[bi*3+bindex](i,j) += (Real)v; } template @@ -196,7 +196,7 @@ void BTDMatrix::clear(Index i, Index j) const Index bj = j / BSIZE; j = j % BSIZE; const Index bindex = bj - bi + 1; if (bindex >= 3) return; - data[bi*3+bindex][i][j] = (Real)0; + data[bi*3+bindex](i,j) = (Real)0; } template @@ -205,7 +205,7 @@ void BTDMatrix::clearRow(Index i) const Index bi = i / BSIZE; i = i % BSIZE; for (Index bj = 0; bj < 3; ++bj) for (Index j=0; j @@ -214,12 +214,12 @@ void BTDMatrix::clearCol(Index j) const Index bj = j / BSIZE; j = j % BSIZE; if (bj > 0) for (Index i=0; i diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BaseMatrix.cpp b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BaseMatrix.cpp index a6119f7b485..298081bf434 100644 --- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BaseMatrix.cpp +++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BaseMatrix.cpp @@ -92,7 +92,7 @@ struct BaseMatrixLinearOpMV_BlockDiagonal type::Vec resi; for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - resi[bi] += bdata[bi][bj] * vj[bj]; + resi[bi] += bdata(bi,bj) * vj[bj]; for (int bi = 0; bi < NL; ++bi) opVadd(result, i+bi, resi[bi]); } @@ -104,7 +104,7 @@ struct BaseMatrixLinearOpMV_BlockDiagonal type::Vec resj; for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - resj[bj] += bdata[bi][bj] * vi[bi]; + resj[bj] += bdata(bi,bj) * vi[bi]; for (int bj = 0; bj < NC; ++bj) opVadd(result, j+bj, resj[bj]); } @@ -120,7 +120,7 @@ void matrixAdd(BaseMatrix* self, const Index row, const Index col, const sofa::t { for (unsigned int c = 0; c < C; ++c) { - self->add(row + r, col + c, M[r][c]); + self->add(row + r, col + c, M(r,c)); } } } @@ -232,7 +232,7 @@ struct BaseMatrixLinearOpMV_BlockSparse vtmpj[bj] = (Real)opVget(v, j+bj); for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - vtmpi[bi] += bdata[bi][bj] * vtmpj[bj]; + vtmpi[bi] += bdata(bi,bj) * vtmpj[bj]; } else { @@ -240,7 +240,7 @@ struct BaseMatrixLinearOpMV_BlockSparse vtmpj[bj] = (Real)0; for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - vtmpj[bj] += bdata[bi][bj] * vtmpi[bi]; + vtmpj[bj] += bdata(bi,bj) * vtmpi[bi]; for (int bj = 0; bj < NC; ++bj) opVadd(result, j+bj, vtmpj[bj]); } @@ -551,13 +551,13 @@ struct BaseMatrixLinearOpAM_BlockSparse { for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - m2->add(i+bi,j+bj,bdata[bi][bj] * fact); + m2->add(i+bi,j+bj,bdata(bi,bj) * fact); } else { for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - m2->add(j+bj,i+bi,bdata[bi][bj] * fact); + m2->add(j+bj,i+bi,bdata(bi,bj) * fact); } } } @@ -591,13 +591,13 @@ struct BaseMatrixLinearOpAMS_BlockSparse { for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - m2->add(i+bi,j+bj,bdata[bi][bj] * fact); + m2->add(i+bi,j+bj,bdata(bi,bj) * fact); } else { for (int bi = 0; bi < NL; ++bi) for (int bj = 0; bj < NC; ++bj) - m2->add(j+bj,i+bi,bdata[bi][bj] * fact); + m2->add(j+bj,i+bi,bdata(bi,bj) * fact); } } } diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BlockFullMatrix.inl b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BlockFullMatrix.inl index 7eaea5a8f69..e079d0300a7 100644 --- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BlockFullMatrix.inl +++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/BlockFullMatrix.inl @@ -47,19 +47,19 @@ void BlockFullMatrix::Block::resize(Index, Index) template const T& BlockFullMatrix::Block::element(Index i, Index j) const { - return (*this)[i][j]; + return (*this)(i,j); } template void BlockFullMatrix::Block::set(Index i, Index j, const T& v) { - (*this)[i][j] = v; + (*this)(i,j) = v; } template void BlockFullMatrix::Block::add(Index i, Index j, const T& v) { - (*this)[i][j] += v; + (*this)(i,j) += v; } template @@ -157,7 +157,7 @@ SReal BlockFullMatrix::element(Index i, Index j) const { const Index bi = i / BSIZE; i = i % BSIZE; const Index bj = j / BSIZE; j = j % BSIZE; - return bloc(bi,bj)[i][j]; + return bloc(bi,bj)(i,j); } template @@ -217,7 +217,7 @@ void BlockFullMatrix::set(Index i, Index j, double v) { const Index bi = i / BSIZE; i = i % BSIZE; const Index bj = j / BSIZE; j = j % BSIZE; - bloc(bi,bj)[i][j] = (Real)v; + bloc(bi,bj)(i,j) = (Real)v; } template @@ -225,7 +225,7 @@ void BlockFullMatrix::add(Index i, Index j, double v) { const Index bi = i / BSIZE; i = i % BSIZE; const Index bj = j / BSIZE; j = j % BSIZE; - bloc(bi,bj)[i][j] += (Real)v; + bloc(bi,bj)(i,j) += (Real)v; } template @@ -233,7 +233,7 @@ void BlockFullMatrix::clear(Index i, Index j) { const Index bi = i / BSIZE; i = i % BSIZE; const Index bj = j / BSIZE; j = j % BSIZE; - bloc(bi,bj)[i][j] = (Real)0; + bloc(bi,bj)(i,j) = (Real)0; } template @@ -242,7 +242,7 @@ void BlockFullMatrix::clearRow(Index i) const Index bi = i / BSIZE; i = i % BSIZE; for (Index bj = 0; bj < nBCol; ++bj) for (Index j=0; j @@ -251,7 +251,7 @@ void BlockFullMatrix::clearCol(Index j) const Index bj = j / BSIZE; j = j % BSIZE; for (Index bi = 0; bi < nBRow; ++bi) for (Index i=0; i diff --git a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h index 1b66df5cadd..edfff68b3ed 100644 --- a/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h +++ b/Sofa/framework/LinearAlgebra/src/sofa/linearalgebra/EigenSparseMatrix.h @@ -125,7 +125,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrixadd( r + row*Nout, c + col*Nin, b[r][c] ); + this->add( r + row*Nout, c + col*Nin, b(r,c) ); } /// Insert ASAP in the compressed matrix. There must be no value at this place already. @@ -137,7 +137,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrixbeginRow( r + row*Nout ); for( unsigned c=0; cinsertBack( r + row*Nout, c + col*Nin, b[r][c] ); + this->insertBack( r + row*Nout, c + col*Nin, b(r,c) ); } } @@ -193,7 +193,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrixinsertBack( r + bRow*Nout, c + bColumns[p[i]] * Nin, b[r][c]); + this->insertBack( r + bRow*Nout, c + bColumns[p[i]] * Nin, b(r,c)); } } } @@ -215,7 +215,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrixinsertBack( r + bRow*Nout, c + bColumns[i] * Nin, b[r][c]); + this->insertBack( r + bRow*Nout, c + bColumns[i] * Nin, b(r,c)); } } } @@ -253,8 +253,8 @@ class EigenSparseMatrix : public EigenBaseSparseMatrixcolSize() ) { - this->add(r + blRow*Nout, c + blCol*Nin, b[r][c]); -// this->compressedMatrix.insertBack(r + blRow*Nout, c + blCol*Nin) = b[r][c]; + this->add(r + blRow*Nout, c + blCol*Nin, b(r,c)); +// this->compressedMatrix.insertBack(r + blRow*Nout, c + blCol*Nin) = b(r,c); } } @@ -351,7 +351,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrixcolSize()),aux2(this->rowSize()); for(unsigned i = 0, n = data.size(); i < n; ++i) { for(unsigned j = 0; j < Nin; ++j) { - aux1[Nin * i + j] = data[i][j]; + aux1[Nin * i + j] = data[i][j]; } } @@ -365,7 +365,7 @@ class EigenSparseMatrix : public EigenBaseSparseMatrix, IndexType> typedef real Real; enum { NL = L }; enum { NC = C }; - static Real& v(Block& b, Index row, Index col) { return b[row][col]; } - static const Real& v(const Block& b, Index row, Index col) { return b[row][col]; } - static void vset(Block& b, int row, int col, Real val) { b[row][col] = val; } - static void vadd(Block& b, int row, int col, Real val) { b[row][col] += val; } + static Real& v(Block& b, Index row, Index col) { return b(row,col); } + static const Real& v(const Block& b, Index row, Index col) { return b(row,col); } + static void vset(Block& b, int row, int col, Real val) { b(row,col) = val; } + static void vadd(Block& b, int row, int col, Real val) { b(row,col) += val; } static void clear(Block& b) { b.clear(); } static bool empty(const Block& b) { for (Index i=0; i using sofa::simulation::graph::DAGSimulation ; -#include -using sofa::simulation::graph::DAGNode; +#include +using sofa::simulation::Node; using sofa::core::objectmodel::BaseObjectDescription ; #include @@ -144,7 +144,7 @@ Node::SPtr createChild(Node::SPtr node, BaseObjectDescription& desc) Node::SPtr createNode(const std::string& name) { - return core::objectmodel::New(name); + return core::objectmodel::New(name); } } // namespace sofa::simpleapi diff --git a/Sofa/framework/Simulation/Common/Sofa.Simulation.CommonConfig.cmake.in b/Sofa/framework/Simulation/Common/Sofa.Simulation.CommonConfig.cmake.in index a458d995a3a..154261bbd57 100644 --- a/Sofa/framework/Simulation/Common/Sofa.Simulation.CommonConfig.cmake.in +++ b/Sofa/framework/Simulation/Common/Sofa.Simulation.CommonConfig.cmake.in @@ -3,8 +3,9 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Core QUIET REQUIRED) -find_package(Sofa.Simulation.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Core QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Simulation/Core/Sofa.Simulation.CoreConfig.cmake.in b/Sofa/framework/Simulation/Core/Sofa.Simulation.CoreConfig.cmake.in index e914bf97b81..cd9fbedcb6b 100644 --- a/Sofa/framework/Simulation/Core/Sofa.Simulation.CoreConfig.cmake.in +++ b/Sofa/framework/Simulation/Core/Sofa.Simulation.CoreConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Core QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Core QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/AnimateVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/AnimateVisitor.h index 9cb11b62963..6122ad2c3ac 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/AnimateVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/AnimateVisitor.h @@ -21,6 +21,9 @@ ******************************************************************************/ #pragma once +#include +SOFA_HEADER_DEPRECATED_NOT_REPLACED("v25.12", "v26.06") + #include #include #include @@ -31,7 +34,7 @@ namespace sofa::simulation { -class SOFA_SIMULATION_CORE_API AnimateVisitor : public Visitor +class SOFA_SIMULATION_CORE_API SOFA_ATTRIBUTE_DEPRECATED_ANIMATEVISITOR() AnimateVisitor : public Visitor { protected : diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp index 2abde63d270..2b861fe6649 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseMechanicalVisitor.cpp @@ -136,20 +136,21 @@ void BaseMechanicalVisitor::processNodeBottomUp(simulation::Node *node, VisitorC { if (node->mechanicalMapping != nullptr) { - if (!stopAtMechanicalMapping(node, node->mechanicalMapping)) - { - if (testTags(node->mechanicalState)) - { - runVisitorTask(this, ctx, &BaseMechanicalVisitor::bwdMappedMechanicalState, &*node->mechanicalState, bwdVisitorType); - runVisitorTask(this, ctx, &BaseMechanicalVisitor::bwdMechanicalMapping, &*node->mechanicalMapping, bwdVisitorType); - } - } + runVisitorTask(this, ctx, &BaseMechanicalVisitor::bwdMappedMechanicalState, &*node->mechanicalState, bwdVisitorType); } else { runVisitorTask(this, ctx, &BaseMechanicalVisitor::bwdMechanicalState, &*node->mechanicalState, bwdVisitorType); } + } + if (node->mechanicalMapping != nullptr) + { + if (!stopAtMechanicalMapping(node, node->mechanicalMapping)) + { + runVisitorTask(this, ctx, &BaseMechanicalVisitor::bwdMechanicalMapping, + &*node->mechanicalMapping, bwdVisitorType); + } } for_each(this, ctx, node->solver, &BaseMechanicalVisitor::bwdOdeSolver, bwdVisitorType); diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.cpp index f9b1fff6635..840d8f55f74 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/BaseSimulationExporter.cpp @@ -57,10 +57,7 @@ const std::string BaseSimulationExporter::getOrCreateTargetPath(const std::strin } /// If the path does not exists on the FS...we create It - const std::string parentPath = FileSystem::getParentDirectory(path) ; - if( !FileSystem::exists(parentPath) ){ - FileSystem::findOrCreateAValidPath(parentPath) ; - } + FileSystem::ensureFolderForFileExists(path); /// At this point we have a valid path. We can now add a number indicating the frame save. if (autonumbering) diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.cpp index 8e1ccf6899c..14ff4001580 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/CollisionAnimationLoop.cpp @@ -23,7 +23,6 @@ #include #include -#include #include #include #include diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h index 8271c98343a..1406df545a7 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/MechanicalOperations.h @@ -108,14 +108,6 @@ class SOFA_SIMULATION_CORE_API MechanicalOperations void setSystemLHVector(core::MultiVecDerivId v, core::behavior::LinearSolver* linearSolver); void solveSystem(core::behavior::LinearSolver* linearSolver); void print( std::ostream& out, core::behavior::LinearSolver* linearSolver); - - SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_RESETSYSTEM() void m_resetSystem() = delete; - SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX() void m_setSystemMBKMatrix(SReal mFact, SReal bFact, SReal kFact) = delete; - SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMRHVECTOR() void m_setSystemRHVector(core::MultiVecDerivId v) = delete; - SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMLHVECTOR() void m_setSystemLHVector(core::MultiVecDerivId v) = delete; - SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SOLVESYSTEM() void m_solveSystem() = delete; - SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_PRINT() void m_print( std::ostream& out ) = delete; - /// @} /** Find all the Constraint present in the scene graph, build the constraint equation system, solve and apply the correction diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp index 286eb32e1ba..aa0c484b1f4 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Node.cpp @@ -51,7 +51,6 @@ #include #include #include -#include #include #include #include @@ -72,7 +71,7 @@ namespace sofa::simulation using core::objectmodel::BaseNode; using core::objectmodel::BaseObject; -Node::Node(const std::string& name) +Node::Node(const std::string& name, Node* parent) : core::objectmodel::BaseNode() , sofa::core::objectmodel::Context() , child(initLink("child", "Child nodes")) @@ -110,7 +109,11 @@ Node::Node(const std::string& name) , debug_(false) , initialized(false) + , l_parents(initLink("parents", "Parents nodes in the graph")) { + if( parent ) + parent->addChild(this); + _context = this; setName(name); f_printLog.setValue(DEBUG_LINK); @@ -119,8 +122,11 @@ Node::Node(const std::string& name) Node::~Node() { + for (auto& aChild : child ) + aChild->l_parents.remove(this); } + void Node::parse( sofa::core::objectmodel::BaseObjectDescription* arg ) { Inherit1::parse( arg ); @@ -643,16 +649,6 @@ core::topology::Topology* Node::getTopology() const return get(SearchParents); } -/// Mesh Topology (unified interface for both static and dynamic topologies) -core::topology::BaseMeshTopology* Node::getMeshTopologyLink(SearchDirection dir) const -{ - SOFA_UNUSED(dir); - if (this->meshTopology) - return this->meshTopology; - else - return get(SearchParents); -} - /// Degrees-of-Freedom core::BaseState* Node::getState() const { @@ -814,7 +810,6 @@ const core::objectmodel::BaseContext* Node::getContext() const return _context; } - void Node::setDefaultVisualContextValue() { //TODO(dmarchal 2017-07-20) please say who have to do that and when it will be done. @@ -841,34 +836,11 @@ void Node::initialize() updateSimulationContext(); } -void Node::updateContext() -{ - updateSimulationContext(); - updateVisualContext(); - if ( debug_ ) - msg_info()<<"Node::updateContext, node = "<(node); + if( dagnode->_descendancy.contains(_searchNode) ) // searchNode is in the current node descendancy, so the current node is a parent of searchNode + { + dagnode->getLocalObjects( _class_info, _container, _tags ); + return RESULT_CONTINUE; + } + else // the current node is NOT a parent of searchNode, stop here + { + return RESULT_PRUNE; + } + } + + /// Specify whether this action can be parallelized. + bool isThreadSafe() const override { return false; } + + /// Return a category name for this action. + /// Only used for debugging / profiling purposes + const char* getCategoryName() const override { return "GetUpObjectsVisitor"; } + const char* getClassName() const override { return "GetUpObjectsVisitor"; } + + +protected: + + Node* _searchNode; + const sofa::core::objectmodel::ClassInfo& _class_info; + Node::GetObjectsCallBack& _container; + const sofa::core::objectmodel::TagSet& _tags; + +}; + +GetUpObjectsVisitor::GetUpObjectsVisitor(Node* searchNode, + const sofa::core::objectmodel::ClassInfo& class_info, + Node::GetObjectsCallBack& container, + const sofa::core::objectmodel::TagSet& tags) + : Visitor( sofa::core::execparams::defaultInstance() ) + , _searchNode( searchNode ) + , _class_info(class_info) + , _container(container) + , _tags(tags) +{} + +GetUpObjectsVisitor::~GetUpObjectsVisitor(){} + +/// Create, add, then return the new child of this Node +Node::SPtr Node::createChild(const std::string& nodeName) +{ + Node::SPtr newchild; + if (nodeName.empty()) + { + int i = 0; + std::string newName = "unnamed"; + bool uid_found = false; + while (!uid_found) + { + uid_found = true; + for (const auto& c : this->child) + { + if (c->getName() == newName) + { + newName = "unnamed" + std::to_string(++i); + uid_found = true; + } + } + for (const auto& o : this->object) + { + if (o->getName() == newName) + { + newName = "unnamed" + std::to_string(++i); + uid_found = true; + } + } + } + msg_error("Node::createChild()") << "Empty string given to property 'name': Forcefully setting an empty name is forbidden.\n" + "Renaming to " + newName + " to avoid unexpected behaviors."; + newchild = sofa::core::objectmodel::New(newName); + } + else + newchild = sofa::core::objectmodel::New(nodeName); + this->addChild(newchild); newchild->updateSimulationContext(); + return newchild; +} + + +void Node::moveChild(BaseNode::SPtr node) +{ + const Node::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); + for (const auto& parent : dagnode->getParents()) { + Node::moveChild(node, parent); + } +} + + +/// Add a child node +void Node::doAddChild(BaseNode::SPtr node) +{ + const Node::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); + setDirtyDescendancy(); + child.add(dagnode); + dagnode->l_parents.add(this); + dagnode->l_parents.updateLinks(); // to fix load-time unresolved links +} + +/// Remove a child +void Node::doRemoveChild(BaseNode::SPtr node) +{ + const Node::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); + setDirtyDescendancy(); + child.remove(dagnode); + dagnode->l_parents.remove(this); +} + +/// Move a node from another node +void Node::doMoveChild(BaseNode::SPtr node, BaseNode::SPtr previous_parent) +{ + const Node::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); + if (!dagnode) return; + + setDirtyDescendancy(); + previous_parent->removeChild(node); + + addChild(node); +} + +/// Remove a child +void Node::detachFromGraph() +{ + Node::SPtr me = this; // make sure we don't delete ourself before the end of this method + const LinkParents::Container& parents = l_parents.getValue(); + while(!parents.empty()) + parents.back()->removeChild(this); +} + +/// Generic object access, possibly searching up or down from the current context +/// +/// Note that the template wrapper method should generally be used to have the correct return type, +void* Node::getObject(const sofa::core::objectmodel::ClassInfo& class_info, const sofa::core::objectmodel::TagSet& tags, SearchDirection dir) const +{ + if (dir == SearchRoot) + { + if (getNbParents()) return getRootContext()->getObject(class_info, tags, dir); + else dir = SearchDown; // we are the root, search down from here. + } + void *result = nullptr; + + if (dir != SearchParents) + for (ObjectIterator it = this->object.begin(); it != this->object.end(); ++it) + { + sofa::core::objectmodel::BaseObject* obj = it->get(); + if (tags.empty() || (obj)->getTags().includes(tags)) + { + + result = class_info.dynamicCast(obj); + if (result != nullptr) + { + + break; + } + } + } + + if (result == nullptr) + { + switch(dir) + { + case Local: + break; + case SearchParents: + case SearchUp: + { + const LinkParents::Container& parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; ++i){ + result = parents[i]->getObject(class_info, tags, SearchUp); + if (result != nullptr) break; + } + } + break; + case SearchDown: + for(ChildIterator it = child.begin(); it != child.end(); ++it) + { + result = (*it)->getObject(class_info, tags, dir); + if (result != nullptr) break; + } + break; + case SearchRoot: + dmsg_error("Node") << "SearchRoot SHOULD NOT BE POSSIBLE HERE."; + break; + } + } + + return result; +} + +/// Generic object access, given a path from the current context +/// +/// Note that the template wrapper method should generally be used to have the correct return type, +void* Node::getObject(const sofa::core::objectmodel::ClassInfo& class_info, const std::string& path) const +{ + if (path.empty()) + { + // local object + return Node::getObject(class_info, Local); + } + else if (path[0] == '/') + { + // absolute path; let's start from root + if (!getNbParents()) return getObject(class_info,std::string(path,1)); + else return getRootContext()->getObject(class_info,path); + } + else if (std::string(path,0,2)==std::string("./")) + { + std::string newpath = std::string(path, 2); + while (!newpath.empty() && path[0] == '/') + newpath.erase(0); + return getObject(class_info,newpath); + } + else if (std::string(path,0,3)==std::string("../")) + { + // tricky case: + // let's test EACH parent and return the first object found (if any) + std::string newpath = std::string(path, 3); + while (!newpath.empty() && path[0] == '/') + newpath.erase(0); + if (getNbParents()) + { + const LinkParents::Container& parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; ++i) + { + void* obj = parents[i]->getObject(class_info,newpath); + if (obj) return obj; + } + return nullptr; // not found in any parent node at all + } + else return getObject(class_info,newpath); + } + else + { + std::string::size_type pend = path.find('/'); + if (pend == std::string::npos) pend = path.length(); + const std::string name ( path, 0, pend ); + const Node* child = getChild(name); + if (child) + { + while (pend < path.length() && path[pend] == '/') + ++pend; + return child->getObject(class_info, std::string(path, pend)); + } + else if (pend < path.length()) + { + return nullptr; + } + else + { + sofa::core::objectmodel::BaseObject* obj = simulation::Node::getObject(name); + if (obj == nullptr) + { + return nullptr; + } + else + { + void* result = class_info.dynamicCast(obj); + if (result == nullptr) + { + dmsg_error("Node") << "Object "<getObjects( class_info, container, tags, dir ); + return; + } + else dir = SearchDown; // we are the root, search down from here. + } + + + switch( dir ) + { + case Local: + this->getLocalObjects( class_info, container, tags ); + break; + + case SearchUp: + this->getLocalObjects( class_info, container, tags ); // add locals then SearchParents + // no break here, we want to execute the SearchParents code. + [[fallthrough]]; + case SearchParents: + { + // a visitor executed from top but only run for this' parents will enforce the selected object unicity due even with diamond graph setups + GetUpObjectsVisitor vis( const_cast(this), class_info, container, tags); + getRootContext()->executeVisitor(&vis); + } + break; + + case SearchDown: + { + // a regular visitor is enforcing the selected object unicity + GetDownObjectsVisitor vis(class_info, container, tags); + (const_cast(this))->executeVisitor(&vis); + break; + } + default: + break; + } +} + +/// Get a list of parent node +sofa::core::objectmodel::BaseNode::Parents Node::getParents() const +{ + Parents p; + + const LinkParents::Container& parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; ++i) + p.push_back(parents[i]); + + return p; +} + + +/// returns number of parents +size_t Node::getNbParents() const +{ + return l_parents.getValue().size(); +} + +/// return the first parent (returns nullptr if no parent) +sofa::core::objectmodel::BaseNode* Node::getFirstParent() const +{ + const LinkParents::Container& parents = l_parents.getValue(); + if( parents.empty() ) return nullptr; + else return l_parents.getValue()[0]; +} + + +/// Test if the given node is a parent of this node. +bool Node::hasParent(const BaseNode* node) const +{ + const LinkParents::Container& parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; ++i) + { + if (parents[i]==node) return true; + } + return false; +} + +/// Test if the given context is a parent of this context. +bool Node::hasParent(const BaseContext* context) const +{ + if (context == nullptr) return !getNbParents(); + + const LinkParents::Container& parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; ++i) + if (context == parents[i]->getContext()) return true; + return false; + +} + + + +/// Test if the given context is an ancestor of this context. +/// An ancestor is a parent or (recursively) the parent of an ancestor. +bool Node::hasAncestor(const BaseContext* context) const +{ + const LinkParents::Container& parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; ++i) + if (context == parents[i]->getContext() + || parents[i]->hasAncestor(context)) + return true; + return false; +} + + +/// Mesh Topology that is relevant for this context +/// (within it or its parents until a mapping is reached that does not preserve topologies). +sofa::core::topology::BaseMeshTopology* Node::getMeshTopologyLink(SearchDirection dir) const +{ + // If there is a topology in the current node + if (this->meshTopology) + return this->meshTopology; + + // If we are not forcing on local resolution, search in the parents + if (dir != Local) + return get(SearchParents); + + // At that step there is no local topology or we are doing a non local search (so searching in the parents). + + // TODO(dmarchal, 2025-07-16): Why a mapping interfere with the search for a topology ? + // This is the kind of "implicit" hard coded behavior that generates troubles + // Investigate if this could be removed without too much breaks + + // Check if there is a local mapping and this mapping does not have the same topology so it step the search + if ( mechanicalMapping && ! mechanicalMapping->sameTopology()) + return nullptr; + + // TODO(dmarchal, 2025-07-16): This tests seems to do exactly the same as the one on MechanicalMapping. + // The test before can probably be removed + // Check if any of the other mapping does not have the same + for ( auto& aMapping : mapping) + { + if (!aMapping->sameTopology()) + return nullptr; + } + + // TODO(dmarchal, 2025-07-16): The following code is probably ill-defined, what it does it probably going to search + // in parents... for a topology, priorizing the "first" parent that returns one. It is kind of strange to search in parent + // while because at that step the search is: dir == Local ... so searching in parent is just "weird". + + // No mapping with a different topology, continue on to the parents + const LinkParents::Container &parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; i++ ) + { + // if the visitor is run from a sub-graph containing a multinode linked with a node outside of the subgraph, do not consider the outside node by looking on the sub-graph descendancy + if ( parents[i] ) + { + sofa::core::topology::BaseMeshTopology* res = parents[i]->getMeshTopologyLink(Local); + if (res) + return res; + } + } + return nullptr; // not found in any parents +} + +void Node::precomputeTraversalOrder( const sofa::core::ExecParams* params ) +{ + // accumulating traversed Nodes + class TraversalOrderVisitor : public Visitor + { + NodeList& _orderList; + public: + TraversalOrderVisitor(const sofa::core::ExecParams* params, NodeList& orderList ) + : Visitor(params) + , _orderList( orderList ) + { + _orderList.clear(); + } + + Result processNodeTopDown(Node* node) override + { + _orderList.push_back(node); + return RESULT_CONTINUE; + } + + const char* getClassName() const override {return "TraversalOrderVisitor";} + }; + + TraversalOrderVisitor tov( params, _precomputedTraversalOrder ); + executeVisitor( &tov, false ); +} + + + +/// Execute a recursive action starting from this node +void Node::doExecuteVisitor(simulation::Visitor* action, bool precomputedOrder) +{ + if( precomputedOrder && !_precomputedTraversalOrder.empty() ) + { + for( NodeList::iterator it = _precomputedTraversalOrder.begin(), itend = _precomputedTraversalOrder.end() ; it != itend ; ++it ) + { + if ( action->canAccessSleepingNode || !(*it)->getContext()->isSleeping() ) + action->processNodeTopDown( *it ); + } + + for( NodeList::reverse_iterator it = _precomputedTraversalOrder.rbegin(), itend = _precomputedTraversalOrder.rend() ; it != itend ; ++it ) + { + if ( action->canAccessSleepingNode || !(*it)->getContext()->isSleeping() ) + action->processNodeBottomUp( *it ); + } + } + else + { + // WARNING: do not store the traversal infos in the Node, as several visitors could traversed the graph simultaneously + // These infos are stored in a StatusMap per visitor. + updateDescendancy(); + + Visitor::TreeTraversalRepetition repeat; + if( action->treeTraversal(repeat) ) + { + // Tree traversal order + // + // Diamond shapes are ignored, a child node is visited as soon as a parent node has been visited. + // The multi-nodes (with several parents) are visited either: only once, only twice or for every times + // depending on the visitor's 'repeat' + // + // Some particular visitors such as a flat graph display or VisualVisitors must follow such a traversal order. + + StatusMap statusMap; + executeVisitorTreeTraversal( action, statusMap, repeat ); + } + else + { + // Direct acyclic graph traversal order + // + // This is the default order, used for mechanics. + // + // A child node is visited only when all its parents have been visited. + // A child node is 'pruned' only if all its parents are 'pruned'. + // Every executed node in the forward traversal are stored in 'executedNodes', + // its reverse order is used for the backward traversal. + + // Note that a newly 'pruned' node is still traversed (w/o execution) to be sure to execute its child nodes, + // that can have ancestors in another branch that is not pruned... + // An already pruned node is ignored. + + NodeList executedNodes; + { + StatusMap statusMap; + executeVisitorTopDown( action, executedNodes, statusMap, this ); + } + executeVisitorBottomUp( action, executedNodes ); + } + } +} + + +void Node::executeVisitorTopDown(simulation::Visitor* action, NodeList& executedNodes, StatusMap& statusMap, Node* visitorRoot ) +{ + if ( statusMap[this] != NOT_VISITED ) + { + return; // skipped (already visited) + } + + if( !this->isActive() ) + { + // do not execute the visitor on this node + statusMap[this] = PRUNED; + + // in that case we can considerer if some child are activated, the graph is not valid, so no need to continue the recursion + return; + } + + if( this->isSleeping() && !action->canAccessSleepingNode ) + { + // do not execute the visitor on this node + statusMap[this] = PRUNED; + + return; + } + + // pour chaque noeud "prune" on continue à parcourir quand même juste pour marquer le noeud comme parcouru + + // check du "visitedStatus" des parents: + // un enfant n'est pruné que si tous ses parents le sont + // on ne passe à un enfant que si tous ses parents ont été visités + bool allParentsPruned = true; + bool hasParent = false; + + if( visitorRoot != this ) + { + // the graph structure is generally modified during an action anterior to the traversal but can possibly be modified during the current traversal + visitorRoot->updateDescendancy(); + + const LinkParents::Container &parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; i++ ) + { + // if the visitor is run from a sub-graph containing a multinode linked with a node outside of the subgraph, do not consider the outside node by looking on the sub-graph descendancy + if ( visitorRoot->_descendancy.contains(parents[i]) || parents[i]==visitorRoot ) + { + // all parents must have been visited before + if ( statusMap[parents[i]] == NOT_VISITED ) + return; // skipped for now... the other parent should come later + + allParentsPruned = allParentsPruned && ( statusMap[parents[i]] == PRUNED ); + hasParent = true; + } + } + } + + // all parents have been visited, let's go with the visitor + if ( allParentsPruned && hasParent ) + { + // do not execute the visitor on this node + statusMap[this] = PRUNED; + + // ... but continue the recursion anyway! + if( action->childOrderReversed(this) ) + for(unsigned int i = unsigned(child.size()); i>0;) + child[--i].get()->executeVisitorTopDown(action,executedNodes,statusMap,visitorRoot); + else + for(unsigned int i = 0; iexecuteVisitorTopDown(action,executedNodes,statusMap,visitorRoot); + } + else + { + // execute the visitor on this node + const Visitor::Result result = action->processNodeTopDown(this); + + // update status + statusMap[this] = ( result == simulation::Visitor::RESULT_PRUNE ? PRUNED : VISITED ); + + executedNodes.push_back(this); + + // ... and continue the recursion + if( action->childOrderReversed(this) ) + for(unsigned int i = unsigned(child.size()); i>0;) + child[--i].get()->executeVisitorTopDown(action,executedNodes,statusMap,visitorRoot); + else + for(unsigned int i = 0; iexecuteVisitorTopDown(action,executedNodes,statusMap,visitorRoot); + + } +} + + +// warning nodes that are dynamically created during the traversal, but that have not been traversed during the top-down, won't be traversed during the bottom-up +// TODO is it what we want? +// otherwise it is possible to restart from top, go to leaves and running bottom-up action while going up +void Node::executeVisitorBottomUp( simulation::Visitor* action, NodeList& executedNodes ) +{ + for( NodeList::reverse_iterator it = executedNodes.rbegin(), itend = executedNodes.rend() ; it != itend ; ++it ) + { + (*it)->updateDescendancy(); + action->processNodeBottomUp( *it ); + } +} + + +void Node::setDirtyDescendancy() +{ + _descendancy.clear(); + const LinkParents::Container &parents = l_parents.getValue(); + for ( unsigned int i = 0; i < parents.size() ; i++ ) + { + parents[i]->setDirtyDescendancy(); + } +} + +void Node::updateDescendancy() +{ + if( _descendancy.empty() && !child.empty() ) + { + for(unsigned int i = 0; iupdateDescendancy(); + _descendancy.insert( node->_descendancy.begin(), node->_descendancy.end() ); + _descendancy.insert( node ); + } + } +} + + + +void Node::executeVisitorTreeTraversal( simulation::Visitor* action, StatusMap& statusMap, Visitor::TreeTraversalRepetition repeat, bool alreadyRepeated ) +{ + if( !this->isActive() ) + { + // do not execute the visitor on this node + statusMap[this] = PRUNED; + return; + } + + if( this->isSleeping() && !action->canAccessSleepingNode ) + { + // do not execute the visitor on this node + statusMap[this] = PRUNED; + return; + } + + // node already visited and repetition must be avoid + if( statusMap[this] != NOT_VISITED ) + { + if( repeat==Visitor::NO_REPETITION || ( alreadyRepeated && repeat==Visitor::REPEAT_ONCE ) ) return; + else alreadyRepeated = true; + } + + if( action->processNodeTopDown(this) != simulation::Visitor::RESULT_PRUNE ) + { + statusMap[this] = VISITED; + if( action->childOrderReversed(this) ) + for(unsigned int i = unsigned(child.size()); i>0;) + child[--i].get()->executeVisitorTreeTraversal(action,statusMap,repeat,alreadyRepeated); + else + for(unsigned int i = 0; iexecuteVisitorTreeTraversal(action,statusMap,repeat,alreadyRepeated); + } + else + { + statusMap[this] = PRUNED; + } + + action->processNodeBottomUp(this); +} + +void Node::initVisualContext() +{ + if (getNbParents()) + { + this->setDisplayWorldGravity(false); //only display gravity for the root: it will be propagated at each time step + } +} + +void Node::initializeContexts() +{ + for ( unsigned i=0; iinit(); // Call init of a ContextObject (a component in the scene) + contextObject[i]->apply(); // The component copy its internal state in the node's (that is inheriting from Contexte) + } +} + +void Node::updateContext() +{ + // if there is a parent + sofa::core::objectmodel::BaseNode* firstParent = getFirstParent(); + if ( firstParent ) + { + dmsg_info_when(debug_)<<"Node::updateContext, node = "< void getNodeObjects(Container* list) @@ -441,9 +411,6 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, /// Topology sofa::core::topology::Topology* getTopology() const override; - /// Mesh Topology (unified interface for both static and dynamic topologies) - sofa::core::topology::BaseMeshTopology* getMeshTopologyLink(SearchDirection dir = SearchUp) const override; - /// Degrees-of-Freedom sofa::core::BaseState* getState() const override; @@ -497,7 +464,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, virtual void updateSimulationContext(); /// Called during initialization to correctly propagate the visual context to the children - virtual void initVisualContext() {} + virtual void initVisualContext(); /// Propagate an event void propagateEvent(const sofa::core::ExecParams* params, sofa::core::objectmodel::Event* event) override; @@ -517,12 +484,78 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, template static Node::SPtr create(RealObject*, sofa::core::objectmodel::BaseObjectDescription* arg); - /// return the smallest common parent between this and node2 (returns nullptr if separated sub-graphes) - virtual Node* findCommonParent( simulation::Node* node2 ) = 0; - /// override context setSleeping to add notification. void setSleeping(bool val) override; +public: + virtual void addListener(MutationListener* obj); + virtual void removeListener(MutationListener* obj); + + static const std::string GetCustomClassName(){ return "Node"; } + + Node::SPtr createChild(const std::string& nodeName); + + /// Remove the current node from the graph: consists in removing the link to its parent + void detachFromGraph() override; + + /// Get a list of parent node + Parents getParents() const override; + + /// returns number of parents + size_t getNbParents() const override; + + /// return the first parent (returns nullptr if no parent) + BaseNode* getFirstParent() const override; + + /// Test if the given node is a parent of this node. + bool hasParent(const BaseNode* node) const override; + + /// Test if the given context is a parent of this context. + bool hasParent(const BaseContext* context) const; + + /// Test if the given context is an ancestor of this context. + /// An ancestor is a parent or (recursively) the parent of an ancestor. + bool hasAncestor(const BaseNode* node) const override + { + return hasAncestor(node->getContext()); + } + + /// Test if the given context is an ancestor of this context. + /// An ancestor is a parent or (recursively) the parent of an ancestor. + bool hasAncestor(const BaseContext* context) const override; + + + /// Generic object access, given a set of required tags, possibly searching up or down from the current context + /// + /// Note that the template wrapper method should generally be used to have the correct return type, + void* getObject(const sofa::core::objectmodel::ClassInfo& class_info, const sofa::core::objectmodel::TagSet& tags, SearchDirection dir = SearchUp) const override; + + /// Generic object access, given a path from the current context + /// + /// Note that the template wrapper method should generally be used to have the correct return type, + void* getObject(const sofa::core::objectmodel::ClassInfo& class_info, const std::string& path) const override; + + /// Generic list of objects access, given a set of required tags, possibly searching up or down from the current context + /// + /// Note that the template wrapper method should generally be used to have the correct return type, + void getObjects(const sofa::core::objectmodel::ClassInfo& class_info, GetObjectsCallBack& container, const sofa::core::objectmodel::TagSet& tags, SearchDirection dir = SearchUp) const override; + + /// Mesh Topology that is relevant for this context + /// (within it or its parents until a mapping is reached that does not preserve topologies). + sofa::core::topology::BaseMeshTopology* getMeshTopologyLink(SearchDirection dir = SearchUp) const override; + + static Node::SPtr create(Node*, sofa::core::objectmodel::BaseObjectDescription* arg) + { + Node::SPtr obj = Node::SPtr(new Node()); + obj->parse(arg); + return obj; + } + + void moveChild(BaseNode::SPtr node) override; + + /// return the smallest common parent between this and node2 (returns nullptr if separated sub-graphes) + Node* findCommonParent( simulation::Node* node2 ); + protected: bool debug_; bool initialized; @@ -532,6 +565,7 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, virtual void doMoveObject(sofa::core::objectmodel::BaseObject::SPtr sobj, Node* prev_parent); std::stack actionStack; + private: virtual void notifyBeginAddChild(Node::SPtr parent, Node::SPtr child) const; virtual void notifyBeginRemoveChild(Node::SPtr parent, Node::SPtr child) const; @@ -553,17 +587,13 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, virtual void notifyEndAddSlave(sofa::core::objectmodel::BaseObject* master, sofa::core::objectmodel::BaseObject* slave) const; virtual void notifyEndRemoveSlave(sofa::core::objectmodel::BaseObject* master, sofa::core::objectmodel::BaseObject* slave) const; - + // init all contextObject. + void initializeContexts(); protected: BaseContext* _context; type::vector listener; - -public: - virtual void addListener(MutationListener* obj); - virtual void removeListener(MutationListener* obj); - /// @name virtual functions to add/remove some special components directly in the right Sequence /// @{ @@ -607,6 +637,83 @@ class SOFA_SIMULATION_CORE_API Node : public sofa::core::objectmodel::BaseNode, /// @} + + /// FROM DAG NODE + + typedef MultiLink LinkParents; + typedef LinkParents::const_iterator ParentIterator; + +private: + /// bottom-up traversal, returning the first node which have a descendancy containing both node1 & node2 + Node* findCommonParent( Node* node1, Node* node2 ); + + LinkParents l_parents; + + void doAddChild(BaseNode::SPtr node); + void doRemoveChild(BaseNode::SPtr node); + void doMoveChild(BaseNode::SPtr node, BaseNode::SPtr previous_parent); + + /// Execute a recursive action starting from this node. + void doExecuteVisitor(simulation::Visitor* action, bool precomputedOrder=false); + + /// @name @internal stuff related to the DAG traversal + /// @{ + + /// all child nodes (unordered) + std::set _descendancy; + + /// bottom-up traversal removing descendancy + void setDirtyDescendancy(); + + /// traversal updating the descendancy + void updateDescendancy(); + + /// traversal flags + typedef enum + { + NOT_VISITED=0, + VISITED, + PRUNED + } VisitedStatus; + + /// wrapper to use VisitedStatus in a std::map (to ensure the default map insertion will give NOT_VISITED) + struct StatusStruct + { + StatusStruct() : status(NOT_VISITED) {} + StatusStruct( const VisitedStatus& s ) : status(s) {} + inline void operator=( const VisitedStatus& s ) { status=s; } + inline bool operator==( const VisitedStatus& s ) const { return status==s; } + inline bool operator==( const StatusStruct& s ) const { return status==s.status; } + inline bool operator!=( const VisitedStatus& s ) const { return status!=s; } + inline bool operator!=( const StatusStruct& s ) const { return status!=s.status; } + VisitedStatus status; + }; + + /// map structure to store a traversal flag for each Node + typedef std::map StatusMap; + + /// list of Node* + typedef std::list NodeList; + + /// the ordered list of Node to traverse from this Node + NodeList _precomputedTraversalOrder; + + /// @internal performing only the top-down traversal on a DAG + /// @executedNodes will be fill with the Nodes where the top-down action is processed + /// @statusMap the visitor's flag map + /// @visitorRoot node from where the visitor has been run + void executeVisitorTopDown(simulation::Visitor* action, NodeList& executedNodes, StatusMap& statusMap, Node* visitorRoot ); + void executeVisitorBottomUp(simulation::Visitor* action, NodeList& executedNodes ); + /// @} + + /// @internal tree traversal implementation + void executeVisitorTreeTraversal( Visitor* action, StatusMap& statusMap, Visitor::TreeTraversalRepetition repeat, bool alreadyRepeated=false ); + + /// @name @internal stuff related to getObjects + /// @{ + friend class GetDownObjectsVisitor ; + friend class GetUpObjectsVisitor ; + /// @} }; } diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp index 79579eae660..cfade426869 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Simulation.cpp @@ -23,7 +23,6 @@ #include #include #include -#include #include #include #include diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h index f64eb8e801f..f24d6173b09 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/Visitor.h @@ -190,11 +190,11 @@ class SOFA_SIMULATION_CORE_API Visitor static void printNode(const char* type); static void printCloseNode(const char* type); - static void printVector(core::behavior::BaseMechanicalState *mm, core::ConstVecId id); + static void printVector(sofa::core::behavior::BaseMechanicalState *mm, sofa::core::ConstVecId id); - virtual void printInfo(const core::objectmodel::BaseContext* context, bool dirDown); + virtual void printInfo(const sofa::core::objectmodel::BaseContext* context, bool dirDown); - void setNode(core::objectmodel::Base* c); + void setNode(sofa::core::objectmodel::Base* c); static void EnableExportStateVector(bool activation) {outputStateVector=activation;} static void SetFirstIndexStateVector(unsigned int first) {firstIndexStateVector=first;} @@ -213,7 +213,7 @@ class SOFA_SIMULATION_CORE_API Visitor static ctime_t initDumpTime; static std::vector< ctime_t > initNodeTime; - core::objectmodel::Base* enteringBase; + sofa::core::objectmodel::Base* enteringBase; bool infoPrinted; private: 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 b989ec4c6f9..808e6f67a28 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/config.h.in +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/config.h.in @@ -34,54 +34,6 @@ -#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_RESETSYSTEM() -#else -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_RESETSYSTEM() \ - SOFA_ATTRIBUTE_DISABLED( \ - "v24.06", "v24.12", "Use resetSystem instead") -#endif // SOFA_BUILD_SOFA_SIMULATION_CORE - -#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX() -#else -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMMBKMATRIX() \ - SOFA_ATTRIBUTE_DISABLED( \ - "v24.06", "v24.12", "Use setSystemMBKMatrix instead") -#endif // SOFA_BUILD_SOFA_SIMULATION_CORE - -#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMRHVECTOR() -#else -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMRHVECTOR() \ - SOFA_ATTRIBUTE_DISABLED( \ - "v24.06", "v24.12", "Use setSystemRHVector instead") -#endif // SOFA_BUILD_SOFA_SIMULATION_CORE - -#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMLHVECTOR() -#else -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SETSYSTEMLHVECTOR() \ - SOFA_ATTRIBUTE_DISABLED( \ - "v24.06", "v24.12", "Use setSystemLHVector instead") -#endif // SOFA_BUILD_SOFA_SIMULATION_CORE - -#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SOLVESYSTEM() -#else -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_SOLVESYSTEM() \ - SOFA_ATTRIBUTE_DISABLED( \ - "v24.06", "v24.12", "Use solveSystem instead") -#endif // SOFA_BUILD_SOFA_SIMULATION_CORE - -#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_PRINT() -#else -#define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_PRINT() \ - SOFA_ATTRIBUTE_DISABLED( \ - "v24.06", "v24.12", "Use print instead") -#endif // SOFA_BUILD_SOFA_SIMULATION_CORE - #ifdef SOFA_BUILD_SOFA_SIMULATION_CORE #define SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_ADDMBKDX() #else @@ -105,3 +57,11 @@ SOFA_ATTRIBUTE_DISABLED( \ "v24.12", "v25.06", "Use the other setSystemMBKMatrix overload instead.") #endif // SOFA_BUILD_SOFA_SIMULATION_CORE + +#ifdef SOFA_BUILD_SOFA_SIMULATION_CORE +#define SOFA_ATTRIBUTE_DEPRECATED_ANIMATEVISITOR() +#else +#define SOFA_ATTRIBUTE_DEPRECATED_ANIMATEVISITOR() \ + SOFA_ATTRIBUTE_DEPRECATED( \ + "v25.12", "v26.06", "No longer used since #3959") +#endif // SOFA_BUILD_SOFA_SIMULATION_CORE diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.cpp index e4b183d8da8..d8d3d011871 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.cpp @@ -27,24 +27,20 @@ namespace sofa::simulation::mechanicalvisitor { MechanicalGetConstraintInfoVisitor::MechanicalGetConstraintInfoVisitor(const core::ConstraintParams* params, - VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, - VecConstArea& areas) + VecConstraintBlockInfo& blocks, VecPersistentID& ids) : simulation::BaseMechanicalVisitor(params) , _blocks(blocks) , _ids(ids) - , _positions(positions) - , _directions(directions) - , _areas(areas) , _cparams(params) {} Visitor::Result MechanicalGetConstraintInfoVisitor::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet) { - if (core::behavior::BaseConstraint *c=cSet->toBaseConstraint()) + if (core::behavior::BaseLagrangianConstraint *c=cSet->toBaseLagrangianConstraint()) { const ctime_t t0 = begin(node, c); - c->getConstraintInfo(_cparams, _blocks, _ids, _positions, _directions, _areas); + c->getConstraintInfo(_cparams, _blocks, _ids); end(node, c, t0); } return RESULT_CONTINUE; diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.h index 26b64c84fe5..2e24d86d077 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.h @@ -22,20 +22,17 @@ #pragma once #include -#include +#include namespace sofa::simulation::mechanicalvisitor { class SOFA_SIMULATION_CORE_API MechanicalGetConstraintInfoVisitor : public simulation::BaseMechanicalVisitor { public: - 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::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo; + typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID; - MechanicalGetConstraintInfoVisitor(const core::ConstraintParams* params, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas); + MechanicalGetConstraintInfoVisitor(const core::ConstraintParams* params, VecConstraintBlockInfo& blocks, VecPersistentID& ids); Result fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet) override; @@ -49,9 +46,6 @@ class SOFA_SIMULATION_CORE_API MechanicalGetConstraintInfoVisitor : public simul private: VecConstraintBlockInfo& _blocks; VecPersistentID& _ids; - VecConstCoord& _positions; - VecConstDeriv& _directions; - VecConstArea& _areas; const core::ConstraintParams* _cparams; }; diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintJacobianVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintJacobianVisitor.h index 82e64af15e3..1d2304ea5b7 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintJacobianVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintJacobianVisitor.h @@ -26,7 +26,6 @@ namespace sofa::simulation::mechanicalvisitor { -/** Compute the size of a mechanical matrix (mass or stiffness) of the whole scene */ class SOFA_SIMULATION_CORE_API MechanicalGetConstraintJacobianVisitor : public BaseMechanicalVisitor { public: diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h index 6b173d74223..51c63cd2948 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetNonDiagonalMassesCountVisitor.h @@ -32,9 +32,6 @@ class SOFA_SIMULATION_CORE_API MechanicalGetNonDiagonalMassesCountVisitor : publ public: sofa::Size* const m_nbNonDiagonalMassesPtr { nullptr }; - // SOFA_ATTRIBUTE_DISABLED("v24.06", "v24.12", "given result is not a Real anymore since https://github.com/sofa-framework/sofa/pull/4328") - MechanicalGetNonDiagonalMassesCountVisitor(const sofa::core::MechanicalParams* mparams, SReal* result) = delete; - MechanicalGetNonDiagonalMassesCountVisitor(const sofa::core::MechanicalParams* mparams, sofa::Size* result) : MechanicalVisitor(mparams), m_nbNonDiagonalMassesPtr(result) { diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalVMultiOpVisitor.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalVMultiOpVisitor.cpp index afc2c61e573..f224fdad169 100644 --- a/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalVMultiOpVisitor.cpp +++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalVMultiOpVisitor.cpp @@ -34,6 +34,7 @@ Visitor::Result MechanicalVMultiOpVisitor::fwdMechanicalState(VisitorContext* /* Visitor::Result MechanicalVMultiOpVisitor::fwdMappedMechanicalState(VisitorContext* ctx, core::behavior::BaseMechanicalState* mm) { + SOFA_UNUSED(ctx); if (mapped) { mm->vMultiOp(this->params, ops ); diff --git a/Sofa/framework/Simulation/Graph/Sofa.Simulation.GraphConfig.cmake.in b/Sofa/framework/Simulation/Graph/Sofa.Simulation.GraphConfig.cmake.in index d15f6a5626e..1039e7169de 100644 --- a/Sofa/framework/Simulation/Graph/Sofa.Simulation.GraphConfig.cmake.in +++ b/Sofa/framework/Simulation/Graph/Sofa.Simulation.GraphConfig.cmake.in @@ -3,7 +3,8 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.Simulation.Common QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Common QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp index bed1314039a..4507024ebd5 100644 --- a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp +++ b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.cpp @@ -19,851 +19,13 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include #include -#include -#include +#include -namespace sofa::simulation::graph +namespace sofa::simulation { -/// get all down objects respecting specified class_info and tags -class GetDownObjectsVisitor : public Visitor -{ -public: - - GetDownObjectsVisitor(const sofa::core::objectmodel::ClassInfo& class_info, DAGNode::GetObjectsCallBack& container, const sofa::core::objectmodel::TagSet& tags); - ~GetDownObjectsVisitor() override; - - Result processNodeTopDown(simulation::Node* node) override - { - static_cast(node)->getLocalObjects( _class_info, _container, _tags ); - return RESULT_CONTINUE; - } - - /// Specify whether this action can be parallelized. - bool isThreadSafe() const override { return false; } - - /// Return a category name for this action. - /// Only used for debugging / profiling purposes - const char* getCategoryName() const override { return "GetDownObjectsVisitor"; } - const char* getClassName() const override { return "GetDownObjectsVisitor"; } - -protected: - const sofa::core::objectmodel::ClassInfo& _class_info; - DAGNode::GetObjectsCallBack& _container; - const sofa::core::objectmodel::TagSet& _tags; -}; - -GetDownObjectsVisitor::GetDownObjectsVisitor(const sofa::core::objectmodel::ClassInfo& class_info, - DAGNode::GetObjectsCallBack& container, - const sofa::core::objectmodel::TagSet& tags) - : Visitor( sofa::core::execparams::defaultInstance() ) - , _class_info(class_info) - , _container(container) - , _tags(tags) -{} - -GetDownObjectsVisitor::~GetDownObjectsVisitor(){} - -/// get all up objects respecting specified class_info and tags -class GetUpObjectsVisitor : public Visitor -{ -public: - - GetUpObjectsVisitor(DAGNode* searchNode, const sofa::core::objectmodel::ClassInfo& class_info, DAGNode::GetObjectsCallBack& container, const sofa::core::objectmodel::TagSet& tags); - ~GetUpObjectsVisitor() override; - - Result processNodeTopDown(simulation::Node* node) override - { - const DAGNode* dagnode = dynamic_cast(node); - if( dagnode->_descendancy.contains(_searchNode) ) // searchNode is in the current node descendancy, so the current node is a parent of searchNode - { - dagnode->getLocalObjects( _class_info, _container, _tags ); - return RESULT_CONTINUE; - } - else // the current node is NOT a parent of searchNode, stop here - { - return RESULT_PRUNE; - } - } - - /// Specify whether this action can be parallelized. - bool isThreadSafe() const override { return false; } - - /// Return a category name for this action. - /// Only used for debugging / profiling purposes - const char* getCategoryName() const override { return "GetUpObjectsVisitor"; } - const char* getClassName() const override { return "GetUpObjectsVisitor"; } - - -protected: - - DAGNode* _searchNode; - const sofa::core::objectmodel::ClassInfo& _class_info; - DAGNode::GetObjectsCallBack& _container; - const sofa::core::objectmodel::TagSet& _tags; - -}; - -GetUpObjectsVisitor::GetUpObjectsVisitor(DAGNode* searchNode, - const sofa::core::objectmodel::ClassInfo& class_info, - DAGNode::GetObjectsCallBack& container, - const sofa::core::objectmodel::TagSet& tags) - : Visitor( sofa::core::execparams::defaultInstance() ) - , _searchNode( searchNode ) - , _class_info(class_info) - , _container(container) - , _tags(tags) -{} - -GetUpObjectsVisitor::~GetUpObjectsVisitor(){} - -DAGNode::DAGNode(const std::string& name, DAGNode* parent) - : simulation::Node(name) - , l_parents(initLink("parents", "Parents nodes in the graph")) -{ - if( parent ) - parent->addChild(dynamic_cast(this)); -} - -DAGNode::~DAGNode() -{ - for (ChildIterator it = child.begin(), itend = child.end(); it != itend; ++it) - { - const DAGNode::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(*it); - dagnode->l_parents.remove(this); - } -} - -/// Create, add, then return the new child of this Node -Node::SPtr DAGNode::createChild(const std::string& nodeName) -{ - DAGNode::SPtr newchild; - if (nodeName.empty()) - { - int i = 0; - std::string newName = "unnamed"; - bool uid_found = false; - while (!uid_found) - { - uid_found = true; - for (const auto& c : this->child) - { - if (c->getName() == newName) - { - newName = "unnamed" + std::to_string(++i); - uid_found = true; - } - } - for (const auto& o : this->object) - { - if (o->getName() == newName) - { - newName = "unnamed" + std::to_string(++i); - uid_found = true; - } - } - } - msg_error("Node::createChild()") << "Empty string given to property 'name': Forcefully setting an empty name is forbidden.\n" - "Renaming to " + newName + " to avoid unexpected behaviors."; - newchild = sofa::core::objectmodel::New(newName); - } - else - newchild = sofa::core::objectmodel::New(nodeName); - this->addChild(newchild); newchild->updateSimulationContext(); - return newchild; -} - - -void DAGNode::moveChild(BaseNode::SPtr node) -{ - const DAGNode::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); - for (const auto& parent : dagnode->getParents()) { - Node::moveChild(node, parent); - } -} - - -/// Add a child node -void DAGNode::doAddChild(BaseNode::SPtr node) -{ - const DAGNode::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); - setDirtyDescendancy(); - child.add(dagnode); - dagnode->l_parents.add(this); - dagnode->l_parents.updateLinks(); // to fix load-time unresolved links -} - -/// Remove a child -void DAGNode::doRemoveChild(BaseNode::SPtr node) -{ - const DAGNode::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); - setDirtyDescendancy(); - child.remove(dagnode); - dagnode->l_parents.remove(this); -} - -/// Move a node from another node -void DAGNode::doMoveChild(BaseNode::SPtr node, BaseNode::SPtr previous_parent) -{ - const DAGNode::SPtr dagnode = sofa::core::objectmodel::SPtr_static_cast(node); - if (!dagnode) return; - - setDirtyDescendancy(); - previous_parent->removeChild(node); - - addChild(node); -} - -/// Remove a child -void DAGNode::detachFromGraph() -{ - DAGNode::SPtr me = this; // make sure we don't delete ourself before the end of this method - const LinkParents::Container& parents = l_parents.getValue(); - while(!parents.empty()) - parents.back()->removeChild(this); -} - -/// Generic object access, possibly searching up or down from the current context -/// -/// Note that the template wrapper method should generally be used to have the correct return type, -void* DAGNode::getObject(const sofa::core::objectmodel::ClassInfo& class_info, const sofa::core::objectmodel::TagSet& tags, SearchDirection dir) const -{ - if (dir == SearchRoot) - { - if (getNbParents()) return getRootContext()->getObject(class_info, tags, dir); - else dir = SearchDown; // we are the root, search down from here. - } - void *result = nullptr; - - if (dir != SearchParents) - for (ObjectIterator it = this->object.begin(); it != this->object.end(); ++it) - { - sofa::core::objectmodel::BaseObject* obj = it->get(); - if (tags.empty() || (obj)->getTags().includes(tags)) - { - - result = class_info.dynamicCast(obj); - if (result != nullptr) - { - - break; - } - } - } - - if (result == nullptr) - { - switch(dir) - { - case Local: - break; - case SearchParents: - case SearchUp: - { - const LinkParents::Container& parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; ++i){ - result = parents[i]->getObject(class_info, tags, SearchUp); - if (result != nullptr) break; - } - } - break; - case SearchDown: - for(ChildIterator it = child.begin(); it != child.end(); ++it) - { - result = (*it)->getObject(class_info, tags, dir); - if (result != nullptr) break; - } - break; - case SearchRoot: - dmsg_error("DAGNode") << "SearchRoot SHOULD NOT BE POSSIBLE HERE."; - break; - } - } - - return result; -} - -/// Generic object access, given a path from the current context -/// -/// Note that the template wrapper method should generally be used to have the correct return type, -void* DAGNode::getObject(const sofa::core::objectmodel::ClassInfo& class_info, const std::string& path) const -{ - if (path.empty()) - { - // local object - return Node::getObject(class_info, Local); - } - else if (path[0] == '/') - { - // absolute path; let's start from root - if (!getNbParents()) return getObject(class_info,std::string(path,1)); - else return getRootContext()->getObject(class_info,path); - } - else if (std::string(path,0,2)==std::string("./")) - { - std::string newpath = std::string(path, 2); - while (!newpath.empty() && path[0] == '/') - newpath.erase(0); - return getObject(class_info,newpath); - } - else if (std::string(path,0,3)==std::string("../")) - { - // tricky case: - // let's test EACH parent and return the first object found (if any) - std::string newpath = std::string(path, 3); - while (!newpath.empty() && path[0] == '/') - newpath.erase(0); - if (getNbParents()) - { - const LinkParents::Container& parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; ++i) - { - void* obj = parents[i]->getObject(class_info,newpath); - if (obj) return obj; - } - return nullptr; // not found in any parent node at all - } - else return getObject(class_info,newpath); - } - else - { - std::string::size_type pend = path.find('/'); - if (pend == std::string::npos) pend = path.length(); - const std::string name ( path, 0, pend ); - const Node* child = getChild(name); - if (child) - { - while (pend < path.length() && path[pend] == '/') - ++pend; - return child->getObject(class_info, std::string(path, pend)); - } - else if (pend < path.length()) - { - return nullptr; - } - else - { - sofa::core::objectmodel::BaseObject* obj = simulation::Node::getObject(name); - if (obj == nullptr) - { - return nullptr; - } - else - { - void* result = class_info.dynamicCast(obj); - if (result == nullptr) - { - dmsg_error("DAGNode") << "Object "<getObjects( class_info, container, tags, dir ); - return; - } - else dir = SearchDown; // we are the root, search down from here. - } - - - switch( dir ) - { - case Local: - this->getLocalObjects( class_info, container, tags ); - break; - - case SearchUp: - this->getLocalObjects( class_info, container, tags ); // add locals then SearchParents - // no break here, we want to execute the SearchParents code. - [[fallthrough]]; - case SearchParents: - { - // a visitor executed from top but only run for this' parents will enforce the selected object unicity due even with diamond graph setups - GetUpObjectsVisitor vis( const_cast(this), class_info, container, tags); - getRootContext()->executeVisitor(&vis); - } - break; - - case SearchDown: - { - // a regular visitor is enforcing the selected object unicity - GetDownObjectsVisitor vis(class_info, container, tags); - (const_cast(this))->executeVisitor(&vis); - break; - } - default: - break; - } -} - -/// Get a list of parent node -sofa::core::objectmodel::BaseNode::Parents DAGNode::getParents() const -{ - Parents p; +//helper::Creator NodeDefaultClass("default"); +static helper::Creator NodeClass("Node"); - const LinkParents::Container& parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; ++i) - p.push_back(parents[i]); - - return p; -} - - -/// returns number of parents -size_t DAGNode::getNbParents() const -{ - return l_parents.getValue().size(); -} - -/// return the first parent (returns nullptr if no parent) -sofa::core::objectmodel::BaseNode* DAGNode::getFirstParent() const -{ - const LinkParents::Container& parents = l_parents.getValue(); - if( parents.empty() ) return nullptr; - else return l_parents.getValue()[0]; -} - - -/// Test if the given node is a parent of this node. -bool DAGNode::hasParent(const BaseNode* node) const -{ - const LinkParents::Container& parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; ++i) - { - if (parents[i]==node) return true; - } - return false; } - -/// Test if the given context is a parent of this context. -bool DAGNode::hasParent(const BaseContext* context) const -{ - if (context == nullptr) return !getNbParents(); - - const LinkParents::Container& parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; ++i) - if (context == parents[i]->getContext()) return true; - return false; - -} - - - -/// Test if the given context is an ancestor of this context. -/// An ancestor is a parent or (recursively) the parent of an ancestor. -bool DAGNode::hasAncestor(const BaseContext* context) const -{ - const LinkParents::Container& parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; ++i) - if (context == parents[i]->getContext() - || parents[i]->hasAncestor(context)) - return true; - return false; -} - - -/// Mesh Topology that is relevant for this context -/// (within it or its parents until a mapping is reached that does not preserve topologies). -sofa::core::topology::BaseMeshTopology* DAGNode::getMeshTopologyLink(SearchDirection dir) const -{ - if (this->meshTopology) - return this->meshTopology; - - if (dir != Local) - return Node::getMeshTopologyLink(dir); - - //local case similar to getActiveMeshTopology ... - - // Check if a local mapping stops the search - if (this->mechanicalMapping && !this->mechanicalMapping->sameTopology()) - { - return nullptr; - } - for ( Sequence::iterator i=this->mapping.begin(), iend=this->mapping.end(); i!=iend; ++i ) - { - if (!(*i)->sameTopology()) - { - return nullptr; - } - } - // No mapping with a different topology, continue on to the parents - const LinkParents::Container &parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; i++ ) - { - // if the visitor is run from a sub-graph containing a multinode linked with a node outside of the subgraph, do not consider the outside node by looking on the sub-graph descendancy - if ( parents[i] ) - { - sofa::core::topology::BaseMeshTopology* res = parents[i]->getMeshTopologyLink(Local); - if (res) - return res; - } - } - return nullptr; // not found in any parents -} - - -void DAGNode::precomputeTraversalOrder( const sofa::core::ExecParams* params ) -{ - // accumulating traversed Nodes - class TraversalOrderVisitor : public Visitor - { - NodeList& _orderList; - public: - TraversalOrderVisitor(const sofa::core::ExecParams* params, NodeList& orderList ) - : Visitor(params) - , _orderList( orderList ) - { - _orderList.clear(); - } - - Result processNodeTopDown(Node* node) override - { - _orderList.push_back( static_cast(node) ); - return RESULT_CONTINUE; - } - - const char* getClassName() const override {return "TraversalOrderVisitor";} - }; - - TraversalOrderVisitor tov( params, _precomputedTraversalOrder ); - executeVisitor( &tov, false ); -} - - - -/// Execute a recursive action starting from this node -void DAGNode::doExecuteVisitor(simulation::Visitor* action, bool precomputedOrder) -{ - if( precomputedOrder && !_precomputedTraversalOrder.empty() ) - { - for( NodeList::iterator it = _precomputedTraversalOrder.begin(), itend = _precomputedTraversalOrder.end() ; it != itend ; ++it ) - { - if ( action->canAccessSleepingNode || !(*it)->getContext()->isSleeping() ) - action->processNodeTopDown( *it ); - } - - for( NodeList::reverse_iterator it = _precomputedTraversalOrder.rbegin(), itend = _precomputedTraversalOrder.rend() ; it != itend ; ++it ) - { - if ( action->canAccessSleepingNode || !(*it)->getContext()->isSleeping() ) - action->processNodeBottomUp( *it ); - } - } - else - { - // WARNING: do not store the traversal infos in the DAGNode, as several visitors could traversed the graph simultaneously - // These infos are stored in a StatusMap per visitor. - updateDescendancy(); - - Visitor::TreeTraversalRepetition repeat; - if( action->treeTraversal(repeat) ) - { - // Tree traversal order - // - // Diamond shapes are ignored, a child node is visited as soon as a parent node has been visited. - // The multi-nodes (with several parents) are visited either: only once, only twice or for every times - // depending on the visitor's 'repeat' - // - // Some particular visitors such as a flat graph display or VisualVisitors must follow such a traversal order. - - StatusMap statusMap; - executeVisitorTreeTraversal( action, statusMap, repeat ); - } - else - { - // Direct acyclic graph traversal order - // - // This is the default order, used for mechanics. - // - // A child node is visited only when all its parents have been visited. - // A child node is 'pruned' only if all its parents are 'pruned'. - // Every executed node in the forward traversal are stored in 'executedNodes', - // its reverse order is used for the backward traversal. - - // Note that a newly 'pruned' node is still traversed (w/o execution) to be sure to execute its child nodes, - // that can have ancestors in another branch that is not pruned... - // An already pruned node is ignored. - - NodeList executedNodes; - { - StatusMap statusMap; - executeVisitorTopDown( action, executedNodes, statusMap, this ); - } - executeVisitorBottomUp( action, executedNodes ); - } - } -} - - -void DAGNode::executeVisitorTopDown(simulation::Visitor* action, NodeList& executedNodes, StatusMap& statusMap, DAGNode* visitorRoot ) -{ - if ( statusMap[this] != NOT_VISITED ) - { - return; // skipped (already visited) - } - - if( !this->isActive() ) - { - // do not execute the visitor on this node - statusMap[this] = PRUNED; - - // in that case we can considerer if some child are activated, the graph is not valid, so no need to continue the recursion - return; - } - - if( this->isSleeping() && !action->canAccessSleepingNode ) - { - // do not execute the visitor on this node - statusMap[this] = PRUNED; - - return; - } - - // pour chaque noeud "prune" on continue à parcourir quand même juste pour marquer le noeud comme parcouru - - // check du "visitedStatus" des parents: - // un enfant n'est pruné que si tous ses parents le sont - // on ne passe à un enfant que si tous ses parents ont été visités - bool allParentsPruned = true; - bool hasParent = false; - - if( visitorRoot != this ) - { - // the graph structure is generally modified during an action anterior to the traversal but can possibly be modified during the current traversal - visitorRoot->updateDescendancy(); - - const LinkParents::Container &parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; i++ ) - { - // if the visitor is run from a sub-graph containing a multinode linked with a node outside of the subgraph, do not consider the outside node by looking on the sub-graph descendancy - if ( visitorRoot->_descendancy.contains(parents[i]) || parents[i]==visitorRoot ) - { - // all parents must have been visited before - if ( statusMap[parents[i]] == NOT_VISITED ) - return; // skipped for now... the other parent should come later - - allParentsPruned = allParentsPruned && ( statusMap[parents[i]] == PRUNED ); - hasParent = true; - } - } - } - - // all parents have been visited, let's go with the visitor - if ( allParentsPruned && hasParent ) - { - // do not execute the visitor on this node - statusMap[this] = PRUNED; - - // ... but continue the recursion anyway! - if( action->childOrderReversed(this) ) - for(unsigned int i = unsigned(child.size()); i>0;) - static_cast(child[--i].get())->executeVisitorTopDown(action,executedNodes,statusMap,visitorRoot); - else - for(unsigned int i = 0; i(child[i].get())->executeVisitorTopDown(action,executedNodes,statusMap,visitorRoot); - } - else - { - // execute the visitor on this node - const Visitor::Result result = action->processNodeTopDown(this); - - // update status - statusMap[this] = ( result == simulation::Visitor::RESULT_PRUNE ? PRUNED : VISITED ); - - executedNodes.push_back(this); - - // ... and continue the recursion - if( action->childOrderReversed(this) ) - for(unsigned int i = unsigned(child.size()); i>0;) - static_cast(child[--i].get())->executeVisitorTopDown(action,executedNodes,statusMap,visitorRoot); - else - for(unsigned int i = 0; i(child[i].get())->executeVisitorTopDown(action,executedNodes,statusMap,visitorRoot); - - } -} - - -// warning nodes that are dynamically created during the traversal, but that have not been traversed during the top-down, won't be traversed during the bottom-up -// TODO is it what we want? -// otherwise it is possible to restart from top, go to leaves and running bottom-up action while going up -void DAGNode::executeVisitorBottomUp( simulation::Visitor* action, NodeList& executedNodes ) -{ - for( NodeList::reverse_iterator it = executedNodes.rbegin(), itend = executedNodes.rend() ; it != itend ; ++it ) - { - (*it)->updateDescendancy(); - action->processNodeBottomUp( *it ); - } -} - - -void DAGNode::setDirtyDescendancy() -{ - _descendancy.clear(); - const LinkParents::Container &parents = l_parents.getValue(); - for ( unsigned int i = 0; i < parents.size() ; i++ ) - { - parents[i]->setDirtyDescendancy(); - } -} - -void DAGNode::updateDescendancy() -{ - if( _descendancy.empty() && !child.empty() ) - { - for(unsigned int i = 0; i(child[i].get()); - dagnode->updateDescendancy(); - _descendancy.insert( dagnode->_descendancy.begin(), dagnode->_descendancy.end() ); - _descendancy.insert( dagnode ); - } - } -} - - - -void DAGNode::executeVisitorTreeTraversal( simulation::Visitor* action, StatusMap& statusMap, Visitor::TreeTraversalRepetition repeat, bool alreadyRepeated ) -{ - if( !this->isActive() ) - { - // do not execute the visitor on this node - statusMap[this] = PRUNED; - return; - } - - if( this->isSleeping() && !action->canAccessSleepingNode ) - { - // do not execute the visitor on this node - statusMap[this] = PRUNED; - return; - } - - // node already visited and repetition must be avoid - if( statusMap[this] != NOT_VISITED ) - { - if( repeat==Visitor::NO_REPETITION || ( alreadyRepeated && repeat==Visitor::REPEAT_ONCE ) ) return; - else alreadyRepeated = true; - } - - if( action->processNodeTopDown(this) != simulation::Visitor::RESULT_PRUNE ) - { - statusMap[this] = VISITED; - if( action->childOrderReversed(this) ) - for(unsigned int i = unsigned(child.size()); i>0;) - static_cast(child[--i].get())->executeVisitorTreeTraversal(action,statusMap,repeat,alreadyRepeated); - else - for(unsigned int i = 0; i(child[i].get())->executeVisitorTreeTraversal(action,statusMap,repeat,alreadyRepeated); - } - else - { - statusMap[this] = PRUNED; - } - - action->processNodeBottomUp(this); -} - - -void DAGNode::initVisualContext() -{ - if (getNbParents()) - { - this->setDisplayWorldGravity(false); //only display gravity for the root: it will be propagated at each time step - } -} - -void DAGNode::updateContext() -{ - sofa::core::objectmodel::BaseNode* firstParent = getFirstParent(); - - if ( firstParent ) - { - if( debug_ ) - { - msg_info()<<"DAGNode::updateContext, node = "< DAGNodeClass("DAGNode"); - -} // namespace sofa::simulation::graph diff --git a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h index d258e206705..8199663db4c 100644 --- a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h +++ b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGNode.h @@ -22,203 +22,11 @@ #pragma once #include #include -#include -#include -namespace sofa::simulation::graph -{ +//header moved in the plugin SofaValidation +SOFA_HEADER_DEPRECATED("v25.12", "v26.06", "'sofa/simulation/Node.h' instead of 'sofa/simulation/graph/DAGNode.h' and replace uses of DAGNode with Node") -/** Define the structure of the scene as a Directed Acyclic Graph. Contains component objects (as pointer lists) and parents/childs (as DAGNode objects). - * - * The visitor traversal is performed in two passes: - * - a complete top-down traversal - * - then a complete bottom-up traversal in the exact invert order than the top-down traversal - * NB: contrary to the "tree" traversal, there are no interlinked forward/backward callbacks. There are only forward then only backward callbacks. - * - * Note that nodes created during a traversal are not traversed if they are created upper than the current node during the top-down traversal or if they are created during the bottom-up traversal. - */ -class SOFA_SIMULATION_GRAPH_API DAGNode : public simulation::Node +namespace sofa::simulation::graph { -public: - typedef Node::DisplayFlags DisplayFlags; - SOFA_CLASS(DAGNode, simulation::Node); - - typedef MultiLink LinkParents; - typedef LinkParents::const_iterator ParentIterator; - - -protected: - DAGNode( const std::string& name="", DAGNode* parent=nullptr ); - - virtual ~DAGNode() override; - -public: - static const std::string GetCustomClassName(){ return "Node"; } - - /// Pure Virtual method from Node - virtual Node::SPtr createChild(const std::string& nodeName) override; - - /// Remove the current node from the graph: consists in removing the link to its parent - void detachFromGraph() override; - - /// Get a list of parent node - Parents getParents() const override; - - /// returns number of parents - size_t getNbParents() const override; - - /// return the first parent (returns nullptr if no parent) - BaseNode* getFirstParent() const override; - - /// Test if the given node is a parent of this node. - bool hasParent(const BaseNode* node) const override; - - /// Test if the given context is a parent of this context. - bool hasParent(const BaseContext* context) const; - - /// Test if the given context is an ancestor of this context. - /// An ancestor is a parent or (recursively) the parent of an ancestor. - bool hasAncestor(const BaseNode* node) const override - { - return hasAncestor(node->getContext()); - } - - /// Test if the given context is an ancestor of this context. - /// An ancestor is a parent or (recursively) the parent of an ancestor. - bool hasAncestor(const BaseContext* context) const override; - - - /// Generic object access, given a set of required tags, possibly searching up or down from the current context - /// - /// Note that the template wrapper method should generally be used to have the correct return type, - void* getObject(const sofa::core::objectmodel::ClassInfo& class_info, const sofa::core::objectmodel::TagSet& tags, SearchDirection dir = SearchUp) const override; - - /// Generic object access, given a path from the current context - /// - /// Note that the template wrapper method should generally be used to have the correct return type, - void* getObject(const sofa::core::objectmodel::ClassInfo& class_info, const std::string& path) const override; - - /// Generic list of objects access, given a set of required tags, possibly searching up or down from the current context - /// - /// Note that the template wrapper method should generally be used to have the correct return type, - void getObjects(const sofa::core::objectmodel::ClassInfo& class_info, GetObjectsCallBack& container, const sofa::core::objectmodel::TagSet& tags, SearchDirection dir = SearchUp) const override; - - - /// Mesh Topology that is relevant for this context - /// (within it or its parents until a mapping is reached that does not preserve topologies). - sofa::core::topology::BaseMeshTopology* getMeshTopologyLink(SearchDirection dir = SearchUp) const override; - - - /// Called during initialization to correctly propagate the visual context to the children - void initVisualContext() override; - - /// Update the whole context values, based on parent and local ContextObjects - void updateContext() override; - - /// Update the simulation context values(gravity, time...), based on parent and local ContextObjects - void updateSimulationContext() override; - - static DAGNode::SPtr create(DAGNode*, sofa::core::objectmodel::BaseObjectDescription* arg) - { - DAGNode::SPtr obj = DAGNode::SPtr(new DAGNode()); - obj->parse(arg); - return obj; - } - - - /// return the smallest common parent between this and node2 (returns nullptr if separated sub-graphes) - /// it assumes that the DAG node is a tree node. In case of multiple parents it returns any of the parents. - /// it uses the node descendancy information. - Node* findCommonParent( Node* node2 ) override; - - /// compute the traversal order from this Node - void precomputeTraversalOrder( const sofa::core::ExecParams* params ) override; - - virtual void moveChild(BaseNode::SPtr node) override; - -protected: - - /// bottom-up traversal, returning the first node which have a descendancy containing both node1 & node2 - DAGNode* findCommonParent( DAGNode* node1, DAGNode* node2 ); - - - LinkParents l_parents; - - - virtual void doAddChild(BaseNode::SPtr node) override; - virtual void doRemoveChild(BaseNode::SPtr node) override; - virtual void doMoveChild(BaseNode::SPtr node, BaseNode::SPtr previous_parent) override; - - - /// Execute a recursive action starting from this node. - void doExecuteVisitor(simulation::Visitor* action, bool precomputedOrder=false) override; - - - /// @name @internal stuff related to the DAG traversal - /// @{ - - - /// all child nodes (unordered) - std::set _descendancy; - - /// bottom-up traversal removing descendancy - void setDirtyDescendancy(); - - /// traversal updating the descendancy - void updateDescendancy(); - - /// traversal flags - typedef enum - { - NOT_VISITED=0, - VISITED, - PRUNED - } VisitedStatus; - - - - /// wrapper to use VisitedStatus in a std::map (to ensure the default map insertion will give NOT_VISITED) - struct StatusStruct - { - StatusStruct() : status(NOT_VISITED) {} - StatusStruct( const VisitedStatus& s ) : status(s) {} - inline void operator=( const VisitedStatus& s ) { status=s; } - inline bool operator==( const VisitedStatus& s ) const { return status==s; } - inline bool operator==( const StatusStruct& s ) const { return status==s.status; } - inline bool operator!=( const VisitedStatus& s ) const { return status!=s; } - inline bool operator!=( const StatusStruct& s ) const { return status!=s.status; } - VisitedStatus status; - }; - - /// map structure to store a traversal flag for each DAGNode - typedef std::map StatusMap; - - /// list of DAGNode* - typedef std::list NodeList; - - /// the ordered list of Node to traverse from this Node - NodeList _precomputedTraversalOrder; - - /// @internal performing only the top-down traversal on a DAG - /// @executedNodes will be fill with the DAGNodes where the top-down action is processed - /// @statusMap the visitor's flag map - /// @visitorRoot node from where the visitor has been run - void executeVisitorTopDown(simulation::Visitor* action, NodeList& executedNodes, StatusMap& statusMap, DAGNode* visitorRoot ); - void executeVisitorBottomUp(simulation::Visitor* action, NodeList& executedNodes ); - /// @} - - /// @internal tree traversal implementation - void executeVisitorTreeTraversal( Visitor* action, StatusMap& statusMap, Visitor::TreeTraversalRepetition repeat, bool alreadyRepeated=false ); - - /// @name @internal stuff related to getObjects - /// @{ - - /// get node's local objects respecting specified class_info and tags - void getLocalObjects( const sofa::core::objectmodel::ClassInfo& class_info, DAGNode::GetObjectsCallBack& container, const sofa::core::objectmodel::TagSet& tags ) const ; - - friend class GetDownObjectsVisitor ; - friend class GetUpObjectsVisitor ; - /// @} -}; - + using DAGNode = sofa::simulation::Node; } // namespace sofa::simulation::graph diff --git a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGSimulation.cpp b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGSimulation.cpp index 7a351f1075a..baa0bbf1a22 100644 --- a/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGSimulation.cpp +++ b/Sofa/framework/Simulation/Graph/src/sofa/simulation/graph/DAGSimulation.cpp @@ -54,7 +54,7 @@ Node::SPtr DAGSimulation::createNewGraph(const std::string& name) Node::SPtr DAGSimulation::createNewNode(const std::string& name) { - return sofa::core::objectmodel::New(name); + return sofa::core::objectmodel::New(name); } } // namespace sofa::simulation::graph diff --git a/Sofa/framework/Simulation/Graph/test/CMakeLists.txt b/Sofa/framework/Simulation/Graph/test/CMakeLists.txt index de06e21da16..7c8fcc01857 100644 --- a/Sofa/framework/Simulation/Graph/test/CMakeLists.txt +++ b/Sofa/framework/Simulation/Graph/test/CMakeLists.txt @@ -7,7 +7,7 @@ set(HEADER_FILES set(SOURCE_FILES DAG_test.cpp - DAGNode_test.cpp + Node_test.cpp MutationListener_test.cpp Node_test.cpp Simulation_test.cpp diff --git a/Sofa/framework/Simulation/Graph/test/DAGNode_test.cpp b/Sofa/framework/Simulation/Graph/test/DAGNode_test.cpp index 3c629dc074b..3fd22f68dff 100644 --- a/Sofa/framework/Simulation/Graph/test/DAGNode_test.cpp +++ b/Sofa/framework/Simulation/Graph/test/DAGNode_test.cpp @@ -22,24 +22,24 @@ #include using sofa::testing::BaseTest; -#include +#include using namespace sofa; using namespace simulation::graph; -struct DAGNode_test : public BaseTest +struct Node_test : public BaseTest { - DAGNode_test() {} + Node_test() {} void test_findCommonParent() { - const DAGNode::SPtr root = core::objectmodel::New("root"); - const DAGNode::SPtr node1 = core::objectmodel::New("node1"); - const DAGNode::SPtr node2 = core::objectmodel::New("node2"); - const DAGNode::SPtr node3 = core::objectmodel::New("node3"); - const DAGNode::SPtr node11 = core::objectmodel::New("node11"); - const DAGNode::SPtr node12 = core::objectmodel::New("node12"); - const DAGNode::SPtr node31 = core::objectmodel::New("node31"); + const Node::SPtr root = core::objectmodel::New("root"); + const Node::SPtr node1 = core::objectmodel::New("node1"); + const Node::SPtr node2 = core::objectmodel::New("node2"); + const Node::SPtr node3 = core::objectmodel::New("node3"); + const Node::SPtr node11 = core::objectmodel::New("node11"); + const Node::SPtr node12 = core::objectmodel::New("node12"); + const Node::SPtr node31 = core::objectmodel::New("node31"); root->addChild(node1); root->addChild(node2); @@ -62,12 +62,12 @@ struct DAGNode_test : public BaseTest void test_findCommonParent_MultipleParents() { - const DAGNode::SPtr root = core::objectmodel::New("root"); - const DAGNode::SPtr node1 = core::objectmodel::New("node1"); - const DAGNode::SPtr node2 = core::objectmodel::New("node2"); - const DAGNode::SPtr node11 = core::objectmodel::New("node11"); - const DAGNode::SPtr node22 = core::objectmodel::New("node22"); - const DAGNode::SPtr node23 = core::objectmodel::New("node23"); + const Node::SPtr root = core::objectmodel::New("root"); + const Node::SPtr node1 = core::objectmodel::New("node1"); + const Node::SPtr node2 = core::objectmodel::New("node2"); + const Node::SPtr node11 = core::objectmodel::New("node11"); + const Node::SPtr node22 = core::objectmodel::New("node22"); + const Node::SPtr node23 = core::objectmodel::New("node23"); root->addChild(node1); root->addChild(node2); @@ -93,5 +93,5 @@ struct DAGNode_test : public BaseTest } }; -TEST_F(DAGNode_test, test_findCommonParent) { test_findCommonParent(); } -TEST_F(DAGNode_test, test_findCommonParent_MultipleParents) { test_findCommonParent_MultipleParents(); } +TEST_F(Node_test, test_findCommonParent) { test_findCommonParent(); } +TEST_F(Node_test, test_findCommonParent_MultipleParents) { test_findCommonParent_MultipleParents(); } diff --git a/Sofa/framework/Simulation/Graph/test/DAG_test.cpp b/Sofa/framework/Simulation/Graph/test/DAG_test.cpp index 3cf4a4ea1a5..5984c42a507 100644 --- a/Sofa/framework/Simulation/Graph/test/DAG_test.cpp +++ b/Sofa/framework/Simulation/Graph/test/DAG_test.cpp @@ -377,29 +377,29 @@ TEST_F( DAG_test, traverse ) traverse_morecomplex2(); } -TEST(DAGNodeTest, objectDestruction_singleObject) +TEST(NodeTest, objectDestruction_singleObject) { EXPECT_MSG_NOEMIT(Error) ; - Node_test_objectDestruction_singleObject(); + Node_test_objectDestruction_singleObject(); } -TEST(DAGNodeTest, objectDestruction_multipleObjects) +TEST(NodeTest, objectDestruction_multipleObjects) { EXPECT_MSG_NOEMIT(Error) ; - Node_test_objectDestruction_multipleObjects(); + Node_test_objectDestruction_multipleObjects(); } -TEST(DAGNodeTest, objectDestruction_childNode_singleObject) +TEST(NodeTest, objectDestruction_childNode_singleObject) { EXPECT_MSG_NOEMIT(Error) ; - Node_test_objectDestruction_childNode_singleObject(); + Node_test_objectDestruction_childNode_singleObject(); } -TEST(DAGNodeTest, objectDestruction_childNode_complexChild) +TEST(NodeTest, objectDestruction_childNode_complexChild) { EXPECT_MSG_NOEMIT(Error) ; - Node_test_objectDestruction_childNode_complexChild(); + Node_test_objectDestruction_childNode_complexChild(); } diff --git a/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp b/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp index c2d20e7bc9c..bca065e28a5 100644 --- a/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp +++ b/Sofa/framework/Simulation/Graph/test/MutationListener_test.cpp @@ -23,15 +23,13 @@ using sofa::testing::BaseTest; #include -#include +#include #include #include using sofa::simulation::MutationListener; using sofa::core::objectmodel::BaseObject; using sofa::simulation::Simulation; using sofa::simulation::Node; -using sofa::simulation::graph::DAGNode; - class TestMutationListener : public MutationListener { @@ -291,8 +289,8 @@ struct MutationListener_test : public BaseTest void test_addChildWithDescendency() { - const DAGNode::SPtr node1 = sofa::core::objectmodel::New("node1"); - const DAGNode::SPtr node2 = sofa::core::objectmodel::New("node2"); + const Node::SPtr node1 = sofa::core::objectmodel::New("node1"); + const Node::SPtr node2 = sofa::core::objectmodel::New("node2"); node1->addChild(node2); sofa::core::objectmodel::BaseObjectDescription bod1("obj1", "BaseObject"); obj1 = sofa::core::objectmodel::New(); @@ -313,8 +311,8 @@ struct MutationListener_test : public BaseTest void test_removeChildWithDescendency() { - const DAGNode::SPtr node1 = sofa::core::objectmodel::New("node1"); - const DAGNode::SPtr node2 = sofa::core::objectmodel::New("node2"); + const Node::SPtr node1 = sofa::core::objectmodel::New("node1"); + const Node::SPtr node2 = sofa::core::objectmodel::New("node2"); node1->addChild(node2); sofa::core::objectmodel::BaseObjectDescription bod1("obj1", "BaseObject"); obj1 = sofa::core::objectmodel::New(); @@ -336,8 +334,8 @@ struct MutationListener_test : public BaseTest void test_moveChildWithDescendency() { - const DAGNode::SPtr node1 = sofa::core::objectmodel::New("node1"); - const DAGNode::SPtr node2 = sofa::core::objectmodel::New("node2"); + const Node::SPtr node1 = sofa::core::objectmodel::New("node1"); + const Node::SPtr node2 = sofa::core::objectmodel::New("node2"); node1->addChild(node2); sofa::core::objectmodel::BaseObjectDescription bod1("obj1", "BaseObject"); obj1 = sofa::core::objectmodel::New(); @@ -362,14 +360,14 @@ struct MutationListener_test : public BaseTest void test_moveChildWithDescendencyAndMultipleParents() { - const DAGNode::SPtr node1 = sofa::core::objectmodel::New("node1"); - const DAGNode::SPtr node2 = sofa::core::objectmodel::New("node2"); - const DAGNode::SPtr node3 = sofa::core::objectmodel::New("node3"); - const DAGNode::SPtr node4 = sofa::core::objectmodel::New("node4"); - const DAGNode::SPtr node5 = sofa::core::objectmodel::New("node5"); - const DAGNode::SPtr node6 = sofa::core::objectmodel::New("node6"); - const DAGNode::SPtr node7 = sofa::core::objectmodel::New("node7"); - const DAGNode::SPtr node8 = sofa::core::objectmodel::New("node8"); + const Node::SPtr node1 = sofa::core::objectmodel::New("node1"); + const Node::SPtr node2 = sofa::core::objectmodel::New("node2"); + const Node::SPtr node3 = sofa::core::objectmodel::New("node3"); + const Node::SPtr node4 = sofa::core::objectmodel::New("node4"); + const Node::SPtr node5 = sofa::core::objectmodel::New("node5"); + const Node::SPtr node6 = sofa::core::objectmodel::New("node6"); + const Node::SPtr node7 = sofa::core::objectmodel::New("node7"); + const Node::SPtr node8 = sofa::core::objectmodel::New("node8"); sofa::core::objectmodel::BaseObjectDescription bod1("obj1", "BaseObject"); obj1 = sofa::core::objectmodel::New(); diff --git a/Sofa/framework/Simulation/Sofa.SimulationConfig.cmake.in b/Sofa/framework/Simulation/Sofa.SimulationConfig.cmake.in index 0f59dbd6c2c..17c10099989 100644 --- a/Sofa/framework/Simulation/Sofa.SimulationConfig.cmake.in +++ b/Sofa/framework/Simulation/Sofa.SimulationConfig.cmake.in @@ -5,8 +5,10 @@ set(SOFASIMULATION_TARGETS @SOFASIMULATION_TARGETS@) +find_package(Sofa.Config QUIET REQUIRED) + foreach(target ${SOFASIMULATION_TARGETS}) - find_package(${target} QUIET REQUIRED) + sofa_find_package(${target} QUIET REQUIRED) endforeach() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/framework/Testing/CMakeLists.txt b/Sofa/framework/Testing/CMakeLists.txt index 22b0a88b2ea..6f04aa642da 100644 --- a/Sofa/framework/Testing/CMakeLists.txt +++ b/Sofa/framework/Testing/CMakeLists.txt @@ -10,44 +10,37 @@ find_package(GTest QUIET) if(NOT GTest_FOUND AND SOFA_ALLOW_FETCH_DEPENDENCIES) message("${PROJECT_NAME}: DEPENDENCY googletest NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching googletest...") - include(FetchContent) - FetchContent_Declare(googletest + set(BUILD_GMOCK OFF CACHE INTERNAL "") + set(BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE) + set(INSTALL_GTEST OFF CACHE BOOL "" FORCE) # rely on SOFA macros + set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) + set(gtest_disable_pthreads OFF CACHE BOOL "" FORCE) + + message("${PROJECT_NAME}: adding subdirectory ${googletest_SOURCE_DIR}") + + sofa_fetch_dependency(googletest GIT_REPOSITORY https://github.com/google/googletest GIT_TAG v1.14.0 ) - FetchContent_GetProperties(googletest) - if(NOT googletest_POPULATED) - FetchContent_Populate(googletest) - - set(BUILD_GMOCK OFF CACHE INTERNAL "") - set(BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE) - set(INSTALL_GTEST OFF CACHE BOOL "" FORCE) # rely on SOFA macros - set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) - set(gtest_disable_pthreads OFF CACHE BOOL "" FORCE) - - message("${PROJECT_NAME}: adding subdirectory ${googletest_SOURCE_DIR}") - - add_subdirectory(${googletest_SOURCE_DIR} ${googletest_BINARY_DIR}) - - target_compile_options(gtest_main PRIVATE "-DGTEST_LINKED_AS_SHARED_LIBRARY=0") - target_compile_options(gtest PRIVATE "-DGTEST_CREATE_SHARED_LIBRARY=1") - - install(DIRECTORY ${googletest_SOURCE_DIR}/googletest/include/gtest DESTINATION include/extlibs/GTest/ COMPONENT headers) - target_include_directories(gtest PUBLIC "$") - - include(SofaMacros) - sofa_create_package_with_targets( - PACKAGE_NAME GTest - PACKAGE_VERSION 1.14.0 - TARGETS gtest AUTO_SET_TARGET_PROPERTIES - INCLUDE_SOURCE_DIR "include" - INCLUDE_INSTALL_DIR "extlibs/GTest" - ) - - set_target_properties(gtest PROPERTIES FOLDER Testing) - set_target_properties(gtest_main PROPERTIES FOLDER Testing) - endif() + target_compile_options(gtest_main PRIVATE "-DGTEST_LINKED_AS_SHARED_LIBRARY=0") + target_compile_options(gtest PRIVATE "-DGTEST_CREATE_SHARED_LIBRARY=1") + + install(DIRECTORY ${googletest_SOURCE_DIR}/googletest/include/gtest DESTINATION include/extlibs/GTest/ COMPONENT headers) + target_include_directories(gtest PUBLIC "$") + + include(SofaMacros) + sofa_create_package_with_targets( + PACKAGE_NAME GTest + PACKAGE_VERSION 1.14.0 + TARGETS gtest AUTO_SET_TARGET_PROPERTIES + INCLUDE_SOURCE_DIR "include" + INCLUDE_INSTALL_DIR "extlibs/GTest" + ) + + set_target_properties(gtest PROPERTIES FOLDER Testing) + set_target_properties(gtest_main PROPERTIES FOLDER Testing) + elseif (NOT GTest_FOUND) message(FATAL_ERROR "${PROJECT_NAME}: DEPENDENCY googletest NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install googletest, or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.") endif() diff --git a/Sofa/framework/Testing/Sofa.TestingConfig.cmake.in b/Sofa/framework/Testing/Sofa.TestingConfig.cmake.in index 112d1e7c6a4..41424fbc45e 100644 --- a/Sofa/framework/Testing/Sofa.TestingConfig.cmake.in +++ b/Sofa/framework/Testing/Sofa.TestingConfig.cmake.in @@ -3,14 +3,15 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Threads QUIET REQUIRED) -find_package(GTest QUIET REQUIRED) -find_package(SofaGTestMain QUIET REQUIRED) -find_package(Sofa.Helper QUIET REQUIRED) -find_package(Sofa.DefaultType QUIET REQUIRED) -find_package(Sofa.Core QUIET REQUIRED) -find_package(Sofa.Simulation.Graph QUIET REQUIRED) -find_package(Sofa.SimpleApi QUIET REQUIRED) +find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Threads QUIET REQUIRED) +sofa_find_package(GTest QUIET REQUIRED) +sofa_find_package(SofaGTestMain QUIET REQUIRED) +sofa_find_package(Sofa.Helper QUIET REQUIRED) +sofa_find_package(Sofa.DefaultType QUIET REQUIRED) +sofa_find_package(Sofa.Core QUIET REQUIRED) +sofa_find_package(Sofa.Simulation.Graph QUIET REQUIRED) +sofa_find_package(Sofa.SimpleApi QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseSimulationTest.h b/Sofa/framework/Testing/src/sofa/testing/BaseSimulationTest.h index fcc8ea977f8..6f3bfe017cf 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseSimulationTest.h +++ b/Sofa/framework/Testing/src/sofa/testing/BaseSimulationTest.h @@ -37,9 +37,6 @@ class SOFA_TESTING_API BaseSimulationTest : public virtual BaseTest public: BaseSimulationTest() ; - SOFA_ATTRIBUTE_DISABLED__TESTING_IMPORT_PLUGIN() - bool importPlugin(const std::string& name) = delete; - class SOFA_TESTING_API SceneInstance { public: diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp b/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp index c8e91e3cc43..9fed6bcfb45 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp +++ b/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp @@ -110,15 +110,4 @@ void BaseTest::TearDown() doTearDown(); } -void BaseTest::doSetUp() -{ - onSetUp(); -} - -void BaseTest::doTearDown() -{ - onTearDown(); -} - - } // namespace sofa::testing diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseTest.h b/Sofa/framework/Testing/src/sofa/testing/BaseTest.h index 7c601ec4c53..7861e04ac5a 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseTest.h +++ b/Sofa/framework/Testing/src/sofa/testing/BaseTest.h @@ -48,14 +48,14 @@ class SOFA_TESTING_API BaseTest : public ::testing::Test BaseTest() ; ~BaseTest() override; - virtual void doSetUp(); - virtual void doTearDown(); + virtual void doSetUp() {}; + virtual void doTearDown() {}; - SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONSETUP() - virtual void onSetUp() {} + SOFA_ATTRIBUTE_DISABLED__TESTING_ONSETUP() + virtual void onSetUp() = delete; - SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONTEARDOWN() - virtual void onTearDown() {} + SOFA_ATTRIBUTE_DISABLED__TESTING_ONTEARDOWN() + virtual void onTearDown() = delete; /// Seed value static int seed; diff --git a/Sofa/framework/Testing/src/sofa/testing/config.h.in b/Sofa/framework/Testing/src/sofa/testing/config.h.in index 4408f7d8e33..c947df666c1 100644 --- a/Sofa/framework/Testing/src/sofa/testing/config.h.in +++ b/Sofa/framework/Testing/src/sofa/testing/config.h.in @@ -36,27 +36,19 @@ constexpr char SOFA_TESTING_RESOURCES_DIR[] = "@SOFA_TESTING_RESOURCES_DIR@"; # define SOFA_TESTING_API SOFA_IMPORT_DYNAMIC_LIBRARY #endif -#ifdef SOFA_BUILD_SOFA_TESTING -#define SOFA_ATTRIBUTE_DISABLED__TESTING_IMPORT_PLUGIN() -#else -#define SOFA_ATTRIBUTE_DISABLED__TESTING_IMPORT_PLUGIN() \ - SOFA_ATTRIBUTE_DISABLED( \ - "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() +#define SOFA_ATTRIBUTE_DISABLED__TESTING_ONSETUP() #else -#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONSETUP() \ - SOFA_ATTRIBUTE_DEPRECATED( \ +#define SOFA_ATTRIBUTE_DISABLED__TESTING_ONSETUP() \ + SOFA_ATTRIBUTE_DISABLED( \ "v25.06", "v25.12", "Use doSetUp instead.") #endif // SOFA_BUILD_SOFA_TESTING #ifdef SOFA_BUILD_SOFA_TESTING -#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONTEARDOWN() +#define SOFA_ATTRIBUTE_DISABLED__TESTING_ONTEARDOWN() #else -#define SOFA_ATTRIBUTE_DEPRECATED__TESTING_ONTEARDOWN() \ - SOFA_ATTRIBUTE_DEPRECATED( \ +#define SOFA_ATTRIBUTE_DISABLED__TESTING_ONTEARDOWN() \ + SOFA_ATTRIBUTE_DISABLED( \ "v25.06", "v25.12", "Use doTearDown instead.") #endif // SOFA_BUILD_SOFA_TESTING diff --git a/Sofa/framework/Topology/Sofa.TopologyConfig.cmake.in b/Sofa/framework/Topology/Sofa.TopologyConfig.cmake.in index 01bbc8cf0a4..68225b7c0ae 100644 --- a/Sofa/framework/Topology/Sofa.TopologyConfig.cmake.in +++ b/Sofa/framework/Topology/Sofa.TopologyConfig.cmake.in @@ -4,8 +4,8 @@ @PACKAGE_INIT@ find_package(Sofa.Config QUIET REQUIRED) -find_package(Sofa.Type QUIET REQUIRED) -find_package(Sofa.Geometry QUIET REQUIRED) +sofa_find_package(Sofa.Type QUIET REQUIRED) +sofa_find_package(Sofa.Geometry QUIET REQUIRED) if(NOT TARGET @PROJECT_NAME@) include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") diff --git a/Sofa/framework/Topology/src/sofa/topology/Edge.cpp b/Sofa/framework/Topology/src/sofa/topology/Edge.cpp index fb840ddc30e..8043cedef18 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Edge.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Edge.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Element.h b/Sofa/framework/Topology/src/sofa/topology/Element.h index d930f59ddb2..a3af1917e36 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Element.h +++ b/Sofa/framework/Topology/src/sofa/topology/Element.h @@ -32,30 +32,128 @@ namespace sofa::topology { template -struct Element : public sofa::type::fixed_array +struct Element { static constexpr auto NumberOfNodes = GeometryElement::NumberOfNodes; - static constexpr sofa::geometry::ElementType Element_type = GeometryElement::Element_type; + + using ArrayType = sofa::type::fixed_array; + using Size = sofa::Size; + using value_type = sofa::Index; + using iterator = typename ArrayType::iterator; + using const_iterator = typename ArrayType::const_iterator; + using reference = typename ArrayType::reference; + using const_reference = typename ArrayType::const_reference; + using size_type = sofa::Size; + using difference_type = std::ptrdiff_t; + + static constexpr sofa::Size static_size = GeometryElement::NumberOfNodes; + static constexpr sofa::Size size() { return static_size; } + constexpr Element() noexcept { - for (auto it = this->begin() ; it != this->end() ; it++) - { - *it = sofa::InvalidID; - } - // constexpr std::fill only in c++20 - // std::fill(this->begin(), this->end(), sofa::InvalidID); + elems.fill(sofa::InvalidID); } - template< typename... ArgsT - , typename = std::enable_if_t < (std::is_convertible_v && ...)> - > - constexpr Element(ArgsT&&... args) noexcept - : sofa::type::fixed_array< sofa::Index, GeometryElement::NumberOfNodes > - { static_cast(std::forward< ArgsT >(args))... } + template< typename... ArgsT> + constexpr Element(ArgsT&&... args) noexcept + requires((std::is_convertible_v && ...)) + : elems + {{ static_cast(std::forward< ArgsT >(args))... }} { static_assert(GeometryElement::NumberOfNodes == sizeof...(ArgsT), "Trying to construct the element with an incorrect number of nodes."); } + + constexpr reference operator[](size_type i) + { + return elems[i]; + } + constexpr const_reference operator[](size_type i) const + { + return elems[i]; + } + + constexpr reference at(size_type i) + { + return elems.at(i); + } + + constexpr const_reference at(size_type i) const + { + return elems.at(i); + } + + template< std::size_t I > + [[nodiscard]] constexpr reference get() & noexcept requires( I < static_size ) + { + return elems[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr const_reference get() const& noexcept requires( I < static_size ) + { + return elems[I]; + } + + template< std::size_t I > + [[nodiscard]] constexpr value_type&& get() && noexcept requires( I < static_size ) + { + return std::move(elems[I]); + } + + template< std::size_t I > + [[nodiscard]] constexpr const value_type&& get() const&& noexcept requires( I < static_size ) + { + return std::move(elems[I]); + } + + constexpr iterator begin() noexcept + { + return elems.begin(); + } + constexpr const_iterator begin() const noexcept + { + return elems.begin(); + } + constexpr const_iterator cbegin() const noexcept + { + return elems.cbegin(); + } + + constexpr iterator end() noexcept + { + return elems.end(); + } + constexpr const_iterator end() const noexcept + { + return elems.end(); + } + constexpr const_iterator cend() const noexcept + { + return elems.cend(); + } + + bool operator<(const Element& other) const + { + return elems < other.elems; + } + + const ArrayType& array() const + { + return elems; + } + + friend std::ostream& operator<<(std::ostream& out, const Element& a) + { + return sofa::type::extraction(out, a.elems); + } + friend std::istream& operator>>(std::istream& in, Element& a) + { + return sofa::type::insertion(in, a.elems); + } + +private: + ArrayType elems{}; }; -} // namespace sofa::geometry +} // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Hexahedron.cpp b/Sofa/framework/Topology/src/sofa/topology/Hexahedron.cpp index 22da2fe0768..a24d3c13e00 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Hexahedron.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Hexahedron.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Pentahedron.cpp b/Sofa/framework/Topology/src/sofa/topology/Pentahedron.cpp index ac2d1909fc1..fde64af0be9 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Pentahedron.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Pentahedron.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Pyramid.cpp b/Sofa/framework/Topology/src/sofa/topology/Pyramid.cpp index 6cf3dc449d3..818411bc512 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Pyramid.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Pyramid.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Quad.cpp b/Sofa/framework/Topology/src/sofa/topology/Quad.cpp index 2037eb48647..ff38b917edc 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Quad.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Quad.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Tetrahedron.cpp b/Sofa/framework/Topology/src/sofa/topology/Tetrahedron.cpp index b30a7129193..3ceea5abdb3 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Tetrahedron.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Tetrahedron.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/src/sofa/topology/Triangle.cpp b/Sofa/framework/Topology/src/sofa/topology/Triangle.cpp index 40167d32181..2a3bbeda390 100644 --- a/Sofa/framework/Topology/src/sofa/topology/Triangle.cpp +++ b/Sofa/framework/Topology/src/sofa/topology/Triangle.cpp @@ -23,5 +23,6 @@ namespace sofa::topology { - +static_assert(sofa::type::trait::Streamable); +static_assert(sofa::type::trait::InputStreamable); } // namespace sofa::topology diff --git a/Sofa/framework/Topology/test/Hexahedron_test.cpp b/Sofa/framework/Topology/test/Hexahedron_test.cpp index 080a0858617..800023d40ef 100644 --- a/Sofa/framework/Topology/test/Hexahedron_test.cpp +++ b/Sofa/framework/Topology/test/Hexahedron_test.cpp @@ -90,4 +90,12 @@ TEST(TopologyHexahedron_test, getClosestHexahedronIndex) EXPECT_EQ(4, sofa::topology::getClosestHexahedronIndex(nine_hexa_vertices, nine_hexa_indices, pos2, coeffs, distance)); } +TEST(Hexahedron_test, ostream) +{ + static constexpr sofa::topology::Hexahedron h{1, 2, 3, 4, 5, 6, 7, 8}; + std::ostringstream oss; + oss << h; + EXPECT_EQ("1 2 3 4 5 6 7 8", oss.str()); +} + }// namespace sofa diff --git a/Sofa/framework/Type/CMakeLists.txt b/Sofa/framework/Type/CMakeLists.txt index f44dd533442..17f9a6e724b 100644 --- a/Sofa/framework/Type/CMakeLists.txt +++ b/Sofa/framework/Type/CMakeLists.txt @@ -56,6 +56,7 @@ set(SOURCE_FILES ${SOFATYPESRC_ROOT}/BoundingBox.cpp ${SOFATYPESRC_ROOT}/DualQuat.cpp ${SOFATYPESRC_ROOT}/Frame.cpp + ${SOFATYPESRC_ROOT}/Mat.cpp ${SOFATYPESRC_ROOT}/Material.cpp ${SOFATYPESRC_ROOT}/PrimitiveGroup.cpp ${SOFATYPESRC_ROOT}/Quat.cpp diff --git a/Sofa/framework/Type/Sofa.TypeConfig.cmake.in b/Sofa/framework/Type/Sofa.TypeConfig.cmake.in index 1ce51404c3a..181de837d2a 100644 --- a/Sofa/framework/Type/Sofa.TypeConfig.cmake.in +++ b/Sofa/framework/Type/Sofa.TypeConfig.cmake.in @@ -5,11 +5,11 @@ set(SOFA_TYPE_HAVE_SOFA_COMPAT "@SOFA_TYPE_HAVE_SOFA_COMPAT@") -find_package(Boost QUIET REQUIRED) find_package(Sofa.Config QUIET REQUIRED) +sofa_find_package(Boost QUIET REQUIRED) if(SOFA_TYPE_HAVE_SOFA_COMPAT) - find_package(Sofa.Compat QUIET REQUIRED) + sofa_find_package(Sofa.Compat QUIET REQUIRED) endif() if(NOT TARGET @PROJECT_NAME@) diff --git a/Sofa/framework/Type/src/sofa/type/DualQuat.h b/Sofa/framework/Type/src/sofa/type/DualQuat.h index 89ff9ff962f..2b587936c23 100644 --- a/Sofa/framework/Type/src/sofa/type/DualQuat.h +++ b/Sofa/framework/Type/src/sofa/type/DualQuat.h @@ -131,17 +131,17 @@ class SOFA_TYPE_API DualQuatCoord3 template void toRotationMatrix( type::Mat<3,3,real2>& m) const { - m[0][0] = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[2] * orientation[2])); - m[0][1] = (real2) (2.0f * (orientation[0] * orientation[1] - orientation[2] * orientation[3])); - m[0][2] = (real2) (2.0f * (orientation[2] * orientation[0] + orientation[1] * orientation[3])); + m(0,0) = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[2] * orientation[2])); + m(0,1) = (real2) (2.0f * (orientation[0] * orientation[1] - orientation[2] * orientation[3])); + m(0,2) = (real2) (2.0f * (orientation[2] * orientation[0] + orientation[1] * orientation[3])); - m[1][0] = (real2) (2.0f * (orientation[0] * orientation[1] + orientation[2] * orientation[3])); - m[1][1] = (real2) (1.0f - 2.0f * (orientation[2] * orientation[2] + orientation[0] * orientation[0])); - m[1][2] = (real2) (2.0f * (orientation[1] * orientation[2] - orientation[0] * orientation[3])); + m(1,0) = (real2) (2.0f * (orientation[0] * orientation[1] + orientation[2] * orientation[3])); + m(1,1) = (real2) (1.0f - 2.0f * (orientation[2] * orientation[2] + orientation[0] * orientation[0])); + m(1,2) = (real2) (2.0f * (orientation[1] * orientation[2] - orientation[0] * orientation[3])); - m[2][0] = (real2) (2.0f * (orientation[2] * orientation[0] - orientation[1] * orientation[3])); - m[2][1] = (real2) (2.0f * (orientation[1] * orientation[2] + orientation[0] * orientation[3])); - m[2][2] = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[0] * orientation[0])); + m(2,0) = (real2) (2.0f * (orientation[2] * orientation[0] - orientation[1] * orientation[3])); + m(2,1) = (real2) (2.0f * (orientation[1] * orientation[2] + orientation[0] * orientation[3])); + m(2,2) = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[0] * orientation[0])); } diff --git a/Sofa/framework/Type/src/sofa/type/DualQuat.inl b/Sofa/framework/Type/src/sofa/type/DualQuat.inl index 4ee2a4898ac..9e81b3c6dd0 100644 --- a/Sofa/framework/Type/src/sofa/type/DualQuat.inl +++ b/Sofa/framework/Type/src/sofa/type/DualQuat.inl @@ -53,17 +53,17 @@ template void DualQuatCoord3::velocity_getJ( type::Mat<4,3,real>& J0, type::Mat<4,3,real>& JE) { // multiplication by orientation quaternion - J0[0][0] = orientation[3]; J0[0][1] = orientation[2]; J0[0][2] =-orientation[1]; - J0[1][0] =-orientation[2]; J0[1][1] = orientation[3]; J0[1][2] = orientation[0]; - J0[2][0] = orientation[1]; J0[2][1] =-orientation[0]; J0[2][2] = orientation[3]; - J0[3][0] =-orientation[0]; J0[3][1] =-orientation[1]; J0[3][2] =-orientation[2]; + J0(0,0) = orientation[3]; J0(0,1) = orientation[2]; J0(0,2) =-orientation[1]; + J0(1,0) =-orientation[2]; J0(1,1) = orientation[3]; J0(1,2) = orientation[0]; + J0(2,0) = orientation[1]; J0(2,1) =-orientation[0]; J0(2,2) = orientation[3]; + J0(3,0) =-orientation[0]; J0(3,1) =-orientation[1]; J0(3,2) =-orientation[2]; J0*=(real)0.5; type::Vec<3,real> t=getTranslation(); - JE[0][0] = dual[3]+orientation[1]*t[1]+orientation[2]*t[2]; JE[0][1] = dual[2]-orientation[1]*t[0]-orientation[3]*t[2]; JE[0][2] =-dual[1]-orientation[2]*t[0]+orientation[3]*t[1]; - JE[1][0] =-dual[2]-orientation[0]*t[1]+orientation[3]*t[2]; JE[1][1] = dual[3]+orientation[0]*t[0]+orientation[2]*t[2]; JE[1][2] = dual[0]-orientation[3]*t[0]-orientation[2]*t[1]; - JE[2][0] = dual[1]-orientation[3]*t[1]-orientation[0]*t[2]; JE[2][1] =-dual[0]+orientation[3]*t[0]-orientation[1]*t[2]; JE[2][2] = dual[3]+orientation[0]*t[0]+orientation[1]*t[1]; - JE[3][0] =-dual[0]+orientation[2]*t[1]-orientation[1]*t[2]; JE[3][1] =-dual[1]-orientation[2]*t[0]+orientation[0]*t[2]; JE[3][2] =-dual[2]+orientation[1]*t[0]-orientation[0]*t[1]; + JE(0,0) = dual[3]+orientation[1]*t[1]+orientation[2]*t[2]; JE(0,1) = dual[2]-orientation[1]*t[0]-orientation[3]*t[2]; JE(0,2) =-dual[1]-orientation[2]*t[0]+orientation[3]*t[1]; + JE(1,0) =-dual[2]-orientation[0]*t[1]+orientation[3]*t[2]; JE(1,1) = dual[3]+orientation[0]*t[0]+orientation[2]*t[2]; JE(1,2) = dual[0]-orientation[3]*t[0]-orientation[2]*t[1]; + JE(2,0) = dual[1]-orientation[3]*t[1]-orientation[0]*t[2]; JE(2,1) =-dual[0]+orientation[3]*t[0]-orientation[1]*t[2]; JE(2,2) = dual[3]+orientation[0]*t[0]+orientation[1]*t[1]; + JE(3,0) =-dual[0]+orientation[2]*t[1]-orientation[1]*t[2]; JE(3,1) =-dual[1]-orientation[2]*t[0]+orientation[0]*t[2]; JE(3,2) =-dual[2]+orientation[1]*t[0]-orientation[0]*t[1]; JE*=(real)0.5; } @@ -116,9 +116,9 @@ void DualQuatCoord3::normalize_getJ( type::Mat<4,4,real>& J0, type::Mat<4, qn.orientation = orientation*Q0inv; qn.dual = dual-qn.orientation*Q0QE*Q0inv; qn.dual *= Q0inv; - for(i=0; i<4; i++) J0[i][i]=(real)1.-qn.orientation[i]*qn.orientation[i]; - for(i=0; i<4; i++) for(j=0; j::normalize_getdJ( type::Mat<4,4,real>& dJ0, type::Mat { for(j=0; j<=i; j++) { - dJ0[i][j]=dJ0[j][i]=-qn.orientation[j]*dq.orientation[i]-qn.orientation[i]*dq.orientation[j]+(real)3.*q0dq0*qn.orientation[i]*qn.orientation[j]; - dJE[i][j]=dJE[j][i]=-qn.orientation[j]*dq.dual[i]-qn.orientation[i]*dq.dual[j]+(real)3.*q0dqe*qn.orientation[i]*qn.orientation[j] + dJ0(i,j)=dJ0(j,i)=-qn.orientation[j]*dq.orientation[i]-qn.orientation[i]*dq.orientation[j]+(real)3.*q0dq0*qn.orientation[i]*qn.orientation[j]; + dJE(i,j)=dJE(j,i)=-qn.orientation[j]*dq.dual[i]-qn.orientation[i]*dq.dual[j]+(real)3.*q0dqe*qn.orientation[i]*qn.orientation[j] -qn.dual[j]*dq.orientation[i]-qn.dual[i]*dq.orientation[j]+(real)3.*qedq0*qn.orientation[i]*qn.orientation[j] +(real)3.*q0dq0*(qn.dual[j]*qn.orientation[i]+qn.dual[i]*qn.orientation[j]); } - dJ0[i][i]-=q0dq0; - dJE[i][i]-=q0dqe+qedq0; + dJ0(i,i)-=q0dq0; + dJE(i,i)-=q0dqe+qedq0; } dJ0*=Q0inv2; dJE*=Q0inv2; - for(i=0; i<4; i++) for(j=0; j<4; j++) dJE[i][j]-=(real)2.*dJ0[i][j]*Q0QE2; + for(i=0; i<4; i++) for(j=0; j<4; j++) dJE(i,j)-=(real)2.*dJ0(i,j)*Q0QE2; } else { for(i=0; i<4; i++) { - for(j=0; j<=i; j++) dJE[i][j]=dJE[j][i]=-qn.orientation[j]*dq.dual[i]-qn.orientation[i]*dq.dual[j]+(real)3.*q0dqe*qn.orientation[i]*qn.orientation[j]; - dJE[i][i]-=q0dqe; + for(j=0; j<=i; j++) dJE(i,j)=dJE(j,i)=-qn.orientation[j]*dq.dual[i]-qn.orientation[i]*dq.dual[j]+(real)3.*q0dqe*qn.orientation[i]*qn.orientation[j]; + dJE(i,i)-=q0dqe; } dJE*=Q0inv2; } @@ -272,14 +272,14 @@ DualQuatCoord3 DualQuatCoord3::multRight( const DualQuatCoord3 template void DualQuatCoord3::multRight_getJ( type::Mat<4,4,real>& J0,type::Mat<4,4,real>& JE) { - J0[0][0] = orientation[3]; J0[0][1] =-orientation[2]; J0[0][2] = orientation[1]; J0[0][3] = orientation[0]; - J0[1][0] = orientation[2]; J0[1][1] = orientation[3]; J0[1][2] =-orientation[0]; J0[1][3] = orientation[1]; - J0[2][0] =-orientation[1]; J0[2][1] = orientation[0]; J0[2][2] = orientation[3]; J0[2][3] = orientation[2]; - J0[3][0] =-orientation[0]; J0[3][1] =-orientation[1]; J0[3][2] =-orientation[2]; J0[3][3] = orientation[3]; - JE[0][0] = dual[3]; JE[0][1] =-dual[2]; JE[0][2] = dual[1]; JE[0][3] = dual[0]; - JE[1][0] = dual[2]; JE[1][1] = dual[3]; JE[1][2] =-dual[0]; JE[1][3] = dual[1]; - JE[2][0] =-dual[1]; JE[2][1] = dual[0]; JE[2][2] = dual[3]; JE[2][3] = dual[2]; - JE[3][0] =-dual[0]; JE[3][1] =-dual[1]; JE[3][2] =-dual[2]; JE[3][3] = dual[3]; + J0(0,0) = orientation[3]; J0(0,1) =-orientation[2]; J0(0,2) = orientation[1]; J0(0,3) = orientation[0]; + J0(1,0) = orientation[2]; J0(1,1) = orientation[3]; J0(1,2) =-orientation[0]; J0(1,3) = orientation[1]; + J0(2,0) =-orientation[1]; J0(2,1) = orientation[0]; J0(2,2) = orientation[3]; J0(2,3) = orientation[2]; + J0(3,0) =-orientation[0]; J0(3,1) =-orientation[1]; J0(3,2) =-orientation[2]; J0(3,3) = orientation[3]; + JE(0,0) = dual[3]; JE(0,1) =-dual[2]; JE(0,2) = dual[1]; JE(0,3) = dual[0]; + JE(1,0) = dual[2]; JE(1,1) = dual[3]; JE(1,2) =-dual[0]; JE(1,3) = dual[1]; + JE(2,0) =-dual[1]; JE(2,1) = dual[0]; JE(2,2) = dual[3]; JE(2,3) = dual[2]; + JE(3,0) =-dual[0]; JE(3,1) =-dual[1]; JE(3,2) =-dual[2]; JE(3,3) = dual[3]; } // Apply a transformation with respect to itself @@ -306,14 +306,14 @@ DualQuatCoord3 DualQuatCoord3::multLeft( const DualQuatCoord3& template void DualQuatCoord3::multLeft_getJ( type::Mat<4,4,real>& J0,type::Mat<4,4,real>& JE) { - J0[0][0] = orientation[3]; J0[0][1] = orientation[2]; J0[0][2] =-orientation[1]; J0[0][3] = orientation[0]; - J0[1][0] =-orientation[2]; J0[1][1] = orientation[3]; J0[1][2] = orientation[0]; J0[1][3] = orientation[1]; - J0[2][0] = orientation[1]; J0[2][1] =-orientation[0]; J0[2][2] = orientation[3]; J0[2][3] = orientation[2]; - J0[3][0] =-orientation[0]; J0[3][1] =-orientation[1]; J0[3][2] =-orientation[2]; J0[3][3] = orientation[3]; - JE[0][0] = dual[3]; JE[0][1] = dual[2]; JE[0][2] =-dual[1]; JE[0][3] = dual[0]; - JE[1][0] =-dual[2]; JE[1][1] = dual[3]; JE[1][2] = dual[0]; JE[1][3] = dual[1]; - JE[2][0] = dual[1]; JE[2][1] =-dual[0]; JE[2][2] = dual[3]; JE[2][3] = dual[2]; - JE[3][0] =-dual[0]; JE[3][1] =-dual[1]; JE[3][2] =-dual[2]; JE[3][3] = dual[3]; + J0(0,0) = orientation[3]; J0(0,1) = orientation[2]; J0(0,2) =-orientation[1]; J0(0,3) = orientation[0]; + J0(1,0) =-orientation[2]; J0(1,1) = orientation[3]; J0(1,2) = orientation[0]; J0(1,3) = orientation[1]; + J0(2,0) = orientation[1]; J0(2,1) =-orientation[0]; J0(2,2) = orientation[3]; J0(2,3) = orientation[2]; + J0(3,0) =-orientation[0]; J0(3,1) =-orientation[1]; J0(3,2) =-orientation[2]; J0(3,3) = orientation[3]; + JE(0,0) = dual[3]; JE(0,1) = dual[2]; JE(0,2) =-dual[1]; JE(0,3) = dual[0]; + JE(1,0) =-dual[2]; JE(1,1) = dual[3]; JE(1,2) = dual[0]; JE(1,3) = dual[1]; + JE(2,0) = dual[1]; JE(2,1) =-dual[0]; JE(2,2) = dual[3]; JE(2,3) = dual[2]; + JE(3,0) =-dual[0]; JE(3,1) =-dual[1]; JE(3,2) =-dual[2]; JE(3,3) = dual[3]; } @@ -322,22 +322,22 @@ template template void DualQuatCoord3::toMatrix( type::Mat<3,4,real2>& m) const { - m[0][0] = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[2] * orientation[2])); - m[0][1] = (real2) (2.0f * (orientation[0] * orientation[1] - orientation[2] * orientation[3])); - m[0][2] = (real2) (2.0f * (orientation[2] * orientation[0] + orientation[1] * orientation[3])); + m(0,0) = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[2] * orientation[2])); + m(0,1) = (real2) (2.0f * (orientation[0] * orientation[1] - orientation[2] * orientation[3])); + m(0,2) = (real2) (2.0f * (orientation[2] * orientation[0] + orientation[1] * orientation[3])); - m[1][0] = (real2) (2.0f * (orientation[0] * orientation[1] + orientation[2] * orientation[3])); - m[1][1] = (real2) (1.0f - 2.0f * (orientation[2] * orientation[2] + orientation[0] * orientation[0])); - m[1][2] = (real2) (2.0f * (orientation[1] * orientation[2] - orientation[0] * orientation[3])); + m(1,0) = (real2) (2.0f * (orientation[0] * orientation[1] + orientation[2] * orientation[3])); + m(1,1) = (real2) (1.0f - 2.0f * (orientation[2] * orientation[2] + orientation[0] * orientation[0])); + m(1,2) = (real2) (2.0f * (orientation[1] * orientation[2] - orientation[0] * orientation[3])); - m[2][0] = (real2) (2.0f * (orientation[2] * orientation[0] - orientation[1] * orientation[3])); - m[2][1] = (real2) (2.0f * (orientation[1] * orientation[2] + orientation[0] * orientation[3])); - m[2][2] = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[0] * orientation[0])); + m(2,0) = (real2) (2.0f * (orientation[2] * orientation[0] - orientation[1] * orientation[3])); + m(2,1) = (real2) (2.0f * (orientation[1] * orientation[2] + orientation[0] * orientation[3])); + m(2,2) = (real2) (1.0f - 2.0f * (orientation[1] * orientation[1] + orientation[0] * orientation[0])); type::Vec<3,real> p=getTranslation(); - m[0][3] = (real2) p[0]; - m[1][3] = (real2) p[1]; - m[2][3] = (real2) p[2]; + m(0,3) = (real2) p[0]; + m(1,3) = (real2) p[1]; + m(2,3) = (real2) p[2]; } @@ -359,12 +359,12 @@ template void DualQuatCoord3::pointToParent_getJ( type::Mat<3,4,real>& J0,type::Mat<3,4,real>& JE,const type::Vec<3,real>& p) { J0.fill(0); JE.fill(0); - J0[0][0] = (real)2.*(- dual[3] + orientation[0]*p[0] + orientation[1]*p[1] + orientation[2]*p[2]); J0[0][1] = (real)2.*(dual[2] - orientation[1]*p[0] + orientation[0]*p[1] + orientation[3]*p[2]); J0[0][2] = (real)2.*(- dual[1] - orientation[2]*p[0] - orientation[3]*p[1] + orientation[0]*p[2]); J0[0][3] = (real)2.*( dual[0] + orientation[3]*p[0] - orientation[2]*p[1] + orientation[1]*p[2]); - J0[1][0] = -J0[0][1]; J0[1][1] = J0[0][0]; J0[1][2] = J0[0][3]; J0[1][3] = -J0[0][2]; - J0[2][0] = -J0[0][2]; J0[2][1] = -J0[0][3]; J0[2][2] = J0[0][0]; J0[2][3] = J0[0][1]; - JE[0][0] = (real)2.* orientation[3]; JE[0][1] = -(real)2.*orientation[2]; JE[0][2] = (real)2.*orientation[1]; JE[0][3] = -(real)2.*orientation[0]; - JE[1][0] = -JE[0][1]; JE[1][1] = JE[0][0]; JE[1][2] = JE[0][3]; JE[1][3] = -JE[0][2]; - JE[2][0] = -JE[0][2]; JE[2][1] = -JE[0][3]; JE[2][2] = JE[0][0]; JE[2][3] = JE[0][1]; + J0(0,0) = (real)2.*(- dual[3] + orientation[0]*p[0] + orientation[1]*p[1] + orientation[2]*p[2]); J0(0,1) = (real)2.*(dual[2] - orientation[1]*p[0] + orientation[0]*p[1] + orientation[3]*p[2]); J0(0,2) = (real)2.*(- dual[1] - orientation[2]*p[0] - orientation[3]*p[1] + orientation[0]*p[2]); J0(0,3) = (real)2.*( dual[0] + orientation[3]*p[0] - orientation[2]*p[1] + orientation[1]*p[2]); + J0(1,0) = -J0(0,1); J0(1,1) = J0(0,0); J0(1,2) = J0(0,3); J0(1,3) = -J0(0,2); + J0(2,0) = -J0(0,2); J0(2,1) = -J0(0,3); J0(2,2) = J0(0,0); J0(2,3) = J0(0,1); + JE(0,0) = (real)2.* orientation[3]; JE(0,1) = -(real)2.*orientation[2]; JE(0,2) = (real)2.*orientation[1]; JE(0,3) = -(real)2.*orientation[0]; + JE(1,0) = -JE(0,1); JE(1,1) = JE(0,0); JE(1,2) = JE(0,3); JE(1,3) = -JE(0,2); + JE(2,0) = -JE(0,2); JE(2,1) = -JE(0,3); JE(2,2) = JE(0,0); JE(2,3) = JE(0,1); } // get transformed position change: dP = J(p,q) dq @@ -395,18 +395,18 @@ template type::Mat<3,4,real> DualQuatCoord3::rigid_applyH( const DualQuatCoord3& dq ) { type::Mat<3,4,real> dR; - dR[0][0]=(real)2.*(-2*orientation[1]*dq.orientation[1]-2*orientation[2]*dq.orientation[2]); - dR[0][1]=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]-orientation[3]*dq.orientation[2]-orientation[2]*dq.orientation[3]); - dR[0][2]=(real)2.*(orientation[2]*dq.orientation[0]+orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]+orientation[1]*dq.orientation[3]); - dR[0][3]=(real)2.*(-dual[3]*dq.orientation[0]+dual[2]*dq.orientation[1]-dual[1]*dq.orientation[2]+dual[0]*dq.orientation[3]+orientation[3]*dq.dual[0]-orientation[2]*dq.dual[1]+orientation[1]*dq.dual[2]-orientation[0]*dq.dual[3]); - dR[1][0]=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]+orientation[3]*dq.orientation[2]+orientation[2]*dq.orientation[3]); - dR[1][1]=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[2]*dq.orientation[2]); - dR[1][2]=(real)2.*(-orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]-orientation[0]*dq.orientation[3]); - dR[1][3]=(real)2.*(-dual[2]*dq.orientation[0]-dual[3]*dq.orientation[1]+dual[0]*dq.orientation[2]+dual[1]*dq.orientation[3]+orientation[2]*dq.dual[0]+orientation[3]*dq.dual[1]-orientation[0]*dq.dual[2]-orientation[1]*dq.dual[3]); - dR[2][0]=(real)2.*(orientation[2]*dq.orientation[0]-orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]-orientation[1]*dq.orientation[3]); - dR[2][1]=(real)2.*(orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]+orientation[0]*dq.orientation[3]); - dR[2][2]=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[1]*dq.orientation[1]); - dR[2][3]=(real)2.*(dual[1]*dq.orientation[0]-dual[0]*dq.orientation[1]-dual[3]*dq.orientation[2]+dual[2]*dq.orientation[3]-orientation[1]*dq.dual[0]+orientation[0]*dq.dual[1]+orientation[3]*dq.dual[2]-orientation[2]*dq.dual[3]); + dR(0,0)=(real)2.*(-2*orientation[1]*dq.orientation[1]-2*orientation[2]*dq.orientation[2]); + dR(0,1)=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]-orientation[3]*dq.orientation[2]-orientation[2]*dq.orientation[3]); + dR(0,2)=(real)2.*(orientation[2]*dq.orientation[0]+orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]+orientation[1]*dq.orientation[3]); + dR(0,3)=(real)2.*(-dual[3]*dq.orientation[0]+dual[2]*dq.orientation[1]-dual[1]*dq.orientation[2]+dual[0]*dq.orientation[3]+orientation[3]*dq.dual[0]-orientation[2]*dq.dual[1]+orientation[1]*dq.dual[2]-orientation[0]*dq.dual[3]); + dR(1,0)=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]+orientation[3]*dq.orientation[2]+orientation[2]*dq.orientation[3]); + dR(1,1)=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[2]*dq.orientation[2]); + dR(1,2)=(real)2.*(-orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]-orientation[0]*dq.orientation[3]); + dR(1,3)=(real)2.*(-dual[2]*dq.orientation[0]-dual[3]*dq.orientation[1]+dual[0]*dq.orientation[2]+dual[1]*dq.orientation[3]+orientation[2]*dq.dual[0]+orientation[3]*dq.dual[1]-orientation[0]*dq.dual[2]-orientation[1]*dq.dual[3]); + dR(2,0)=(real)2.*(orientation[2]*dq.orientation[0]-orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]-orientation[1]*dq.orientation[3]); + dR(2,1)=(real)2.*(orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]+orientation[0]*dq.orientation[3]); + dR(2,2)=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[1]*dq.orientation[1]); + dR(2,3)=(real)2.*(dual[1]*dq.orientation[0]-dual[0]*dq.orientation[1]-dual[3]*dq.orientation[2]+dual[2]*dq.orientation[3]-orientation[1]*dq.dual[0]+orientation[0]*dq.dual[1]+orientation[3]*dq.dual[2]-orientation[2]*dq.dual[3]); return dR; } // get rotation change: dR = H(q) dq @@ -414,15 +414,15 @@ template type::Mat<3,3,real> DualQuatCoord3::rotation_applyH( const DualQuatCoord3& dq ) { type::Mat<3,3,real> dR; - dR[0][0]=(real)2.*(-2*orientation[1]*dq.orientation[1]-2*orientation[2]*dq.orientation[2]); - dR[0][1]=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]-orientation[3]*dq.orientation[2]-orientation[2]*dq.orientation[3]); - dR[0][2]=(real)2.*(orientation[2]*dq.orientation[0]+orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]+orientation[1]*dq.orientation[3]); - dR[1][0]=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]+orientation[3]*dq.orientation[2]+orientation[2]*dq.orientation[3]); - dR[1][1]=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[2]*dq.orientation[2]); - dR[1][2]=(real)2.*(-orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]-orientation[0]*dq.orientation[3]); - dR[2][0]=(real)2.*(orientation[2]*dq.orientation[0]-orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]-orientation[1]*dq.orientation[3]); - dR[2][1]=(real)2.*(orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]+orientation[0]*dq.orientation[3]); - dR[2][2]=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[1]*dq.orientation[1]); + dR(0,0)=(real)2.*(-2*orientation[1]*dq.orientation[1]-2*orientation[2]*dq.orientation[2]); + dR(0,1)=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]-orientation[3]*dq.orientation[2]-orientation[2]*dq.orientation[3]); + dR(0,2)=(real)2.*(orientation[2]*dq.orientation[0]+orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]+orientation[1]*dq.orientation[3]); + dR(1,0)=(real)2.*(orientation[1]*dq.orientation[0]+orientation[0]*dq.orientation[1]+orientation[3]*dq.orientation[2]+orientation[2]*dq.orientation[3]); + dR(1,1)=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[2]*dq.orientation[2]); + dR(1,2)=(real)2.*(-orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]-orientation[0]*dq.orientation[3]); + dR(2,0)=(real)2.*(orientation[2]*dq.orientation[0]-orientation[3]*dq.orientation[1]+orientation[0]*dq.orientation[2]-orientation[1]*dq.orientation[3]); + dR(2,1)=(real)2.*(orientation[3]*dq.orientation[0]+orientation[2]*dq.orientation[1]+orientation[1]*dq.orientation[2]+orientation[0]*dq.orientation[3]); + dR(2,2)=(real)2.*(-2*orientation[0]*dq.orientation[0]-2*orientation[1]*dq.orientation[1]); return dR; } @@ -431,14 +431,14 @@ template DualQuatCoord3 DualQuatCoord3::rigid_applyHT( const type::Mat<3,4,real>& dR ) { DualQuatCoord3 r; - r.orientation[0]=(real)2.*(orientation[1]*dR[0][1]+orientation[2]*dR[0][2]-dual[3]*dR[0][3]+orientation[1]*dR[1][0]-2*orientation[0]*dR[1][1]-orientation[3]*dR[1][2]-dual[2]*dR[1][3]+orientation[2]*dR[2][0]+orientation[3]*dR[2][1]-2*orientation[0]*dR[2][2]+dual[1]*dR[2][3]); - r.orientation[1]=(real)2.*(-2*orientation[1]*dR[0][0]+orientation[0]*dR[0][1]+orientation[3]*dR[0][2]+dual[2]*dR[0][3]+orientation[0]*dR[1][0]+orientation[2]*dR[1][2]-dual[3]*dR[1][3]-orientation[3]*dR[2][0]+orientation[2]*dR[2][1]-2*orientation[1]*dR[2][2]-dual[0]*dR[2][3]); - r.orientation[2]=(real)2.*(-2*orientation[2]*dR[0][0]-orientation[3]*dR[0][1]+orientation[0]*dR[0][2]-dual[1]*dR[0][3]+orientation[3]*dR[1][0]-2*orientation[2]*dR[1][1]+orientation[1]*dR[1][2]+dual[0]*dR[1][3]+orientation[0]*dR[2][0]+orientation[1]*dR[2][1]-dual[3]*dR[2][3]); - r.orientation[3]=(real)2.*(-orientation[2]*dR[0][1]+orientation[1]*dR[0][2]+dual[0]*dR[0][3]+orientation[2]*dR[1][0]-orientation[0]*dR[1][2]+dual[1]*dR[1][3]-orientation[1]*dR[2][0]+orientation[0]*dR[2][1]+dual[2]*dR[2][3]); - r.dual[0]=(real)2.*(orientation[3]*dR[0][3]+orientation[2]*dR[1][3]-orientation[1]*dR[2][3]); - r.dual[1]=(real)2.*(-orientation[2]*dR[0][3]+orientation[3]*dR[1][3]+orientation[0]*dR[2][3]); - r.dual[2]=(real)2.*(orientation[1]*dR[0][3]-orientation[0]*dR[1][3]+orientation[3]*dR[2][3]); - r.dual[3]=(real)2.*(-orientation[0]*dR[0][3]-orientation[1]*dR[1][3]-orientation[2]*dR[2][3]); + r.orientation[0]=(real)2.*(orientation[1]*dR(0,1)+orientation[2]*dR(0,2)-dual[3]*dR(0,3)+orientation[1]*dR(1,0)-2*orientation[0]*dR(1,1)-orientation[3]*dR(1,2)-dual[2]*dR(1,3)+orientation[2]*dR(2,0)+orientation[3]*dR(2,1)-2*orientation[0]*dR(2,2)+dual[1]*dR(2,3)); + r.orientation[1]=(real)2.*(-2*orientation[1]*dR(0,0)+orientation[0]*dR(0,1)+orientation[3]*dR(0,2)+dual[2]*dR(0,3)+orientation[0]*dR(1,0)+orientation[2]*dR(1,2)-dual[3]*dR(1,3)-orientation[3]*dR(2,0)+orientation[2]*dR(2,1)-2*orientation[1]*dR(2,2)-dual[0]*dR(2,3)); + r.orientation[2]=(real)2.*(-2*orientation[2]*dR(0,0)-orientation[3]*dR(0,1)+orientation[0]*dR(0,2)-dual[1]*dR(0,3)+orientation[3]*dR(1,0)-2*orientation[2]*dR(1,1)+orientation[1]*dR(1,2)+dual[0]*dR(1,3)+orientation[0]*dR(2,0)+orientation[1]*dR(2,1)-dual[3]*dR(2,3)); + r.orientation[3]=(real)2.*(-orientation[2]*dR(0,1)+orientation[1]*dR(0,2)+dual[0]*dR(0,3)+orientation[2]*dR(1,0)-orientation[0]*dR(1,2)+dual[1]*dR(1,3)-orientation[1]*dR(2,0)+orientation[0]*dR(2,1)+dual[2]*dR(2,3)); + r.dual[0]=(real)2.*(orientation[3]*dR(0,3)+orientation[2]*dR(1,3)-orientation[1]*dR(2,3)); + r.dual[1]=(real)2.*(-orientation[2]*dR(0,3)+orientation[3]*dR(1,3)+orientation[0]*dR(2,3)); + r.dual[2]=(real)2.*(orientation[1]*dR(0,3)-orientation[0]*dR(1,3)+orientation[3]*dR(2,3)); + r.dual[3]=(real)2.*(-orientation[0]*dR(0,3)-orientation[1]*dR(1,3)-orientation[2]*dR(2,3)); return r; } // get quaternion change: dq = H^T(q) dR @@ -446,10 +446,10 @@ template DualQuatCoord3 DualQuatCoord3::rotation_applyHT( const type::Mat<3,3,real>& dR ) { DualQuatCoord3 r; - r.orientation[0]=(real)2.*(orientation[1]*dR[0][1]+orientation[2]*dR[0][2]+orientation[1]*dR[1][0]-2*orientation[0]*dR[1][1]-orientation[3]*dR[1][2]+orientation[2]*dR[2][0]+orientation[3]*dR[2][1]-2*orientation[0]*dR[2][2]); - r.orientation[1]=(real)2.*(-2*orientation[1]*dR[0][0]+orientation[0]*dR[0][1]+orientation[3]*dR[0][2]+orientation[0]*dR[1][0]+orientation[2]*dR[1][2]-orientation[3]*dR[2][0]+orientation[2]*dR[2][1]-2*orientation[1]*dR[2][2]); - r.orientation[2]=(real)2.*(-2*orientation[2]*dR[0][0]-orientation[3]*dR[0][1]+orientation[0]*dR[0][2]+orientation[3]*dR[1][0]-2*orientation[2]*dR[1][1]+orientation[1]*dR[1][2]+orientation[0]*dR[2][0]+orientation[1]*dR[2][1]); - r.orientation[3]=(real)2.*(-orientation[2]*dR[0][1]+orientation[1]*dR[0][2]+orientation[2]*dR[1][0]-orientation[0]*dR[1][2]-orientation[1]*dR[2][0]+orientation[0]*dR[2][1]); + r.orientation[0]=(real)2.*(orientation[1]*dR(0,1)+orientation[2]*dR(0,2)+orientation[1]*dR(1,0)-2*orientation[0]*dR(1,1)-orientation[3]*dR(1,2)+orientation[2]*dR(2,0)+orientation[3]*dR(2,1)-2*orientation[0]*dR(2,2)); + r.orientation[1]=(real)2.*(-2*orientation[1]*dR(0,0)+orientation[0]*dR(0,1)+orientation[3]*dR(0,2)+orientation[0]*dR(1,0)+orientation[2]*dR(1,2)-orientation[3]*dR(2,0)+orientation[2]*dR(2,1)-2*orientation[1]*dR(2,2)); + r.orientation[2]=(real)2.*(-2*orientation[2]*dR(0,0)-orientation[3]*dR(0,1)+orientation[0]*dR(0,2)+orientation[3]*dR(1,0)-2*orientation[2]*dR(1,1)+orientation[1]*dR(1,2)+orientation[0]*dR(2,0)+orientation[1]*dR(2,1)); + r.orientation[3]=(real)2.*(-orientation[2]*dR(0,1)+orientation[1]*dR(0,2)+orientation[2]*dR(1,0)-orientation[0]*dR(1,2)-orientation[1]*dR(2,0)+orientation[0]*dR(2,1)); r.dual[0]=r.dual[1]=r.dual[2]=r.dual[3]=(real)0.; return r; } @@ -460,12 +460,12 @@ type::Mat<3,8,real> DualQuatCoord3::pointToParent_applyH( const DualQuatCo { type::Mat<3,8,real> dJ; dJ.fill(0); - dJ[0][0] = (real)2.*(- dq.dual[3] + dq.orientation[0]*p[0] + dq.orientation[1]*p[1] + dq.orientation[2]*p[2]); dJ[0][1] = (real)2.*(dq.dual[2] - dq.orientation[1]*p[0] + dq.orientation[0]*p[1] + dq.orientation[3]*p[2]); dJ[0][2] = (real)2.*(- dq.dual[1] - dq.orientation[2]*p[0] - dq.orientation[3]*p[1] + dq.orientation[0]*p[2]); dJ[0][3] = (real)2.*( dq.dual[0] + dq.orientation[3]*p[0] - dq.orientation[2]*p[1] + dq.orientation[1]*p[2]); - dJ[1][0] = -dJ[0][1]; dJ[1][1] = dJ[0][0]; dJ[1][2] = dJ[0][3]; dJ[1][3] = -dJ[0][2]; - dJ[2][0] = -dJ[0][2]; dJ[2][1] = -dJ[0][3]; dJ[2][2] = dJ[0][0]; dJ[2][3] = dJ[0][1]; - dJ[0][4] = (real)2.*dq.orientation[3]; dJ[0][5] = -(real)2.*dq.orientation[2]; dJ[0][6] = (real)2.*dq.orientation[1]; dJ[0][7] = -(real)2.*dq.orientation[0]; - dJ[1][4] = -dJ[0][5]; dJ[1][5] = dJ[0][4]; dJ[1][6] = dJ[0][7]; dJ[1][7] = -dJ[0][6]; - dJ[2][4] = -dJ[0][6]; dJ[2][5] = -dJ[0][7]; dJ[2][6] = dJ[0][4]; dJ[2][7] = dJ[0][5]; + dJ(0,0) = (real)2.*(- dq.dual[3] + dq.orientation[0]*p[0] + dq.orientation[1]*p[1] + dq.orientation[2]*p[2]); dJ(0,1) = (real)2.*(dq.dual[2] - dq.orientation[1]*p[0] + dq.orientation[0]*p[1] + dq.orientation[3]*p[2]); dJ(0,2) = (real)2.*(- dq.dual[1] - dq.orientation[2]*p[0] - dq.orientation[3]*p[1] + dq.orientation[0]*p[2]); dJ(0,3) = (real)2.*( dq.dual[0] + dq.orientation[3]*p[0] - dq.orientation[2]*p[1] + dq.orientation[1]*p[2]); + dJ(1,0) = -dJ(0,1); dJ(1,1) = dJ(0,0); dJ(1,2) = dJ(0,3); dJ(1,3) = -dJ(0,2); + dJ(2,0) = -dJ(0,2); dJ(2,1) = -dJ(0,3); dJ(2,2) = dJ(0,0); dJ(2,3) = dJ(0,1); + dJ(0,4) = (real)2.*dq.orientation[3]; dJ(0,5) = -(real)2.*dq.orientation[2]; dJ(0,6) = (real)2.*dq.orientation[1]; dJ(0,7) = -(real)2.*dq.orientation[0]; + dJ(1,4) = -dJ(0,5); dJ(1,5) = dJ(0,4); dJ(1,6) = dJ(0,7); dJ(1,7) = -dJ(0,6); + dJ(2,4) = -dJ(0,6); dJ(2,5) = -dJ(0,7); dJ(2,6) = dJ(0,4); dJ(2,7) = dJ(0,5); return dJ; } @@ -474,14 +474,14 @@ template DualQuatCoord3 DualQuatCoord3::pointToParent_applyHT( const type::Mat<3,8,real>& dJ ,const type::Vec<3,real>& p) { DualQuatCoord3 r; - r.orientation[0]=(real)2.*(p[0]*dJ[0][0]+p[1]*dJ[0][1]+p[2]*dJ[0][2]-dJ[0][7]-p[1]*dJ[1][0]+p[0]*dJ[1][1]-p[2]*dJ[1][3]-dJ[1][6]-p[2]*dJ[2][0]+p[0]*dJ[2][2]+p[1]*dJ[2][3]+dJ[2][5]); - r.orientation[1]=(real)2.*(p[1]*dJ[0][0]-p[0]*dJ[0][1]+p[2]*dJ[0][3]+dJ[0][6]+p[0]*dJ[1][0]+p[1]*dJ[1][1]+p[2]*dJ[1][2]-dJ[1][7]-p[2]*dJ[2][1]+p[1]*dJ[2][2]-p[0]*dJ[2][3]-dJ[2][4]); - r.orientation[2]=(real)2.*(p[2]*dJ[0][0]-p[0]*dJ[0][2]-p[1]*dJ[0][3]-dJ[0][5]+p[2]*dJ[1][1]-p[1]*dJ[1][2]+p[0]*dJ[1][3]+dJ[1][4]+p[0]*dJ[2][0]+p[1]*dJ[2][1]+p[2]*dJ[2][2]-dJ[2][7]); - r.orientation[3]=(real)2.*(p[2]*dJ[0][1]-p[1]*dJ[0][2]+p[0]*dJ[0][3]+dJ[0][4]-p[2]*dJ[1][0]+p[0]*dJ[1][2]+p[1]*dJ[1][3]+dJ[1][5]+p[1]*dJ[2][0]-p[0]*dJ[2][1]+p[2]*dJ[2][3]+dJ[2][6]); - r.dual[0]=(real)2.*(dJ[0][3]+dJ[1][2]-dJ[2][1]); - r.dual[1]=(real)2.*(-dJ[0][2]+dJ[1][3]+dJ[2][0]); - r.dual[2]=(real)2.*(dJ[0][1]-dJ[1][0]+dJ[2][3]); - r.dual[3]=(real)2.*(-dJ[0][0]-dJ[1][1]-dJ[2][2]); + r.orientation[0]=(real)2.*(p[0]*dJ(0,0)+p[1]*dJ(0,1)+p[2]*dJ(0,2)-dJ(0,7)-p[1]*dJ(1,0)+p[0]*dJ(1,1)-p[2]*dJ(1,3)-dJ(1,6)-p[2]*dJ(2,0)+p[0]*dJ(2,2)+p[1]*dJ(2,3)+dJ(2,5)); + r.orientation[1]=(real)2.*(p[1]*dJ(0,0)-p[0]*dJ(0,1)+p[2]*dJ(0,3)+dJ(0,6)+p[0]*dJ(1,0)+p[1]*dJ(1,1)+p[2]*dJ(1,2)-dJ(1,7)-p[2]*dJ(2,1)+p[1]*dJ(2,2)-p[0]*dJ(2,3)-dJ(2,4)); + r.orientation[2]=(real)2.*(p[2]*dJ(0,0)-p[0]*dJ(0,2)-p[1]*dJ(0,3)-dJ(0,5)+p[2]*dJ(1,1)-p[1]*dJ(1,2)+p[0]*dJ(1,3)+dJ(1,4)+p[0]*dJ(2,0)+p[1]*dJ(2,1)+p[2]*dJ(2,2)-dJ(2,7)); + r.orientation[3]=(real)2.*(p[2]*dJ(0,1)-p[1]*dJ(0,2)+p[0]*dJ(0,3)+dJ(0,4)-p[2]*dJ(1,0)+p[0]*dJ(1,2)+p[1]*dJ(1,3)+dJ(1,5)+p[1]*dJ(2,0)-p[0]*dJ(2,1)+p[2]*dJ(2,3)+dJ(2,6)); + r.dual[0]=(real)2.*(dJ(0,3)+dJ(1,2)-dJ(2,1)); + r.dual[1]=(real)2.*(-dJ(0,2)+dJ(1,3)+dJ(2,0)); + r.dual[2]=(real)2.*(dJ(0,1)-dJ(1,0)+dJ(2,3)); + r.dual[3]=(real)2.*(-dJ(0,0)-dJ(1,1)-dJ(2,2)); return r; } diff --git a/Sofa/framework/Type/src/sofa/type/Frame.cpp b/Sofa/framework/Type/src/sofa/type/Frame.cpp index 1074ecc296d..9f42d8d964a 100644 --- a/Sofa/framework/Type/src/sofa/type/Frame.cpp +++ b/Sofa/framework/Type/src/sofa/type/Frame.cpp @@ -88,9 +88,9 @@ void Frame::setTransform( const Vec3& origin, const Frame::Quat& orientation, co orientation.toMatrix(basis_); for( int i=0; i<3; i++ ) { - basis_[i][0] *= scale[0]; - basis_[i][1] *= scale[1]; - basis_[i][2] *= scale[2]; + basis_(i,0) *= scale[0]; + basis_(i,1) *= scale[1]; + basis_(i,2) *= scale[2]; } } @@ -121,17 +121,17 @@ Frame Frame::mult( const Frame& c ) const /// Write the OpenGL transformation matrix void Frame::writeOpenGlMatrix( float *m ) const { - m[0] = (float) basis_[0][0]; - m[1] = (float) basis_[1][0]; - m[2] = (float) basis_[2][0]; + m[0] = (float) basis_(0,0); + m[1] = (float) basis_(1,0); + m[2] = (float) basis_(2,0); m[3] = (float) 0; - m[4] = (float) basis_[0][1]; - m[5] = (float) basis_[1][1]; - m[6] = (float) basis_[2][1]; + m[4] = (float) basis_(0,1); + m[5] = (float) basis_(1,1); + m[6] = (float) basis_(2,1); m[7] = (float) 0; - m[8] = (float) basis_[0][2]; - m[9] = (float) basis_[1][2]; - m[10] = (float) basis_[2][2]; + m[8] = (float) basis_(0,2); + m[9] = (float) basis_(1,2); + m[10] = (float) basis_(2,2); m[11] = (float) 0; m[12] = (float) origin_[0]; m[13] = (float) origin_[1]; @@ -142,17 +142,17 @@ void Frame::writeOpenGlMatrix( float *m ) const /// Write the OpenGL transformation matrix void Frame::writeOpenGlMatrix( double *m ) const { - m[0] = basis_[0][0]; - m[1] = basis_[1][0]; - m[2] = basis_[2][0]; + m[0] = basis_(0,0); + m[1] = basis_(1,0); + m[2] = basis_(2,0); m[3] = 0; - m[4] = basis_[0][1]; - m[5] = basis_[1][1]; - m[6] = basis_[2][1]; + m[4] = basis_(0,1); + m[5] = basis_(1,1); + m[6] = basis_(2,1); m[7] = 0; - m[8] = basis_[0][2]; - m[9] = basis_[1][2]; - m[10] = basis_[2][2]; + m[8] = basis_(0,2); + m[9] = basis_(1,2); + m[10] = basis_(2,2); m[11] = 0; m[12] = origin_[0]; m[13] = origin_[1]; @@ -176,7 +176,7 @@ std::ostream& operator << (std::ostream& out, const sofa::type::Frame& c ) for( int i=0; i<3; i++ ) { for( int j=0; j<3; j++ ) - out< +#include -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.12", "v24.12") +namespace sofa::type +{ + +template class SOFA_TYPE_API Mat<2,2,float>; +template class SOFA_TYPE_API Mat<2,2,double>; + +template class SOFA_TYPE_API Mat<3,3,float>; +template class SOFA_TYPE_API Mat<3,3,double>; + +template class SOFA_TYPE_API Mat<4,4,float>; +template class SOFA_TYPE_API Mat<4,4,double>; + +template class SOFA_TYPE_API Mat<6,6,float>; +template class SOFA_TYPE_API Mat<6,6,double>; + +template class SOFA_TYPE_API Mat<12,12,float>; +template class SOFA_TYPE_API Mat<12,12,double>; + + +} // namespace sofa::type diff --git a/Sofa/framework/Type/src/sofa/type/Mat.h b/Sofa/framework/Type/src/sofa/type/Mat.h index 9857a8c9370..3e3b55da2a9 100644 --- a/Sofa/framework/Type/src/sofa/type/Mat.h +++ b/Sofa/framework/Type/src/sofa/type/Mat.h @@ -28,6 +28,7 @@ #include #include +#include namespace // anonymous { @@ -110,7 +111,7 @@ class Mat sofa::Size colId {}; for (auto scalar : scalars) { - this->elems[0][colId++] = scalar; + (*this)(0,colId++) = scalar; } } else @@ -119,7 +120,7 @@ class Mat sofa::Size rowId {}; for (auto scalar : scalars) { - this->elems[rowId++][0] = scalar; + (*this)(rowId++,0) = scalar; } } } @@ -139,7 +140,7 @@ class Mat sofa::Size colId {}; for (auto scalar : row) { - this->elems[rowId][colId++] = scalar; + (*this)(rowId,colId++) = scalar; } ++rowId; } @@ -158,7 +159,7 @@ class Mat { for( Size i=0; ielems[i][j] = v; + (*this)(i,j) = v; } /// Constructor from another matrix @@ -178,21 +179,30 @@ class Mat for( Size l=0 ; lelems[l][c] = static_cast(m[l][c]); + this->elems(l,c) = static_cast(m(l,c)); for( Size c= minC; celems[l][c] = 0; + this->elems(l,c) = 0; } for( Size l= minL; lelems[l][c] = 0; + this->elems(l,c) = 0; } /// Constructor from an array of elements (stored per line). template explicit constexpr Mat(const real2* p) noexcept { - std::copy(p, p+N, this->begin()->begin()); + if constexpr (sizeof(real2) == sizeof(real)) + { + std::copy_n(p, N, this->ptr()); + } + else + { + for (Size l = 0; l < L; ++l) + for (Size c = 0; c < C; ++c) + (*this)(l,c) = static_cast(p[l*C + c]); + } } /// number of lines @@ -211,7 +221,7 @@ class Mat /// Assignment from an array of elements (stored per line). constexpr void operator=(const real* p) noexcept { - std::copy(p, p+N, this->begin()->begin()); + std::copy_n(p, N, this->ptr()); } /// Assignment from another matrix @@ -233,7 +243,7 @@ class Mat { for (Size i=0; ielems[i+L0][j+C0]; + m(i,j) = (*this)(i+L0,j+C0); } template @@ -241,13 +251,13 @@ class Mat { for (Size j = 0; j < C2; j++) { - m[j] = this->elems[L0][j + C0]; + m[j] = (*this)(L0,j + C0); } } constexpr void getsub(Size L0, Size C0, real& m) const noexcept { - m = this->elems[L0][C0]; + m = (*this)(L0,C0); } template @@ -255,7 +265,7 @@ class Mat { for (Size i=0; ielems[i+L0][j+C0] = m[i][j]; + (*this)(i+L0,j+C0) = m(i,j); } template @@ -264,7 +274,7 @@ class Mat assert( C0elems[i+L0][C0] = v[i]; + (*this)(i+L0,C0) = v[i]; } @@ -293,10 +303,25 @@ class Mat { Col c; for (Size i=0; ielems[i][j]; + c[i]=(*this)(i,j); return c; } +//#ifndef SOFA_BUILD_SOFA_TYPE +// /// Write access to line i. +// constexpr LineNoInit& operator[](Size i) noexcept +// { +// static_assert(false); +// return this->elems[i]; +// } +// +// /// Read-only access to line i. +// constexpr const LineNoInit& operator[](Size i) const noexcept +// { +// static_assert(false); +// return this->elems[i]; +// } +//#else /// Write access to line i. constexpr LineNoInit& operator[](Size i) noexcept { @@ -308,6 +333,7 @@ class Mat { return this->elems[i]; } +//#endif /// Write access to line i. constexpr LineNoInit& operator()(Size i) noexcept @@ -336,13 +362,13 @@ class Mat /// Cast into a standard C array of lines (read-only). constexpr const Line* lptr() const noexcept { - return this->elems; + return this->elems.data(); } /// Cast into a standard C array of lines. constexpr Line* lptr() noexcept { - return this->elems; + return this->elems.data(); } /// Cast into a standard C array of elements (stored per line) (read-only). @@ -384,7 +410,7 @@ class Mat constexpr const Line& w() const noexcept { return this->elems[3]; } template> - constexpr real toReal() const { return this->elems[0][0]; } + constexpr real toReal() const { return (*this)(0,0); } template> constexpr operator real() const { return toReal(); } @@ -440,7 +466,7 @@ class Mat { for (Size i=0; ielems[i][j]=m[j][i]; + this->elems[i][j]=m(j,i); } } @@ -450,7 +476,7 @@ class Mat Mat m(NOINIT); for (Size i=0; ielems[i][j]; + m(j,i)=(*this)(i,j); return m; } @@ -462,7 +488,7 @@ class Mat { for (Size j=i+1; jelems[i][j], this->elems[j][i]); + std::swap((*this)(i,j), (*this)(j,i)); } } } @@ -473,14 +499,14 @@ class Mat constexpr bool operator==(const Mat& b) const noexcept { for (Size i=0; ielems[i] != b[i]) return false; + if ((*this)(i) != b(i)) return false; return true; } constexpr bool operator!=(const Mat& b) const noexcept { for (Size i=0; ielems[i]!=b[i]) return true; + if ((*this)(i) != b(i)) return true; return false; } @@ -491,7 +517,7 @@ class Mat { for (Size i=0; ielems[i][j] - this->elems[j][i] ) > EQUALITY_THRESHOLD ) return false; + if( rabs( (*this)(i,j) - (*this)(j,i) ) > EQUALITY_THRESHOLD ) return false; return true; } else @@ -505,9 +531,9 @@ class Mat for (Size i=0; ielems[i][j] ) > EQUALITY_THRESHOLD ) return false; + if( rabs( (*this)(i,j) ) > EQUALITY_THRESHOLD ) return false; for (Size j=i+1; jelems[i][j] ) > EQUALITY_THRESHOLD ) return false; + if( rabs( (*this)(i,j) ) > EQUALITY_THRESHOLD ) return false; } return true; } @@ -522,7 +548,7 @@ class Mat { Mat r(NOINIT); for(Size i = 0; i < L; i++) - r[i] = (*this)[i] + m[i]; + r(i) = (*this)(i) + m(i); return r; } @@ -531,7 +557,7 @@ class Mat { Mat r(NOINIT); for(Size i = 0; i < L; i++) - r[i] = (*this)[i] - m[i]; + r(i) = (*this)(i) - m(i); return r; } @@ -540,7 +566,7 @@ class Mat { Mat r(NOINIT); for(Size i = 0; i < L; i++) - r[i] = -(*this)[i]; + r(i) = -(*this)(i); return r; } @@ -550,9 +576,9 @@ class Mat Col r(NOINIT); for(Size i=0; i r(NOINIT); for(Size i=0; i r(NOINIT); for(Size i=0; i r(NOINIT); for(Size i=0; i r(NOINIT); for(Size i=0; i r(NOINIT); for(Size i=0; i& m) noexcept { for(Size i=0; ielems[i]+=m[i]; + (*this)(i)+=m(i); } /// Addition of the transposed of m @@ -679,7 +705,7 @@ class Mat { for(Size i=0; i& m) noexcept { for(Size i=0; ielems[i]-=m[i]; + (*this)(i)-=m(i); } @@ -731,7 +757,7 @@ class Mat Mat m; m.identity(); for (Size i=0; i m; m.identity(); for (Size i=0; i m; m.identity(); for (Size i=0; i r(NOINIT); for(Size i=0; ielems[l][c] = this->elems[c][l] = ( this->elems[l][c] + this->elems[c][l] ) * 0.5f; + (*this)(l,c) = (*this)(c,l) = ( (*this)(l,c) + (*this)(c,l) ) * 0.5f; } // direct access to data constexpr const real* data() const noexcept { - return elems.data(); + return elems.data()->data(); } constexpr typename ArrayLineType::iterator begin() noexcept @@ -853,11 +879,11 @@ class Mat } constexpr reference back() { - return elems[N - 1]; + return elems[L - 1]; } constexpr const_reference back() const { - return elems[N - 1]; + return elems[L - 1]; } }; @@ -955,9 +981,9 @@ real infNorm(const Mat<3,3,real>& A) template constexpr real trace(const Mat& m) noexcept { - real t = m[0][0]; + real t = m(0,0); for(sofa::Size i=1 ; i diagonal(const Mat& m) { Vec v(NOINIT); for(sofa::Size i=0 ; i { if (col[j]) continue; - real t = m1[i][j]; if (t<0) t=-t; + real t = m1(i,j); if (t<0) t=-t; if ( t > pivot) { pivot = t; @@ -1010,20 +1036,20 @@ template } row[r[k]] = col[c[k]] = 1; - pivot = m1[r[k]][c[k]]; + pivot = m1(r[k], c[k]); // Normalization - m1[r[k]] /= pivot; m1[r[k]][c[k]] = 1; - m2[r[k]] /= pivot; + m1(r[k]) /= pivot; m1(r[k], c[k]) = 1; + m2(r[k]) /= pivot; // Reduction for (i = 0; i < S; i++) { if (i != r[k]) { - real f = m1[i][c[k]]; - m1[i] -= m1[r[k]]*f; m1[i][c[k]] = 0; - m2[i] -= m2[r[k]]*f; + real f = m1(i, c[k]); + m1(i) -= m1(r[k])*f; m1(i, c[k]) = 0; + m2(i) -= m2(r[k])*f; } } } @@ -1031,10 +1057,10 @@ template for (i = 0; i < S; i++) for (j = 0; j < S; j++) if (c[j] == i) - row[i] = r[j]; + row(i) = r(j); for ( i = 0; i < S; i++ ) - dest[i] = m2[row[i]]; + dest(i) = m2(row[i]); return true; } @@ -1086,12 +1112,12 @@ template template [[nodiscard]] constexpr bool invertMatrix(Mat<1,1,real>& dest, const Mat<1,1,real>& from) { - if (equalsZero(from[0][0])) + if (equalsZero(from(0,0))) { return false; } - dest[0][0] = static_cast(1.) / from[0][0]; + dest(0,0) = static_cast(1.) / from(0,0); return true; } @@ -1119,9 +1145,9 @@ template template std::ostream& operator<<(std::ostream& o, const Mat& m) { - o << '[' << m[0]; + o << '[' << m(0); for (sofa::Size i=1; i>(std::istream& in, Mat& m) if( c=='[' ) break; c = in.peek(); } - in >> m[0]; + in >> m(0); for (sofa::Size i=1; i>(std::istream& in, Mat& m) in.get(); c = in.peek(); } - in >> m[i]; + in >> m(i); } if(in.eof()) return in; c = in.peek(); @@ -1170,7 +1196,7 @@ void printMatlab(std::ostream& o, const Mat& m) { for(sofa::Size c=0; c& m) { for(sofa::Size c=0; c constexpr Mat<3, 3, Real> crossProductMatrix(const Vec<3, Real>& v) noexcept { type::Mat<3, 3, Real> res(NOINIT); - res[0][0]=0; - res[0][1]=-v[2]; - res[0][2]=v[1]; - res[1][0]=v[2]; - res[1][1]=0; - res[1][2]=-v[0]; - res[2][0]=-v[1]; - res[2][1]=v[0]; - res[2][2]=0; + res(0,0)=0; + res(0,1)=-v[2]; + res(0,2)=v[1]; + res(1,0)=v[2]; + res(1,1)=0; + res(1,2)=-v[0]; + res(2,0)=-v[1]; + res(2,1)=v[0]; + res(2,2)=0; return res; } @@ -1254,7 +1280,7 @@ constexpr Mat tensorProduct(const Vec& a, const Vec& b for( typename Mat::Size i=0 ; i operator*(const Mat& m1, const Mat& { for (Size j = 0; j operator*(const Mat<3,3,real>& m1, const Mat<3,3,real>& { Mat<3,3,real> r(NOINIT); - const auto A00 = m1[0][0]; - const auto A01 = m1[0][1]; - const auto A02 = m1[0][2]; - const auto A10 = m1[1][0]; - const auto A11 = m1[1][1]; - const auto A12 = m1[1][2]; - const auto A20 = m1[2][0]; - const auto A21 = m1[2][1]; - const auto A22 = m1[2][2]; - - const auto B00 = m2[0][0]; - const auto B01 = m2[0][1]; - const auto B02 = m2[0][2]; - const auto B10 = m2[1][0]; - const auto B11 = m2[1][1]; - const auto B12 = m2[1][2]; - const auto B20 = m2[2][0]; - const auto B21 = m2[2][1]; - const auto B22 = m2[2][2]; - - r[0][0] = A00 * B00 + A01 * B10 + A02 * B20; - r[0][1] = A00 * B01 + A01 * B11 + A02 * B21; - r[0][2] = A00 * B02 + A01 * B12 + A02 * B22; - - r[1][0] = A10 * B00 + A11 * B10 + A12 * B20; - r[1][1] = A10 * B01 + A11 * B11 + A12 * B21; - r[1][2] = A10 * B02 + A11 * B12 + A12 * B22; - - r[2][0] = A20 * B00 + A21 * B10 + A22 * B20; - r[2][1] = A20 * B01 + A21 * B11 + A22 * B21; - r[2][2] = A20 * B02 + A21 * B12 + A22 * B22; + const auto A00 = m1(0,0); + const auto A01 = m1(0,1); + const auto A02 = m1(0,2); + const auto A10 = m1(1,0); + const auto A11 = m1(1,1); + const auto A12 = m1(1,2); + const auto A20 = m1(2,0); + const auto A21 = m1(2,1); + const auto A22 = m1(2,2); + + const auto B00 = m2(0,0); + const auto B01 = m2(0,1); + const auto B02 = m2(0,2); + const auto B10 = m2(1,0); + const auto B11 = m2(1,1); + const auto B12 = m2(1,2); + const auto B20 = m2(2,0); + const auto B21 = m2(2,1); + const auto B22 = m2(2,2); + + r(0,0) = A00 * B00 + A01 * B10 + A02 * B20; + r(0,1) = A00 * B01 + A01 * B11 + A02 * B21; + r(0,2) = A00 * B02 + A01 * B12 + A02 * B22; + + r(1,0) = A10 * B00 + A11 * B10 + A12 * B20; + r(1,1) = A10 * B01 + A11 * B11 + A12 * B21; + r(1,2) = A10 * B02 + A11 * B12 + A12 * B22; + + r(2,0) = A20 * B00 + A21 * B10 + A22 * B20; + r(2,1) = A20 * B01 + A21 * B11 + A22 * B21; + r(2,2) = A20 * B02 + A21 * B12 + A22 * B22; return r; } @@ -1325,10 +1351,10 @@ constexpr Mat multTranspose(const Mat& m1, const Mat multTranspose(const Mat<3,3,real>& m1, const Mat<3,3,rea { Mat<3,3,real> r(NOINIT); - const auto A00 = m1[0][0]; - const auto A01 = m1[0][1]; - const auto A02 = m1[0][2]; - const auto A10 = m1[1][0]; - const auto A11 = m1[1][1]; - const auto A12 = m1[1][2]; - const auto A20 = m1[2][0]; - const auto A21 = m1[2][1]; - const auto A22 = m1[2][2]; - - const auto B00 = m2[0][0]; - const auto B01 = m2[0][1]; - const auto B02 = m2[0][2]; - const auto B10 = m2[1][0]; - const auto B11 = m2[1][1]; - const auto B12 = m2[1][2]; - const auto B20 = m2[2][0]; - const auto B21 = m2[2][1]; - const auto B22 = m2[2][2]; - - r[0][0] = A00 * B00 + A10 * B10 + A20 * B20; - r[0][1] = A00 * B01 + A10 * B11 + A20 * B21; - r[0][2] = A00 * B02 + A10 * B12 + A20 * B22; - - r[1][0] = A01 * B00 + A11 * B10 + A21 * B20; - r[1][1] = A01 * B01 + A11 * B11 + A21 * B21; - r[1][2] = A01 * B02 + A11 * B12 + A21 * B22; - - r[2][0] = A02 * B00 + A12 * B10 + A22 * B20; - r[2][1] = A02 * B01 + A12 * B11 + A22 * B21; - r[2][2] = A02 * B02 + A12 * B12 + A22 * B22; + const auto A00 = m1(0,0); + const auto A01 = m1(0,1); + const auto A02 = m1(0,2); + const auto A10 = m1(1,0); + const auto A11 = m1(1,1); + const auto A12 = m1(1,2); + const auto A20 = m1(2,0); + const auto A21 = m1(2,1); + const auto A22 = m1(2,2); + + const auto B00 = m2(0,0); + const auto B01 = m2(0,1); + const auto B02 = m2(0,2); + const auto B10 = m2(1,0); + const auto B11 = m2(1,1); + const auto B12 = m2(1,2); + const auto B20 = m2(2,0); + const auto B21 = m2(2,1); + const auto B22 = m2(2,2); + + r(0,0) = A00 * B00 + A10 * B10 + A20 * B20; + r(0,1) = A00 * B01 + A10 * B11 + A20 * B21; + r(0,2) = A00 * B02 + A10 * B12 + A20 * B22; + + r(1,0) = A01 * B00 + A11 * B10 + A21 * B20; + r(1,1) = A01 * B01 + A11 * B11 + A21 * B21; + r(1,2) = A01 * B02 + A11 * B12 + A21 * B22; + + r(2,0) = A02 * B00 + A12 * B10 + A22 * B20; + r(2,1) = A02 * B01 + A12 * B11 + A22 * B21; + r(2,2) = A02 * B02 + A12 * B12 + A22 * B22; return r; } +#if not defined(SOFA_TYPE_MAT_CPP) + +extern template class SOFA_TYPE_API Mat<2,2,float>; +extern template class SOFA_TYPE_API Mat<2,2,double>; + +extern template class SOFA_TYPE_API Mat<3,3,float>; +extern template class SOFA_TYPE_API Mat<3,3,double>; + +extern template class SOFA_TYPE_API Mat<4,4,float>; +extern template class SOFA_TYPE_API Mat<4,4,double>; + +extern template class SOFA_TYPE_API Mat<6,6,float>; +extern template class SOFA_TYPE_API Mat<6,6,double>; + +extern template class SOFA_TYPE_API Mat<12,12,float>; +extern template class SOFA_TYPE_API Mat<12,12,double>; + +#endif + } // namespace sofa::type diff --git a/Sofa/framework/Type/src/sofa/type/MatSym.h b/Sofa/framework/Type/src/sofa/type/MatSym.h index 5de7389e6d1..c30cb9344c6 100644 --- a/Sofa/framework/Type/src/sofa/type/MatSym.h +++ b/Sofa/framework/Type/src/sofa/type/MatSym.h @@ -220,10 +220,10 @@ class MatSym : public VecNoInit { for (sofa::Size j = 0; j < D; j++) { - r[i][j] = (*this)(i, 0) * m(0, j); + r(i,j) = (*this)(i, 0) * m(0, j); for (sofa::Size k = 1; k < D; k++) { - r[i][j] += (*this)(i, k) * m(k, j); + r(i,j) += (*this)(i, k) * m(k, j); } } } @@ -244,10 +244,10 @@ class MatSym : public VecNoInit { for (sofa::Size j = 0; j < D; j++) { - r[i][j] = (*this)(i, 0) * m[0][j]; + r(i,j) = (*this)(i, 0) * m(0,j); for (sofa::Size k = 1; k < D; k++) { - r[i][j] += (*this)(i, k) * m[k][j]; + r(i,j) += (*this)(i, k) * m(k,j); } } } @@ -268,10 +268,10 @@ class MatSym : public VecNoInit { for (sofa::Size j = 0; j < D; j++) { - r[i][j] = m(i, 0) * (*this)(0, j); + r(i,j) = m(i, 0) * (*this)(0, j); for (sofa::Size k = 1; k < D; k++) { - r[i][j] += m(i, k) * (*this)(k, j); + r(i,j) += m(i, k) * (*this)(k, j); } } } @@ -298,7 +298,7 @@ class MatSym : public VecNoInit { for (sofa::Size j = 0; j < D; j++) { - r[i][j] = (*this)(i, j) + m[i][j]; + r(i,j) = (*this)(i, j) + m(i,j); } } return r; @@ -323,7 +323,7 @@ class MatSym : public VecNoInit { for (sofa::Size j = 0; j < D; j++) { - r[i][j] = (*this)(i, j) - m[i][j]; + r(i,j) = (*this)(i, j) - m(i,j); } } return r; diff --git a/Sofa/framework/Type/src/sofa/type/Mat_solve_Cholesky.h b/Sofa/framework/Type/src/sofa/type/Mat_solve_Cholesky.h index f1bee7787d1..7db313dd594 100644 --- a/Sofa/framework/Type/src/sofa/type/Mat_solve_Cholesky.h +++ b/Sofa/framework/Type/src/sofa/type/Mat_solve_Cholesky.h @@ -33,23 +33,23 @@ namespace sofa::type template bool cholDcmp(Mat& L, const Mat& M) { - if( M[0][0] <= 0 ) return false; - real d = 1.0 / sqrt(M[0][0]); + if( M(0,0) <= 0 ) return false; + real d = 1.0 / sqrt(M(0,0)); for (Size i=0; i& x, const Mat& L, const Vec& b) for (Size j=0; j& x, const Mat& L, const Vec& b) for (int j=n-1; j>=0; j--) { double temp = 0.0; - double d = 1.0 / L[j][j]; + double d = 1.0 / L(j,j); for (Size i=j+1; i &q, const Mat &M, Vec>(std::istream& in, PrimitiveGroup &g); } // namespace sofa::type diff --git a/Sofa/framework/Type/src/sofa/type/Quat.h b/Sofa/framework/Type/src/sofa/type/Quat.h index 05b534d7e33..f959916976a 100644 --- a/Sofa/framework/Type/src/sofa/type/Quat.h +++ b/Sofa/framework/Type/src/sofa/type/Quat.h @@ -159,42 +159,42 @@ class Quat /// Convert the quaternion into an orientation matrix void toMatrix(Mat3x3 &m) const { - m[0][0] = (1 - 2 * (_q[1] * _q[1] + _q[2] * _q[2])); - m[0][1] = (2 * (_q[0] * _q[1] - _q[2] * _q[3])); - m[0][2] = (2 * (_q[2] * _q[0] + _q[1] * _q[3])); + m(0,0) = (1 - 2 * (_q[1] * _q[1] + _q[2] * _q[2])); + m(0,1) = (2 * (_q[0] * _q[1] - _q[2] * _q[3])); + m(0,2) = (2 * (_q[2] * _q[0] + _q[1] * _q[3])); - m[1][0] = (2 * (_q[0] * _q[1] + _q[2] * _q[3])); - m[1][1] = (1 - 2 * (_q[2] * _q[2] + _q[0] * _q[0])); - m[1][2] = (2 * (_q[1] * _q[2] - _q[0] * _q[3])); + m(1,0) = (2 * (_q[0] * _q[1] + _q[2] * _q[3])); + m(1,1) = (1 - 2 * (_q[2] * _q[2] + _q[0] * _q[0])); + m(1,2) = (2 * (_q[1] * _q[2] - _q[0] * _q[3])); - m[2][0] = (2 * (_q[2] * _q[0] - _q[1] * _q[3])); - m[2][1] = (2 * (_q[1] * _q[2] + _q[0] * _q[3])); - m[2][2] = (1 - 2 * (_q[1] * _q[1] + _q[0] * _q[0])); + m(2,0) = (2 * (_q[2] * _q[0] - _q[1] * _q[3])); + m(2,1) = (2 * (_q[1] * _q[2] + _q[0] * _q[3])); + m(2,2) = (1 - 2 * (_q[1] * _q[1] + _q[0] * _q[0])); } /// Convert the quaternion into an orientation homogeneous matrix /// The homogeneous part is set to 0,0,0,1 constexpr void toHomogeneousMatrix(Mat4x4 &m) const { - m[0][0] = (1 - 2 * (_q[1] * _q[1] + _q[2] * _q[2])); - m[0][1] = (2 * (_q[0] * _q[1] - _q[2] * _q[3])); - m[0][2] = (2 * (_q[2] * _q[0] + _q[1] * _q[3])); - m[0][3] = 0.0; - - m[1][0] = (2 * (_q[0] * _q[1] + _q[2] * _q[3])); - m[1][1] = (1 - 2 * (_q[2] * _q[2] + _q[0] * _q[0])); - m[1][2] = (2 * (_q[1] * _q[2] - _q[0] * _q[3])); - m[1][3] = 0.0; - - m[2][0] = (2 * (_q[2] * _q[0] - _q[1] * _q[3])); - m[2][1] = (2 * (_q[1] * _q[2] + _q[0] * _q[3])); - m[2][2] = (1 - 2 * (_q[1] * _q[1] + _q[0] * _q[0])); - m[2][3] = 0.0; - - m[3][0] = 0.0f; - m[3][1] = 0.0f; - m[3][2] = 0.0f; - m[3][3] = 1.0f; + m(0,0) = (1 - 2 * (_q[1] * _q[1] + _q[2] * _q[2])); + m(0,1) = (2 * (_q[0] * _q[1] - _q[2] * _q[3])); + m(0,2) = (2 * (_q[2] * _q[0] + _q[1] * _q[3])); + m(0,3) = 0.0; + + m(1,0) = (2 * (_q[0] * _q[1] + _q[2] * _q[3])); + m(1,1) = (1 - 2 * (_q[2] * _q[2] + _q[0] * _q[0])); + m(1,2) = (2 * (_q[1] * _q[2] - _q[0] * _q[3])); + m(1,3) = 0.0; + + m(2,0) = (2 * (_q[2] * _q[0] - _q[1] * _q[3])); + m(2,1) = (2 * (_q[1] * _q[2] + _q[0] * _q[3])); + m(2,2) = (1 - 2 * (_q[1] * _q[1] + _q[0] * _q[0])); + m(2,3) = 0.0; + + m(3,0) = 0.0f; + m(3,1) = 0.0f; + m(3,2) = 0.0f; + m(3,3) = 1.0f; } /// Apply the rotation to a given vector diff --git a/Sofa/framework/Type/src/sofa/type/Quat.inl b/Sofa/framework/Type/src/sofa/type/Quat.inl index 21c1cb8a7b0..acb7750dd08 100644 --- a/Sofa/framework/Type/src/sofa/type/Quat.inl +++ b/Sofa/framework/Type/src/sofa/type/Quat.inl @@ -443,9 +443,9 @@ auto Quat::createQuaterFromFrame(const Vec3 &lox, const Vec3 &loy,const Ve for (unsigned int i=0 ; i<3 ; i++) { - m[i][0] = lox[i]; - m[i][1] = loy[i]; - m[i][2] = loz[i]; + m(i,0) = lox[i]; + m(i,1) = loy[i]; + m(i,2) = loz[i]; } q.fromMatrix(m); return q; diff --git a/Sofa/framework/Type/src/sofa/type/SpatialVector.inl b/Sofa/framework/Type/src/sofa/type/SpatialVector.inl index af2a5376cb9..3f0b5afbd22 100644 --- a/Sofa/framework/Type/src/sofa/type/SpatialVector.inl +++ b/Sofa/framework/Type/src/sofa/type/SpatialVector.inl @@ -91,8 +91,8 @@ SpatialVector SpatialVector::operator* (const Mat66& m) const result.freeVec[i] = 0; for (int j = 0; j < 3; j++) { - result.lineVec[i] += lineVec[j] * m[i][j] + freeVec[j] * m[i][j + 3]; - result.freeVec[i] += lineVec[j] * m[i + 3][j] + freeVec[j] * m[i + 3][j + 3]; + result.lineVec[i] += lineVec[j] * m(i,j) + freeVec[j] * m(i,j + 3); + result.freeVec[i] += lineVec[j] * m(i + 3,j) + freeVec[j] * m(i + 3,j + 3); } } return result; diff --git a/Sofa/framework/Type/src/sofa/type/Transform.inl b/Sofa/framework/Type/src/sofa/type/Transform.inl index bee352c9dc2..48e4aeb595e 100644 --- a/Sofa/framework/Type/src/sofa/type/Transform.inl +++ b/Sofa/framework/Type/src/sofa/type/Transform.inl @@ -140,17 +140,17 @@ template auto Transform::getRotationMatrix() const -> Transform::Mat3x3 { Mat3x3 m; - m[0][0] = (1.0f - 2.0f * (orientation_[1] * orientation_[1] + orientation_[2] * orientation_[2])); - m[0][1] = (2.0f * (orientation_[0] * orientation_[1] - orientation_[2] * orientation_[3])); - m[0][2] = (2.0f * (orientation_[2] * orientation_[0] + orientation_[1] * orientation_[3])); + m(0,0) = (1.0f - 2.0f * (orientation_[1] * orientation_[1] + orientation_[2] * orientation_[2])); + m(0,1) = (2.0f * (orientation_[0] * orientation_[1] - orientation_[2] * orientation_[3])); + m(0,2) = (2.0f * (orientation_[2] * orientation_[0] + orientation_[1] * orientation_[3])); - m[1][0] = (2.0f * (orientation_[0] * orientation_[1] + orientation_[2] * orientation_[3])); - m[1][1] = (1.0f - 2.0f * (orientation_[2] * orientation_[2] + orientation_[0] * orientation_[0])); - m[1][2] = (2.0f * (orientation_[1] * orientation_[2] - orientation_[0] * orientation_[3])); + m(1,0) = (2.0f * (orientation_[0] * orientation_[1] + orientation_[2] * orientation_[3])); + m(1,1) = (1.0f - 2.0f * (orientation_[2] * orientation_[2] + orientation_[0] * orientation_[0])); + m(1,2) = (2.0f * (orientation_[1] * orientation_[2] - orientation_[0] * orientation_[3])); - m[2][0] = (2.0f * (orientation_[2] * orientation_[0] - orientation_[1] * orientation_[3])); - m[2][1] = (2.0f * (orientation_[1] * orientation_[2] + orientation_[0] * orientation_[3])); - m[2][2] = (1.0f - 2.0f * (orientation_[1] * orientation_[1] + orientation_[0] * orientation_[0])); + m(2,0) = (2.0f * (orientation_[2] * orientation_[0] - orientation_[1] * orientation_[3])); + m(2,1) = (2.0f * (orientation_[1] * orientation_[2] + orientation_[0] * orientation_[3])); + m(2,2) = (1.0f - 2.0f * (orientation_[1] * orientation_[1] + orientation_[0] * orientation_[0])); return m; } @@ -163,9 +163,9 @@ auto Transform::getAdjointMatrix() const -> Transform::Mat6x6 Rot = this->getRotationMatrix(); // correspond au produit vectoriel v^origin Mat3x3 Origin; - Origin[0][0]=(Real)0.0; Origin[0][1]=origin_[2]; Origin[0][2]=-origin_[1]; - Origin[1][0]=-origin_[2]; Origin[1][1]=(Real)0.0; Origin[1][2]=origin_[0]; - Origin[2][0]=origin_[1]; Origin[2][1]=-origin_[0]; Origin[2][2]=(Real)0.0; + Origin(0,0)=(Real)0.0; Origin(0,1)=origin_[2]; Origin(0,2)=-origin_[1]; + Origin(1,0)=-origin_[2]; Origin(1,1)=(Real)0.0; Origin(1,2)=origin_[0]; + Origin(2,0)=origin_[1]; Origin(2,1)=-origin_[0]; Origin(2,2)=(Real)0.0; Mat3x3 R_Origin = Rot*Origin; @@ -173,10 +173,10 @@ auto Transform::getAdjointMatrix() const -> Transform::Mat6x6 { for(int j=0; j<3; j++) { - Adj[i][j] = Rot[i][j]; - Adj[i+3][j+3] = Rot[i][j]; - Adj[i][j+3] = R_Origin[i][j]; - Adj[i+3][j] = 0.0; + Adj(i,j) = Rot(i,j); + Adj(i+3,j+3) = Rot(i,j); + Adj(i,j+3) = R_Origin(i,j); + Adj(i+3,j) = 0.0; } } diff --git a/Sofa/framework/Type/src/sofa/type/Vec.h b/Sofa/framework/Type/src/sofa/type/Vec.h index de52f284ace..ff04bbcee08 100644 --- a/Sofa/framework/Type/src/sofa/type/Vec.h +++ b/Sofa/framework/Type/src/sofa/type/Vec.h @@ -31,6 +31,7 @@ #include #include #include +#include #define EQUALITY_THRESHOLD 1e-6 @@ -474,7 +475,7 @@ class Vec /// Euclidean norm. ValueType norm() const noexcept { - return ValueType(std::sqrt(norm2())); + return ValueType(sqrt(norm2())); } /// l-norm of the vector @@ -588,16 +589,28 @@ class Vec constexpr bool operator==(const Vec& b) const noexcept { - for (Size i=0; ielems[i] - b[i]) ) > EQUALITY_THRESHOLD ) return false; - return true; + if constexpr (std::is_floating_point_v) + { + return std::equal(this->elems.begin(), this->elems.end(), b.elems.begin(), + [](auto x, auto y) { return std::abs(x - y) < EQUALITY_THRESHOLD; }); + } + else + { + return this->elems == b.elems; + } } constexpr bool operator!=(const Vec& b) const noexcept { - for (Size i=0; ielems[i] - b[i]) ) > EQUALITY_THRESHOLD ) return true; - return false; + if constexpr (std::is_floating_point_v) + { + return !std::equal(this->elems.begin(), this->elems.end(), b.elems.begin(), + [](auto x, auto y) { return std::abs(x - y) < EQUALITY_THRESHOLD; }); + } + else + { + return this->elems != b.elems; + } } diff --git a/Sofa/framework/Type/src/sofa/type/fixed_array.cpp b/Sofa/framework/Type/src/sofa/type/fixed_array.cpp index 0509a72f743..8c55eeafb34 100644 --- a/Sofa/framework/Type/src/sofa/type/fixed_array.cpp +++ b/Sofa/framework/Type/src/sofa/type/fixed_array.cpp @@ -26,23 +26,5 @@ namespace sofa::type { -template class SOFA_TYPE_API fixed_array; -template class SOFA_TYPE_API fixed_array; - -template class SOFA_TYPE_API fixed_array; -template class SOFA_TYPE_API fixed_array; - -template class SOFA_TYPE_API fixed_array; -template class SOFA_TYPE_API fixed_array; - -template class SOFA_TYPE_API fixed_array; -template class SOFA_TYPE_API fixed_array; - -template class SOFA_TYPE_API fixed_array; -template class SOFA_TYPE_API fixed_array; - -template class SOFA_TYPE_API fixed_array; -template class SOFA_TYPE_API fixed_array; - } // namespace sofa::type diff --git a/Sofa/framework/Type/src/sofa/type/fixed_array.h b/Sofa/framework/Type/src/sofa/type/fixed_array.h index 8997c4c8efb..806962da2c3 100644 --- a/Sofa/framework/Type/src/sofa/type/fixed_array.h +++ b/Sofa/framework/Type/src/sofa/type/fixed_array.h @@ -19,282 +19,82 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -/* The following code declares class array, - * an STL container (as wrapper) for arrays of constant size. - * - * See - * http://www.josuttis.com/cppcode - * for details and the latest version. - * - * (C) Copyright Nicolai M. Josuttis 2001. - * Permission to copy, use, modify, sell and distribute this software - * is granted provided this copyright notice appears in all copies. - * This software is provided "as is" without express or implied - * warranty, and with no claim as to its suitability for any purpose. - * - * 16 Mar 2017 - stop printing an extra space at end of <<. - * 17 Jan 2017 - add std::enable_if to replace static_assert (Damien Marchal) - * 29 Jun 2005 - remove boost includes and reverse iterators. (Jeremie Allard) - * 23 Aug 2002 - fix for Non-MSVC compilers combined with MSVC libraries. - * 05 Aug 2001 - minor update (Nico Josuttis) - * 20 Jan 2001 - STLport fix (Beman Dawes) - * 29 Sep 2000 - Initial Revision (Nico Josuttis) - */ - -// See http://www.boost.org/libs/array for Documentation. - -// FF added operator < -// JA added constructors from tuples #pragma once #include -#include -#include -#include -#include -#include #include -#include -#include -#include - +#include +#include namespace sofa::type { -template -class fixed_array -{ -public: - T elems[N]{}; // fixed-size array of elements of type T - - typedef T Array[N]; ///< name the array type - - // type definitions - typedef T value_type; - typedef T* iterator; - typedef const T* const_iterator; - typedef T& reference; - typedef const T& const_reference; - typedef sofa::Size size_type; - typedef std::ptrdiff_t difference_type; - - constexpr fixed_array() {} - - /// Specific constructor for 1-element vectors. - explicit constexpr fixed_array(value_type r1) noexcept - requires (N == 1) - { - elems[0] = r1; - } - - template - constexpr fixed_array(ArgsT&&... r) noexcept - requires ((std::convertible_to && ...) && sizeof...(ArgsT) == N && sizeof...(ArgsT) > 1) - : elems{static_cast(std::forward(r))...} - {} - - // iterator support - constexpr iterator begin() noexcept - { - return elems; - } - constexpr const_iterator begin() const noexcept - { - return elems; - } - constexpr const_iterator cbegin() const noexcept - { - return elems; - } - - constexpr iterator end() noexcept - { - return elems+N; - } - constexpr const_iterator end() const noexcept - { - return elems+N; - } - constexpr const_iterator cend() const noexcept - { - return elems + N; - } - - // operator[] - constexpr reference operator[](size_type i) - { -#ifndef NDEBUG - assert(i - [[nodiscard]] constexpr T& get() & noexcept - { - static_assert(I < N, "array index out of bounds"); - return elems[I]; - } - - template< std::size_t I > - [[nodiscard]] constexpr const T& get() const& noexcept - { - static_assert(I < N, "array index out of bounds"); - return elems[I]; - } +template< + class T, + std::size_t N +> +using fixed_array = std::array; - template< std::size_t I > - [[nodiscard]] constexpr T&& get() && noexcept - { - static_assert(I < N, "array index out of bounds"); - return std::move(elems[I]); - } - - template< std::size_t I > - [[nodiscard]] constexpr const T&& get() const&& noexcept - { - static_assert(I < N, "array index out of bounds"); - return std::move(elems[I]); - } +namespace trait +{ +// Trait to detect if T is a std::array +template +struct is_std_array : std::false_type {}; - // at() with range check - constexpr reference at(size_type i) - { - rangecheck(i); - return elems[i]; - } - constexpr const_reference at(size_type i) const - { - rangecheck(i); - return elems[i]; - } +template +struct is_std_array> : std::true_type {}; - // front() and back() - constexpr reference front() - { - return elems[0]; - } - constexpr const_reference front() const - { - return elems[0]; - } - constexpr reference back() - { - return elems[N-1]; - } - constexpr const_reference back() const - { - return elems[N-1]; - } +template +concept StdArray = is_std_array::value; - // size is constant - static constexpr size_type size() noexcept - { - return N; - } - static bool empty() noexcept - { - return false; - } - static constexpr size_type max_size() noexcept - { - return N; - } - enum { static_size = N }; - - // swap (note: linear complexity) - void swap (fixed_array& y) - { - std::swap_ranges(begin(),end(),y.begin()); - } +template +concept FixedArrayLike = StdArray || requires(std::remove_cv_t t, const std::remove_cv_t ct) +{ + T::static_size; - // direct access to data - constexpr const T* data() const noexcept - { - return elems; - } + {t.begin()} -> std::convertible_to; + {t.end()} -> std::convertible_to; - /// direct access to array - constexpr const Array& array() const noexcept - { - return elems; - } + {ct.begin()} -> std::convertible_to; + {ct.end()} -> std::convertible_to; - /// direct access to array - constexpr Array& array() noexcept - { - return elems; - } + { t[0] } -> std::convertible_to; +}; - // assignment with type conversion - template - constexpr fixed_array& operator= (const fixed_array& rhs) noexcept - { - for (size_type i=0; i +static constexpr sofa::Size staticSize = 0; - // assign one value to all elements - constexpr inline void assign (const T& value) noexcept - { - for (size_type i=0; i +concept HasStaticSize = requires { T::static_size; }; - inline friend std::ostream& operator << (std::ostream& out, const fixed_array& a) - { - static_assert(N>0, "Cannot create a zero size arrays") ; - for( size_type i=0; i +static constexpr sofa::Size staticSize = T::static_size; - inline friend std::istream& operator >> (std::istream& in, fixed_array& a) - { - for( size_type i=0; i>a.elems[i]; - return in; - } +template +static constexpr sofa::Size staticSize = std::tuple_size_v; -private: - // check range (may be private because it is static) - static void rangecheck (size_type i) - { - if (i >= size()) - { - throw std::range_error("fixed_array"); - } - } +template +concept Streamable = requires(std::ostream& os, const T& value) +{ + { os << value } -> std::same_as; }; -template -constexpr auto make_array(Ts&&... ts) -> fixed_array, sizeof...(Ts)> +template +concept InputStreamable = requires(std::istream& is, T& value) { - return { std::forward(ts)... }; + { is >> value } -> std::same_as; +}; } -template -fixed_array(First, Rest...) -> fixed_array, 1 + sizeof...(Rest)>; - /// Builds a fixed_array in which all elements have the same value -template +template constexpr sofa::type::fixed_array makeHomogeneousArray(const T& value) { sofa::type::fixed_array container{}; - container.assign(value); + container.fill(value); return container; } @@ -303,62 +103,55 @@ template constexpr FixedArray makeHomogeneousArray(const typename FixedArray::value_type& value) { FixedArray container{}; - container.assign(value); + container.fill(value); return container; } -/// Checks if v1 is lexicographically less than v2. Similar to std::lexicographical_compare -template -constexpr bool -operator<(const fixed_array& v1, const fixed_array& v2 ) noexcept +template +constexpr auto make_array(Ts&&... ts) -> fixed_array, sizeof...(Ts)> +{ + return { std::forward(ts)... }; +} + +template +requires sofa::type::trait::Streamable +std::ostream& extraction(std::ostream& out, const T& a) { - for( sofa::Size i=0; i - 1; i++) { - if( v1[i] < v2[i] ) - return true; - if( v2[i] < v1[i] ) - return false; + out << a[i] << " "; } - return false; + out << a[trait::staticSize - 1]; + return out; } -template -constexpr bool -operator>(const fixed_array& v1, const fixed_array& v2 ) noexcept +template +requires sofa::type::trait::InputStreamable +std::istream& insertion(std::istream& in, T& a) { - return v2 < v1; + for (auto& elem : a) + { + in >> elem; + } + return in; } -#ifndef FIXED_ARRAY_CPP -extern template class SOFA_TYPE_API fixed_array; -extern template class SOFA_TYPE_API fixed_array; - -extern template class SOFA_TYPE_API fixed_array; -extern template class SOFA_TYPE_API fixed_array; - -extern template class SOFA_TYPE_API fixed_array; -extern template class SOFA_TYPE_API fixed_array; - -extern template class SOFA_TYPE_API fixed_array; -extern template class SOFA_TYPE_API fixed_array; - -extern template class SOFA_TYPE_API fixed_array; -extern template class SOFA_TYPE_API fixed_array; - -extern template class SOFA_TYPE_API fixed_array; -extern template class SOFA_TYPE_API fixed_array; -#endif //FIXED_ARRAY_CPP - -} // namespace sofa::type +} namespace std { -template -struct tuple_size<::sofa::type::fixed_array > : integral_constant {}; +template +requires sofa::type::trait::Streamable +std::ostream& operator << (std::ostream& out, const std::array& a) +{ + return sofa::type::extraction(out, a); +} -template -struct tuple_element > +template +requires sofa::type::trait::InputStreamable +std::istream& operator >> (std::istream& in, std::array& a) { - using type = T; -}; + return sofa::type::insertion(in, a); +} + } diff --git a/Sofa/framework/Type/src/sofa/type/fwd.h b/Sofa/framework/Type/src/sofa/type/fwd.h index ed97947517c..250b3ebd219 100644 --- a/Sofa/framework/Type/src/sofa/type/fwd.h +++ b/Sofa/framework/Type/src/sofa/type/fwd.h @@ -25,8 +25,6 @@ namespace sofa::type { -template -class fixed_array; template class Vec; @@ -107,51 +105,4 @@ using BoundingBox3D = BoundingBox; class BoundingBox1D; class BoundingBox2D; -using FixedArray1i = fixed_array; -using FixedArray1I = fixed_array; - -using FixedArray2i = fixed_array; -using FixedArray2I = fixed_array; - -using FixedArray3i = fixed_array; -using FixedArray3I = fixed_array; - -using FixedArray4i = fixed_array; -using FixedArray4I = fixed_array; - -using FixedArray5i = fixed_array; -using FixedArray5I = fixed_array; - -using FixedArray6i = fixed_array; -using FixedArray6I = fixed_array; - -using FixedArray7i = fixed_array; -using FixedArray7I = fixed_array; - -using FixedArray8i = fixed_array; -using FixedArray8I = fixed_array; - -using FixedArray1f = fixed_array; -using FixedArray1d = fixed_array; - -using FixedArray2f = fixed_array; -using FixedArray2d = fixed_array; - -using FixedArray3f = fixed_array; -using FixedArray3d = fixed_array; - -using FixedArray4f = fixed_array; -using FixedArray4d = fixed_array; - -using FixedArray5f = fixed_array; -using FixedArray5d = fixed_array; - -using FixedArray6f = fixed_array; -using FixedArray6d = fixed_array; - -using FixedArray7f = fixed_array; -using FixedArray7d = fixed_array; - -using FixedArray8f = fixed_array; -using FixedArray8d = fixed_array; } 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 52537fa767f..52891c57812 100644 --- a/Sofa/framework/Type/src/sofa/type/trait/is_container.h +++ b/Sofa/framework/Type/src/sofa/type/trait/is_container.h @@ -23,45 +23,4 @@ #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; - - 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 A::iterator * = nullptr, - typename A::const_iterator * = nullptr, - typename A::value_type * = nullptr) { - - 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); -}; - -} +SOFA_HEADER_DISABLED_NOT_REPLACED("v25.06", "v25.12") 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 f84787d514d..1eba36b8dae 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 @@ -20,24 +20,10 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include +#include -namespace sofa::type::trait +namespace sofa::type { -/// Detect if a type T has iterator/const iterator function, operator[](size_t) and defines a static size -template -concept is_fixed_array = requires(std::remove_cv_t t, const std::remove_cv_t ct) -{ - T::static_size; - - {t.begin()} -> std::convertible_to; - {t.end()} -> std::convertible_to; - - {ct.begin()} -> std::convertible_to; - {ct.end()} -> std::convertible_to; - - { t[0] } -> std::convertible_to; -}; } diff --git a/Sofa/framework/Type/src/sofa/type/vector_device.h b/Sofa/framework/Type/src/sofa/type/vector_device.h index a06f9a4f36f..dbea75d191a 100644 --- a/Sofa/framework/Type/src/sofa/type/vector_device.h +++ b/Sofa/framework/Type/src/sofa/type/vector_device.h @@ -79,7 +79,7 @@ class vector_device #endif mutable Size clearSize; ///< when initializing missing device data, up to where entries should be set to zero ? T* hostPointer; ///< Pointer to the data on the CPU side - mutable int deviceIsValid; ///< True if the data on the GPU is currently valid (up to the given deviceVectorSize of each device, i.e. additional space may need to be allocated and/or initialized) + mutable unsigned deviceIsValid; ///< True if the data on the GPU is currently valid (up to the given deviceVectorSize of each device, i.e. additional space may need to be allocated and/or initialized) mutable bool hostIsValid; ///< True if the data on the CPU is currently valid mutable bool bufferIsRegistered; ///< True if the buffer is registered with CUDA buffer_id_type bufferObject; ///< Optional associated buffer ID diff --git a/Sofa/framework/Type/test/MatTypes_test.cpp b/Sofa/framework/Type/test/MatTypes_test.cpp index b0966d71073..bd044c3b1f2 100644 --- a/Sofa/framework/Type/test/MatTypes_test.cpp +++ b/Sofa/framework/Type/test/MatTypes_test.cpp @@ -376,3 +376,45 @@ TEST(MatTypesTest, conversionToReal) const SReal p = id.toReal(); EXPECT_EQ(p, 1_sreal); } + +TEST(MatTypesTest, fromPtrSameType) +{ + const float arrayMat3f[9]{ 1.0f, 2.0f, 3.0f, 2.0f, 4.0f, 6.0f, 3.0f, 6.0f, 9.0f }; + sofa::type::Mat<3, 3, float> mat3f(arrayMat3f); + + bool comp = true; + for (sofa::Size i = 0; i < 3; i++) + for (sofa::Size j = 0; j < 3; j++) + comp = (arrayMat3f[i * 3 + j] == mat3f[i][j]) && comp; + + EXPECT_TRUE(comp); +} + +TEST(MatTypesTest, fromPtrDifferentType) +{ + const float arrayMat3f[9]{ 1.0f, 2.0f, 3.0f, 2.0f, 4.0f, 6.0f, 3.0f, 6.0f, 9.0f }; + sofa::type::Mat<3, 3, double> mat3d(arrayMat3f); + + bool comp = true; + constexpr double epsilon = 0.00001; + for (sofa::Size i = 0; i < 3; i++) + for (sofa::Size j = 0; j < 3; j++) + comp = (std::fabs(arrayMat3f[i * 3 + j] - mat3d[i][j]) < epsilon) && comp; + + EXPECT_TRUE(comp); +} + +TEST(MatTypesTest, assignFromPtr) +{ + const float arrayMat3f[9]{ 1.0f, 2.0f, 3.0f, 2.0f, 4.0f, 6.0f, 3.0f, 6.0f, 9.0f }; + sofa::type::Mat<3, 3, float> mat3f{}; + mat3f = arrayMat3f; + + bool comp = true; + for (sofa::Size i = 0; i < 3; i++) + for (sofa::Size j = 0; j < 3; j++) + comp = (arrayMat3f[i * 3 + j] == mat3f[i][j]) && comp; + + EXPECT_TRUE(comp); +} + diff --git a/Sofa/framework/Type/test/VecTypes_test.cpp b/Sofa/framework/Type/test/VecTypes_test.cpp index 8ad76717a0e..d38a661ef69 100644 --- a/Sofa/framework/Type/test/VecTypes_test.cpp +++ b/Sofa/framework/Type/test/VecTypes_test.cpp @@ -74,3 +74,24 @@ TEST(VecTest, DeductionGuide) constexpr sofa::type::VecNoInit vec2 { 1.0_sreal, 2.0_sreal, 3.0_sreal }; static_assert(std::is_same_v); } + +TEST(VecTest, Equality) +{ + constexpr sofa::type::Vec<3,SReal> vecf1 { 1.0_sreal, 2.0_sreal, 3.0_sreal }; + constexpr sofa::type::Vec<3,SReal> vecf2 { 1.0_sreal, 2.0_sreal, 3.0_sreal }; + constexpr sofa::type::Vec<3,SReal> vecf3 { 1.0_sreal, 2.00001_sreal, 3.0_sreal }; + + constexpr sofa::type::Vec<3,int> veci1 { 2, 4, 7 }; + constexpr sofa::type::Vec<3,int> veci2 { 2, 4, 7 }; + constexpr sofa::type::Vec<3,int> veci3 { 2, 4, 6 }; + + EXPECT_TRUE(vecf1 == vecf2); + EXPECT_FALSE(vecf1 != vecf2); + EXPECT_FALSE(vecf1 == vecf3); + EXPECT_TRUE(vecf1 != vecf3); + + EXPECT_TRUE(veci1 == veci2); + EXPECT_FALSE(veci1 != veci2); + EXPECT_FALSE(veci1 == veci3); + EXPECT_TRUE(veci1 != veci3); +} diff --git a/Sofa/framework/Type/test/fixed_array_test.cpp b/Sofa/framework/Type/test/fixed_array_test.cpp index 1e4690de5b4..00c3005cd99 100644 --- a/Sofa/framework/Type/test/fixed_array_test.cpp +++ b/Sofa/framework/Type/test/fixed_array_test.cpp @@ -25,29 +25,4 @@ namespace sofa { -TEST(fixed_array, operatorLess) -{ - const sofa::type::fixed_array edge1 { 0, 0}; - const sofa::type::fixed_array edge2 { 1, 0}; - EXPECT_LT(edge1, edge2); - EXPECT_GT(edge2, edge1); -} - - -TEST(fixed_array, structuredBindings) -{ - static constexpr sofa::type::fixed_array sofaArray { 8, -7, 4, -1}; - const auto& [a, b, c, d] = sofaArray; - EXPECT_EQ(a, 8); - EXPECT_EQ(b,-7); - EXPECT_EQ(c, 4); - EXPECT_EQ(d,-1); -} - -TEST(VecTest, DeductionGuide) -{ - constexpr sofa::type::fixed_array array { 1.0_sreal, 2.0_sreal, 3.0_sreal }; - static_assert(std::is_same_v); -} - } diff --git a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn index 08d18390f81..5b25539dfc8 100644 --- a/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn +++ b/applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedSystemMapping.scn @@ -15,13 +15,13 @@ + + + - - + - - diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp index a61e4d094e5..6fd6d4ca4d4 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.cpp @@ -40,7 +40,7 @@ #include #include -namespace sofa::component::controller +namespace articulatedsystemplugin { void ArticulatedHierarchyBVHController::init() @@ -167,7 +167,11 @@ void ArticulatedHierarchyBVHController::applyController(void) } // Register in the Factory -int ArticulatedHierarchyBVHControllerClass = core::RegisterObject("Implements a handler that controls the values of the articulations of an articulated hierarchy container using a .bvh file.") - .add< ArticulatedHierarchyBVHController >() - ; -} // namespace sofa::component::controller +void registerArticulatedHierarchyBVHController(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Implements a handler that controls the values of the articulations of an articulated hierarchy container using a .bvh file.") + .add< ArticulatedHierarchyBVHController >()); +} + +} // namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h index cc7446cc874..ca63fbef60c 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyBVHController.h @@ -36,7 +36,7 @@ #include #include -namespace sofa::component::controller +namespace articulatedsystemplugin { /** @@ -90,4 +90,4 @@ class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedHierarchyBVHController : publi int n; }; -} // namespace sofa::component::controller +} // namespace articulatedsystemplugin diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.cpp index 6b4907c64f4..2474926252c 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.cpp +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.cpp @@ -23,22 +23,27 @@ #include #include -namespace sofa::component::container +namespace articulatedsystemplugin { // Register in the Factory -int ArticulatedHierarchyContainerClass = core::RegisterObject("This class allow to store and retrieve all the articulation centers from an articulated rigid object") - .add< ArticulatedHierarchyContainer >() - ; +void registerArticulatedHierarchyContainer(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("This class allow to store and retrieve all the articulation centers from an articulated rigid object.") + .add< ArticulatedHierarchyContainer >()); +} -// Register in the Factory -int ArticulationCenterClass = core::RegisterObject("This class defines an articulation center. This contains a set of articulations.") - .add< ArticulationCenter >() - ; +void registerArticulationCenter(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("This class defines an articulation center. This contains a set of articulations.") + .add< ArticulationCenter >()); +} -// Register in the Factory -int ArticulationClass = core::RegisterObject("This class defines an articulation by an axis, an orientation and an index.") - .add< Articulation >() - ; +void registerArticulation(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("This class defines an articulation by an axis, an orientation and an index.") + .add< Articulation >()); +} + +} // namespace articulatedsystemplugin -} // namespace sofa::component::container diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.h b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.h index 5d0f8eb1905..be17b362514 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.h +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.h @@ -29,7 +29,7 @@ #include #include #include -namespace sofa::component::container +namespace articulatedsystemplugin { class ArticulationCenter; @@ -247,4 +247,5 @@ class SOFA_ARTICULATEDSYSTEMPLUGIN_API Articulation : public virtual core::objec ArticulatedHierarchyContainer::Transform H_pLc_a; }; -} // namespace sofa::component::container +} // namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl index e91f214de6d..52354430354 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyContainer.inl @@ -28,7 +28,7 @@ #include #include -namespace sofa::component::container +namespace articulatedsystemplugin { Articulation::Articulation(): @@ -258,4 +258,5 @@ void ArticulatedHierarchyContainer::init () } -} // namespace sofa::component::container +} // namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp index d74e81b80dd..a1f1b1939cc 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.cpp @@ -46,13 +46,11 @@ #include #include -namespace sofa::component::controller +namespace articulatedsystemplugin { using namespace sofa::helper; using sofa::core::behavior::MechanicalState; -using sofa::component::controller::ArticulatedHierarchyContainer; - ArticulatedHierarchyController::ArticulatedHierarchyController() : articulationsIndices( initData(&articulationsIndices, "articulationsIndices", "Indices of articulations controlled by the keyboard") ) @@ -408,8 +406,11 @@ void ArticulatedHierarchyController::applyController(void) } // Register in the Factory -int ArticulatedHierarchyControllerClass = core::RegisterObject("Implements an user interaction handler that controls the values of the articulations of an articulated hierarchy container.") - .add< ArticulatedHierarchyController >() - ; +void registerArticulatedHierarchyController(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Implements an user interaction handler that controls the values of the articulations of an articulated hierarchy container.") + .add< ArticulatedHierarchyController >()); +} + +} // namespace articulatedsystemplugin -} // namespace sofa::component::controller diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h index 1e3d3c899a4..92f47f756af 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedHierarchyController.h @@ -42,13 +42,9 @@ #include -namespace sofa::component::controller +namespace articulatedsystemplugin { -using sofa::component::container::ArticulatedHierarchyContainer; -using sofa::component::container::ArticulationCenter; -using sofa::component::container::Articulation; - /** * @brief ArticulatedHierarchyController Class. * @@ -57,7 +53,7 @@ using sofa::component::container::Articulation; * Mouse Buttons and Wheel are controlling the value. * Keyboard is used to select the controlled articulation. */ -class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedHierarchyController : public Controller +class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedHierarchyController : public sofa::component::controller::Controller { public: SOFA_CLASS(ArticulatedHierarchyController,Controller); @@ -158,4 +154,5 @@ class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedHierarchyController : public C }; -} // namespace sofa::component::controller +} // namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.cpp index 3f2a2e6579a..013f53a79c4 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.cpp +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.cpp @@ -25,16 +25,20 @@ #include -namespace sofa::component::mapping +namespace articulatedsystemplugin { using namespace sofa::defaulttype; // Register in the Factory -int ArticulatedSystemMappingClass = core::RegisterObject("Mapping between a set of 6D DOF's and a set of angles (µ) using an articulated hierarchy container. ") - .add< ArticulatedSystemMapping< Vec1Types, Rigid3Types, Rigid3Types > >(); +void registerArticulatedSystemMapping(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Mapping between a set of 6D DOF's and a set of angles (µ) using an articulated hierarchy container.") + .add< ArticulatedSystemMapping< Vec1Types, Rigid3Types, Rigid3Types > >()); +} template class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedSystemMapping< Vec1Types, Rigid3Types, Rigid3Types >; -} //namespace sofa::component::mapping +} //namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.h b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.h index 60a734729b1..b69581c80f2 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.h +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.h @@ -31,7 +31,7 @@ #include -namespace sofa::component::mapping +namespace articulatedsystemplugin { template @@ -217,9 +217,8 @@ class ArticulatedSystemMapping : public core::Multi2Mapping /** * Stores al the articulation centers */ - std::vector< sofa::component::container::ArticulationCenter* > articulationCenters; - - container::ArticulatedHierarchyContainer* ahc; + std::vector< ArticulationCenter* > articulationCenters; + ArticulatedHierarchyContainer* ahc; private: core::State* m_fromModel; @@ -227,7 +226,7 @@ class ArticulatedSystemMapping : public core::Multi2Mapping core::State* m_fromRootModel; SingleLink, - sofa::component::container::ArticulatedHierarchyContainer, + ArticulatedHierarchyContainer, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_container; Data d_indexFromRoot; ///< Corresponding index if the base of the articulated system is attached to input2. Default is last index. @@ -252,4 +251,5 @@ extern template class SOFA_ARTICULATEDSYSTEMPLUGIN_API ArticulatedSystemMapping< #endif -} //namespace sofa::component::mapping +} //namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl index b9aade89d4b..ac9f9b85adc 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/ArticulatedSystemMapping.inl @@ -30,7 +30,7 @@ #include -namespace sofa::component::mapping +namespace articulatedsystemplugin { template @@ -136,8 +136,8 @@ void ArticulatedSystemMapping::bwdInit() } articulationCenters = ahc->getArticulationCenters(); - type::vector< sofa::component::container::ArticulationCenter* >::const_iterator ac = articulationCenters.begin(); - const type::vector< sofa::component::container::ArticulationCenter* >::const_iterator acEnd = articulationCenters.end(); + type::vector< ArticulationCenter* >::const_iterator ac = articulationCenters.begin(); + const type::vector< ArticulationCenter* >::const_iterator acEnd = articulationCenters.end(); const InVecCoord& xfrom = m_fromModel->read(core::vec_id::read_access::position)->getValue(); if (articulationCenters.size() > xfrom.size()) @@ -181,8 +181,8 @@ void ArticulatedSystemMapping::apply( typename Out::VecCoord out[0] = (*inroot)[d_indexFromRoot.getValue()]; } - type::vector< sofa::component::container::ArticulationCenter* >::const_iterator ac = articulationCenters.begin(); - const type::vector< sofa::component::container::ArticulationCenter* >::const_iterator acEnd = articulationCenters.end(); + type::vector< ArticulationCenter* >::const_iterator ac = articulationCenters.begin(); + const type::vector< ArticulationCenter* >::const_iterator acEnd = articulationCenters.end(); for (; ac != acEnd; ac++) { @@ -199,9 +199,9 @@ void ArticulatedSystemMapping::apply( typename Out::VecCoord (*ac)->globalPosition.setValue(out[parent].getCenter() + out[parent].getOrientation().rotate((*ac)->posOnParent.getValue())); - type::vector< sofa::component::container::Articulation* > articulations = (*ac)->getArticulations(); - type::vector< sofa::component::container::Articulation* >::const_iterator a = articulations.begin(); - type::vector< sofa::component::container::Articulation* >::const_iterator aEnd = articulations.end(); + type::vector< Articulation* > articulations = (*ac)->getArticulations(); + type::vector< Articulation* >::const_iterator a = articulations.begin(); + type::vector< Articulation* >::const_iterator aEnd = articulations.end(); const int process = (*ac)->articulationProcess.getValue(); @@ -277,7 +277,7 @@ void ArticulatedSystemMapping::apply( typename Out::VecCoord // step 1: compute the new position of the articulation center and the articulation pos // rq: the articulation center follows the translations (*ac)->globalPosition.setValue(out[parent].getCenter() + out[parent].getOrientation().rotate((*ac)->posOnParent.getValue()) + (*ac)->DisplacementArticulationCenter); - type::vector< sofa::component::container::Articulation* >::const_iterator a = articulations.begin(); + type::vector< Articulation* >::const_iterator a = articulations.begin(); for (; a != aEnd; a++) { @@ -370,8 +370,8 @@ void ArticulatedSystemMapping::applyJ( typename Out::VecDeri } else out[0] = OutDeriv(); - type::vector< sofa::component::container::ArticulationCenter* >::const_iterator ac = articulationCenters.begin(); - const type::vector< sofa::component::container::ArticulationCenter* >::const_iterator acEnd = articulationCenters.end(); + type::vector< ArticulationCenter* >::const_iterator ac = articulationCenters.begin(); + const type::vector< ArticulationCenter* >::const_iterator acEnd = articulationCenters.end(); for (; ac != acEnd; ac++) { @@ -383,9 +383,9 @@ void ArticulatedSystemMapping::applyJ( typename Out::VecDeri sofa::type::Vec<3,OutReal> C = xto[child].getCenter(); getVCenter(out[child]) = getVCenter(out[parent]) + cross(P-C, getVOrientation(out[parent])); - type::vector< sofa::component::container::Articulation* > articulations = (*ac)->getArticulations(); - type::vector< sofa::component::container::Articulation* >::const_iterator a = articulations.begin(); - type::vector< sofa::component::container::Articulation* >::const_iterator aEnd = articulations.end(); + type::vector< Articulation* > articulations = (*ac)->getArticulations(); + type::vector< Articulation* >::const_iterator a = articulations.begin(); + type::vector< Articulation* >::const_iterator aEnd = articulations.end(); for (; a != aEnd; a++) { @@ -422,8 +422,8 @@ void ArticulatedSystemMapping::applyJT( typename In::VecDeri OutVecDeriv fObjects6DBuf = in; InVecDeriv OutBuf = out; - type::vector< sofa::component::container::ArticulationCenter* >::const_iterator ac = articulationCenters.end(); - const type::vector< sofa::component::container::ArticulationCenter* >::const_iterator acBegin = articulationCenters.begin(); + type::vector< ArticulationCenter* >::const_iterator ac = articulationCenters.end(); + const type::vector< ArticulationCenter* >::const_iterator acBegin = articulationCenters.begin(); while (ac != acBegin) { @@ -436,10 +436,10 @@ void ArticulatedSystemMapping::applyJT( typename In::VecDeri sofa::type::Vec<3,OutReal> C = xto[child].getCenter(); getVOrientation(fObjects6DBuf[parent]) += getVOrientation(fObjects6DBuf[child]) + cross(C-P, getVCenter(fObjects6DBuf[child])); - type::vector< sofa::component::container::Articulation* > articulations = (*ac)->getArticulations(); + type::vector< Articulation* > articulations = (*ac)->getArticulations(); - type::vector< sofa::component::container::Articulation* >::const_iterator a = articulations.end(); - type::vector< sofa::component::container::Articulation* >::const_iterator aBegin = articulations.begin(); + type::vector< Articulation* >::const_iterator a = articulations.end(); + type::vector< Articulation* >::const_iterator aBegin = articulations.begin(); while (a != aBegin) { @@ -495,17 +495,17 @@ void ArticulatedSystemMapping::applyJT( InMatrixDeriv& out, const OutDeriv valueConst = colIt.val(); sofa::type::Vec<3,OutReal> C = xto[childIndex].getCenter(); - type::vector< sofa::component::container::ArticulationCenter* > ACList = ahc->getAcendantList(childIndex); + type::vector< ArticulationCenter* > ACList = ahc->getAcendantList(childIndex); - type::vector< sofa::component::container::ArticulationCenter* >::const_iterator ac = ACList.begin(); - type::vector< sofa::component::container::ArticulationCenter* >::const_iterator acEnd = ACList.end(); + type::vector< ArticulationCenter* >::const_iterator ac = ACList.begin(); + type::vector< ArticulationCenter* >::const_iterator acEnd = ACList.end(); for (; ac != acEnd; ac++) { - type::vector< sofa::component::container::Articulation* > articulations = (*ac)->getArticulations(); + type::vector< Articulation* > articulations = (*ac)->getArticulations(); - type::vector< sofa::component::container::Articulation* >::const_iterator a = articulations.begin(); - type::vector< sofa::component::container::Articulation* >::const_iterator aEnd = articulations.end(); + type::vector< Articulation* >::const_iterator a = articulations.begin(); + type::vector< Articulation* >::const_iterator aEnd = articulations.end(); for (; a != aEnd; a++) { @@ -566,7 +566,7 @@ void ArticulatedSystemMapping::draw(const core::visual::Visu for (const auto & ac: articulationCenters) { - type::vector< sofa::component::container::Articulation* > articulations = ac->getArticulations(); + type::vector< Articulation* > articulations = ac->getArticulations(); for (const auto & a: articulations) { // Articulation Pos and Axis are based on the configuration of the parent @@ -585,4 +585,5 @@ void ArticulatedSystemMapping::draw(const core::visual::Visu } } -} //namespace sofa::component::mapping +} //namespace articulatedsystemplugin + diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/config.h.in b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/config.h.in index 0d8eb4ea563..78b93d72583 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/config.h.in +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/config.h.in @@ -23,6 +23,8 @@ #include +using namespace sofa; + #define ARTICULATEDSYSTEMPLUGIN_VERSION @PROJECT_VERSION@ #ifdef SOFA_BUILD_ARTICULATEDSYSTEMPLUGIN @@ -31,3 +33,9 @@ #else # define SOFA_ARTICULATEDSYSTEMPLUGIN_API SOFA_IMPORT_DYNAMIC_LIBRARY #endif + +namespace articulatedsystemplugin +{ + constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; + constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; +} // namespace articulatedsystemplugin diff --git a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/init.cpp b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/init.cpp index 65b6cad204f..06daba0e29f 100644 --- a/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/init.cpp +++ b/applications/plugins/ArticulatedSystemPlugin/src/ArticulatedSystemPlugin/init.cpp @@ -24,13 +24,24 @@ #include using sofa::core::ObjectFactory; + +namespace articulatedsystemplugin +{ + extern void registerArticulatedHierarchyBVHController(sofa::core::ObjectFactory* factory); + extern void registerArticulatedHierarchyController(sofa::core::ObjectFactory* factory); + extern void registerArticulatedSystemMapping(sofa::core::ObjectFactory* factory); + extern void registerArticulatedHierarchyContainer(sofa::core::ObjectFactory* factory); + extern void registerArticulationCenter(sofa::core::ObjectFactory* factory); + extern void registerArticulation(sofa::core::ObjectFactory* factory); + + extern "C" { SOFA_ARTICULATEDSYSTEMPLUGIN_API void initExternalModule(); SOFA_ARTICULATEDSYSTEMPLUGIN_API const char* getModuleName(); SOFA_ARTICULATEDSYSTEMPLUGIN_API const char* getModuleVersion(); SOFA_ARTICULATEDSYSTEMPLUGIN_API const char* getModuleLicense(); SOFA_ARTICULATEDSYSTEMPLUGIN_API const char* getModuleDescription(); - SOFA_ARTICULATEDSYSTEMPLUGIN_API const char* getModuleComponentList(); + SOFA_ARTICULATEDSYSTEMPLUGIN_API void registerObjects(sofa::core::ObjectFactory* factory); } void initExternalModule() @@ -44,12 +55,12 @@ void initExternalModule() const char* getModuleName() { - return sofa_tostring(SOFA_TARGET); + return MODULE_NAME; } const char* getModuleVersion() { - return sofa_tostring(ARTICULATEDSYSTEMPLUGIN_VERSION); + return MODULE_VERSION; } const char* getModuleLicense() @@ -62,18 +73,19 @@ const char* getModuleDescription() return "SOFA Plugin to handle articulated systems."; } -const char* getModuleComponentList() +void initArticulatedSystemPlugin() { - /// string containing the names of the classes provided by the plugin - static std::string classes = ObjectFactory::getInstance()->listClassesFromTarget(sofa_tostring(SOFA_TARGET)); - return classes.c_str(); + initExternalModule(); } -namespace sofa::articulatedsystem -{ -void initArticulatedSystemPlugin() +void registerObjects(sofa::core::ObjectFactory* factory) { - initExternalModule(); + registerArticulatedHierarchyBVHController(factory); + registerArticulatedHierarchyController(factory); + registerArticulatedSystemMapping(factory); + registerArticulatedHierarchyContainer(factory); + registerArticulationCenter(factory); + registerArticulation(factory); } } // namespace sofa::articulatedsystem \ No newline at end of file diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn index ed90b00f819..f177d50a03e 100644 --- a/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn +++ b/applications/plugins/BulletCollisionDetection/examples/BulletConvexHullDemo.scn @@ -29,7 +29,7 @@ - + @@ -37,7 +37,7 @@ - + diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn index 96be6a23841..5d74880c4a5 100644 --- a/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn +++ b/applications/plugins/BulletCollisionDetection/examples/BulletLMDragon.scn @@ -18,7 +18,7 @@ - + @@ -33,7 +33,7 @@ - + diff --git a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn index 6199dab1921..eb7f45c3ab6 100644 --- a/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn +++ b/applications/plugins/BulletCollisionDetection/examples/BulletSphere.scn @@ -26,14 +26,14 @@ - + - + diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl index 0da91749056..b9d766ed398 100644 --- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl +++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletTriangleModel.inl @@ -67,7 +67,7 @@ void TBulletTriangleModel::initBullet(){ //_bt_gmesh = new btBvhTriangleMeshShape(_bt_mesh,true,true); _bt_gmesh = new BtDynamicMesh(_bt_mesh);//new btGImpactMeshShape(_bt_mesh);// - //_bt_gmesh->setMargin(this->getProximity()); + //_bt_gmesh->setMargin(this->getContactDistance()); //double margin = 0.5;//0.5; _bt_gmesh->setMargin(margin.getValue()); diff --git a/applications/plugins/CImgPlugin/CMakeLists.txt b/applications/plugins/CImgPlugin/CMakeLists.txt index 6af96a0a0f6..05a4a718e8d 100644 --- a/applications/plugins/CImgPlugin/CMakeLists.txt +++ b/applications/plugins/CImgPlugin/CMakeLists.txt @@ -25,19 +25,14 @@ sofa_find_package(CImg QUIET) if(NOT CImg_FOUND AND SOFA_ALLOW_FETCH_DEPENDENCIES) message("CImgPlugin: DEPENDENCY CImg NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching CImg...") - include(FetchContent) - FetchContent_Declare(CImg + sofa_fetch_dependency(CImg GIT_REPOSITORY https://github.com/GreycLab/CImg GIT_TAG v.3.3.2 + DONT_BUILD ) - FetchContent_GetProperties(CImg) - if(NOT CImg_POPULATED) - FetchContent_Populate(CImg) - - set(CIMG_H_DIR ${cimg_SOURCE_DIR}) - sofa_find_package(CImg REQUIRED) - endif() + set(CIMG_DIR ${CImg_SOURCE_DIR}) + sofa_find_package(CImg REQUIRED) elseif (NOT CImg_FOUND) message(FATAL_ERROR "CImgPlugin: DEPENDENCY CImg NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install cimg-dev, or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.") endif() diff --git a/applications/plugins/CImgPlugin/cmake/FindCImg.cmake b/applications/plugins/CImgPlugin/cmake/FindCImg.cmake index 012a01f339a..d1021645272 100644 --- a/applications/plugins/CImgPlugin/cmake/FindCImg.cmake +++ b/applications/plugins/CImgPlugin/cmake/FindCImg.cmake @@ -37,19 +37,33 @@ The following cache variables may also be set: cmake_minimum_required(VERSION 3.9) +if(NOT "${CIMG_H_DIR}" STREQUAL "" AND NOT EXISTS "${CIMG_H_DIR}/CImg.h") + unset(CIMG_H_DIR CACHE) +endif() +if(NOT "${CIMG_PLUGINS_H_DIR}" STREQUAL "" AND NOT EXISTS "${CIMG_H_DIR}/plugins/skeleton.h") + unset(CIMG_PLUGINS_H_DIR CACHE) +endif() + find_path(CIMG_H_DIR NAMES CImg.h HINTS ${CMAKE_INSTALL_PREFIX} ${CIMG_DIR} PATH_SUFFIXES include include/linux ) -if(NOT CIMG_H_DIR) +find_path(CIMG_PLUGINS_H_DIR + NAMES plugins/skeleton.h + HINTS ${CMAKE_INSTALL_PREFIX} ${CIMG_DIR} + PATH_SUFFIXES include/CImg include/linux/CImg +) + +if(NOT CIMG_H_DIR OR NOT CIMG_PLUGINS_H_DIR) set(CImg_FOUND FALSE) else() set(CImg_FOUND TRUE) set(CImg_INCLUDE_DIR ${CIMG_H_DIR} CACHE STRING "") - set(CImg_INCLUDE_DIRS ${CImg_INCLUDE_DIR}) + set(CImg_PLUGINS_INCLUDE_DIR ${CIMG_PLUGINS_H_DIR} CACHE STRING "") + set(CImg_INCLUDE_DIRS ${CImg_INCLUDE_DIR} ${CIMG_PLUGINS_H_DIR}) file(READ "${CIMG_H_DIR}/CImg.h" header) string(REGEX MATCH "#define cimg_version ([0-9a-zA-Z\.]+)" _ "${header}") diff --git a/applications/plugins/CImgPlugin/src/CImgPlugin/initCImgPlugin.cpp b/applications/plugins/CImgPlugin/src/CImgPlugin/initCImgPlugin.cpp index 0f80a46d514..c896b0d4d6c 100644 --- a/applications/plugins/CImgPlugin/src/CImgPlugin/initCImgPlugin.cpp +++ b/applications/plugins/CImgPlugin/src/CImgPlugin/initCImgPlugin.cpp @@ -18,7 +18,10 @@ /// and export it. namespace cimg_library::cimg { +// Since CImg version 3.5.0 mutex class is already implemented as singleton +#if cimg_version < 350 Mutex_static& Mutex_attr() { static Mutex_static val; return val; } +#endif } @@ -27,7 +30,9 @@ namespace sofa::component extern "C" { +#if cimg_version < 350 cimg_library::cimg::Mutex_static& tmp = cimg_library::cimg::Mutex_attr() ; +#endif SOFA_CIMGPLUGIN_API void initExternalModule(); SOFA_CIMGPLUGIN_API const char* getModuleName(); diff --git a/applications/plugins/CMakeLists.txt b/applications/plugins/CMakeLists.txt index e5a102921d5..19d9cdf0447 100644 --- a/applications/plugins/CMakeLists.txt +++ b/applications/plugins/CMakeLists.txt @@ -7,6 +7,9 @@ if(SOFA_BUILD_TESTS OR SOFA_BUILD_RELEASE_PACKAGE) sofa_add_subdirectory(plugin SofaTest SofaTest) endif() +#Should be first to enable all CUDA based modules in plugins +sofa_add_subdirectory(plugin SofaCUDA SofaCUDA) + sofa_add_subdirectory(plugin CollisionOBBCapsule CollisionOBBCapsule) sofa_add_subdirectory(plugin HeadlessRecorder HeadlessRecorder) @@ -37,7 +40,7 @@ sofa_add_subdirectory(plugin SofaHAPI SofaHAPI) sofa_add_subdirectory(plugin SofaCarving SofaCarving) sofa_add_subdirectory(plugin LeapMotion LeapMotion) sofa_add_subdirectory(plugin Geomagic Geomagic) -sofa_add_subdirectory(plugin SofaAssimp SofaAssimp) # ColladaSceneLoader Depends on Flexible and image +sofa_add_external(plugin SofaAssimp GIT_REF master GIT_REPOSITORY https://www.github.com/sofa-framework/SofaAssimp.git) # ColladaSceneLoader Depends on Flexible and image sofa_add_subdirectory(plugin SofaMatrix SofaMatrix) # Depends on image, CImgPlugin sofa_add_external(plugin BeamAdapter GIT_REF master GIT_REPOSITORY https://www.github.com/sofa-framework/BeamAdapter.git) sofa_add_external(plugin STLIB GIT_REF master GIT_REPOSITORY https://www.github.com/SofaDefrost/STLIB.git) @@ -59,7 +62,6 @@ if((${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU") AND (${CMAKE_SYSTEM_NAME} MATCHES " sofa_add_subdirectory(plugin SofaPardisoSolver SofaPardisoSolver) # SofaPardisoSolver is only available under linux with gcc endif() -sofa_add_subdirectory(plugin SofaCUDA SofaCUDA) sofa_find_package(Sofa.GL QUIET) if(Sofa.GL_FOUND) @@ -69,4 +71,4 @@ else() endif() sofa_add_subdirectory(plugin SofaDistanceGrid SofaDistanceGrid) # Also defines SofaDistanceGrid.CUDA -sofa_add_subdirectory(plugin SofaImplicitField SofaImplicitField) # Depends on SofaDistanceGrid +sofa_add_subdirectory(plugin SofaImplicitField SofaImplicitField) diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp index fb16017105e..1b646958c97 100644 --- a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp +++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/CapsuleModel_test.cpp @@ -22,10 +22,17 @@ #include #include #include +#include TEST(CapsuleModel, creationFromFactory) { - const auto entry = sofa::core::ObjectFactory::getInstance()->getEntry("CapsuleCollisionModel"); + sofa::helper::system::PluginManager& pm = sofa::helper::system::PluginManager::getInstance(); + pm.loadPluginByName("CollisionOBBCapsule"); + + sofa::core::ObjectFactory* objectFactory = sofa::core::ObjectFactory::getInstance(); + objectFactory->registerObjectsFromPlugin("CollisionOBBCapsule"); + + const auto entry = objectFactory->getEntry("CapsuleCollisionModel"); const auto creatorRigid = entry.creatorMap.at("Rigid3d"); sofa::core::objectmodel::BaseObjectDescription desc; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/config.h.in b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/config.h.in index 5452c859960..be2ffb13199 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/config.h.in +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/config.h.in @@ -31,3 +31,10 @@ #else # define COLLISIONOBBCAPSULE_API SOFA_IMPORT_DYNAMIC_LIBRARY #endif + +namespace collisionobbcapsule +{ + constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; + constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; +} // namespace collisionobbcapsule + diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h index da8b621811d..5ac0cd5f301 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/CapsuleIntersection.h @@ -48,8 +48,8 @@ class COLLISIONOBBCAPSULE_API CapsuleDiscreteIntersection : public core::collisi int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { return BaseIntTool::computeIntersection(e1, e2, - e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(), - e1.getProximity() + e2.getProximity() + intersection->getContactDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(), contacts); } @@ -72,8 +72,8 @@ class COLLISIONOBBCAPSULE_API CapsuleMeshDiscreteIntersection : public core::col int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { return MeshIntTool::computeIntersection(e1, e2, - e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(), - e1.getProximity() + e2.getProximity() + intersection->getContactDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(), contacts); } diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl index ebabae95940..c722674a0c4 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/MeshIntTool.inl @@ -62,7 +62,7 @@ int MeshIntTool::doCapPointInt(geometry::TCapsule& cap, const type::V if (pq.norm2() >= enough_to_touch * enough_to_touch) return 0; - //const SReal contactDist = getContactDistance() + e1.getProximity() + e2.getProximity(); + //const SReal contactDist = getContactDistance() + e1.getContactDistance() + e2.getContactDistance(); contacts->resize(contacts->size()+1); DetectionOutput *detection = &*(contacts->end()-1); diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h index a41a6186181..cf8d73c9ed6 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/detection/intersection/OBBIntersection.h @@ -48,8 +48,8 @@ class COLLISIONOBBCAPSULE_API RigidDiscreteIntersection : public core::collision int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { return BaseIntTool::computeIntersection(e1, e2, - e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(), - e1.getProximity() + e2.getProximity() + intersection->getContactDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(), contacts); } @@ -74,8 +74,8 @@ class COLLISIONOBBCAPSULE_API RigidMeshDiscreteIntersection : public core::colli int computeIntersection(Elem1& e1, Elem2& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { return MeshIntTool::computeIntersection(e1, e2, - e1.getProximity() + e2.getProximity() + intersection->getAlarmDistance(), - e1.getProximity() + e2.getProximity() + intersection->getContactDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getAlarmDistance(), + e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(), contacts); } diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp index eaf17f99777..c56f24948c2 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.cpp @@ -28,10 +28,12 @@ namespace collisionobbcapsule::geometry using namespace sofa::defaulttype; -int CapsuleCollisionModelClass = core::RegisterObject("Collision model which represents a set of Capsules") +void registerCapsuleCollisionModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Collision model which represents a set of Capsules.") .add< CapsuleCollisionModel >() - .add< CapsuleCollisionModel >() - ; + .add< CapsuleCollisionModel >()); +} template class COLLISIONOBBCAPSULE_API TCapsule; template class COLLISIONOBBCAPSULE_API CapsuleCollisionModel; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h index 0619a655d66..d521b07e0de 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.h @@ -105,6 +105,9 @@ class CapsuleCollisionModel : public core::CollisionModel CapsuleCollisionModel(core::behavior::MechanicalState* mstate ); ~CapsuleCollisionModel() override; + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; + public: void init() override; @@ -118,9 +121,6 @@ class CapsuleCollisionModel : public core::CollisionModel void draw(const core::visual::VisualParams* vparams, Index index) override; - void draw(const core::visual::VisualParams* vparams) override; - - core::behavior::MechanicalState* getMechanicalState() { return _mstate; } Real radius(Index index) const; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl index c67b25ec740..3d018ecb681 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/CapsuleModel.inl @@ -177,28 +177,23 @@ void CapsuleCollisionModel::draw(const core::visual::VisualParams* vp } template -void CapsuleCollisionModel::draw(const core::visual::VisualParams* vparams) +void CapsuleCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { auto df = sofa::core::visual::visualparams::getDisplayFlags(vparams); auto dt = sofa::core::visual::visualparams::getDrawTool(vparams); - if (df.getShowCollisionModels()) - { - sofa::type::RGBAColor col4f(getColor4f()[0], getColor4f()[1], getColor4f()[2], getColor4f()[3]); - dt->setPolygonMode(0,df.getShowWireFrame());//maybe ?? - dt->setLightingEnabled(true); //Enable lightning + sofa::type::RGBAColor col4f(getColor4f()[0], getColor4f()[1], getColor4f()[2], getColor4f()[3]); + dt->setPolygonMode(0, df.getShowWireFrame()); // maybe ?? + dt->setLightingEnabled(true); // Enable lightning - // Check topological modifications - //const int npoints = _mstate->getSize()/2; + // Check topological modifications + // const int npoints = _mstate->getSize()/2; - for (sofa::Size i=0; idrawCapsule(point1(i),point2(i),(float)radius(i),col4f); - } - - dt->setLightingEnabled(false); //Disable lightning + for (sofa::Size i = 0; i < size; i++) + { + dt->drawCapsule(point1(i), point2(i), (float)radius(i), col4f); } - if (getPrevious()!=nullptr && df.getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); + dt->setLightingEnabled(false); // Disable lightning dt->setPolygonMode(0,false); } diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.cpp index 7aa779dc4d8..761e262127c 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.cpp +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.cpp @@ -29,9 +29,11 @@ namespace collisionobbcapsule::geometry using namespace sofa::defaulttype; using namespace sofa::core::collision; -int OBBModelClass = sofa::core::RegisterObject("Collision model which represents a set of OBBs") - .add< OBBCollisionModel >() - ; +void registerOBBCollisionModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Collision model which represents a set of OBBs.") + .add< OBBCollisionModel >()); +} template class COLLISIONOBBCAPSULE_API OBBCollisionModel; template class COLLISIONOBBCAPSULE_API TOBB; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h index d78206b9846..bc83980277e 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.h @@ -147,6 +147,7 @@ class OBBCollisionModel : public core::CollisionModel protected: OBBCollisionModel(); OBBCollisionModel(sofa::core::behavior::MechanicalState* mstate ); + void drawCollisionModel(const sofa::core::visual::VisualParams* vparams) override; public: void init() override; @@ -160,8 +161,6 @@ class OBBCollisionModel : public core::CollisionModel void draw(const sofa::core::visual::VisualParams* vparams, sofa::Index index) override; - void draw(const sofa::core::visual::VisualParams* vparams) override; - sofa::core::behavior::MechanicalState* getMechanicalState() { return _mstate; } /// Pre-construction check method called by ObjectFactory. diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl index e5d3dd76a6b..d2d9fcc1b39 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/OBBModel.inl @@ -102,7 +102,7 @@ void OBBCollisionModel::computeBoundingTree(int maxDepth){ cubeModel->resize(size); if (!empty()) { - const typename OBBCollisionModel::Real distance = (typename OBBCollisionModel::Real)this->proximity.getValue(); + const typename OBBCollisionModel::Real distance = (typename OBBCollisionModel::Real)this->d_contactDistance.getValue(); std::vector vs; vs.reserve(8); @@ -195,20 +195,17 @@ void OBBCollisionModel::draw(const sofa::core::visual::VisualParams* } template -void OBBCollisionModel::draw(const sofa::core::visual::VisualParams* vparams){ - if (vparams->displayFlags().getShowCollisionModels()) - { - vparams->drawTool()->setPolygonMode(0,vparams->displayFlags().getShowWireFrame()); +void OBBCollisionModel::drawCollisionModel(const sofa::core::visual::VisualParams* vparams) +{ + vparams->drawTool()->setPolygonMode(0, vparams->displayFlags().getShowWireFrame()); - const auto npoints = _mstate->getSize(); - vparams->drawTool()->setLightingEnabled(true); //Enable lightning - for(sofa::Size i = 0 ; i < npoints ; ++i ) - draw(vparams,i); - vparams->drawTool()->setLightingEnabled(false); //Disable lightning + const auto npoints = _mstate->getSize(); + vparams->drawTool()->setLightingEnabled(true); // Enable lightning + for (sofa::Size i = 0; i < npoints; ++i) + { + draw(vparams, i); } - - if (getPrevious()!=nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); + vparams->drawTool()->setLightingEnabled(false); // Disable lightning vparams->drawTool()->setPolygonMode(0,false); } diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.cpp index 64646e3b5de..1306e95b156 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.cpp +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.cpp @@ -29,9 +29,11 @@ namespace collisionobbcapsule::geometry using namespace sofa::defaulttype; using namespace sofa::core::collision; -int RigidCapsuleCollisionModelClass = core::RegisterObject("Collision model which represents a set of rigid capsules") - .add< CapsuleCollisionModel >() - ; +void registerRigidCapsuleCollisionModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Collision model which represents a set of rigid capsules.") + .add< CapsuleCollisionModel >()); +} template class COLLISIONOBBCAPSULE_API geometry::TCapsule; template class COLLISIONOBBCAPSULE_API CapsuleCollisionModel; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h index 0cdd92f24e7..6c0745b8c16 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.h @@ -114,6 +114,7 @@ class CapsuleCollisionModel > : publi CapsuleCollisionModel(); CapsuleCollisionModel(core::behavior::MechanicalState* mstate ); + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: void init() override; @@ -127,9 +128,6 @@ class CapsuleCollisionModel > : publi void draw(const core::visual::VisualParams* vparams, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; - - core::behavior::MechanicalState* getMechanicalState() { return _mstate; } Real radius(sofa::Index index) const; diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl index 380ff7af2db..50e2101e7bc 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/geometry/RigidCapsuleModel.inl @@ -160,23 +160,18 @@ void CapsuleCollisionModel >::draw(co } template -void CapsuleCollisionModel >::draw(const core::visual::VisualParams* vparams) +void CapsuleCollisionModel >::drawCollisionModel(const core::visual::VisualParams* vparams) { - if (vparams->displayFlags().getShowCollisionModels()) - { - sofa::type::RGBAColor col4f(getColor4f()[0], getColor4f()[1], getColor4f()[2], getColor4f()[3]); - vparams->drawTool()->setPolygonMode(0,vparams->displayFlags().getShowWireFrame());//maybe ?? - vparams->drawTool()->setLightingEnabled(true); //Enable lightning - - for (sofa::Size i=0; idrawTool()->drawCapsule(point1(i),point2(i),(float)radius(i),col4f); - } + sofa::type::RGBAColor col4f(getColor4f()[0], getColor4f()[1], getColor4f()[2], getColor4f()[3]); + vparams->drawTool()->setPolygonMode(0, vparams->displayFlags().getShowWireFrame()); // maybe ?? + vparams->drawTool()->setLightingEnabled(true); // Enable lightning - vparams->drawTool()->setLightingEnabled(false); //Disable lightning + for (sofa::Size i = 0; i < size; i++) + { + vparams->drawTool()->drawCapsule(point1(i), point2(i), (float)radius(i), col4f); } - if (getPrevious()!=nullptr && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); + vparams->drawTool()->setLightingEnabled(false); // Disable lightning vparams->drawTool()->setPolygonMode(0,false); } diff --git a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/init.cpp b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/init.cpp index f4b9218fd41..a7c8259e6df 100644 --- a/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/init.cpp +++ b/applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/init.cpp @@ -23,15 +23,26 @@ #include using sofa::core::ObjectFactory; +#include namespace collisionobbcapsule { +namespace geometry +{ + extern void registerCapsuleCollisionModel(sofa::core::ObjectFactory* factory); + extern void registerOBBCollisionModel(sofa::core::ObjectFactory* factory); + extern void registerRigidCapsuleCollisionModel(sofa::core::ObjectFactory* factory); +} + 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); + first = false; } } @@ -42,7 +53,7 @@ COLLISIONOBBCAPSULE_API const char* getModuleName(); COLLISIONOBBCAPSULE_API const char* getModuleVersion(); COLLISIONOBBCAPSULE_API const char* getModuleLicense(); COLLISIONOBBCAPSULE_API const char* getModuleDescription(); -COLLISIONOBBCAPSULE_API const char* getModuleComponentList(); +COLLISIONOBBCAPSULE_API void registerObjects(sofa::core::ObjectFactory* factory); } void initExternalModule() @@ -52,12 +63,12 @@ void initExternalModule() const char* getModuleName() { - return sofa_tostring(SOFA_TARGET); + return MODULE_NAME; } const char* getModuleVersion() { - return sofa_tostring(COLLISIONOBBCAPSULE_VERSION); + return MODULE_VERSION; } const char* getModuleLicense() @@ -70,11 +81,11 @@ const char* getModuleDescription() return "This plugin contains OBB and capsule collision components."; } -const char* getModuleComponentList() +void registerObjects(sofa::core::ObjectFactory* factory) { - /// string containing the names of the classes provided by the plugin - static std::string classes = ObjectFactory::getInstance()->listClassesFromTarget(sofa_tostring(SOFA_TARGET)); - return classes.c_str(); + geometry::registerCapsuleCollisionModel(factory); + geometry::registerOBBCollisionModel(factory); + geometry::registerRigidCapsuleCollisionModel(factory); } } // namespace collisionobbcapsule 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 f2f620b5505..0c6676cbb09 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 @@ -186,7 +186,7 @@ void ParallelTetrahedronFEMForceField::addKToMatrix(sofa::linearalgeb { for (sofa::Index j=0; j < S; j++) { - tmpBlock[n1][n2][i][j] = - tmp[n1*S+i][n2*S+j]* kFactor; + tmpBlock[n1][n2](i,j) = - tmp(n1*S+i,n2*S+j)* kFactor; } } } diff --git a/applications/plugins/PersistentContact/PersistentFrictionContact.inl b/applications/plugins/PersistentContact/PersistentFrictionContact.inl index a6a8401c3f4..00753b5c5e6 100644 --- a/applications/plugins/PersistentContact/PersistentFrictionContact.inl +++ b/applications/plugins/PersistentContact/PersistentFrictionContact.inl @@ -523,7 +523,7 @@ void PersistentFrictionContact::activateConst ////////////////////////////////////// STEP 2 : creation des "mappedContacts" + corrections associées par rapport à la ddc - const double d0 = this->intersectionMethod->getContactDistance() + this->model1->getProximity() + this->model2->getProximity(); // - 0.001; + const double d0 = this->intersectionMethod->getContactDistance() + this->model1->getContactDistance() + this->model2->getContactDistance(); // - 0.001; for (std::vector::const_iterator it = this->contacts.begin(); it!=this->contacts.end(); it++) { @@ -562,12 +562,12 @@ void PersistentFrictionContact::activateConst } else { - Vector3 thickness = o->normal * this->model1->getProximity(); + Vector3 thickness = o->normal * this->model1->getContactDistance(); Vector3 posColpoint = o->point[0] + thickness; index1 = this->mapThePersistentContact(o->baryCoords[0], index1, posColpoint, true); } - distance -= this->model1->getProximity(); + distance -= this->model1->getContactDistance(); m1 = false; } @@ -586,12 +586,12 @@ void PersistentFrictionContact::activateConst } else { - Vector3 thickness = o->normal * this->model2->getProximity(); + Vector3 thickness = o->normal * this->model2->getContactDistance(); Vector3 posColpoint = o->point[1] - thickness; index2 = this->mapThePersistentContact(o->baryCoords[1], index2, posColpoint, false); } - distance -= this->model2->getProximity(); + distance -= this->model2->getContactDistance(); m2 = false; } diff --git a/applications/plugins/RegressionStateScenes.regression-tests b/applications/plugins/RegressionStateScenes.regression-tests index 7fd66a0ade6..257858a6d92 100644 --- a/applications/plugins/RegressionStateScenes.regression-tests +++ b/applications/plugins/RegressionStateScenes.regression-tests @@ -17,3 +17,12 @@ $REGRESSION_DIR/references/applications/plugins ### MultiThreading ### MultiThreading/examples/ParallelCGLinearSolver.scn 100 1e-8 1 1 + +### SofaDistanceGrid ### +SofaDistanceGrid/examples/DistanceGridForceField_liver.scn 100 1e-9 1 1 +SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn 200 1e-9 1 1 +SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn 200 1e-9 1 1 +# TODO restore: +#SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_skull_FreeMotionAnimationLoop.scn 120 1e-9 1 1 +#SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn 200 1e-9 1 1 +#SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn 200 1e-9 1 1 diff --git a/applications/plugins/SceneCreator/sceneCreatorExamples/SceneCreatorBenchmarks.cpp b/applications/plugins/SceneCreator/sceneCreatorExamples/SceneCreatorBenchmarks.cpp index 15fab358841..5b856a67269 100644 --- a/applications/plugins/SceneCreator/sceneCreatorExamples/SceneCreatorBenchmarks.cpp +++ b/applications/plugins/SceneCreator/sceneCreatorExamples/SceneCreatorBenchmarks.cpp @@ -28,7 +28,7 @@ #include #include -#include +#include #include #include diff --git a/applications/plugins/Sensable/examples/CameraAlignment.scn b/applications/plugins/Sensable/examples/CameraAlignment.scn index d50e633bc54..5a95130d23f 100644 --- a/applications/plugins/Sensable/examples/CameraAlignment.scn +++ b/applications/plugins/Sensable/examples/CameraAlignment.scn @@ -46,7 +46,7 @@ - + diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn index eb888f5e120..491bd294494 100644 --- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn +++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid.scn @@ -22,7 +22,7 @@ - + diff --git a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn index 2709526de15..0787134aa6e 100644 --- a/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn +++ b/applications/plugins/Sensable/examples/Dentistry/dentalSurgeryDistanceGrid_teeth.scn @@ -31,19 +31,19 @@ - + - + - + - + diff --git a/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn b/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn index 5cc41537db5..ff0b6e9da0c 100644 --- a/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn +++ b/applications/plugins/Sensable/examples/SimpleBox-DistanceGrid.scn @@ -45,7 +45,7 @@ - + diff --git a/applications/plugins/Sensable/examples/SimpleBoxLarge.scn b/applications/plugins/Sensable/examples/SimpleBoxLarge.scn index a8e7881159a..cf0a0ba09c7 100644 --- a/applications/plugins/Sensable/examples/SimpleBoxLarge.scn +++ b/applications/plugins/Sensable/examples/SimpleBoxLarge.scn @@ -45,7 +45,7 @@ - + diff --git a/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn b/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn index 60d9b9c3eef..3d598edd8e8 100644 --- a/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn +++ b/applications/plugins/Sensable/examples/SimpleTooth-DistanceGrid.scn @@ -46,7 +46,7 @@ - + diff --git a/applications/plugins/Sensable/examples/SpecifyingCamera.scn b/applications/plugins/Sensable/examples/SpecifyingCamera.scn index 420d08320fb..e3ac8cf8524 100644 --- a/applications/plugins/Sensable/examples/SpecifyingCamera.scn +++ b/applications/plugins/Sensable/examples/SpecifyingCamera.scn @@ -48,7 +48,7 @@ - + diff --git a/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn b/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn index 26f55dc5d3c..ef77b5d9b1b 100644 --- a/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn +++ b/applications/plugins/Sensable/examples/TwoTeeth-DistanceGrid.scn @@ -46,7 +46,7 @@ - + @@ -63,7 +63,7 @@ - + diff --git a/applications/plugins/SofaAssimp/AssimpLoader.cpp b/applications/plugins/SofaAssimp/AssimpLoader.cpp deleted file mode 100644 index f4a8451708d..00000000000 --- a/applications/plugins/SofaAssimp/AssimpLoader.cpp +++ /dev/null @@ -1,213 +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 // C++ importer interface -#include // Plain-C interface -#include // Output data structure -#include // Post processing flags - - -namespace sofa -{ - -namespace component -{ - -namespace loader -{ - -using namespace sofa::defaulttype; -using namespace sofa::helper; - -int AssimpLoaderClass = core::RegisterObject("Sofa mesh loader component as API to assimp loader library.") - .add< AssimpLoader >() - ; - - -AssimpLoader::AssimpLoader() - : MeshLoader() - , m_assimpScene(NULL) -{ - - pp_Loadsteps = - aiProcess_JoinIdenticalVertices;// */ //| //join identical vertices/ optimize indexing - // pp_Loadsteps = - // aiProcess_GenSmoothNormals | // generate smooth normal vectors if not existing - // aiProcess_JoinIdenticalVertices | //join identical vertices/ optimize indexing - // aiProcess_ValidateDataStructure | // perform a full validation of the loader's output - // aiProcess_ImproveCacheLocality | // improve the cache locality of the output vertices - // aiProcess_FindDegenerates | // remove degenerated polygons from the import - // aiProcess_FindInvalidData | // detect invalid model data, such as invalid normal vectors - // aiProcess_OptimizeMeshes ; -} - -AssimpLoader::~AssimpLoader() -{ - if (m_assimpScene != NULL) - { - aiReleaseImport(m_assimpScene); - //delete m_assimpScene; - m_assimpScene = NULL; - } -} - - -bool AssimpLoader::doLoad() -{ - // -- Loading file - if (!canLoad()) - return false; - - const char* filename = d_filename.getFullPath().c_str(); - - // Create an instance of the Importer class - Assimp::Importer importer; - bool res = importer.IsExtensionSupported(d_filename.getExtension()); - if (!res) - { - msg_error() << "Extension not handled: " << d_filename.getExtension() << " . Assimp scene not created."; - return false; - } - std::cout << d_filename.getExtension() << std::endl; - - // And have it read the given file with some example postprocessing - // Usually - if speed is not the most important aspect for you - you'll - // probably to request more postprocessing than we do in this example. - m_assimpScene = (aiScene*)aiImportFile(filename, pp_Loadsteps); - /* aiProcess_CalcTangentSpace | - aiProcess_Triangulate | - aiProcess_JoinIdenticalVertices | - aiProcess_SortByPType);*/ - - - // If the import failed, report it - if (!m_assimpScene) - { - msg_error() << "Assimp scene from file: '" << d_filename << "' creation failed with error: " << importer.GetErrorString(); - return false; - } - // Now we can access the file's contents. - //DoTheSceneProcessing(scene); - // We're done. Everything will be cleaned up by the importer destructor - return convertAssimpScene(); -} - - -bool AssimpLoader::convertAssimpScene() -{ - if (!m_assimpScene) - return false; - - msg_info() << "m_assimpScene->mNumMeshes: " << m_assimpScene->mNumMeshes; - msg_info() << "m_assimpScene->mNumMaterials: " << m_assimpScene->mNumMaterials; - - WriteAccessor > > > waPositions = d_positions; - WriteAccessor > > > waNormals = d_normals; - - WriteAccessor > > waEdges = d_edges; - WriteAccessor > > waQuads = d_quads; - WriteAccessor > > waTriangles = d_triangles; - - // Clear potential buffer previous init. - waPositions.clear(); - waNormals.clear(); - - waEdges.clear(); - waTriangles.clear(); - waQuads.clear(); - - for (unsigned int i = 0; imNumMeshes; ++i) - { - aiMesh* currentMesh = m_assimpScene->mMeshes[i]; //The ith mesh of the array of meshes. - unsigned int nbr_pos = currentMesh->mNumVertices; - - unsigned int cpt_pos = (unsigned int)waPositions.size(); - unsigned int cpt_norm = (unsigned int)waNormals.size(); - //unsigned int cpt_uv = m_texCoords.size(); - - if (cpt_pos != cpt_norm /*|| cpt_pos != cpt_uv*/) - msg_warning() << "No conscistent number of element in mesh: pos: " << cpt_pos - << " normals: " << cpt_norm/* << " texCoords: " << cpt_uv*/; - - waPositions.resize(waPositions.size() + nbr_pos); - waNormals.resize(waNormals.size() + nbr_pos); - //m_texCoords.resize(m_texCoords.size() + nbr_pos); - - for (unsigned int j = 0; j& pos = waPositions[j + cpt_pos]; - const aiVector3D& aiPos = currentMesh->mVertices[j]; - pos[0] = aiPos.x; - pos[1] = aiPos.y; - pos[2] = aiPos.z; - - // create normal array - sofa::type::Vec<3, SReal>& normal = waNormals[j + cpt_norm]; - const aiVector3D& aiNorm = currentMesh->mNormals[j]; - normal[0] = aiNorm.x; - normal[1] = aiNorm.y; - normal[2] = aiNorm.z; - } - - //// create Texcoords array - //aiVector3D* aiUVs = currentMesh->mTextureCoords[0]; - //if (aiUVs) - //{ - // for (unsigned int j = 0; jmNumFaces; - for (unsigned int j = 0; jmFaces[j]; - unsigned int nbr_id = my_face.mNumIndices; - - if (nbr_id == 2) - waEdges.push_back(Edge(my_face.mIndices[0] + cpt_pos, my_face.mIndices[1] + cpt_pos)); - else if (nbr_id == 3) - waTriangles.push_back(Triangle(my_face.mIndices[0] + cpt_pos, my_face.mIndices[1] + cpt_pos, my_face.mIndices[2] + cpt_pos)); - else if (nbr_id == 4) - waQuads.push_back(Quad(my_face.mIndices[0] + cpt_pos, my_face.mIndices[1] + cpt_pos, my_face.mIndices[2] + cpt_pos, my_face.mIndices[3] + cpt_pos)); - } - } - - return true; -} - -} // namespace loader - -} // namespace component - -} // namespace sofa - diff --git a/applications/plugins/SofaAssimp/AssimpLoader.h b/applications/plugins/SofaAssimp/AssimpLoader.h deleted file mode 100644 index 3a469d6c584..00000000000 --- a/applications/plugins/SofaAssimp/AssimpLoader.h +++ /dev/null @@ -1,86 +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_ASSIMPLOADER_H -#define SOFA_ASSIMPLOADER_H - -#include -#include - -struct aiScene; - -namespace sofa -{ - -namespace component -{ - -namespace loader -{ - -/** - * AssimpLoader class interfaces Assimp library reader with SOFA loader components. - * For more information about the class API see doc: http://assimp.sourceforge.net/lib_html/usage.html - * - * Created on: February 28th 2018 - * Author: epernod - */ -class SOFA_ASSIMP_API AssimpLoader : public sofa::core::loader::MeshLoader -{ -public: - SOFA_CLASS(AssimpLoader, sofa::core::loader::MeshLoader); -protected: - /// Default constructor of the component - AssimpLoader(); - virtual ~AssimpLoader(); - -public: - /// Main Load method inherites from \sa sofa::core::loader::MeshLoader::load() - virtual bool doLoad() override; - virtual void doClearBuffers() override {} - - - int getpPreprocessing() { - return pp_Loadsteps; - } - void setpPreprocessing(int p) { - pp_Loadsteps = p; - } - - aiScene* getScene() { return m_assimpScene; } - -protected: - /// Main internal method, implement the loading of OpenCTM mesh file. - bool convertAssimpScene(); - -private: - aiScene* m_assimpScene; - unsigned int pp_Loadsteps; -}; - - -} // namespace loader - -} // namespace component - -} // namespace sofa - -#endif //SOFA_ASSIMPLOADER_H diff --git a/applications/plugins/SofaAssimp/CMakeLists.txt b/applications/plugins/SofaAssimp/CMakeLists.txt deleted file mode 100644 index 6445dc78b95..00000000000 --- a/applications/plugins/SofaAssimp/CMakeLists.txt +++ /dev/null @@ -1,68 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(SofaAssimp VERSION 0.2) - - -set(HEADER_FILES - config.h - AssimpLoader.h - SceneColladaLoader.h -) - -set(SOURCE_FILES - initAssimpPlugin.cpp - AssimpLoader.cpp - SceneColladaLoader.cpp -) - -set(README_FILES README_AssimpPlugin.txt) - - -## Assimp dependencies -list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/") - -### Dependencies -find_package(Sofa.Core REQUIRED) -sofa_find_package(assimp REQUIRED) -sofa_find_package(Sofa.Component.Constraint.Projective REQUIRED) -sofa_find_package(Sofa.Component.Mass REQUIRED) -sofa_find_package(Sofa.Component.Mapping REQUIRED) -sofa_find_package(Sofa.GL.Component.Rendering3D REQUIRED) -sofa_find_package(Sofa.Component.StateContainer REQUIRED) -sofa_find_package(Sofa.Component.Collision.Geometry REQUIRED) -sofa_find_package(image QUIET) -sofa_find_package(Flexible QUIET) - -# Create the plugin library. -add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${README_FILES}) -set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DSOFA_BUILD_SOFAASSIMP") -target_link_libraries(${PROJECT_NAME} PUBLIC ${ASSIMP_LIBRARIES} Sofa.Core Sofa.Component.Constraint.Projective Sofa.Component.Mass Sofa.Component.Mapping Sofa.GL.Component.Rendering3D Sofa.Component.StateContainer Sofa.Component.Collision.Geometry) - -if(image_FOUND) - target_link_libraries(${PROJECT_NAME} PUBLIC image) -endif() -if(Flexible_FOUND) - target_link_libraries(${PROJECT_NAME} PUBLIC Flexible) -endif() - -target_include_directories(${PROJECT_NAME} PUBLIC "$") -target_include_directories(${PROJECT_NAME} PUBLIC "$/..") -target_include_directories(${PROJECT_NAME} PUBLIC "$") - - -if(ASSIMP_DLL) - sofa_install_libraries(PATHS ${ASSIMP_DLL}) -endif() - - -#TODO -if(SOFA_BUILD_TESTS) -# add_subdirectory(CGALPlugin_test) -endif() - -## Install rules for the library; CMake package configurations files -sofa_create_package_with_targets( - PACKAGE_NAME ${PROJECT_NAME} - PACKAGE_VERSION ${PROJECT_VERSION} - TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES - INCLUDE_INSTALL_DIR ${PROJECT_NAME} - ) diff --git a/applications/plugins/SofaAssimp/ColladaSceneLoader.html b/applications/plugins/SofaAssimp/ColladaSceneLoader.html deleted file mode 100644 index f626d0115cc..00000000000 --- a/applications/plugins/SofaAssimp/ColladaSceneLoader.html +++ /dev/null @@ -1,14 +0,0 @@ - - - - - -Plugin example -

Plugin Example

-
This example shows a simple pendulum, as shown in the following image.
-More documentation can be found in doc/index.html
-
-
- -
- diff --git a/applications/plugins/SofaAssimp/README_AssimpPlugin.txt b/applications/plugins/SofaAssimp/README_AssimpPlugin.txt deleted file mode 100644 index 8c98bac25ca..00000000000 --- a/applications/plugins/SofaAssimp/README_AssimpPlugin.txt +++ /dev/null @@ -1,31 +0,0 @@ - -********************************************** -* Assimp plugin.txt * -********************************************** - - -AUTHOR : - - epernod (Erik Pernod) - -CONTACT: - - erik.pernod@gmail.com - - -LICENSE : - - Assimp is released as Open Source under the terms of a 3-clause BSD license. - - License of this Plugin: LGPL - - - -OTHER COMMENTS : - -Open Asset Import Library (short name: Assimp) is a portable Open Source library to import various well-known 3D model formats in a uniform manner. -The most recent version also knows how to export 3D files and is therefore suitable as a general-purpose 3D model converter. -See the feature list. - -- Library web page: http://www.assimp.org/ -- Source code on github: https://github.com/assimp/assimp -- Release version: https://github.com/assimp/assimp/releases -- Library version tested: 4.1.0 - -Important: For the moment only single Mesh is handle. That is to say, if a multi mesh is loaded, only one Sofa Mesh will be created by merging all sub meshes. diff --git a/applications/plugins/SofaAssimp/SceneColladaLoader.cpp b/applications/plugins/SofaAssimp/SceneColladaLoader.cpp deleted file mode 100644 index 9e4081647c7..00000000000 --- a/applications/plugins/SofaAssimp/SceneColladaLoader.cpp +++ /dev/null @@ -1,1187 +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 "SceneColladaLoader.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#if COLLADASCENELOADER_HAVE_FLEXIBLE -#include -#endif - - -#if COLLADASCENELOADER_HAVE_IMAGE -#include -#include -#include -#include -#endif - -namespace sofa -{ - -namespace component -{ - -namespace loader -{ - -using namespace sofa::type; -using namespace sofa::defaulttype; -using namespace sofa::core::loader; -using namespace sofa::component::statecontainer; -using namespace sofa::component::mass; -using namespace sofa::component::topology; -using namespace sofa::component::topology::container::constant; -using namespace sofa::gl::component::rendering3d; -using namespace sofa::component::mapping; -using namespace sofa::component::mapping::linear; -using namespace sofa::component::mapping::nonlinear; -using namespace sofa::component::collision; -using namespace sofa::component::collision::geometry; -using namespace sofa::component::constraint::projective; -using namespace sofa::simulation; - -int SceneColladaLoaderClass = core::RegisterObject("Specific scene loader for Collada file format.") - .add< SceneColladaLoader >() - ; - -SceneColladaLoader::SceneColladaLoader() : SceneLoader() - , subSceneRoot() - , importer() - , animationSpeed(initData(&animationSpeed, 1.0f, "animationSpeed", "animation speed")) - , generateCollisionModels(initData(&generateCollisionModels, true, "generateCollisionModels", "generate point/line/triangle collision models for imported meshes")) - #if COLLADASCENELOADER_HAVE_FLEXIBLE - , useFlexible(initData(&useFlexible, false, "useFlexible", "Use the Flexible plugin (it will replace the SkinningMapping with a LinearMapping)")) - #endif - #if COLLADASCENELOADER_HAVE_IMAGE - , generateShapeFunction(initData(&generateShapeFunction, false, "generateShapeFunction", "Generate a shape function that could be used in another simulation")) - , voxelSize(initData(&voxelSize, (SReal)0.02, "voxelSize", "voxelSize used for shape function generation")) - #endif -{ - -} - -SceneColladaLoader::~SceneColladaLoader() -{ - importer.FreeScene(); -} - -void SceneColladaLoader::init() -{ - if(0 == subSceneRoot) - return; - - // retrieving parent node - core::objectmodel::BaseContext* currentContext = getContext(); - Node* parentNode = dynamic_cast(currentContext); - if(!parentNode) - { - msg_info() << "Error: SceneColladaLoader::init, loader " << name.getValue() << "has no parentNode"; - if(currentContext) - msg_info() << "Context is : " << currentContext->getName(); - - return; - } - - // placing root node of the loaded sub scene - std::string subSceneName(name.getValue()); - if(!subSceneName.empty()) - subSceneName += "_"; - subSceneName += "scene"; - subSceneRoot->setName(subSceneName); - parentNode->addChild(subSceneRoot); - - // find how many siblings scene loaders there are upward the current one - int sceneLoaderNum = 0; - - Node::ObjectIterator objectIt; - for(objectIt = parentNode->object.begin(); objectIt != parentNode->object.end(); ++objectIt) - { - if(dynamic_cast(objectIt->get())) - ++sceneLoaderNum; - - if(this == *objectIt) - break; - } - - // place an iterator on the last scene loader generated node - int sceneLoaderNodeNum = 0; - - Node::ChildIterator childIt = parentNode->child.begin(); - if(1 != sceneLoaderNum) - { - for(; childIt != parentNode->child.end() - 1; ++childIt) - { - ++sceneLoaderNodeNum; - if(subSceneRoot == *childIt || sceneLoaderNum == sceneLoaderNodeNum) - break; - } - } - - // swap our generated node position till it is at the right place - for (Node::ChildIterator it = parentNode->child.end() - 1; it != childIt; --it) - parentNode->child.swap(it, it - 1); -} - -bool SceneColladaLoader::load() -{ - msg_info() << "Loading Collada (.dae) file: " << d_filename; - - bool fileRead = false; - - // loading file - const char* filename = d_filename.getFullPath().c_str(); - std::ifstream file(filename); - - if(!file.good()) - { - msg_error() << "Error: SceneColladaLoader: Cannot read file '" << d_filename << "'."; - return false; - } - - // reading file - fileRead = readDAE (file,filename); - file.close(); - - return fileRead; -} - -bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filename*/) -{ - msg_info() << "SceneColladaLoader::readDAE"; - - // if a scene is already loaded with this importer, free it - importer.FreeScene(); - - // importing scene - const aiScene* currentAiScene = importer.ReadFile(d_filename.getValue(), 0); - - if(!currentAiScene) - { - msg_info() << "Collada import failed : " << importer.GetErrorString(); - return false; - } - - // traversing the scene graph - if(currentAiScene->mRootNode) - { - // use a stack to process the nodes of the scene graph in the right order, we link an assimp node with a Node with a NodeInfo - std::stack nodes; - - subSceneRoot = getSimulation()->createNewNode("subroot"); - nodes.push(NodeInfo(currentAiScene->mRootNode, subSceneRoot)); - - int meshId = 0; - - // processing each node of the scene graph - while(!nodes.empty()) - { - // fast access node parent pointer - NodeInfo& currentNodeInfo = nodes.top(); - NodeInfo* parentNodeInfo = currentNodeInfo.mParentNode; - aiNode* currentAiNode = currentNodeInfo.mAiNode; - Node::SPtr currentNode = currentNodeInfo.mNode; - std::size_t& childIndex = currentNodeInfo.mChildIndex; - aiMatrix4x4& currentTransformation = currentNodeInfo.mTransformation; - - // process the node just one time - if(0 == childIndex) - { - { - // if the aiNode contains a name do not change it because we will need it to retrieve the node when processing bones - std::stringstream nameStream(std::string(currentAiNode->mName.data, currentAiNode->mName.length)); - if(nameStream.str().empty()) - nameStream << childIndex++; - currentNode->setName(nameStream.str()); - - //std::cout << currentNode->getName() << std::endl; - } - - // extract the node transformation to apply them later on its meshes - aiVector3D aiScale, aiTranslation; - aiQuaternion aiRotation; - currentTransformation.Decompose(aiScale, aiRotation, aiTranslation); - Quat quat(aiRotation.x, aiRotation.y, aiRotation.z, aiRotation.w); - - Vec3d translation(aiTranslation.x, aiTranslation.y, aiTranslation.z); - Vec3d rotation(quat.toEulerVector() / (M_PI / 180.0)); - Vec3d scale(aiScale.x, aiScale.y, aiScale.z); - - // useful to generate a unique index for each component of a node - int componentIndex = 0; - - - // TODO: have only one rigidMechanicalObject with no redundancy and same indices for all meshes - // so all meshes can be mapped to the same rigidMechanicalObject - - - // for each mesh in the node - for(unsigned int j = 0; j < currentAiNode->mNumMeshes; ++j, ++meshId) - { - std::stringstream meshNameStream; - meshNameStream << "mesh_" << (int)meshId; - - Node::SPtr meshNode = getSimulation()->createNewNode(meshNameStream.str()); - currentNode->addChild(meshNode); - - aiMesh* currentAiMesh = currentAiScene->mMeshes[currentAiNode->mMeshes[j]]; - - // generating a name - std::string meshName(currentAiMesh->mName.data, currentAiMesh->mName.length); - - // the node representing a part of the current mesh construction (skinning, collision, visualization ...) - Node::SPtr currentSubNode = meshNode; - - // generating a MechanicalObject and a SkinningMapping if the mesh contains bones and filling up theirs properties - MechanicalObject::SPtr currentBoneMechanicalObject; - if(currentAiMesh->HasBones()) - { - /*std::cout << "animation num : " << currentAiScene->mNumAnimations << std::endl; - std::cout << "animation duration : " << currentAiScene->mAnimations[0]->mDuration << std::endl; - std::cout << "animation ticks per second : " << currentAiScene->mAnimations[0]->mTicksPerSecond << std::endl; - std::cout << "animation channel num : " << currentAiScene->mAnimations[0]->mNumChannels << std::endl;*/ - - currentBoneMechanicalObject = sofa::core::objectmodel::New >(); - { - // adding the generated MechanicalObject to its parent Node - currentSubNode->addObject(currentBoneMechanicalObject); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentBoneMechanicalObject->setName(nameStream.str()); - - // filling up position coordinate array - currentBoneMechanicalObject->resize(currentAiMesh->mNumBones); - - { - Data* d_x = currentBoneMechanicalObject->write(core::vec_id::write_access::position); - Rigid3Types::VecCoord &x = *d_x->beginEdit(); - for(unsigned int k = 0; k < currentAiMesh->mNumBones; ++k) - { - aiMatrix4x4 offsetMatrix = currentAiMesh->mBones[k]->mOffsetMatrix; - offsetMatrix.Inverse(); - - // mesh space to world space - offsetMatrix = currentTransformation * offsetMatrix; - - // extract the bone transformation - aiVector3D aiBoneScale, aiBoneTranslation; - aiQuaternion aiBoneRotation; - offsetMatrix.Decompose(aiBoneScale, aiBoneRotation, aiBoneTranslation); - - Vec3d boneTranslation(aiBoneTranslation.x, aiBoneTranslation.y, aiBoneTranslation.z); - Quat boneQuat(aiBoneRotation.x, aiBoneRotation.y, aiBoneRotation.z, aiBoneRotation.w); - - x[k] = Rigid3Types::Coord(boneTranslation, boneQuat); - } - d_x->endEdit(); - } - } - - if(generateCollisionModels.getValue()) - { - UniformMass::SPtr currentUniformMass = sofa::core::objectmodel::New >(); - { - // adding the generated UniformMass to its parent Node - currentSubNode->addObject(currentUniformMass); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentUniformMass->setName(nameStream.str()); - - currentUniformMass->setTotalMass(80.0); - } - } - - // generating a SkeletalMotionProjectiveConstraint and filling up its properties - SkeletalMotionProjectiveConstraint::SPtr currentSkeletalMotionProjectiveConstraint = sofa::core::objectmodel::New >(); - { - // adding the generated SkeletalMotionProjectiveConstraint to its parent Node - currentSubNode->addObject(currentSkeletalMotionProjectiveConstraint); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentSkeletalMotionProjectiveConstraint->setName(nameStream.str()); - - currentSkeletalMotionProjectiveConstraint->setAnimationSpeed(animationSpeed.getValue()); - - aiNode* parentAiNode = NULL; - if(parentNodeInfo) - parentAiNode = parentNodeInfo->mAiNode; - - type::vector > skeletonJoints; - type::vector skeletonBones; - fillSkeletalInfo(currentAiScene, parentAiNode, currentAiNode, currentTransformation, currentAiMesh, skeletonJoints, skeletonBones); - currentSkeletalMotionProjectiveConstraint->setSkeletalMotion(skeletonJoints, skeletonBones); - } - } - else - { - currentBoneMechanicalObject = sofa::core::objectmodel::New >(); - { - // adding the generated MechanicalObject to its parent Node - currentSubNode->addObject(currentBoneMechanicalObject); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentBoneMechanicalObject->setName(nameStream.str()); - - // filling up position coordinate array - currentBoneMechanicalObject->resize(1); - - { - Data >* d_x = currentBoneMechanicalObject->write(core::vec_id::write_access::position); - type::vector &x = *d_x->beginEdit(); - - Vec3d boneTranslation(0.0, 0.0, 0.0); - Quat boneQuat(0.0, 0.0, 1.0, 1.0); - - x[0] = Rigid3Types::Coord(boneTranslation, boneQuat); - - d_x->endEdit(); - } - } - - UniformMass::SPtr currentUniformMass = sofa::core::objectmodel::New >(); - { - // adding the generated UniformMass to its parent Node - currentSubNode->addObject(currentUniformMass); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentUniformMass->setName(nameStream.str()); - } - - FixedProjectiveConstraint::SPtr currentFixedConstraint = sofa::core::objectmodel::New >(); - { - // adding the generated FixedConstraint to its parent Node - currentSubNode->addObject(currentFixedConstraint); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentFixedConstraint->setName(nameStream.str()); - - currentFixedConstraint->d_fixAll.setValue(true); - } - } - - std::stringstream rigidNameStream; - if(currentAiMesh->HasBones()) - rigidNameStream << "skinning_" << (int)meshId; - else - rigidNameStream << "rigid_" << (int)meshId; - - Node::SPtr rigidNode = getSimulation()->createNewNode(rigidNameStream.str()); - currentSubNode->addChild(rigidNode); - - currentSubNode = rigidNode; - - std::map vertexMap; // no to superimpose identical vertices - - // generating a MechanicalObject and filling up its properties - MechanicalObject::SPtr currentMechanicalObject = sofa::core::objectmodel::New >(); - { - // adding the generated MechanicalObject to its parent Node - currentSubNode->addObject(currentMechanicalObject); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentMechanicalObject->setName(nameStream.str()); - - currentMechanicalObject->setTranslation(translation.x(), translation.y(), translation.z()); - currentMechanicalObject->setRotation(rotation.x(), rotation.y(), rotation.z()); - currentMechanicalObject->setScale(scale.x(), scale.y(), scale.z()); - - // filling up position coordinate array - if(0 != currentAiMesh->mNumVertices) - { - int vertexIdx=0; - for(unsigned int k = 0; k < currentAiMesh->mNumVertices; ++k) - { - Vec3d v(currentAiMesh->mVertices[k][0], currentAiMesh->mVertices[k][1], currentAiMesh->mVertices[k][2]); - if( vertexMap.find(v) == vertexMap.end() ) vertexMap[v] = vertexIdx++; - } - - currentMechanicalObject->resize(vertexMap.size()); - - { - Data >* d_x = currentMechanicalObject->write(core::vec_id::write_access::position); - type::vector &x = *d_x->beginEdit(); - for( std::map::iterator it=vertexMap.begin() , itend=vertexMap.end() ; it!=itend ; ++it ) - x[it->second] = it->first; - - d_x->endEdit(); - } - } - } - - // generating a MeshTopology and filling up its properties - MeshTopology::SPtr currentMeshTopology = sofa::core::objectmodel::New(); - { - // adding the generated MeshTopology to its parent Node - currentSubNode->addObject(currentMeshTopology); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentMeshTopology->setName(nameStream.str()); - - // filling up position array - currentMeshTopology->d_seqPoints.setParent(¤tMechanicalObject->x); - - unsigned int numTriangles = 0, numQuads = 0; - for(unsigned int k = 0; k < currentAiMesh->mNumFaces; ++k) - if( 3 == currentAiMesh->mFaces[k].mNumIndices ) - ++numTriangles; - else if( 4 == currentAiMesh->mFaces[k].mNumIndices ) - ++numQuads; - - - type::vector& seqTriangles = *currentMeshTopology->d_seqTriangles.beginEdit(); -#if COLLADASCENELOADER_HAVE_IMAGE - if( generateShapeFunction.getValue() ) - { - if( numTriangles || numQuads ) seqTriangles.reserve(numTriangles+numQuads*2); - - for( unsigned int k = 0 ; k < currentAiMesh->mNumFaces ; ++k ) - { - if( currentAiMesh->mFaces[k].mNumIndices==3 ) - { - unsigned int *faceIndices = currentAiMesh->mFaces[k].mIndices; - - const unsigned int &faceIndex0 = faceIndices[0]; - const unsigned int &faceIndex1 = faceIndices[1]; - const unsigned int &faceIndex2 = faceIndices[2]; - - Vec3d v0(currentAiMesh->mVertices[faceIndex0][0], currentAiMesh->mVertices[faceIndex0][1], currentAiMesh->mVertices[faceIndex0][2]); - Vec3d v1(currentAiMesh->mVertices[faceIndex1][0], currentAiMesh->mVertices[faceIndex1][1], currentAiMesh->mVertices[faceIndex1][2]); - Vec3d v2(currentAiMesh->mVertices[faceIndex2][0], currentAiMesh->mVertices[faceIndex2][1], currentAiMesh->mVertices[faceIndex2][2]); - - seqTriangles.push_back( core::topology::BaseMeshTopology::Triangle( vertexMap[v0], vertexMap[v1], vertexMap[v2] ) ); - } - else if( currentAiMesh->mFaces[k].mNumIndices==4 ) - { - unsigned int *faceIndices = currentAiMesh->mFaces[k].mIndices; - - const unsigned int &faceIndex0 = faceIndices[0]; - const unsigned int &faceIndex1 = faceIndices[1]; - const unsigned int &faceIndex2 = faceIndices[2]; - const unsigned int &faceIndex3 = faceIndices[3]; - - Vec3d v0(currentAiMesh->mVertices[faceIndex0][0], currentAiMesh->mVertices[faceIndex0][1], currentAiMesh->mVertices[faceIndex0][2]); - Vec3d v1(currentAiMesh->mVertices[faceIndex1][0], currentAiMesh->mVertices[faceIndex1][1], currentAiMesh->mVertices[faceIndex1][2]); - Vec3d v2(currentAiMesh->mVertices[faceIndex2][0], currentAiMesh->mVertices[faceIndex2][1], currentAiMesh->mVertices[faceIndex2][2]); - Vec3d v3(currentAiMesh->mVertices[faceIndex3][0], currentAiMesh->mVertices[faceIndex3][1], currentAiMesh->mVertices[faceIndex3][2]); - - unsigned int i0 = vertexMap[v0]; - unsigned int i1 = vertexMap[v1]; - unsigned int i2 = vertexMap[v2]; - unsigned int i3 = vertexMap[v3]; - - seqTriangles.push_back( core::topology::BaseMeshTopology::Triangle( i0, i1, i2 ) ); - seqTriangles.push_back( core::topology::BaseMeshTopology::Triangle( i0, i2, i3 ) ); - } - } - } - else -#endif - { - if( numTriangles ) seqTriangles.reserve(numTriangles); - type::vector& seqQuads = *currentMeshTopology->d_seqQuads.beginEdit(); - if( numQuads ) seqQuads.reserve(numQuads); - - for( unsigned int k = 0 ; k < currentAiMesh->mNumFaces ; ++k ) - { - if( currentAiMesh->mFaces[k].mNumIndices==3 ) - { - unsigned int *faceIndices = currentAiMesh->mFaces[k].mIndices; - - const unsigned int &faceIndex0 = faceIndices[0]; - const unsigned int &faceIndex1 = faceIndices[1]; - const unsigned int &faceIndex2 = faceIndices[2]; - - Vec3d v0(currentAiMesh->mVertices[faceIndex0][0], currentAiMesh->mVertices[faceIndex0][1], currentAiMesh->mVertices[faceIndex0][2]); - Vec3d v1(currentAiMesh->mVertices[faceIndex1][0], currentAiMesh->mVertices[faceIndex1][1], currentAiMesh->mVertices[faceIndex1][2]); - Vec3d v2(currentAiMesh->mVertices[faceIndex2][0], currentAiMesh->mVertices[faceIndex2][1], currentAiMesh->mVertices[faceIndex2][2]); - - seqTriangles.push_back( core::topology::BaseMeshTopology::Triangle( vertexMap[v0], vertexMap[v1], vertexMap[v2] ) ); - } - else if( currentAiMesh->mFaces[k].mNumIndices==4 ) - { - unsigned int *faceIndices = currentAiMesh->mFaces[k].mIndices; - - const unsigned int &faceIndex0 = faceIndices[0]; - const unsigned int &faceIndex1 = faceIndices[1]; - const unsigned int &faceIndex2 = faceIndices[2]; - const unsigned int &faceIndex3 = faceIndices[3]; - - Vec3d v0(currentAiMesh->mVertices[faceIndex0][0], currentAiMesh->mVertices[faceIndex0][1], currentAiMesh->mVertices[faceIndex0][2]); - Vec3d v1(currentAiMesh->mVertices[faceIndex1][0], currentAiMesh->mVertices[faceIndex1][1], currentAiMesh->mVertices[faceIndex1][2]); - Vec3d v2(currentAiMesh->mVertices[faceIndex2][0], currentAiMesh->mVertices[faceIndex2][1], currentAiMesh->mVertices[faceIndex2][2]); - Vec3d v3(currentAiMesh->mVertices[faceIndex3][0], currentAiMesh->mVertices[faceIndex3][1], currentAiMesh->mVertices[faceIndex3][2]); - - seqQuads.push_back( core::topology::BaseMeshTopology::Quad( vertexMap[v0], vertexMap[v1], vertexMap[v2], vertexMap[v3] ) ); - } - } - - currentMeshTopology->d_seqQuads.endEdit(); - } - - currentMeshTopology->d_seqTriangles.endEdit(); - } - - - if(generateCollisionModels.getValue()) - { - TriangleCollisionModel::SPtr currentTriangleCollisionModel = sofa::core::objectmodel::New >(); - { - // adding the generated TriangleCollisionModel to its parent Node - currentSubNode->addObject(currentTriangleCollisionModel); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentTriangleCollisionModel->setName(nameStream.str()); - } - - LineCollisionModel::SPtr currentLineCollisionModel = sofa::core::objectmodel::New >(); - { - // adding the generated LineCollisionModel to its parent Node - currentSubNode->addObject(currentLineCollisionModel); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentLineCollisionModel->setName(nameStream.str()); - } - - PointCollisionModel::SPtr currentPointCollisionModel = sofa::core::objectmodel::New >(); - { - // adding the generated PointCollisionModel to its parent Node - currentSubNode->addObject(currentPointCollisionModel); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentPointCollisionModel->setName(nameStream.str()); - } - } - - if(currentAiMesh->HasBones()) - { -#if COLLADASCENELOADER_HAVE_IMAGE - if( generateShapeFunction.getValue() ) - { - SReal vsize = this->voxelSize.getValue(); - - // rasterized mesh - Node::SPtr labelNode = currentSubNode->createChild("label"); - engine::MeshToImageEngine::SPtr M2I = sofa::core::objectmodel::New >(); - M2I->setName( "rasterizer" ); - M2I->voxelSize.setValue( type::vector(1,vsize) ); - M2I->padSize.setValue(2); - M2I->rotateImage.setValue(false); - M2I->f_nbMeshes.setValue(1); - M2I->backgroundValue.setValue(0); - engine::MeshToImageEngine::SeqValues values(1,1); - (*M2I->vf_values[0]).setValue(values); - (*M2I->vf_positions[0]).setParent( ¤tMechanicalObject->x ); - (*M2I->vf_triangles[0]).setParent( ¤tMeshTopology->seqTriangles ); - labelNode->addObject(M2I); - - ImageContainer::SPtr IC0 = sofa::core::objectmodel::New >(); - IC0->setName( "image" ); - IC0->image.setParent(&M2I->image); - IC0->transform.setParent(&M2I->transform); - labelNode->addObject(IC0); - - // rasterized weights on surface - for( unsigned int b = 0 ; b < currentAiMesh->mNumBones /*&& b<1*/ ; ++b ) - { - aiBone*& bone = currentAiMesh->mBones[b]; - - std::stringstream nodeName; - nodeName << "dof " << b; - Node::SPtr dofNode = currentSubNode->createChild(nodeName.str()); - - engine::MeshToImageEngine::SPtr M2I = sofa::core::objectmodel::New >(); - M2I->setName( "rasterizer" ); - M2I->voxelSize.setValue( type::vector(1,vsize) ); - M2I->padSize.setValue(2); - M2I->rotateImage.setValue(false); - M2I->f_nbMeshes.setValue(1); - // M2I->createInputMeshesData(); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - - - - engine::MeshToImageEngine::SeqValues values(vertexMap.size()); - - - for(unsigned int l = 0; l < bone->mNumWeights; ++l) - { - - const unsigned int& vertexid = bone->mWeights[l].mVertexId; - - if(vertexid >= currentAiMesh->mNumVertices) - { - msg_info() << "Error: SceneColladaLoader::readDAE, a mesh could not be load : " << nameStream.str() << " - in node : " << currentNode->getName(); - return false; - } - - Vec3d v(currentAiMesh->mVertices[vertexid][0], currentAiMesh->mVertices[vertexid][1], currentAiMesh->mVertices[vertexid][2]); - - unsigned int id = vertexMap[v]; - float weight = bone->mWeights[l].mWeight; - - values[id] = weight; - } - - - - (*M2I->vf_values[0]).setValue(values); - M2I->backgroundValue.setValue(-1); - (*M2I->vf_positions[0]).setParent( ¤tMechanicalObject->x ); - (*M2I->vf_triangles[0]).setParent( ¤tMeshTopology->seqTriangles ); - - - dofNode->addObject(M2I); - - ImageContainer::SPtr IC0 = sofa::core::objectmodel::New >(); - IC0->setName( "image" ); - IC0->image.setParent(&M2I->image); - IC0->transform.setParent(&M2I->transform); - dofNode->addObject(IC0); - - // misc::ImageViewer::SPtr IV0 = sofa::core::objectmodel::New >(); - // IV0->setName( "viewer" ); - // IV0->image.setParent( &M2I->image ); - // IV0->transform.setParent( &M2I->transform ); - // dofNode->addObject(IV0); - - // engine::ImageFilter::SPtr IF = sofa::core::objectmodel::New >(); - // IF->setName( "diffusion" ); - // IF->inputImage.setParent(&M2I->image); - // IF->inputTransform.setParent(&M2I->transform); - // IF->filter.beginEdit()->setSelectedItem( 23 ); IF->filter.endEdit(); - // engine::ImageFilter::ParamTypes params(4); - // params[0] = 0; params[1] = params[2] = 1; params[3] = 1e-5; - // IF->param.setValue(params); - // IF->f_printLog.setValue(true); - // dofNode->addObject(IF); - - // ImageContainer::SPtr IC = sofa::core::objectmodel::New >(); - // IC->setName( "image" ); - // IC->image.setParent(&IF->outputImage); - // IC->transform.setParent(&IF->outputTransform); - // dofNode->addObject(IC); - - // misc::ImageViewer::SPtr IV = sofa::core::objectmodel::New >(); - // IV->setName( "viewer" ); - // IV->image.setParent( &IF->outputImage ); - // IV->transform.setParent( &IF->outputTransform ); - // dofNode->addObject(IV); - - } - } else -#endif -#if COLLADASCENELOADER_HAVE_FLEXIBLE - if(useFlexible.getValue()) - { - LinearMapping::SPtr currentLinearMapping = sofa::core::objectmodel::New >(); - - // adding the generated LinearMapping to its parent Node - currentSubNode->addObject(currentLinearMapping); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentLinearMapping->setName(nameStream.str()); - - currentLinearMapping->setModels(currentBoneMechanicalObject.get(), currentMechanicalObject.get()); - - LinearMapping::VecVReal& weights = *currentLinearMapping->f_w.beginEdit(); - LinearMapping::VecVRef& indices = *currentLinearMapping->f_index.beginEdit(); - - indices.resize(vertexMap.size()); - weights.resize(vertexMap.size()); - - for(unsigned int k = 0; k < currentAiMesh->mNumBones; ++k) - { - aiBone*& bone = currentAiMesh->mBones[k]; - - - // helper:vector boneW((size_t)currentAiMesh->mNumVertices,.0f); - - for(unsigned int l = 0; l < bone->mNumWeights; ++l) - { - const unsigned int& vertexid = bone->mWeights[l].mVertexId; - - if(vertexid >= currentAiMesh->mNumVertices) - { - msg_info() << "Error: SceneColladaLoader::readDAE, a mesh could not be load : " << nameStream.str() << " - in node : " << currentNode->getName(); - return false; - } - - Vec3d v(currentAiMesh->mVertices[vertexid][0], currentAiMesh->mVertices[vertexid][1], currentAiMesh->mVertices[vertexid][2]); - - unsigned int id = vertexMap[v]; - float weight = bone->mWeights[l].mWeight; - - // boneW[id]=weight; - - if( std::find( indices[id].begin(), indices[id].end(), k ) == indices[id].end() ) - { - indices[id].push_back(k); - weights[id].push_back(weight); - } - } - - // std::cerr<<"MESH "<f_w.endEdit(); - currentLinearMapping->f_index.endEdit(); - } - else -#endif - { - SkinningMapping::SPtr currentSkinningMapping = sofa::core::objectmodel::New >(); - { - // adding the generated SkinningMapping to its parent Node - currentSubNode->addObject(currentSkinningMapping); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentSkinningMapping->setName(nameStream.str()); - - currentSkinningMapping->setModels(currentBoneMechanicalObject.get(), currentMechanicalObject.get()); - - type::vector::InReal> > weights; - type::vector > indices; - type::vector nbref; - - indices.resize(vertexMap.size()); - weights.resize(vertexMap.size()); - nbref.resize(vertexMap.size(),0); - - for(unsigned int k = 0; k < currentAiMesh->mNumBones; ++k) - { - aiBone*& bone = currentAiMesh->mBones[k]; - - for(unsigned int l = 0; l < bone->mNumWeights; ++l) - { - - const unsigned int& vertexid = bone->mWeights[l].mVertexId; - - if(vertexid >= currentAiMesh->mNumVertices) - { - msg_info() << "Error: SceneColladaLoader::readDAE, a mesh could not be load : " << nameStream.str() << " - in node : " << currentNode->getName(); - return false; - } - - Vec3d v(currentAiMesh->mVertices[vertexid][0], currentAiMesh->mVertices[vertexid][1], currentAiMesh->mVertices[vertexid][2]); - - unsigned int id = vertexMap[v]; - float weight = bone->mWeights[l].mWeight; - - if( std::find( indices[id].begin(), indices[id].end(), k ) == indices[id].end() ) - { - weights[id].push_back(weight); - indices[id].push_back(k); - ++nbref[id]; - } - - } - } - - currentSkinningMapping->setWeights(weights, indices, nbref); - } - } - } - else - { - RigidMapping::SPtr currentRigidMapping = sofa::core::objectmodel::New >(); - { - // adding the generated RigidMapping to its parent Node - currentSubNode->addObject(currentRigidMapping); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentRigidMapping->setName(nameStream.str()); - - currentRigidMapping->setModels(currentBoneMechanicalObject.get(), currentMechanicalObject.get()); - } - } - - // node used for visualization - std::stringstream visuNameStream; - visuNameStream << "visualization " << (int)meshId; - - Node::SPtr visuNode = getSimulation()->createNewNode(visuNameStream.str()); - currentSubNode->addChild(visuNode); - - currentSubNode = visuNode; - - // generating an OglModel and filling up its properties - OglModel::SPtr currentOglModel = sofa::core::objectmodel::New(); - { - // adding the generated OglModel to its parent Node - currentSubNode->addObject(currentOglModel); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentOglModel->setName(nameStream.str()); - - if(0 != currentAiMesh->mNumVertices) - { - sofa::type::vector normals; - normals.resize(currentAiMesh->mNumVertices); - memcpy(&normals[0], currentAiMesh->mNormals, currentAiMesh->mNumVertices * sizeof(aiVector3D)); - currentOglModel->setVnormals(&normals); - } - } - - IdentityMapping::SPtr currentIdentityMapping = sofa::core::objectmodel::New >(); - { - // adding the generated IdentityMapping to its parent Node - currentSubNode->addObject(currentIdentityMapping); - - std::stringstream nameStream(meshName); - if(meshName.empty()) - nameStream << componentIndex++; - currentIdentityMapping->setName(nameStream.str()); - - currentIdentityMapping->setModels(currentMechanicalObject.get(), currentOglModel.get()); - } - } - } - - // pop the current node when each one of its children have been processed - if(childIndex == currentAiNode->mNumChildren) - { - nodes.pop(); - } - // process next sub node - else - { - // generating sub Node and filling up its properties - // store it in the stack to process its children later - NodeInfo subNodeInfo(currentAiNode->mChildren[childIndex], getSimulation()->createNewNode(""), ¤tNodeInfo); - nodes.push(subNodeInfo); - - // adding the generated node to its parent Node - currentNode->addChild(subNodeInfo.mNode); - - // this child will be processed, go to the next one - ++childIndex; - } - } - } - - removeEmptyNodes(); - - return true; -} - -bool SceneColladaLoader::fillSkeletalInfo(const aiScene* scene, aiNode* meshParentNode, aiNode* meshNode, aiMatrix4x4 meshTransformation, aiMesh* mesh, type::vector > &skeletonJoints, type::vector& skeletonBones) const -{ - // return now if their is no scene, no mesh or no skeletonBones - if(!scene || !mesh || !mesh->HasBones()) - { - msg_info() << "no mesh to load !"; - return false; - } - - std::map aiNodeToSkeletonJointIndex; - - // compute the mesh transformation into a rigid - Mat4x4d meshWorldTranformation(meshTransformation[0]); - Rigid3Types::Coord meshTransformationRigid; - meshTransformationRigid.getCenter()[0] = meshWorldTranformation[0][3]; - meshTransformationRigid.getCenter()[1] = meshWorldTranformation[1][3]; - meshTransformationRigid.getCenter()[2] = meshWorldTranformation[2][3]; - Mat3x3d rot; rot = meshWorldTranformation; - meshTransformationRigid.getOrientation().fromMatrix(rot); - - // register every SkeletonJoint - for(unsigned int j = 0; j < scene->mNumAnimations; ++j) - { - // for now we just want to handle one animation - if(1 == j) - break; - - aiAnimation*& animation = scene->mAnimations[j]; - for(unsigned int k = 0; k < animation->mNumChannels; ++k) - { - aiNodeAnim*& channel = animation->mChannels[k]; - aiString& nodeName = channel->mNodeName; - aiNode* node = scene->mRootNode->FindNode(nodeName); - - // create the corresponding SkeletonJoint if it does not exist - std::map::iterator aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.find(node); - if(aiNodeToSkeletonJointIndex.end() == aiNodeToSkeletonJointIndexIterator) - { - skeletonJoints.push_back(SkeletonJoint()); - aiNodeToSkeletonJointIndex[node] = skeletonJoints.size() - 1; - aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.find(node); - } - else - { - return false; - } - SkeletonJoint& skeletonJoint = skeletonJoints[aiNodeToSkeletonJointIndexIterator->second]; - - aiVectorKey positionKey, scaleKey; - aiQuatKey rotationKey; - - unsigned int numKey = std::max(channel->mNumPositionKeys, channel->mNumRotationKeys); - - skeletonJoint.mTimes.resize(numKey); - skeletonJoint.mChannels.resize(numKey); - for(unsigned int l = 0; l < numKey; ++l) - { - SReal time = 0.0; - aiMatrix4x4 transformation; - - if(l < channel->mNumPositionKeys) - { - positionKey = channel->mPositionKeys[l]; - time = positionKey.mTime; - aiMatrix4x4 position; - aiMatrix4x4::Translation(positionKey.mValue, position); - transformation = position; - } - - if(l < channel->mNumRotationKeys) - { - rotationKey = channel->mRotationKeys[l]; - time = rotationKey.mTime; - aiMatrix4x4 rotation(rotationKey.mValue.GetMatrix()); - transformation *= rotation; - } - - Mat4x4d localTranformation(transformation[0]); - - Rigid3Types::Coord localRigid; - localRigid.getCenter()[0] = localTranformation[0][3]; - localRigid.getCenter()[1] = localTranformation[1][3]; - localRigid.getCenter()[2] = localTranformation[2][3]; - Mat3x3d tmprot; tmprot = localTranformation; - localRigid.getOrientation().fromMatrix(tmprot); - - skeletonJoint.mTimes[l] = time; - skeletonJoint.mChannels[l] = localRigid; - } - } - } - - // register every bone and link them to their SkeletonJoint (or create it if it has not been created) - skeletonBones.resize(mesh->mNumBones); - for(unsigned int i = 0; i < mesh->mNumBones; ++i) - { - aiBone*& bone = mesh->mBones[i]; - const aiString& boneName = bone->mName; - - // register the parents SkeletonJoint for each bone - aiNode* node = scene->mRootNode->FindNode(boneName); - - // create the corresponding SkeletonJoint if it does not exist - std::map::iterator aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.find(node); - if(aiNodeToSkeletonJointIndex.end() == aiNodeToSkeletonJointIndexIterator) - { - skeletonJoints.push_back(SkeletonJoint()); - aiNodeToSkeletonJointIndex[node] = skeletonJoints.size() - 1; - aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.find(node); - } - - skeletonBones[i] = aiNodeToSkeletonJointIndexIterator->second; - } - - // register every SkeletonJoint and their parents and fill up theirs properties - for(std::size_t i = 0; i < skeletonJoints.size(); ++i) - { - aiNode* node = NULL; - - // find the ai node corresponding to the SkeletonJoint - for(std::map::iterator aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.begin(); aiNodeToSkeletonJointIndexIterator != aiNodeToSkeletonJointIndex.end(); ++aiNodeToSkeletonJointIndexIterator) - { - if(i == aiNodeToSkeletonJointIndexIterator->second) - { - node = aiNodeToSkeletonJointIndexIterator->first; - break; - } - } - - if(NULL == node) - return false; - - std::size_t previousSkeletonJointIndex; - bool firstIteration = true; - - // find parents node - while(NULL != node) - { - // stop if we reach the mesh node or its parent - if(meshNode == node || meshParentNode == node) - break; - - // create the corresponding SkeletonJoint if it does not exist - std::map::iterator aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.find(node); - if(aiNodeToSkeletonJointIndex.end() == aiNodeToSkeletonJointIndexIterator) - { - skeletonJoints.push_back(SkeletonJoint()); - aiNodeToSkeletonJointIndex[node] = skeletonJoints.size() - 1; - aiNodeToSkeletonJointIndexIterator = aiNodeToSkeletonJointIndex.find(node); - } - SkeletonJoint& currentSkeletonJoint = skeletonJoints[aiNodeToSkeletonJointIndexIterator->second]; - - // register the current node - aiMatrix4x4 aiLocalTransformation = node->mTransformation; - - // compute the rigid corresponding to the SkeletonJoint - Mat4x4d localTranformation(aiLocalTransformation[0]); - - Rigid3Types::Coord localRigid; - localRigid.getCenter()[0] = localTranformation[0][3]; - localRigid.getCenter()[1] = localTranformation[1][3]; - localRigid.getCenter()[2] = localTranformation[2][3]; - Mat3x3d localRotation; - localRotation = localTranformation; - localRigid.getOrientation().fromMatrix(localRotation); - - // apply the mesh transformation to the skeleton root joint only - // we know that this joint is the root if the corresponding aiNode is the mesh node or its parent - aiNode* parentNode = node->mParent; - if(meshNode == parentNode || meshParentNode == parentNode) - { - // compute the mesh transformation - localRigid = meshTransformationRigid.mult(localRigid); - - // apply the mesh transformation to each channel if the skeleton root joint contains animation - for(std::size_t kk = 0; kk < currentSkeletonJoint.mChannels.size(); ++kk) - currentSkeletonJoint.mChannels[kk] = meshTransformationRigid.mult(currentSkeletonJoint.mChannels[kk]); - } - - currentSkeletonJoint.setRestPosition(localRigid); - - if(!firstIteration) - skeletonJoints[previousSkeletonJointIndex].mParentIndex = aiNodeToSkeletonJointIndexIterator->second; - - firstIteration = false; - previousSkeletonJointIndex = aiNodeToSkeletonJointIndexIterator->second; - - node = node->mParent; - } - } - - return true; -} - -void SceneColladaLoader::removeEmptyNodes() -{ - // remove intermediary or empty nodes - { - std::stack > nodes; - - nodes.push(std::pair(subSceneRoot, 0)); - while(!nodes.empty()) - { - Node::SPtr& node = nodes.top().first; - std::size_t& index = nodes.top().second; - - if(node->getChildren().size() <= index) - { - nodes.pop(); - - if(nodes.empty()) - break; - - Node::SPtr& parentNode = nodes.top().first; - std::size_t& parentIndex = nodes.top().second; - - // remove the node if it has no objects - if(node->object.empty()) - { - if(0 != node->getChildren().size()) - { - // links its child nodes directly to its parent node before remove the current intermediary node - while(!node->getChildren().empty()) - { - Node::SPtr childNode = static_cast(node->getChildren()[0]); - parentNode->moveChild(childNode); - } - } - - parentNode->removeChild(node); - } - else - { - ++parentIndex; - } - } - else - { - Node::SPtr child = static_cast(node->getChildren()[index]); - nodes.push(std::pair(child, 0)); - } - } - } -} - -} // namespace loader - -} // namespace component - -} // namespace sofa - diff --git a/applications/plugins/SofaAssimp/SceneColladaLoader.h b/applications/plugins/SofaAssimp/SceneColladaLoader.h deleted file mode 100644 index 869e8519399..00000000000 --- a/applications/plugins/SofaAssimp/SceneColladaLoader.h +++ /dev/null @@ -1,167 +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_ASSIMPLOADER_SceneColladaLoader_H -#define SOFA_ASSIMPLOADER_SceneColladaLoader_H - -#include -#include -#include -#include -#include - -#include // C++ importer interface -#include // Output data structure -#include // Post processing flags - -namespace sofa -{ - -namespace component -{ - -namespace loader -{ - -/** - current limitation : one animation per scene -*/ -class SOFA_ASSIMP_API SceneColladaLoader : public sofa::core::loader::SceneLoader -{ -public: - SOFA_CLASS(SceneColladaLoader,sofa::core::loader::SceneLoader); - - struct NodeInfo; - - // describing a link between Assimp Node and Sofa Node allowing us to build a node hierarchy - struct NodeInfo - { - std::size_t mChildIndex; // index of the current child node to process - aiNode* mAiNode; // aiNode being processed - simulation::Node::SPtr mNode; // corresponding Node created in the sofa scene graph - NodeInfo* mParentNode; // parent node (useful to retrieve mesh skeleton and to compute world transformation matrix) - aiMatrix4x4 mTransformation; // matrix that transforms from node space to world space - - NodeInfo(aiNode* pAiNode, simulation::Node::SPtr pNode, NodeInfo* mParentNode = NULL) : - mChildIndex(0), - mAiNode(pAiNode), - mNode(pNode), - mParentNode(mParentNode), - mTransformation() - { - if(mParentNode) - mTransformation = mParentNode->mTransformation; - - if(pAiNode) - mTransformation *= pAiNode->mTransformation; - - /*if(root) - { - std::cout << pAiNode->mTransformation.a1 << " - " << pAiNode->mTransformation.b1 << " - " << pAiNode->mTransformation.c1 << " - " << pAiNode->mTransformation.d1 << std::endl; - std::cout << pAiNode->mTransformation.a2 << " - " << pAiNode->mTransformation.b2 << " - " << pAiNode->mTransformation.c2 << " - " << pAiNode->mTransformation.d2 << std::endl; - std::cout << pAiNode->mTransformation.a3 << " - " << pAiNode->mTransformation.b3 << " - " << pAiNode->mTransformation.c3 << " - " << pAiNode->mTransformation.d3 << std::endl; - std::cout << pAiNode->mTransformation.a4 << " - " << pAiNode->mTransformation.b4 << " - " << pAiNode->mTransformation.c4 << " - " << pAiNode->mTransformation.d4 << std::endl; - }*/ - } - - NodeInfo(const NodeInfo& nodeInfo) : - mChildIndex(nodeInfo.mChildIndex), - mAiNode(nodeInfo.mAiNode), - mNode(nodeInfo.mNode), - mParentNode(nodeInfo.mParentNode), - mTransformation(nodeInfo.mTransformation) - { - - } - }; - - // describing a link between a Node and an Assimp Mesh - struct MeshInfo - { - aiMesh* mAiMesh; // mesh being processed - NodeInfo mNodeInfo; // its owner node - - MeshInfo(aiMesh* pAiMesh, NodeInfo pNodeInfo) : - mAiMesh(pAiMesh), - mNodeInfo(pNodeInfo) - { - - } - }; - -protected: - SceneColladaLoader(); - ~SceneColladaLoader(); -public: - - virtual void init() override; - virtual bool load() override; - - template - static bool canCreate ( T*& obj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg ) - { - return BaseLoader::canCreate (obj, context, arg); - } - - float getAnimationSpeed() const {return animationSpeed.getValue();} - void setAnimationSpeed(float speed) {animationSpeed.setValue(speed);} - -protected: - - bool readDAE (std::ifstream &file, const char* filename); - -private: - - // build the joints and bones array used in the SkeletalMotionProjectiveConstraint - bool fillSkeletalInfo(const aiScene* scene, aiNode* meshParentNode, aiNode* meshNode, aiMatrix4x4 meshTransformation, aiMesh* mesh, type::vector >& skeletonJoints, type::vector& skeletonBones) const; - - // clean the scene graph of its empty and useless intermediary nodes - void removeEmptyNodes(); - -public: - - virtual std::string type() { return "The format of this scene is Collada (.dae)."; } - -private: - simulation::Node::SPtr subSceneRoot; // the Node containing the whole Collada loaded scene - - Assimp::Importer importer; // the Assimp importer used to easily load the Collada scene - - Data animationSpeed; ///< animation speed - Data generateCollisionModels; ///< generate point/line/triangle collision models for imported meshes - -#if COLLADASCENELOADER_HAVE_FLEXIBLE - Data useFlexible; ///< Use the Flexible plugin (it will replace the SkinningMapping with a LinearMapping) -#endif -#if COLLADASCENELOADER_HAVE_IMAGE - Data generateShapeFunction; ///< Generate a shape function that could be used in another simulation - Data voxelSize; ///< voxelSize used for shape function generation -#endif - -}; - -} // namespace loader - -} // namespace component - -} // namespace sofa - -#endif diff --git a/applications/plugins/SofaAssimp/SofaAssimpConfig.cmake.in b/applications/plugins/SofaAssimp/SofaAssimpConfig.cmake.in deleted file mode 100644 index d4ceda1c365..00000000000 --- a/applications/plugins/SofaAssimp/SofaAssimpConfig.cmake.in +++ /dev/null @@ -1,30 +0,0 @@ -# CMake package configuration file for the plugin '@PROJECT_NAME@' - -@PACKAGE_GUARD@ -@PACKAGE_INIT@ - -set(SOFAASSIMP_HAVE_IMAGE @SOFAASSIMP_HAVE_IMAGE@) -set(SOFAASSIMP_HAVE_FLEXIBLE @SOFAASSIMP_HAVE_FLEXIBLE@) - -find_package(Assimp REQUIRED) -find_package(SofaLoader REQUIRED) -find_package(SofaOpenglVisual REQUIRED) -find_package(SofaBoundaryCondition REQUIRED) -find_package(SofaGeneralRigid REQUIRED) -find_package(SofaMeshCollision REQUIRED) - -if(SOFAASSIMP_HAVE_IMAGE) - find_package(image QUIET REQUIRED) -endif() -if(SOFAASSIMP_HAVE_FLEXIBLE) - find_package(Flexible QUIET REQUIRED) -endif() - -if(NOT TARGET @PROJECT_NAME@) - include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") -endif() - -set(@PROJECT_NAME@_INCLUDE_DIRS @CMAKE_CURRENT_SOURCE_DIR@/../ - @ASSIMP_LIBRARY_DIR@) - -check_required_components(@PROJECT_NAME@) diff --git a/applications/plugins/SofaAssimp/cmake/Findassimp.cmake b/applications/plugins/SofaAssimp/cmake/Findassimp.cmake deleted file mode 100644 index cc9075e745a..00000000000 --- a/applications/plugins/SofaAssimp/cmake/Findassimp.cmake +++ /dev/null @@ -1,137 +0,0 @@ -if(CMAKE_SIZEOF_VOID_P EQUAL 8) - set(ASSIMP_ARCHITECTURE "64") -elseif(CMAKE_SIZEOF_VOID_P EQUAL 4) - set(ASSIMP_ARCHITECTURE "32") -endif(CMAKE_SIZEOF_VOID_P EQUAL 8) - -# First try to find assimp in CONFIG mode on the system -find_package(assimp NO_MODULE QUIET) - - -# If not found, try to manually find it -if(NOT ASSIMP_INCLUDE_DIRS OR NOT assimp_FOUND) - if(CMAKE_SYSTEM_NAME STREQUAL Windows) - # Use ASSIMP_ROOT_DIR as user input for Assimp location - set(ASSIMP_ROOT_DIR CACHE PATH "Assimp root directory") - - find_path(ASSIMP_INCLUDE_DIRS - NAMES assimp/postprocess.h - PATHS ${ASSIMP_ROOT_DIR}/include - DOC "The directory where assimp headers reside" - ) - - if(MSVC12) - set(ASSIMP_MSVC_VERSION "vc120") - elseif(MSVC14) - # First look for vc140 build and if not found try vc141 - find_path(ASSIMP_LIBRARY_DIR - NAMES assimp-vc140-mt.lib - HINTS - ${ASSIMP_ROOT_DIR}/lib${ASSIMP_ARCHITECTURE} - ${ASSIMP_ROOT_DIR}/lib - ${ASSIMP_ROOT_DIR}/lib/x64 - ) - - if(ASSIMP_LIBRARY_DIR) - set(ASSIMP_MSVC_VERSION "vc140") - else() - set(ASSIMP_MSVC_VERSION "vc141") - endif() - elseif (MSVC17) - set(ASSIMP_MSVC_VERSION "vc143") - else() - set(ASSIMP_MSVC_VERSION "") - endif() - - if(NOT ASSIMP_LIBRARY_DIR) - find_path(ASSIMP_LIBRARY_DIR - NAMES assimp-${ASSIMP_MSVC_VERSION}-mt.lib - HINTS - ${ASSIMP_ROOT_DIR}/lib${ASSIMP_ARCHITECTURE} - ${ASSIMP_ROOT_DIR}/lib - ${ASSIMP_ROOT_DIR}/lib/x64 - ) - endif() - - find_library(ASSIMP_LIBRARY_DEBUG - NAMES assimp-${ASSIMP_MSVC_VERSION}-mtd.lib - PATHS - ${ASSIMP_LIBRARY_DIR} - ${ASSIMP_ROOT_DIR}/lib - DOC "The assimp debug library" - ) - - find_library(ASSIMP_LIBRARY_RELEASE - NAMES assimp-${ASSIMP_MSVC_VERSION}-mt.lib - PATHS - ${ASSIMP_LIBRARY_DIR} - ${ASSIMP_ROOT_DIR}/lib - DOC "The assimp release library" - ) - - find_path(ASSIMP_BIN_DIR - NAMES assimp-${ASSIMP_MSVC_VERSION}-mt.dll - HINTS - ${ASSIMP_ROOT_DIR}/bin${ASSIMP_ARCHITECTURE} - ${ASSIMP_ROOT_DIR}/bin - ${ASSIMP_ROOT_DIR}/bin/x64 - ) - - if(ASSIMP_LIBRARY_RELEASE AND ASSIMP_BIN_DIR) - if(ASSIMP_LIBRARY_DEBUG) - set(ASSIMP_LIBRARY - optimized ${ASSIMP_LIBRARY_RELEASE} - debug ${ASSIMP_LIBRARY_DEBUG} - ) - else() - set(ASSIMP_LIBRARY ${ASSIMP_LIBRARY_RELEASE}) - endif() - - set(ASSIMP_DLL ${ASSIMP_BIN_DIR}/assimp-${ASSIMP_MSVC_VERSION}-mt.dll) - set(assimp_FOUND TRUE) - else() - set(assimp_FOUND FALSE) - endif() - else() - find_path(ASSIMP_INCLUDE_DIRS - NAMES assimp/postprocess.h assimp/scene.h assimp/version.h assimp/config.h assimp/cimport.h - PATHS - /usr/include - /usr/local/include - /sw/include - /opt/local/include - DOC "The directory where assimp headers reside" - ) - - find_library(ASSIMP_LIBRARY - NAMES assimp - PATHS - /usr/local/lib/ - /usr/lib64 - /usr/lib - /usr/local/lib64 - /usr/local/lib - /sw/lib - /opt/local/lib - DOC "The assimp library" - ) - - if(ASSIMP_INCLUDE_DIRS AND ASSIMP_LIBRARY) - set(assimp_FOUND TRUE) - endif() - endif() -endif() - -if(assimp_FOUND) - if(NOT assimp_FIND_QUIETLY) - message(STATUS "Assimp found. Library is ${ASSIMP_LIBRARIES} and include dir is ${ASSIMP_INCLUDE_DIRS}") - endif() -else() - if(${CMAKE_FIND_PACKAGE_NAME}_FIND_REQUIRED) - set(error_message "Assimp not found.") - if(CMAKE_SYSTEM_NAME STREQUAL Windows AND NOT ASSIMP_ROOT_DIR) - set(error_message "${error_message} Please set ASSIMP_ROOT_DIR to locate Assimp.") - endif() - message(FATAL_ERROR "${error_message}") - endif() -endif() diff --git a/applications/plugins/SofaAssimp/doc/index.html b/applications/plugins/SofaAssimp/doc/index.html deleted file mode 100644 index 7c553b03b3b..00000000000 --- a/applications/plugins/SofaAssimp/doc/index.html +++ /dev/null @@ -1,187 +0,0 @@ - - - - ColladaSceneLoader Plugin Documentation - - - - - - -

ColladaSceneLoader Plugin Documentation

- - - - - - - - - - - -
- A skinned and bones animated character walking
-
A skinned and bones animated character
-
- -
-

Introduction

-This page explains how to use the ColladaSceneLoader plugin to load collada scene (.dae) into Sofa.
-
-What is Collada ? -
-

-       COLLADA defines an XML-based schema to make it easy to transport 3D assets between applications -- enabling diverse 3D authoring and content processing tools to be combined into a production pipeline. -The intermediate language provides comprehensive encoding of visual scenes including: geometry, shaders and effects, physics, animation, kinematics, -and even multiple version representations of the same asset.COLLADA FX enables leading 3D authoring tools to work effectively together to create shader -and effects applications and assets to be authored and packaged using OpenGL Shading Language, Cg, CgFX, and DirectX FX. -

-

How to use

-

-      To use this plugin, you just have to go in you sofa configuration file (sofa-local.prf or if you have not this file, use sofa-default.prf in the sofa root directory) and uncomment or add this following line : -
-DEFINES += SOFA_HAVE_PLUGIN_COLLADA -
-
-If you are a Visual Studio user you must generate sofa projects again using the corresponding batch file (Project VC*.bat). -
-
-      Build the ColladaSceneLoader plugin and load the resulting dynamic library with the Sofa plugin manager available in runSofa or in the sofa Modeler (in the main toolbar : Edit / Plugin Manager...). -You are now able to use the new SceneColladaLoader component. In the Modeler, you can find it in the Loader category. To do so, drag and drop the component into your scene graph and fill up the data "filename" with -the path of the collada scene you want to load. If you launch runSofa with your scene you will see your SceneColladaLoader component and a new generated node below which contains the whole collada scene. -
-      For every skinned mesh, the SceneColladaLoader component creates a MechanicalObject containing the bones used to skin the mesh, a SkeletalMotionContraint containing the whole bones animation -and a SkinningMapping in order to apply the skinning on the mesh. -For every mesh, skinned or not, the loader also creates components needed for visualisation : a MechanicalObject with the mesh vertices, a MeshTopology containing the mesh edges, triangles and -quads, an OglModel component to draw the mesh on the screen and if the mesh is not skinned an IdentityMapping to link the MechanicalObject containing the mesh vertices to the OglModel (this step is -automatically done by the SkinningMapping if we have a skinned mesh). -

- -

Examples

- -      The file example.scn (located in the folder : ColladaSceneLoader/Demos/ ) which loads the collada file "example.dae" illustrate pretty well how works the plugin. -Its XML description contains a line with the new SceneColladaLoader component with its filename data filled as below : -
-
-<SceneColladaLoader name="sceneColladaLoader" filename="example.dae" /> -
-
-The collada file example.dae contains a very basic scene with a mesh skinned with two bones representing an arm which is animated in two step as shown in the following screenshots [took from Blender (software)] : -
-
- - - - - - - - - - - -
Raised skinned arm       Bent skinned arm
Animation step 1 : Arm is raisedAnimation step 2 : Arm is bent
-
-And now the same scene loaded into Sofa : -
-
- - - - - - - - - - - -
Raised skinned armHalf-bent skinned armBent skinned arm
Animation step 1 : Arm is raised
Animation step 1-2 : Arm animation interpolated by Sofa
(animation speed depends of the animation time step)		Animation step 2 : Arm is bent
-
-
-Another example with a scene containing two meshes, one with the same bones as in the previous example and a sphere without skinning. -
-
- - - - - - - - - - - -
     
The scene in the Sofa ModelerThe same scene in runSofa
-
-
-      As you can see in Sofa Modeler, the scene to load a collada file is very simple. We have the SceneColladaLoader to load it and, important thing, we also have an EulerSolver -which will be used by the potential SkeletalMotionProjectiveConstraints to "play" the animation updating positions and velocities. -When you launch runSofa with this scene, a new node will be added which contains the whole collada scene. The name of this node is the name you gave to the -SceneColladaLoader plus the string "_scene". On the right picture, the loader generated two child nodes call "mesh 0" which contains a mesh without skinning (the sphere), and -"mesh 1" which contains a mesh with skinning and bones animation directly from the collada file. -The SkeletalMotionProjectiveConstraint automatically interpolates between animation frames, play with the animation time step to slown down or speed up the animation. -
-
-As you can see on the other example below, the woman's hair does not fit her head very well because its coordinates system belongs to a dummy object not supported for the moment. -
-
- - - - - - - -
A skinned and bones animated mesh representing a woman
-
-
-

Intellectual property and rights

- - - - - - - - - - - - - - - - - - - -
Author
- 		Olivier CARRE
Contact
- 		olivier.carre@inria.fr or sofa-devel@lists.gforge.inria.fr -
License
- 		Your can distribute this plugin under the same license as the core of SOFA, or any other license of your choice.
-
Sponsors
- 		Assimp Library
-
-
-
-
-
-
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b/applications/plugins/SofaAssimp/examples/AssimpFbxLoader.scn deleted file mode 100644 index ca0f356bf34..00000000000 --- a/applications/plugins/SofaAssimp/examples/AssimpFbxLoader.scn +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SofaAssimp/examples/AssimpObjLoader.scn b/applications/plugins/SofaAssimp/examples/AssimpObjLoader.scn deleted file mode 100644 index 6454171ebef..00000000000 --- a/applications/plugins/SofaAssimp/examples/AssimpObjLoader.scn +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SofaAssimp/examples/SceneColladaLoader.scn b/applications/plugins/SofaAssimp/examples/SceneColladaLoader.scn deleted file mode 100644 index f94200a8eca..00000000000 --- a/applications/plugins/SofaAssimp/examples/SceneColladaLoader.scn +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git 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    -     -     - 1 -     - - - - - 0 0.04166656 - - - - - - - - 1 0 0 0 0 1.94707e-7 -1 0 0 1 1.94707e-7 0 0 0 0 1 1 0 0 0 0 1.94707e-7 -1 0 0 1 1.94707e-7 0 0 0 0 1 - - - - - - - - LINEAR LINEAR - - - - - - - - - - - - - - - - 0 0.04166656 - - - - - - - - 1 0 0 0 0 1 -1.50996e-7 1 0 1.50996e-7 1 1.50996e-7 0 0 0 1 -1.34359e-7 1 1.94707e-7 0 -1 -1.34359e-7 -4.04564e-7 1 -4.04564e-7 -1.94707e-7 1 1.50996e-7 0 0 0 1 - - - - - - - - LINEAR LINEAR - - - - - - - - - - - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - Elbow Wrist - - - - - - - - 1 0 0 0 0 1.94707e-7 1 0 0 -1 1.94707e-7 0 0 0 0 1 1 0 0 0 0 1.94707e-7 1 -1 0 -1 1.94707e-7 0 0 0 0 1 - - - - - - - - 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 - - - - - - - - - - - - - - 1 1 1 1 2 2 2 2 1 1 1 1 - 0 0 0 1 0 2 0 3 0 4 1 5 0 6 1 7 0 8 1 9 0 10 1 11 1 12 1 13 1 14 1 15 - - - - - - - - -2 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 0 - 1 1 1 - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 0 - 1 1 1 - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 0 - 1 1 1 - - 1 -2.27998e-14 2.27998e-14 0 2.27998e-14 1.94707e-7 -1 0 2.27998e-14 1 1.94707e-7 0 0 0 0 1 - - -1.34359e-7 1 1.94707e-7 0 -1 -1.34359e-7 -4.04564e-7 1 -4.04564e-7 -1.94707e-7 1 1.50996e-7 0 0 0 1 - - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 0 - 1 1 1 - - #Elbow - - - - 0 0 0 - 0 0 1 0 - 0 1 0 0 - 1 0 0 0 - 1 1 1 - - - - - - - \ No newline at end of file diff --git a/applications/plugins/SofaAssimp/examples/character_clothes.py b/applications/plugins/SofaAssimp/examples/character_clothes.py deleted file mode 100644 index 9f6ae51734e..00000000000 --- a/applications/plugins/SofaAssimp/examples/character_clothes.py +++ /dev/null @@ -1,141 +0,0 @@ -import Sofa -import os.path - -from Compliant import Rigid - -colladasceneloader_path = os.path.realpath( os.path.dirname(__file__) + '../../ColladaSceneLoader' ).replace('\\', '/') -mesh_path = colladasceneloader_path + '/Demos/' - -scale = 1 - -clothSelfCollision = 1 - - - -def createScene(root): - - # simulation parameters - root.dt = 0.02 - root.gravity = [0, -9.81, 0] - - # plugins - root.createObject('RequiredPlugin', name='Flexible', pluginName='Flexible') - root.createObject('RequiredPlugin', name='Compliant', pluginName='Compliant') - root.createObject('RequiredPlugin', name='ColladaSceneLoader', pluginName='ColladaSceneLoader') - - # visual style - root.createObject('VisualStyle', displayFlags='showBehaviorModels') - - # scene node - scene = root.createChild('scene') - - scene.createObject('CollisionPipeline', depth='6') - scene.createObject('BruteForceBroadPhase', name='N2') - scene.createObject('BVHNarrowPhase') - scene.createObject('CollisionResponse', responseParams='damping=0&compliance=0&restitution=0', response='CompliantContact') - scene.createObject('MinProximityIntersection', alarmDistance='.7', contactDistance='0.5') - - scene.createObject('CompliantImplicitSolver', stabilization='1', warm_start=1) - scene.createObject('SequentialSolver', precision='1e-10', iterations='100', projectH=1) - scene.createObject('LDLTResponse', regularize=1e-18 ) - scene.createObject('CompliantAttachButtonSetting') - - # character (currently we use a fixed box) - createCharacter(scene.createChild('character')) - - # clothes - createChlothes(scene.createChild('clothes')) - - - -def createCharacter(parent): - - createPersona(parent) - #createBox(parent) - - - -def createPersona(parent): - - parent.createObject('SceneColladaLoader', name='character', filename=mesh_path + 'lowpoly_character.dae', animationSpeed='0.14', generateCollisionModels='1') - - - -def createBox(parent): - - parent.createObject('MechanicalObject', template='Rigid', name='model', position='0 100.0 0 0 0 0 1') - parent.createObject('UniformMass') - parent.createObject('FixedProjectiveConstraint', indices='0') - - collisionNode = parent.createChild('collision') - collisionNode.createObject('MeshOBJLoader', name='loader', filename=mesh_path + 'cube.obj') - collisionNode.createObject('MeshTopology', position='@loader.position', edges='@loader.edges', triangles='@loader.triangles', quads='@loader.quads', tetrahedra='@loader.tetras', hexahedra='@loader.hexas') - collisionNode.createObject('MechanicalObject', template='Vec3d', name='vertices', position='@loader.position') - collisionNode.createObject('TriangleCollisionModel', template='Vec3d') - collisionNode.createObject('LineCollisionModel', template='Vec3d') - collisionNode.createObject('PointCollisionModel', template='Vec3d') - - - collisionNode.createObject('RigidMapping', template='Rigid,Vec3d', input='@../model', output='@./vertices') - - visuNode = collisionNode.createChild('visu') - visuNode.createObject('OglModel', name='visual') - visuNode.createObject('IdentityMapping', template='Vec3d,ExtVec3f', input='@../vertices', output='@visual') - - - -def createChlothes(parent): - - parent.createObject('MeshOBJLoader', name='loader', filename=mesh_path + 'poncho.obj') - parent.createObject('MechanicalObject', template='Vec3d', name='dof', position='@loader.position') - parent.createObject('UniformMass') - parent.createObject('MeshTopology', name='mesh', position='@loader.position', edges='@loader.edges', triangles='@loader.triangles', quads='@loader.quads', tetrahedra='@loader.tetras', hexahedra='@loader.hexas') - - parent.createObject('TriangleCollisionModel', template='Vec3d', name='models', proximity='0', selfCollision=clothSelfCollision) - parent.createObject('LineCollisionModel', template='Vec3d', name='models', proximity='0', selfCollision=clothSelfCollision) - parent.createObject('PointCollisionModel', template='Vec3d', name='models', proximity='0', selfCollision=clothSelfCollision) - - #parent.createObject('ConstantForceField', force='9.81 -9.81 9.81', points='0') #0 24 599 623 - #parent.createObject('ConstantForceField', force='-9.81 -9.81 9.81', points='24') - #parent.createObject('ConstantForceField', force='9.81 -9.81 -9.81', points='599') - #parent.createObject('ConstantForceField', force='-9.81 -9.81 -9.81', points='623') - - - #parent.createObject('MeshSpringForceField', linesStiffness='1.e+4', linesDamping='0.1') // spring version - - createFlexibleClothes(parent) # fem - - #createCompliantClothes(parent) # another spring version - - parent.createObject('FastTriangularBendingSprings', bendingStiffness=3) # bending springs - - visuNode = parent.createChild('visu') - visuNode.createObject('OglModel', template='ExtVec3f', name='visual', color="red") - visuNode.createObject('IdentityMapping', template='Vec3d,ExtVec3f', input='@../dof', output='@visual') - - - -def createFlexibleClothes(parent): - - parent.createObject('BarycentricShapeFunction', template='ShapeFunctiond') - - deformationNode = parent.createChild('deformation') - deformationNode.createObject('TopologyGaussPointSampler', name='sampler', inPosition='@../dof.position', showSamples='false', method='0', order='1') - deformationNode.createObject('MechanicalObject', template='F321', name='triangleDeformationsDOF') - deformationNode.createObject('LinearMapping', template="Vec3d,F321") - - strainNode = deformationNode.createChild('strain') - strainNode.createObject('MechanicalObject', template='E321', name="StrainDOF") - strainNode.createObject('CorotationalStrainMapping', template='F321,E321', method="svd") # try qr instead of svd - strainNode.createObject('HookeForceField', template='E321', youngModulus='30000', poissonRatio='0.35', viscosity='0') - - - -def createCompliantClothes(parent): - - extensionNode = parent.createChild('extension') - extensionNode.createObject('MechanicalObject', template='Vec1d', name='ExtensionDOF') - extensionNode.createObject('EdgeSetTopologyContainer', template='Vec1d', name='ExtensionEdge', edges='@../mesh.edges') - extensionNode.createObject('ExtensionMapping', template='Vec3d,Vec1d', name="ExtensionMap", input='@../', output='@./') - extensionNode.createObject('UniformCompliance', template='Vec1d', name="UniComp", compliance='1e-4', isCompliance='0') - \ No newline at end of file diff --git a/applications/plugins/SofaAssimp/examples/cube.obj b/applications/plugins/SofaAssimp/examples/cube.obj deleted file mode 100644 index ec88b08b3e6..00000000000 --- a/applications/plugins/SofaAssimp/examples/cube.obj +++ /dev/null @@ -1,33 +0,0 @@ -# Blender v2.69 (sub 0) OBJ File: '' -# www.blender.org -o Cube.001 -v 30.000004 -29.999994 -30.000013 -v 30.000004 -30.000006 29.999987 -v -29.999996 -29.999994 -30.000013 -v 30.000004 30.000006 -29.999971 -v -29.999996 30.000006 -30.000002 -v 29.999973 29.999994 30.000025 -v -29.999996 -30.000006 29.999987 -v -29.999996 29.999994 29.999998 -vn 0.000000 -1.000000 -0.000000 -vn -0.000000 1.000000 0.000000 -vn 1.000000 0.000000 0.000000 -vn 0.000000 -0.000001 1.000000 -vn -1.000000 0.000000 0.000000 -vn 0.000001 0.000001 -1.000000 -vn 1.000000 0.000001 0.000001 -vn -0.000000 -0.000000 1.000000 -vn 0.000000 0.000000 -1.000000 -s off -f 1//1 2//1 3//1 -f 4//2 5//2 6//2 -f 1//3 4//3 2//3 -f 2//4 6//4 7//4 -f 7//5 8//5 3//5 -f 4//6 1//6 5//6 -f 2//1 7//1 3//1 -f 5//2 8//2 6//2 -f 4//7 6//7 2//7 -f 6//8 8//8 7//8 -f 8//5 5//5 3//5 -f 1//9 3//9 5//9 diff --git a/applications/plugins/SofaAssimp/examples/example.dae b/applications/plugins/SofaAssimp/examples/example.dae deleted file mode 100644 index 03ab58b2433..00000000000 --- a/applications/plugins/SofaAssimp/examples/example.dae +++ /dev/null @@ -1,186 +0,0 @@ - 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    -     - - - - - 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

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    146 145 828 134 133 829 133 134 830 133 134 831 145 146 832 146 145 833 147 147 834 135 135 835 134 133 836 134 133 837 146 145 838 147 147 839 148 148 840 136 136 841 135 135 842 135 135 843 147 147 844 148 148 845 149 149 846 137 137 847 136 136 848 136 136 849 148 148 850 149 149 851 150 150 852 138 138 853 137 137 854 137 137 855 149 149 856 150 150 857 151 151 858 139 139 859 138 138 860 138 138 861 150 150 862 151 151 863 152 152 864 140 140 865 139 139 866 139 139 867 151 151 868 152 152 869 153 153 870 141 141 871 140 140 872 140 140 873 152 152 874 153 153 875 154 154 876 142 142 877 141 141 878 141 141 879 153 153 880 154 154 881 155 155 882 143 143 883 142 142 884 142 142 885 154 154 886 155 155 887 156 156 888 144 144 889 143 143 890 143 143 891 155 155 892 156 156 893 145 146 894 133 134 895 144 144 896 144 144 897 156 156 898 145 146 899 158 157 900 146 145 901 145 146 902 145 146 903 157 158 904 158 157 905 159 159 906 147 147 907 146 145 908 146 145 909 158 157 910 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172 994 173 173 995 174 174 996 162 162 997 161 161 998 161 161 999 173 173 1000 174 174 1001 175 175 1002 163 163 1003 162 162 1004 162 162 1005 174 174 1006 175 175 1007 176 176 1008 164 164 1009 163 163 1010 163 163 1011 175 175 1012 176 176 1013 177 177 1014 165 165 1015 164 164 1016 164 164 1017 176 176 1018 177 177 1019 178 178 1020 166 166 1021 165 165 1022 165 165 1023 177 177 1024 178 178 1025 179 179 1026 167 167 1027 166 166 1028 166 166 1029 178 178 1030 179 179 1031 180 180 1032 168 168 1033 167 167 1034 167 167 1035 179 179 1036 180 180 1037 169 170 1038 157 158 1039 168 168 1040 168 168 1041 180 180 1042 169 170 1043 182 181 1044 170 169 1045 169 170 1046 169 170 1047 181 182 1048 182 181 1049 183 183 1050 171 171 1051 170 169 1052 170 169 1053 182 181 1054 183 183 1055 184 184 1056 172 172 1057 171 171 1058 171 171 1059 183 183 1060 184 184 1061 185 185 1062 173 173 1063 172 172 1064 172 172 1065 184 184 1066 185 185 1067 186 186 1068 174 174 1069 173 173 1070 173 173 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    378 0 0 0 0 1957 1 1 1 1 977 2 2 2 2 378 0 0 3 3 977 2 2 4 4 1960 3 3 5 5 377 4 4 6 6 1958 5 5 7 7 977 2 2 8 8 377 4 4 9 9 977 2 2 10 10 1957 1 1 11 11 0 6 6 12 12 1959 7 7 13 13 977 2 2 14 14 0 6 6 15 15 977 2 2 16 16 1958 5 5 17 17 335 8 8 18 18 1960 3 3 19 19 977 2 2 20 20 335 8 8 21 21 977 2 2 22 22 1959 7 7 23 23 374 9 9 24 24 1961 10 10 25 25 978 11 11 26 26 374 9 9 27 27 978 11 11 28 28 1964 12 12 29 29 373 13 13 30 30 1962 14 14 31 31 978 11 11 32 32 373 13 13 33 33 978 11 11 34 34 1961 10 10 35 35 1 15 15 36 36 1963 16 16 37 37 978 11 11 38 38 1 15 15 39 39 978 11 11 40 40 1962 14 14 41 41 2 17 17 42 42 1964 12 12 43 43 978 11 11 44 44 2 17 17 45 45 978 11 11 46 46 1963 16 16 47 47 375 18 18 48 48 1965 19 19 49 49 979 20 20 50 50 375 18 18 51 51 979 20 20 52 52 1967 21 21 53 53 374 9 9 54 54 1964 12 12 55 55 979 20 20 56 56 374 9 9 57 57 979 20 20 58 58 1965 19 19 59 59 2 17 17 60 60 1966 22 22 61 61 979 20 20 62 62 2 17 17 63 63 979 20 20 64 64 1964 12 12 65 65 3 23 23 66 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42 45 125 125 147 43 46 126 126 1976 44 47 127 127 982 41 44 128 128 147 43 46 129 129 982 41 44 130 130 1975 40 43 131 131 4 45 48 132 132 1977 46 49 133 133 982 41 44 134 134 4 45 48 135 135 982 41 44 136 136 1976 44 47 137 137 5 47 50 138 138 1978 42 45 139 139 982 41 44 140 140 5 47 50 141 141 982 41 44 142 142 1977 46 49 143 143 148 39 42 144 144 1978 42 45 145 145 983 48 51 146 146 148 39 42 147 147 983 48 51 148 148 1981 49 52 149 149 5 47 50 150 150 1979 50 53 151 151 983 48 51 152 152 5 47 50 153 153 983 48 51 154 154 1978 42 45 155 155 6 51 54 156 156 1980 52 55 157 157 983 48 51 158 158 6 51 54 159 159 983 48 51 160 160 1979 50 53 161 161 149 53 56 162 162 1981 49 52 163 163 983 48 51 164 164 149 53 56 165 165 983 48 51 166 166 1980 52 55 167 167 359 54 57 168 168 1982 55 58 169 169 984 56 59 170 170 359 54 57 171 171 984 56 59 172 172 1984 57 60 173 173 149 53 61 174 174 1980 52 62 175 175 984 56 59 176 176 149 53 61 177 177 984 56 59 178 178 1982 55 58 179 179 6 51 63 180 180 1983 58 64 181 181 984 56 59 182 182 6 51 63 183 183 984 56 59 184 184 1980 52 62 185 185 338 59 65 186 186 1984 57 60 187 187 984 56 59 188 188 338 59 65 189 189 984 56 59 190 190 1983 58 64 191 191 354 60 66 192 192 1985 61 67 193 193 985 62 68 194 194 354 60 66 195 195 985 62 68 196 196 1988 63 69 197 197 36 64 70 198 198 1986 65 71 199 199 985 62 68 200 200 36 64 70 201 201 985 62 68 202 202 1985 61 67 203 203 507 66 72 204 204 1987 67 73 205 205 985 62 68 206 206 507 66 72 207 207 985 62 68 208 208 1986 65 71 209 209 339 68 74 210 210 1988 63 69 211 211 985 62 68 212 212 339 68 74 210 210 985 62 68 196 196 1987 67 73 213 213 355 69 75 214 214 1989 70 76 215 215 986 71 77 216 216 355 69 75 217 217 986 71 77 218 218 1992 72 78 219 219 38 73 79 220 220 1990 74 80 221 221 986 71 77 222 222 38 73 79 223 223 986 71 77 224 224 1989 70 76 225 225 9 75 81 226 226 1991 76 82 227 227 986 71 77 228 228 9 75 81 229 229 986 71 77 230 230 1990 74 80 231 231 340 77 83 232 232 1992 72 78 233 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5358 1201 1099 1202 5365 5359 159 895 1205 5366 5360 1201 1099 1202 5367 5361 2500 1101 1204 5368 5362 160 893 1207 5369 5363 2501 1100 1203 5370 5364 1201 1099 1202 5371 5365 160 893 1207 5372 5366 1201 1099 1202 5373 5367 2396 894 1206 5374 5368 161 826 1208 5375 5369 2361 825 1209 5376 5370 1202 1102 1210 5377 5371 161 826 1208 5378 5372 1202 1102 1210 5379 5373 2466 1032 1211 5380 5374 234 796 844 5381 5375 2349 799 847 5382 5376 1202 1102 1210 5383 5377 234 796 844 5384 5378 1202 1102 1210 5385 5379 2361 825 1209 5386 5380 233 794 842 5387 5381 2501 1100 1203 5388 5382 1202 1102 1210 5389 5383 233 794 842 5390 5384 1202 1102 1210 5391 5385 2349 799 847 5392 5386 160 893 1207 5393 5387 2466 1032 1211 5394 5388 1202 1102 1210 5395 5389 160 893 1207 5396 5390 1202 1102 1210 5397 5391 2501 1100 1203 5398 5392 159 895 1212 5399 5393 2500 1101 1213 5400 5394 1203 1103 1214 5401 5395 159 895 1212 5402 5396 1203 1103 1214 5403 5397 2399 900 1215 5404 5398 232 790 1216 5405 5399 2502 1104 1217 5406 5400 1203 1103 1214 5407 5401 232 790 1216 5408 5402 1203 1103 1214 5409 5403 2500 1101 1213 5410 5404 235 1105 1218 5411 5405 2503 1106 1219 5412 5406 1203 1103 1214 5413 5407 235 1105 1218 5414 5408 1203 1103 1214 5415 5409 2502 1104 1217 5416 5410 166 901 1220 5417 5411 2399 900 1215 5418 5412 1203 1103 1214 5419 5413 166 901 1220 5420 5414 1203 1103 1214 5421 5415 2503 1106 1219 5422 5416 154 779 848 5423 5417 2348 797 1221 5424 5418 1204 1107 1222 5425 5419 154 779 848 5426 5420 1204 1107 1222 5427 5421 2350 800 849 5428 5422 234 796 876 5429 5423 2360 822 873 5430 5424 1204 1107 1222 5431 5425 234 796 876 5432 5426 1204 1107 1222 5433 5427 2348 797 1221 5434 5428 236 821 872 5435 5429 2504 1108 1223 5436 5430 1204 1107 1222 5437 5431 236 821 872 5438 5432 1204 1107 1222 5439 5433 2360 822 873 5440 5434 162 802 852 5441 5435 2350 800 849 5442 5436 1204 1107 1222 5443 5437 162 802 852 5444 5438 1204 1107 1222 5445 5439 2504 1108 1223 5446 5440 235 1105 1218 5447 5441 2505 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1997 9695 9688 1383 1774 1993 9696 9689 2853 1776 1996 9697 9690 439 1779 1999 9698 9691 2855 1775 1994 9699 9692 1383 1774 1993 9700 9693 439 1779 1999 9701 9694 1383 1774 1993 9702 9695 2854 1778 1998 9703 9696 440 1780 2000 9704 9697 2856 1781 2001 9705 9698 1384 1782 2002 9706 9699 440 1780 2000 9707 9700 1384 1782 2002 9708 9701 2858 1783 2003 9709 9702 439 1779 1999 9710 9703 2854 1778 1998 9711 9704 1384 1782 2002 9712 9703 439 1779 1999 9713 9705 1384 1782 2002 9714 9706 2856 1781 2001 9715 9707 248 1777 1997 9716 9708 2857 1784 2004 9717 9709 1384 1782 2002 9718 9710 248 1777 1997 9719 9711 1384 1782 2002 9720 9712 2854 1778 1998 9721 9713 249 1188 2005 9722 9714 2858 1783 2003 9723 9715 1384 1782 2002 9724 9716 249 1188 2005 9725 9717 1384 1782 2002 9726 9718 2857 1784 2004 9727 9719 440 1780 2006 9728 9720 2858 1783 2007 9729 9721 1385 1785 2008 9730 9722 440 1780 2006 9731 9723 1385 1785 2008 9732 9724 2860 1786 2009 9733 9725 249 1188 1325 9734 9726 2542 1187 1324 9735 9727 1385 1785 2008 9736 9728 249 1188 1325 9737 9729 1385 1785 2008 9738 9730 2858 1783 2007 9739 9731 406 1186 1323 9740 9732 2859 1787 2010 9741 9733 1385 1785 2008 9742 9734 406 1186 1323 9743 9735 1385 1785 2008 9744 9736 2542 1187 1324 9745 9737 441 1788 2011 9746 9738 2860 1786 2009 9747 9739 1385 1785 2008 9748 9740 441 1788 2011 9749 9741 1385 1785 2008 9750 9742 2859 1787 2010 9751 9743 441 1788 2011 9752 9744 2859 1787 2010 9753 9745 1386 1789 2012 9754 9746 441 1788 2011 9755 9747 1386 1789 2012 9756 9748 2862 1790 2013 9757 9749 406 1186 1323 9758 9750 2846 1759 1966 9759 9751 1386 1789 2012 9760 9752 406 1186 1323 9761 9753 1386 1789 2012 9762 9754 2859 1787 2010 9763 9755 305 1468 1970 9764 9756 2861 1791 2014 9765 9757 1386 1789 2012 9766 9758 305 1468 1970 9767 9759 1386 1789 2012 9768 9760 2846 1759 1966 9769 9761 442 1792 2015 9770 9762 2862 1790 2013 9771 9763 1386 1789 2012 9772 9764 442 1792 2015 9773 9765 1386 1789 2012 9774 9766 2861 1791 2014 9775 9767 442 1792 2015 9776 9768 2861 1791 2014 9777 9769 1387 1793 2016 9778 9770 442 1792 2015 9779 9771 1387 1793 2016 9780 9772 2864 1794 2017 9781 9773 305 1468 1970 9782 9774 2684 1467 2018 9783 9775 1387 1793 2016 9784 9776 305 1468 1970 9785 9777 1387 1793 2016 9786 9778 2861 1791 2014 9787 9779 304 1462 2019 9788 9780 2863 1795 2020 9789 9781 1387 1793 2016 9790 9782 304 1462 2019 9791 9783 1387 1793 2016 9792 9784 2684 1467 2018 9793 9785 443 1796 2021 9794 9786 2864 1794 2017 9795 9787 1387 1793 2016 9796 9788 443 1796 2021 9797 9789 1387 1793 2016 9798 9790 2863 1795 2020 9799 9791 444 1797 2022 9800 9792 2865 1798 2023 9801 9793 1388 1799 2024 9802 9794 444 1797 2022 9803 9795 1388 1799 2024 9804 9796 2866 1800 2025 9805 9797 443 1796 2021 9806 9798 2863 1795 2020 9807 9799 1388 1799 2024 9808 9800 443 1796 2021 9809 9801 1388 1799 2024 9810 9802 2865 1798 2023 9811 9803 304 1462 2019 9812 9804 2681 1461 2026 9813 9805 1388 1799 2024 9814 9806 304 1462 2019 9815 9807 1388 1799 2024 9816 9808 2863 1795 2020 9817 9809 303 1456 1954 9818 9810 2866 1800 2025 9819 9811 1388 1799 2024 9820 9812 303 1456 1954 9821 9813 1388 1799 2024 9822 9814 2681 1461 2026 9823 9815 437 1772 1989 9824 9816 2867 1801 2027 9825 9817 1389 1802 2028 9826 9818 437 1772 1989 9827 9819 1389 1802 2028 9828 9820 2851 1773 1990 9829 9821 444 1797 2022 9830 9822 2866 1800 2025 9831 9823 1389 1802 2028 9832 9824 444 1797 2022 9833 9825 1389 1802 2028 9834 9826 2867 1801 2027 9835 9827 303 1456 1954 9836 9828 2839 1747 1953 9837 9829 1389 1802 2028 9838 9830 303 1456 1954 9839 9831 1389 1802 2028 9840 9832 2866 1800 2025 9841 9833 404 1166 1303 9842 9834 2851 1773 1990 9843 9835 1389 1802 2028 9844 9836 404 1166 1303 9845 9837 1389 1802 2028 9846 9838 2839 1747 1953 9847 9839 445 1803 2029 9848 9840 2868 1804 2030 9849 9841 1390 1805 2031 9850 9842 445 1803 2029 9851 9843 1390 1805 2031 9852 9844 2871 1806 2032 9853 9845 412 1807 2033 9854 9846 2869 1808 2034 9855 9847 1390 1805 2031 9856 9848 412 1807 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11441 2772 1630 1809 11454 11442 1457 1985 2251 11455 11443 345 115 121 11456 11444 1457 1985 2251 11457 11445 2009 116 122 11458 11446 483 1629 1808 11459 11447 2951 1987 2253 11460 11448 1457 1985 2251 11461 11449 483 1629 1808 11462 11450 1457 1985 2251 11463 11451 2772 1630 1809 11464 11452 484 1988 2254 11465 11453 2952 1986 2252 11466 11454 1457 1985 2251 11467 11455 484 1988 2254 11468 11456 1457 1985 2251 11469 11457 2951 1987 2253 11470 11458 397 133 139 11471 11459 2948 1981 2247 11472 11460 1458 1989 2255 11473 11461 397 133 139 11474 11462 1458 1989 2255 11475 11463 2182 466 496 11476 11464 20 124 130 11477 11465 2953 1990 2256 11478 11466 1458 1989 2255 11479 11467 20 124 130 11480 11468 1458 1989 2255 11481 11469 2948 1981 2247 11482 11470 73 87 93 11483 11471 2003 97 103 11484 11472 1458 1989 2255 11485 11473 73 87 93 11486 11474 1458 1989 2255 11487 11475 2953 1990 2256 11488 11476 400 101 107 11489 11477 2182 466 496 11490 11478 1458 1989 2255 11491 11479 400 101 107 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11609 11597 2962 2005 2271 11610 11598 1463 2004 2270 11611 11599 490 2010 2276 11612 11600 1463 2004 2270 11613 11601 2961 2009 2275 11614 11602 492 2011 2277 11615 11603 2963 2012 2278 11616 11604 1464 2013 2279 11617 11605 492 2011 2277 11618 11606 1464 2013 2279 11619 11607 2965 2014 2280 11620 11608 491 2015 2281 11621 11609 2964 2016 2282 11622 11610 1464 2013 2279 11623 11611 491 2015 2281 11624 11612 1464 2013 2279 11625 11613 2963 2012 2278 11626 11614 488 2006 2272 11627 11615 2959 2003 2269 11628 11616 1464 2013 2279 11629 11617 488 2006 2272 11630 11618 1464 2013 2279 11631 11619 2964 2016 2282 11632 11620 489 2002 2268 11633 11621 2965 2014 2280 11634 11622 1464 2013 2279 11635 11623 489 2002 2268 11636 11624 1464 2013 2279 11637 11625 2959 2003 2269 11638 11626 492 2011 2283 11639 11627 2966 2017 2284 11640 11628 1465 2018 2285 11641 11629 492 2011 2283 11642 11630 1465 2018 2285 11643 11631 2963 2012 2286 11644 11632 494 2019 2287 11645 11633 2967 2020 2288 11646 11634 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22016 21995 3883 3825 4375 22017 21996 1900 3826 4376 22018 21997 942 3704 4231 22019 21998 1900 3826 4376 22020 21999 3825 3709 4238 22021 22000 972 3802 4350 22022 22001 3874 3805 4353 22023 22002 1900 3826 4376 22024 22003 972 3802 4350 22025 22004 1900 3826 4376 22026 22005 3883 3825 4375 22027 22006 974 3809 4357 22028 22007 3884 3827 4377 22029 22008 1900 3826 4376 22030 22009 974 3809 4357 22031 22010 1900 3826 4376 22032 22011 3874 3805 4353 22033 22012 943 3706 4235 22034 22013 3825 3709 4238 22035 22014 1900 3826 4376 22036 22015 943 3706 4235 22037 22016 1900 3826 4376 22038 22017 3884 3827 4377 22039 22018 943 3706 4235 22040 22019 3884 3827 4377 22041 22020 1901 3828 4378 22042 22021 943 3706 4235 22043 22022 1901 3828 4378 22044 22023 3826 3711 4241 22045 22024 974 3809 4357 22046 22025 3876 3811 4359 22047 22026 1901 3828 4378 22048 22027 974 3809 4357 22049 22028 1901 3828 4378 22050 22029 3884 3827 4377 22051 22030 963 3773 4315 22052 22031 3877 3813 4361 22053 22032 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22685 22663 1928 3871 4441 22686 22664 3786 3638 4145 22687 22665 554 2146 2421 22688 22666 3784 3637 4144 22689 22667 1928 3871 4441 22690 22668 554 2146 2421 22691 22669 1928 3871 4441 22692 22670 3026 2147 2422 22693 22671 547 2145 2420 22694 22672 3024 2144 2419 22695 22673 1928 3871 4441 22696 22674 547 2145 2420 22697 22675 1928 3871 4441 22698 22676 3784 3637 4144 22699 22677 548 2143 2418 22700 22678 3786 3638 4145 22701 22679 1928 3871 4441 22702 22680 548 2143 2418 22703 22681 1928 3871 4441 22704 22682 3024 2144 2419 22705 22683 926 3551 4024 22706 22684 3780 3630 4136 22707 22685 1929 3872 4442 22708 22686 926 3551 4024 22709 22687 1929 3872 4442 22710 22688 3778 3625 4130 22711 22689 923 3535 4005 22712 22690 3791 3646 4153 22713 22691 1929 3872 4442 22714 22692 923 3535 4005 22715 22693 1929 3872 4442 22716 22694 3780 3630 4136 22717 22695 562 2176 2454 22718 22696 3038 2175 2453 22719 22697 1929 3872 4442 22720 22698 562 2176 2454 22721 22699 1929 3872 4442 22722 22700 3791 3646 4153 22723 22701 563 2174 2452 22724 22702 3778 3625 4130 22725 22703 1929 3872 4442 22726 22704 563 2174 2452 22727 22705 1929 3872 4442 22728 22706 3038 2175 2453 22729 22707 567 2183 2461 22730 22708 3041 2180 2458 22731 22709 1930 3873 4443 22732 22710 567 2183 2461 22733 22711 1930 3873 4443 22734 22712 3790 3643 4150 22735 22713 568 2179 2457 22736 22714 3788 3642 4149 22737 22715 1930 3873 4443 22738 22716 568 2179 2457 22739 22717 1930 3873 4443 22740 22718 3041 2180 2458 22741 22719 561 2178 2456 22742 22720 3039 2177 2455 22743 22721 1930 3873 4443 22744 22722 561 2178 2456 22745 22723 1930 3873 4443 22746 22724 3788 3642 4149 22747 22725 562 2176 2454 22748 22726 3790 3643 4150 22749 22727 1930 3873 4443 22750 22728 562 2176 2454 22751 22729 1930 3873 4443 22752 22730 3039 2177 2455 22753 22731 567 2183 2461 22754 22732 3792 3645 4152 22755 22733 1931 3874 4444 22756 22734 567 2183 2461 22757 22735 1931 3874 4444 22758 22736 3042 2184 2462 22759 22737 924 3531 4001 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2374 23023 23001 976 3890 4463 23024 23002 3905 3891 4464 23025 23003 1942 3889 4462 23026 23004 976 3890 4463 23027 23005 1942 3889 4462 23028 23006 3904 3888 4461 23029 23007 929 3555 4028 23030 23008 3745 3558 4031 23031 23009 1942 3889 4462 23032 23010 929 3555 4028 23033 23011 1942 3889 4462 23034 23012 3905 3891 4464 23035 23013 530 2103 2375 23036 23014 3005 2102 2374 23037 23015 1942 3889 4462 23038 23016 530 2103 2375 23039 23017 1942 3889 4462 23040 23018 3745 3558 4031 23041 23019 538 2121 2393 23042 23020 3165 2422 2736 23043 23021 1943 3892 4465 23044 23022 538 2121 2393 23045 23023 1943 3892 4465 23046 23024 3902 3885 4458 23047 23025 522 2082 2354 23048 23026 2996 2080 2352 23049 23027 1943 3892 4465 23050 23028 522 2082 2354 23051 23029 1943 3892 4465 23052 23030 3165 2422 2736 23053 23031 519 2071 2343 23054 23032 3906 3893 4466 23055 23033 1943 3892 4465 23056 23034 519 2071 2343 23057 23035 1943 3892 4465 23058 23036 2996 2080 2352 23059 23037 531 2112 2384 23060 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3896 4469 23097 23075 515 2067 2339 23098 23076 1945 3896 4469 23099 23077 3709 3500 3960 23100 23078 929 3555 4028 23101 23079 3905 3891 4464 23102 23080 1945 3896 4469 23103 23081 929 3555 4028 23104 23082 1945 3896 4469 23105 23083 3903 3887 4460 23106 23084 976 3890 4463 23107 23085 3908 3897 4470 23108 23086 1945 3896 4469 23109 23087 976 3890 4463 23110 23088 1945 3896 4469 23111 23089 3905 3891 4464 23112 23090 527 2101 2373 23113 23091 3901 3883 4456 23114 23092 1946 3898 4471 23115 23093 527 2101 2373 23116 23094 1946 3898 4471 23117 23095 3904 3888 4461 23118 23096 534 2104 2376 23119 23097 3907 3895 4468 23120 23098 1946 3898 4471 23121 23099 534 2104 2376 23122 23100 1946 3898 4471 23123 23101 3901 3883 4456 23124 23102 520 2079 2351 23125 23103 3908 3897 4470 23126 23104 1946 3898 4471 23127 23105 520 2079 2351 23128 23106 1946 3898 4471 23129 23107 3907 3895 4468 23130 23108 976 3890 4463 23131 23109 3904 3888 4461 23132 23110 1946 3898 4471 23133 23111 976 3890 4463 23134 23112 1946 3898 4471 23135 23113 3908 3897 4470 23136 23114 35 243 249 23137 23115 2066 240 246 23138 23116 1947 3899 4472 23139 23117 35 243 249 23140 23118 1947 3899 4472 23141 23119 2802 1691 4473 23142 23120 403 239 245 23143 23121 3909 3900 4474 23144 23122 1947 3899 4472 23145 23123 403 239 245 23146 23124 1947 3899 4472 23147 23125 2066 240 246 23148 23126 402 299 310 23149 23127 2802 1691 4473 23150 23128 1947 3899 4472 23151 23129 402 299 310 23152 23130 1947 3899 4472 23153 23131 3909 3900 4474 23154 23132 38 73 79 23155 23133 2091 289 299 23156 23134 1948 3901 4475 23157 23135 38 73 79 23158 23136 1948 3901 4475 23159 23137 2089 286 296 23160 23138 52 288 298 23161 23139 2111 326 4476 23162 23140 1948 3901 4475 23163 23141 52 288 298 23164 23142 1948 3901 4475 23165 23143 2091 289 299 23166 23144 51 287 297 23167 23145 2089 286 296 23168 23146 1948 3901 4475 23169 23147 51 287 297 23170 23148 1948 3901 4475 23171 23149 2111 326 4476 23172 23150 33 233 239 23173 23151 2806 1699 1902 23174 23152 1949 3902 4477 23175 23153 33 233 239 23176 23154 1949 3902 4477 23177 23155 2100 306 317 23178 23156 386 261 268 23179 23157 3910 3903 4478 23180 23158 1949 3902 4477 23181 23159 386 261 268 23182 23160 1949 3902 4477 23183 23161 2806 1699 1902 23184 23162 385 303 314 23185 23163 2100 306 317 23186 23164 1949 3902 4477 23187 23165 385 303 314 23188 23166 1949 3902 4477 23189 23167 3910 3903 4478 23190 23168 386 261 268 23191 23169 2076 260 267 23192 23170 1950 3904 4479 23193 23171 386 261 268 23194 23172 1950 3904 4479 23195 23173 3910 3903 4478 23196 23174 37 259 266 23197 23175 2805 1697 1900 23198 23176 1950 3904 4479 23199 23177 37 259 266 23200 23178 1950 3904 4479 23201 23179 2076 260 267 23202 23180 385 303 314 23203 23181 3910 3903 4478 23204 23182 1950 3904 4479 23205 23183 385 303 314 23206 23184 1950 3904 4479 23207 23185 2805 1697 1900 23208 23186 395 99 105 23209 23187 2837 1743 1947 23210 23188 1951 3905 4480 23211 23189 395 99 105 23212 23190 1951 3905 4480 23213 23191 2069 242 248 23214 23192 402 299 310 23215 23193 3909 3900 4474 23216 23194 1951 3905 4480 23217 23195 402 299 310 23218 23196 1951 3905 4480 23219 23197 2837 1743 1947 23220 23198 403 239 245 23221 23199 2069 242 248 23222 23200 1951 3905 4480 23223 23201 403 239 245 23224 23202 1951 3905 4480 23225 23203 3909 3900 4474 23226 23204 579 2211 2495 23227 23205 3796 3652 4160 23228 23206 1952 3906 4481 23229 23207 579 2211 2495 23230 23208 1952 3906 4481 23231 23209 3057 2212 2496 23232 23210 521 2084 2356 23233 23211 3781 3632 4139 23234 23212 1952 3906 4481 23235 23213 521 2084 2356 23236 23214 1952 3906 4481 23237 23215 3796 3652 4160 23238 23216 523 2092 2499 23239 23217 3057 2212 2496 23240 23218 1952 3906 4481 23241 23219 523 2092 2499 23242 23220 1952 3906 4481 23243 23221 3781 3632 4139 23244 23222 595 2255 2543 23245 23223 3764 3603 4482 23246 23224 1953 3907 4483 23247 23225 595 2255 2543 23248 23226 1953 3907 4483 23249 23227 3080 2256 2544 23250 23228 594 2261 4093 23251 23229 3762 3601 4096 23252 23230 1953 3907 4483 23253 23231 594 2261 4093 23254 23232 1953 3907 4483 23255 23233 3764 3603 4482 23256 23234 593 2259 2547 23257 23235 3080 2256 2544 23258 23236 1953 3907 4483 23259 23237 593 2259 2547 23260 23238 1953 3907 4483 23261 23239 3762 3601 4096 23262 23240 575 2204 2488 23263 23241 3087 2269 2557 23264 23242 1954 3908 4484 23265 23243 575 2204 2488 23266 23244 1954 3908 4484 23267 23245 3767 3610 4115 23268 23246 597 2268 2556 23269 23247 3911 3909 4485 23270 23248 1954 3908 4484 23271 23249 597 2268 2556 23272 23250 1954 3908 4484 23273 23251 3087 2269 2557 23274 23252 584 2228 2513 23275 23253 3767 3610 4115 23276 23254 1954 3908 4484 23277 23255 584 2228 2513 23278 23256 1954 3908 4484 23279 23257 3911 3909 4485 23280 23258 584 2228 2513 23281 23259 3911 3909 4485 23282 23260 1955 3910 4486 23283 23261 584 2228 2513 23284 23262 1955 3910 4486 23285 23263 3065 2229 2514 23286 23264 597 2268 2556 23287 23265 3766 3608 4487 23288 23266 1955 3910 4486 23289 23267 597 2268 2556 23290 23268 1955 3910 4486 23291 23269 3911 3909 4485 23292 23270 583 2230 2515 23293 23271 3065 2229 2514 23294 23272 1955 3910 4486 23295 23273 583 2230 2515 23296 23274 1955 3910 4486 23297 23275 3766 3608 4487 23298 23276 580 2218 2503 23299 23277 3085 2267 2555 23300 23278 1956 3911 4488 23301 23279 580 2218 2503 23302 23280 1956 3911 4488 23303 23281 3795 3653 4161 23304 23282 577 2209 2493 23305 23283 3055 2208 2492 23306 23284 1956 3911 4488 23307 23285 577 2209 2493 23308 23286 1956 3911 4488 23309 23287 3085 2267 2555 23310 23288 518 2075 2347 23311 23289 3795 3653 4161 23312 23290 1956 3911 4488 23313 23291 518 2075 2347 23314 23292 1956 3911 4488 23315 23293 3055 2208 2492 23316 23294

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850 1366 1388 1435 1369 1387 1434 965 1403 1450 965 1403 1450 1058 1404 1451 1366 1388 1435 1367 1390 1437 1373 1389 1436 1330 1405 1452 1330 1405 1452 956 1406 1453 1367 1390 1437 1373 1389 1436 1381 1391 1438 1336 1407 1454 1336 1407 1454 1330 1405 1452 1373 1389 1436 1381 1391 1438 1364 1392 1439 1332 1408 1455 1332 1408 1455 1336 1407 1454 1381 1391 1438 1368 1386 1433 1366 1388 1435 1058 1404 1451 1058 1404 1451 963 1402 1449 1368 1386 1433 1369 1387 1434 1367 1390 1437 956 1406 1453 956 1406 1453 965 1403 1450 1369 1387 1434 1364 1392 1439 1379 1382 1429 1339 1398 1445 1339 1398 1445 1332 1408 1455 1364 1392 1439

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    390 0 390 391 1 391 19 2 19 19 2 19 406 3 406 390 0 390 391 1 391 0 4 0 1 5 1 1 5 1 19 2 19 391 1 391 19 2 19 1 5 1 20 6 20 20 6 20 405 7 405 19 2 19 1 5 1 392 8 392 393 9 393 393 9 393 20 6 20 1 5 1 20 6 20 393 9 393 21 10 21 21 10 21 404 11 404 20 6 20 21 10 21 2 12 2 3 13 3 3 13 3 403 14 403 21 10 21 403 14 403 3 13 3 402 15 402 2 12 2 4 16 4 5 17 5 5 17 5 3 13 3 2 12 2 3 13 3 5 17 5 6 18 6 6 18 6 402 15 402 3 13 3 402 15 402 6 18 6 7 19 7 7 19 7 435 20 435 402 15 402 435 20 435 7 19 7 8 21 8 8 21 8 434 22 434 435 20 435 434 22 434 8 21 8 9 23 9 9 23 9 433 24 433 434 22 434 433 24 433 9 23 9 10 25 10 10 25 10 432 26 432 433 24 433 432 26 432 10 25 10 11 27 11 11 27 11 431 28 431 432 26 432 431 28 431 11 27 11 12 29 12 12 29 12 430 30 430 431 28 431 430 30 430 12 29 12 13 31 13 13 31 13 429 32 429 430 30 430 429 32 429 13 31 13 14 33 14 14 33 14 428 34 428 429 32 429 428 34 428 14 33 14 651 35 651 651 35 651 645 36 645 428 34 428 6 18 6 394 37 394 395 38 395 395 38 395 7 19 7 6 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32 65 32 26 55 26 25 53 25 26 55 26 32 65 32 33 66 33 33 66 33 27 57 27 26 55 26 27 57 27 33 66 33 34 67 34 34 67 34 389 59 389 27 57 27 389 59 389 34 67 34 35 68 35 35 68 35 420 69 420 389 59 389 28 61 28 36 70 36 37 71 37 37 71 37 29 62 29 28 61 28 29 62 29 37 71 37 38 72 38 38 72 38 30 63 30 29 62 29 30 63 30 38 72 38 39 73 39 39 73 39 31 64 31 30 63 30 31 64 31 39 73 39 40 74 40 40 74 40 32 65 32 31 64 31 32 65 32 40 74 40 41 75 41 41 75 41 33 66 33 32 65 32 33 66 33 41 75 41 42 76 42 42 76 42 34 67 34 33 66 33 34 67 34 42 76 42 43 77 43 43 77 43 35 68 35 34 67 34 35 68 35 43 77 43 418 78 418 418 78 418 419 79 419 35 68 35 100 80 100 101 81 101 37 71 37 37 71 37 36 70 36 100 80 100 38 72 38 37 71 37 101 81 101 101 81 101 44 82 44 38 72 38 38 72 38 44 82 44 45 83 45 45 83 45 39 73 39 38 72 38 39 73 39 45 83 45 46 84 46 46 84 46 40 74 40 39 73 39 40 74 40 46 84 46 47 85 47 47 85 47 41 75 41 40 74 40 41 75 41 47 85 47 48 86 48 48 86 48 42 76 42 41 75 41 42 76 42 48 86 48 49 87 49 49 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66 115 66 62 110 62 61 109 61 63 112 63 67 116 67 68 117 68 68 117 68 64 113 64 63 112 63 64 113 64 68 117 68 69 118 69 69 118 69 0 4 0 64 113 64 0 4 0 69 118 69 392 8 392 392 8 392 1 5 1 0 4 0 67 116 67 70 119 70 71 120 71 71 120 71 68 117 68 67 116 67 68 117 68 71 120 71 72 121 72 72 121 72 69 118 69 68 117 68 69 118 69 72 121 72 73 122 73 73 122 73 392 8 392 69 118 69 392 8 392 73 122 73 74 123 74 74 123 74 393 9 393 392 8 392 107 124 107 71 120 71 70 119 70 70 119 70 106 125 106 107 124 107 71 120 71 107 124 107 75 126 75 75 126 75 72 121 72 71 120 71 72 121 72 75 126 75 76 127 76 76 127 76 73 122 73 72 121 72 73 122 73 76 127 76 77 128 77 77 128 77 74 123 74 73 122 73 74 123 74 77 128 77 4 16 4 4 16 4 2 12 2 74 123 74 109 129 109 76 127 76 75 126 75 75 126 75 312 130 312 109 129 109 76 127 76 109 129 109 78 131 78 78 131 78 77 128 77 76 127 76 77 128 77 78 131 78 79 132 79 79 132 79 4 16 4 77 128 77 4 16 4 79 132 79 80 133 80 80 133 80 5 17 5 4 16 4 111 134 111 79 132 79 78 131 78 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640 165 640 114 169 114 115 170 115 640 165 640 115 170 115 116 171 116 640 165 640 116 171 116 117 172 117 640 165 640 117 172 117 118 173 118 640 165 640 118 173 118 119 174 119 640 165 640 119 174 119 120 175 120 640 165 640 120 175 120 121 176 121 640 165 640 121 176 121 122 177 122 640 165 640 122 177 122 123 178 123 640 165 640 123 178 123 124 179 124 640 165 640 124 179 124 125 180 125 640 165 640 125 180 125 126 181 126 640 165 640 126 181 126 127 182 127 640 165 640 127 182 127 128 183 128 640 165 640 128 183 128 129 184 129 640 165 640 129 184 129 130 185 130 640 165 640 130 185 130 131 186 131 640 165 640 131 186 131 132 187 132 640 165 640 132 187 132 133 188 133 640 165 640 133 188 133 134 189 134 640 165 640 134 189 134 135 190 135 640 165 640 135 190 135 136 191 136 640 165 640 136 191 136 137 192 137 640 165 640 137 192 137 1015 193 1015 635 194 635 782 195 782 138 196 138 138 196 138 641 166 641 635 194 635 641 166 641 138 196 138 139 197 139 139 197 139 112 167 112 641 166 641 112 167 112 139 197 139 140 198 140 140 198 140 113 168 113 112 167 112 113 168 113 140 198 140 141 199 141 141 199 141 114 169 114 113 168 113 114 169 114 141 199 141 142 200 142 142 200 142 115 170 115 114 169 114 115 170 115 142 200 142 143 201 143 143 201 143 116 171 116 115 170 115 116 171 116 143 201 143 144 202 144 144 202 144 117 172 117 116 171 116 117 172 117 144 202 144 145 203 145 145 203 145 118 173 118 117 172 117 118 173 118 145 203 145 146 204 146 146 204 146 119 174 119 118 173 118 119 174 119 146 204 146 147 205 147 147 205 147 120 175 120 119 174 119 120 175 120 147 205 147 148 206 148 148 206 148 121 176 121 120 175 120 121 176 121 148 206 148 149 207 149 149 207 149 122 177 122 121 176 121 122 177 122 149 207 149 150 208 150 150 208 150 123 178 123 122 177 122 123 178 123 150 208 150 151 209 151 151 209 151 124 179 124 123 178 123 124 179 124 151 209 151 152 210 152 152 210 152 125 180 125 124 179 124 125 180 125 152 210 152 153 211 153 153 211 153 126 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b6ab7c865c7..00000000000 --- a/applications/plugins/SofaAssimp/initAssimpPlugin.cpp +++ /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 * -******************************************************************************/ -#include - - -namespace sofa -{ - -namespace component -{ - -//Here are just several convenient functions to help users know what the plugin contains - -extern "C" { - SOFA_ASSIMP_API void initExternalModule(); - SOFA_ASSIMP_API const char* getModuleName(); - SOFA_ASSIMP_API const char* getModuleVersion(); - SOFA_ASSIMP_API const char* getModuleLicense(); - SOFA_ASSIMP_API const char* getModuleDescription(); - SOFA_ASSIMP_API const char* getModuleComponentList(); -} - -void initExternalModule() -{ - static bool first = true; - if (first) - { - first = false; - } -} - -const char* getModuleName() -{ - return "SofaAssimp"; -} - -const char* getModuleVersion() -{ - return "0.1"; -} - -const char* getModuleLicense() -{ - return "BSD License"; -} - - -const char* getModuleDescription() -{ - return "Use Assimp reader and write functionalities into SOFA"; -} - -const char* getModuleComponentList() -{ - return "AssimpLoader"; -} - - -} - -} - diff --git a/applications/plugins/SofaCUDA/CMakeLists.txt b/applications/plugins/SofaCUDA/CMakeLists.txt index 26634413007..21b37440a39 100644 --- a/applications/plugins/SofaCUDA/CMakeLists.txt +++ b/applications/plugins/SofaCUDA/CMakeLists.txt @@ -5,36 +5,52 @@ set(SOFACUDA_MAJOR_VERSION 0) set(SOFACUDA_MINOR_VERSION 1) set(SOFACUDA_VERSION ${SOFACUDA_MAJOR_VERSION}.${SOFACUDA_MINOR_VERSION}) -# quick and dirty fix for nvcc compatibility with -fno-partial-inlining flag -if(NOT WIN32) - set(CUDA_PROPAGATE_HOST_FLAGS OFF) +if(DEFINED CUDA_ARCH_LIST) + message(WARNING "CUDA_ARCH_LIST variable is deprecated ; use cmake built-in variable CMAKE_CUDA_ARCHITECTURES instead (see https://cmake.org/cmake/help/latest/variable/CMAKE_CUDA_ARCHITECTURES.html)") + string(REPLACE "." "" CUDA_ARCH_LIST_REFORMATED "${CUDA_ARCH_LIST}") + message(WARNING "${CUDA_ARCH_LIST_REFORMATED} will be set in CMAKE_CUDA_ARCHITECTURES.") + set(CMAKE_CUDA_ARCHITECTURES ${CUDA_ARCH_LIST_REFORMATED}) +endif() + +if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0") + option(SOFACUDA_ENABLE_NATIVE_ARCHITECTURE "Set native as for CUDA_ARCHITECTURES (which will compile compatible architectures for the current system)") + if(SOFACUDA_ENABLE_NATIVE_ARCHITECTURE) + set(CMAKE_CUDA_ARCHITECTURES native) + endif() endif() -set(SOFACUDA_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src/SofaCUDA") +# set 75 as fallback value +if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES) + message(NOTICE "CMAKE_CUDA_ARCHITECTURES is not set, it will be set by default to 75") + set(CMAKE_CUDA_ARCHITECTURES 75) +endif() + +set(SOFACUDACORE_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src") +set(SOFACUDA_SOURCE_DIR "${SOFACUDACORE_SOURCE_DIR}/SofaCUDA") set(HEADER_FILES - config.h.in - init.h + ${SOFACUDA_SOURCE_DIR}/config.h.in + ${SOFACUDA_SOURCE_DIR}/init.h ### Common - sofa/gpu/cuda/CudaBaseVector.h - sofa/gpu/cuda/CudaCommon.h - sofa/gpu/cuda/CudaContactMapper.h - sofa/gpu/cuda/CudaMath.h - sofa/gpu/cuda/CudaMath.inl - sofa/gpu/cuda/CudaMathRigid.h - sofa/gpu/cuda/CudaMathRigid.inl - sofa/gpu/cuda/CudaMatrix.h - sofa/gpu/cuda/CudaMemoryManager.h - sofa/gpu/cuda/CudaScan.h - sofa/gpu/cuda/CudaSort.h - sofa/gpu/cuda/CudaTypes.h - sofa/gpu/cuda/mycuda.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaBaseVector.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaCommon.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaContactMapper.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMath.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMath.inl + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMathRigid.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMathRigid.inl + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMatrix.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMemoryManager.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaScan.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaSort.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaTypes.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/mycuda.h ### Mechanical ${SOFACUDA_SOURCE_DIR}/component/statecontainer/CudaMechanicalObject.h ${SOFACUDA_SOURCE_DIR}/component/statecontainer/CudaMechanicalObject.inl - sofa/gpu/cuda/CudaSingleStateAccessor.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaSingleStateAccessor.h ### Mappings ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaBarycentricMapping.h @@ -62,14 +78,14 @@ set(HEADER_FILES ### FEM ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.inl - sofa/gpu/cuda/CudaHexahedronTLEDForceField.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaHexahedronTLEDForceField.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.inl ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/tensormass/CudaTetrahedralTensorMassForceField.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/tensormass/CudaTetrahedralTensorMassForceField.inl ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.inl - sofa/gpu/cuda/CudaTetrahedronTLEDForceField.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTriangularFEMForceFieldOptim.h ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTriangularFEMForceFieldOptim.inl @@ -104,15 +120,15 @@ set(HEADER_FILES set(SOURCE_FILES ### Common - init.cpp - sofa/gpu/cuda/CudaBaseVector.cpp - sofa/gpu/cuda/CudaContactMapper.cpp - sofa/gpu/cuda/mycuda.cpp + ${SOFACUDA_SOURCE_DIR}/init.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaBaseVector.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaContactMapper.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/mycuda.cpp ### Mechanical ${SOFACUDA_SOURCE_DIR}/component/statecontainer/CudaMechanicalObject.cpp - sofa/gpu/cuda/CudaSetTopology.cpp - sofa/gpu/cuda/CudaSingleStateAccessor.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaSetTopology.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaSingleStateAccessor.cpp ### Mappings ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaBarycentricMapping-3f.cpp @@ -124,7 +140,7 @@ set(SOURCE_FILES ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaBarycentricMapping.cpp ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaBarycentricMappingRigid.cpp ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaIdentityMapping.cpp - sofa/gpu/cuda/CudaMultiMapping.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaMultiMapping.cpp ${SOFACUDA_SOURCE_DIR}/component/mapping/nonlinear/CudaRigidMapping.cpp ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaSubsetMapping.cpp ${SOFACUDA_SOURCE_DIR}/component/mapping/linear/CudaSubsetMultiMapping.cpp @@ -136,11 +152,11 @@ set(SOURCE_FILES ### FEM ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.cpp - sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.cpp ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/tensormass/CudaTetrahedralTensorMassForceField.cpp ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.cpp - sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTriangularFEMForceFieldOptim.cpp ### ForceFields @@ -155,7 +171,7 @@ set(SOURCE_FILES ### Collisions - sofa/gpu/cuda/CudaCollision.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaCollision.cpp ${SOFACUDA_SOURCE_DIR}/component/collision/geometry/CudaLineModel.cpp ${SOFACUDA_SOURCE_DIR}/component/collision/geometry/CudaPointModel.cpp ${SOFACUDA_SOURCE_DIR}/component/collision/geometry/CudaSphereModel.cpp @@ -183,11 +199,11 @@ set(SOURCE_FILES set(CUDA_SOURCES ### Common - sofa/gpu/cuda/mycuda.cu - sofa/gpu/cuda/CudaBaseVector.cu - sofa/gpu/cuda/CudaContactMapper.cu - sofa/gpu/cuda/CudaScan.cu - sofa/gpu/cuda/CudaSort.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/mycuda.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaBaseVector.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaContactMapper.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaScan.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaSort.cu ### Mechanical ${SOFACUDA_SOURCE_DIR}/component/statecontainer/CudaMechanicalObject.cu @@ -204,11 +220,11 @@ set(CUDA_SOURCES ### FEM ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.cu - sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/hyperelastic/CudaStandardTetrahedralFEMForceField.cu ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/tensormass/CudaTetrahedralTensorMassForceField.cu ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTetrahedronFEMForceField.cu - sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu ${SOFACUDA_SOURCE_DIR}/component/solidmechanics/fem/elastic/CudaTriangularFEMForceFieldOptim.cu ### ForceFields @@ -234,14 +250,14 @@ if(NOT Sofa.GL_FOUND) message("OpenGL-related code won't be enabled (Sharing OpenGL buffers with CUDA)") else() list(APPEND HEADER_FILES - sofa/gpu/cuda/CudaVisualModel.h - sofa/gpu/cuda/CudaVisualModel.inl + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaVisualModel.h + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaVisualModel.inl ) list(APPEND SOURCE_FILES - sofa/gpu/cuda/CudaVisualModel.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaVisualModel.cpp ) list(APPEND CUDA_SOURCES - sofa/gpu/cuda/CudaVisualModel.cu + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaVisualModel.cu ) endif() @@ -264,56 +280,24 @@ sofa_find_package(Sofa.Component.MechanicalLoad REQUIRED) sofa_find_package(Sofa.GUI QUIET) if(Sofa.GUI_FOUND) - list(APPEND SOURCE_FILES sofa/gpu/gui/CudaMouseInteraction.cpp) -endif() - -sofa_find_package(Sofa.GUI.Qt QUIET) -if(Sofa.GUI.Qt_FOUND) - list(APPEND HEADER_FILES sofa/gpu/gui/CudaDataWidget.h) - list(APPEND SOURCE_FILES sofa/gpu/gui/CudaDataWidget.cpp) + list(APPEND SOURCE_FILES ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/gui/CudaMouseInteraction.cpp) endif() -find_package(SofaSphFluid QUIET) -if(SofaSphFluid_FOUND) - list(APPEND HEADER_FILES - sofa/gpu/cuda/CudaParticleSource.h - sofa/gpu/cuda/CudaParticleSource.inl - sofa/gpu/cuda/CudaSPHFluidForceField.h - sofa/gpu/cuda/CudaSPHFluidForceField.inl - sofa/gpu/cuda/CudaParticlesRepulsionForceField.h - sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl - sofa/gpu/cuda/CudaSpatialGridContainer.h - sofa/gpu/cuda/CudaSpatialGridContainer.inl - ) - list(APPEND SOURCE_FILES - sofa/gpu/cuda/CudaParticleSource.cpp - sofa/gpu/cuda/CudaSPHFluidForceField.cpp - sofa/gpu/cuda/CudaParticlesRepulsionForceField.cpp - sofa/gpu/cuda/CudaSpatialGridContainer.cpp - ) - list(APPEND CUDA_SOURCES - sofa/gpu/cuda/CudaParticleSource.cu - sofa/gpu/cuda/CudaSPHFluidForceField.cu - sofa/gpu/cuda/CudaParticlesRepulsionForceField.cu - sofa/gpu/cuda/CudaSpatialGridContainer.cu - ) - message(STATUS "SofaCUDA: optional dependency to SofaSphFluid found. ") -else() - message(STATUS "SofaCUDA: optional dependency SofaSphFluid not found. ") +sofa_find_package(Sofa.Qt QUIET) +if(Sofa.Qt_FOUND) + list(APPEND HEADER_FILES ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/gui/CudaDataWidget.h) + list(APPEND SOURCE_FILES ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/gui/CudaDataWidget.cpp) endif() sofa_find_package(SofaValidation QUIET) if(SofaValidation_FOUND) list(APPEND SOURCE_FILES - sofa/gpu/cuda/CudaExtraMonitor.cpp + ${SOFACUDACORE_SOURCE_DIR}/sofa/gpu/cuda/CudaExtraMonitor.cpp ) message(STATUS "SofaCUDA: found SofaValidation, enabling CudaExtraMonitor (Warning: this component is being deprecated). ") endif() option(SOFACUDA_VERBOSE_PTXAS "???" OFF) -if(SOFACUDA_VERBOSE_PTXAS) - set(VERBOSE_PTXAS --ptxas-options=-v) -endif() option(SOFACUDA_CUBLAS "Activate cublas support in CUDA (requires SOFACUDA_DOUBLE)." OFF) if(SOFACUDA_CUBLAS) @@ -349,7 +333,7 @@ endif() option(SOFACUDA_PRECISE "Use IEEE 754-compliant floating point operations." OFF) -include(SofaCUDANvccFlags.cmake) +sofa_find_package(CUDAToolkit 10.0 REQUIRED) # nvcc uses a "host code compiler" to compile CPU code, specified by CUDA_HOST_COMPILER. # With some versions of CMake, CUDA_HOST_COMPILER defaults to CMAKE_C_COMPILER, @@ -362,23 +346,18 @@ endif() # quick and dirty fix for nvcc compatibility with -fno-partial-inlining flag set(CUDA_PROPAGATE_HOST_FLAGS OFF) +add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${CUDA_SOURCES} ${README_FILES}) +set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "${SOFACUDA_COMPILE_DEFINITIONS}") +if(SOFACUDA_VERBOSE_PTXAS) + target_compile_options(${PROJECT_NAME} PRIVATE $<$:--ptxas-options=-v>) +endif() +if(MSVC) + target_compile_options(${PROJECT_NAME} PRIVATE $<$:-Xcompiler /Zc:__cplusplus>) +endif() if(WIN32) - add_definitions("-DWIN32") - set(WINDOWSOPTIONS "/MD") + target_compile_options(${PROJECT_NAME} PRIVATE $<$:-DWIN32>) endif() -# Make the compiler definitions available to nvcc -add_definitions("-DSOFA_BUILD_SOFACUDA") -# Give include directories to nvcc compiler. -# Note: keep cuda_include_directories() before cuda_add_library(). -cuda_include_directories("${CMAKE_CURRENT_SOURCE_DIR}") -cuda_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/src") -cuda_include_directories("${CMAKE_BINARY_DIR}/include") -cuda_add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${CUDA_SOURCES} ${README_FILES} OPTIONS ${VERBOSE_PTXAS} ${WINDOWSOPTIONS}) - - -target_include_directories(${PROJECT_NAME} PUBLIC "$") -set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "${SOFACUDA_COMPILE_DEFINITIONS}") target_link_libraries(${PROJECT_NAME} Sofa.Component.Mass Sofa.Component.SolidMechanics.FEM.Elastic @@ -397,7 +376,8 @@ target_link_libraries(${PROJECT_NAME} Sofa.Component.MechanicalLoad ) -target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17 cuda_std_17) +target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17 cuda_std_17) +target_link_libraries(${PROJECT_NAME} CUDA::cudart) if(Sofa.GL_FOUND) target_link_libraries(${PROJECT_NAME} Sofa.GL) @@ -408,18 +388,14 @@ if(Sofa.GUI_FOUND) endif() -if(Sofa.GUI.Qt_FOUND) - target_link_libraries(${PROJECT_NAME} Sofa.GUI.Qt) +if(Sofa.Qt_FOUND) + target_link_libraries(${PROJECT_NAME} Sofa.Qt) endif() if(SofaValidation_FOUND) target_link_libraries(${PROJECT_NAME} SofaValidation) endif() -if(SofaSphFluid_FOUND) - target_link_libraries(${PROJECT_NAME} SofaSphFluid) -endif() - if(SOFACUDA_CUBLAS) cuda_add_cublas_to_target(${PROJECT_NAME}) target_link_libraries(${PROJECT_NAME} ${CUDA_SPARSE_LIBRARY}) @@ -428,19 +404,12 @@ if(SOFACUDA_CUDPP) target_link_libraries(${PROJECT_NAME} cudpp) endif() - - -## SofaCUDANvccFlags.cmake -# Build tree -configure_file(SofaCUDANvccFlags.cmake ${CMAKE_BINARY_DIR}/lib/cmake/SofaCUDANvccFlags.cmake COPYONLY) -# Install tree -install(FILES SofaCUDANvccFlags.cmake DESTINATION lib/cmake/SofaCUDA) - ## Install rules for the library and headers; CMake package configurations files sofa_create_package_with_targets( PACKAGE_NAME ${PROJECT_NAME} PACKAGE_VERSION ${SOFACUDA_VERSION} TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES INCLUDE_INSTALL_DIR "${PROJECT_NAME}" + INCLUDE_SOURCE_DIR "src" RELOCATABLE "plugins" ) diff --git a/applications/plugins/SofaCUDA/SofaCUDAConfig.cmake.in b/applications/plugins/SofaCUDA/SofaCUDAConfig.cmake.in index 14f09c7c6ca..97dd8aed1f7 100644 --- a/applications/plugins/SofaCUDA/SofaCUDAConfig.cmake.in +++ b/applications/plugins/SofaCUDA/SofaCUDAConfig.cmake.in @@ -8,7 +8,7 @@ if(HAS_SOFACUDA_CMAKE_MODULE_PATH EQUAL -1) list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}) endif() -set(SOFACUDA_ARCH @SOFACUDA_ARCH@) +set(CMAKE_CUDA_ARCHITECTURES @CMAKE_CUDA_ARCHITECTURES@) find_package(Sofa.Component.Mass QUIET REQUIRED) find_package(Sofa.Component.SolidMechanics.FEM.Elastic QUIET REQUIRED) @@ -23,7 +23,6 @@ find_package(Sofa.Component.Mapping.NonLinear QUIET REQUIRED) find_package(Sofa.Component.Engine.Select QUIET REQUIRED) find_package(Sofa.Component.Engine.Transform QUIET REQUIRED) find_package(Sofa.Component.MechanicalLoad QUIET REQUIRED) -find_package(CUDA QUIET REQUIRED) set(SOFACUDA_HAVE_SOFA_GL @SOFACUDA_HAVE_SOFA_GL@) @@ -33,7 +32,7 @@ endif() set(SOFACUDA_HAVE_SOFA_GUI_QT @SOFACUDA_HAVE_SOFA_GUI_QT@) if(SOFACUDA_HAVE_SOFA_GUI_QT) - find_package(Sofa.GUI.Qt QUIET REQUIRED) + find_package(Sofa.Qt QUIET REQUIRED) endif() set(SOFACUDA_HAVE_SOFADISTANCEGRID @SOFACUDA_HAVE_SOFADISTANCEGRID@) @@ -45,11 +44,6 @@ if(SOFACUDA_HAVE_SOFADISTANCEGRID) endif() endif() -set(SOFACUDA_HAVE_SOFASPHFLUID @SOFACUDA_HAVE_SOFASPHFLUID@) -if(SOFACUDA_HAVE_SOFASPHFLUID) - find_package(SofaSphFluid QUIET REQUIRED) -endif() - set(SOFACUDA_HAVE_SOFAVALIDATION @SOFACUDA_HAVE_SOFAVALIDATION@) if(SOFACUDA_HAVE_SOFAVALIDATION) find_package(SofaValidation QUIET REQUIRED) @@ -60,5 +54,3 @@ if(NOT TARGET SofaCUDA) endif() check_required_components(SofaCUDA) - -include(SofaCUDANvccFlags) diff --git a/applications/plugins/SofaCUDA/SofaCUDANvccFlags.cmake b/applications/plugins/SofaCUDA/SofaCUDANvccFlags.cmake deleted file mode 100644 index 4fdf9e60fa6..00000000000 --- a/applications/plugins/SofaCUDA/SofaCUDANvccFlags.cmake +++ /dev/null @@ -1,24 +0,0 @@ -include(FindCUDA) -set(CUDA_ARCH_LIST Auto CACHE STRING - "List of CUDA architectures (e.g. Pascal, Volta, etc) or \ -compute capability versions (6.1, 7.0, etc) to generate code for. \ -Set to Auto for automatic detection (default)." -) -cuda_select_nvcc_arch_flags(CUDA_ARCH_FLAGS ${CUDA_ARCH_LIST}) - -set(SOFA_ADDITIONAL_CUDA_NVCC_FLAGS "-Xcompiler") -if(NOT WIN32) - set(SOFA_ADDITIONAL_CUDA_NVCC_FLAGS "${SOFA_ADDITIONAL_CUDA_NVCC_FLAGS} -fPIC") -endif() - -list(APPEND CUDA_NVCC_FLAGS ${CUDA_ARCH_FLAGS} ${SOFA_ADDITIONAL_CUDA_NVCC_FLAGS}) - - -set(CUDA_NVCC_FLAGS_DEBUG "-g") -set(CUDA_NVCC_FLAGS_RELEASE "-DNDEBUG") - -if (WIN32) - set(CUDA_NVCC_FLAGS_DEBUG "--compiler-options /MDd") -endif (WIN32) - -message(STATUS "SofaCUDA: nvcc flags: ${CUDA_NVCC_FLAGS}") \ No newline at end of file diff --git a/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn b/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn index 2bb630e301f..041fbed6155 100644 --- a/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn +++ b/applications/plugins/SofaCUDA/examples/quadSpringSphere.scn @@ -18,7 +18,7 @@ - + . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include "CudaCommon.h" -#include "CudaMath.h" -#include "cuda.h" - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -namespace sofa -{ -namespace gpu -{ -namespace cuda -{ -#endif - -extern "C" -{ - - void ParticleSourceCuda3f_fillValues(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, float fx, float fy, float fz); - void ParticleSourceCuda3f_copyValuesWithOffset(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, const void* src, float fx, float fy, float fz); - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void ParticleSourceCuda3d_fillValues(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, double fx, double fy, double fz); - void ParticleSourceCuda3d_copyValuesWithOffset(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, const void* src, double fx, double fy, double fz); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -////////////////////// -// GPU-side methods // -////////////////////// - - -template -__global__ void ParticleSourceCuda3t_fillValues_kernel(unsigned int totalsize, unsigned int subsetsize, real* dest, const unsigned int* indices, real fx, real fy, real fz) -{ - unsigned int index0 = blockIdx.x * BSIZE; - unsigned int index = index0+threadIdx.x; - if (index < subsetsize) - { - unsigned int dindex = indices[index]; - if (dindex < totalsize) - { - unsigned int dindex3 = dindex * 3; - dest[dindex3+0] = fx; - dest[dindex3+1] = fy; - dest[dindex3+2] = fz; - } - } -} - -template -__global__ void ParticleSourceCuda3t_copyValuesWithOffset_kernel(unsigned int totalsize, unsigned int subsetsize, real* dest, const unsigned int* indices, const real* src, real fx, real fy, real fz) -{ - unsigned int index0 = blockIdx.x * BSIZE; - unsigned int index = index0+threadIdx.x; - if (index < subsetsize) - { - unsigned int dindex = indices[index]; - if (dindex < totalsize) - { - unsigned int dindex3 = dindex * 3; - unsigned int index3 = index * 3; - dest[dindex3+0] = src[index3+0]+fx; - dest[dindex3+1] = src[index3+1]+fy; - dest[dindex3+2] = src[index3+2]+fz; - } - } -} - -////////////////////// -// CPU-side methods // -////////////////////// - - -void ParticleSourceCuda3f_fillValues(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, float fx, float fy, float fz) -{ - dim3 threads(BSIZE,1); - dim3 grid((subsetsize+BSIZE-1)/BSIZE,1); - {ParticleSourceCuda3t_fillValues_kernel<<< grid, threads >>>(totalsize, subsetsize, (float*)dest, (const unsigned int*)indices, fx, fy, fz); mycudaDebugError("ParticleSourceCuda3t_fillValues_kernel");} -} - -void ParticleSourceCuda3f_copyValuesWithOffset(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, const void* src, float fx, float fy, float fz) -{ - dim3 threads(BSIZE,1); - dim3 grid((subsetsize+BSIZE-1)/BSIZE,1); - {ParticleSourceCuda3t_copyValuesWithOffset_kernel<<< grid, threads >>>(totalsize, subsetsize, (float*)dest, (const unsigned int*)indices, (const float*)src, fx, fy, fz); mycudaDebugError("ParticleSourceCuda3t_copyValuesWithOffset_kernel");} -} - -#ifdef SOFA_GPU_CUDA_DOUBLE - -void ParticleSourceCuda3d_fillValues(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, double fx, double fy, double fz) -{ - dim3 threads(BSIZE,1); - dim3 grid((subsetsize+BSIZE-1)/BSIZE,1); - {ParticleSourceCuda3t_fillValues_kernel<<< grid, threads >>>(totalsize, subsetsize, (double*)dest, (const unsigned int*)indices, fx, fy, fz); mycudaDebugError("ParticleSourceCuda3t_fillValues_kernel");} -} - -void ParticleSourceCuda3d_copyValuesWithOffset(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, const void* src, double fx, double fy, double fz) -{ - dim3 threads(BSIZE,1); - dim3 grid((subsetsize+BSIZE-1)/BSIZE,1); - {ParticleSourceCuda3t_copyValuesWithOffset_kernel<<< grid, threads >>>(totalsize, subsetsize, (double*)dest, (const unsigned int*)indices, (const double*)src, fx, fy, fz); mycudaDebugError("ParticleSourceCuda3t_copyValuesWithOffset_kernel");} -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -} // namespace cuda -} // namespace gpu -} // namespace sofa -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.h deleted file mode 100644 index 9bd87e8a94a..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.h +++ /dev/null @@ -1,27 +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_GPU_CUDA_CUDAPARTICLESOURCE_H -#define SOFA_GPU_CUDA_CUDAPARTICLESOURCE_H - -#include - -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.inl b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.inl deleted file mode 100644 index 6ee83d77af5..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.inl +++ /dev/null @@ -1,138 +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_GPU_CUDA_CUDAPARTICLESOURCE_INL -#define SOFA_GPU_CUDA_CUDAPARTICLESOURCE_INL - -#include "CudaParticleSource.h" -#include - -namespace sofa -{ - - -namespace gpu::cuda -{ - -extern "C" -{ - - void ParticleSourceCuda3f_fillValues(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, float fx, float fy, float fz); - void ParticleSourceCuda3f_copyValuesWithOffset(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, const void* src, float fx, float fy, float fz); - - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void ParticleSourceCuda3d_fillValues(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, double fx, double fy, double fz); - void ParticleSourceCuda3d_copyValuesWithOffset(unsigned int totalsize, unsigned int subsetsize, void* dest, const void* indices, const void* src, double fx, double fy, double fz); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -} // namespace gpu::cuda - - -namespace component::misc -{ - -using namespace gpu::cuda; - -// template <> -// void ParticleSource::projectResponse(VecDeriv& res) -// { -// if (!this->mstate) return; -// const VecIndex& lastparticles = this->lastparticles.getValue(); -// if (lastparticles.empty()) return; -// double time = getContext()->getTime(); -// if (time < f_start.getValue() || time > f_stop.getValue()) return; -// // constraint the last values -// //mycudaMemset(((Deriv*)res.deviceWrite())+lastparticles[0], 0, lastparticles.size()*sizeof(Deriv)); -// ParticleSourceCuda3f_fillValues(res.size(), lastparticles.size(), res.deviceWrite(), lastparticles.deviceRead(), 0, 0, 0); -// } - -// template <> -// void ParticleSource::projectVelocity(VecDeriv& res) -// { -// if (!this->mstate) return; -// const VecIndex& lastparticles = this->lastparticles.getValue(); -// if (lastparticles.empty()) return; -// double time = getContext()->getTime(); -// if (time < f_start.getValue() || time > f_stop.getValue()) return; -// // constraint the last values -// Deriv vel = f_velocity.getValue(); -// #if 1 -// //mycudaMemset(((Deriv*)res.deviceWrite())+lastparticles[0], 0, lastparticles.size()*sizeof(Coord)); -// ParticleSourceCuda3f_fillValues(res.size(), lastparticles.size(), res.deviceWrite(), lastparticles.deviceRead(), vel[0], vel[1], vel[2]); -// #else -// for (unsigned int s=0; s -// void ParticleSource::projectPosition(VecCoord& res) -// { -// if (!this->mstate) return; -// const VecIndex& lastparticles = this->lastparticles.getValue(); -// if (lastparticles.empty()) return; -// double time = getContext()->getTime(); -// if (time < f_start.getValue() || time > f_stop.getValue()) return; -// // constraint the last values -// Deriv vel = f_velocity.getValue(); -// vel *= (time-lasttime); -// //mycudaMemset(((Deriv*)res.deviceWrite())+lastparticles[0], 0, lastparticles.size()*sizeof(Coord)); -// ParticleSourceCuda3f_copyValuesWithOffset(res.size(), lastparticles.size(), res.deviceWrite(), lastparticles.deviceRead(), lastpos.deviceRead(), vel[0], vel[1], vel[2]); -// } - - -// #ifdef SOFA_GPU_CUDA_DOUBLE - -// template <> -// void ParticleSource::projectResponse(VecDeriv& res) -// { -// if (!this->mstate) return; -// const VecIndex& lastparticles = this->lastparticles.getValue(); -// if (lastparticles.empty()) return; -// double time = getContext()->getTime(); -// if (time < f_start.getValue() || time > f_stop.getValue()) return; -// // constraint the last values -// mycudaMemset(((Deriv*)res.deviceWrite())+lastparticles[0], 0, lastparticles.size()*sizeof(Coord)); -// } - -// template <> -// void ParticleSource::projectVelocity(VecDeriv& /*res*/) -// { -// } - -// template <> -// void ParticleSource::projectPosition(VecDeriv& /*res*/) -// { -// } - -// #endif // SOFA_GPU_CUDA_DOUBLE - -} // namespace component::misc - - -} // namespace sofa - -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cu deleted file mode 100644 index 639ac3ed8a1..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.cu +++ /dev/null @@ -1,320 +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 "cuda.h" - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -namespace sofa -{ -namespace gpu -{ -namespace cuda -{ -#endif - -template -class GPURepulsion -{ -public: - real d; - real d2; - real stiffness; - real damping; -}; - -typedef GPURepulsion GPURepulsion3f; -typedef GPURepulsion GPURepulsion3d; - -extern "C" -{ - void ParticlesRepulsionForceFieldCuda3f_addForce (unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3f* repulsion, void* f, const void* x, const void* v ); - void ParticlesRepulsionForceFieldCuda3f_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3f* repulsion, void* f, const void* x, const void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void ParticlesRepulsionForceFieldCuda3d_addForce (unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3d* repulsion, void* f, const void* x, const void* v ); - void ParticlesRepulsionForceFieldCuda3d_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3d* repulsion, void* f, const void* x, const void* dx); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -////////////////////// -// GPU-side methods // -////////////////////// - -template -__device__ void ParticlesRepulsionCalcForce(CudaVec3 x1, CudaVec3 v1, CudaVec3 x2, CudaVec3 v2, CudaVec3& force, GPURepulsion& rep) -{ - CudaVec3 n = x2-x1; - real d2 = norm2(n); - if (d2 < rep.d2) - { - CudaVec3 vi = v2-v1; - real inv_d = rsqrtf(d2); - n *= inv_d; - real d = d2*inv_d - rep.d; - real forceIntensity = rep.stiffness*d; - real dampingIntensity = rep.damping*d; - force += n*forceIntensity - vi*dampingIntensity; - } -} - -template -__device__ void ParticlesRepulsionCalcDForce(CudaVec3 x1, CudaVec3 dx1, CudaVec3 x2, CudaVec3 dx2, CudaVec3& dforce, GPURepulsion& rep) -{ - CudaVec3 n = x2-x1; - real d2 = norm2(n); - if (d2 < rep.d2) - { - CudaVec3 dxi = dx2-dx1; - //real inv_d = rsqrtf(d2); - //n *= inv_d; - //dforce = n * (rep.stiffness * dot(dxi, n)); - - //dforce = (n * (rep.stiffness * dot(dxi, n)))/d2; - - dforce += n * (real)__fdividef((rep.stiffness * dot(dxi, n)),d2); - } -} - -template -__global__ void ParticlesRepulsionForceFieldCuda3t_addForce_kernel(int size, const int *cells, const int *cellGhost, GPURepulsion repulsion, real* f, const real* x, const real* v) -{ - __shared__ int2 range; - __shared__ int ghost; - __shared__ real temp_x[BSIZE*3]; - __shared__ real temp_v[BSIZE*3]; - int tx3 = threadIdx.x * 3; - for (int cell = blockIdx.x; cell < size; cell += gridDim.x) - { - if (!threadIdx.x) - { - //range = *(const int2*)(cells+cell); - range.x = cells[cell]; - range.y = cells[cell+1]; - range.y &= ~(1U<<31); - ghost = cellGhost[cell]; - } - __syncthreads(); - if (range.x <= 0) continue; // no actual particle in this cell - for (int px0 = range.x; px0 < ghost; px0 += BSIZE) - { - int px = px0 + threadIdx.x; - CudaVec3 xi; - CudaVec3 vi; - CudaVec3 force; - int index; - if (px < range.y) - { - index = cells[px]; - xi = ((const CudaVec3*)x)[index]; - temp_x[tx3 ] = xi.x; - temp_x[tx3+1] = xi.y; - temp_x[tx3+2] = xi.z; - vi = ((const CudaVec3*)v)[index]; - temp_v[tx3 ] = vi.x; - temp_v[tx3+1] = vi.y; - temp_v[tx3+2] = vi.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - force = CudaVec3::make(0,0,0); - int np = min(range.y-px0,BSIZE); - for (int i=0; i < np; ++i) - { - if (i != threadIdx.x) - ParticlesRepulsionCalcForce(xi, vi, ((const CudaVec3*)temp_x)[i], ((const CudaVec3*)temp_v)[i], force, repulsion); - } - } - __syncthreads(); - // loop through other groups of particles - for (int py0 = range.x; py0 < range.y; py0 += BSIZE) - { - if (py0 == px0) continue; - int py = py0 + threadIdx.x; - if (py < range.y) - { - int index2 = cells[py]; - CudaVec3 xj = ((const CudaVec3*)x)[index2]; - temp_x[tx3 ] = xj.x; - temp_x[tx3+1] = xj.y; - temp_x[tx3+2] = xj.z; - CudaVec3 vj = ((const CudaVec3*)v)[index2]; - temp_v[tx3 ] = vj.x; - temp_v[tx3+1] = vj.y; - temp_v[tx3+2] = vj.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - int np = min(range.y-py0,BSIZE); - for (int i=0; i < np; ++i) - { - ParticlesRepulsionCalcForce(xi, vi, ((const CudaVec3*)temp_x)[i], ((const CudaVec3*)temp_v)[i], force, repulsion); - } - } - __syncthreads(); - } - if (px < ghost) - { - // actual particle -> write computed force - ((CudaVec3*)f)[index] += force; - } - } - } -} - -template -__global__ void ParticlesRepulsionForceFieldCuda3t_addDForce_kernel(int size, const int *cells, const int *cellGhost, GPURepulsion repulsion, real* df, const real* x, const real* dx) -{ - __shared__ int2 range; - __shared__ int ghost; - __shared__ real temp_x[BSIZE*3]; - __shared__ real temp_dx[BSIZE*3]; - int tx3 = threadIdx.x * 3; - for (int cell = blockIdx.x; cell < size; cell += gridDim.x) - { - if (!threadIdx.x) - { - //range = *(const int2*)(cells+cell); - range.x = cells[cell]; - range.y = cells[cell+1]; - range.y &= ~(1U<<31); - ghost = cellGhost[cell]; - } - __syncthreads(); - if (range.x <= 0) continue; // no actual particle in this cell - for (int px0 = range.x; px0 < ghost; px0 += BSIZE) - { - int px = px0 + threadIdx.x; - CudaVec3 xi; - CudaVec3 dxi; - CudaVec3 dforce; - int index; - if (px < range.y) - { - index = cells[px]; - xi = ((const CudaVec3*)x)[index]; - temp_x[tx3 ] = xi.x; - temp_x[tx3+1] = xi.y; - temp_x[tx3+2] = xi.z; - dxi = ((const CudaVec3*)dx)[index]; - temp_dx[tx3 ] = dxi.x; - temp_dx[tx3+1] = dxi.y; - temp_dx[tx3+2] = dxi.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - dforce = CudaVec3::make(0,0,0); - int np = min(range.y-px0,BSIZE); - for (int i=0; i < np; ++i) - { - if (i != threadIdx.x) - ParticlesRepulsionCalcDForce(xi, dxi, ((const CudaVec3*)temp_x)[i], ((const CudaVec3*)temp_dx)[i], dforce, repulsion); - } - } - __syncthreads(); - // loop through other groups of particles - for (int py0 = range.x; py0 < range.y; py0 += BSIZE) - { - if (py0 == px0) continue; - int py = py0 + threadIdx.x; - if (py < range.y) - { - int index2 = cells[py]; - CudaVec3 xj = ((const CudaVec3*)x)[index2]; - temp_x[tx3 ] = xj.x; - temp_x[tx3+1] = xj.y; - temp_x[tx3+2] = xj.z; - CudaVec3 dxj = ((const CudaVec3*)dx)[index2]; - temp_dx[tx3 ] = dxj.x; - temp_dx[tx3+1] = dxj.y; - temp_dx[tx3+2] = dxj.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - int np = min(range.y-py0,BSIZE); - for (int i=0; i < np; ++i) - { - ParticlesRepulsionCalcDForce(xi, dxi, ((const CudaVec3*)temp_x)[i], ((const CudaVec3*)temp_dx)[i], dforce, repulsion); - } - } - __syncthreads(); - } - if (px < ghost) - { - // actual particle -> write computed force - ((CudaVec3*)df)[index] += dforce; - } - } - } -} - -////////////////////// -// CPU-side methods // -////////////////////// - -void ParticlesRepulsionForceFieldCuda3f_addForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3f* repulsion, void* f, const void* x, const void* v) -{ - dim3 threads(BSIZE,1); - dim3 grid(60,1); - {ParticlesRepulsionForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *repulsion, (float*)f, (const float*)x, (const float*)v); mycudaDebugError("ParticlesRepulsionForceFieldCuda3t_addForce_kernel");} -} - -void ParticlesRepulsionForceFieldCuda3f_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3f* repulsion, void* df, const void* x, const void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid(60/BSIZE,1); - {ParticlesRepulsionForceFieldCuda3t_addDForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *repulsion, (float*)df, (const float*)x, (const float*)dx); mycudaDebugError("ParticlesRepulsionForceFieldCuda3t_addDForce_kernel");} -} - -#ifdef SOFA_GPU_CUDA_DOUBLE - -void ParticlesRepulsionForceFieldCuda3d_addForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3d* repulsion, void* f, const void* x, const void* v) -{ - dim3 threads(BSIZE,1); - dim3 grid(60/BSIZE,1); - {ParticlesRepulsionForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *repulsion, (double*)f, (const double*)x, (const double*)v); mycudaDebugError("ParticlesRepulsionForceFieldCuda3t_addForce_kernel");} -} - -void ParticlesRepulsionForceFieldCuda3d_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3d* repulsion, void* df, const void* x, const void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid(60/BSIZE,1); - {ParticlesRepulsionForceFieldCuda3t_addDForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *repulsion, (double*)df, (const double*)x, (const double*)dx); mycudaDebugError("ParticlesRepulsionForceFieldCuda3t_addDForce_kernel");} -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -} // namespace cuda -} // namespace gpu -} // namespace sofa -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.h deleted file mode 100644 index 632e35283e9..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.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 * -******************************************************************************/ -#ifndef SOFA_GPU_CUDA_CUDAPARTICLESREPULSIONFORCEFIELD_H -#define SOFA_GPU_CUDA_CUDAPARTICLESREPULSIONFORCEFIELD_H - -#include -#include -#include - -namespace sofa -{ - - -namespace gpu::cuda -{ - -template -struct GPURepulsion -{ - real d; - real d2; - real stiffness; - real damping; -}; - -typedef GPURepulsion GPURepulsion3f; -typedef GPURepulsion GPURepulsion3d; - -} // namespace gpu::cuda - - -namespace component::forcefield -{ - -template <> -void ParticlesRepulsionForceField::addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v); - -template <> -void ParticlesRepulsionForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - -template <> -void ParticlesRepulsionForceField::addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v); - -template <> -void ParticlesRepulsionForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx); - -#endif // SOFA_GPU_CUDA_DOUBLE - -} // namespace component::forcefield - - -} // namespace sofa - -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl deleted file mode 100644 index 7d8ea0fd4b1..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl +++ /dev/null @@ -1,168 +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_GPU_CUDA_CUDAPARTICLESREPULSIONFORCEFIELD_INL -#define SOFA_GPU_CUDA_CUDAPARTICLESREPULSIONFORCEFIELD_INL - -#include "CudaParticlesRepulsionForceField.h" -#include -//#include - -namespace sofa -{ - - -namespace gpu::cuda -{ - -extern "C" -{ - - void ParticlesRepulsionForceFieldCuda3f_addForce (unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3f* repulsion, void* f, const void* x, const void* v ); - void ParticlesRepulsionForceFieldCuda3f_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3f* repulsion, void* f, const void* x, const void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void ParticlesRepulsionForceFieldCuda3d_addForce (unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3d* repulsion, void* f, const void* x, const void* v ); - void ParticlesRepulsionForceFieldCuda3d_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPURepulsion3d* repulsion, void* f, const void* x, const void* dx); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -} // namespace gpu::cuda - - -namespace component::forcefield -{ - -using namespace gpu::cuda; - - -template <> -void ParticlesRepulsionForceField::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v) -{ - if (grid == NULL) return; - - VecDeriv& f = *d_f.beginEdit(); - const VecCoord& x = d_x.getValue(); - const VecDeriv& v = d_v.getValue(); - - grid->updateGrid(x); - GPURepulsion3f repulsion; - repulsion.d = distance.getValue(); - repulsion.d2 = repulsion.d*repulsion.d; - repulsion.stiffness = stiffness.getValue(); - repulsion.damping = damping.getValue(); - f.resize(x.size()); - Grid::Grid* g = grid->getGrid(); - ParticlesRepulsionForceFieldCuda3f_addForce( - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - &repulsion, f.deviceWrite(), x.deviceRead(), v.deviceRead()); - - d_f.endEdit(); -} - -template <> -void ParticlesRepulsionForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx) -{ - if (grid == NULL) return; - - VecDeriv& df = *d_df.beginEdit(); - const VecDeriv& dx = d_dx.getValue(); - Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams,this->rayleighStiffness.getValue()); - Real bFactor = (Real)sofa::core::mechanicalparams::bFactor(mparams); - - const VecCoord& x = this->mstate->read(sofa::core::vec_id::read_access::position)->getValue(); - GPURepulsion3f repulsion; - repulsion.d = distance.getValue(); - repulsion.d2 = repulsion.d*repulsion.d; - repulsion.stiffness = (float)(stiffness.getValue()*kFactor); - repulsion.damping = (float)(damping.getValue()*bFactor); - df.resize(dx.size()); - Grid::Grid* g = grid->getGrid(); - ParticlesRepulsionForceFieldCuda3f_addDForce( - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - &repulsion, df.deviceWrite(), x.deviceRead(), dx.deviceRead()); - - d_df.endEdit(); -} - - -#ifdef SOFA_GPU_CUDA_DOUBLE - -template <> -void ParticlesRepulsionForceField::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v) -{ - if (grid == NULL) return; - - VecDeriv& f = *d_f.beginEdit(); - const VecCoord& x = d_x.getValue(); - const VecDeriv& v = d_v.getValue(); - - grid->updateGrid(x); - GPURepulsion3d repulsion; - repulsion.d = distance.getValue(); - repulsion.d2 = repulsion.d*repulsion.d; - repulsion.stiffness = stiffness.getValue(); - repulsion.damping = damping.getValue(); - f.resize(x.size()); - Grid::Grid* g = grid->getGrid(); - ParticlesRepulsionForceFieldCuda3d_addForce( - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - &repulsion, f.deviceWrite(), x.deviceRead(), v.deviceRead()); - - d_f.endEdit(); -} - -template <> -void ParticlesRepulsionForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx) -{ - if (grid == NULL) return; - - VecDeriv& df = *d_df.beginEdit(); - const VecDeriv& dx = d_dx.getValue(); - Real kFactor = (Real)sofa::core::mechanicalparams::kFactorIncludingRayleighDamping(mparams,this->rayleighStiffness.getValue()); - Real bFactor = (Real)sofa::core::mechanicalparams::bFactor(mparams); - - const VecCoord& x = this->mstate->read(sofa::core::vec_id::read_access::position)->getValue(); - GPURepulsion3d repulsion; - repulsion.d = distance.getValue(); - repulsion.d2 = repulsion.d*repulsion.d; - repulsion.stiffness = stiffness.getValue()*kFactor; - repulsion.damping = damping.getValue()*bFactor; - df.resize(dx.size()); - Grid::Grid* g = grid->getGrid(); - ParticlesRepulsionForceFieldCuda3d_addDForce( - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - &repulsion, df.deviceWrite(), x.deviceRead(), dx.deviceRead()); - - d_df.endEdit(); -} - -#endif // SOFA_GPU_CUDA_DOUBLE - - -} // namespace component::forcefield - - -} // namespace sofa - -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cu deleted file mode 100644 index 283ec7a7f2d..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.cu +++ /dev/null @@ -1,1246 +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 "cuda.h" - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -namespace sofa -{ -namespace gpu -{ -namespace cuda -{ -#endif - -template -class GPUSPHFluid -{ -public: - real h; ///< particles radius - real h2; ///< particles radius squared - real inv_h2; ///< particles radius squared inverse - real stiffness; ///< pressure stiffness - real mass; ///< particles mass - real mass2; ///< particles mass squared - real density0; ///< 1000 kg/m3 for water - real viscosity; - real surfaceTension; - - // Precomputed constants for smoothing kernels - real CWd; ///< = constWd(h) - //real CgradWd; ///< = constGradWd(h) - real CgradWp; ///< = constGradWp(h) - real ClaplacianWv; ///< = constLaplacianWv(h) -}; - -typedef GPUSPHFluid GPUSPHFluid3f; -typedef GPUSPHFluid GPUSPHFluid3d; - -extern "C" -{ - - void SPHFluidForceFieldCuda3f_computeDensity(int kernelType, int pressureType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* pos4, const void* x); - void SPHFluidForceFieldCuda3f_addForce (int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* f, const void* pos4, const void* v); -//void SPHFluidForceFieldCuda3f_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* f, const void* pos4, const void* v, const void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - - void SPHFluidForceFieldCuda3d_computeDensity(int kernelType, int pressureType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* pos4, const void* x); - void SPHFluidForceFieldCuda3d_addForce (int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* f, const void* pos4, const void* v); -//void SPHFluidForceFieldCuda3d_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* f, const void* pos4, const void* v, const void* dx); - -#endif // SOFA_GPU_CUDA_DOUBLE - -} - -////////////////////// -// GPU-side methods // -////////////////////// - -#ifndef R_PI -#ifdef M_PI -#define R_PI M_PI -#else -#define R_PI 3.141592653589793238462 -#endif -#endif - -template -class SPH; - -template -class SPH -{ -public: - typedef real Real; - typedef CudaVec3 Deriv; - static Real constW(Real h) - { - return (Real) (48/R_PI)/(h*h*h); - } - - static __device__ Real W0(Real C) - { - return C*((Real)(1.0/6.0)); - } - static __device__ Real W0() - { - return ((Real)(1.0/6.0)); - } - static __device__ Real W(Real r_h, Real C) - { - Real s = 1-r_h; - if (r_h < (Real)0.5) return C*((Real)(1.0/6.0) - r_h*r_h*s); - else return C*((Real)(1.0/3.0) * (s*s*s)); - } - static __device__ Real W2(Real r2_h2, Real C) - { - Real r_h = sqrtf(r2_h2); - Real s = 1-r_h; - if (r2_h2 < (Real)0.25) return C*((Real)(1.0/6.0) - r2_h2*s); - else return C*((Real)(1.0/3.0) * (s*s*s)); - } - static __device__ Real W2(Real r2_h2) - { - Real r_h = sqrtf(r2_h2); - Real s = 1-r_h; - if (r2_h2 < (Real)0.25) return ((Real)(1.0/6.0) - r2_h2*s); - else return ((Real)(1.0/3.0) * (s*s*s)); - } - static Real constGradW(Real h) - { - return constW(h)/(h*h); - } - static __device__ Deriv gradW(const Deriv& d, Real r_h, Real C) - { - Real g; - if (r_h < (Real)0.5) g = 3*r_h - 2; - else { Real s = 1-r_h; g = -s*s/r_h; } - return d*(C*g); - } - static Real constLaplacianW(Real h) - { - return constW(h)/(h*h); - } - static __device__ Real laplacianW(Real r_h, Real C) - { - if (r_h < (Real)0.5) return C*(12*r_h-6); - else if (r_h < (Real)1) return C*(6-4*r_h-2/r_h); - else return 0; - } - /// Density Smoothing Kernel - static Real constWd(Real h) - { - return constW(h); - } - static __device__ Real Wd(Real r_h, Real C) - { - return W(r_h,C); - } - static __device__ Real Wd2(Real r2_h2, Real C) - { - return W2(r2_h2,C); - } - static __device__ Real Wd2(Real r2_h2) - { - return W2(r2_h2); - } - static __device__ Real Wd0() - { - return W0(); - } - static Real constGradWd(Real h) - { - return constGradW(h); - } - static __device__ Deriv gradWd(const Deriv& d, Real r_h, Real C) - { - return gradW(d,r_h,C); - } - static __device__ Deriv gradWd2(const Deriv& d, Real r2_h2, Real C) - { - return gradW(d,sqrtf(r2_h2),C); - } - static Real constLaplacianWd(Real h) - { - return constLaplacianW(h); - } - static __device__ Real laplacianWd(Real r_h, Real C) - { - return laplacianW(r_h,C); - } - static __device__ Real laplacianWd2(Real r2_h2, Real C) - { - return laplacianW(sqrtf(r2_h2),C); - } - - /// Pressure Smoothing Kernel - static Real constWp(Real h) - { - return constW(h); - } - static __device__ Real Wp(Real r_h, Real C) - { - return W(r_h,C); - } - static Real constGradWp(Real h) - { - return constGradW(h); - } - static __device__ Deriv gradWp(const Deriv& d, Real r_h, Real C) - { - return gradW(d,r_h,C); - } - - /// Viscosity Smoothing Kernel - static Real constWv(Real h) - { - return constW(h); - } - static __device__ Real Wv(Real r_h, Real C) - { - return W(r_h,C); - } - static __device__ Real Wv2(Real r2_h2, Real r_h, Real C) - { - return W2(r2_h2,r_h,C); - } - static Real constGradWv(Real h) - { - return constGradW(h); - } - static __device__ Deriv gradWv(const Deriv& d, Real r_h, Real C) - { - return gradW(d,r_h,C); - } - static __device__ Deriv gradWv2(const Deriv& d, Real r2_h2, Real r_h, Real C) - { - return gradW(d,r_h,C); - } - static Real constLaplacianWv(Real h) - { - return constLaplacianW(h); - } - - static __device__ Real laplacianWv(Real r_h, Real C) - { - return laplacianW(r_h,C); - } -}; - -template -class SPH -{ -public: - typedef real Real; - typedef CudaVec3 Deriv; - /// Density Smoothing Kernel: W = 315 / 64pih9 * (h2 - r2)3 = 315 / 64pih3 * (1 - (r/h)2)3 - static Real constWd(Real h) - { - return (Real)(315 / (64*R_PI*h*h*h)); - } - static __device__ Real Wd(Real r_h, Real C) - { - Real a = (1-r_h*r_h); - return C*a*a*a; - } - static __device__ Real Wd2(Real r2_h2, Real C) - { - Real a = (1-r2_h2); - return C*a*a*a; - } - static __device__ Real Wd2(Real r2_h2) - { - Real a = (1-r2_h2); - return a*a*a; - } - static __device__ Real Wd0(Real C) - { - return C; - } - static __device__ Real Wd0() - { - return 1; - } - static Real constGradWd(Real h) - { - return -6*constWd(h)/(h*h); - } - static __device__ Deriv gradWd(const Deriv& d, Real r_h, Real C) - { - Real a = (1-r_h*r_h); - return d*(C*a*a); - } - static __device__ Deriv gradWd2(const Deriv& d, Real r2_h2, Real C) - { - Real a = (1-r2_h2); - return d*(C*a*a); - } - static Real constLaplacianWd(Real h) - { - return -6*constWd(h)/(h*h); - } - static __device__ Real laplacianWd(Real r_h, Real C) - { - Real r2_h2 = r_h*r_h; - return C*((1-r2_h2)*(3-7*r2_h2)); - } - static __device__ Real laplacianWd2(Real r2_h2, Real C) - { - return C*((1-r2_h2)*(3-7*r2_h2)); - } - - /// Pressure Smoothing Kernel: W = 15 / pih6 (h - r)3 = 15 / pih3 (1 - r/h)3 - static Real constWp(Real h) - { - return (Real)(15 / (R_PI*h*h*h)); - } - static __device__ Real Wp(Real r_h, Real C) - { - Real a = (1-r_h); - return C*a*a*a; - } - static Real constGradWp(Real h) - { - return (-3*constWp(h)) / (h*h); - } - static __device__ Deriv gradWp(const Deriv& d, Real r_h, Real C) - { - Real a = (1-r_h); - return d * (C*a*a/r_h); - } - - /// Viscosity Smoothing Kernel: W = 15/(2pih3) (-r3/2h3 + r2/h2 + h/2r - 1) - static Real constWv(Real h) - { - return (Real)(15/(2*R_PI*h*h*h)); - } - static __device__ Real Wv(Real r_h, Real C) - { - Real r2_h2 = r_h*r_h; - Real r3_h3 = r2_h2*r_h; - return C*(-0.5f*r3_h3 + r2_h2 + 0.5f/r_h - 1); - } - static __device__ Real Wv2(Real r2_h2, Real r_h, Real C) - { - Real r3_h3 = r2_h2*r_h; - return C*(-0.5f*r3_h3 + r2_h2 + 0.5f/r_h - 1); - } - static Real constGradWv(Real h) - { - return constWv(h)/(h*h); - } - static __device__ Deriv gradWv(const Deriv& d, Real r_h, Real C) - { - Real r3_h3 = r_h*r_h*r_h; - return d * (C*(2.0f -3.0f*r_h - 0.5f/r3_h3)); - } - static __device__ Deriv gradWv2(const Deriv& d, Real r2_h2, Real r_h, Real C) - { - Real r3_h3 = r2_h2*r_h; - return d * (C*(-3*r_h + 4 - 1/r3_h3)); - } - static Real constLaplacianWv(Real h) - { - return 6*constWv(h)/(h*h); - } - - static __device__ Real laplacianWv(Real r_h, Real C) - { - return C*(1-r_h); - } -}; - -template -__device__ void SPHFluidInitDensity(CudaVec3 /*x1*/, real& density, GPUSPHFluid& params) -{ - density = 0; //params.mass * params.CWd; //SPH::Wd(0,params.CWd); -} - -template -__device__ void SPHFluidCalcDensity(CudaVec3 x1, CudaVec3 x2, real& density, GPUSPHFluid& params) -{ - CudaVec3 n = x2-x1; - real d2 = norm2(n); - if (sqrtf(d2) < params.h) - //if (d2 < params.h2) - { - //real r_h = rsqrtf(params.h2/d2); - //real r_h = sqrtf(d2/params.h2); - real r2_h2 = (d2/params.h2); - real d = SPH::Wd2(r2_h2); - density += d; - } -} - -template -__device__ void SPHFluidFinalDensity(CudaVec3 /*x1*/, real& density, GPUSPHFluid& params) -{ - density = (SPH::Wd0()+density) * params.CWd * params.mass; //SPH::Wd(0,params.CWd); -} - -template -__device__ void SPHFluidCalcForce(CudaVec4 x1, CudaVec3 v1, CudaVec4 x2, CudaVec3 v2, CudaVec3& force, GPUSPHFluid& params) -{ - CudaVec3 n = CudaVec3::make(x2.x-x1.x,x2.y-x1.y,x2.z-x1.z); - real d2 = norm2(n); - if (d2 < params.h2) - { - //real r_h = rsqrtf(params.h2/d2); - //real r_h = sqrtf(d2/params.h2); - real r2_h2 = (d2/params.h2); - real r_h = sqrtf(r2_h2); - real density1 = x1.w; - real density2 = x2.w; - - // Pressure - real pressure1 = params.stiffness * (density1 - params.density0); - real pressure2 = params.stiffness * (density2 - params.density0); - real pressureFV = params.mass2 * (pressure1 / (density1*density1) + pressure2 / (density2*density2) ); - - // Viscosity - if (viscosityType == 1) - { - force += ( v2 - v1 ) * ( params.mass2 * params.viscosity * SPH::laplacianWv(r_h,params.ClaplacianWv) / (density1 * density2) ); - } - else if (viscosityType == 2) - { - real vx = dot(n,v2-v1); - if (vx < 0) - pressureFV += - (vx * params.viscosity * params.h * params.mass / ((r2_h2 + 0.01f*params.h2)*(density1+density2)*0.5f)); - } - - force += SPH::gradWp(n, r_h, params.CgradWp) * pressureFV; - } -} -/* -template -__device__ void SPHFluidCalcDForce(CudaVec4 x1, CudaVec3 v1, CudaVec3 dx1, CudaVec4 x2, CudaVec3 v2, CudaVec3 dx2, CudaVec3& dforce, GPUSPHFluid& params) -{ - CudaVec3 n = CudaVec3::make(x2.x-x1.x,x2.y-x1.y,x2.z-x1.z); - real d2 = norm2(n); - if (d2 < params.h2) - { - CudaVec3 dxi = dx2-dx1; - - real inv_d = rsqrtf(d2); - - real r2_h2 = (d2/params.h2); - real r_h = sqrtf(r2_h2); - - real density1 = x1.w; - real density2 = x2.w; - - // Pressure - real pressure1 = params.stiffness * (density1 - params.density0); - real pressure2 = params.stiffness * (density2 - params.density0); - - real fpressure = params.mass2 * (pressure1 / (density1*density1) + pressure2 / (density2*density2) ); - - // Derivatives - - CudaVec3 dn = dxi * inv_d; - - real dr_h = dot(dn,n)/params.h; - //real dr2_h2 = 2*r_h*dr_h; - - real ddensity = dot(dxi,SPH::gradWd2(n, r2_h2, params.CgradWd)); - real dpressure = params.stiffness*ddensity; - // d(a/b^2) = (d(a)*b-2*a*d(b))/b^3 - real dfpressure = params.mass2 * ( (dpressure*density1-2*pressure1*ddensity)/(density1*density1*density1) - +(dpressure*density2-2*pressure2*ddensity)/(density2*density2*density2) ); - real a = (1-r_h); - real dWp = params.CgradWp*a*a; - real ddWp = -2*params.CgradWp*a*dr_h; - - // f = n * dWp * fpressure - // df = dn * (dWp * fpressure) + n * (ddWp * fpressure + dWp * dfpressure); - - dforce += dn * (dWp * fpressure) + n * (ddWp * fpressure + dWp * dfpressure); - - // Viscosity - // force += ( v2 - v1 ) * ( params.mass2 * params.viscosity * params.ClaplacianWv * (1-r_h) / (density1 * density2) ); - real d1d2 = density1*density2; - dforce += dxi * ( params.mass2 * params.viscosity * params.ClaplacianWv * (1-r_h) / (density1 * density2) ) - + (v2-v1) * ( params.mass2 * params.viscosity * params.ClaplacianWv * (-dr_h*d1d2 - (1-r_h)*ddensity*(density1+density2))/(d1d2*d1d2)); - - } -} -*/ -template -__global__ void SPHFluidForceFieldCuda3t_computeDensity_kernel(int size, const int *cells, const int *cellGhost, GPUSPHFluid params, real* pos4, const real* x) -{ - __shared__ int2 range; - __shared__ int ghost; - __shared__ real temp_x[BSIZE*3]; - int tx3 = threadIdx.x * 3; - for (int cell = blockIdx.x; cell < size; cell += gridDim.x) - { - __syncthreads(); - if (!threadIdx.x) - { - //range = *(const int2*)(cells+cell); - range.x = cells[cell]; - range.y = cells[cell+1]; - range.y &= ~(1U<<31); - ghost = cellGhost[cell]; - } - __syncthreads(); - if (range.x <= 0) continue; // no actual particle in this cell - for (int px0 = range.x; px0 < ghost; px0 += BSIZE) - { - int px = px0 + threadIdx.x; - CudaVec3 xi; - real density; - int index; - if (px < range.y) - { - index = cells[px]; - xi = ((const CudaVec3*)x)[index]; - temp_x[tx3 ] = xi.x; - temp_x[tx3+1] = xi.y; - temp_x[tx3+2] = xi.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - SPHFluidInitDensity(xi, density, params); - - int np = min(range.y-px0,BSIZE); - for (int i=0; i < np; ++i) - { - if (i != threadIdx.x) - SPHFluidCalcDensity(xi, ((const CudaVec3*)temp_x)[i], density, params); - } - } - __syncthreads(); - // loop through other groups of particles - for (int py0 = range.x; py0 < range.y; py0 += BSIZE) - { - if (py0 == px0) continue; - int py = py0 + threadIdx.x; - if (py < range.y) - { - int index2 = cells[py]; - CudaVec3 xj = ((const CudaVec3*)x)[index2]; - temp_x[tx3 ] = xj.x; - temp_x[tx3+1] = xj.y; - temp_x[tx3+2] = xj.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - int np = min(range.y-py0,BSIZE); - for (int i=0; i < np; ++i) - { - SPHFluidCalcDensity(xi, ((const CudaVec3*)temp_x)[i], density, params); - } - } - __syncthreads(); - } - if (px < ghost) - { - // actual particle -> write computed density - SPHFluidFinalDensity(xi, density, params); - CudaVec4 res = CudaVec4::make(xi.x,xi.y,xi.z,density); - ((CudaVec4*)pos4)[index] = res; - } - } - } -} - -template -__global__ void SPHFluidForceFieldCuda3t_addForce_kernel(int size, const int *cells, const int *cellGhost, GPUSPHFluid params, real* f, const real* pos4, const real* v) -{ - __shared__ int2 range; - __shared__ int ghost; - __shared__ real temp_x[BSIZE*4]; - __shared__ real temp_v[BSIZE*3]; - int tx3 = threadIdx.x * 3; - int tx4 = threadIdx.x << 2; - for (int cell = blockIdx.x; cell < size; cell += gridDim.x) - { - if (!threadIdx.x) - { - //range = *(const int2*)(cells+cell); - range.x = cells[cell]; - range.y = cells[cell+1]; - range.y &= ~(1U<<31); - ghost = cellGhost[cell]; - } - __syncthreads(); - if (range.x <= 0) continue; // no actual particle in this cell - for (int px0 = range.x; px0 < ghost; px0 += BSIZE) - { - int px = px0 + threadIdx.x; - CudaVec4 xi; - CudaVec3 vi; - CudaVec3 force; - int index; - if (px < range.y) - { - index = cells[px]; - xi = ((const CudaVec4*)pos4)[index]; - temp_x[tx4 ] = xi.x; - temp_x[tx4+1] = xi.y; - temp_x[tx4+2] = xi.z; - temp_x[tx4+3] = xi.w; - vi = ((const CudaVec3*)v)[index]; - temp_v[tx3 ] = vi.x; - temp_v[tx3+1] = vi.y; - temp_v[tx3+2] = vi.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - force = CudaVec3::make(0,0,0); - int np = min(range.y-px0,BSIZE); - for (int i=0; i < np; ++i) - { - if (i != threadIdx.x) - SPHFluidCalcForce(xi, vi, ((const CudaVec4*)temp_x)[i], ((const CudaVec3*)temp_v)[i], force, params); - } - } - __syncthreads(); - // loop through other groups of particles - for (int py0 = range.x; py0 < range.y; py0 += BSIZE) - { - if (py0 == px0) continue; - int py = py0 + threadIdx.x; - if (py < range.y) - { - int index2 = cells[py]; - CudaVec4 xj = ((const CudaVec4*)pos4)[index2]; - temp_x[tx4 ] = xj.x; - temp_x[tx4+1] = xj.y; - temp_x[tx4+2] = xj.z; - temp_x[tx4+3] = xj.w; - CudaVec3 vj = ((const CudaVec3*)v)[index2]; - temp_v[tx3 ] = vj.x; - temp_v[tx3+1] = vj.y; - temp_v[tx3+2] = vj.z; - } - __syncthreads(); - if (px < ghost) - { - // actual particle -> compute interactions - int np = min(range.y-py0,BSIZE); - for (int i=0; i < np; ++i) - { - SPHFluidCalcForce(xi, vi, ((const CudaVec4*)temp_x)[i], ((const CudaVec3*)temp_v)[i], force, params); - } - } - __syncthreads(); - } - if (px < ghost) - { - // actual particle -> write computed force - ((CudaVec3*)f)[index] += force; - } - } - } -} -/* -template -__global__ void SPHFluidForceFieldCuda3t_addDForce_kernel(int size, const int *cells, const int *cellGhost, GPUSPHFluid params, real* df, const real* pos4, const real* v, const real* dx) -{ - __shared__ int2 range; - __shared__ int ghost; - __shared__ real temp_x[BSIZE*4]; - __shared__ real temp_v[BSIZE*3]; - __shared__ real temp_dx[BSIZE*3]; - int tx3 = threadIdx.x * 3; - int tx4 = threadIdx.x << 2; - for (int cell = blockIdx.x; cell < size; cell += gridDim.x) - { - if (!threadIdx.x) - { - //range = *(const int2*)(cells+cell); - range.x = cells[cell]; - range.y = cells[cell+1]; - range.y &= ~(1U<<31); - ghost = cellGhost[cell]; - } - __syncthreads(); - if (range.x <= 0) continue; // no actual particle in this cell - for (int px0 = range.x; px0 < ghost; px0 += BSIZE) - { - int px = px0 + threadIdx.x; - CudaVec4 xi; - CudaVec3 vi; - CudaVec3 dxi; - CudaVec3 dforce; - int index; - if (px < range.y) - { - index = cells[px]; - xi = ((const CudaVec4*)pos4)[index]; - temp_x[tx4 ] = xi.x; - temp_x[tx4+1] = xi.y; - temp_x[tx4+2] = xi.z; - temp_x[tx4+3] = xi.w; - vi = ((const CudaVec3*)v)[index]; - temp_v[tx3 ] = vi.x; - temp_v[tx3+1] = vi.y; - temp_v[tx3+2] = vi.z; - dxi = ((const CudaVec3*)dx)[index]; - temp_dx[tx3 ] = dxi.x; - temp_dx[tx3+1] = dxi.y; - temp_dx[tx3+2] = dxi.z; - } - __syncthreads(); - if (px < ghost) - { // actual particle -> compute interactions - dforce = CudaVec3::make(0,0,0); - int np = min(range.y-px0,BSIZE); - for (int i=0; i < np; ++i) - { - if (i != threadIdx.x) - SPHFluidCalcDForce(xi, vi, dxi, ((const CudaVec4*)temp_x)[i], ((const CudaVec3*)temp_v)[i], ((const CudaVec3*)temp_dx)[i], dforce, params); - } - } - __syncthreads(); - // loop through other groups of particles - for (int py0 = range.x; py0 < range.y; py0 += BSIZE) - { - if (py0 == px0) continue; - int py = py0 + threadIdx.x; - if (py < range.y) - { - int index2 = cells[py]; - CudaVec4 xj = ((const CudaVec4*)pos4)[index2]; - temp_x[tx4 ] = xj.x; - temp_x[tx4+1] = xj.y; - temp_x[tx4+2] = xj.z; - temp_x[tx4+3] = xj.w; - CudaVec3 vj = ((const CudaVec3*)v)[index2]; - temp_v[tx3 ] = vj.x; - temp_v[tx3+1] = vj.y; - temp_v[tx3+2] = vj.z; - CudaVec3 dxj = ((const CudaVec3*)dx)[index2]; - temp_dx[tx3 ] = dxj.x; - temp_dx[tx3+1] = dxj.y; - temp_dx[tx3+2] = dxj.z; - } - __syncthreads(); - if (px < ghost) - { // actual particle -> compute interactions - int np = min(range.y-py0,BSIZE); - for (int i=0; i < np; ++i) - { - SPHFluidCalcDForce(xi, vi, dxi, ((const CudaVec4*)temp_x)[i], ((const CudaVec3*)temp_v)[i], ((const CudaVec3*)temp_dx)[i], dforce, params); - } - } - __syncthreads(); - } - if (px < ghost) - { // actual particle -> write computed force - ((CudaVec3*)df)[index] += dforce; - } - } - } -} -*/ -////////////////////// -// CPU-side methods // -////////////////////// - -void SPHFluidForceFieldCuda3f_computeDensity(int kernelType, int pressureType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* pos4, const void* x) -{ - dim3 threads(BSIZE,1); - dim3 grid(60,1); - switch(kernelType) - { - case 0: - switch(pressureType) - { - case 0: //SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)pos4, (const float*)x); - break; - case 1: SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)pos4, (const float*)x); - break; - default: break; - } - break; - case 1: - switch(pressureType) - { - case 0: //SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)pos4, (const float*)x); - break; - case 1: SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)pos4, (const float*)x); - break; - default: break; - } - break; - default: break; - } - mycudaDebugError("SPHFluidForceFieldCuda3t_computeDensity_kernel"); -} - -void SPHFluidForceFieldCuda3f_addForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* f, const void* x, const void* v) -{ - dim3 threads(BSIZE,1); - dim3 grid(60,1); - switch(kernelType) - { - case 0: - switch(pressureType) - { - case 0: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - default: break; - } - break; - case 1: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - default: break; - } - break; - default: break; - } - break; - case 1: - switch(pressureType) - { - case 0: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - default: break; - } - break; - case 1: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)f, (const float*)x, (const float*)v); - break; - default: break; - } - break; - default: break; - } - break; - default: break; - } - break; - default: break; - } - mycudaDebugError("SPHFluidForceFieldCuda3t_addForce_kernel"); -} -/* -void SPHFluidForceFieldCuda3f_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* df, const void* x, const void* v, const void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid(60/BSIZE,1); - {SPHFluidForceFieldCuda3t_addDForce_kernel<<< grid, threads, BSIZE*3*sizeof(float) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (float*)df, (const float*)x, (const float*)v, (const float*)dx); mycudaDebugError("SPHFluidForceFieldCuda3t_addDForce_kernel");} -} -*/ -#ifdef SOFA_GPU_CUDA_DOUBLE - -void SPHFluidForceFieldCuda3d_computeDensity(int kernelType, int pressureType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* pos4, const void* x) -{ - dim3 threads(BSIZE,1); - dim3 grid(60,1); - switch(kernelType) - { - case 0: - switch(pressureType) - { - case 0: //SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)pos4, (const double*)x); - break; - case 1: SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)pos4, (const double*)x); - break; - default: break; - } - break; - case 1: - switch(pressureType) - { - case 0: //SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)pos4, (const double*)x); - break; - case 1: SPHFluidForceFieldCuda3t_computeDensity_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)pos4, (const double*)x); - break; - default: break; - } - break; - default: break; - } - mycudaDebugError("SPHFluidForceFieldCuda3t_computeDensity_kernel"); - -} - -void SPHFluidForceFieldCuda3d_addForce (int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* f, const void* x, const void* v) -{ - dim3 threads(BSIZE,1); - dim3 grid(60,1); - switch(kernelType) - { - case 0: - switch(pressureType) - { - case 0: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - default: break; - } - break; - case 1: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - default: break; - } - break; - default: break; - } - break; - case 1: - switch(pressureType) - { - case 0: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - default: break; - } - break; - case 1: - switch(viscosityType) - { - case 0: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 1: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - case 2: - switch(surfaceTensionType) - { - case 0: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 1: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - case 2: SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); - break; - default: break; - } - break; - default: break; - } - break; - default: break; - } - break; - default: break; - } - mycudaDebugError("SPHFluidForceFieldCuda3t_addForce_kernel"); - /* - dim3 threads(BSIZE,1); - dim3 grid(60/BSIZE,1); - if (params->surfaceTension > 0) - {SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); mycudaDebugError("SPHFluidForceFieldCuda3t_addForce_kernel");} - else - {SPHFluidForceFieldCuda3t_addForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)f, (const double*)x, (const double*)v); mycudaDebugError("SPHFluidForceFieldCuda3t_addForce_kernel");} - */ -} -/* -void SPHFluidForceFieldCuda3d_addDForce(unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* df, const void* x, const void* v, const void* dx) -{ - dim3 threads(BSIZE,1); - dim3 grid(60/BSIZE,1); - {SPHFluidForceFieldCuda3t_addDForce_kernel<<< grid, threads, BSIZE*3*sizeof(double) >>>(size, (const int*) cells, (const int*) cellGhost, *params, (double*)df, (const double*)x, (const double*)v, (const double*)dx); mycudaDebugError("SPHFluidForceFieldCuda3t_addDForce_kernel");} -} -*/ -#endif // SOFA_GPU_CUDA_DOUBLE - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -} // namespace cuda -} // namespace gpu -} // namespace sofa -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.h deleted file mode 100644 index 9f59ad575e7..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.h +++ /dev/null @@ -1,135 +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_GPU_CUDA_CUDASPHFLUIDFORCEFIELD_H -#define SOFA_GPU_CUDA_CUDASPHFLUIDFORCEFIELD_H - -#include -#include -#include - -namespace sofa -{ - - -namespace gpu::cuda -{ - -template -struct GPUSPHFluid -{ - real h; ///< particles radius - real h2; ///< particles radius squared - real inv_h2; ///< particles radius squared inverse - real stiffness; ///< pressure stiffness - real mass; ///< particles mass - real mass2; ///< particles mass squared - real density0; ///< 1000 kg/m3 for water - real viscosity; - real surfaceTension; - - // Precomputed constants for smoothing kernels - real CWd; ///< = constWd(h) - //real CgradWd; ///< = constGradWd(h) - real CgradWp; ///< = constGradWp(h) - real ClaplacianWv; ///< = constLaplacianWv(h) -}; - -typedef GPUSPHFluid GPUSPHFluid3f; -typedef GPUSPHFluid GPUSPHFluid3d; - -} // namespace gpu::cuda - - -namespace component::forcefield -{ - -template -class SPHFluidForceFieldInternalData< gpu::cuda::CudaVectorTypes > -{ -public: - typedef gpu::cuda::CudaVectorTypes DataTypes; - typedef SPHFluidForceFieldInternalData Data; - typedef SPHFluidForceField Main; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::Real Real; - gpu::cuda::GPUSPHFluid params; - gpu::cuda::CudaVector pos4; - - void fillParams(Main* m, int kernelType, double kFactor=1.0, double bFactor=1.0) - { - Real h = m->d_particleRadius.getValue(); - params.h = h; - params.h2 = h*h; - params.inv_h2 = 1/(h*h); - params.stiffness = (Real)(kFactor*m->d_pressureStiffness.getValue()); - params.mass = m->d_particleMass.getValue(); - params.mass2 = params.mass*params.mass; - params.density0 = m->d_density0.getValue(); - params.viscosity = (Real)(bFactor*m->d_viscosity.getValue()); - params.surfaceTension = (Real)(kFactor*m->d_surfaceTension.getValue()); - if (kernelType == 1) - { - params.CWd = SPHKernel::constW(h); - //params.CgradWd = SPHKernel::constGradW(h); - params.CgradWp = SPHKernel::constGradW(h); - params.ClaplacianWv = SPHKernel::constLaplacianW(h); - } - else - { - params.CWd = SPHKernel::constW(h); - //params.CgradWd = SPHKernel::constGradW(h); - params.CgradWp = SPHKernel::constGradW(h); - params.ClaplacianWv = SPHKernel::constLaplacianW(h); - } - } - - void Kernels_computeDensity(int kernelType, int pressureType, int gsize, const void* cells, const void* cellGhost, void* pos4, const void* x); - void Kernels_addForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, int gsize, const void* cells, const void* cellGhost, void* f, const void* pos4, const void* vel); - //void Kernels_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, int gsize, const void* cells, const void* cellGhost, void* f, const void* pos4, const void* dx, const void* vel); -}; - - -template <> -void SPHFluidForceField::addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v); - -template <> -void SPHFluidForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx); - -template <> -void SPHFluidForceField::draw(const core::visual::VisualParams* vparams); - -#ifdef SOFA_GPU_CUDA_DOUBLE - -template <> -void SPHFluidForceField::addForce(const core::MechanicalParams* mparams, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v); - -template <> -void SPHFluidForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& d_df, const DataVecDeriv& d_dx); - -#endif // SOFA_GPU_CUDA_DOUBLE - -} // namespace component::forcefield - - -} // namespace sofa - -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl deleted file mode 100644 index 752ea1f1502..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl +++ /dev/null @@ -1,273 +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_GPU_CUDA_CUDASPHFLUIDFORCEFIELD_INL -#define SOFA_GPU_CUDA_CUDASPHFLUIDFORCEFIELD_INL - -#include "CudaSPHFluidForceField.h" -#include -#include -#include - -namespace sofa -{ - - -namespace gpu::cuda -{ - -extern "C" -{ - -void SPHFluidForceFieldCuda3f_computeDensity(int kernelType, int pressureType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* pos4, const void* x); -void SPHFluidForceFieldCuda3f_addForce (int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* f, const void* pos4, const void* v); -//void SPHFluidForceFieldCuda3f_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3f* params, void* f, const void* pos4, const void* v, const void* dx); - -#ifdef SOFA_GPU_CUDA_DOUBLE - -void SPHFluidForceFieldCuda3d_computeDensity(int kernelType, int pressureType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* pos4, const void* x); -void SPHFluidForceFieldCuda3d_addForce (int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* f, const void* pos4, const void* v); -//void SPHFluidForceFieldCuda3d_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, unsigned int size, const void* cells, const void* cellGhost, GPUSPHFluid3d* params, void* f, const void* pos4, const void* v, const void* dx); - -#endif // SOFA_GPU_CUDA_DOUBLE -} - -} // namespace gpu::cuda - - -namespace component::forcefield -{ - -using namespace gpu::cuda; - -template<> -void SPHFluidForceFieldInternalData::Kernels_computeDensity(int kernelType, int pressureType, int gsize, const void* cells, const void* cellGhost, void* pos4, const void* x) -{ - SPHFluidForceFieldCuda3f_computeDensity(kernelType, pressureType, gsize, cells, cellGhost, ¶ms, pos4, x); -} - -template<> -void SPHFluidForceFieldInternalData::Kernels_addForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, int gsize, const void* cells, const void* cellGhost, void* f, const void* pos4, const void* v) -{ - SPHFluidForceFieldCuda3f_addForce (kernelType, pressureType, viscosityType, surfaceTensionType, gsize, cells, cellGhost, ¶ms, f, pos4, v); -} -/* -template<> -void SPHFluidForceFieldInternalData::Kernels_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, int gsize, const void* cells, const void* cellGhost, void* f, const void* pos4, const void* v, const void* dx) -{ - SPHFluidForceFieldCuda3f_addDForce(kernelType, pressureType, viscosityType, surfaceTensionType, gsize, cells, cellGhost, ¶ms, f, pos4, v, dx); -} -*/ -template <> -void SPHFluidForceField::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v) -{ - if (m_grid == NULL) return; - - const int kernelT = d_kernelType.getValue(); - const int pressureT = d_pressureType.getValue(); - const Real viscosity = this->d_viscosity.getValue(); - const int viscosityT = (viscosity == 0) ? 0 : d_viscosityType.getValue(); - const Real surfaceTension = this->d_surfaceTension.getValue(); - const int surfaceTensionT = (surfaceTension <= 0) ? 0 : d_surfaceTensionType.getValue(); - - VecDeriv& f = *d_f.beginEdit(); - const VecCoord& x = d_x.getValue(); - const VecDeriv& v = d_v.getValue(); - - m_grid->updateGrid(x); - data.fillParams(this, kernelT); - f.resize(x.size()); - Grid::Grid* g = m_grid->getGrid(); - data.pos4.recreate(x.size()); - data.Kernels_computeDensity( kernelT, pressureT, - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - data.pos4.deviceWrite(), x.deviceRead()); - - msg_info() << "density[" << 0 << "] = " << data.pos4[0][3] - << "density[" << data.pos4.size()/2 << "] = " << data.pos4[data.pos4.size()/2][3]; - - data.Kernels_addForce( kernelT, pressureT, viscosityT, surfaceTensionT, - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - f.deviceWrite(), data.pos4.deviceRead(), v.deviceRead()); - - d_f.endEdit(); -} - -template <> -void SPHFluidForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& /*d_df*/, const DataVecDeriv& /*d_dx*/) -{ - mparams->setKFactorUsed(true); -#if 0 - if (m_grid == NULL) return; - - const int kernelT = d_kernelType.getValue(); - const int pressureT = d_pressureType.getValue(); - const Real viscosity = this->d_viscosity.getValue(); - const int viscosityT = (viscosity == 0) ? 0 : d_viscosityType.getValue(); - const Real surfaceTension = this->d_surfaceTension.getValue(); - const int surfaceTensionT = (surfaceTension <= 0) ? 0 : d_surfaceTensionType.getValue(); - - VecDeriv& df = *d_df.beginEdit(); - const VecDeriv& dx = d_dx.getValue(); - - const VecDeriv& v = this->mstate->read(core::vec_id::read_access::velocity)->getValue(); - data.fillParams(this, kernelT, mparams->kFactor(), sofa::core::mechanicalparams::bFactor(mparams)); - df.resize(dx.size()); - Grid::Grid* g = m_grid->getGrid(); - data.Kernels_addDForce( kernelT, pressureT, viscosityT, surfaceTensionT, - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - df.deviceWrite(), data.pos4.deviceRead(), v.deviceRead(), dx.deviceRead()); - - d_df.endEdit(); -#endif -} - - -#ifdef SOFA_GPU_CUDA_DOUBLE - - -template<> -void SPHFluidForceFieldInternalData::Kernels_computeDensity(int kernelType, int pressureType, int gsize, const void* cells, const void* cellGhost, void* pos4, const void* x) -{ - SPHFluidForceFieldCuda3d_computeDensity(kernelType, pressureType, gsize, cells, cellGhost, ¶ms, pos4, x); -} - -template<> -void SPHFluidForceFieldInternalData::Kernels_addForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, int gsize, const void* cells, const void* cellGhost, void* f, const void* pos4, const void* v) -{ - SPHFluidForceFieldCuda3d_addForce (kernelType, pressureType, viscosityType, surfaceTensionType, gsize, cells, cellGhost, ¶ms, f, pos4, v); -} -/* -template<> -void SPHFluidForceFieldInternalData::Kernels_addDForce(int kernelType, int pressureType, int viscosityType, int surfaceTensionType, int gsize, const void* cells, const void* cellGhost, void* f, const void* pos4, const void* v, const void* dx) -{ - SPHFluidForceFieldCuda3d_addDForce(kernelType, pressureType, viscosityType, surfaceTensionType, gsize, cells, cellGhost, ¶ms, f, pos4, v, dx); -} -*/ -template <> -void SPHFluidForceField::addForce(const core::MechanicalParams* /*mparams*/, DataVecDeriv& d_f, const DataVecCoord& d_x, const DataVecDeriv& d_v) -{ - if (m_grid == NULL) return; - - const int kernelT = d_kernelType.getValue(); - const int pressureT = d_pressureType.getValue(); - const Real viscosity = this->d_viscosity.getValue(); - const int viscosityT = (viscosity == 0) ? 0 : d_viscosityType.getValue(); - const Real surfaceTension = this->d_surfaceTension.getValue(); - const int surfaceTensionT = (surfaceTension <= 0) ? 0 : d_surfaceTensionType.getValue(); - - VecDeriv& f = *d_f.beginEdit(); - const VecCoord& x = d_x.getValue(); - const VecDeriv& v = d_v.getValue(); - - m_grid->updateGrid(x); - data.fillParams(this, kernelT); - f.resize(x.size()); - Grid::Grid* g = m_grid->getGrid(); - data.pos4.recreate(x.size()); - data.Kernels_computeDensity( kernelT, pressureT, - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - data.pos4.deviceWrite(), x.deviceRead()); - msg_info() << "density[" << 0 << "] = " << data.pos4[0][3] - << "density[" << data.pos4.size()/2 << "] = " << data.pos4[data.pos4.size()/2][3]; - data.Kernels_addForce( kernelT, pressureT, viscosityT, surfaceTensionT, - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - f.deviceWrite(), data.pos4.deviceRead(), v.deviceRead()); - - d_f.endEdit(); -} - -template <> -void SPHFluidForceField::addDForce(const core::MechanicalParams* mparams, DataVecDeriv& /*d_df*/, const DataVecDeriv& /*d_dx*/) -{ - mparams->setKFactorUsed(true); -#if 0 - if (m_grid == NULL) return; - - const int kernelT = d_kernelType.getValue(); - const int pressureT = d_pressureType.getValue(); - const Real viscosity = this->d_viscosity.getValue(); - const int viscosityT = (viscosity == 0) ? 0 : d_viscosityType.getValue(); - const Real surfaceTension = this->d_surfaceTension.getValue(); - const int surfaceTensionT = (surfaceTension <= 0) ? 0 : d_surfaceTensionType.getValue(); - - VecDeriv& df = *d_df.beginEdit(); - const VecDeriv& dx = d_dx.getValue(); - //const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); - const VecDeriv& v = this->mstate->read(core::vec_id::read_access::velocity)->getValue(); - data.fillParams(this, mparams->kFactor(), sofa::core::mechanicalparams::bFactor(mparams)); - df.resize(dx.size()); - Grid::Grid* g = m_grid->getGrid(); - data.Kernels_addDForce( kernelT, pressureT, viscosityT, surfaceTensionT, - g->getNbCells(), g->getCellsVector().deviceRead(), g->getCellGhostVector().deviceRead(), - df.deviceWrite(), data.pos4.deviceRead(), v.deviceRead(), dx.deviceRead()); - d_df.endEdit(); -#endif -} - -#endif // SOFA_GPU_CUDA_DOUBLE - - - -template <> -void SPHFluidForceField::draw(const core::visual::VisualParams* vparams) -{ -#if SOFACUDA_HAVE_SOFA_GL == 1 - if (!vparams->displayFlags().getShowForceFields()) return; - //if (m_grid != NULL) - // grid->draw(vparams); - helper::ReadAccessor x = this->mstate->read(sofa::core::vec_id::read_access::position)->getValue(); - helper::ReadAccessor > pos4 = this->data.pos4; - if (pos4.empty()) return; - glDisable(GL_LIGHTING); - glColor3f(0,1,1); - glDisable(GL_BLEND); - glDepthMask(1); - glPointSize(5); - glBegin(GL_POINTS); - for (unsigned int i=0; i. * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include -#include -#include - - -namespace sofa::component::container -{ - -using namespace sofa::defaulttype; -using namespace sofa::gpu::cuda; -using namespace core::behavior; - - -int SpatialGridContainerCudaClass = core::RegisterObject("GPU support using CUDA.") - .add< SpatialGridContainer >() - ; - -template class SOFA_GPU_CUDA_API SpatialGridContainer< CudaVec3fTypes >; -template class SOFA_GPU_CUDA_API SpatialGrid< SpatialGridTypes< CudaVec3fTypes > >; - -#ifdef SOFA_GPU_CUDA_DOUBLE - -template class SpatialGridContainer< CudaVec3dTypes >; -template class SpatialGrid< SpatialGridTypes< CudaVec3dTypes > >; - -#endif // SOFA_GPU_CUDA_DOUBLE - -} // namespace sofa::component::container - - - - diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.cu deleted file mode 100644 index 9f459e141f3..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.cu +++ /dev/null @@ -1,377 +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 * -******************************************************************************/ -/* PART OF THIS FILE IS FROM NVIDIA CUDA SDK particles demo: - * - * Copyright 1993-2006 NVIDIA Corporation. All rights reserved. - * - * NOTICE TO USER: - * - * This source code is subject to NVIDIA ownership rights under U.S. and - * international Copyright laws. - * - * NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE - * CODE FOR ANY PURPOSE. IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR - * IMPLIED WARRANTY OF ANY KIND. NVIDIA DISCLAIMS ALL WARRANTIES WITH - * REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF - * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE. - * IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL, - * OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS - * OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE - * OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE - * OR PERFORMANCE OF THIS SOURCE CODE. - * - * U.S. Government End Users. This source code is a "commercial item" as - * that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting of - * "commercial computer software" and "commercial computer software - * documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995) - * and is provided to the U.S. Government only as a commercial end item. - * Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through - * 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the - * source code with only those rights set forth herein. - */ - - -#include -#include -#include -#include - -#if defined(__cplusplus) && CUDA_VERSION < 2000 -namespace sofa -{ -namespace gpu -{ -namespace cuda -{ -#endif - -extern "C" -{ - void SpatialGridContainer3f_computeHash(int cellBits, float cellWidth, int nbPoints, void* particleIndex8, void* particleHash8, const void* x); - void SpatialGridContainer3f1_computeHash(int cellBits, float cellWidth, int nbPoints, void* particleIndex8, void* particleHash8, const void* x); - void SpatialGridContainer_findCellRange(int cellBits, int index0, float cellWidth, int nbPoints, const void* particleHash8, void* cellRange, void* cellGhost); -//void SpatialGridContainer3f_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x); -//void SpatialGridContainer3f1_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x); -} - -#define USE_TEX 0 - -struct GridParams -{ - float cellWidth; - float invCellWidth; - int cellMask; - float halfCellWidth; - float invHalfCellWidth; -}; - -// large prime numbers -#define HASH_PX 73856093 -#define HASH_PY 19349663 -#define HASH_PZ 83492791 - -////////////////////// -// GPU-side methods // -////////////////////// - -#if USE_TEX -texture cellRangeTex; -#endif - -__constant__ GridParams gridParams; - -// calculate cell in grid from position -template -__device__ int3 calcGridPos(T p) -{ - int3 i; - i.x = __float2int_rd(p.x * gridParams.invCellWidth); - i.y = __float2int_rd(p.y * gridParams.invCellWidth); - i.z = __float2int_rd(p.z * gridParams.invCellWidth); - return i; -} - -// calculate address in grid from position -__device__ unsigned int calcGridHashI(int3 p) -{ - //return ((p.x<<10)^(p.y<<5)^(p.z)) & gridParams.cellMask; - //return ((p.x)^(p.y)^(p.z)) & gridParams.cellMask; - return (__mul24(HASH_PX,p.x)^__mul24(HASH_PY,p.y)^__mul24(HASH_PZ,p.z)) & gridParams.cellMask; - //return (p.x) & gridParams.cellMask; -} - -// calculate address in grid from position -template -__device__ unsigned int calcGridHash(T p) -{ - return calcGridHashI(calcGridPos(p)); -} - - -__device__ __inline__ float3 getPos3(const float4* pos, int index0, int index) -{ - float4 p = pos[index]; - return make_float3(p.x,p.y,p.z); -} - -__shared__ float ftemp[BSIZE*3]; - -__device__ __inline__ float3 getPos3(const float3* pos, int index0, int index) -{ - //return pos[index]; - - int index03 = index0 * 3; - int index3 = threadIdx.x * 3; - ftemp[threadIdx.x] = ((const float*)pos)[index03+threadIdx.x]; - ftemp[threadIdx.x+BSIZE] = ((const float*)pos)[index03+threadIdx.x+BSIZE]; - ftemp[threadIdx.x+2*BSIZE] = ((const float*)pos)[index03+threadIdx.x+2*BSIZE]; - __syncthreads(); - return make_float3(ftemp[index3],ftemp[index3+1],ftemp[index3+2]); -} - -__device__ __inline__ float4 getPos4(const float4* pos, int index0, int index) -{ - return pos[index]; -} - -__device__ __inline__ float4 getPos4(const float3* pos, int index0, int index) -{ - int index3 = threadIdx.x * 3; - pos += index0; - ftemp[threadIdx.x] = ((const float*)pos)[threadIdx.x]; - ftemp[threadIdx.x+BSIZE] = ((const float*)pos)[threadIdx.x+BSIZE]; - ftemp[threadIdx.x+2*BSIZE] = ((const float*)pos)[threadIdx.x+2*BSIZE]; - __syncthreads(); - return make_float4(ftemp[index3],ftemp[index3+1],ftemp[index3+2],0.0f); -} - -__device__ __inline__ float4 getPos4(const float4* pos, int index) -{ - return pos[index]; -} - -__device__ __inline__ float4 getPos4(const float3* pos, int index) -{ - float3 p = pos[index]; - return make_float4(p.x,p.y,p.z,1.0f); -} - -// calculate grid hash value for each particle -template -__global__ void -computeHashD(const TIn* pos, - unsigned int* particleIndex8, unsigned int* particleHash8, int n) -{ - int index0 = (blockIdx.x*BSIZE); - int index = index0 + threadIdx.x; - int nt = n - index0; if (nt > BSIZE) nt = BSIZE; - float3 p = getPos3(pos,index0,index); - - int3 hgpos; - hgpos.x = __float2int_rd(p.x * gridParams.invHalfCellWidth); - hgpos.y = __float2int_rd(p.y * gridParams.invHalfCellWidth); - hgpos.z = __float2int_rd(p.z * gridParams.invHalfCellWidth); - int halfcell = ((hgpos.x&1) + ((hgpos.y&1)<<1) + ((hgpos.z&1)<<2))^7; - // compute the first cell to be influenced by the particle - hgpos.x = (hgpos.x-1) >> 1; - hgpos.y = (hgpos.y-1) >> 1; - hgpos.z = (hgpos.z-1) >> 1; - - __syncthreads(); - - __shared__ int hx[3*BSIZE]; - int x = threadIdx.x; - -// hx[x] = (__mul24(HASH_PX,hgpos.x) << 3)+halfcell; -// hy[x] = __mul24(HASH_PY,hgpos.y); -// hz[x] = __mul24(HASH_PZ,hgpos.z); - hx[x] = ((HASH_PX*hgpos.x) << 3)+halfcell; - hx[BSIZE+x] = (HASH_PY*hgpos.y); - hx[2*BSIZE+x] = (HASH_PZ*hgpos.z); - __syncthreads(); - int3 dH; - dH.x = (x&1 ? HASH_PX : 0); - dH.y = (x&2 ? HASH_PY : 0); - dH.z = (x&4 ? HASH_PZ : 0); - int x_7 = x&7; - int index0_8_x_7 = (index0 << 3) + x_7; - for (unsigned int lx = x>>3; lx < nt; lx+=(BSIZE>>3)) - { - particleIndex8[index0_8_x_7 + (lx<<3)] = index0 + lx; - int3 h; - h.x = hx[lx]; - h.y = hx[BSIZE+lx]; - h.z = hx[2*BSIZE+lx]; - int hc = h.x & 7; - h.x = (h.x>>3) + dH.x; - h.y += dH.y; - h.z += dH.z; - unsigned int hash = ((h.x ^ h.y ^ h.z) & gridParams.cellMask)<<1; - if (hc != x_7) ++hash; - particleHash8[index0_8_x_7 + (lx<<3)] = hash; - } -} - -// find start of each cell in sorted particle list by comparing with previous hash value -// one thread per particle -__global__ void -findCellRangeD(int index0, const unsigned int* particleHash, - int * cellRange, int* cellGhost, int n) -{ - unsigned int i = __mul24(blockIdx.x, blockDim.x) + threadIdx.x; - __shared__ unsigned int hash[BSIZE]; - if (i < n) - hash[threadIdx.x] = particleHash[i]; - - __syncthreads(); - - if (i < n) - { - bool firstInCell; - bool firstGhost; - unsigned int cur = hash[threadIdx.x]; - if (i == 0) - { - firstInCell = true; - firstGhost = cur&1; - } - else - { - unsigned int prev; - if (threadIdx.x > 0) - prev = hash[threadIdx.x-1]; - else - prev = particleHash[i-1]; - firstInCell = ((prev>>1) != (cur>>1)); - firstGhost = ((prev != cur) && (cur&1)); - if (firstInCell) - { - if ((prev>>1) < (cur>>1)-1) - cellRange[ (prev>>1)+1 ] = (index0+i) | (1U<<31); - if (!(prev&1)) // no ghost particles in previous cell - cellGhost[ prev>>1 ] = index0+i; - } - } - if (firstInCell) - cellRange[ cur>>1 ] = index0+i; - if (firstGhost) - cellGhost[ cur>>1 ] = index0+i; - if (i == n-1) - { - cellRange[ (cur>>1)+1 ] = (index0+n) | (1U<<31); - if (!(cur&1)) - cellGhost[ cur>>1 ] = index0+n; - } - } -} - -// rearrange particle data into sorted order -template -__global__ void -reorderDataD(const uint2* particleHash, // particle id sorted by hash - const TIn* oldPos, - float4* sortedPos, int n - ) -{ - int index0 = __mul24(blockIdx.x, blockDim.x); - int index = index0 + threadIdx.x; - if (index < n) - { - volatile uint2 sortedData = particleHash[index]; - //float4 pos = getPos4(oldPos,index0,index); - float4 pos = getPos4(oldPos,sortedData.y); - sortedPos[index] = pos; - } -} - - -////////////////////// -// CPU-side methods // -////////////////////// - -void SpatialGridContainer3f_computeHash(int cellBits, float cellWidth, int nbPoints, void* particleIndex8, void* particleHash8, const void* x) -{ - GridParams p; - p.cellWidth = cellWidth; - p.invCellWidth = 1.0f/cellWidth; - p.cellMask = (1<<<< grid, threads >>>((const float3*)x, (unsigned int*)particleIndex8, (unsigned int*)particleHash8, nbPoints); mycudaDebugError("computeHashD");} - } -} - -void SpatialGridContainer3f1_computeHash(int cellBits, float cellWidth, int nbPoints, void* particleIndex8, void* particleHash8, const void* x) -{ - GridParams p; - p.cellWidth = cellWidth; - p.invCellWidth = 1.0f/cellWidth; - p.cellMask = (1<<<< grid, threads >>>((const float4*)x, (unsigned int*)particleIndex8, (unsigned int*)particleHash8, nbPoints); mycudaDebugError("computeHashD");} - } -} - -void SpatialGridContainer_findCellRange(int cellBits, int index0, float cellWidth, int nbPoints, const void* particleHash8, void* cellRange, void* cellGhost) -{ - cudaMemset(cellRange, 0, ((1<>>(index0, (const unsigned int*)particleHash8, (int*)cellRange, (int*)cellGhost, 8*nbPoints); mycudaDebugError("findCellRangeD");} - } -} -/* -void SpatialGridContainer3f_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x) -{ - dim3 threads(BSIZE,1); - dim3 grid((nbPoints+BSIZE-1)/BSIZE,1); - {reorderDataD<<< grid, threads >>>((const uint2*)particleHash, (const float3*)x, (float4*)sorted, nbPoints); mycudaDebugError("reorderDataD");} -} - -void SpatialGridContainer3f1_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x) -{ - dim3 threads(BSIZE,1); - dim3 grid((nbPoints+BSIZE-1)/BSIZE,1); - {reorderDataD<<< grid, threads >>>((const uint2*)particleHash, (const float4*)x, (float4*)sorted, nbPoints); mycudaDebugError("reorderDataD");} -} -*/ -#if defined(__cplusplus) && CUDA_VERSION < 2000 -} // namespace cuda -} // namespace gpu -} // namespace sofa -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.h b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.h deleted file mode 100644 index f1f3697f3e0..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.h +++ /dev/null @@ -1,128 +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 * -******************************************************************************/ -// -// C++ Interface: SpatialGridContainer -// -// Description: -// -// -// Author: The SOFA team , (C) 2006 -// -// Copyright: See COPYING file that comes with this distribution -// -// - -#ifndef SOFA_GPU_CUDA_CUDASPATIALGRIDCONTAINER_H -#define SOFA_GPU_CUDA_CUDASPATIALGRIDCONTAINER_H - -#include -#include -#include - - -namespace sofa::component::container -{ - -using namespace sofa::defaulttype; - -template -class SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > > -{ -public: - typedef SpatialGridTypes < gpu::cuda::CudaVectorTypes > DataTypes; - typedef typename DataTypes::Real Real; - typedef typename DataTypes::Coord Coord; - typedef typename DataTypes::VecCoord VecCoord; - typedef typename DataTypes::CellData CellData; - typedef typename DataTypes::GridData GridData; - //typedef typename DataTypes::NeighborListener NeighborListener; - typedef typename DataTypes::ParticleField ParticleField; - - enum - { - HASH_PX = 73856093, - HASH_PY = 19349663, - HASH_PZ = 83492791, - }; - -public: - SpatialGrid(Real cellWidth); - - ~SpatialGrid(); - - void update(const VecCoord& x); - - void draw(const core::visual::VisualParams*); - - template - void findNeighbors(NeighborListener* dest, Real dist); - - void computeField(ParticleField* field, Real dist); - - /// Change particles ordering inside a given cell have contiguous indices - /// - /// Fill the old2new and new2old arrays giving the permutation to apply - void reorderIndices(type::vector* old2new, type::vector* new2old); - GridData data; - - Real getCellWidth() const { return cellWidth; } - Real getInvCellWidth() const { return invCellWidth; } - - int getCellBits() const { return cellBits; } - int getNbCells() const { return nbCells; } - - int getCell(const Coord& c) const - { - return ( (helper::rfloor(c[0]*invCellWidth*0.5f) * HASH_PX) ^ - (helper::rfloor(c[1]*invCellWidth*0.5f) * HASH_PY) ^ - (helper::rfloor(c[2]*invCellWidth*0.5f) * HASH_PZ) ) & ((1 << cellBits)-1); - } - - //const sofa::gpu::cuda::CudaVector< unsigned int >& getParticleIndexVector() const { return particleIndex; } - const sofa::gpu::cuda::CudaVector< int >& getCellsVector() const { return cells; } - const sofa::gpu::cuda::CudaVector< int >& getCellGhostVector() const { return cellGhost; } - -protected: - const Real cellWidth; - const Real invCellWidth; - int cellBits, nbCells; - sofa::gpu::cuda::CudaVector< unsigned int > /*particleIndex,*/ particleHash; - //sofa::gpu::cuda::CudaVector< int > cellRange; - sofa::gpu::cuda::CudaVector< int > cells; - sofa::gpu::cuda::CudaVector< int > cellGhost; - sofa::gpu::cuda::CudaVector< sofa::gpu::cuda::Vec3f1 > sortedPos; - const VecCoord* lastX; - - void kernel_computeHash( - int cellBits, Real cellWidth, int nbPoints, void* particleIndex, void* particleHash, const void* x); - - void kernel_updateGrid( - int cellBits, int index0, Real cellWidth, int nbPoints, const void* particleHash, - void* cells, void* cellGhost); - //void kernel_reorderData(int nbPoints, const void* particleIndex, const void* particleHash, void* sorted, const void* x); - -}; - -} // namespace sofa::component::container - - -#endif diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.inl b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.inl deleted file mode 100644 index 4f2bb3f424b..00000000000 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSpatialGridContainer.inl +++ /dev/null @@ -1,336 +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 * -******************************************************************************/ -// -// C++ Interface: SpatialGridContainer -// -// Description: -// -// -// Author: The SOFA team , (C) 2006 -// -// Copyright: See COPYING file that comes with this distribution -// -// - -#ifndef SOFA_GPU_CUDA_CUDASPATIALGRIDCONTAINER_INL -#define SOFA_GPU_CUDA_CUDASPATIALGRIDCONTAINER_INL - -#include -#include -#include -#include - -namespace sofa -{ - - -namespace gpu::cuda -{ - -extern "C" -{ - void SpatialGridContainer3f_computeHash(int cellBits, float cellWidth, int nbPoints, void* particleIndex8, void* particleHash8, const void* x); - void SpatialGridContainer3f1_computeHash(int cellBits, float cellWidth, int nbPoints, void* particleIndex8, void* particleHash8, const void* x); - void SpatialGridContainer_findCellRange(int cellBits, int index0, float cellWidth, int nbPoints, const void* particleHash8, void* cellRange, void* cellGhost); -//void SpatialGridContainer3f_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x); -//void SpatialGridContainer3f1_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x); -} - -} // namespace gpu::cuda - - -namespace component::container -{ - -using namespace sofa::helper; - -// template -// typename SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::Grid SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::emptyGrid; - -template -SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::SpatialGrid(Real cellWidth) - : cellWidth(cellWidth), invCellWidth(1/cellWidth), lastX(NULL) -{ - cellBits = 15; - nbCells = 1< -SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::~SpatialGrid() -{ -} - -template template -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::findNeighbors(NeighborListener* /*dest*/, Real /*dist*/) -{ - msg_error("SpatialGrid") << "TODO: SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::findNeighbors(NeighborListener* dest, Real dist)"; -} - -template -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::computeField(ParticleField* /*field*/, Real /*dist*/) -{ - msg_error("SpatialGrid") << "TODO: SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::computeField(ParticleField* field, Real dist)"; -} - -template -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::reorderIndices(type::vector* /*old2new*/, type::vector* /*new2old*/) -{ - msg_error("SpatialGrid") << "TODO: SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::reorderIndices(type::vector* old2new, type::vector* new2old)"; -} - - -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3fTypes > >::kernel_computeHash( - int cellBits, Real cellWidth, int nbPoints, void* particleIndex, void* particleHash, - const void* x) -{ - /* - { - helper::ReadAccessor< sofa::gpu::cuda::CudaVector< unsigned int > > pparticleHash = this->particleHash; - for (int i=0;iparticleHash.deviceWrite(); - { - helper::ReadAccessor< sofa::gpu::cuda::CudaVector< unsigned int > > pparticleHash = this->particleHash; - for (int i=0;i -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3fTypes > >::kernel_updateGrid( - int cellBits, int index0, Real cellWidth, int nbPoints, const void* particleHash, - void* cells, void* cellGhost) -{ - //int nbbits = 8; - //while (nbbits < cellBits + 1) nbbits+=8; - //CudaSort(particleHash,particleIndex,nbbits,nbPoints*8); - gpu::cuda::SpatialGridContainer_findCellRange(cellBits, index0, cellWidth, nbPoints, particleHash, cells, cellGhost); -} - -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3f1Types > >::kernel_computeHash( - int cellBits, Real cellWidth, int nbPoints, void* particleIndex, void* particleHash, - const void* x) -{ - gpu::cuda::SpatialGridContainer3f1_computeHash(cellBits, cellWidth, nbPoints, particleIndex, particleHash, x); -} - -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3f1Types > >::kernel_updateGrid( - int cellBits, int index0, Real cellWidth, int nbPoints, const void* particleHash, - void* cells, void* cellGhost) -{ - gpu::cuda::SpatialGridContainer_findCellRange(cellBits, index0, cellWidth, nbPoints, particleHash, cells, cellGhost); -} - -#ifdef SOFA_GPU_CUDA_DOUBLE - -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3dTypes > >::kernel_computeHash( - int /*cellBits*/, Real /*cellWidth*/, int /*nbPoints*/, void* /*particleIndex*/, void* /*particleHash*/, - const void* /*x*/) -{ - msg_error("SpatialGrid") << "TODO: SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3dTypes > >::kernel_computeHash()"; -} - -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3dTypes > >::kernel_updateGrid( - int /*cellBits*/, int /*index0*/, Real /*cellWidth*/, int /*nbPoints*/, const void* /*particleHash*/, - void* /*cells*/, void* /*cellGhost*/) -{ - msg_error("SpatialGrid") << "TODO: SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3dTypes > >::kernel_updateGrid()"; -} - -#endif // SOFA_GPU_CUDA_DOUBLE - -/* -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3fTypes > >::kernel_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x) -{ - gpu::cuda::SpatialGridContainer3f_reorderData(nbPoints, particleHash, sorted, x); -} - -template<> -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVec3f1Types > >::kernel_reorderData(int nbPoints, const void* particleHash, void* sorted, const void* x) -{ - gpu::cuda::SpatialGridContainer3f1_reorderData(nbPoints, particleHash, sorted, x); -} -*/ - -template -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::update(const VecCoord& x) -{ - lastX = &x; - data.clear(); - int nbPoints = x.size(); - int index0 = nbCells+BSIZE; - /*particleIndex*/ cells.recreate(index0+nbPoints*8,8*BSIZE); - particleHash.recreate(nbPoints*8,8*BSIZE); - - { - unsigned int numElements = (unsigned int)nbPoints*8; - sofa::gpu::cuda::CudaSortPrepare(numElements); - } - - //cells.recreate(nbCells+1); - cellGhost.recreate(nbCells); - //sortedPos.recreate(nbPoints); -#if 0 - { - helper::WriteAccessor< sofa::gpu::cuda::CudaVector< int > > pcells = cells; - helper::WriteAccessor< sofa::gpu::cuda::CudaVector< unsigned int > > pparticleHash = particleHash; - helper::ReadAccessor< VecCoord > px = x; - const Real pcellWidth = cellWidth*2.0f; - //const Real pinvCellWidth = 1.0f/pcellWidth; - const int pcellMask = (1<> 1; - hgpos_y = (hgpos_y-1) >> 1; - hgpos_z = (hgpos_z-1) >> 1; - unsigned int hx = (HASH_PX*hgpos_x); - unsigned int hy = (HASH_PY*hgpos_y); - unsigned int hz = (HASH_PZ*hgpos_z); - for (int x=0; x<8; ++x) - { - unsigned int h_x = hx; if (x&1) h_x += HASH_PX; - unsigned int h_y = hy; if (x&2) h_y += HASH_PY; - unsigned int h_z = hz; if (x&4) h_z += HASH_PZ; - unsigned int hash = ((h_x ^ h_y ^ h_z) & pcellMask)<<1; - if (halfcell != x) ++hash; - pcells[index0 + i*8 + x] = i; - pparticleHash[i*8 + x] = hash; - } - } - } -#endif -#if 0 - type::vector< std::pair > cpusort; - cpusort.resize(8*nbPoints); - for (int i=0; i<8*nbPoints; ++i) - cpusort[i] = std::make_pair(pparticleHash[i],pcells[index0+i]); - std::sort(cpusort.begin(),cpusort.end(),compare_pair_first); - - for (int i=0; i<8*nbPoints; ++i) - { - pparticleHash[i] = cpusort[i].first; - pcells[index0+i] = cpusort[i].second; - } -#endif - - kernel_computeHash( - cellBits, cellWidth*2, nbPoints, cells.deviceWriteAt(index0), particleHash.deviceWrite(), - x.deviceRead()); - - { - int nbbits = 8; - while (nbbits < cellBits + 1) nbbits+=8; - sofa::gpu::cuda::CudaSort(&particleHash,0, &cells,index0, nbPoints*8, nbbits); - } - - kernel_updateGrid( - cellBits, index0, cellWidth*2, nbPoints, particleHash.deviceRead(), - cells.deviceWrite(), cellGhost.deviceWrite()); -#if 0 - std::cout << nbPoints*8 << " entries in " << nbCells << " cells." << std::endl; - int nfill = 0; - for (int c=0; c cellBegin + nbPoints/2) // || nfill >= 100 && nfill < 110) - std::cout << "Cell " << c << ": range = " << cellBegin-index0 << " - " << cellEnd-index0 << " ghost = " << cellGhost[c]-index0 << std::endl; - ++nfill; - } - std::cout << ((1000*nfill)/nbCells) * 0.1 << " % cells with particles." << std::endl; -#endif - - //kernel_reorderData(nbPoints, particleHash.deviceRead(), sortedPos.deviceWrite(), x.deviceRead()); -} - -template -void SpatialGrid< SpatialGridTypes < gpu::cuda::CudaVectorTypes > >::draw(const core::visual::VisualParams* ) -{ -#if SOFACUDA_HAVE_SOFA_GL == 1 - if (!lastX) return; - int nbPoints = particleHash.size(); - int index0 = nbCells+BSIZE; - glDisable(GL_LIGHTING); - glColor4f(1,1,1,1); - glPointSize(3); - glBegin(GL_POINTS); - unsigned int last = 0; - for (int i=0; i>=1; - //if (cell != 0 && cell != 65535) - // std::cout << i << ": "< "< "<>2)&3; - int b = (cell>>4)&3; - glColor4ub(63+r*64,63+g*64,63+b*64,255); - //glVertex3fv(sortedPos[i].ptr()); - sofa::gl::glVertexT((*lastX)[p]); - } - glEnd(); - glPointSize(1); -#endif // SOFACUDA_HAVE_SOFA_GL == 1 -} - -} // namespace component::container - - -} // namespace sofa - -#endif diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp index a906ab1025d..1bf05afcfe8 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.cpp @@ -78,31 +78,25 @@ void CudaPointCollisionModel::draw(const core::visual::VisualParams* , Index ind #endif // SOFACUDA_HAVE_SOFA_GL == 1 } -void CudaPointCollisionModel::draw(const core::visual::VisualParams* vparams) +void CudaPointCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { #if SOFACUDA_HAVE_SOFA_GL == 1 - if (isActive() && vparams->displayFlags().getShowCollisionModels()) - { - if (vparams->displayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - - glDisable(GL_LIGHTING); - glPointSize(3); - glColor4fv(getColor4f()); + if (vparams->displayFlags().getShowWireFrame()) glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - for (Size i=0; idisplayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + for (Size i = 0; i < size; i++) + { + draw(vparams, i); } - if (isActive() && getPrevious()!=NULL && vparams->displayFlags().getShowBoundingCollisionModels()) - getPrevious()->draw(vparams); + + glColor3f(1.0f, 1.0f, 1.0f); + glDisable(GL_LIGHTING); + glPointSize(1); + if (vparams->displayFlags().getShowWireFrame()) glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + #endif // SOFACUDA_HAVE_SOFA_GL == 1 } diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h index eb9327ac8d6..f59bf88d72a 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/collision/geometry/CudaPointModel.h @@ -76,12 +76,11 @@ class SOFA_GPU_CUDA_API CudaPointCollisionModel : public core::CollisionModel void draw(const core::visual::VisualParams*,Index index) override; - void draw(const core::visual::VisualParams*) override; - core::behavior::MechanicalState* getMechanicalState() { return mstate; } protected: + void drawCollisionModel(const core::visual::VisualParams*) override; core::behavior::MechanicalState* mstate; }; diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h deleted file mode 100644 index 200b4c1dd36..00000000000 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.h +++ /dev/null @@ -1,26 +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 - -SOFA_HEADER_DISABLED("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.h") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl deleted file mode 100644 index 914359c71ee..00000000000 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedConstraint.inl +++ /dev/null @@ -1,26 +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 - -SOFA_HEADER_DISABLED("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaFixedProjectiveConstraint.inl") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h deleted file mode 100644 index 48ed016cd12..00000000000 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.h +++ /dev/null @@ -1,26 +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 - -SOFA_HEADER_DISABLED("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.h") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl deleted file mode 100644 index b2724c4efdb..00000000000 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaLinearMovementConstraint.inl +++ /dev/null @@ -1,26 +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 - -SOFA_HEADER_DISABLED("v23.12", "v24.12", "SofaCUDA/component/constraint/projective/CudaLinearMovementProjectiveConstraint.inl") diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h index 1e39d2bfdd4..4703b6be20c 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/solidmechanics/fem/elastic/CudaHexahedronFEMForceField.h @@ -237,14 +237,14 @@ class HexahedronFEMForceFieldInternalData< gpu::cuda::CudaVectorTypeselems[0][0]; e.ay[i] = rotateds->elems[0][1]; e.az[i] = rotateds->elems[0][2]; - e.bx[i] = rotateds->elems[1][0]; e.by[i] = rotateds->elems[1][1]; e.bz[i] = rotateds->elems[1][2]; - e.cx[i] = rotateds->elems[2][0]; e.cy[i] = rotateds->elems[2][1]; e.cz[i] = rotateds->elems[2][2]; - e.dx[i] = rotateds->elems[3][0]; e.dy[i] = rotateds->elems[3][1]; e.dz[i] = rotateds->elems[3][2]; - e.gx[i] = rotateds->elems[4][0]; e.gy[i] = rotateds->elems[4][1]; e.gz[i] = rotateds->elems[4][2]; - e.hx[i] = rotateds->elems[5][0]; e.hy[i] = rotateds->elems[5][1]; e.hz[i] = rotateds->elems[5][2]; - e.ix[i] = rotateds->elems[6][0]; e.iy[i] = rotateds->elems[6][1]; e.iz[i] = rotateds->elems[6][2]; - e.jx[i] = rotateds->elems[7][0]; e.jy[i] = rotateds->elems[7][1]; e.jz[i] = rotateds->elems[7][2]; + e.ax[i] = (*rotateds)[0][0]; e.ay[i] = (*rotateds)[0][1]; e.az[i] = (*rotateds)[0][2]; + e.bx[i] = (*rotateds)[1][0]; e.by[i] = (*rotateds)[1][1]; e.bz[i] = (*rotateds)[1][2]; + e.cx[i] = (*rotateds)[2][0]; e.cy[i] = (*rotateds)[2][1]; e.cz[i] = (*rotateds)[2][2]; + e.dx[i] = (*rotateds)[3][0]; e.dy[i] = (*rotateds)[3][1]; e.dz[i] = (*rotateds)[3][2]; + e.gx[i] = (*rotateds)[4][0]; e.gy[i] = (*rotateds)[4][1]; e.gz[i] = (*rotateds)[4][2]; + e.hx[i] = (*rotateds)[5][0]; e.hy[i] = (*rotateds)[5][1]; e.hz[i] = (*rotateds)[5][2]; + e.ix[i] = (*rotateds)[6][0]; e.iy[i] = (*rotateds)[6][1]; e.iz[i] = (*rotateds)[6][2]; + e.jx[i] = (*rotateds)[7][0]; e.jy[i] = (*rotateds)[7][1]; e.jz[i] = (*rotateds)[7][2]; } diff --git a/applications/plugins/SofaCUDA/config.h.in b/applications/plugins/SofaCUDA/src/SofaCUDA/config.h.in similarity index 100% rename from applications/plugins/SofaCUDA/config.h.in rename to applications/plugins/SofaCUDA/src/SofaCUDA/config.h.in diff --git a/applications/plugins/SofaCUDA/init.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/init.cpp similarity index 100% rename from applications/plugins/SofaCUDA/init.cpp rename to applications/plugins/SofaCUDA/src/SofaCUDA/init.cpp diff --git a/applications/plugins/SofaCUDA/init.h b/applications/plugins/SofaCUDA/src/SofaCUDA/init.h similarity index 100% rename from applications/plugins/SofaCUDA/init.h rename to applications/plugins/SofaCUDA/src/SofaCUDA/init.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaBaseVector.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaBaseVector.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaBaseVector.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaBaseVector.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaBaseVector.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaBaseVector.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaBaseVector.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaBaseVector.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaBaseVector.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaBaseVector.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaBaseVector.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaBaseVector.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollision.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaCollision.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCollision.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaCollision.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCommon.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaCommon.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaCommon.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaCommon.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.cpp similarity index 97% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.cpp index d5cfa67d104..2cb69480783 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cpp +++ b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.cpp @@ -21,7 +21,7 @@ ******************************************************************************/ #define SOFACUDA_CUDACONTACTMAPPER_CPP -#include +#include namespace sofa::component::collision { diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaContactMapper.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaContactMapper.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaExtraMonitor.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaExtraMonitor.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaExtraMonitor.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaExtraMonitor.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaHexahedronTLEDForceField.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaHexahedronTLEDForceField.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaHexahedronTLEDForceField.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaHexahedronTLEDForceField.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMath.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMath.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMath.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMath.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMath.inl b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMath.inl similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMath.inl rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMath.inl diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMathRigid.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMathRigid.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMathRigid.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMathRigid.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMathRigid.inl b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMathRigid.inl similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMathRigid.inl rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMathRigid.inl diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMatrix.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMatrix.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMatrix.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMatrix.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMemoryManager.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMemoryManager.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMemoryManager.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMemoryManager.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMultiMapping.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMultiMapping.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaMultiMapping.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaMultiMapping.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaScan.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaScan.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaScan.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaScan.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaScan.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaScan.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaScan.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaScan.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSetTopology.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSetTopology.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSetTopology.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSetTopology.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSingleStateAccessor.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSingleStateAccessor.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSingleStateAccessor.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSingleStateAccessor.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSingleStateAccessor.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSingleStateAccessor.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSingleStateAccessor.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSingleStateAccessor.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSort.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSort.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSort.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSort.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSort.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSort.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSort.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaSort.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTetrahedronTLEDForceField.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTypes.h similarity index 99% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTypes.h index 5df6a461fc6..3b790c26349 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaTypes.h +++ b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaTypes.h @@ -215,13 +215,13 @@ class Vec3r1 : public sofa::type::Vec<3,Real> typedef sofa::type::Vec<3,Real> Inherit; typedef Real real; enum { N=3 }; - Vec3r1() : dummy((Real) 0.0) {} + constexpr Vec3r1() : dummy((Real) 0.0) {} template - Vec3r1(const Vec& v): Inherit(v), dummy((Real) 0.0) {} - Vec3r1(real x, real y, real z) : Inherit(x,y,z), dummy((Real) 0.0) {} + constexpr Vec3r1(const Vec& v): Inherit(v), dummy((Real) 0.0) {} + constexpr Vec3r1(real x, real y, real z) : Inherit(x,y,z), dummy((Real) 0.0) {} /// Fast constructor: no initialization - explicit Vec3r1(NoInit n) : Inherit(n), dummy((Real) 0.0) + explicit constexpr Vec3r1(NoInit n) : Inherit(n), dummy((Real) 0.0) { } diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.cu similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.cu diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.inl b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.inl similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaVisualModel.inl rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/CudaVisualModel.inl diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/GPUDetectionOutputVector.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/GPUDetectionOutputVector.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/GPUDetectionOutputVector.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/GPUDetectionOutputVector.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.cpp diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.cu similarity index 94% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.cu index 8c55d4fdb56..9378ca61167 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu +++ b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.cu @@ -110,16 +110,26 @@ int mycudaInit(int device) cudaMemGetInfo(&free,&total); #if CUDA_VERSION >= 2010 + #if CUDA_VERSION < 13000 mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, %d cores at %.3f GHz, revision %d.%d",i,dev.name, free/(1024*1024), dev.totalGlobalMem/(1024*1024), dev.multiProcessorCount*8, dev.clockRate * 1e-6f, dev.major, dev.minor); if (dev.kernelExecTimeoutEnabled) - mycudaPrintf(", timeout enabled", dev.kernelExecTimeoutEnabled); + mycudaPrintf(", timeout enabled"); mycudaPrintf("\n"); + #else + mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, %d cores, revision %d.%d\n",i,dev.name, free/(1024*1024), dev.totalGlobalMem/(1024*1024), dev.multiProcessorCount*8, dev.major, dev.minor); + #endif #elif CUDA_VERSION >= 2000 + #if CUDA_VERSION < 13000 mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, %d cores at %.3f GHz, revision %d.%d\n",i,dev.name, free/(1024*1024), dev.totalGlobalMem/(1024*1024), dev.multiProcessorCount*8, dev.clockRate * 1e-6f, dev.major, dev.minor); + #else + mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, %d cores, revision %d.%d\n",i,dev.name, free/(1024*1024), dev.totalGlobalMem/(1024*1024), dev.multiProcessorCount*8, dev.major, dev.minor); + #endif #else //if CUDA_VERSION >= 1000 + #if CUDA_VERSION < 13000 mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, cores at %.3f GHz, revision %d.%d\n",i,dev.name, free/(1024*1024), dev.totalGlobalMem/(1024*1024), dev.clockRate * 1e-6f, dev.major, dev.minor); -//#else -// mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, revision %d.%d\n",i,(dev.name==NULL?"":dev.name), free/(1024*1024), dev.bytes/(1024*1024), dev.major, dev.minor); + #else + mycudaPrintf("CUDA: %d : \"%s\", %d/%d MB, cores, revision %d.%d\n",i,dev.name, free/(1024*1024), dev.totalGlobalMem/(1024*1024), dev.major, dev.minor); + #endif #endif } if (device==-1) diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.h b/applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.h similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/cuda/mycuda.h diff --git a/applications/plugins/SofaCUDA/sofa/gpu/gui/CudaDataWidget.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaDataWidget.cpp similarity index 96% rename from applications/plugins/SofaCUDA/sofa/gpu/gui/CudaDataWidget.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaDataWidget.cpp index e49201e3cac..4150203d5b3 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/gui/CudaDataWidget.cpp +++ b/applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaDataWidget.cpp @@ -22,11 +22,11 @@ #include #include #include -#include -#include -#include +#include +#include +#include -namespace sofa::gui::qt +namespace sofa::qt { using sofa::helper::Creator; using namespace sofa::type; @@ -76,4 +76,4 @@ Creator > Creator > > DWClass_cudaVectorVec4d("default", true); -} // namespace sofa::gui::qt +} // namespace sofa::qt diff --git a/applications/plugins/SofaCUDA/sofa/gpu/gui/CudaDataWidget.h b/applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaDataWidget.h similarity index 96% rename from applications/plugins/SofaCUDA/sofa/gpu/gui/CudaDataWidget.h rename to applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaDataWidget.h index 42ccf4b39e4..d3c2ad04c94 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/gui/CudaDataWidget.h +++ b/applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaDataWidget.h @@ -21,9 +21,9 @@ ******************************************************************************/ #pragma once #include -#include +#include -namespace sofa::gui::qt +namespace sofa::qt { //////////////////////////////////////////////////////////////// /// variable-sized vectors support @@ -59,4 +59,4 @@ class vector_data_trait < sofa::gpu::cuda::CudaVector > }; -} // namespace sofa::gui::qt +} // namespace sofa::qt diff --git a/applications/plugins/SofaCUDA/sofa/gpu/gui/CudaMouseInteraction.cpp b/applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaMouseInteraction.cpp similarity index 100% rename from applications/plugins/SofaCUDA/sofa/gpu/gui/CudaMouseInteraction.cpp rename to applications/plugins/SofaCUDA/src/sofa/gpu/gui/CudaMouseInteraction.cpp diff --git a/applications/plugins/SofaDistanceGrid/CMakeLists.txt b/applications/plugins/SofaDistanceGrid/CMakeLists.txt index 0214e38159a..643ddab08b1 100644 --- a/applications/plugins/SofaDistanceGrid/CMakeLists.txt +++ b/applications/plugins/SofaDistanceGrid/CMakeLists.txt @@ -48,9 +48,12 @@ set(SOURCE_FILES set(EXTRA_FILES README.md examples/README.md - examples/DistanceGridCollisionModel.scn - examples/FFDDistanceGridCollisionModel.scn - examples/DistanceGridForceField-liver.scn + examples/DistanceGridForceField_liver.scn + examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn + examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn + examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn + examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn + #examples/RigidDistanceGridCollisionModel_skull_FreeMotionAnimationLoop.scn ) diff --git a/applications/plugins/SofaDistanceGrid/examples/DistanceGridForceField-liver.scn b/applications/plugins/SofaDistanceGrid/examples/DistanceGridForceField_liver.scn similarity index 67% rename from applications/plugins/SofaDistanceGrid/examples/DistanceGridForceField-liver.scn rename to applications/plugins/SofaDistanceGrid/examples/DistanceGridForceField_liver.scn index 8dd22870b53..5fc3aad89bc 100644 --- a/applications/plugins/SofaDistanceGrid/examples/DistanceGridForceField-liver.scn +++ b/applications/plugins/SofaDistanceGrid/examples/DistanceGridForceField_liver.scn @@ -1,3 +1,4 @@ + @@ -14,42 +15,61 @@ + + + + + + + + + - + + - + - + - + - + - - + + + + - diff --git a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn similarity index 83% rename from applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn rename to applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn index 5917bf01f9c..b172c7981fe 100644 --- a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel.scn +++ b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn @@ -20,27 +20,37 @@ - + + + + - + - - + - + - + @@ -64,7 +74,16 @@ - + diff --git a/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn new file mode 100644 index 00000000000..c579b703257 --- /dev/null +++ b/applications/plugins/SofaDistanceGrid/examples/FFDDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/applications/plugins/SofaDistanceGrid/examples/DistanceGridCollisionModel.scn b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn similarity index 67% rename from applications/plugins/SofaDistanceGrid/examples/DistanceGridCollisionModel.scn rename to applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn index 861b6836cb9..ddf300abd92 100644 --- a/applications/plugins/SofaDistanceGrid/examples/DistanceGridCollisionModel.scn +++ b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_DefaultAnimationLoop.scn @@ -17,25 +17,43 @@ + + + - - + + + - - - + + + + + + + + + - - - - - + + @@ -43,9 +61,18 @@ - + - + diff --git a/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn new file mode 100644 index 00000000000..a8070296327 --- /dev/null +++ b/applications/plugins/SofaDistanceGrid/examples/RigidDistanceGridCollisionModel_liver_FreeMotionAnimationLoop.scn @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt b/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt index b5f9f033313..2cc359986e0 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.22) -project(SofaDistanceGrid.CUDA CUDA CXX) +project(SofaDistanceGrid.CUDA LANGUAGES CUDA CXX) set(HEADER_FILES src/SofaDistanceGrid/CUDA/init.h @@ -30,6 +30,8 @@ add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${CUDA_SOURCE target_link_libraries(${PROJECT_NAME} SofaDistanceGrid) target_link_libraries(${PROJECT_NAME} SofaCUDA) +get_property(SOFACUDA_CUDA_ARCHITECTURES TARGET SofaCUDA PROPERTY CUDA_ARCHITECTURES) +set_target_properties(${PROJECT_NAME} PROPERTIES CUDA_ARCHITECTURES "${SOFACUDA_CUDA_ARCHITECTURES}" ) sofa_create_package_with_targets( PACKAGE_NAME ${PROJECT_NAME} diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp index 57c1126aa63..88718d82630 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDetection.cpp @@ -39,9 +39,11 @@ extern "C" void CudaCollisionDetection_runTests(unsigned int nbTests, unsigned int maxPoints, const void* tests, void* nresults); } -int CudaCollisionDetectionClass = core::RegisterObject("GPU-based collision detection using CUDA") - .add< CudaCollisionDetection >() - ; +void registerCudaCollisionDetection(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("GPU-based collision detection using CUDA.") + .add< CudaCollisionDetection >()); +} void CudaCollisionDetection::beginNarrowPhase() { diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp index 286d91e7fca..de319b296d6 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp @@ -23,7 +23,7 @@ #include #include #include -#include +#include #include #include #include "CudaDistanceGridCollisionModel.h" @@ -64,7 +64,7 @@ void BarycentricPenalityContactgetContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; + const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001; #if 0 int insize = outputs.size(); int size = insize; @@ -117,7 +117,7 @@ void BarycentricPenalityContactgetContactDistance() + model1->getProximity() + model2->getProximity(); // - 0.001; + const double d0 = intersectionMethod->getContactDistance() + model1->getContactDistance() + model2->getContactDistance(); // - 0.001; #if 0 int insize = outputs.size(); int size = insize; diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp index c5436aa50b8..f38b4666a3d 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp @@ -41,12 +41,11 @@ namespace gpu namespace cuda { -int CudaRigidDistanceGridCollisionModelClass = core::RegisterObject("GPU-based grid distance field using CUDA") - .add< CudaRigidDistanceGridCollisionModel >() - .addAlias("CudaDistanceGridCollisionModel") - .addAlias("CudaRigidDistanceGrid") - .addAlias("CudaDistanceGrid") - ; +void registerCudaRigidDistanceGridCollisionModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("GPU-based grid distance field using CUDA.") + .add< CudaRigidDistanceGridCollisionModel >()); +} using namespace defaulttype; @@ -650,26 +649,20 @@ void CudaRigidDistanceGridCollisionModel::updateGrid() { } -void CudaRigidDistanceGridCollisionModel::draw(const core::visual::VisualParams* vparams) +void CudaRigidDistanceGridCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { - if (!isActive()) return; - if (vparams->displayFlags().getShowCollisionModels()) + if (vparams->displayFlags().getShowWireFrame()) + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + glDisable(GL_LIGHTING); + glColor4fv(getColor4f()); + glPointSize(3); + for (unsigned int i = 0; i < elems.size(); i++) { - if (vparams->displayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - glDisable(GL_LIGHTING); - glColor4fv(getColor4f()); - glPointSize(3); - for (unsigned int i=0; idisplayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + draw(vparams, i); } - if (getPrevious()!=NULL) - getPrevious()->draw(vparams); + glPointSize(1); + if (vparams->displayFlags().getShowWireFrame()) + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); } void CudaRigidDistanceGridCollisionModel::draw(const core::visual::VisualParams* , Index index) diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h index 0f58bec68b3..8da7b24b5d6 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.h @@ -474,6 +474,8 @@ class CudaRigidDistanceGridCollisionModel : public core::CollisionModel void updateGrid(); + void drawCollisionModel(const core::visual::VisualParams*) override; + public: // Input data parameters sofa::core::objectmodel::DataFileName fileCudaRigidDistanceGrid; @@ -552,8 +554,6 @@ class CudaRigidDistanceGridCollisionModel : public core::CollisionModel void computeBoundingTree(int maxDepth=0) override; void draw(const core::visual::VisualParams*, Index index) override; - - void draw(const core::visual::VisualParams*) override; }; inline CudaRigidDistanceGridCollisionElement::CudaRigidDistanceGridCollisionElement(CudaRigidDistanceGridCollisionModel* model, Index index) diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp index 4d6783616c7..fd24b4bdf2a 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/init.cpp @@ -23,6 +23,15 @@ #include #include +#include +#include + +namespace sofa::gpu::cuda +{ + extern void registerCudaCollisionDetection(sofa::core::ObjectFactory* factory); + extern void registerCudaRigidDistanceGridCollisionModel(sofa::core::ObjectFactory* factory); +} + namespace sofadistancegrid::cuda { @@ -30,7 +39,7 @@ extern "C" { SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule(); SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName(); SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion(); - SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList(); + SOFA_SOFADISTANCEGRID_API void registerObjects(sofa::core::ObjectFactory* factory); } void initExternalModule() @@ -53,10 +62,19 @@ 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); + sofadistancegrid::initSofaDistanceGrid(); sofa::gpu::cuda::init(); first = false; } } +void registerObjects(sofa::core::ObjectFactory* factory) +{ + sofa::gpu::cuda::registerCudaCollisionDetection(factory); + sofa::gpu::cuda::registerCudaRigidDistanceGridCollisionModel(factory); +} + } // namespace volumetricrendering::cuda diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.cpp index 71d40656cb9..b177991573d 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.cpp @@ -52,6 +52,8 @@ namespace container namespace _distancegrid_ { +std::map > DistanceGrid::instances; + using namespace defaulttype; //////////////////////////////////////////////////////////////////////////////// @@ -81,7 +83,6 @@ int validateDim(int n) DistanceGrid::DistanceGrid(int nx, int ny, int nz, Coord pmin, Coord pmax) : meshPts() - , m_nbRef(1) , m_nx(validateDim(nx)), m_ny(validateDim(ny)), m_nz(validateDim(nz)) , m_nxny(m_nx*m_ny), m_nxnynz(m_nx*m_ny*m_nz) , m_dists(m_nx*m_ny*m_nz) @@ -93,32 +94,10 @@ DistanceGrid::DistanceGrid(int nx, int ny, int nz, Coord pmin, Coord pmax) } DistanceGrid::~DistanceGrid() -{ - std::map& shared = getShared(); - std::map::iterator it = shared.begin(); - while (it != shared.end() && it->second != this) ++it; - if (it != shared.end()) - shared.erase(it); // remove this grid from the list of already loaded grids -} - -/// Add one reference to this grid. Note that loadShared already does this. -DistanceGrid* DistanceGrid::addRef() -{ - ++m_nbRef; - return this; -} - -/// Release one reference, deleting this grid if this is the last -bool DistanceGrid::release() -{ - if (--m_nbRef != 0) - return false; - delete this; - return true; -} +{} //todo(dmarchal) we should make a loader for that... -DistanceGrid* DistanceGrid::load(const std::string& filename, +std::unique_ptr DistanceGrid::load(const std::string& filename, double scale, double sampling, int nx, int ny, int nz, Coord pmin, Coord pmax) { @@ -144,7 +123,7 @@ DistanceGrid* DistanceGrid::load(const std::string& filename, if (bbmax[c] > pmax[c]) pmax[c] = bbmax[c]; } } - DistanceGrid* grid = new DistanceGrid(nx, ny, nz, pmin, pmax); + std::unique_ptr grid = std::make_unique(nx, ny, nz, pmin, pmax); grid->calcCubeDistance(dim, np); if (sampling) grid->sampleSurface(sampling); @@ -152,7 +131,7 @@ DistanceGrid* DistanceGrid::load(const std::string& filename, } else if (filename.length()>4 && filename.substr(filename.length()-4) == ".raw") { - DistanceGrid* grid = new DistanceGrid(nx, ny, nz, pmin, pmax); + std::unique_ptr grid = std::make_unique(nx, ny, nz, pmin, pmax); std::ifstream in(filename.c_str(), std::ios::in | std::ios::binary); in.read((char*)&(grid->m_dists[0]), grid->m_nxnynz*sizeof(SReal)); if (scale != 1.0) @@ -191,7 +170,7 @@ DistanceGrid* DistanceGrid::load(const std::string& filename, ftl::Vec3f fpmax = ftl::transform(mesh.distmap->mat,ftl::Vec3f((float)(nx-1),(float)(ny-1),(float)(nz-1)))*(float)absscale; pmin = Coord(fpmin.ptr()); pmax = Coord(fpmax.ptr()); - DistanceGrid* grid = new DistanceGrid(nx, ny, nz, pmin, pmax); + std::unique_ptr grid = std::make_unique(nx, ny, nz, pmin, pmax); for (int i=0; i< grid->m_nxnynz; i++) grid->m_dists[i] = mesh.distmap->data[i]*scale; if (sampling) @@ -269,7 +248,7 @@ DistanceGrid* DistanceGrid::load(const std::string& filename, if (bbmax[c] > pmax[c]) pmax[c] = bbmax[c]; } } - DistanceGrid* grid = new DistanceGrid(nx, ny, nz, pmin, pmax); + std::unique_ptr grid = std::make_unique(nx, ny, nz, pmin, pmax); grid->calcDistance(mesh, scale); if (sampling) grid->sampleSurface(sampling); @@ -286,7 +265,7 @@ DistanceGrid* DistanceGrid::load(const std::string& filename, else { msg_error("DistanceGrid")<< "Unknown extension: "< bool readData(std::istream& in, int dataSize, bool binary, Dis } } -DistanceGrid* DistanceGrid::loadVTKFile(const std::string& filename, double scale, double sampling) +std::unique_ptr DistanceGrid::loadVTKFile(const std::string& filename, double scale, double sampling) { // Format doc: http://www.vtk.org/pdf/file-formats.pdf // http://www.cacr.caltech.edu/~slombey/asci/vtk/vtk_formats.simple.html @@ -353,13 +332,13 @@ DistanceGrid* DistanceGrid::loadVTKFile(const std::string& filename, double scal std::ifstream inVTKFile(filename.c_str(), std::ifstream::in & std::ifstream::binary); if( !inVTKFile.is_open() ) { - return NULL; + return nullptr; } std::string line; // Part 1 std::getline(inVTKFile, line); - if (std::string(line,0,23) != "# vtk DataFile Version ") return NULL; + if (std::string(line,0,23) != "# vtk DataFile Version ") return nullptr; std::string version(line,23); // Part 2 @@ -372,13 +351,13 @@ DistanceGrid* DistanceGrid::loadVTKFile(const std::string& filename, double scal bool binary; if (line == "BINARY") binary = true; else if (line == "ASCII") binary = false; - else return NULL; + else return nullptr; // Part 4 std::getline(inVTKFile, line); if (line != "DATASET STRUCTURED_POINTS") { - return NULL; + return nullptr; } msg_info("DistanceGrid")<< (binary ? "Binary" : "Text") << " VTK File " << filename << " (version " << version << "): " << header; @@ -422,7 +401,8 @@ DistanceGrid* DistanceGrid::loadVTKFile(const std::string& filename, double scal msg_info("DistanceGrid")<< "Found " << typestr << " data: " << name; std::getline(inVTKFile, line); // lookup_table, ignore msg_info("DistanceGrid")<< "Loading " << nx<<"x"< grid = std::make_unique(nx, ny, nz, origin, + origin + Coord(spacing[0] * nx, spacing[1] * ny, spacing[2] * nz)); bool ok = true; if (typestr == "char") ok = readData(inVTKFile, dataSize, binary, grid->m_dists, scale); else if (typestr == "unsigned_char") ok = readData(inVTKFile, dataSize, binary, grid->m_dists, scale); @@ -441,8 +421,7 @@ DistanceGrid* DistanceGrid::loadVTKFile(const std::string& filename, double scal } if (!ok) { - delete grid; - return NULL; + return nullptr; } msg_info("DistanceGrid")<< "Volume data loading OK."; grid->computeBBox(); @@ -451,7 +430,7 @@ DistanceGrid* DistanceGrid::loadVTKFile(const std::string& filename, double scal return grid; // we read one scalar field, stop here. } } - return NULL; + return nullptr; } template @@ -464,7 +443,7 @@ void * readData(std::istream& in, int dataSize, bool binary) if (in.eof() || in.bad()) { delete[] buffer; - return NULL; + return nullptr; } } else @@ -481,7 +460,7 @@ void * readData(std::istream& in, int dataSize, bool binary) if (i < dataSize) { delete[] buffer; - return NULL; + return nullptr; } } return buffer; @@ -529,8 +508,6 @@ int DistanceGrid::index(const Coord& p, Coord& coefs) const return x+m_nx*(y+m_ny*(z)); } - - void DistanceGrid::computeBBox() { if (!meshPts.empty()) @@ -1235,7 +1212,7 @@ void DistanceGrid::sampleSurface(double sampling) } -DistanceGrid* DistanceGrid::loadShared(const std::string& filename, +std::shared_ptr DistanceGrid::loadShared(const std::string& filename, double scale, double sampling, int nx, int ny, int nz, Coord pmin, Coord pmax) { DistanceGridParams params; @@ -1247,14 +1224,15 @@ DistanceGrid* DistanceGrid::loadShared(const std::string& filename, params.nz = nz; params.pmin = pmin; params.pmax = pmax; - std::map& shared = getShared(); - std::map::iterator it = shared.find(params); - if (it != shared.end()) - return it->second->addRef(); - else + std::map >::iterator it = instances.find(params); + if (it != instances.end()) { - return shared[params] = load(filename, scale, sampling, nx, ny, nz, pmin, pmax); + if (!it->second.expired()) + return it->second.lock(); } + std::shared_ptr grid = load(filename, scale, sampling, nx, ny, nz, pmin, pmax); + instances[params] = grid; + return instances[params].lock(); } @@ -1450,12 +1428,6 @@ bool DistanceGrid::DistanceGridParams::operator>(const DistanceGridParams& v) co return false; } -std::map& DistanceGrid::getShared() -{ - static std::map instance; - return instance; -} - } // namespace _distancegrid_ } // namespace container diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h index a003e79d812..ba4a686f495 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/DistanceGrid.h @@ -66,26 +66,20 @@ class SOFA_SOFADISTANCEGRID_API DistanceGrid public: /// Load a distance grid - static DistanceGrid* load(const std::string& filename, + static std::unique_ptr load(const std::string& filename, double scale=1.0, double sampling=0.0, int m_nx=64, int m_ny=64, int m_nz=64, Coord m_pmin = Coord(), Coord m_pmax = Coord()); - static DistanceGrid* loadVTKFile(const std::string& filename, + static std::unique_ptr loadVTKFile(const std::string& filename, double scale=1.0, double sampling=0.0); /// Load or reuse a distance grid - static DistanceGrid* loadShared(const std::string& filename, + static std::shared_ptr loadShared(const std::string& filename, double scale=1.0, double sampling=0.0, int m_nx=64, int m_ny=64, int m_nz=64, Coord m_pmin = Coord(), Coord m_pmax = Coord()); - /// Add one reference to this grid. Note that loadShared already does this. - DistanceGrid* addRef(); - - /// Release one reference, deleting this grid if this is the last - bool release(); - /// Save current grid bool save(const std::string& filename); @@ -222,7 +216,6 @@ class SOFA_SOFADISTANCEGRID_API DistanceGrid VecCoord meshPts; protected: - int m_nbRef; const int m_nx,m_ny,m_nz; const int m_nxny, m_nxnynz; VecSReal m_dists; @@ -255,7 +248,7 @@ class SOFA_SOFADISTANCEGRID_API DistanceGrid bool operator>(const DistanceGridParams& v) const ; }; - static std::map& getShared(); + static std::map > instances; }; } // namespace _distancegrid diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp index f689ec8a32c..97e9bcdfd76 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.cpp @@ -47,17 +47,17 @@ namespace component namespace collision { -int RigidDistanceGridCollisionModelClass = core::RegisterObject("Grid-based distance field") - .add< RigidDistanceGridCollisionModel >() - .addAlias("DistanceGridCollisionModel") - .addAlias("RigidDistanceGrid") - .addAlias("DistanceGrid") - ; - -int FFDDistanceGridCollisionModelClass = core::RegisterObject("Grid-based deformable distance field") - .add< FFDDistanceGridCollisionModel >() - .addAlias("FFDDistanceGrid") - ; +void registerRigidDistanceGridCollisionModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Grid-based distance field.") + .add< RigidDistanceGridCollisionModel >()); +} + +void registerFFDDistanceGridCollisionModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Grid-based deformable distance field.") + .add< FFDDistanceGridCollisionModel >()); +} using namespace sofa::type; using namespace defaulttype; @@ -87,28 +87,28 @@ RigidDistanceGridCollisionModel::RigidDistanceGridCollisionModel() , showMinDist ( initData( &showMinDist, 0.0, "showMinDist", "Min distance to render gradients")) , showMaxDist ( initData( &showMaxDist, 0.0, "showMaxDist", "Max distance to render gradients")) { - rigid = NULL; addAlias(&fileRigidDistanceGrid,"fileRigidDistanceGrid"); } RigidDistanceGridCollisionModel::~RigidDistanceGridCollisionModel() -{ - for (unsigned int i=0; irelease(); - if (elems[i].prevGrid!=NULL) elems[i].prevGrid->release(); - } -} +{} void RigidDistanceGridCollisionModel::init() { - this->core::CollisionModel::init(); - rigid = dynamic_cast< core::behavior::MechanicalState* > (getContext()->getMechanicalState()); + Inherit1::init(); + Inherit2::init(); - DistanceGrid* grid = NULL; + if (!this->mstate) + { + msg_error() << "MechanicalState is empty. Either no MechanicalState object was found in" + " current context or the one provided is not using a Rigid type template."; + return; + } + + std::shared_ptr grid; if (fileRigidDistanceGrid.getValue().empty()) { - if (elems.size() == 0 || elems[0].grid == NULL) + if (elems.size() == 0 || elems[0].grid == nullptr) msg_error() << "An input filename is required."; // else the grid has already been set return; @@ -143,19 +143,8 @@ void RigidDistanceGridCollisionModel::resize(sofa::Size s) elems.resize(s); } -void RigidDistanceGridCollisionModel::setGrid(DistanceGrid* surf, sofa::Index index) -{ - if (elems[index].grid == surf) return; - if (elems[index].grid!=NULL) elems[index].grid->release(); - elems[index].grid = surf->addRef(); - modified = true; -} - -void RigidDistanceGridCollisionModel::setNewState(sofa::Index index, double dt, DistanceGrid* grid, const Matrix3& rotation, const Vec3& translation) +void RigidDistanceGridCollisionModel::setNewState(sofa::Index index, double dt, const std::shared_ptr grid, const Matrix3& rotation, const Vec3& translation) { - grid->addRef(); - if (elems[index].prevGrid!=NULL) - elems[index].prevGrid->release(); elems[index].prevGrid = elems[index].grid; elems[index].grid = grid; elems[index].prevRotation = elems[index].rotation; @@ -182,9 +171,9 @@ void RigidDistanceGridCollisionModel::updateState() for (sofa::Size i=0; imstate) { - const RigidTypes::Coord& xform = (rigid->read(core::vec_id::read_access::position)->getValue())[i]; + const RigidTypes::Coord& xform =(this->mstate->read(core::vec_id::read_access::position)->getValue())[i]; elems[i].translation = xform.getCenter(); xform.getOrientation().toMatrix(elems[i].rotation); if (useInitRotation) @@ -257,27 +246,21 @@ void RigidDistanceGridCollisionModel::updateGrid() { } -void RigidDistanceGridCollisionModel::draw(const core::visual::VisualParams* vparams) +void RigidDistanceGridCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { #if SOFADISTANCEGRID_HAVE_SOFA_GL == 1 - if (!isActive()) return; - if (vparams->displayFlags().getShowCollisionModels()) + if (vparams->displayFlags().getShowWireFrame()) + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + glDisable(GL_LIGHTING); + glColor4fv(getColor4f()); + glPointSize(3); + for (unsigned int i = 0; i < elems.size(); i++) { - if (vparams->displayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - glDisable(GL_LIGHTING); - glColor4fv(getColor4f()); - glPointSize(3); - for (unsigned int i=0; idisplayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + draw(vparams, i); } - if (getPrevious()!=NULL) - getPrevious()->draw(vparams); + glPointSize(1); + if (vparams->displayFlags().getShowWireFrame()) + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); #endif // SOFADISTANCEGRID_HAVE_SOFA_GL == 1 } @@ -298,7 +281,7 @@ void RigidDistanceGridCollisionModel::draw(const core::visual::VisualParams* ,so sofa::gl::glMultMatrix(m.ptr()); } - DistanceGrid* grid = getGrid(index); + const std::shared_ptr grid = getGrid(index); DistanceGrid::Coord corners[8]; for(unsigned int i=0; i<8; i++) corners[i] = grid->getCorner(i); @@ -444,34 +427,33 @@ FFDDistanceGridCollisionModel::FFDDistanceGridCollisionModel() , dumpfilename( initData( &dumpfilename, "dumpfilename","write distance grid to specified file")) , usePoints( initData( &usePoints, true, "usePoints", "use mesh vertices for collision detection")) , singleContact( initData( &singleContact, false, "singleContact", "keep only the deepest contact in each cell")) + , l_ffdMesh(initLink("topology", "link to the topological mesh associated with this collision model")) { - ffd = NULL; - ffdMesh = NULL; - ffdRGrid = NULL; - ffdSGrid = NULL; addAlias(&fileFFDDistanceGrid,"fileFFDDistanceGrid"); enum_type = FFDDISTANCE_GRIDE_TYPE; } FFDDistanceGridCollisionModel::~FFDDistanceGridCollisionModel() -{ - if (elems.size()>0 && elems[0].grid!=NULL) elems[0].grid->release(); -} +{} void FFDDistanceGridCollisionModel::init() { - this->core::CollisionModel::init(); - ffd = dynamic_cast< core::behavior::MechanicalState* > (getContext()->getMechanicalState()); - ffdMesh = getContext()->getMeshTopology(); - ffdRGrid = dynamic_cast< topology::container::grid::RegularGridTopology* > (ffdMesh); - ffdSGrid = dynamic_cast< topology::container::grid::SparseGridTopology* > (ffdMesh); - if (!ffd || (!ffdRGrid && !ffdSGrid)) + Inherit1::init(); + Inherit2::init(); + if (l_ffdMesh.empty()) + { + msg_warning() << "Link to Topology should be set to a RegularGridTopology or SparseGridTopology. First Topology found in context will be used"; + l_ffdMesh.set(this->getContext()->getMeshTopologyLink()); + } + topology::container::grid::RegularGridTopology* ffdRGrid = dynamic_cast< topology::container::grid::RegularGridTopology* > (l_ffdMesh.get()); + topology::container::grid::SparseGridTopology* ffdSGrid = dynamic_cast< topology::container::grid::SparseGridTopology* > (l_ffdMesh.get()); + if (!this->mstate || (!ffdRGrid && !ffdSGrid)) { msg_error() << "Requires a Vec3-based deformable model with associated RegularGridTopology or SparseGridTopology"; return; } - DistanceGrid* grid = NULL; + std::shared_ptr grid; if (fileFFDDistanceGrid.getValue().empty()) { msg_error() << "Requires an input filename"; @@ -490,8 +472,8 @@ void FFDDistanceGridCollisionModel::init() } /// place points in ffd elements int nbp = grid->meshPts.size(); - elems.resize(ffdMesh->getNbHexahedra()); - msg_info() << "Placing "<getNbHexahedra()<<" cubes."; + elems.resize(l_ffdMesh->getNbHexahedra()); + msg_info() << "Placing "<getNbHexahedra()<<" cubes."; for (int i=0; igetNbHexahedra()<<" cubes."; + msg_info() << "Initializing "<getNbHexahedra()<<" cubes."; sofa::Size c=0; - for (sofa::Size e=0; egetNbHexahedra(); e++) + for (sofa::Size e=0; egetNbHexahedra(); e++) { if (c != e) elems[c].points.swap(elems[e].points); // move the list of points to the new @@ -528,8 +510,8 @@ void FFDDistanceGridCollisionModel::init() { int t = cube[2]; cube[2] = cube[3]; cube[3] = t; } { int t = cube[6]; cube[6] = cube[7]; cube[7] = t; } - elems[c].initP0 = GCoord(ffdMesh->getPX(cube[0]), ffdMesh->getPY(cube[0]), ffdMesh->getPZ(cube[0])); - elems[c].initDP = GCoord(ffdMesh->getPX(cube[7]), ffdMesh->getPY(cube[7]), ffdMesh->getPZ(cube[7]))-elems[c].initP0; + elems[c].initP0 = GCoord(l_ffdMesh->getPX(cube[0]), l_ffdMesh->getPY(cube[0]), l_ffdMesh->getPZ(cube[0])); + elems[c].initDP = GCoord(l_ffdMesh->getPX(cube[7]), l_ffdMesh->getPY(cube[7]), l_ffdMesh->getPZ(cube[7]))-elems[c].initP0; elems[c].invDP[0] = 1/elems[c].initDP[0]; elems[c].invDP[1] = 1/elems[c].initDP[1]; elems[c].invDP[2] = 1/elems[c].initDP[2]; @@ -540,7 +522,7 @@ void FFDDistanceGridCollisionModel::init() /// compute neighbors type::vector > shells; - shells.resize(ffdMesh->getNbPoints()); + shells.resize(l_ffdMesh->getNbPoints()); for (unsigned i = 0; i < elems.size(); ++i) { int e = elems[i].elem; @@ -583,11 +565,6 @@ bool FFDDistanceGridCollisionModel::canCollideWithElement(sofa::Index index, Col return true; } -void FFDDistanceGridCollisionModel::setGrid(DistanceGrid* surf, sofa::Index index) -{ - elems[index].grid = surf; -} - /// Create or update the bounding volume hierarchy. void FFDDistanceGridCollisionModel::computeBoundingTree(int maxDepth) { @@ -623,9 +600,9 @@ void FFDDistanceGridCollisionModel::updateGrid() for (sofa::Size index=0; index& cubeCorners = ffdMesh->getHexahedra(); + const sofa::type::vector& cubeCorners = l_ffdMesh->getHexahedra(); - const Vec3Types::VecCoord& x = ffd->read(core::vec_id::read_access::position)->getValue(); + const Vec3Types::VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue(); { int e = cube.elem; DistanceGrid::Coord center; @@ -702,25 +679,23 @@ FFDDistanceGridCollisionModel::DeformedCube::Plane FFDDistanceGridCollisionModel return Plane(N,N*C4*(-0.25f)); } -void FFDDistanceGridCollisionModel::draw(const core::visual::VisualParams* vparams) +void FFDDistanceGridCollisionModel::drawCollisionModel(const core::visual::VisualParams* vparams) { #if SOFADISTANCEGRID_HAVE_SOFA_GL == 1 - if (!isActive()) return; - if (vparams->displayFlags().getShowCollisionModels()) + if (vparams->displayFlags().getShowWireFrame()) { - if (vparams->displayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); - glDisable(GL_LIGHTING); - glColor4fv(getColor4f()); - for (unsigned int i=0; idisplayFlags().getShowWireFrame()) - glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); + glPolygonMode(GL_FRONT_AND_BACK, GL_LINE); + } + glDisable(GL_LIGHTING); + glColor4fv(getColor4f()); + for (unsigned int i = 0; i < elems.size(); i++) + { + draw(vparams, i); + } + if (vparams->displayFlags().getShowWireFrame()) + { + glPolygonMode(GL_FRONT_AND_BACK, GL_FILL); } - if (getPrevious()!=NULL) - getPrevious()->draw(vparams); #endif // SOFADISTANCEGRID_HAVE_SOFA_GL == 1 } diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h index aeda71fdfdd..675094f8922 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/DistanceGridCollisionModel.h @@ -34,6 +34,7 @@ #include #include #include +#include #include "../../DistanceGrid.h" @@ -63,32 +64,31 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionElement : public core: explicit RigidDistanceGridCollisionElement(const core::CollisionElementIterator& i); - DistanceGrid* getGrid(); + std::shared_ptr getGrid(); bool isTransformed(); const type::Matrix3& getRotation(); const type::Vec3& getTranslation(); bool isFlipped(); - void setGrid(DistanceGrid* surf); - /// @name Previous state data /// Used to estimate velocity in case the distance grid itself is dynamic /// @{ - DistanceGrid* getPrevGrid(); + std::shared_ptr getPrevGrid(); const type::Matrix3& getPrevRotation(); const type::Vec3& getPrevTranslation(); double getPrevDt(); /// @} /// Set new grid and transform, keeping the old state to estimate velocity - void setNewState(double dt, DistanceGrid* grid, const type::Matrix3& rotation, const type::Vec3& translation); + void setNewState(double dt, const std::shared_ptr grid, const type::Matrix3& rotation, const type::Vec3& translation); }; class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::CollisionModel + , public core::behavior::SingleStateAccessor { public: - SOFA_CLASS(RigidDistanceGridCollisionModel,sofa::core::CollisionModel); + SOFA_CLASS2(RigidDistanceGridCollisionModel, sofa::core::CollisionModel, SOFA_TEMPLATE(SingleStateAccessor, defaulttype::Rigid3Types)); protected: @@ -97,25 +97,23 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C public: type::Matrix3 rotation; type::Vec3 translation; - DistanceGrid* grid; + std::shared_ptr grid; /// @name Previous state data /// Used to estimate velocity in case the distance grid itself is dynamic /// @{ - DistanceGrid* prevGrid; ///< Previous grid + std::shared_ptr prevGrid; ///< Previous grid type::Matrix3 prevRotation; ///< Previous rotation type::Vec3 prevTranslation; ///< Previous translation double prevDt; ///< Time difference between previous and current state /// @} bool isTransformed; ///< True if translation/rotation was set - ElementData() : grid(NULL), prevGrid(NULL), prevDt(0.0), isTransformed(false) { rotation.identity(); prevRotation.identity(); } + ElementData() : grid(nullptr), prevGrid(nullptr), prevDt(0.0), isTransformed(false) { rotation.identity(); prevRotation.identity(); } }; sofa::type::vector elems; bool modified; - core::behavior::MechanicalState* rigid; - void updateGrid(); public: @@ -145,13 +143,15 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C RigidDistanceGridCollisionModel(); ~RigidDistanceGridCollisionModel() override; + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: - core::behavior::MechanicalState* getRigidModel() { return rigid; } - core::behavior::MechanicalState* getMechanicalState() { return rigid; } + core::behavior::MechanicalState* getRigidModel() { return this->mstate ; } + core::behavior::MechanicalState* getMechanicalState() { return this->mstate ; } void init() override; - DistanceGrid* getGrid(sofa::Index index=0) + std::shared_ptr getGrid(sofa::Index index=0) { return elems[index].grid; } @@ -191,9 +191,7 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C return flipNormals.getValue(); } - void setGrid(DistanceGrid* surf, sofa::Index index=0); - - DistanceGrid* getPrevGrid(sofa::Index index=0) + std::shared_ptr getPrevGrid(sofa::Index index=0) { return elems[index].prevGrid; } @@ -211,7 +209,7 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C } /// Set new grid and transform, keeping the old state to estimate velocity - void setNewState(sofa::Index index, double dt, DistanceGrid* grid, const type::Matrix3& rotation, const type::Vec3& translation); + void setNewState(sofa::Index index, double dt, const std::shared_ptr grid, const type::Matrix3& rotation, const type::Vec3& translation); /// @} @@ -226,7 +224,6 @@ class SOFA_SOFADISTANCEGRID_API RigidDistanceGridCollisionModel : public core::C void draw(const core::visual::VisualParams*, sofa::Index index) override; - void draw(const core::visual::VisualParams* vparams) override; }; inline RigidDistanceGridCollisionElement::RigidDistanceGridCollisionElement(RigidDistanceGridCollisionModel* model, Index index) @@ -238,20 +235,19 @@ inline RigidDistanceGridCollisionElement::RigidDistanceGridCollisionElement(cons { } -inline DistanceGrid* RigidDistanceGridCollisionElement::getGrid() { return model->getGrid(index); } -inline void RigidDistanceGridCollisionElement::setGrid(DistanceGrid* surf) { return model->setGrid(surf, index); } +inline std::shared_ptr RigidDistanceGridCollisionElement::getGrid() { return model->getGrid(index); } inline bool RigidDistanceGridCollisionElement::isTransformed() { return model->isTransformed(index); } inline const type::Matrix3& RigidDistanceGridCollisionElement::getRotation() { return model->getRotation(index); } inline const type::Vec3& RigidDistanceGridCollisionElement::getTranslation() { return model->getTranslation(index); } inline bool RigidDistanceGridCollisionElement::isFlipped() { return model->isFlipped(); } -inline DistanceGrid* RigidDistanceGridCollisionElement::getPrevGrid() { return model->getPrevGrid(index); } +inline std::shared_ptr RigidDistanceGridCollisionElement::getPrevGrid() { return model->getPrevGrid(index); } inline const type::Matrix3& RigidDistanceGridCollisionElement::getPrevRotation() { return model->getPrevRotation(index); } inline const type::Vec3& RigidDistanceGridCollisionElement::getPrevTranslation() { return model->getPrevTranslation(index); } inline double RigidDistanceGridCollisionElement::getPrevDt() { return model->getPrevDt(index); } -inline void RigidDistanceGridCollisionElement::setNewState(double dt, DistanceGrid* grid, const type::Matrix3& rotation, const type::Vec3& translation) +inline void RigidDistanceGridCollisionElement::setNewState(double dt, const std::shared_ptr grid, const type::Matrix3& rotation, const type::Vec3& translation) { return model->setNewState(this->getIndex(), dt, grid, rotation, translation); } @@ -270,23 +266,22 @@ class FFDDistanceGridCollisionElement : public core::TCollisionElementIterator getGrid(); }; class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::CollisionModel + , public core::behavior::SingleStateAccessor { public: - SOFA_CLASS(FFDDistanceGridCollisionModel,sofa::core::CollisionModel); + SOFA_CLASS2(FFDDistanceGridCollisionModel, sofa::core::CollisionModel, SOFA_TEMPLATE(SingleStateAccessor, defaulttype::Vec3Types)); typedef SReal GSReal; typedef DistanceGrid::Coord GCoord; class SOFA_SOFADISTANCEGRID_API DeformedCube { public: - DistanceGrid* grid; - DeformedCube() : grid(NULL) {} + std::shared_ptr grid; + DeformedCube() : grid(nullptr) {} int elem; ///< Index of the corresponding element in the topology std::set neighbors; ///< Index of the neighbors (used for self-collisions) struct Point @@ -437,11 +432,8 @@ class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::Col Data< int > nz; ///< number of values on Z axis sofa::core::objectmodel::DataFileName dumpfilename; - core::behavior::MechanicalState* ffd; - core::topology::BaseMeshTopology* ffdMesh; - //topology::RegularGridTopology* ffdGrid; - topology::container::grid::RegularGridTopology* ffdRGrid; - topology::container::grid::SparseGridTopology* ffdSGrid; + core::objectmodel::SingleLink l_ffdMesh; void updateGrid(); public: @@ -456,17 +448,19 @@ class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::Col FFDDistanceGridCollisionModel(); ~FFDDistanceGridCollisionModel() override; + + void drawCollisionModel(const core::visual::VisualParams* vparams) override; public: - core::behavior::MechanicalState* getDeformModel() { return ffd; } - core::topology::BaseMeshTopology* getDeformGrid() { return ffdMesh; } + core::behavior::MechanicalState* getDeformModel() { return this->mstate; } + core::topology::BaseMeshTopology* getDeformGrid() { return l_ffdMesh; } /// alias used by ContactMapper - core::behavior::MechanicalState* getMechanicalState() { return ffd; } - core::topology::BaseMeshTopology* getCollisionTopology() override { return ffdMesh; } + core::behavior::MechanicalState* getMechanicalState() { return this->mstate; } + core::topology::BaseMeshTopology* getCollisionTopology() override { return l_ffdMesh; } void init() override; - DistanceGrid* getGrid(sofa::Index index=0) + std::shared_ptr getGrid(sofa::Index index=0) { return elems[index].grid; } @@ -476,8 +470,6 @@ class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::Col return elems[index]; } - void setGrid(DistanceGrid* surf, sofa::Index index=0); - /// CollisionModel interface void resize(sofa::Size size) override; @@ -487,8 +479,6 @@ class SOFA_SOFADISTANCEGRID_API FFDDistanceGridCollisionModel : public core::Col bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override; void draw(const core::visual::VisualParams*, sofa::Index index) override; - - void draw(const core::visual::VisualParams* vparams) override; }; inline FFDDistanceGridCollisionElement::FFDDistanceGridCollisionElement(FFDDistanceGridCollisionModel* model, Index index) @@ -500,8 +490,7 @@ inline FFDDistanceGridCollisionElement::FFDDistanceGridCollisionElement(const co { } -inline DistanceGrid* FFDDistanceGridCollisionElement::getGrid() { return model->getGrid(index); } -inline void FFDDistanceGridCollisionElement::setGrid(DistanceGrid* surf) { return model->setGrid(surf, index); } +inline std::shared_ptr FFDDistanceGridCollisionElement::getGrid() { return model->getGrid(index); } /// Mapper for FFDDistanceGridCollisionModel template @@ -542,7 +531,7 @@ class response::mapper::ContactMapper using sofa::component::mapping::linear::IdentityMapping; MMechanicalState* outmodel = Inherit::createMapping(name); - if (this->child!=NULL && this->mapping==NULL) + if (this->child!=nullptr && this->mapping==nullptr) { //TODO(dmarchal):2017-05-26 This comment may become a conditional code. // add velocity visualization @@ -589,9 +578,9 @@ class response::mapper::ContactMapper { v = (x - (model->getPrevTranslation(index) + model-> getPrevRotation(index) * P)) * (1.0/gdt); } - DistanceGrid* prevGrid = model->getPrevGrid(index); + std::shared_ptr prevGrid = model->getPrevGrid(index); //DistanceGrid* grid = model->getGrid(index); - //if (prevGrid != NULL && prevGrid != grid && prevGrid->inGrid(P)) + //if (prevGrid != nullptr && prevGrid != grid && prevGrid->inGrid(P)) { DistanceGrid::Coord coefs; int ii = prevGrid->index(P, coefs); diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp index ea2f156fc37..115c440e3fc 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.cpp @@ -62,8 +62,8 @@ bool FFDDistanceGridDiscreteIntersection::testIntersection(FFDDistanceGridCollis int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridCollisionElement& e1, RigidDistanceGridCollisionElement& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { int nc = 0; - DistanceGrid* grid1 = e1.getGrid(); - DistanceGrid* grid2 = e2.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); + const std::shared_ptr grid2 = e2.getGrid(); FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex()); bool useXForm = e2.isTransformed(); //const type::Vec3& t1 = e1.getTranslation(); @@ -71,9 +71,9 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl const type::Vec3& t2 = e2.getTranslation(); const type::Mat3x3& r2 = e2.getRotation(); - const double d0 = e1.getProximity() + e2.getProximity() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance()); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance()); //const SReal margin = 0.001f + (SReal)d0; - const SReal margin = (SReal)((e1.getProximity() + e2.getProximity() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2); + const SReal margin = (SReal)((e1.getContactDistance() + e2.getContactDistance() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2); const bool singleContact = e1.getCollisionModel()->singleContact.getValue(); // transform from grid1 to grid2 @@ -238,8 +238,8 @@ bool FFDDistanceGridDiscreteIntersection::testIntersection(FFDDistanceGridCollis int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridCollisionElement& e1, FFDDistanceGridCollisionElement& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { int nc = 0; - DistanceGrid* grid1 = e1.getGrid(); - DistanceGrid* grid2 = e2.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); + const std::shared_ptr grid2 = e2.getGrid(); FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex()); FFDDistanceGridCollisionModel::DeformedCube& c2 = e2.getCollisionModel()->getDeformCube(e2.getIndex()); const bool usePoints1 = e1.getCollisionModel()->usePoints.getValue(); @@ -248,9 +248,9 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl if (!usePoints1 && !usePoints2) return 0; // no tests possible - const double d0 = e1.getProximity() + e2.getProximity() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance()); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance()); //const SReal margin = 0.001f + (SReal)d0; - const SReal margin = (SReal)((e1.getProximity() + e2.getProximity() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2); + const SReal margin = (SReal)((e1.getContactDistance() + e2.getContactDistance() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2); if ((c2.center - c1.center).norm2() > (c1.radius+c2.radius)*(c1.radius+c2.radius)) return 0; // the two enclosing spheres are not colliding @@ -435,10 +435,10 @@ bool FFDDistanceGridDiscreteIntersection::testIntersection(FFDDistanceGridCollis int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridCollisionElement& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex()); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(); const SReal margin = 0.001f + (SReal)d0; c1.updateFaces(); @@ -526,10 +526,10 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridColl const int f2 = e2.flags(); if (!(f2&TriangleCollisionModel::FLAG_POINTS)) return 0; // no points associated with this triangle - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex()); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(); const SReal margin = 0.001f + (SReal)d0; c1.updateFaces(); @@ -621,7 +621,7 @@ int FFDDistanceGridDiscreteIntersection::computeIntersection(Ray& e2, FFDDistanc type::Vec3 rayDirection(e2.direction()); const double rayLength = e2.l(); - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex()); // Center of the sphere diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl index da619c0e98b..6cdc6478708 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/FFDDistanceGridDiscreteIntersection.inl @@ -51,10 +51,10 @@ template int FFDDistanceGridDiscreteIntersection::computeIntersection(FFDDistanceGridCollisionElement& e1, geometry::TSphere& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); FFDDistanceGridCollisionModel::DeformedCube& c1 = e1.getCollisionModel()->getDeformCube(e1.getIndex()); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance() + e2.r(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance() + e2.r(); const SReal margin = 0.001f + (SReal)d0; c1.updateFaces(); diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp index 066e9bb8f45..f1d8fe325f6 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.cpp @@ -65,17 +65,17 @@ bool RigidDistanceGridDiscreteIntersection::testIntersection(RigidDistanceGridCo int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGridCollisionElement& e1, RigidDistanceGridCollisionElement& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { int nc = 0; - DistanceGrid* grid1 = e1.getGrid(); - DistanceGrid* grid2 = e2.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); + const std::shared_ptr grid2 = e2.getGrid(); bool useXForm = e1.isTransformed() || e2.isTransformed(); const type::Vec3& t1 = e1.getTranslation(); const Matrix3& r1 = e1.getRotation(); const type::Vec3& t2 = e2.getTranslation(); const Matrix3& r2 = e2.getRotation(); - const double d0 = e1.getProximity() + e2.getProximity() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance()); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + (intersection->getContactDistance() == 0.0 ? 0.001 : intersection->getContactDistance()); //const SReal margin = 0.001f + (SReal)d0; - const SReal margin = (SReal)((e1.getProximity() + e2.getProximity() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2); + const SReal margin = (SReal)((e1.getContactDistance() + e2.getContactDistance() + (intersection->getAlarmDistance() == 0.0 ? 0.001 : intersection->getAlarmDistance()))/2); // transform from grid1 to grid2 Vec3f translation; @@ -556,13 +556,13 @@ bool RigidDistanceGridDiscreteIntersection::testIntersection(RigidDistanceGridCo int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGridCollisionElement& e1, Point& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); bool useXForm = e1.isTransformed(); const type::Vec3& t1 = e1.getTranslation(); const Matrix3& r1 = e1.getRotation(); const bool flipped = e1.isFlipped(); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(); const SReal margin = 0.001f + (SReal)d0; @@ -621,12 +621,12 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid { const int f2 = e2.flags(); if (!(f2&(TriangleCollisionModel::FLAG_POINTS|TriangleCollisionModel::FLAG_BEDGES))) return 0; // no points associated with this triangle - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); const bool useXForm = e1.isTransformed(); const type::Vec3& t1 = e1.getTranslation(); const Matrix3& r1 = e1.getRotation(); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(); const SReal margin = 0.001f + (SReal)d0; int nc = 0; for (unsigned int iP = 0; iP < 3; ++iP) @@ -730,12 +730,12 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGrid { const int f2 = e2.flags(); if (!(f2&LineCollisionModel::FLAG_POINTS)) return 0; // no points associated with this line - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); const bool useXForm = e1.isTransformed(); const type::Vec3& t1 = e1.getTranslation(); const Matrix3& r1 = e1.getRotation(); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance(); const SReal margin = 0.001f + (SReal)d0; int nresult = 0; for (unsigned int iP = 0; iP < 2; ++iP) @@ -797,7 +797,7 @@ int RigidDistanceGridDiscreteIntersection::computeIntersection(Ray& e2, RigidDis const double rayLength = e2.l(); int nc = 0; - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); bool useXForm = e1.isTransformed(); if (useXForm) diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl index ad4471d36b1..6e321b1aa74 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/collision/RigidDistanceGridDiscreteIntersection.inl @@ -48,12 +48,12 @@ bool RigidDistanceGridDiscreteIntersection::testIntersection(RigidDistanceGridCo template int RigidDistanceGridDiscreteIntersection::computeIntersection(RigidDistanceGridCollisionElement& e1, geometry::TSphere& e2, OutputVector* contacts, const core::collision::Intersection* intersection) { - DistanceGrid* grid1 = e1.getGrid(); + const std::shared_ptr grid1 = e1.getGrid(); bool useXForm = e1.isTransformed(); const type::Vec3& t1 = e1.getTranslation(); const sofa::type::Matrix3& r1 = e1.getRotation(); - const double d0 = e1.getProximity() + e2.getProximity() + intersection->getContactDistance() + e2.r(); + const double d0 = e1.getContactDistance() + e2.getContactDistance() + intersection->getContactDistance() + e2.r(); const SReal margin = 0.001f + (SReal)d0; type::Vec3 p2 = e2.center(); diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.cpp index 1d9b572d3bf..026b1d0560d 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.cpp @@ -37,10 +37,12 @@ namespace forcefield using namespace sofa::defaulttype; -int DistanceGridForceFieldClass = core::RegisterObject("Force applied by a distancegrid toward the exterior, the interior, or the surface") - .add< DistanceGridForceField >() +void registerDistanceGridForceField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Force applied by a distancegrid toward the exterior, the interior, or the surface.") + .add< DistanceGridForceField >()); +} - ; template class SOFA_SOFADISTANCEGRID_API DistanceGridForceField; diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h index ab1ceadead0..d3376e003bf 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.h @@ -62,7 +62,7 @@ class DistanceGridForceField : public core::behavior::ForceField typedef container::DistanceGrid DistanceGrid; protected: - DistanceGrid* grid; + std::shared_ptr grid; class Contact { @@ -170,7 +170,7 @@ class DistanceGridForceField : public core::behavior::ForceField Data< type::Vec<2,int> > localRange; protected: DistanceGridForceField() - : grid(NULL) + : grid(nullptr) , fileDistanceGrid( initData( &fileDistanceGrid, "filename", "load distance grid from specified file")) , scale( initData( &scale, 1.0, "scale", "scaling factor for input file")) , box( initData( &box, "box", "Field bounding box defined by xmin,ymin,zmin, xmax,ymax,zmax") ) diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.inl b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.inl index 0c544cd8453..d41cfad73ab 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.inl +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/components/forcefield/DistanceGridForceField.inl @@ -50,7 +50,7 @@ void DistanceGridForceField::init() if (fileDistanceGrid.getValue().empty()) { - if (grid==NULL) + if (grid == nullptr) msg_error() << "DistanceGridForceField requires an input filename." ; /// the grid has already been set return; @@ -245,7 +245,7 @@ void DistanceGridForceField::addForce(const sofa::core::MechanicalPar Coord fA = -(fB+fC); f1[t[0]] += fA; TContact c; - c.index = t; + c.index = t.array(); c.fact = minA-area; c.normal = sN; c.B = B; @@ -296,7 +296,7 @@ void DistanceGridForceField::addForce(const sofa::core::MechanicalPar Coord f0 = -(fA+fB+fC); f1[t[0]] += f0; VContact c; - c.index = t; + c.index = t.array(); c.fact = minV-volume; c.A = A; c.B = B; diff --git a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp index 473b0ccdec0..a358bdbb1e0 100644 --- a/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp +++ b/applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/initSofaDistanceGrid.cpp @@ -24,15 +24,28 @@ #include "components/forcefield/DistanceGridForceField.h" #include "RegisterModelToCollisionFactory.h" +#include +#include + +namespace sofa::component::forcefield +{ + extern void registerDistanceGridForceField(sofa::core::ObjectFactory* factory); +} +namespace sofa::component::collision +{ + extern void registerRigidDistanceGridCollisionModel(sofa::core::ObjectFactory* factory); + extern void registerFFDDistanceGridCollisionModel(sofa::core::ObjectFactory* factory); +} + namespace sofadistancegrid { extern "C" { -SOFA_SOFADISTANCEGRID_API void initExternalModule(); -SOFA_SOFADISTANCEGRID_API const char* getModuleName(); -SOFA_SOFADISTANCEGRID_API const char* getModuleVersion(); -SOFA_SOFADISTANCEGRID_API const char* getModuleLicense(); -SOFA_SOFADISTANCEGRID_API const char* getModuleDescription(); -SOFA_SOFADISTANCEGRID_API const char* getModuleComponentList(); + SOFA_SOFADISTANCEGRID_API void initExternalModule(); + SOFA_SOFADISTANCEGRID_API const char* getModuleName(); + SOFA_SOFADISTANCEGRID_API const char* getModuleVersion(); + SOFA_SOFADISTANCEGRID_API const char* getModuleLicense(); + SOFA_SOFADISTANCEGRID_API const char* getModuleDescription(); + SOFA_SOFADISTANCEGRID_API void registerObjects(sofa::core::ObjectFactory* factory); } void initExternalModule() @@ -47,6 +60,9 @@ void initSofaDistanceGrid() { first = false; } + // make sure that this plugin is registered into the PluginManager + sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME); + sofa::component::collision::registerDistanceGridCollisionModel(); } @@ -72,4 +88,11 @@ const char* getModuleDescription() "point in space. This is why it is often used to implement collisions. "; } +void registerObjects(sofa::core::ObjectFactory* factory) +{ + sofa::component::forcefield::registerDistanceGridForceField(factory); + sofa::component::collision::registerRigidDistanceGridCollisionModel(factory); + sofa::component::collision::registerFFDDistanceGridCollisionModel(factory); +} + } /// namespace sofadistancegrid diff --git a/applications/plugins/SofaImplicitField/CMakeLists.txt b/applications/plugins/SofaImplicitField/CMakeLists.txt index 035573d469e..35d08e7f7b1 100644 --- a/applications/plugins/SofaImplicitField/CMakeLists.txt +++ b/applications/plugins/SofaImplicitField/CMakeLists.txt @@ -1,8 +1,7 @@ cmake_minimum_required(VERSION 3.22) project(SofaImplicitField VERSION 1.0) -sofa_find_package(Sofa.Framework REQUIRED) -sofa_find_package(SofaDistanceGrid REQUIRED) +sofa_find_package(Sofa.Component.Topology.Container.Constant REQUIRED) set(HEADER_FILES config.h.in @@ -11,7 +10,7 @@ set(HEADER_FILES # This is backward compatibility deprecated/SphereSurface.h deprecated/ImplicitSurfaceContainer.h # This is a backward compatibility file toward ScalarField - deprecated/InterpolatedImplicitSurface.h # This is a backward compatibility file toward DiscreteridField + deprecated/InterpolatedImplicitSurface.h # This is a backward compatibility file toward DiscreteGridField components/geometry/BottleField.h components/geometry/DiscreteGridField.h @@ -39,7 +38,6 @@ set(SOURCE_FILES set(EXTRA_FILES README.md - examples/README.md ) if(SOFA_BUILD_TESTS) @@ -47,9 +45,12 @@ if(SOFA_BUILD_TESTS) endif() add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${EXTRA_FILES}) -target_compile_options(${PROJECT_NAME} PRIVATE "-DSOFA_BUILD_SOFAIMPLICITFIELD") -target_link_libraries(${PROJECT_NAME} PRIVATE SofaDistanceGrid) +target_link_libraries(${PROJECT_NAME} PRIVATE Sofa.Component.Topology.Container.Constant) +find_package(SofaPython3 REQUIRED) +if (SofaPython3_FOUND) + add_subdirectory(python) +endif() ## Install rules for the library and headers; CMake package configurations files sofa_create_package_with_targets( diff --git a/applications/plugins/SofaImplicitField/components/geometry/BottleField.cpp b/applications/plugins/SofaImplicitField/components/geometry/BottleField.cpp index 967db8ab72e..2ed50eb2837 100644 --- a/applications/plugins/SofaImplicitField/components/geometry/BottleField.cpp +++ b/applications/plugins/SofaImplicitField/components/geometry/BottleField.cpp @@ -161,10 +161,11 @@ void BottleField::getHessian(Vec3d &Pos, Mat3x3& h) return; } - // Register in the Factory -int BottleFieldClass = core::RegisterObject("A spherical implicit field.") - .add< BottleField >() - ; +void registerBottleField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("A bottle implicit field.") + .add< BottleField >()); +} } // namespace sofa::component::geometry::_BottleField_ diff --git a/applications/plugins/SofaImplicitField/components/geometry/DiscreteGridField.cpp b/applications/plugins/SofaImplicitField/components/geometry/DiscreteGridField.cpp index 773e1983da6..91d8d46d911 100644 --- a/applications/plugins/SofaImplicitField/components/geometry/DiscreteGridField.cpp +++ b/applications/plugins/SofaImplicitField/components/geometry/DiscreteGridField.cpp @@ -27,17 +27,9 @@ using sofa::core::RegisterObject ; #include "DiscreteGridField.h" -namespace sofa +namespace sofa::component::geometry::_discretegrid_ { -namespace component -{ - -namespace geometry -{ - -namespace _discretegrid_ -{ /** DiscreteGridField::DiscreteGridField() : in_filename(initData(&in_filename,"filename","filename")) @@ -363,14 +355,11 @@ double DiscreteGridField::getValue( Vec3d &transformedPos ) return getValue( transformedPos, domain ); } -///factory register -int DiscreteGridFieldClass = RegisterObject("A discrete scalar field from a regular grid storing field value with interpolation.") - .add< DiscreteGridField >() ; - -} ///namespace _discretegrid_ - -} ///namespace geometry - -} ///namespace core +// Register in the Factory +void registerDiscreteGridField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("A discrete scalar field from a regular grid storing field value with interpolation.") + .add< DiscreteGridField >()); +} -} ///namespace sofa +} ///namespace sofa::component::geometry::_discretegrid_ diff --git a/applications/plugins/SofaImplicitField/components/geometry/SphericalField.cpp b/applications/plugins/SofaImplicitField/components/geometry/SphericalField.cpp index f2f1a6ae50f..14b0c52c6f0 100644 --- a/applications/plugins/SofaImplicitField/components/geometry/SphericalField.cpp +++ b/applications/plugins/SofaImplicitField/components/geometry/SphericalField.cpp @@ -25,16 +25,7 @@ using sofa::core::RegisterObject ; #include "SphericalField.h" -namespace sofa -{ - -namespace component -{ - -namespace geometry -{ - -namespace _sphericalfield_ +namespace sofa::component::geometry::_sphericalfield_ { SphericalField::SphericalField() @@ -112,11 +103,10 @@ void SphericalField::getValueAndGradient(Vec3d& Pos, double &value, Vec3d& /*gra // Register in the Factory -int SphericalFieldClass = core::RegisterObject("A spherical implicit field.") - .add< SphericalField >() - ; +void registerSphericalField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("A spherical implicit field.") + .add< SphericalField >()); +} -} /// _sphericalfield_ -} /// implicit -} /// component -} /// sofa +} /// sofa::component::geometry::_sphericalfield_ diff --git a/applications/plugins/SofaImplicitField/components/geometry/StarShapedField.cpp b/applications/plugins/SofaImplicitField/components/geometry/StarShapedField.cpp index 39e779d0585..f41b2d75880 100644 --- a/applications/plugins/SofaImplicitField/components/geometry/StarShapedField.cpp +++ b/applications/plugins/SofaImplicitField/components/geometry/StarShapedField.cpp @@ -127,9 +127,11 @@ void StarShapedField::getHessian(Vec3d &Pos, Mat3x3& h) } // Register in the Factory -int StarShapedFieldClass = core::RegisterObject("A spherical implicit field.") - .add< StarShapedField >() - ; +void registerStarShapedField(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("A star-shape implicit field.") + .add< StarShapedField >()); +} } // namespace sofa::component::geometry::_StarShapedField_ diff --git a/applications/plugins/SofaImplicitField/components/mapping/ImplicitSurfaceMapping.cpp b/applications/plugins/SofaImplicitField/components/mapping/ImplicitSurfaceMapping.cpp index db6b5734e8e..0b0c661042b 100644 --- a/applications/plugins/SofaImplicitField/components/mapping/ImplicitSurfaceMapping.cpp +++ b/applications/plugins/SofaImplicitField/components/mapping/ImplicitSurfaceMapping.cpp @@ -24,36 +24,20 @@ #include #include "ImplicitSurfaceMapping.inl" -namespace sofa -{ - -namespace component -{ - -namespace mapping +namespace sofa::component::mapping { using namespace sofa::defaulttype; // Register in the Factory -int ImplicitSurfaceMappingClass = core::RegisterObject("Compute an iso-surface from a set of particles") - .add< ImplicitSurfaceMapping< Vec3dTypes, Vec3dTypes > >() - - - - - ; - +void registerImplicitSurfaceMapping(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Compute an iso-surface from a set of particles.") + .add< ImplicitSurfaceMapping< Vec3dTypes, Vec3dTypes > >()); +} template class SOFA_SOFAIMPLICITFIELD_API ImplicitSurfaceMapping< Vec3dTypes, Vec3dTypes >; - - - -} // namespace mapping - -} // namespace component - -} // namespace sofa +} // namespace sofa::component::mapping diff --git a/applications/plugins/SofaImplicitField/config.h.in b/applications/plugins/SofaImplicitField/config.h.in index c508b4404c4..875a9b62f0d 100644 --- a/applications/plugins/SofaImplicitField/config.h.in +++ b/applications/plugins/SofaImplicitField/config.h.in @@ -19,8 +19,7 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#ifndef SOFA_SOFAIMPLICITFIELD_CONFIG_H -#define SOFA_SOFAIMPLICITFIELD_CONFIG_H +#pragma once #include @@ -31,4 +30,8 @@ # define SOFA_SOFAIMPLICITFIELD_API SOFA_IMPORT_DYNAMIC_LIBRARY #endif -#endif +namespace sofaimplicitfield +{ + constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; + constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; +} // namespace sofaimplicitfield diff --git a/applications/plugins/SofaImplicitField/deprecated/InterpolatedImplicitSurface.cpp b/applications/plugins/SofaImplicitField/deprecated/InterpolatedImplicitSurface.cpp index bc8f025c2f6..d02ac4597f8 100644 --- a/applications/plugins/SofaImplicitField/deprecated/InterpolatedImplicitSurface.cpp +++ b/applications/plugins/SofaImplicitField/deprecated/InterpolatedImplicitSurface.cpp @@ -4,18 +4,15 @@ using sofa::core::RegisterObject ; #include -namespace sofa -{ -namespace component -{ -namespace container +namespace sofa::component::container { -///factory register -int InterpolatedImplicitSurfaceClass = RegisterObject("Deprecated. This class is forwarding DiscreteGridField.") - .add< InterpolatedImplicitSurface >() - .addAlias("DistGrid") ; +// Register in the Factory +void registerInterpolatedImplicitSurface(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Deprecated. This class is forwarding DiscreteGridField.") + .add< InterpolatedImplicitSurface >() + .addAlias("DistGrid")); +} -} /// container -} /// component -} /// sofa +} /// sofa::component::container diff --git a/applications/plugins/SofaImplicitField/examples/README.md b/applications/plugins/SofaImplicitField/examples/README.md deleted file mode 100644 index f55d3e021dc..00000000000 --- a/applications/plugins/SofaImplicitField/examples/README.md +++ /dev/null @@ -1,2 +0,0 @@ -= Examples -- ... diff --git a/applications/plugins/SofaImplicitField/examples/python/python-scalarfield.py b/applications/plugins/SofaImplicitField/examples/python/python-scalarfield.py new file mode 100644 index 00000000000..9a43da272a9 --- /dev/null +++ b/applications/plugins/SofaImplicitField/examples/python/python-scalarfield.py @@ -0,0 +1,50 @@ +import Sofa +from SofaImplicitField import ScalarField +from SofaTypes.SofaTypes import Vec3d, Mat3x3 +import numpy + +class Sphere(ScalarField): + def __init__(self, *args, **kwargs): + ScalarField.__init__(self, *args, **kwargs) + + self.addData("center", type="Vec3d",value=kwargs.get("center", [0.0,0.0,0.0]), default=[0.0,0.0,0.0], help="center of the sphere", group="Geometry") + self.addData("radius", type="double",value=kwargs.get("radius", 1.0), default=1, help="radius of the sphere", group="Geometry") + + def getValue(self, position): + x,y,z = position + return numpy.sqrt( numpy.sum((self.center.value - numpy.array([x,y,z]))**2) ) - self.radius.value + +class SphereWithCustomHessianAndGradient(Sphere): + def __init__(self, *args, **kwargs): + Sphere.__init__(self, *args, **kwargs)# + + def getGradient(self, position): + return Vec3d(3.0,2.0,1.0) + + def getHessian(self, position): + return Mat3x3([[1,1,1],[2,1,1],[3,1,1]]) + +class FieldController(Sofa.Core.Controller): + def __init__(self, *args, **kwargs): + Sofa.Core.Controller.__init__(self, *args, **kwargs) + self.field = kwargs.get("target") + + def onAnimateEndEvent(self, event): + print("Animation end event, ") + print("Field value at 0,0,0 is: ", self.field.getValue(Vec3d(0.0,0.0,0.0)) ) + print("Field value at 1,0,0 is: ", self.field.getValue(Vec3d(1.0,0.0,0.0)) ) + print("Field value at 2,0,0 is: ", self.field.getValue(Vec3d(2.0,0.0,0.0)) ) + + print("Gradient value at 0,0,0 is: ", type(self.field.getGradient(Vec3d(0.0,0.0,0.0)))) + print("Hessian value at 0,0,0 is: ", type(self.field.getHessian(Vec3d(0.0,0.0,0.0)))) + +def createScene(root): + """In this scene we create two scalar field of spherical shape, the two are implemented using + python. The first one is overriding only the getValue, the hessian and gradient is thus computed using + finite difference in the c++ code. The second field is overriding the hessian and gradient function + """ + root.addObject(Sphere("field1")) + root.addObject(FieldController(name="controller1", target=root.field1)) + + root.addObject(SphereWithCustomHessianAndGradient("field2")) + root.addObject(FieldController(name="controller2", target=root.field2)) diff --git a/applications/plugins/SofaImplicitField/initSofaImplicitField.cpp b/applications/plugins/SofaImplicitField/initSofaImplicitField.cpp index 2b2fa5fe3b2..ca5f0f5732d 100644 --- a/applications/plugins/SofaImplicitField/initSofaImplicitField.cpp +++ b/applications/plugins/SofaImplicitField/initSofaImplicitField.cpp @@ -20,27 +20,48 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #include +#include -#include "initSofaImplicitField.h" -#include "components/geometry/ScalarField.h" -#include "components/geometry/SphericalField.h" -#include "components/geometry/DiscreteGridField.h" - +#include #include using sofa::helper::system::PluginManager ; -namespace sofa +namespace sofa::component::geometry::_BottleField_ +{ + extern void registerBottleField(sofa::core::ObjectFactory* factory); +} +namespace sofa::component::geometry::_sphericalfield_ +{ + extern void registerSphericalField(sofa::core::ObjectFactory* factory); +} +namespace sofa::component::geometry::_StarShapedField_ +{ + extern void registerStarShapedField(sofa::core::ObjectFactory* factory); +} +namespace sofa::component::mapping +{ + extern void registerImplicitSurfaceMapping(sofa::core::ObjectFactory* factory); +} +namespace sofa::component::container { + extern void registerInterpolatedImplicitSurface(sofa::core::ObjectFactory* factory); +} +namespace sofa::component::geometry::_discretegrid_ +{ + extern void registerDiscreteGridField(sofa::core::ObjectFactory* factory); +} -namespace component + +namespace sofaimplicitfield { + extern "C" { -SOFA_SOFAIMPLICITFIELD_API void initExternalModule(); -SOFA_SOFAIMPLICITFIELD_API const char* getModuleName(); -SOFA_SOFAIMPLICITFIELD_API const char* getModuleVersion(); -SOFA_SOFAIMPLICITFIELD_API const char* getModuleLicense(); -SOFA_SOFAIMPLICITFIELD_API const char* getModuleDescription(); -SOFA_SOFAIMPLICITFIELD_API const char* getModuleComponentList(); + SOFA_SOFAIMPLICITFIELD_API void initExternalModule(); + SOFA_SOFAIMPLICITFIELD_API const char* getModuleName(); + SOFA_SOFAIMPLICITFIELD_API const char* getModuleVersion(); + SOFA_SOFAIMPLICITFIELD_API const char* getModuleLicense(); + SOFA_SOFAIMPLICITFIELD_API const char* getModuleDescription(); + SOFA_SOFAIMPLICITFIELD_API void registerObjects(sofa::core::ObjectFactory* factory); } void initExternalModule() @@ -48,18 +69,21 @@ void initExternalModule() static bool first = true; if (first) { + // make sure that this plugin is registered into the PluginManager + sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME); + first = false; } } const char* getModuleName() { - return "SofaImplicitField"; + return MODULE_NAME; } const char* getModuleVersion() { - return "1.0"; + return MODULE_VERSION; } const char* getModuleLicense() @@ -67,7 +91,6 @@ const char* getModuleLicense() return "LGPL"; } - const char* getModuleDescription() { return "ImplicitField describe shapes of objects using implicit equation. \n" @@ -75,13 +98,14 @@ const char* getModuleDescription() "The surface is then defined as f(x) = aConstant."; } -const char* getModuleComponentList() +void registerObjects(sofa::core::ObjectFactory* factory) { - return "SphereSurface ImplicitSurfaceMapping InterpolatedImplicitSurface " - "SphericalField DiscreteGridField"; + sofa::component::geometry::_BottleField_::registerBottleField(factory); + sofa::component::geometry::_sphericalfield_::registerSphericalField(factory); + sofa::component::geometry::_StarShapedField_::registerStarShapedField(factory); + sofa::component::mapping::registerImplicitSurfaceMapping(factory); + sofa::component::container::registerInterpolatedImplicitSurface(factory); + sofa::component::geometry::_discretegrid_::registerDiscreteGridField(factory); } -} /// component - -} /// sofa - +} /// sofaimplicitfield diff --git a/applications/plugins/SofaImplicitField/python/CMakeLists.txt b/applications/plugins/SofaImplicitField/python/CMakeLists.txt new file mode 100644 index 00000000000..bd66bd9546b --- /dev/null +++ b/applications/plugins/SofaImplicitField/python/CMakeLists.txt @@ -0,0 +1,26 @@ +project(SofaImplicitField.Python) + +set(SOURCE_FILES + ${CMAKE_CURRENT_SOURCE_DIR}/src/Binding_ScalarField.cpp + ${CMAKE_CURRENT_SOURCE_DIR}/src/Module_SofaImplicitField.cpp +) + +set(HEADER_FILES + ${CMAKE_CURRENT_SOURCE_DIR}/src/Binding_ScalarField.h +) + +if (NOT TARGET SofaPython3::Plugin) + find_package(SofaPython3 REQUIRED COMPONENTS Plugin Bindings.Sofa.Core) +endif() + +sofa_find_package(SofaImplicitField REQUIRED) + +SP3_add_python_module( + TARGET ${PROJECT_NAME} + PACKAGE SofaImplicitField.Python + MODULE SofaImplicitField + DESTINATION . + SOURCES ${SOURCE_FILES} + HEADERS ${HEADER_FILES} + DEPENDS SofaImplicitField SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core +) diff --git a/applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp b/applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp new file mode 100644 index 00000000000..fc2138831e4 --- /dev/null +++ b/applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp @@ -0,0 +1,139 @@ +/****************************************************************************** +* SofaImplicitField plugin * +* (c) 2024 CNRS, University of Lille, INRIA * +* * +* 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 . * +******************************************************************************* +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include + +#include +#include +#include +#include + +#include "Binding_ScalarField.h" + +/// Makes an alias for the pybind11 namespace to increase readability. +namespace py { using namespace pybind11; } + +namespace sofaimplicitfield { +using namespace sofapython3; +using sofa::component::geometry::ScalarField; +using sofa::core::objectmodel::BaseObject; +using sofa::type::Vec3; +using sofa::type::Mat3x3; + +class ScalarField_Trampoline : public ScalarField { +public: + SOFA_CLASS(ScalarField_Trampoline, ScalarField); + + // Override this function so that it returns the actual python class name instead of + // "ScalarField_Trampoline" which correspond to this utility class. + std::string getClassName() const override + { + PythonEnvironment::gil acquire; + + // Get the actual class name from python. + return py::str(py::cast(this).get_type().attr("__name__")); + } + + double getValue(Vec3& pos, int& domain) override + { + SOFA_UNUSED(domain); + PythonEnvironment::gil acquire; + + PYBIND11_OVERLOAD_PURE(double, ScalarField, getValue, pos); + } + + Vec3 getGradient(Vec3& pos, int& domain) override + { + SOFA_UNUSED(domain); + PythonEnvironment::gil acquire; + + PYBIND11_OVERLOAD(Vec3, ScalarField, getGradient, pos); + } + + void getHessian(Vec3 &pos, Mat3x3& h) override + { + /// The implementation is a bit more complex compared to getGradient. This is because we change de signature between the c++ API and the python one. + PythonEnvironment::gil acquire; + + // Search if there is a python override, + pybind11::function override = pybind11::get_override(static_cast(this),"getHessian"); + if(!override){ + return ScalarField::getHessian(pos, h); + } + // as there is one override, we call it, passing the "pos" argument and storing the return of the + // value in the "o" variable. + auto o = override(pos); + + // then we check that the function correctly returned a Mat3x3 object and copy its value + // in case there is no Mat3x3 returned values, rise an error + if(py::isinstance(o)) + h = py::cast(o); + else + throw py::type_error("The function getHessian must return a Mat3x3"); + return; + } +}; + +void moduleAddScalarField(py::module &m) { + py::class_> f(m, "ScalarField", py::dynamic_attr(), ""); + + f.def(py::init([](py::args &args, py::kwargs &kwargs) { + auto ff = sofa::core::sptr (new ScalarField_Trampoline()); + + ff->f_listening.setValue(true); + + if (args.size() == 1) ff->setName(py::cast(args[0])); + + py::object cc = py::cast(ff); + for (auto kv : kwargs) { + std::string key = py::cast(kv.first); + py::object value = py::reinterpret_borrow(kv.second); + if (key == "name") { + if (args.size() != 0) { + throw py::type_error("The name is set twice as a " + "named argument='" + py::cast(value) + "' and as a" + "positional argument='" + + py::cast(args[0]) + "'."); + } + } + } + return ff; + })); + + f.def("getValue", [](ScalarField* self, Vec3 pos){ + int domain=-1; + // This shouldn't be self->ScalarField::getValue because it is a pure function + // so there is not ScalarField::getValue emitted. + return self->getValue(pos, domain); + }); + + f.def("getGradient", [](ScalarField* self, Vec3 pos){ + int domain=-1; + return self->ScalarField::getGradient(pos, domain); + }); + + f.def("getHessian", [](ScalarField* self, Vec3 pos){ + Mat3x3 result; + self->getHessian(pos, result); + return result; + }); +} + +} diff --git a/Sofa/framework/Config/src/SofaUserInteraction/SleepController.h b/applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.h similarity index 79% rename from Sofa/framework/Config/src/SofaUserInteraction/SleepController.h rename to applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.h index da790c5eecd..8ab31e32945 100644 --- a/Sofa/framework/Config/src/SofaUserInteraction/SleepController.h +++ b/applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.h @@ -1,6 +1,6 @@ /****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* SofaImplicitField plugin * +* (c) 2021 CNRS, University of Lille, INRIA * * * * 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 * @@ -15,12 +15,15 @@ * 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 -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.12", "v24.12") +#include + +namespace sofaimplicitfield { + +void moduleAddScalarField(pybind11::module &m); + +} diff --git a/Sofa/framework/Config/src/SofaMiscCollision/RayTriangleVisitor.h b/applications/plugins/SofaImplicitField/python/src/Module_SofaImplicitField.cpp similarity index 76% rename from Sofa/framework/Config/src/SofaMiscCollision/RayTriangleVisitor.h rename to applications/plugins/SofaImplicitField/python/src/Module_SofaImplicitField.cpp index da790c5eecd..bd7e9480856 100644 --- a/Sofa/framework/Config/src/SofaMiscCollision/RayTriangleVisitor.h +++ b/applications/plugins/SofaImplicitField/python/src/Module_SofaImplicitField.cpp @@ -1,6 +1,6 @@ /****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* SofaImplicitField plugin * +* (c) 2024 CNRS, University of Lille, INRIA * * * * 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 * @@ -15,12 +15,24 @@ * 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 py = pybind11; + +#include "Binding_ScalarField.h" + +namespace sofaimplicitfield +{ + +PYBIND11_MODULE(SofaImplicitField, m) { + m.doc() = R"doc( + Implement scalar field representation in python + )doc"; + + moduleAddScalarField(m); +} + +} -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.12", "v24.12") diff --git a/applications/plugins/SofaMatrix/CMakeLists.txt b/applications/plugins/SofaMatrix/CMakeLists.txt index 43ba41604dd..fe3eebd9734 100644 --- a/applications/plugins/SofaMatrix/CMakeLists.txt +++ b/applications/plugins/SofaMatrix/CMakeLists.txt @@ -9,15 +9,13 @@ sofa_find_package(Eigen3 REQUIRED) find_package(metis 5.1.0 EXACT QUIET) if(NOT metis_FOUND AND SOFA_ALLOW_FETCH_DEPENDENCIES) - message("SofaMatrix: DEPENDENCY metis NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching metis...") - include(FetchContent) - FetchContent_Declare(metis + message("${PROJECT_NAME}: DEPENDENCY metis NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching metis...") + sofa_fetch_dependency(metis GIT_REPOSITORY https://github.com/sofa-framework/METIS GIT_TAG v5.1.0-ModernInstall ) - FetchContent_MakeAvailable(metis) elseif (NOT metis_FOUND) - message(FATAL_ERROR "SofaMatrix: DEPENDENCY metis NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install metis (version=5.1.0), or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.") + message(FATAL_ERROR "Sofa.Metis: DEPENDENCY metis NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install metis (version=5.1.0), or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.") endif() @@ -32,18 +30,23 @@ set(SOFAMATRIX_SRC_DIR src/${PROJECT_NAME}) set(HEADER_FILES ${SOFAMATRIX_SRC_DIR}/config.h.in + ${SOFAMATRIX_SRC_DIR}/BaseMatrixImageProxy.h ${SOFAMATRIX_SRC_DIR}/ComplianceMatrixExporter.h - ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixExporter.h - ${SOFAMATRIX_SRC_DIR}/MatrixImageExporter.h + ${SOFAMATRIX_SRC_DIR}/ComplianceMatrixImage.h ${SOFAMATRIX_SRC_DIR}/FillReducingOrdering.h ${SOFAMATRIX_SRC_DIR}/FillReducingOrdering.inl + ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixExporter.h + ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixImage.h + ${SOFAMATRIX_SRC_DIR}/MatrixImageExporter.h ) set(SOURCE_FILES - ${SOFAMATRIX_SRC_DIR}/initSofaMatrix.cpp ${SOFAMATRIX_SRC_DIR}/ComplianceMatrixExporter.cpp + ${SOFAMATRIX_SRC_DIR}/ComplianceMatrixImage.cpp + ${SOFAMATRIX_SRC_DIR}/FillReducingOrdering.cpp ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixExporter.cpp + ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixImage.cpp ${SOFAMATRIX_SRC_DIR}/MatrixImageExporter.cpp - ${SOFAMATRIX_SRC_DIR}/FillReducingOrdering.cpp + ${SOFAMATRIX_SRC_DIR}/initSofaMatrix.cpp ) set(README_FILES SofaMatrix.md @@ -70,6 +73,7 @@ sofa_create_package_with_targets( ) sofa_add_subdirectory(plugin extensions/Qt SofaMatrix.Qt) +sofa_add_subdirectory(plugin extensions/imgui SofaMatrix.imgui) # Tests diff --git a/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn b/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn index 990f74da0bd..24fde016158 100644 --- a/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn +++ b/applications/plugins/SofaMatrix/examples/GlobalSystemMatrixImage.scn @@ -7,7 +7,7 @@ - + diff --git a/applications/plugins/SofaMatrix/extensions/Qt/CMakeLists.txt b/applications/plugins/SofaMatrix/extensions/Qt/CMakeLists.txt index a901e1d960d..b800a6ce127 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/CMakeLists.txt +++ b/applications/plugins/SofaMatrix/extensions/Qt/CMakeLists.txt @@ -5,14 +5,14 @@ sofa_find_package(Sofa.Core REQUIRED) sofa_find_package(Sofa.Component.Constraint.Lagrangian.Solver REQUIRED) sofa_find_package(Sofa.Component.LinearSolver.Direct REQUIRED) sofa_find_package(Eigen3 REQUIRED) -sofa_find_package(Sofa.GUI.Qt REQUIRED) +sofa_find_package(Sofa.Qt REQUIRED) set(SOFA_MODULES Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.LinearSolver.Direct Sofa.Core Eigen3::Eigen - Sofa.GUI.Qt + Sofa.Qt SofaMatrix ) @@ -20,14 +20,9 @@ set(SOFAMATRIX_SRC_DIR src/SofaMatrix/Qt) set(HEADER_FILES ${SOFAMATRIX_SRC_DIR}/config.h.in - ${SOFAMATRIX_SRC_DIR}/ComplianceMatrixImage.h - ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixImage.h - ${SOFAMATRIX_SRC_DIR}/BaseMatrixImageProxy.h ) set(SOURCE_FILES - ${SOFAMATRIX_SRC_DIR}/ComplianceMatrixImage.cpp - ${SOFAMATRIX_SRC_DIR}/GlobalSystemMatrixImage.cpp ${SOFAMATRIX_SRC_DIR}/BaseMatrixImageViewerWidget.cpp ${SOFAMATRIX_SRC_DIR}/initSofaMatrixQt.cpp ) diff --git a/applications/plugins/SofaMatrix/extensions/Qt/SofaMatrix.QtConfig.cmake.in b/applications/plugins/SofaMatrix/extensions/Qt/SofaMatrix.QtConfig.cmake.in index d491e05f3f0..c9d178e9c57 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/SofaMatrix.QtConfig.cmake.in +++ b/applications/plugins/SofaMatrix/extensions/Qt/SofaMatrix.QtConfig.cmake.in @@ -12,7 +12,7 @@ find_package(Sofa.Core QUIET REQUIRED) find_package(Sofa.Component.Constraint.Lagrangian.Solver QUIET REQUIRED) find_package(Sofa.Component.LinearSolver.Direct QUIET REQUIRED) find_package(Eigen3 QUIET REQUIRED) -find_package(Sofa.GUI.Qt QUIET REQUIRED) +find_package(Sofa.Qt QUIET REQUIRED) find_package(SofaMatrix QUIET REQUIRED) if(SOFAMATRIX_QT_HAVE_QT5) diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.cpp b/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.cpp index 2ac06c6ed59..3c25ebb2901 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.cpp +++ b/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.cpp @@ -21,7 +21,7 @@ ******************************************************************************/ #include -namespace sofa::gui::qt +namespace sofa::qt { // Add the widget in the DataWidgetFactory with the key 'matrixbitmap', so that a Data< type::BaseMatrixProxy > can call setWidget("matrixbitmap") @@ -172,4 +172,4 @@ void BaseMatrixImageViewerWidget::readFromData() dirty = false; counter = baseData->getCounter(); } -} // namespace sofa::gui::qt +} // namespace sofa::qt diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.h b/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.h index b8694760966..8cd014847bd 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.h +++ b/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageViewerWidget.h @@ -23,11 +23,11 @@ #include #include -#include +#include #include -namespace sofa::gui::qt +namespace sofa::qt { /// A QGraphicsScene showing a QImage @@ -106,4 +106,4 @@ class BaseMatrixImageViewerWidget : public SimpleDataWidget -namespace sofa::component::linearsolver -{ - extern void registerGlobalSystemMatrixImage(sofa::core::ObjectFactory* factory); -} -namespace sofa::component::constraintset -{ - extern void registerComplianceMatrixImage(sofa::core::ObjectFactory* factory); -} - - namespace sofamatrix::qt { @@ -85,8 +75,6 @@ const char* getModuleDescription() void registerObjects(sofa::core::ObjectFactory* factory) { - sofa::component::linearsolver::registerGlobalSystemMatrixImage(factory); - sofa::component::constraintset::registerComplianceMatrixImage(factory); } } diff --git a/applications/plugins/SofaMatrix/extensions/imgui/CMakeLists.txt b/applications/plugins/SofaMatrix/extensions/imgui/CMakeLists.txt new file mode 100644 index 00000000000..244a86a8a56 --- /dev/null +++ b/applications/plugins/SofaMatrix/extensions/imgui/CMakeLists.txt @@ -0,0 +1,36 @@ +# CMakeLists.txt for SofaMatrix.imgui plugin +cmake_minimum_required(VERSION 3.12) +project(SofaMatrix.imgui VERSION 1.0 LANGUAGES CXX) + +find_package(Sofa.Core REQUIRED) +sofa_find_package(SofaMatrix REQUIRED) +sofa_find_package(SofaImGui REQUIRED) + +set(HEADER_FILES + src/SofaMatrix/imgui/config.h.in + src/SofaMatrix/imgui/init.h +) + +set(SOURCE_FILES + src/SofaMatrix/imgui/init.cpp + + src/SofaMatrix/imgui/BaseMatrixImageProxyWidget.cpp +) + +add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES}) +target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Core SofaMatrix SofaImGui) + +sofa_create_package_with_targets( + PACKAGE_NAME ${PROJECT_NAME} + PACKAGE_VERSION ${PROJECT_VERSION} + TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES + INCLUDE_SOURCE_DIR "src" + INCLUDE_INSTALL_DIR ${PROJECT_NAME} + RELOCATABLE "plugins" + ) + +cmake_dependent_option(SOFAMATRIX_IMGUI_BUILD_TESTS "Compile the automatic tests" ON "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF) +if(SOFAMATRIX_IMGUI_BUILD_TESTS) + enable_testing() + add_subdirectory(tests) +endif() diff --git a/applications/plugins/SofaMatrix/extensions/imgui/SofaMatrix.imguiConfig.cmake.in b/applications/plugins/SofaMatrix/extensions/imgui/SofaMatrix.imguiConfig.cmake.in new file mode 100644 index 00000000000..0af1f9e1641 --- /dev/null +++ b/applications/plugins/SofaMatrix/extensions/imgui/SofaMatrix.imguiConfig.cmake.in @@ -0,0 +1,12 @@ +# CMake package configuration file for the plugin @PROJECT_NAME@ + +@PACKAGE_GUARD@ +@PACKAGE_INIT@ + +find_package(Sofa.Core QUIET REQUIRED) + +if(NOT TARGET @PROJECT_NAME@) + include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake") +endif() + +check_required_components(SofaMatrix.imgui) diff --git a/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/BaseMatrixImageProxyWidget.cpp b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/BaseMatrixImageProxyWidget.cpp new file mode 100644 index 00000000000..5f58d5aacbc --- /dev/null +++ b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/BaseMatrixImageProxyWidget.cpp @@ -0,0 +1,194 @@ +/****************************************************************************** +* 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 sofamatrix::imgui +{ + +std::optional> imageData(sofa::linearalgebra::BaseMatrix* ptr) +{ + static std::map> map; + auto mapIt = map.find(ptr); + if (mapIt == map.end()) + { + const auto insertResult = map.emplace(ptr, std::vector()); + if (insertResult.second) + { + mapIt = insertResult.first; + } + else + { + return {}; + } + } + return mapIt->second; +} + +std::optional textureID(sofa::linearalgebra::BaseMatrix* ptr) +{ + static std::map map; + auto mapIt = map.find(ptr); + if (mapIt == map.end()) + { + const auto insertResult = map.emplace(ptr, GLuint()); + if (insertResult.second) + { + mapIt = insertResult.first; + + // generate a new texture ID + GLuint& textureID = mapIt->second; + glGenTextures(1, &textureID); + + glBindTexture(GL_TEXTURE_2D, textureID); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + } + else + { + return {}; + } + } + return mapIt->second; +} + +void updateTexture(sofa::linearalgebra::BaseMatrix* matrix, unsigned& textureIDRef, + std::vector& imageDataRef) +{ + const auto width = matrix->rows(); + const auto height = matrix->cols(); + + imageDataRef.resize(width * height, 255); + + // write the data + for (sofa::SignedIndex y = 0; y < height; ++y) + { + for (sofa::SignedIndex x = 0; x < width; ++x) + { + imageDataRef[y * width + x] = !static_cast(matrix->element(x, y)) * std::numeric_limits::max(); + } + } + + // Update the texture + glBindTexture(GL_TEXTURE_2D, textureIDRef); + glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, + imageDataRef.data()); +} + +void drawTexture(sofa::linearalgebra::BaseMatrix* matrix, bool updateTexture) +{ + if (matrix == nullptr) + return; + + auto textureID = sofamatrix::imgui::textureID(matrix); + if (textureID.has_value() == false) + return; + + auto imageData = sofamatrix::imgui::imageData(matrix); + if (imageData.has_value() == false) + return; + + auto& textureIDRef = textureID.value(); + auto& imageDataRef = imageData.value(); + + if (updateTexture) + { + sofamatrix::imgui::updateTexture(matrix, textureIDRef, imageDataRef); + } + + const auto width = matrix->rows(); + const auto height = matrix->cols(); + + ImVec2 imageSize(width, height); + + // Get the available width + imageSize.x = ImGui::GetContentRegionAvail().x; + + // Calculate the aspect ratio + float aspectRatio = (float)width / (float)height; + + // Calculate the height based on the available width and aspect ratio + imageSize.y = imageSize.x / aspectRatio; + + // Draw the texture using imgui + ImGui::Image((ImTextureID)(intptr_t)textureIDRef, imageSize); +} + +static constexpr int unknownCounter = -1; +int* counter(sofa::core::objectmodel::BaseData& data) +{ + static std::map> map; + auto mapIt = map.find(&data); + if (mapIt == map.end()) + { + const auto insertResult = map.emplace(&data, std::make_unique(unknownCounter)); + if (insertResult.second) + { + mapIt = insertResult.first; + } + else + { + return nullptr; + } + } + return mapIt->second.get(); +} + +} + +namespace sofaimgui +{ + +template<> +void DataWidget::showWidget(MyData& data) +{ + const auto& matrixProxy = data.getValue(); + + if (auto* matrix = matrixProxy.getMatrix()) + { + std::stringstream ss; + ss << std::to_string(matrix->rows()) << "x" << std::to_string(matrix->cols()); + ImGui::Text(ss.str().c_str()); + + const int counter = data.getCounter(); + int* lastCounter = sofamatrix::imgui::counter(data); + + const bool updateTexture = lastCounter == nullptr || *lastCounter != counter; + sofamatrix::imgui::drawTexture(matrix, updateTexture); + if (lastCounter) + { + *lastCounter = counter; + } + } + else + { + ImGui::Text("Invalid matrix"); + } +} +} + +const bool dw_matrixproxy = sofaimgui::DataWidgetFactory::Add(); diff --git a/Sofa/framework/Config/src/SofaMiscCollision/DefaultCollisionGroupManager.h b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/config.h.in similarity index 82% rename from Sofa/framework/Config/src/SofaMiscCollision/DefaultCollisionGroupManager.h rename to applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/config.h.in index da790c5eecd..cb5b3de2436 100644 --- a/Sofa/framework/Config/src/SofaMiscCollision/DefaultCollisionGroupManager.h +++ b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/config.h.in @@ -19,8 +19,18 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ - #pragma once #include -SOFA_HEADER_DISABLED_NOT_REPLACED("v24.12", "v24.12") +#ifdef SOFA_BUILD_SOFAMATRIX_IMGUI +# define SOFA_TARGET @PROJECT_NAME@ +# define SOFAMATRIX_IMGUI_API SOFA_EXPORT_DYNAMIC_LIBRARY +#else +# define SOFAMATRIX_IMGUI_API SOFA_IMPORT_DYNAMIC_LIBRARY +#endif + +namespace sofamatriximgui +{ + constexpr const char* MODULE_NAME = "@PROJECT_NAME@"; + constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; +} diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.cpp b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.cpp similarity index 69% rename from applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.cpp rename to applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.cpp index 9b7441f4ee4..cb7b6bd06a0 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticleSource.cpp +++ b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.cpp @@ -19,38 +19,47 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include "CudaTypes.h" -#include "CudaParticleSource.inl" +#include #include -#include -#include -namespace sofa +namespace sofamatriximgui { - -namespace core::behavior +void initializePlugin() { -template class ProjectiveConstraintSet; -#ifdef SOFA_GPU_CUDA_DOUBLE -template class ProjectiveConstraintSet; -#endif -} // namespace core::behavior + static bool first = true; + if (first) { + first = false; + // Register components here + } +} +} -namespace gpu::cuda +extern "C" { + SOFAMATRIX_IMGUI_API void initExternalModule() + { + sofamatriximgui::initializePlugin(); + } + SOFAMATRIX_IMGUI_API const char* getModuleName() + { + return sofamatriximgui::MODULE_NAME; + } + SOFAMATRIX_IMGUI_API const char* getModuleVersion() + { + return sofamatriximgui::MODULE_VERSION; + } -int ParticleSourceCudaClass = core::RegisterObject("Supports GPU-side computations using CUDA") - .add< component::misc::ParticleSource >() -#ifdef SOFA_GPU_CUDA_DOUBLE - .add< component::misc::ParticleSource >() -#endif // SOFA_GPU_CUDA_DOUBLE - ; - -} // namespace gpu::cuda - + SOFAMATRIX_IMGUI_API const char* getModuleLicense() + { + return "LGPL"; + } -} // namespace sofa + SOFAMATRIX_IMGUI_API const char* getModuleDescription() + { + return "SOFA plugin for SofaMatrix.imgui"; + } +} diff --git a/Sofa/framework/Config/src/SofaGraphComponent/Gravity.h b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.h similarity index 91% rename from Sofa/framework/Config/src/SofaGraphComponent/Gravity.h rename to applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.h index 90fc919cb5b..c4245a0c828 100644 --- a/Sofa/framework/Config/src/SofaGraphComponent/Gravity.h +++ b/applications/plugins/SofaMatrix/extensions/imgui/src/SofaMatrix/imgui/init.h @@ -19,8 +19,13 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ - #pragma once -#include +#include + +namespace sofamatriximgui +{ + +/** Initialize the SofaMatrix.imgui plugin */ +void SOFAMATRIX_IMGUI_API initializePlugin(); -SOFA_HEADER_DISABLED("v24.12", "v24.12", "sofa/component/mechanicalload/Gravity.h") +} diff --git a/applications/plugins/SofaMatrix/extensions/imgui/tests/CMakeLists.txt b/applications/plugins/SofaMatrix/extensions/imgui/tests/CMakeLists.txt new file mode 100644 index 00000000000..9e43359d6d7 --- /dev/null +++ b/applications/plugins/SofaMatrix/extensions/imgui/tests/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.12) +project(SofaMatrix.imgui_test VERSION 1.0) +find_package(Sofa.Testing REQUIRED) + +set(SOURCE_FILES + test.cpp +) + +add_executable(${PROJECT_NAME} ${SOURCE_FILES}) + +target_link_libraries(${PROJECT_NAME} Sofa.Testing SofaMatrix.imgui) + +add_test(NAME ${PROJECT_NAME} COMMAND ${PROJECT_NAME}) diff --git a/applications/plugins/SofaMatrix/extensions/imgui/tests/test.cpp b/applications/plugins/SofaMatrix/extensions/imgui/tests/test.cpp new file mode 100644 index 00000000000..21805333f00 --- /dev/null +++ b/applications/plugins/SofaMatrix/extensions/imgui/tests/test.cpp @@ -0,0 +1 @@ +#include diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageProxy.h b/applications/plugins/SofaMatrix/src/SofaMatrix/BaseMatrixImageProxy.h similarity index 97% rename from applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageProxy.h rename to applications/plugins/SofaMatrix/src/SofaMatrix/BaseMatrixImageProxy.h index 7a7d1b59809..fb47137ccf8 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/BaseMatrixImageProxy.h +++ b/applications/plugins/SofaMatrix/src/SofaMatrix/BaseMatrixImageProxy.h @@ -20,7 +20,7 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include +#include #include namespace sofa::type @@ -69,4 +69,4 @@ struct BaseMatrixImageProxy linearalgebra::BaseMatrix* m_matrix { nullptr }; }; -} //namespace sofa::type \ No newline at end of file +} //namespace sofa::type diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/ComplianceMatrixImage.cpp b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixImage.cpp similarity index 98% rename from applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/ComplianceMatrixImage.cpp rename to applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixImage.cpp index 27d4722524d..480cc502ed9 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/ComplianceMatrixImage.cpp +++ b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixImage.cpp @@ -19,7 +19,7 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#include #include #include diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/ComplianceMatrixImage.h b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixImage.h similarity index 91% rename from applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/ComplianceMatrixImage.h rename to applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixImage.h index 15d7ac1438e..a3fd8b140ac 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/ComplianceMatrixImage.h +++ b/applications/plugins/SofaMatrix/src/SofaMatrix/ComplianceMatrixImage.h @@ -20,10 +20,10 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include +#include #include -#include +#include #include namespace sofa::component::constraintset @@ -33,9 +33,9 @@ namespace sofa::component::constraintset * Component to convert a BaseMatrix from the constraint solver into an image that can be visualized in the GUI. * Use ComplianceMatrixExporter in order to save an image on the disk. * - * Note that the compliance matrix is dense. It means all the entries will proably be non-zero + * Note that the compliance matrix is dense. It means all the entries will probably be non-zero */ -class SOFA_SOFAMATRIX_QT_API ComplianceMatrixImage : public core::objectmodel::BaseObject +class SOFA_SOFAMATRIX_API ComplianceMatrixImage : public core::objectmodel::BaseObject { public: SOFA_CLASS(ComplianceMatrixImage, core::objectmodel::BaseObject); @@ -52,4 +52,4 @@ class SOFA_SOFAMATRIX_QT_API ComplianceMatrixImage : public core::objectmodel::B SingleLink l_constraintSolver; }; -} //namespace sofa::component::constraintset \ No newline at end of file +} //namespace sofa::component::constraintset diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/GlobalSystemMatrixImage.cpp b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixImage.cpp similarity index 98% rename from applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/GlobalSystemMatrixImage.cpp rename to applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixImage.cpp index 46c2f3ca0fd..f8fe494f743 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/GlobalSystemMatrixImage.cpp +++ b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixImage.cpp @@ -19,7 +19,7 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#include +#include #include #include #include diff --git a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/GlobalSystemMatrixImage.h b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixImage.h similarity index 93% rename from applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/GlobalSystemMatrixImage.h rename to applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixImage.h index 7bf4247d4cb..016d1fc9872 100644 --- a/applications/plugins/SofaMatrix/extensions/Qt/src/SofaMatrix/Qt/GlobalSystemMatrixImage.h +++ b/applications/plugins/SofaMatrix/src/SofaMatrix/GlobalSystemMatrixImage.h @@ -20,10 +20,10 @@ * Contact information: contact@sofa-framework.org * ******************************************************************************/ #pragma once -#include +#include #include -#include +#include #include @@ -34,7 +34,7 @@ namespace sofa::component::linearsolver * Component to convert a BaseMatrix from the linear solver into an image that can be visualized in the GUI. * Use GlobalSystemMatrixExporter in order to save an image on the disk. */ -class SOFA_SOFAMATRIX_QT_API GlobalSystemMatrixImage : public core::objectmodel::BaseObject +class SOFA_SOFAMATRIX_API GlobalSystemMatrixImage : public core::objectmodel::BaseObject { public: SOFA_CLASS(GlobalSystemMatrixImage, core::objectmodel::BaseObject); diff --git a/applications/plugins/SofaMatrix/src/SofaMatrix/initSofaMatrix.cpp b/applications/plugins/SofaMatrix/src/SofaMatrix/initSofaMatrix.cpp index 7ba9f3990f1..f21e365a925 100644 --- a/applications/plugins/SofaMatrix/src/SofaMatrix/initSofaMatrix.cpp +++ b/applications/plugins/SofaMatrix/src/SofaMatrix/initSofaMatrix.cpp @@ -34,10 +34,12 @@ namespace sofa::component::linearsystem namespace sofa::component::linearsolver { extern void registerFillReducingOrdering(sofa::core::ObjectFactory* factory); + extern void registerGlobalSystemMatrixImage(sofa::core::ObjectFactory* factory); } namespace sofa::component::constraintset { extern void registerComplianceMatrixExporter(sofa::core::ObjectFactory* factory); + extern void registerComplianceMatrixImage(sofa::core::ObjectFactory* factory); } @@ -89,9 +91,11 @@ const char* getModuleDescription() void registerObjects(sofa::core::ObjectFactory* factory) { - sofa::component::linearsystem::registerGlobalSystemMatrixExporter(factory); - sofa::component::linearsolver::registerFillReducingOrdering(factory); sofa::component::constraintset::registerComplianceMatrixExporter(factory); + sofa::component::constraintset::registerComplianceMatrixImage(factory); + sofa::component::linearsolver::registerFillReducingOrdering(factory); + sofa::component::linearsolver::registerGlobalSystemMatrixImage(factory); + sofa::component::linearsystem::registerGlobalSystemMatrixExporter(factory); } } // namespace sofamatrix diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h index 2a90203e589..6679566aa43 100644 --- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h +++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h @@ -444,7 +444,7 @@ sofa::component::collision::OBBCollisionModel::S //dVecCoord.endEdit(); obbCollisionModel->computeBoundingTree(0); - //std::cout<<"the proximity "<getProximity()<getContactDistance()<::S //dVecCoord.endEdit(); obbCollisionModel->computeBoundingTree(0); - //std::cout<<"the proximity "<getProximity()<getContactDistance()< -namespace sofa::component::visualmodel +namespace volumetricrendering { -int CudaOglTetrahedralModelClass = sofa::core::RegisterObject("Tetrahedral model for OpenGL display") - .add< OglTetrahedralModel >() - ; +namespace cuda +{ -template class OglTetrahedralModel; +void registerCudaOglTetrahedralModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Tetrahedral model for OpenGL display.") + .add< OglTetrahedralModel >()); +} } +template class SOFA_VOLUMETRICRENDERING_CUDA_API OglTetrahedralModel; + +} // namespace volumetricrendering diff --git a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.h b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.h index a24a25f17ea..0502b932261 100644 --- a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.h +++ b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.h @@ -26,7 +26,7 @@ #include -namespace sofa::component::visualmodel +namespace volumetricrendering { template @@ -101,6 +101,6 @@ class OglTetrahedralModel< gpu::cuda::CudaVectorTypes > : p }; #endif /*OGLTETRAHEDRALMODEL_H_*/ -} +} // namespace volumetricrendering diff --git a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.inl b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.inl index 40c138bc631..83f1d3ec8d5 100644 --- a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.inl +++ b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/CudaTetrahedralVisualModel.inl @@ -27,7 +27,7 @@ #include -namespace sofa::component::visualmodel +namespace volumetricrendering { using namespace sofa::defaulttype; @@ -159,7 +159,7 @@ bool OglTetrahedralModel< gpu::cuda::CudaVectorTypes >::add return true; } -} +} // namespace volumetricrendering #endif //OGLTETRAHEDRALMODEL_H_ diff --git a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp index a45c8caefc7..39fe970d82b 100644 --- a/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp +++ b/applications/plugins/VolumetricRendering/extensions/CUDA/src/VolumetricRendering/CUDA/init.cpp @@ -23,16 +23,18 @@ #include #include #include - +#include namespace volumetricrendering::cuda { +extern void registerCudaOglTetrahedralModel(sofa::core::ObjectFactory* factory); + extern "C" { SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule(); SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName(); SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleVersion(); - SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleComponentList(); + SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects(sofa::core::ObjectFactory* factory); } void initExternalModule() @@ -55,17 +57,18 @@ 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); + volumetricrendering::init(); sofa::gpu::cuda::init(); first = false; } } -const char* getModuleComponentList() +void registerObjects(sofa::core::ObjectFactory* factory) { - /// string containing the names of the classes provided by the plugin - static std::string classes = sofa::core::ObjectFactory::getInstance()->listClassesFromTarget(MODULE_NAME); - return classes.c_str(); + registerCudaOglTetrahedralModel(factory); } -} // namespace volumetricrendering::cuda +} // namespace volumetricrendering diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.cpp b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.cpp index c3b5632e7c2..d1d76ed836a 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.cpp +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.cpp @@ -25,15 +25,17 @@ #include -namespace sofa::component::visualmodel +namespace volumetricrendering { using namespace sofa::defaulttype; -int OglTetrahedralModelClass = sofa::core::RegisterObject("Tetrahedral model for OpenGL display") - .add< OglTetrahedralModel >() - ; +void registerOglTetrahedralModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Tetrahedral model for OpenGL display.") + .add< OglTetrahedralModel >()); +} template class SOFA_VOLUMETRICRENDERING_API OglTetrahedralModel; -} +} // namespace volumetricrendering diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.h b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.h index 342f3276254..6cfeed60d13 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.h +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglTetrahedralModel.h @@ -33,7 +33,7 @@ #include -namespace sofa::component::visualmodel +namespace volumetricrendering { /** @@ -94,7 +94,7 @@ extern template class SOFA_VOLUMETRICRENDERING_API OglTetrahedralModel -namespace sofa::component::visualmodel +namespace volumetricrendering { template @@ -320,8 +320,11 @@ void OglTetrahedralModel::drawTransparent(const core::visual::VisualP } template -void OglTetrahedralModel::computeBBox(const core::ExecParams * params, bool /* onlyVisible */) +void OglTetrahedralModel::computeBBox(const core::ExecParams * params, bool onlyVisible) { + SOFA_UNUSED(params); + SOFA_UNUSED(onlyVisible); + const type::vector& position = m_positions.getValue(); if (m_topology && position.size() > 0) @@ -377,6 +380,6 @@ void OglTetrahedralModel::updateVertexBuffer() } -} // namespace sofa::component::visualmodel +} // namespace volumetricrendering #endif //OGLTETRAHEDRALMODEL_H_ diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp index af943ece023..6bd4b6e9fae 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.cpp @@ -31,13 +31,14 @@ #include #include -namespace sofa::component::visualmodel +namespace volumetricrendering { -int OglVolumetricModelClass = sofa::core::RegisterObject("Volumetric model for OpenGL display") -.add < OglVolumetricModel >(); - - +void registerOglVolumetricModel(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(sofa::core::ObjectRegistrationData("Volumetric model for OpenGL display.") + .add < OglVolumetricModel >()); +} OglVolumetricModel::OglVolumetricModel() : d_tetrahedra(initData(&d_tetrahedra, "tetrahedra", "Tetrahedra to draw")) @@ -310,7 +311,6 @@ void OglVolumetricModel::computeMeshFromTopology() void OglVolumetricModel::splitHexahedra() { - helper::ReadAccessor< Data< type::vector > > tetrahedra = d_tetrahedra; helper::ReadAccessor< Data< type::vector > > hexahedra = d_hexahedra; m_hexaToTetrahedra.clear(); @@ -452,7 +452,6 @@ void OglVolumetricModel::drawTransparent(const core::visual::VisualParams* vpara glEnableClientState(GL_VERTEX_ARRAY); const type::vector& tetrahedra = d_tetrahedra.getValue(); - const type::vector& hexahedra = d_hexahedra.getValue(); //glEnable(GL_CLIP_DISTANCE0); @@ -487,8 +486,11 @@ void OglVolumetricModel::drawTransparent(const core::visual::VisualParams* vpara glPopAttrib(); } -void OglVolumetricModel::computeBBox(const core::ExecParams * params, bool /* onlyVisible */) +void OglVolumetricModel::computeBBox(const core::ExecParams * params, bool onlyVisible) { + SOFA_UNUSED(params); + SOFA_UNUSED(onlyVisible); + //if (m_topology) { Coord v; @@ -532,4 +534,4 @@ void OglVolumetricModel::updateVertexBuffer() } -} // namespace sofa::component::visualmodel +} // namespace volumetricrendering diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h index 5cf628d5d21..7674d3a531b 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h @@ -34,7 +34,7 @@ #include -namespace sofa::component::visualmodel +namespace volumetricrendering { /** @@ -109,7 +109,7 @@ class SOFA_VOLUMETRICRENDERING_API OglVolumetricModel : public core::visual::Vis }; -} // namespace sofa::component::visualmodel +} // namespace volumetricrendering #endif // OGLVOLUMETRICMODEL_H_ diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/config.h.in b/applications/plugins/VolumetricRendering/src/VolumetricRendering/config.h.in index 4339237338c..3e409f3321d 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/config.h.in +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/config.h.in @@ -19,11 +19,12 @@ * * * Contact information: contact@sofa-framework.org * ******************************************************************************/ -#ifndef VOLUMETRICRENDERING_CONFIG_H -#define VOLUMETRICRENDERING_CONFIG_H +#pragma once #include +using namespace sofa; + #define VOLUMETRICRENDERING_VERSION @PROJECT_VERSION@ #ifdef SOFA_BUILD_VOLUMETRICRENDERING @@ -39,4 +40,3 @@ namespace volumetricrendering constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@"; } -#endif diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/initVolumetricRendering.cpp b/applications/plugins/VolumetricRendering/src/VolumetricRendering/initVolumetricRendering.cpp index de1556a8deb..0643c8dcc6f 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/initVolumetricRendering.cpp +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/initVolumetricRendering.cpp @@ -21,10 +21,14 @@ ******************************************************************************/ #include #include +#include namespace volumetricrendering { +extern void registerOglTetrahedralModel(sofa::core::ObjectFactory* factory); +extern void registerOglVolumetricModel(sofa::core::ObjectFactory* factory); + //Here are just several convenient functions to help user to know what contains the plugin extern "C" { @@ -33,7 +37,7 @@ extern "C" { SOFA_VOLUMETRICRENDERING_API const char* getModuleVersion(); SOFA_VOLUMETRICRENDERING_API const char* getModuleLicense(); SOFA_VOLUMETRICRENDERING_API const char* getModuleDescription(); - SOFA_VOLUMETRICRENDERING_API const char* getModuleComponentList(); + SOFA_VOLUMETRICRENDERING_API void registerObjects(sofa::core::ObjectFactory* factory); } void init() @@ -43,6 +47,9 @@ void init() void initExternalModule() { + // make sure that this plugin is registered into the PluginManager + sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME); + static bool first = true; if (first) { @@ -71,11 +78,10 @@ const char* getModuleDescription() return "A plugin for volumetric rendering (tetrahedron, hexahedron)"; } -const char* getModuleComponentList() +void registerObjects(sofa::core::ObjectFactory* factory) { - static std::string classes = sofa::core::ObjectFactory::getInstance()->listClassesFromTarget(volumetricrendering::MODULE_NAME); - return classes.c_str(); + registerOglTetrahedralModel(factory); + registerOglVolumetricModel(factory); } - } // namespace volumetricrendering diff --git a/applications/plugins/image/CMakeLists.txt b/applications/plugins/image/CMakeLists.txt index f7567a64227..b4c3d47d349 100644 --- a/applications/plugins/image/CMakeLists.txt +++ b/applications/plugins/image/CMakeLists.txt @@ -9,7 +9,7 @@ sofa_find_package(Sofa.Component.Visual REQUIRED) sofa_find_package(CImgPlugin REQUIRED) sofa_find_package(Sofa.GL QUIET) -sofa_find_package(Sofa.GUI.Qt QUIET) +sofa_find_package(Sofa.Qt QUIET) sofa_find_package(SofaPython QUIET) sofa_find_package(MultiThreading QUIET) sofa_find_package(ZLIB) @@ -150,8 +150,11 @@ if(SOFA_BUILD_TESTS) add_subdirectory(image_test) endif() -if(Sofa.GUI.Qt_FOUND) - add_subdirectory(image_gui) +if(Sofa.Qt_FOUND) + option(PLUGIN_IMAGE_COMPILE_GUI "Build Qt-based image GUI" OFF) + if(PLUGIN_IMAGE_COMPILE_GUI) + add_subdirectory(image_gui) + endif () endif() ## Install rules for the library and headers; CMake package configurations files diff --git a/applications/plugins/image/DepthMapToMeshEngine.h b/applications/plugins/image/DepthMapToMeshEngine.h index d24ad8367fc..7906a941f12 100644 --- a/applications/plugins/image/DepthMapToMeshEngine.h +++ b/applications/plugins/image/DepthMapToMeshEngine.h @@ -108,7 +108,7 @@ class DepthMapToMeshEngine : public core::DataEngine , texImage(initData(&texImage,TextureTypes(),"texImage","")) , position(initData(&position,SeqPositions(),"position","output positions")) , texCoord(initData(&texCoord,SeqTexCoords(),"texCoord","output texture coordinates")) - , texOffset(initData(&texOffset,TexCoord(0.0,0.0),"texOffset","texture offsets (in [0,1])")) + , texOffset(initData(&texOffset,TexCoord({0.0,0.0}),"texOffset","texture offsets (in [0,1])")) , triangles(initData(&triangles,SeqTriangles(),"triangles","output triangles")) , time((unsigned int)0) #if IMAGE_HAVE_SOFA_GL == 1 diff --git a/applications/plugins/image/ImageAlgorithms.h b/applications/plugins/image/ImageAlgorithms.h index 1ba4dfa2ec7..c6206419c54 100644 --- a/applications/plugins/image/ImageAlgorithms.h +++ b/applications/plugins/image/ImageAlgorithms.h @@ -361,11 +361,11 @@ void left(cimg_library::CImg& v, cimg_library::CImg& d, cons { sofa::type::fixed_array< sofa::type::fixed_array, 10 > c; sofa::type::fixed_array< sofa::type::fixed_array, 10 > o; - c[0] = sofa::type::fixed_array(i,j,k); o[0] = sofa::type::fixed_array(0,0,0); int count=1; + c[0] = sofa::type::fixed_array({i,j,k}); o[0] = sofa::type::fixed_array({0,0,0}); int count=1; for(int y=-1;y<=1; ++y) for(int z=-1; z<=1; z++) { - c[count] = sofa::type::fixed_array(i+1,j+y,k+z); - o[count] = sofa::type::fixed_array(1,std::abs(y),std::abs(z)); count++; + c[count] = sofa::type::fixed_array({i+1,j+y,k+z}); + o[count] = sofa::type::fixed_array({1,std::fabs(y),std::fabs(z)}); count++; } update(d,v,c,o,vx, bias); } @@ -388,11 +388,11 @@ void right(cimg_library::CImg& v, cimg_library::CImg& d, con { sofa::type::fixed_array< sofa::type::fixed_array, 10 > c; sofa::type::fixed_array< sofa::type::fixed_array, 10 > o; - c[0] = sofa::type::fixed_array(i,j,k); o[0] = sofa::type::fixed_array(0,0,0); int count=1; + c[0] = sofa::type::fixed_array({i,j,k}); o[0] = sofa::type::fixed_array({0,0,0}); int count=1; for(int y=-1;y<=1; ++y) for(int z=-1; z<=1; z++) { - c[count] = sofa::type::fixed_array(i-1,j+y,k+z); - o[count] = sofa::type::fixed_array(1,std::abs(y),std::abs(z)); count++; + c[count] = sofa::type::fixed_array({i-1,j+y,k+z}); + o[count] = sofa::type::fixed_array({1,std::fabs(y),std::fabs(z)}); count++; } update(d,v,c,o,vx, bias); } @@ -415,11 +415,11 @@ void down(cimg_library::CImg& v, cimg_library::CImg& d, cons { sofa::type::fixed_array< sofa::type::fixed_array, 10 > c; sofa::type::fixed_array< sofa::type::fixed_array, 10 > o; - c[0] = sofa::type::fixed_array(i,j,k); o[0] = sofa::type::fixed_array(0,0,0); int count=1; + c[0] = sofa::type::fixed_array({i,j,k}); o[0] = sofa::type::fixed_array({0,0,0}); int count=1; for(int x=-1;x<=1; ++x) for(int z=-1; z<=1; z++) { - c[count] = sofa::type::fixed_array(i+x,j+1,k+z); - o[count] = sofa::type::fixed_array(std::abs(x),1,std::abs(z)); count++; + c[count] = sofa::type::fixed_array({i+x,j+1,k+z}); + o[count] = sofa::type::fixed_array({std::fabs(x),1,std::fabs(z)}); count++; } update(d,v,c,o,vx, bias); } @@ -442,11 +442,11 @@ void up(cimg_library::CImg& v, cimg_library::CImg& d, const { sofa::type::fixed_array< sofa::type::fixed_array, 10 > c; sofa::type::fixed_array< sofa::type::fixed_array, 10 > o; - c[0] = sofa::type::fixed_array(i,j,k); o[0] = sofa::type::fixed_array(0,0,0); int count=1; + c[0] = sofa::type::fixed_array({i,j,k}); o[0] = sofa::type::fixed_array({0,0,0}); int count=1; for(int x=-1;x<=1; ++x) for(int z=-1; z<=1; z++) { - c[count] = sofa::type::fixed_array(i+x,j-1,k+z); - o[count] = sofa::type::fixed_array(std::abs(x),1,std::abs(z)); count++; + c[count] = sofa::type::fixed_array({i+x,j-1,k+z}); + o[count] = sofa::type::fixed_array({std::fabs(x),1,std::fabs(z)}); count++; } update(d,v,c,o,vx, bias); } @@ -469,11 +469,11 @@ void backward(cimg_library::CImg& v, cimg_library::CImg& d, { sofa::type::fixed_array< sofa::type::fixed_array, 10 > c; sofa::type::fixed_array< sofa::type::fixed_array, 10 > o; - c[0] = sofa::type::fixed_array(i,j,k); o[0] = sofa::type::fixed_array(0,0,0); int count=1; + c[0] = sofa::type::fixed_array({i,j,k}); o[0] = sofa::type::fixed_array({0,0,0}); int count=1; for(int x=-1;x<=1; ++x) for(int y=-1; y<=1; y++) { - c[count] = sofa::type::fixed_array(i+x,j+y,k+1); - o[count] = sofa::type::fixed_array(std::abs(x),std::abs(y),1); count++; + c[count] = sofa::type::fixed_array({i+x,j+y,k+1}); + o[count] = sofa::type::fixed_array({std::fabs(x),std::fabs(y),1}); count++; } update(d,v,c,o,vx,bias); } @@ -496,11 +496,11 @@ void forward(cimg_library::CImg& v, cimg_library::CImg& d, c { sofa::type::fixed_array< sofa::type::fixed_array, 10 > c; sofa::type::fixed_array< sofa::type::fixed_array, 10 > o; - c[0] = sofa::type::fixed_array(i,j,k); o[0] = sofa::type::fixed_array(0,0,0); int count=1; + c[0] = sofa::type::fixed_array({i,j,k}); o[0] = sofa::type::fixed_array({0,0,0}); int count=1; for(int x=-1;x<=1; ++x) for(int y=-1; y<=1; y++) { - c[count] = sofa::type::fixed_array(i+x,j+y,k-1); - o[count] = sofa::type::fixed_array(std::abs(x),std::abs(y),1); count++; + c[count] = sofa::type::fixed_array({i+x,j+y,k-1}); + o[count] = sofa::type::fixed_array({std::fabs(x),std::fabs(y),1}); count++; } update(d,v,c,o,vx,bias); } diff --git a/applications/plugins/image/examples/loadVolume.scn b/applications/plugins/image/examples/loadVolume.scn index a98b7974737..2fd016a0857 100644 --- a/applications/plugins/image/examples/loadVolume.scn +++ b/applications/plugins/image/examples/loadVolume.scn @@ -1,5 +1,5 @@ - + @@ -9,13 +9,16 @@ - - - - - - - - - + + + + + + + + + + + + diff --git a/applications/plugins/image/imageConfig.cmake.in b/applications/plugins/image/imageConfig.cmake.in index bdfafd17275..c5dfe4cd0d6 100644 --- a/applications/plugins/image/imageConfig.cmake.in +++ b/applications/plugins/image/imageConfig.cmake.in @@ -19,7 +19,7 @@ if(IMAGE_HAVE_SOFA_GL) find_package(Sofa.GL QUIET REQUIRED) endif() if(IMAGE_HAVE_SOFAGUIQT) - find_package(Sofa.GUI.Qt QUIET REQUIRED) + find_package(Sofa.Qt QUIET REQUIRED) endif() if(IMAGE_HAVE_SOFAPYTHON) find_package(SofaPython QUIET REQUIRED) diff --git a/applications/plugins/image/image_gui/CMakeLists.txt b/applications/plugins/image/image_gui/CMakeLists.txt index f09ac6ff390..816395139a6 100644 --- a/applications/plugins/image/image_gui/CMakeLists.txt +++ b/applications/plugins/image/image_gui/CMakeLists.txt @@ -22,7 +22,7 @@ set(SOURCE_FILES include(../imagetoolbox/imagetoolbox.cmake) -find_package(Sofa.GUI.Qt REQUIRED QUIET) +find_package(Sofa.Qt REQUIRED QUIET) find_package(Qt5 COMPONENTS Core QUIET) if (NOT Qt5Core_FOUND) if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.16") @@ -30,7 +30,7 @@ if (NOT Qt5Core_FOUND) if (Qt6Core_FOUND) qt6_wrap_cpp(MOC_FILES ${MOC_HEADER_FILES}) endif() - # else() should never happened as it would already break in Sofa.GUI.Qt + # else() should never happened as it would already break in Sofa.Qt endif() else() qt5_wrap_cpp(MOC_FILES ${MOC_HEADER_FILES}) @@ -40,7 +40,7 @@ set(MOC_FILES_GROUP "Generated") add_definitions("-DSOFA_BUILD_IMAGE_GUI") add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${MOC_HEADER_FILES} ${MOC_FILES} ${SOURCE_FILES}) -target_link_libraries(${PROJECT_NAME} image ${OPENGL_LIBRARIES} Sofa.GUI.Qt) +target_link_libraries(${PROJECT_NAME} image ${OPENGL_LIBRARIES} Sofa.Qt) sofa_create_package_with_targets( PACKAGE_NAME ${PROJECT_NAME} diff --git a/applications/plugins/image/image_gui/image_guiConfig.cmake.in b/applications/plugins/image/image_gui/image_guiConfig.cmake.in index 2b4dcc4f1e5..a8811792572 100644 --- a/applications/plugins/image/image_gui/image_guiConfig.cmake.in +++ b/applications/plugins/image/image_gui/image_guiConfig.cmake.in @@ -3,6 +3,6 @@ @PACKAGE_GUARD@ @PACKAGE_INIT@ -find_package(Sofa.GUI.Qt QUIET REQUIRED) +find_package(Sofa.Qt QUIET REQUIRED) check_required_components(image_gui) diff --git a/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.cpp b/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.cpp index 7e58524bbe6..93db24dbeb4 100644 --- a/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.cpp +++ b/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.cpp @@ -29,9 +29,6 @@ namespace sofa { -namespace gui -{ - namespace qt { @@ -66,7 +63,6 @@ helper::Creator > > D #endif } // qt -} // gui } // sofa diff --git a/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.h b/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.h index 2bb76a03048..4ec23725e26 100644 --- a/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.h +++ b/applications/plugins/image/image_gui/src/image_gui/HistogramWidget.h @@ -23,8 +23,8 @@ #define SOFA_IMAGE_HISTOGRAMWIDGET_H #include -#include -#include +#include +#include #include #include @@ -42,8 +42,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -386,6 +384,4 @@ class SOFA_IMAGE_GUI_API HistogramDataWidget : public SimpleDataWidget > > D #endif } // qt -} // gui } // sofa diff --git a/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h b/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h index 43d1bdab573..37ba40d8579 100644 --- a/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h +++ b/applications/plugins/image/image_gui/src/image_gui/ImagePlaneWidget.h @@ -23,8 +23,8 @@ #define SOFA_IMAGE_IMAGEPLANEWIDGET_H #include -#include -#include +#include +#include #include #include @@ -54,8 +54,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -807,6 +805,4 @@ class SOFA_IMAGE_GUI_API ImagePlaneDataWidget : public SimpleDataWidget::writeToData() } } // qt -} // gui } // sofa diff --git a/applications/plugins/image/image_gui/src/image_gui/ImageTransformWidget.h b/applications/plugins/image/image_gui/src/image_gui/ImageTransformWidget.h index 62df781069e..91a77a111ac 100644 --- a/applications/plugins/image/image_gui/src/image_gui/ImageTransformWidget.h +++ b/applications/plugins/image/image_gui/src/image_gui/ImageTransformWidget.h @@ -23,9 +23,9 @@ #define SOFA_IMAGE_IMAGETRANSFORMWIDGET_H #include -#include -#include -#include +#include +#include +#include #include #include @@ -46,8 +46,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -92,6 +90,4 @@ public : } -} - #endif // SOFA_IMAGE_IMAGETRANSFORMWIDGET_H diff --git a/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.cpp b/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.cpp index 0fdc88e964a..e6d4f1b4c8b 100644 --- a/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.cpp +++ b/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.cpp @@ -8,9 +8,6 @@ namespace sofa { -namespace gui -{ - namespace qt { @@ -24,5 +21,4 @@ template class SOFA_IMAGE_GUI_API TDataWidget; helper::Creator > DWClass_VectorVis("vectorvis",true); } // qt -} // gui } // sofa diff --git a/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.h b/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.h index 023a34dd373..507c42090d8 100644 --- a/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.h +++ b/applications/plugins/image/image_gui/src/image_gui/VectorVisualizationWidget.h @@ -1,8 +1,8 @@ #ifndef SOFA_IMAGE_VECTORVISWIDGET_H #define SOFA_IMAGE_VECTORVISWIDGET_H -#include -#include +#include +#include #include #include @@ -14,8 +14,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -490,6 +488,5 @@ class SOFA_IMAGE_GUI_API VectorVisualizationDataWidget : public SimpleDataWidget }; } } -} #endif //SOFA_IMAGE_VECTORVISWIDGET_H diff --git a/applications/plugins/image/imagetoolbox/contour/contourimagetoolbox.h b/applications/plugins/image/imagetoolbox/contour/contourimagetoolbox.h index 63d0b5e38a9..9571091e931 100644 --- a/applications/plugins/image/imagetoolbox/contour/contourimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/contour/contourimagetoolbox.h @@ -62,9 +62,9 @@ class SOFA_IMAGE_GUI_API ContourImageToolBoxNoTemplated: public LabelImageToolBo addOutput(&d_vecPixCoord); } - sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override + sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override { - return new sofa::gui::qt::ContourImageToolBoxAction(this,parent); + return new sofa::qt::ContourImageToolBoxAction(this,parent); } diff --git a/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.cpp index 585255502af..35d4ec34083 100644 --- a/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.cpp @@ -6,8 +6,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -385,6 +383,5 @@ void ContourImageToolBoxAction::optionChangeSection(sofa::type::Vec3i v) -} } } diff --git a/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.h index 4badc250e44..2d3530ed172 100644 --- a/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/contour/contourimagetoolboxaction.h @@ -27,8 +27,6 @@ class SOFA_IMAGE_GUI_API ContourImageToolBoxNoTemplated; namespace sofa { -namespace gui -{ namespace qt { @@ -89,7 +87,6 @@ private slots: }; -} } } diff --git a/applications/plugins/image/imagetoolbox/depth/depthimagetoolbox.h b/applications/plugins/image/imagetoolbox/depth/depthimagetoolbox.h index ed6708de467..8df7e27a781 100644 --- a/applications/plugins/image/imagetoolbox/depth/depthimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/depth/depthimagetoolbox.h @@ -123,9 +123,9 @@ class SOFA_IMAGE_GUI_API DepthImageToolBox: public LabelImageToolBox } - sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override + sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override { - return new sofa::gui::qt::DepthImageToolBoxAction(this,parent); + return new sofa::qt::DepthImageToolBoxAction(this,parent); } void createLayer() diff --git a/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.cpp index 7051bb40793..9800c313b01 100644 --- a/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.cpp @@ -6,8 +6,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -452,6 +450,5 @@ void DepthImageToolBoxAction::sectionButtonClick() -} } } diff --git a/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.h index 3182581a310..900e1cb552e 100644 --- a/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/depth/depthimagetoolboxaction.h @@ -24,8 +24,6 @@ class DepthImageToolBox; namespace sofa { -namespace gui -{ namespace qt { @@ -237,7 +235,6 @@ private slots: }; -} } } diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxbasicactionwidget.h b/applications/plugins/image/imagetoolbox/imagetoolboxbasicactionwidget.h index b310b5bf5c9..ab11f04f672 100644 --- a/applications/plugins/image/imagetoolbox/imagetoolboxbasicactionwidget.h +++ b/applications/plugins/image/imagetoolbox/imagetoolboxbasicactionwidget.h @@ -11,8 +11,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -84,7 +82,6 @@ public slots: } } -} diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h b/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h index 6377ddda388..cb287c93b73 100644 --- a/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h +++ b/applications/plugins/image/imagetoolbox/imagetoolboxcentralwidget.h @@ -24,8 +24,8 @@ ******************************************************************************/ #include -#include -#include +#include +#include #include #include @@ -45,8 +45,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -420,7 +418,7 @@ class TImageToolBoxCentralWidget: public ImageToolBoxCentralWidget } }; -}}} +}} #endif // IMAGETOOLBOXCENTRALWIDGET_H diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxlabelactionwidget.h b/applications/plugins/image/imagetoolbox/imagetoolboxlabelactionwidget.h index ef69dd00d52..d96d04f6f91 100644 --- a/applications/plugins/image/imagetoolbox/imagetoolboxlabelactionwidget.h +++ b/applications/plugins/image/imagetoolbox/imagetoolboxlabelactionwidget.h @@ -13,8 +13,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -33,7 +31,7 @@ Q_OBJECT QString currentVal; typedef sofa::component::engine::LabelImageToolBox Label; - typedef sofa::gui::qt::LabelImageToolBoxAction LabelAction; + typedef sofa::qt::LabelImageToolBoxAction LabelAction; typedef type::vector VecLabel; typedef type::vector VecLabelAction; @@ -244,7 +242,6 @@ public slots: //void updateImage(); }; -} } } diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxwidget.cpp b/applications/plugins/image/imagetoolbox/imagetoolboxwidget.cpp index daaab822ced..c2c528838ac 100644 --- a/applications/plugins/image/imagetoolbox/imagetoolboxwidget.cpp +++ b/applications/plugins/image/imagetoolbox/imagetoolboxwidget.cpp @@ -8,8 +8,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -47,5 +45,4 @@ helper::Creator > #endif } // qt -} // gui } // sofa diff --git a/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h b/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h index dfb343d5454..6c7a47b3961 100644 --- a/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h +++ b/applications/plugins/image/imagetoolbox/imagetoolboxwidget.h @@ -37,8 +37,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -228,7 +226,5 @@ class SOFA_IMAGE_GUI_API ImageToolBoxWidget : public SimpleDataWidget parseVector() diff --git a/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.cpp index fb1edeb6906..16049f0c0a9 100644 --- a/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.cpp @@ -7,8 +7,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -350,6 +348,5 @@ void LabelGridImageToolBoxAction::sectionButtonClick() -} } } diff --git a/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.h index 4697ee8cadd..639f1aee155 100644 --- a/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/labelgrid/labelgridimagetoolboxaction.h @@ -23,8 +23,6 @@ class SOFA_IMAGE_GUI_API LabelGridImageToolBoxNoTemplated; namespace sofa { -namespace gui -{ namespace qt { @@ -69,7 +67,6 @@ private slots: }; -} } } diff --git a/applications/plugins/image/imagetoolbox/labelimagetoolbox.h b/applications/plugins/image/imagetoolbox/labelimagetoolbox.h index bd1a247a06c..29d57ceeb16 100644 --- a/applications/plugins/image/imagetoolbox/labelimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/labelimagetoolbox.h @@ -43,14 +43,11 @@ namespace sofa { -namespace gui -{ namespace qt { class SOFA_IMAGE_GUI_API LabelImageToolBoxAction; } } -} namespace sofa { @@ -114,7 +111,7 @@ class SOFA_IMAGE_GUI_API LabelImageToolBox : public core::DataEngine public: - virtual sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget* /*parent*/=nullptr )=0; + virtual sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget* /*parent*/=nullptr )=0; }; diff --git a/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.cpp index c64be7b97d9..c5431dd2e1d 100644 --- a/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.cpp @@ -5,8 +5,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -102,5 +100,4 @@ void LabelImageToolBoxAction::setGraphScene(QGraphicsScene *XY,QGraphicsScene *X } } -} diff --git a/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.h index d10eb71d119..a5a476be38b 100644 --- a/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/labelimagetoolboxaction.h @@ -21,8 +21,6 @@ class SOFA_IMAGE_GUI_API LabelImageToolBox; namespace sofa { -namespace gui -{ namespace qt { @@ -112,7 +110,6 @@ private slots: -} } } diff --git a/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolbox.h b/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolbox.h index d8180353039..5841394ca63 100644 --- a/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolbox.h @@ -48,9 +48,9 @@ class SOFA_IMAGE_GUI_API LabelPointImageToolBox: public LabelImageToolBox } - sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override + sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override { - return new sofa::gui::qt::LabelPointImageToolBoxAction(this,parent); + return new sofa::qt::LabelPointImageToolBoxAction(this,parent); } public: diff --git a/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.cpp index 18146a0b37d..bfe5005e05f 100644 --- a/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.cpp @@ -15,8 +15,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -172,6 +170,5 @@ void LabelPointImageToolBoxAction::sectionButtonClick() -} } } diff --git a/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.h index 6f014f606e3..6c519aa0558 100644 --- a/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/labelpoint/labelpointimagetoolboxaction.h @@ -20,8 +20,6 @@ class SOFA_IMAGE_GUI_API LabelPointImageToolBox; namespace sofa { -namespace gui -{ namespace qt { @@ -55,7 +53,6 @@ private slots: }; -} } } diff --git a/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolbox.h b/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolbox.h index ebf1fa915d5..b3236d7548f 100644 --- a/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolbox.h @@ -38,9 +38,9 @@ class SOFA_IMAGE_GUI_API LabelPointsBySectionImageToolBox: public LabelImageTool public: SOFA_CLASS(LabelPointsBySectionImageToolBox,LabelImageToolBox); - typedef sofa::gui::qt::LabelPointsBySectionImageToolBoxAction::Point Point; - typedef sofa::gui::qt::LabelPointsBySectionImageToolBoxAction::VecPointSection VecPointSection; - typedef sofa::gui::qt::LabelPointsBySectionImageToolBoxAction::MapSection MapSection; + typedef sofa::qt::LabelPointsBySectionImageToolBoxAction::Point Point; + typedef sofa::qt::LabelPointsBySectionImageToolBoxAction::VecPointSection VecPointSection; + typedef sofa::qt::LabelPointsBySectionImageToolBoxAction::MapSection MapSection; typedef sofa::core::objectmodel::DataFileName DataFileName; LabelPointsBySectionImageToolBox():LabelImageToolBox() @@ -62,9 +62,9 @@ class SOFA_IMAGE_GUI_API LabelPointsBySectionImageToolBox: public LabelImageTool } - sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override + sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override { - sofa::gui::qt::LabelPointsBySectionImageToolBoxAction * t = new sofa::gui::qt::LabelPointsBySectionImageToolBoxAction(this,parent); + sofa::qt::LabelPointsBySectionImageToolBoxAction * t = new sofa::qt::LabelPointsBySectionImageToolBoxAction(this,parent); return t; } diff --git a/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.cpp index 14c362bfbce..d605dd9d68b 100644 --- a/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.cpp @@ -14,8 +14,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -552,6 +550,5 @@ void LabelPointsBySectionImageToolBoxAction::saveFileData() } } -} diff --git a/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.h index b4c21c9d082..6365c5e3487 100644 --- a/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/labelpointsbysection/labelpointsbysectionimagetoolboxaction.h @@ -31,8 +31,6 @@ class SOFA_IMAGE_GUI_API LabelPointsBySectionImageToolBox; namespace sofa { -namespace gui -{ namespace qt { @@ -97,7 +95,6 @@ private slots: }; -} } } diff --git a/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolbox.h b/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolbox.h index 9c49f105e48..ab790fa1fd1 100644 --- a/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolbox.h @@ -72,9 +72,9 @@ class SOFA_IMAGE_GUI_API DistanceZoneImageToolBoxNoTemplated: public LabelImageT addOutput(&d_vecPixCoord);*/ } - sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override + sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override { - return new sofa::gui::qt::DistanceZoneImageToolBoxAction(this,parent); + return new sofa::qt::DistanceZoneImageToolBoxAction(this,parent); } diff --git a/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.cpp index 4ebdd8032e3..142cd0e1e5a 100644 --- a/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.cpp @@ -8,8 +8,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -385,6 +383,5 @@ void DistanceZoneImageToolBoxAction::optionChangeSection(sofa::type::Vec3i /*v*/ -} } } diff --git a/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.h index 2c3416a6ff2..c8f05013c75 100644 --- a/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/zonegenerator/distancezoneimagetoolboxaction.h @@ -26,8 +26,6 @@ class SOFA_IMAGE_GUI_API ZoneGeneratorImageToolBoxNoTemplated; namespace sofa { -namespace gui -{ namespace qt { @@ -78,7 +76,6 @@ private slots: }; -} } } diff --git a/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolbox.h b/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolbox.h index b4246d608b6..532c4fcda7f 100644 --- a/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolbox.h +++ b/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolbox.h @@ -71,9 +71,9 @@ class SOFA_IMAGE_GUI_API ZoneGeneratorImageToolBoxNoTemplated: public LabelImage addOutput(&d_vecPixCoord);*/ } - sofa::gui::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override + sofa::qt::LabelImageToolBoxAction* createTBAction(QWidget*parent=nullptr) override { - return new sofa::gui::qt::ZoneGeneratorImageToolBoxAction(this,parent); + return new sofa::qt::ZoneGeneratorImageToolBoxAction(this,parent); } diff --git a/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.cpp b/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.cpp index 8cd0c0d3ab5..4f5f4f6f589 100644 --- a/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.cpp +++ b/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.cpp @@ -8,8 +8,6 @@ namespace sofa { -namespace gui -{ namespace qt { @@ -385,6 +383,5 @@ void ZoneGeneratorImageToolBoxAction::optionChangeSection(sofa::type::Vec3i /*v* -} } } diff --git a/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.h b/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.h index 543414022b8..cd30ed5395c 100644 --- a/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.h +++ b/applications/plugins/image/imagetoolbox/zonegenerator/zonegeneratorimagetoolboxaction.h @@ -26,8 +26,6 @@ class SOFA_IMAGE_GUI_API ZoneGeneratorImageToolBoxNoTemplated; namespace sofa { -namespace gui -{ namespace qt { @@ -78,7 +76,6 @@ private slots: }; -} } } diff --git a/applications/projects/Modeler/exec/Main.cpp b/applications/projects/Modeler/exec/Main.cpp index 6fc1e106b31..864ab669eb3 100644 --- a/applications/projects/Modeler/exec/Main.cpp +++ b/applications/projects/Modeler/exec/Main.cpp @@ -56,7 +56,7 @@ int main(int argc, char** argv) sofa::simulation::setSimulation(new sofa::simulation::graph::DAGSimulation()); Q_INIT_RESOURCE(icons); - sofa::gui::qt::SofaModeler* sofaModeler = new sofa::gui::qt::SofaModeler(); + sofa::qt::SofaModeler* sofaModeler = new sofa::qt::SofaModeler(); //application->setMainWidget(sofaModeler); sofaModeler->show(); diff --git a/applications/projects/Modeler/lib/AddPreset.cpp b/applications/projects/Modeler/lib/AddPreset.cpp index 136c4a5afd5..e37852a5efc 100644 --- a/applications/projects/Modeler/lib/AddPreset.cpp +++ b/applications/projects/Modeler/lib/AddPreset.cpp @@ -25,7 +25,7 @@ #include #include #include -#include //static functions to manage opening/ saving of files +#include //static functions to manage opening/ saving of files #include #include diff --git a/applications/projects/Modeler/lib/GraphModeler.cpp b/applications/projects/Modeler/lib/GraphModeler.cpp index 6566804c01c..247c102af20 100644 --- a/applications/projects/Modeler/lib/GraphModeler.cpp +++ b/applications/projects/Modeler/lib/GraphModeler.cpp @@ -28,7 +28,7 @@ #include #include -#include //static functions to manage opening/ saving of files +#include //static functions to manage opening/ saving of files #include #include @@ -623,7 +623,7 @@ void GraphModeler::globalModification() type::vector< Base* > allComponentsSelected; for (size_t i=0; iloaderNumber() == 0) { @@ -899,7 +899,7 @@ void GraphModeler::updatePresetNode(xml::BaseElement &elem, std::string meshFile bool GraphModeler::getSaveFilename(std::string &filename) { - QString s = sofa::gui::qt::getSaveFileName ( this, nullptr, "Scenes (*.scn *.xml)", "save file dialog", "Choose where the scene will be saved" ); + QString s = sofa::qt::getSaveFileName ( this, nullptr, "Scenes (*.scn *.xml)", "save file dialog", "Choose where the scene will be saved" ); if ( s.length() >0 ) { std::string extension=sofa::helper::system::SetDirectory::GetExtension(s.toStdString().c_str()); diff --git a/applications/projects/Modeler/lib/GraphModeler.h b/applications/projects/Modeler/lib/GraphModeler.h index 07cdd79abc8..5cff78549aa 100644 --- a/applications/projects/Modeler/lib/GraphModeler.h +++ b/applications/projects/Modeler/lib/GraphModeler.h @@ -30,16 +30,16 @@ #include "LinkComponent.h" #include -#include -#include +#include +#include #include #include #include #include #include -#include -#include +#include +#include #include diff --git a/applications/projects/Modeler/lib/SofaModeler.cpp b/applications/projects/Modeler/lib/SofaModeler.cpp index f35c8d42475..a0e292de991 100644 --- a/applications/projects/Modeler/lib/SofaModeler.cpp +++ b/applications/projects/Modeler/lib/SofaModeler.cpp @@ -31,7 +31,7 @@ #include #include #include -#include +#include #include #include #include @@ -231,7 +231,7 @@ SofaModeler::SofaModeler():recentlyOpenedFilesManager(Utils::getSofaPathPrefix() std::vector< QString > filter; const QString path(examplePath.c_str()); filter.push_back("*.scn"); filter.push_back("*.xml"); - sofa::gui::qt::getFilesInDirectory(path, exampleQString, true, filter); + sofa::qt::getFilesInDirectory(path, exampleQString, true, filter); //---------------------------------------------------------------------- @@ -725,7 +725,7 @@ void SofaModeler::fileSaveAs() std::string path; if (graph->getFilename().empty()) path=examplePath.c_str(); else path=sofa::helper::system::SetDirectory::GetParentDir(graph->getFilename().c_str()); - QString s = sofa::gui::qt::getSaveFileName ( this, QString(path.c_str()), "Scenes (*.scn *.xml)", "save file dialog", "Choose where the scene will be saved" ); + QString s = sofa::qt::getSaveFileName ( this, QString(path.c_str()), "Scenes (*.scn *.xml)", "save file dialog", "Choose where the scene will be saved" ); if ( s.length() >0 ) { @@ -759,7 +759,7 @@ void SofaModeler::fileReload() void SofaModeler::exportSofaClasses() { - QString filename = sofa::gui::qt::getSaveFileName(this, QString(binPath.c_str()), "Sofa Classes (*.xml)", "export classes dialog", "Choose where the Sofa classes will be exported"); + QString filename = sofa::qt::getSaveFileName(this, QString(binPath.c_str()), "Sofa Classes (*.xml)", "export classes dialog", "Choose where the Sofa classes will be exported"); if(filename.isEmpty()) return; diff --git a/applications/projects/Modeler/lib/SofaModeler.h b/applications/projects/Modeler/lib/SofaModeler.h index ef5e08f5336..34b93286220 100644 --- a/applications/projects/Modeler/lib/SofaModeler.h +++ b/applications/projects/Modeler/lib/SofaModeler.h @@ -40,9 +40,9 @@ #include "GraphModeler.h" #include "FilterLibrary.h" #include "SofaTutorialManager.h" -#include -#include -#include +#include +#include +#include #include #include "QSofaTreeLibrary.h" diff --git a/applications/projects/SceneChecking/CMakeLists.txt b/applications/projects/SceneChecking/CMakeLists.txt index ced5784c812..e0832b0ad65 100644 --- a/applications/projects/SceneChecking/CMakeLists.txt +++ b/applications/projects/SceneChecking/CMakeLists.txt @@ -16,6 +16,7 @@ set(HEADER_FILES ${SCENECHECK_SRC_DIR}/SceneCheckDeprecatedComponents.h ${SCENECHECK_SRC_DIR}/SceneCheckDuplicatedName.h ${SCENECHECK_SRC_DIR}/SceneCheckEmptyNodeName.h + ${SCENECHECK_SRC_DIR}/SceneCheckMapping.h ${SCENECHECK_SRC_DIR}/SceneCheckMissingRequiredPlugin.h ${SCENECHECK_SRC_DIR}/SceneCheckUsingAlias.h ${SCENECHECK_SRC_DIR}/SceneCheckerListener.h @@ -29,6 +30,7 @@ set(SOURCE_FILES ${SCENECHECK_SRC_DIR}/SceneCheckDeprecatedComponents.cpp ${SCENECHECK_SRC_DIR}/SceneCheckDuplicatedName.cpp ${SCENECHECK_SRC_DIR}/SceneCheckEmptyNodeName.cpp + ${SCENECHECK_SRC_DIR}/SceneCheckMapping.cpp ${SCENECHECK_SRC_DIR}/SceneCheckMissingRequiredPlugin.cpp ${SCENECHECK_SRC_DIR}/SceneCheckUsingAlias.cpp ${SCENECHECK_SRC_DIR}/SceneCheckerListener.cpp diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.cpp b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.cpp index c867b289e0f..3b3054cbe0a 100644 --- a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.cpp +++ b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.cpp @@ -64,7 +64,7 @@ void SceneCheckCollisionResponse::doCheckOn(Node* node) { if( nbContactManager!= 1 ) { - m_message << "Only one CollisionResponse is needed."<< msgendl; + m_message << "Only one CollisionResponse is allowed in the scene."<< msgendl; } else { @@ -101,6 +101,11 @@ void SceneCheckCollisionResponse::doCheckOn(Node* node) checkIfContactStiffnessIsSet(root); } } + /// If PenalityContactForceField make sure that contactStiffness is defined + else if ( response == "PenalityContactForceField") + { + checkIfContactStiffnessIsNotSet(root); + } } } } @@ -113,9 +118,24 @@ void SceneCheckCollisionResponse::checkIfContactStiffnessIsSet(const sofa::core: { if(model->isContactStiffnessSet()) { - m_message <<"The data \"contactStiffness\" is set in the component " << model->getClassName() <<" named " << model->getName() << msgendl; + m_message <<"The data \"contactStiffness\" is set in the component " << model->getClassName() <<", named \"" << model->getName() << "\""; m_message <<"This data is not used when using a FrictionContactConstraint collision response." << msgendl; m_message <<"Remove the data \"contactStiffness\" to remove this warning" << msgendl; + break; + } + } +} + +void SceneCheckCollisionResponse::checkIfContactStiffnessIsNotSet(const sofa::core::objectmodel::BaseContext* root) +{ + type::vector colModels; + root->get(&colModels, core::objectmodel::BaseContext::SearchDown); + for (const auto model : colModels) + { + if(!model->isContactStiffnessSet()) + { + m_message <<"Using PenalityContactForceField, the contactStiffness should be defined for each CollisionModel" << msgendl; + break; } } } diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.h b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.h index 4be2c5bb4e0..baed8eb6a88 100644 --- a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.h +++ b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckCollisionResponse.h @@ -47,6 +47,7 @@ class SOFA_SCENECHECKING_API SceneCheckCollisionResponse : public sofa::simulati std::stringstream m_message; void checkIfContactStiffnessIsSet(const core::objectmodel::BaseContext *root); + void checkIfContactStiffnessIsNotSet(const core::objectmodel::BaseContext *root); }; } // namespace sofa::_scenechecking_ diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.cpp b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.cpp new file mode 100644 index 00000000000..e6732ec66bd --- /dev/null +++ b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.cpp @@ -0,0 +1,150 @@ +/****************************************************************************** +* 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::scenechecking +{ + +const bool SceneCheckMappingRegistered = sofa::simulation::SceneCheckMainRegistry::addToRegistry(SceneCheckMapping::newSPtr()); + +SceneCheckMapping::~SceneCheckMapping() {} +const std::string SceneCheckMapping::getName() { return "SceneCheckMapping"; } +const std::string SceneCheckMapping::getDesc() { return "Check if the mappings and states inside a Node are consistent regarding the visitor logic."; } + +void SceneCheckMapping::doInit(sofa::simulation::Node* node) +{ + m_nodesWithMappingNoState.clear(); + m_nodesWithMappingWrongState.clear(); +} + +void SceneCheckMapping::doCheckOn(sofa::simulation::Node* node) +{ + if (node->mechanicalMapping != nullptr) + { + if (node->mechanicalState || node->state) + { + const auto mappingOutput = node->mechanicalMapping->getTo(); + const auto isAnOutput = [&mappingOutput](const sofa::core::BaseState* state) { return std::ranges::find(mappingOutput, state) != mappingOutput.end(); }; + + if (node->mechanicalState != nullptr && node->state != nullptr) // two states are present in the Node + { + const bool isMechanicalStateAnOutput = isAnOutput(node->mechanicalState); + const bool isStateAnOutput = isAnOutput(node->state); + + if (!isMechanicalStateAnOutput && !isStateAnOutput) + { + //both mechanicalState and state are not an output of the mapping + m_nodesWithMappingWrongState.push_back(node); + } + else if (isMechanicalStateAnOutput && !isStateAnOutput) + { + //OK regarding the logic of visitors + } + else if (!isMechanicalStateAnOutput && isStateAnOutput) + { + //state is a mapping output, but mechanicalState interferes in the visitor logic + m_nodesWithMappingAndTwoStates.push_back(node); + } + else + { + // both mechanicalState and state are an output of the mapping: not sure it may happen + } + } + else if (node->mechanicalState != nullptr) + { + if (!isAnOutput(node->mechanicalState)) + { + // mechanicalState is present in the Node, but it's not an output of the mapping + m_nodesWithMappingWrongState.push_back(node); + } + } + else if (node->state != nullptr) + { + if (!isAnOutput(node->state)) + { + // state is present in the Node, but it's not an output of the mapping + m_nodesWithMappingWrongState.push_back(node); + } + } + } + else + { + // no state, no mechanicalState + m_nodesWithMappingNoState.push_back(node); + } + } +} + +void SceneCheckMapping::doPrintSummary() +{ + const auto showNodes = [](std::stringstream& ss, sofa::type::vector& nodes) + { + for (auto node : nodes) + { + ss << "- " << node->getPathName(); + if (node->mechanicalMapping != nullptr) + { + auto mappingOutput = node->mechanicalMapping->getMechTo(); + std::erase_if(mappingOutput, [](const sofa::core::BaseState* state) { return state == nullptr; }); + const auto list = sofa::helper::join(mappingOutput.begin(), mappingOutput.end(), + [](const sofa::core::BaseState* state){return state->getPathName();}, ','); + + if (!list.empty()) + { + ss << " (it is advised to have " << node->mechanicalMapping->getPathName() << " and its output state(s) [" << list << "] in the same Node"; + } + } + ss << msgendl; + } + }; + + if (!m_nodesWithMappingNoState.empty()) + { + std::stringstream ss; + ss << "The following Node(s) contain a mapping but no state: " << msgendl; + showNodes(ss, m_nodesWithMappingNoState); + msg_error(getName()) << ss.str(); + } + + if (!m_nodesWithMappingWrongState.empty()) + { + std::stringstream ss; + ss << "The following Node(s) contain a mapping and a state, and the state is not an output of the mapping: " << msgendl; + showNodes(ss, m_nodesWithMappingWrongState); + msg_error(getName()) << ss.str(); + } + + if (!m_nodesWithMappingWrongState.empty()) + { + std::stringstream ss; + ss << "The following Node(s) contain a mapping, a mechanical state and a non-mechanical state. The non-mechanical state is an output of the mapping, but the presence of the mechanical state may interfere and lead to undefined behavior: " << msgendl; + showNodes(ss, m_nodesWithMappingWrongState); + msg_error(getName()) << ss.str(); + } +} + +} // namespace sofa::scenechecking diff --git a/applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.h b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.h new file mode 100644 index 00000000000..76801db8405 --- /dev/null +++ b/applications/projects/SceneChecking/src/SceneChecking/SceneCheckMapping.h @@ -0,0 +1,54 @@ +/****************************************************************************** +* 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 + +namespace sofa::scenechecking +{ + +/** + * This SceneCheck is motivated by the visitor mechanism that assumes: + * If both a mechanical state and a mapping are present in a Node, the state is considered mapped, + * no matter if they are related or not. + */ +class SOFA_SCENECHECKING_API SceneCheckMapping : public sofa::simulation::SceneCheck +{ +public: + ~SceneCheckMapping() override; + typedef std::shared_ptr SPtr; + static SPtr newSPtr() { return std::make_shared(); } + const std::string getName() override; + const std::string getDesc() override; + void doInit(sofa::simulation::Node* node) override; + void doCheckOn(sofa::simulation::Node* node) override; + void doPrintSummary() override; + +private: + sofa::type::vector m_nodesWithMappingNoState; + sofa::type::vector m_nodesWithMappingWrongState; + sofa::type::vector m_nodesWithMappingAndTwoStates; +}; + +} diff --git a/applications/projects/runSofa/Main.cpp b/applications/projects/runSofa/Main.cpp index e6b1a5c3f82..52ddbd3548f 100644 --- a/applications/projects/runSofa/Main.cpp +++ b/applications/projects/runSofa/Main.cpp @@ -372,8 +372,8 @@ int main(int argc, char** argv) msg_info(appName) << "runSofaDataRepository paths = " << runSofaDataRepository.getPathsJoined(); // Initialise paths - BaseGUI::setConfigDirectoryPath(Utils::getSofaPathPrefix() + "/config", true); - BaseGUI::setScreenshotDirectoryPath(Utils::getSofaPathPrefix() + "/screenshots", true); + BaseGUI::setConfigDirectoryPath(FileSystem::append(Utils::getSofaUserLocalDirectory(), "config"), true); + BaseGUI::setScreenshotDirectoryPath(FileSystem::append(Utils::getSofaDataDirectory(), "screenshots"), true); // Add Batch GUI (runSofa without any GUIs won't be useful) sofa::gui::batch::init(); diff --git a/applications/projects/runSofa/cmake/bundle.cmake b/applications/projects/runSofa/cmake/bundle.cmake index 9c29e9fbeb0..2239144264a 100644 --- a/applications/projects/runSofa/cmake/bundle.cmake +++ b/applications/projects/runSofa/cmake/bundle.cmake @@ -24,7 +24,7 @@ install(DIRECTORY ${CMAKE_SOURCE_DIR}/share/ DESTINATION runSofa.app/Contents/Ma install(DIRECTORY ${CMAKE_SOURCE_DIR}/examples/ DESTINATION runSofa.app/Contents/MacOS/share/sofa/examples COMPONENT BundlePack ) install(FILES "${_defaultConfigPluginFilePath}" DESTINATION runSofa.app/Contents/MacOS/ COMPONENT BundlePack) install(DIRECTORY ${CMAKE_SOURCE_DIR}/applications/projects/runSofa/resources/ DESTINATION runSofa.app/Contents/MacOS/share/sofa/gui/runSofa COMPONENT BundlePack) -install(DIRECTORY ${CMAKE_SOURCE_DIR}/applications/sofa/gui/qt/resources/ DESTINATION runSofa.app/Contents/MacOS/share/sofa/gui/qt COMPONENT BundlePack) +install(DIRECTORY ${CMAKE_SOURCE_DIR}/applications/sofa/qt/resources/ DESTINATION runSofa.app/Contents/MacOS/share/sofa/qt COMPONENT BundlePack) install(FILES "${CMAKE_BINARY_DIR}/etc/installedSofa.ini" DESTINATION runSofa.app/Contents/MacOS/etc RENAME sofa.ini COMPONENT BundlePack) install(FILES "${CMAKE_BINARY_DIR}/etc/installedrunSofa.ini" DESTINATION runSofa.app/Contents/MacOS/etc RENAME runSofa.ini COMPONENT BundlePack) install(FILES "${CMAKE_BINARY_DIR}/etc/installedSofaGuiQt.ini" DESTINATION runSofa.app/Contents/MacOS/etc RENAME SofaGuiQt.ini COMPONENT BundlePack) diff --git a/cmake/Modules/FindQGLViewer.cmake b/cmake/Modules/FindQGLViewer.cmake index 65eb618dfff..3a1e7f9a8e9 100644 --- a/cmake/Modules/FindQGLViewer.cmake +++ b/cmake/Modules/FindQGLViewer.cmake @@ -34,7 +34,7 @@ if(NOT TARGET QGLViewer) endif() endif() - # Same checks as Sofa.GUI.Qt + # Same checks as Sofa.Qt # i.e find Qt6, then if not, Qt5, then if not error find_package(Qt6 COMPONENTS Core CoreTools QUIET) if (NOT Qt6Core_FOUND) diff --git a/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn b/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn index 179262d5e5a..8d9cb69cfc5 100644 --- a/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn +++ b/examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn @@ -7,11 +7,11 @@ + - diff --git a/examples/Benchmark/Analysis/Pendulum.scn b/examples/Benchmark/Analysis/Pendulum.scn index 841ae2d314b..b10912b3be9 100644 --- a/examples/Benchmark/Analysis/Pendulum.scn +++ b/examples/Benchmark/Analysis/Pendulum.scn @@ -2,15 +2,14 @@ + - + + - - - diff --git a/examples/Benchmark/Performance/BarycentricMapping_meshtopology.scn b/examples/Benchmark/Performance/BarycentricMapping_meshtopology.scn new file mode 100644 index 00000000000..1bb67cb3dc7 --- /dev/null +++ b/examples/Benchmark/Performance/BarycentricMapping_meshtopology.scn @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Benchmark/Performance/BarycentricMapping_sparsegrid.scn b/examples/Benchmark/Performance/BarycentricMapping_sparsegrid.scn new file mode 100644 index 00000000000..5b27612222d --- /dev/null +++ b/examples/Benchmark/Performance/BarycentricMapping_sparsegrid.scn @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Benchmark/Performance/BarycentricMapping_topologycontainer.scn b/examples/Benchmark/Performance/BarycentricMapping_topologycontainer.scn new file mode 100644 index 00000000000..f2261618114 --- /dev/null +++ b/examples/Benchmark/Performance/BarycentricMapping_topologycontainer.scn @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Benchmark/Performance/TorusFall.scn b/examples/Benchmark/Performance/TorusFall.scn index 1ba3599209d..6ef6ee21985 100644 --- a/examples/Benchmark/Performance/TorusFall.scn +++ b/examples/Benchmark/Performance/TorusFall.scn @@ -62,7 +62,7 @@ - + @@ -84,7 +84,7 @@ - + @@ -106,7 +106,7 @@ - + @@ -128,7 +128,7 @@ - + @@ -150,7 +150,7 @@ - + @@ -172,7 +172,7 @@ - + @@ -194,7 +194,7 @@ - + @@ -216,7 +216,7 @@ - + @@ -238,7 +238,7 @@ - + @@ -260,7 +260,7 @@ - + @@ -273,7 +273,7 @@ - + @@ -283,7 +283,7 @@ - + @@ -293,7 +293,7 @@ - + @@ -303,7 +303,7 @@ - + @@ -313,7 +313,7 @@ - + @@ -323,7 +323,7 @@ - + @@ -333,7 +333,7 @@ - + @@ -343,7 +343,7 @@ - + @@ -353,7 +353,7 @@ - + @@ -363,7 +363,7 @@ - + @@ -373,7 +373,7 @@ - + @@ -383,7 +383,7 @@ - + @@ -393,7 +393,7 @@ - + @@ -403,7 +403,7 @@ - + @@ -413,7 +413,7 @@ - + @@ -423,7 +423,7 @@ - + @@ -433,7 +433,7 @@ - + diff --git a/examples/Component/AnimationLoop/FreeMotionAnimationLoop.scn b/examples/Component/AnimationLoop/FreeMotionAnimationLoop.scn index 2c2e50d8632..46199c003a2 100644 --- a/examples/Component/AnimationLoop/FreeMotionAnimationLoop.scn +++ b/examples/Component/AnimationLoop/FreeMotionAnimationLoop.scn @@ -1,7 +1,5 @@ @@ -11,9 +9,10 @@ To speed up the collision detection, replace BVHNarrowPhase by ParallelBVHNarrow - + + @@ -24,7 +23,6 @@ To speed up the collision detection, replace BVHNarrowPhase by ParallelBVHNarrow - diff --git a/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn b/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn index 4c417f0ee49..dc48642e9a9 100644 --- a/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn +++ b/examples/Component/AnimationLoop/MultiStepAnimationLoop.scn @@ -19,7 +19,7 @@ - + diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn index ca00376cd9b..16d94bdda46 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn @@ -2,29 +2,28 @@ + - - + + + + + - + + - + - - - - - - diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_solvable.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_solvable.scn index 18509f0e5c4..a6041cc23b3 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_solvable.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_solvable.scn @@ -2,22 +2,17 @@ - - - - - + - - - + + + - + - diff --git a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_unsolvable.scn b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_unsolvable.scn index 68a1eb7100e..62402d07a99 100644 --- a/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_unsolvable.scn +++ b/examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_with_regularization_unsolvable.scn @@ -2,22 +2,17 @@ - - - - - + - - - + + + - + - diff --git a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn index 8e4fe5d1f71..91340fdf114 100644 --- a/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn +++ b/examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn @@ -53,7 +53,7 @@ - + diff --git a/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn index e6f5c26eaf6..6f5924d34f4 100644 --- a/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn +++ b/examples/Component/Constraint/Projective/LinearVelocityProjectiveConstraint.scn @@ -1,27 +1,17 @@ - - - - - - + - - - - + + - + - - - - + @@ -45,7 +35,7 @@ - + diff --git a/examples/Component/Controller/sleepColorShader.frag b/examples/Component/Controller/sleepColorShader.frag deleted file mode 100644 index 1e061c64bcb..00000000000 --- a/examples/Component/Controller/sleepColorShader.frag +++ /dev/null @@ -1,13 +0,0 @@ -varying vec3 normal; -varying vec3 lightDir; -uniform vec3 color; - -void main() -{ - vec3 NNormal = normalize( normal ); - vec3 NlightDir = normalize( lightDir ); - float dp = clamp( dot( NNormal, NlightDir ), 0., 1. ); - - // gl_FrontLightProduct[0].diffuse.xyz - gl_FragColor.xyz = color * dp; -} diff --git a/examples/Component/Controller/sleepColorShader.vert b/examples/Component/Controller/sleepColorShader.vert deleted file mode 100644 index 246eb5d2dbd..00000000000 --- a/examples/Component/Controller/sleepColorShader.vert +++ /dev/null @@ -1,11 +0,0 @@ -varying vec3 normal; -varying vec3 lightDir; - -void main() -{ - vec4 pos = gl_ModelViewMatrix * gl_Vertex; - vec3 lightpos = gl_LightSource[0].position.xyz; - lightDir = lightpos - pos.xyz; - normal = gl_NormalMatrix * gl_Normal; - gl_Position = ftransform(); -} diff --git a/examples/Component/Controller/test_sleep.scn b/examples/Component/Controller/test_sleep.scn deleted file mode 100644 index 435d5a8825b..00000000000 --- a/examples/Component/Controller/test_sleep.scn +++ /dev/null @@ -1,98 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/Component/Controller/test_sleep2.scn b/examples/Component/Controller/test_sleep2.scn deleted file mode 100644 index 596e1f4861c..00000000000 --- a/examples/Component/Controller/test_sleep2.scn +++ /dev/null @@ -1,121 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/Component/Controller/test_sleep3.scn b/examples/Component/Controller/test_sleep3.scn deleted file mode 100644 index 7e45f4c6ed4..00000000000 --- a/examples/Component/Controller/test_sleep3.scn +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/Component/Controller/test_sleep3.scn.view b/examples/Component/Controller/test_sleep3.scn.view deleted file mode 100644 index 9c91f6ddfcd..00000000000 --- a/examples/Component/Controller/test_sleep3.scn.view +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/examples/Component/Engine/Generate/VolumeFromTetrahedrons.scn b/examples/Component/Engine/Generate/VolumeFromTetrahedrons.scn new file mode 100644 index 00000000000..cc3235c02bb --- /dev/null +++ b/examples/Component/Engine/Generate/VolumeFromTetrahedrons.scn @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Component/Engine/Generate/VolumeFromTriangles.scn b/examples/Component/Engine/Generate/VolumeFromTriangles.scn new file mode 100644 index 00000000000..a0c8a2e80ec --- /dev/null +++ b/examples/Component/Engine/Generate/VolumeFromTriangles.scn @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Component/Engine/Select/MeshBoundaryROI.scn b/examples/Component/Engine/Select/MeshBoundaryROI.scn index 268abb6cc96..afb2728a52d 100644 --- a/examples/Component/Engine/Select/MeshBoundaryROI.scn +++ b/examples/Component/Engine/Select/MeshBoundaryROI.scn @@ -14,15 +14,16 @@ - + - - - + + + + diff --git a/examples/Component/Engine/Select/PlaneROI.scn b/examples/Component/Engine/Select/PlaneROI.scn index 1189e1154b7..30e2befe365 100644 --- a/examples/Component/Engine/Select/PlaneROI.scn +++ b/examples/Component/Engine/Select/PlaneROI.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Engine/Select/ProximityROI.scn b/examples/Component/Engine/Select/ProximityROI.scn index dc5b0a75de4..dd68e62dbba 100644 --- a/examples/Component/Engine/Select/ProximityROI.scn +++ b/examples/Component/Engine/Select/ProximityROI.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Engine/Select/SphereROI.scn b/examples/Component/Engine/Select/SphereROI.scn index c9d79d3e8f6..c8c9355a1be 100644 --- a/examples/Component/Engine/Select/SphereROI.scn +++ b/examples/Component/Engine/Select/SphereROI.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn b/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn index ee16eb01803..ce6f5e2ad09 100644 --- a/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn +++ b/examples/Component/Engine/Select/SubsetTopology_withtetrahedra.scn @@ -4,7 +4,7 @@ - + diff --git a/examples/Component/IO/Mesh/BlenderExporter.scn b/examples/Component/IO/Mesh/BlenderExporter.scn index 912a66a511d..b5ea3c1388c 100644 --- a/examples/Component/IO/Mesh/BlenderExporter.scn +++ b/examples/Component/IO/Mesh/BlenderExporter.scn @@ -1,5 +1,5 @@ - + diff --git a/examples/Component/IO/Mesh/MeshExporter.scn b/examples/Component/IO/Mesh/MeshExporter.scn index 0cc7c7171d9..95ec3d058c5 100644 --- a/examples/Component/IO/Mesh/MeshExporter.scn +++ b/examples/Component/IO/Mesh/MeshExporter.scn @@ -1,9 +1,9 @@ - - - + + + diff --git a/examples/Component/IO/Mesh/VTKExporter.scn b/examples/Component/IO/Mesh/VTKExporter.scn index bab1fd26078..877ae7e7664 100644 --- a/examples/Component/IO/Mesh/VTKExporter.scn +++ b/examples/Component/IO/Mesh/VTKExporter.scn @@ -20,5 +20,6 @@ exportAtBegin="1" exportAtEnd="1" exportEveryNumberOfSteps="2" + printLog="true" /> diff --git a/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn b/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn index 7d3180389df..39eafc8e7bc 100644 --- a/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn +++ b/examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn @@ -14,7 +14,7 @@ - + diff --git a/examples/Component/Mapping/Linear/CenterOfMassMapping.scn b/examples/Component/Mapping/Linear/CenterOfMassMapping.scn index a50d9cdbc89..b90a3eb6a49 100644 --- a/examples/Component/Mapping/Linear/CenterOfMassMapping.scn +++ b/examples/Component/Mapping/Linear/CenterOfMassMapping.scn @@ -16,7 +16,7 @@ - + @@ -52,7 +52,7 @@ - + diff --git a/examples/Component/Mapping/Linear/DistanceToPlaneMapping.scn b/examples/Component/Mapping/Linear/DistanceToPlaneMapping.scn index eb693631080..152628eb10a 100644 --- a/examples/Component/Mapping/Linear/DistanceToPlaneMapping.scn +++ b/examples/Component/Mapping/Linear/DistanceToPlaneMapping.scn @@ -1,21 +1,16 @@ - - - - - - - - + + + + + + - + - - - diff --git a/examples/Component/Mapping/Linear/SkinningMapping.scn b/examples/Component/Mapping/Linear/SkinningMapping.scn index 4d78200855f..f431d4e888f 100644 --- a/examples/Component/Mapping/Linear/SkinningMapping.scn +++ b/examples/Component/Mapping/Linear/SkinningMapping.scn @@ -17,7 +17,7 @@ - + diff --git a/examples/Component/Mapping/Linear/SubsetMapping.scn b/examples/Component/Mapping/Linear/SubsetMapping.scn index c4cf30f49e3..3b72a7759ba 100644 --- a/examples/Component/Mapping/Linear/SubsetMapping.scn +++ b/examples/Component/Mapping/Linear/SubsetMapping.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Component/Mapping/NonLinear/AreaMapping.scn b/examples/Component/Mapping/NonLinear/AreaMapping.scn index 98365cc1d55..0aef9f49579 100644 --- a/examples/Component/Mapping/NonLinear/AreaMapping.scn +++ b/examples/Component/Mapping/NonLinear/AreaMapping.scn @@ -18,8 +18,8 @@ - - + + diff --git a/examples/Component/Mapping/NonLinear/VolumeMapping.scn b/examples/Component/Mapping/NonLinear/VolumeMapping.scn index 2fb335f5c77..f871a81fbf4 100644 --- a/examples/Component/Mapping/NonLinear/VolumeMapping.scn +++ b/examples/Component/Mapping/NonLinear/VolumeMapping.scn @@ -1,22 +1,22 @@ - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + diff --git a/examples/Component/MechanicalLoad/EllipsoidForceField.scn b/examples/Component/MechanicalLoad/EllipsoidForceField.scn index 308bff7bfe3..321d17e251e 100644 --- a/examples/Component/MechanicalLoad/EllipsoidForceField.scn +++ b/examples/Component/MechanicalLoad/EllipsoidForceField.scn @@ -23,7 +23,7 @@ - + diff --git a/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn b/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn index ef1a0060d8a..e4d9ab0c261 100644 --- a/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn +++ b/examples/Component/MechanicalLoad/InteractionEllipsoidForceField.scn @@ -22,7 +22,7 @@ - + diff --git a/examples/Component/ODESolver/Backward/BDFOdeSolver.scn b/examples/Component/ODESolver/Backward/BDFOdeSolver.scn index 8e8bb48dbf6..208f56a87d0 100644 --- a/examples/Component/ODESolver/Backward/BDFOdeSolver.scn +++ b/examples/Component/ODESolver/Backward/BDFOdeSolver.scn @@ -3,15 +3,16 @@ - - + + + - + - + diff --git a/examples/Component/ODESolver/Backward/BDFOdeSolver_spring1d.scn b/examples/Component/ODESolver/Backward/BDFOdeSolver_spring1d.scn index 372a4439926..79c3b87f606 100644 --- a/examples/Component/ODESolver/Backward/BDFOdeSolver_spring1d.scn +++ b/examples/Component/ODESolver/Backward/BDFOdeSolver_spring1d.scn @@ -3,7 +3,6 @@ - diff --git a/examples/Component/ODESolver/Backward/BDFOdeSolver_spring3d.scn b/examples/Component/ODESolver/Backward/BDFOdeSolver_spring3d.scn index 09c96c60926..f6ee2b71177 100644 --- a/examples/Component/ODESolver/Backward/BDFOdeSolver_spring3d.scn +++ b/examples/Component/ODESolver/Backward/BDFOdeSolver_spring3d.scn @@ -4,11 +4,11 @@ - + - + diff --git a/examples/Component/ODESolver/Backward/StaticSolver.scn b/examples/Component/ODESolver/Backward/StaticSolver.scn index b131d1e32ae..27a05dbbb5f 100644 --- a/examples/Component/ODESolver/Backward/StaticSolver.scn +++ b/examples/Component/ODESolver/Backward/StaticSolver.scn @@ -2,10 +2,10 @@ - + - + diff --git a/examples/Component/SceneUtility/Gravity.scn b/examples/Component/SceneUtility/Gravity.scn index 1605cc5b359..1ec2ee674aa 100644 --- a/examples/Component/SceneUtility/Gravity.scn +++ b/examples/Component/SceneUtility/Gravity.scn @@ -7,13 +7,13 @@ + - diff --git a/examples/Component/SceneUtility/Monitor.scn b/examples/Component/SceneUtility/Monitor.scn deleted file mode 100644 index 1e3688c3ede..00000000000 --- a/examples/Component/SceneUtility/Monitor.scn +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/Component/SceneUtility/MonitorTest.scn b/examples/Component/SceneUtility/MonitorTest.scn deleted file mode 100644 index abc04fb9838..00000000000 --- a/examples/Component/SceneUtility/MonitorTest.scn +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn b/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn index ab55e0525ed..f4cc7e40572 100644 --- a/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn +++ b/examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn @@ -5,6 +5,7 @@ + @@ -14,11 +15,10 @@ - + - diff --git a/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn b/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn index 6d40913f9d8..d101101102a 100644 --- a/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn +++ b/examples/Component/SolidMechanics/FEM/TriangularForceFieldComparison.scn @@ -5,6 +5,7 @@ + diff --git a/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn b/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn index a558ca9c461..8deab333fcc 100644 --- a/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn +++ b/examples/Component/SolidMechanics/Spring/QuadBendingSprings.scn @@ -16,7 +16,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn b/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn index 92bbb41310c..19bc1da091e 100644 --- a/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn +++ b/examples/Component/Topology/Container/Dynamic/QuadForceFieldTopologyChangeHandling.scn @@ -12,7 +12,7 @@ - + diff --git a/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn b/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn index f38d6b1e9d1..1e88c566207 100644 --- a/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn +++ b/examples/Component/Topology/Container/Dynamic/RemovingTetra2TriangleProcess_performanceTest.scn @@ -5,6 +5,7 @@ + @@ -13,12 +14,11 @@ - + - diff --git a/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn b/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn index ef1f1b84816..450c04e4c63 100644 --- a/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn +++ b/examples/Component/Topology/Container/Dynamic/TriangularForceFieldTopologyChangeHandling.scn @@ -5,6 +5,7 @@ + diff --git a/examples/Component/Topology/Container/Grid/RegularGridTopology.scn b/examples/Component/Topology/Container/Grid/RegularGridTopology.scn index 7e0a03a59ef..9de2c4702cc 100644 --- a/examples/Component/Topology/Container/Grid/RegularGridTopology.scn +++ b/examples/Component/Topology/Container/Grid/RegularGridTopology.scn @@ -1,5 +1,5 @@ - + @@ -25,7 +25,7 @@ - + diff --git a/examples/Component/Topology/Container/Grid/SparseGridTopology.scn b/examples/Component/Topology/Container/Grid/SparseGridTopology.scn index 665e19b7f72..ccf79e2c017 100644 --- a/examples/Component/Topology/Container/Grid/SparseGridTopology.scn +++ b/examples/Component/Topology/Container/Grid/SparseGridTopology.scn @@ -23,7 +23,7 @@ - + diff --git a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn index 28f07e92aa2..f0ba65e0590 100644 --- a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn +++ b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping.scn @@ -5,6 +5,7 @@ + @@ -14,11 +15,10 @@ - + - diff --git a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn index 55c6a999054..ab149fd046c 100644 --- a/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn +++ b/examples/Component/Topology/Mapping/Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn @@ -4,6 +4,7 @@ + diff --git a/examples/Component/Visual/CylinderVisualModel.scn b/examples/Component/Visual/CylinderVisualModel.scn index 65191fc0e44..b29974ef8b9 100644 --- a/examples/Component/Visual/CylinderVisualModel.scn +++ b/examples/Component/Visual/CylinderVisualModel.scn @@ -1,6 +1,6 @@ - + diff --git a/examples/Component/Visual/DataDisplay.scn b/examples/Component/Visual/DataDisplay.scn index 056cb1104ac..689d75fa9a4 100644 --- a/examples/Component/Visual/DataDisplay.scn +++ b/examples/Component/Visual/DataDisplay.scn @@ -16,7 +16,6 @@ - @@ -35,19 +34,21 @@ - + - - + + + + - - + + diff --git a/examples/Component/Visual/VisualBoundingBox.scn b/examples/Component/Visual/VisualBoundingBox.scn new file mode 100644 index 00000000000..ed4202aa963 --- /dev/null +++ b/examples/Component/Visual/VisualBoundingBox.scn @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/examples/Component/Visual/VisualPointCloud.scn b/examples/Component/Visual/VisualPointCloud.scn new file mode 100644 index 00000000000..1f76319ad70 --- /dev/null +++ b/examples/Component/Visual/VisualPointCloud.scn @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Component/Visual/VisualVectorField.scn b/examples/Component/Visual/VisualVectorField.scn new file mode 100644 index 00000000000..2f25adec931 --- /dev/null +++ b/examples/Component/Visual/VisualVectorField.scn @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Demos/SofaScene.scn b/examples/Demos/SofaScene.scn index 3523f303860..e4322c68521 100644 --- a/examples/Demos/SofaScene.scn +++ b/examples/Demos/SofaScene.scn @@ -3,37 +3,34 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -133,7 +130,7 @@ - + @@ -200,7 +197,7 @@ - + @@ -231,7 +228,7 @@ - + @@ -249,7 +246,7 @@ - + @@ -258,7 +255,7 @@ - + diff --git a/examples/Demos/SofaWasher.scn b/examples/Demos/SofaWasher.scn index bddd71116e9..ffb1eb3d0f8 100644 --- a/examples/Demos/SofaWasher.scn +++ b/examples/Demos/SofaWasher.scn @@ -1,27 +1,26 @@ - - + - + - - + + + - + - - + @@ -90,7 +89,7 @@ - + diff --git a/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn b/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn index 0bbbfd3b6d9..9f4d8bf264a 100644 --- a/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn +++ b/examples/Demos/fallingBeamAugmentedLagrangianCollision.scn @@ -22,7 +22,6 @@ - Container,TriangleSetTopologyModifier] --> @@ -32,7 +31,7 @@ - + @@ -60,7 +59,7 @@ - + @@ -84,9 +83,7 @@ 3 7 6 3 6 2 4 5 6 4 6 7" /> - + - - diff --git a/examples/Demos/fallingBeamLagrangianCollision.scn b/examples/Demos/fallingBeamLagrangianCollision.scn index fee3ef0d327..4de55435c38 100644 --- a/examples/Demos/fallingBeamLagrangianCollision.scn +++ b/examples/Demos/fallingBeamLagrangianCollision.scn @@ -59,7 +59,7 @@ - + @@ -83,7 +83,7 @@ 3 7 6 3 6 2 4 5 6 4 6 7" /> - + diff --git a/examples/Demos/fallingSOFA.scn b/examples/Demos/fallingSOFA.scn index 5a5dc10c5af..f90a5642226 100644 --- a/examples/Demos/fallingSOFA.scn +++ b/examples/Demos/fallingSOFA.scn @@ -3,17 +3,18 @@ + - + + - - - + + @@ -23,16 +24,13 @@ - - - - + - + - + - + - + - + - + - + @@ -149,8 +147,8 @@ - + diff --git a/examples/Demos/fallingSOFA.scn.view b/examples/Demos/fallingSOFA.scn.view index f88bab14fc3..847c58435ab 100644 --- a/examples/Demos/fallingSOFA.scn.view +++ b/examples/Demos/fallingSOFA.scn.view @@ -1,7 +1,7 @@ - + diff --git a/examples/Demos/sofa_1000PR.scn b/examples/Demos/sofa_1000PR.scn index 65e3aee6ef8..5d75b340267 100644 --- a/examples/Demos/sofa_1000PR.scn +++ b/examples/Demos/sofa_1000PR.scn @@ -48,7 +48,9 @@ - + + + @@ -78,7 +80,9 @@ - + + + @@ -107,7 +111,9 @@ - + + + @@ -136,7 +142,9 @@ - + + + diff --git a/examples/RegressionStateScenes.regression-tests b/examples/RegressionStateScenes.regression-tests index e4d04a9bd09..6270d2211ad 100644 --- a/examples/RegressionStateScenes.regression-tests +++ b/examples/RegressionStateScenes.regression-tests @@ -84,6 +84,7 @@ Component/SolidMechanics/FEM/TriangularFEMForceFieldOptim.scn 100 1e-4 0 1 Component/SolidMechanics/Spring/FastTriangularBendingSprings.scn 100 1e-4 0 1 Component/SolidMechanics/Spring/MeshSpringForceField.scn 300 1e-4 0 1 Component/Topology/Mapping/Mesh2PointTopologicalMapping.scn 100 1e-4 0 1 +Component/Topology/Container/Grid/RegularGridTopology.scn 10000 1e-4 0 1 Component/Topology/Container/Grid/SparseGridTopology.scn 100 1e-4 0 1 Component/Topology/Container/Grid/SparseGridRamificationTopology.scn 100 1e-4 0 1 diff --git a/examples/Tutorials/Collision/AdvancedSolversMultipleGroupsSolver.scn b/examples/Tutorials/Collision/AdvancedSolversMultipleGroupsSolver.scn index d07e8293b93..e55512e2c3c 100644 --- a/examples/Tutorials/Collision/AdvancedSolversMultipleGroupsSolver.scn +++ b/examples/Tutorials/Collision/AdvancedSolversMultipleGroupsSolver.scn @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/Collision/ModelizationSphereBased.scn b/examples/Tutorials/Collision/ModelizationSphereBased.scn index 8cbe0a32096..8bab830675a 100644 --- a/examples/Tutorials/Collision/ModelizationSphereBased.scn +++ b/examples/Tutorials/Collision/ModelizationSphereBased.scn @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/Collision/ModelizationTriangleBased.scn b/examples/Tutorials/Collision/ModelizationTriangleBased.scn index f89340d1694..4c3eea42dbc 100644 --- a/examples/Tutorials/Collision/ModelizationTriangleBased.scn +++ b/examples/Tutorials/Collision/ModelizationTriangleBased.scn @@ -18,7 +18,7 @@ - + diff --git a/examples/Tutorials/Collision/MultipleObjectsTwoCubes.scn b/examples/Tutorials/Collision/MultipleObjectsTwoCubes.scn index ced8c200b92..d7ab6437d95 100644 --- a/examples/Tutorials/Collision/MultipleObjectsTwoCubes.scn +++ b/examples/Tutorials/Collision/MultipleObjectsTwoCubes.scn @@ -19,7 +19,7 @@ - + diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_03.scn b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_03.scn index 58afa708e32..6e2d2138e0c 100644 --- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_03.scn +++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_03.scn @@ -3,11 +3,11 @@ + - diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_04.scn b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_04.scn index 9210a369fa1..cc6fb37a36e 100644 --- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_04.scn +++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_04.scn @@ -7,12 +7,12 @@ + - diff --git a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_05.scn b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_05.scn index bc44a7dfc87..d4a362fbfbb 100644 --- a/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_05.scn +++ b/examples/Tutorials/StepByStep/Dentistry_Haptics/dentalSurgery_05.scn @@ -10,12 +10,12 @@ + - diff --git a/examples/Tutorials/StepByStep/TopologicalMapping/0_TopoMapping.html b/examples/Tutorials/StepByStep/TopologicalMapping/0_TopoMapping.html index df60f146d87..85c75674402 100644 --- a/examples/Tutorials/StepByStep/TopologicalMapping/0_TopoMapping.html +++ b/examples/Tutorials/StepByStep/TopologicalMapping/0_TopoMapping.html @@ -7,7 +7,7 @@

    Topological Mapping (1/7)



    - +
    diff --git a/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn b/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn index 613ee62a277..eebc1776f39 100644 --- a/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn +++ b/examples/Tutorials/Topologies/TopologyDynamicSurfaceMesh.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn index 24397ec455e..62b9ffb61ad 100644 --- a/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyHexa2QuadTopologicalMapping.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn index 0988993861d..060defd6592 100644 --- a/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyHexa2TetraTopologicalMapping.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn b/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn index 119c1304ba3..6c9b7dfcb35 100644 --- a/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn +++ b/examples/Tutorials/Topologies/TopologyLinearDifferentMesh.scn @@ -21,7 +21,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyLinearMesh.scn b/examples/Tutorials/Topologies/TopologyLinearMesh.scn index 7ebd9a1fed8..a3e3739f790 100644 --- a/examples/Tutorials/Topologies/TopologyLinearMesh.scn +++ b/examples/Tutorials/Topologies/TopologyLinearMesh.scn @@ -19,7 +19,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn index 405995b6f4e..46d15db893b 100644 --- a/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyQuad2TriangleTopologicalMapping.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn b/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn index f106babd7c7..8b87b16e59b 100644 --- a/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn +++ b/examples/Tutorials/Topologies/TopologySurfaceDifferentMesh.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn index 2cad2dc31e2..bf2a817bfd6 100644 --- a/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyTetra2TriangleTopologicalMapping.scn @@ -24,7 +24,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn b/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn index 864bbb4448b..9ee2b4a7d24 100644 --- a/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn +++ b/examples/Tutorials/Topologies/TopologyTriangle2EdgeTopologicalMapping.scn @@ -22,7 +22,7 @@ - + diff --git a/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn b/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn index 51c3c060145..8ab0493bf04 100644 --- a/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn +++ b/examples/Tutorials/Topologies/TopologyVolumeDifferentMesh.scn @@ -26,7 +26,7 @@ - + diff --git a/examples/Tutorials/Tutorials.html b/examples/Tutorials/Tutorials.html index 0a8fc11f8ff..30c7dc174e6 100644 --- a/examples/Tutorials/Tutorials.html +++ b/examples/Tutorials/Tutorials.html @@ -4,7 +4,7 @@
    -
    +

    Tutorials for SOFA

    Description:

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b/tools/postinstall-fixup/CMakeLists.txt index 5c90cd7509a..790ea2ee2ae 100644 --- a/tools/postinstall-fixup/CMakeLists.txt +++ b/tools/postinstall-fixup/CMakeLists.txt @@ -3,7 +3,7 @@ if(NOT SOFA_BUILD_RELEASE_PACKAGE) return() endif() -if(TARGET Sofa.GUI.Qt) +if(TARGET Sofa.Qt) find_package(Qt5 COMPONENTS Gui REQUIRED) get_target_property(qt5gui_loc Qt5::Gui LOCATION_RELEASE) get_filename_component(QT_LIB_DIR "${qt5gui_loc}" DIRECTORY) @@ -36,7 +36,7 @@ if(CMAKE_SYSTEM_NAME STREQUAL Linux) COMPONENT resources) elseif(CMAKE_SYSTEM_NAME STREQUAL Darwin) if(SOFA_BUILD_APP_BUNDLE) - if(TARGET Sofa.GUI.Qt) + if(TARGET Sofa.Qt) include(macdeployqt) # set MACDEPLOYQT_EXECUTABLE endif() install(CODE "execute_process(COMMAND /bin/bash diff --git a/tools/postinstall-fixup/generate-stubfiles.cmake b/tools/postinstall-fixup/generate-stubfiles.cmake new file mode 100644 index 00000000000..b77ef35b0fd --- /dev/null +++ b/tools/postinstall-fixup/generate-stubfiles.cmake @@ -0,0 +1,3 @@ +message("CPACK_GENERATOR= ${CPACK_GENERATOR}") + +execute_process(COMMAND bash "@CMAKE_SOURCE_DIR@/tools/postinstall-fixup/generate-stubfiles.sh" "@CMAKE_BINARY_DIR@" "${CPACK_TEMPORARY_INSTALL_DIRECTORY}" "${CMAKE_SYSTEM_NAME}:${CPACK_GENERATOR}") diff --git a/tools/postinstall-fixup/generate-stubfiles.sh b/tools/postinstall-fixup/generate-stubfiles.sh new file mode 100644 index 00000000000..c53feb5cbd5 --- /dev/null +++ b/tools/postinstall-fixup/generate-stubfiles.sh @@ -0,0 +1,66 @@ +echo "Generate stubfiles..." + +if [ "$#" -ge 3 ]; then + BUILD_DIR="$(cd $1 && pwd)" + INSTALL_DIR="$(cd $2 && pwd)" + SYSTEM_NAME=$3 + + + echo "Inputs are" + echo "- BUILD_DIR :${BUILD_DIR}" + echo "- INSTALL_DIR :${INSTALL_DIR}" + echo "- SYSTEM_NAME :${SYSTEM_NAME}" +else + echo "Usage: generate_stubfiles [SYSTEM_NAME = 0]"; exit 1 +fi + +if [ -e "$VM_PYTHON3_EXECUTABLE" ]; then + if [[ $SYSTEM_NAME = "Windows"* ]]; then + pythonroot="$(dirname $VM_PYTHON3_EXECUTABLE)" + pythonroot="$(cd "$pythonroot" && pwd)" + export PATH="$pythonroot:$pythonroot/DLLs:$pythonroot/Lib:$PATH" + PYTHON_SCRIPT=$(cd "${BUILD_DIR}/external_directories/fetched/SofaPython3/scripts" && pwd )/generate_stubs.py + + if [[ $SYSTEM_NAME = "Windows:NSIS" ]]; then + PYTHON_INSTALL_SITE_PACKAGE_DIR=$(cd "$INSTALL_DIR/applications/plugins/SofaPython3/lib/python3/site-packages" && pwd ) + PYTHON_INSTALL_SITE_PACKAGE_DIR_LIB=$(cd "$INSTALL_DIR/libraries/plugins/SofaPython3/lib/python3/site-packages" && pwd ) + export PYTHONPATH="$PYTHON_INSTALL_SITE_PACKAGE_DIR:$PYTHON_INSTALL_SITE_PACKAGE_DIR_LIB" + + export PATH="$INSTALL_DIR/applications/lib:$INSTALL_DIR/applications/bin:$INSTALL_DIR/applications/plugins/SofaPython3/lib:$INSTALL_DIR/applications/plugins/SofaPython3/bin:$pythonroot/Lib:$PATH" + export PATH="$INSTALL_DIR/libraries/lib:$INSTALL_DIR/libraries/bin:$INSTALL_DIR/libraries/plugins/SofaPython3/lib:$INSTALL_DIR/libraries/plugins/SofaPython3/bin:$pythonroot/Lib:$PATH" + + export SOFA_ROOT="$INSTALL_DIR/applications" + + else + PYTHON_INSTALL_SITE_PACKAGE_DIR=$(cd "$INSTALL_DIR/plugins/SofaPython3/lib/python3/site-packages" && pwd ) + export PYTHONPATH="$PYTHON_INSTALL_SITE_PACKAGE_DIR" + export PATH="$INSTALL_DIR/lib:$INSTALL_DIR/bin:$INSTALL_DIR/plugins/SofaPython3/lib:$INSTALL_DIR/plugins/SofaPython3/bin:$pythonroot/Lib:$PATH" + export SOFA_ROOT="$INSTALL_DIR" + + fi + echo "PATH=$PATH" + else + PYTHON_SCRIPT=$(cd "${BUILD_DIR}/external_directories/fetched/SofaPython3/scripts" && pwd )/generate_stubs.py + if [[ $SYSTEM_NAME = *"IFW" ]]; then + INSTALL_DIR="$INSTALL_DIR/packages/Runtime/data/" + fi + PYTHON_INSTALL_SITE_PACKAGE_DIR=$(cd "$INSTALL_DIR/plugins/SofaPython3/lib/python3/site-packages" && pwd ) + export PYTHONPATH="$PYTHON_INSTALL_SITE_PACKAGE_DIR:$PYTHONPATH" + export SOFA_ROOT="$INSTALL_DIR" + + fi + + echo "SOFA_ROOT=$SOFA_ROOT" + $python_exe -c "import sys; print(f'PYTHONPATH={sys.path}')" + + #Create folder if not already created + + python_exe="$VM_PYTHON3_EXECUTABLE" + if [ -n "$python_exe" ]; then + echo "Launching the stub generation with '$python_exe ${PYTHON_SCRIPT} -d $PYTHON_INSTALL_SITE_PACKAGE_DIR -m Sofa --use_pybind11'" + $python_exe "${PYTHON_SCRIPT}" -d "$PYTHON_INSTALL_SITE_PACKAGE_DIR" -m Sofa --use_pybind11 + fi +else + echo "VM_PYTHON3_EXECUTABLE doe not point to an existing file. To generate stubfiles you should point this env var to the Python3.XX executable." +fi +echo "Generate stubfiles: done." diff --git a/tools/postinstall-fixup/linux-postinstall-fixup.sh b/tools/postinstall-fixup/linux-postinstall-fixup.sh index f9bfa7c5fec..4456179bca8 100644 --- a/tools/postinstall-fixup/linux-postinstall-fixup.sh +++ b/tools/postinstall-fixup/linux-postinstall-fixup.sh @@ -232,4 +232,5 @@ echo " Fixing RPATH: done." echo "Fixing up libs: done." rm -f postinstall_deps_* + exit 0 diff --git a/tools/postinstall-fixup/macos-postinstall-fixup.sh b/tools/postinstall-fixup/macos-postinstall-fixup.sh index e7eac7c0bd5..ba0e346f57c 100644 --- a/tools/postinstall-fixup/macos-postinstall-fixup.sh +++ b/tools/postinstall-fixup/macos-postinstall-fixup.sh @@ -63,6 +63,7 @@ fi move_metis "$INSTALL_DIR" + echo "Fixing up libs manually ..." check-all-deps() { @@ -162,6 +163,12 @@ check-all-deps() { libbasename="$(basename $lib)" echo "install_name_tool -change $dep @rpath/$rpathlib $libbasename" install_name_tool -change $dep @rpath/$rpathlib $lib + + if [ -n "$libpython" ]; then + echo "install_name_tool -add_rpath \"/usr/local/Frameworks/\" $libbasename" + install_name_tool -add_rpath "/usr/local/Frameworks/" $lib + install_name_tool -add_rpath "/opt/homebrew/Frameworks/" $lib + fi fi done done From 4a3b7cf6044a0a32275241d181eb0100b8f03cb8 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri, 26 Sep 2025 15:18:04 +0200 Subject: [PATCH 061/115] Add action to reboot slaves (#36) --- .github/workflows/reboot_builders.yml | 48 +++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 .github/workflows/reboot_builders.yml diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml new file mode 100644 index 00000000000..2a7aadb70a1 --- /dev/null +++ b/.github/workflows/reboot_builders.yml @@ -0,0 +1,48 @@ +name: Trigger build and tests + +# =============================================================== +# =============================================================== + + +on: + # On-demand binary generation + workflow_dispatch: + inputs: + builder-os: + type: choice + description: On which OS run the binaries generation + options: + - '["sofa-ci-dev-ubuntu2204-0"]' + - '["sofa-ci-dev-ubuntu2204-1"]' + - '["sofa-ci-dev-ubuntu2204-2"]' + - '["sofa-ci-dev-ubuntu2204-3"]' + - '["sofa-ci-dev-ubuntu2204-4"]' + - '["consortium-macos-2"]' + - '["consortium-macos-3"]' + - '["sofa-ci-dev-ubuntu2204-0","sofa-ci-dev-ubuntu2204-1","sofa-ci-dev-ubuntu2204-2","sofa-ci-dev-ubuntu2204-3","sofa-ci-dev-ubuntu2204-4","consortium-macos-2","consortium-macos-3"]' + default: '["sofa-ci-dev-ubuntu2204-0","sofa-ci-dev-ubuntu2204-1","sofa-ci-dev-ubuntu2204-2","sofa-ci-dev-ubuntu2204-3","sofa-ci-dev-ubuntu2204-4","consortium-macos-2","consortium-macos-3"]' + + + + # Nightly build + schedule: + - cron: '0 1 * * *' # Evevery night @1:00 a.m. + +# =============================================================== +# =============================================================== + + +jobs: + # Filter build handling : push in master, commits in PR, comments in PR and dispatch + reboot_builders: + strategy: + matrix: + os: ${{ fromJson(inputs.builder-os) }} + runs-on: ${{ matrix.os }} + steps: + - name: Configure builder + shell: bash + run: | + # WARNING: this command needs to add in /etc/sudoers this line: + # ALL ALL=NOPASSWD: /usr/sbin/reboot, /usr/sbin/shutdown, /sbin/reboot, /sbin/shutdown + echo '' | sudo -S /sbin/shutdown -r +1 & From 0bd8ae0875ce0742ae1f85c3d6c2c4c8093ec9d3 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Fri, 26 Sep 2025 15:20:40 +0200 Subject: [PATCH 062/115] Fix rteboot action name --- .github/workflows/reboot_builders.yml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml index 2a7aadb70a1..a4858975a4f 100644 --- a/.github/workflows/reboot_builders.yml +++ b/.github/workflows/reboot_builders.yml @@ -1,4 +1,8 @@ +<<<<<<< HEAD name: Trigger build and tests +======= +name: Reboot builders +>>>>>>> f7897ec220 (Fix rteboot action name) # =============================================================== # =============================================================== From 92b18e41575d41846091931a1a5cc203742be650 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Fri, 26 Sep 2025 15:22:41 +0200 Subject: [PATCH 063/115] Fix reboot action --- .github/workflows/reboot_builders.yml | 4 ---- 1 file changed, 4 deletions(-) diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml index a4858975a4f..8aff8a90173 100644 --- a/.github/workflows/reboot_builders.yml +++ b/.github/workflows/reboot_builders.yml @@ -1,8 +1,4 @@ -<<<<<<< HEAD -name: Trigger build and tests -======= name: Reboot builders ->>>>>>> f7897ec220 (Fix rteboot action name) # =============================================================== # =============================================================== From ec563fa2025e7ab26071be26c23b77bde74d3db9 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 1 Oct 2025 16:46:06 +0200 Subject: [PATCH 064/115] FIX log naming strategy (#34) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Add matrix os into log name * try fix naming * Squashed commit of the following: commit 92b18e41575d41846091931a1a5cc203742be650 Author: Paul Baksic Date: Fri Sep 26 15:22:41 2025 +0200 Fix reboot action commit 0bd8ae0875ce0742ae1f85c3d6c2c4c8093ec9d3 Author: Paul Baksic Date: Fri Sep 26 15:20:40 2025 +0200 Fix rteboot action name commit 4a3b7cf6044a0a32275241d181eb0100b8f03cb8 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Sep 26 15:18:04 2025 +0200 Add action to reboot slaves (#36) commit f84eaaf0b7b1c90ef6a24649259c9769c7ffa9a4 Merge: 21993a7629 5007b6dc27 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Sep 24 15:07:45 2025 +0200 Merge branch 'sofa-framework:master' into master commit 21993a76292ab5a36db44047fc0cd02d4c0970d9 Author: Paul Baksic Date: Wed Sep 24 15:06:22 2025 +0200 Squashed commit of the following: commit 5007b6dc27661cddbcb3becee9de3874f9ab8180 Author: Frederick Roy Date: Wed Sep 24 21:37:23 2025 +0900 [Examples] Fix MultiStepAnimationLoop scene (#5700) make the multistepanimationloop scene work again Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit b0886d2087687f3dd1829a2a740e03e129c07689 Author: Frederick Roy Date: Wed Sep 24 21:36:22 2025 +0900 [all] Matrix: replace all calls to [i][j] with a single call (i,j) (#5650) * replace in animation loop * replace in collision * replace in constraint * debug: add assertion ;; replace in type * replace in helper * replace in linearalgebra * replace in defaulttype * replace in core * compile AnimationLoop * compile Mapping * compile LinearSolver * compile FEM.HyperE * compile FEM.Elastic * compile FEM.NonUni * compile Spring * compile MechaLoad * compile Engine * compile Collision * compile MT * compile full Mat * compile gl * restore operator [] * restore [] for lines * Update Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> * fix typo (from copy paste...) * forgotten case * fix tests compilation * fix bad copy paste Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 034d3d7ed019d606d091928c7c13e61cbde86b5a Author: Frederick Roy Date: Fri Sep 19 16:04:51 2025 +0900 [GUI.Common] Fix crash when selecting a MechanicalObject (#5699) fix crash when selecting commit 366f3243645a7afb5f34645d6414794ad29bdc0f Author: Damien Marchal Date: Fri Sep 12 03:47:08 2025 +0200 [SofaImplicitField] Add getHessian and getGradient to the python binding (#5655) * Add binding for hessian & gradient. * Add getHessian, getGradient and getValue with an unified API to Binding_ScalarField I unified the interface so it is conformant with the one from sofa expect for getHessian. * Update applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp commit 47cf52a38c3ec14e749f9a293497920289f38a02 Author: Isaac94b <48739538+Isaac94b@users.noreply.github.com> Date: Wed Sep 10 00:41:36 2025 +0200 [SofaCUDA] adding support for CUDA 13.0: remove deprecated API usage (#5686) adding support for CUDA 13.0: remove deprecated API usage Co-authored-by: ishak barkat commit a2c58993f6a44f0b7b647d510e670a96882417dd Author: Damien Marchal Date: Mon Sep 8 09:27:45 2025 +0200 [Sofa.Gui.Common] Fix invalid rendering of Node when selected. (#5687) Fix invalid rendering of Node depending on mShowSelection commit 0ed33b8daf9300f7b2af3984f77293480a6c5c97 Author: Frederick Roy Date: Fri Sep 5 16:46:49 2025 +0900 [Core] ObjectFactory: fix warning about string concatenation (#5678) fix warning about concat Co-authored-by: Hugo Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 5f6d24d4e0ecfe394d87bd20f63aa75f577ed309 Author: Frederick Roy Date: Fri Sep 5 16:36:51 2025 +0900 [Type] Vec: update equality methods (#5635) update equality methods Co-authored-by: Hugo Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit ddf26388b893498d79eff9378bc0a809f9b1d48c Author: Frederick Roy Date: Fri Sep 5 16:28:09 2025 +0900 [Mapping.Linear] BarycentricMappingTopologyContainerMapper: Various cleanups (#5630) * refactor to avoid pointer * various cleaning (types) --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 7986776a7760f13e2b89fc5f7cf3c819433086b7 Author: Damien Marchal Date: Fri Sep 5 09:26:46 2025 +0200 [Sofa.Core] Merge DAGNode in Node (#5566) * Merge DAGNode in Node * Use Node in place of DAGNode in sofa's code. * Copy past content of DAGNode in Node * FIXUP forward declaration of BaseMechanicalstate * FIX Node refactoring invalid merge. * Clean of the integration of DAGNode into Node Important things are: - integration of NODEgetMeshTopologyLink into getMeshTopologyLink - refactoring of updateContext, updateVisualContext and updateSimulationContext Some code was shared between them.. so I factorize that into a new method called initializeContexts() non important things are removal of un-needed static_cast * Add deprecation macro in DAGNode.h forwarding to Node commit 8a2ea19c177f14b4b4094c9cb0ffb2d00501fb6e Author: Frederick Roy Date: Thu Sep 4 14:57:31 2025 +0900 [Mapping.Linear] BarycentricMappingTopologyContainerMapper: use array for barycentric coefficients (#5628) * add new function to create array of baryCoeff (and not dynamic vector) * remove dynamic vector version * add perf bench scenes * rename parameter * replace sreal with real in return type commit 20d3d7bdf5e1b03c09aa557d32490ca50669b85c Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Sep 4 01:39:18 2025 +0200 [CImgPlugin] Fix configuration when cmake is reloaded without the fetched dir (#5683) Fix configuration when cmake is reloaded without the fetched dir commit 17440b84d69bd3256b5985ee7e0142af1bc5e3c3 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Sep 3 14:13:13 2025 +0200 [Plugins] Remove SofaAssimp from sources and pluginize it (#5653) * Remove SofaAssimp from sources and pluginize it * Propagate changes into CMakeLists.txt commit 64e5dbbe9ecfc95ca9ab6dff965f1398c9f2c7f2 Author: Hugo Date: Wed Sep 3 08:39:26 2025 +0200 [all] Fix warnings (#5660) * [all] Fix warnings * Update Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl --------- Co-authored-by: Frederick Roy commit 2a1a23d357e8533091039b4bdb88f98ba40d5679 Author: Hugo Date: Wed Sep 3 03:20:27 2025 +0200 [all] Lifecycle v25.12 : disable deprecated attributes (#5659) * [all] Lifecycle v25.12 : disable attributes * disable onSetUp and remove use of findOrCreateAValidPath * Fix NewtonRaphsonSolver_test.cpp * fix compilation MechanicalObjectVOp_test commit cc263efbdaa2e7919e8dea9ae73bde408a0c2ff2 Author: Damien Marchal Date: Tue Sep 2 19:49:15 2025 +0200 [Sofa.GUI.Common] Handle object selection in BaseViewer (#5636) * Add a way to handle object selection in viewer. It is usefull to be able to handle the currently selected object in the viewer to implement visual feedbacks. This is done by adding a vector of selected node/object as well as a drawSelection method to do the rendering. * Replace std::vector with std::set * FIXUP * Add configuration parameters to control the selectionDrawing * Update BaseViewer.cpp Remove commented code. * Update BaseViewer.cpp Integrate comments * Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp Co-authored-by: Hugo * Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp --------- Co-authored-by: Hugo commit 83ff01774a1221db98c565bc1fa175ad739f1e38 Author: Hugo Date: Mon Sep 1 09:24:02 2025 +0200 [LinearSolver,MechanicalLoad] Lifecycle v25.12 : remove deprecated Data (#5658) commit 50c5fb757bf9c74a4607eda600ef8964a9ccda0b Author: Hugo Date: Mon Sep 1 08:01:12 2025 +0200 [all] Lifecycle v25.12 : disable deprecated headers (#5662) commit f376367c714d3fac76d9890b89c36b49bb9759a7 Author: Hugo Date: Mon Sep 1 07:08:22 2025 +0200 [all] Lifecycle v25.12 : remove deprecated headers (#5657) * Remove CudaFixedConstraint and CudaLinearMovementConstraint * Remove SleepController * Remove Gravity from SofaGraphComponent * Remove DefaultCollisionGroupManager, RayTriangleVisitor and SolverMerger from SofaMiscCollision * Remove SimplicialLDLTTraits, SimplicialLLTTraits, SparseLUTraits and SparseQRTraits from LinearSolver + CMakeLists commit e1a39ac4fdbb5213a89e921e04952d64a58f4d9c Author: Hugo Date: Mon Sep 1 06:17:54 2025 +0200 [all] Lifecycle v25.12 : remove deprecated attributes (#5656) * Remove SOFA_ATTRIBUTE_DISABLED__COLLISION_DETECTION_INTERSECTION_AS_PARAMETER * Remove SOFA_ATTRIBUTE_DISABLED__SPARSECOMMON * Remove SOFA_ATTRIBUTE_DISABLED__CORE_INTERSECTION_AS_PARAMETER * Remove SOFA_ATTRIBUTE_DISABLED__TESTING_IMPORT_PLUGIN * Remove SOFA_ATTRIBUTE_DISABLED_MECHANICALOPERATIONS_* * Remove last disabled attributes in classes EdgeSetGeometryAlgorithms and MechanicalGetNonDiagonalMassesCountVisitor commit 072a5b060e03d9f98ec49101de6871b9d6e8da3d Author: Hugo Date: Mon Sep 1 04:13:52 2025 +0200 [Response] Clean init of CollisionResponse (#5604) * [Response] Clean init of CollisionResponse * Apply suggestions from code review * Apply suggestions from code review Co-authored-by: Frederick Roy * add a function in OptionsGroup to list all possibly items * only set the response when given response data is valid and not empty in create() function * clean the init of CollisionResponse to properly warn the user * Update all examples which where not specifying the collision response * Update CollisionPipeline_test which was not specifying the collision response * Fix two last failing scene tests * Fix last .. CUDA scene --------- Co-authored-by: Frederick Roy commit 0c2c13420d401344261970acd79bb8417db3a778 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Aug 29 10:15:29 2025 +0200 [CMake] Use cmake and fetch mechanism for windeppack (#5614) Use subdiretory and fetch mechanism for WindDepPAck to automatise it while leacing the possibility to modify it commit 208f309b954985205b99f88ad8498ca56fac9cbe Author: Frederick Roy Date: Fri Aug 29 07:24:31 2025 +0900 [Type] Mat: explicit instanciations and fix methods (#5634) explicit instanciations for mat commit 3d55bf95097fa56bf96de4eafe28c20a3a0b843d Author: Hugo Date: Thu Aug 28 21:46:22 2025 +0200 [examples] Fix stability in RegularGridTopology.scn (#5633) * [examples] Fix stability in RegularGridTopology.scn * add regression test config --------- Co-authored-by: Frederick Roy Co-authored-by: erik pernod commit aaf801eb6dacacfc894293da046008756d367064 Author: Hugo Date: Thu Aug 28 18:08:35 2025 +0200 [examples] Center default scene in world origin (#5624) * [examples] Update new default scene with LineAxis and centered * remove LineAxis but keep centering --------- Co-authored-by: Damien Marchal Co-authored-by: erik pernod commit d437ef9868b94457954157b09a60a229d63df4c1 Author: Alex Bilger Date: Thu Aug 28 04:20:03 2025 +0200 [SceneChecking] Introduce check on mappings and states in a Node (#5568) * [SceneChecking] Introduce check on mappings and states in a Node * warnings to errors Co-authored-by: Hugo * take nonmechanical state into account * add another check * apply good practice * Fix loadVolume scene with wrongly placed MeshLoader * Apply suggestions from code review * Apply suggestions from code review --------- Co-authored-by: Hugo commit cd0df1ac94b923745d157485513e09ed2c4eb5d2 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Aug 28 02:57:21 2025 +0200 [CMake] Add way to parametrize globally where to relocate plugins, projects and applications (#5562) * Enable the use of global variable to specify relocatable directory and allow to specify custom one * Remove debug message commit c0f989ad5b84d2bbcda3906f9a2e9595372d4e9d Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Aug 28 02:04:11 2025 +0200 [Config] Add new macro for fetching dependencies (#5550) * Introduce new macro for fetching external dependencies * Use macro in code base * remove unused macro * Fix CImg * Avoid fetching when CMake is disconnected * Add Local dir mechanism * WIP, use the macro for plugins * Finalize use of the macro for plugins commit d67d1cda5f44d322059d0a2115c77038e5e88a5c Author: Frederick Roy Date: Tue Aug 26 16:57:56 2025 +0900 [Framework] Fix compilation with clang20 (#5665) * fix compilation with clang20 * remove deprecation warning about space with operator string litteral --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 3139b27ebae8e1c1909340fd598de5dd8ba0bd28 Author: Frederick Roy Date: Tue Aug 26 16:57:14 2025 +0900 [GUI] Fix compilation with clang and boost 1.89 (#5664) fix compilation with clang and boost 1.89 commit 4b7b287db3acc2e4e9a799597bcfe885c456d8a6 Author: Alex Bilger Date: Wed Aug 6 00:23:20 2025 +0200 [Type] Replace fixed_array with std::array (#5632) * [Type] Replace fixed_array with std::array * try to fix linux * try again * deduce type to fix compilation * remove support of derived types * remove tests * add tuple include * fix constructor * implement at function for Element * fix * fix image * fix unit test * clean setSrc * try to fix inconsistency between visual model and topology * add test on data name * add test on ValidInfo * fix (?) datatypeinfo for array on gcc --------- Co-authored-by: Frederick Roy commit 087e0ac9828b7fa2275ba88984365e1663fa6879 Author: EulalieCoevoet Date: Wed Jul 30 02:05:53 2025 +0200 [Engine.Generate] Cleaning volume engines (#5595) * [Engine.Generate] new components to compute volume from meshes * [helper] ComponentChange: remove const for external plugins * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp Co-authored-by: Alex Bilger * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp Co-authored-by: Alex Bilger * [Engine] VolumeFrom: updates header * [CMake] Add SoftRobots.CUDA to the presets (#5492) * [CMake] Add SofaDistanceGrid.CUDA to the presets (#5493) * [CMake] Add BeamAdapter.CUDA to the presets (#5491) Co-authored-by: Hugo * [Visual] VisualStyle: Set flags at init() (#5530) set flags at init() Co-authored-by: Hugo * [CMake] Add SofaSphFluid.CUDA to the presets (#5494) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo * [Elastic] Generalize the use of Tetrahedron::volume (#5532) * [Elastic] Generalize the use of Tetrahedron::volume * add constexpr qualifier for Vec3r1 ctor * fix unit test * typo --------- Co-authored-by: Frederick Roy Co-authored-by: Frederick Roy * [FEM.Elastic] Use triangle area function (#5555) * [Visual] Add a new component drawing an AABB (#5527) * add new component drawing a AABB * Update Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp (not necessary to add draw state) Co-authored-by: Alex Bilger * set template method pattern function private --------- Co-authored-by: Alex Bilger * [Lagrangian.Model] BilateralLagrangianConstraint: enforce disabled state in getConstraintResolution (#5564) enforce disabled state in getConstraintResolution * [GitHub] Add dependabot for monthly update of github-actions (#5552) * [Engine.Generate] Cleaning volume components * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.inl Co-authored-by: Hugo * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.inl Co-authored-by: Hugo * using links for topology and mechanical * cleaning --------- Co-authored-by: Alex Bilger Co-authored-by: Hugo Co-authored-by: Frederick Roy Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Frederick Roy commit fb9d6761fa52537592cd5db8ab7b7d0f33cdbc6e Author: Hugo Date: Fri Jul 25 02:45:51 2025 +0200 [CHANGELOG] Final update for v25.06 (#5637) commit d2f48ee82d7812cca6bfab8304cc62fdd43dc653 Author: Hugo Date: Thu Jul 24 01:12:40 2025 +0200 [SceneChecking] Add checks for PenalityContactForceField (#5603) commit 72621bdeeba8f2a5fe97565be461278efbe7991f Author: Frederick Roy Date: Wed Jul 23 10:41:38 2025 +0200 [All] CMake: an other round of speedup (configure stage) (#5611) * wip * apply to sofa.component * even faster with global keyword at project scale * Update Sofa.TypeConfig.cmake.in --------- Co-authored-by: Hugo commit ea0b18bd56b692aa68f8207cb70d52186b9ef8b6 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jul 22 00:22:09 2025 +0200 [Helper] Add path to icons to fix release error not finding icons (#5629) [Helper] Add path to icons to fix release error not finding icons (#5622) Test adding path to icons commit 17465f9732a840da185156f1ca4cb8b759da3040 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Mon Jul 21 00:52:58 2025 +0200 [image] Deactivate image gui by default (#5627) Deactivate image gui by default commit 6d147b20af9ee388070640ddd5d43f6cd486ca83 Author: Hugo Date: Mon Jul 21 00:13:28 2025 +0200 [GitHub] Add new label in label-checker.yml (#5619) * [GitHub] Add new label in label-checker.yml * Update pr-label-checker.yml commit f870d8d7f9787214201447f18e845e437aebd23b Author: Hugo Date: Mon Jul 21 00:10:48 2025 +0200 [Project] Start dev phase v25.12 (#5618) * [CHANGELOG] Update for v25.06 * Bump version to v25.12.99 * Update CHANGELOG.md commit 51cbc558f8375e17801289ba5933874bce7a9e2d Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri Jul 18 14:02:42 2025 +0200 [Plugins] Fix compilation regarding qt code now activated (#5623) * Fix compilation, changing namespace by removing GUI * Fix namespaces in image commit 634afa0860cd31fb069fd6d210783fdea65e13f7 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Jul 17 17:31:50 2025 +0200 [All] Fix last use of Sofa.GUI.Qt (#5621) Fix last use of Sofa.GUI.Qt commit a7505a864f56f7a15733f980ba1e17c914bc64f2 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Jul 17 14:31:13 2025 +0200 Revert "[Type] Replace fixed_array with std::array" (#5620) Revert "[Type] Replace fixed_array with std::array (#5539)" This reverts commit 4c88c105703749fd836369d21e5e88a28710704a. commit 4c88c105703749fd836369d21e5e88a28710704a Author: Alex Bilger Date: Thu Jul 17 06:05:48 2025 +0200 [Type] Replace fixed_array with std::array (#5539) * [Type] Replace fixed_array with std::array * try to fix linux * try again * deduce type to fix compilation * remove support of derived types * remove tests * add tuple include * fix constructor * implement at function for Element * fix * fix image * fix unit test --------- Co-authored-by: Damien Marchal commit 4a1d4ef87ba3b125123ec3dc7ef67c2a27b72e1d Author: Alex Bilger Date: Wed Jul 16 10:17:41 2025 +0200 [Visual] introduce component to visualize a vector field (#5590) * introduce component to visualize a vector field * computeBBox * draw mode * add color * second vector field for forces * compare to zero Co-authored-by: Frederick Roy * fix computeBBox * Simpler Co-authored-by: Frederick Roy * Fix suggestion * Update Sofa/Component/Visual/src/sofa/component/visual/VisualVectorField.inl --------- Co-authored-by: Frederick Roy commit 47c2f88540cee37c2979b03dac46dce59dc32fbc Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jul 15 14:51:16 2025 +0200 [tools] generate stubfiles during packaging (#5222) * Add stubgen inside post-install-fixup * Fix stubgen by passing through a CPACK mechanism of Pre build script * Remove unnecessary changes * Remote last artifacts * Last cleaning * Add cpack option into main CMAKE * Add rpath for arm64 builder * Fix usage for 25.06 * Fix for new clone in build * Fix windows stubgen commit 32553d93faae0e289c5b31afc65d6d8feb436f8e Author: Hugo Date: Tue Jul 15 01:02:46 2025 +0200 [Helper] Add check in OptionGroup (#5602) commit 8cc44923d6920c9bb940913d5577d7806c70114e Author: Alex Bilger Date: Mon Jul 14 02:50:28 2025 +0200 [Visual] Introduce component to visualize a point cloud (#5588) * Introduce component to visualize a point cloud * draw indices * different draw mode for rigids * use fake spheres for performances * Fedora CI does not support conditional method definition based on a concept commit b70c4a2e67f0f3cf691ce758cf00a9e01138d945 Author: Alex Bilger Date: Mon Jul 14 00:51:31 2025 +0200 [Scene] Modernize DataDisplay scene (#5587) commit 9c7a5dca4cc6d9d1bcc0893269fe502fc11ed408 Author: Damien Marchal Date: Mon Jul 14 00:50:03 2025 +0200 [SofaImplicitField] Add python binding to ScalarField (#5559) * [SofaImplicitField] Add python binding to SofaImplicitField * Update example. commit ac2b2d888223a7704f7c9a12607252abb5281bbe Author: Alex Bilger Date: Thu Jul 10 07:56:35 2025 +0200 [Rendering2d] Support change of color scheme with callback (#5585) * [Rendering2d] Support change of color scheme with callback * fix commit 4d965119bfadb7a07b8612e6417923b25c19ebe2 Author: Alex Bilger Date: Thu Jul 10 01:24:22 2025 +0200 [Mapping.Linear] DistanceFromTargetMapping: Build indices list if not defined by user (#5584) [Mapping.Linear] Build indices list if not defined by user commit 578b0117a4f784bcee59d025e2ce3b136cae7cf5 Author: Alex Bilger Date: Thu Jul 10 00:42:43 2025 +0200 [Spring] Fix empty stiffness container (#5583) commit a970137c9153a3fd4627e9e014d0aac7c812ef01 Author: Hugo Date: Thu Jul 10 00:13:51 2025 +0200 [Core] Fix DisplayFlags with showCollision (#5598) commit 8fc6f913fea8dd5096147e62f15876fcc120efcb Author: Alex Bilger Date: Tue Jul 8 09:06:32 2025 +0200 [IO] Clean VTKExporter (#5577) - Raw pointers are now links - getPX, getPY etc are no longer used. Instead a link between data is used commit 28a8aa1b671a6edf108c5cfa2662493f4e4085d1 Author: Alex Bilger Date: Mon Jul 7 15:30:24 2025 +0200 [Core,StateContainer] Remove unused aliases (#5576) commit 694bc3cd2f3891460e3c69141095146f1198af61 Author: Alex Bilger Date: Mon Jul 7 06:42:24 2025 +0200 [Core] Visitor to have the same logic for backward and forward (#5569) commit 2343e22b81ca394520c6548d4c926f87cdd49951 Author: EulalieCoevoet Date: Fri Jul 4 02:06:07 2025 +0200 [Engine.Generate] New components to compute volume from meshes (#5525) * [Engine.Generate] new components to compute volume from meshes * [helper] ComponentChange: remove const for external plugins * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTetrahedrons.cpp Co-authored-by: Alex Bilger * Update Sofa/Component/Engine/Generate/src/sofa/component/engine/generate/VolumeFromTriangles.cpp Co-authored-by: Alex Bilger * [Engine] VolumeFrom: updates header --------- Co-authored-by: Alex Bilger commit cb3b288215434494ed03c047a52e82015ad31012 Author: Frederick Roy Date: Thu Jul 3 21:33:58 2025 +0900 [Collision.Geometry] SphereModel: remove duplicated return statement (#5589) fix computebbox by removing duplicated return commit 99596dcf27bbb858328a2668fb925de83a8a7a8e Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Jul 3 02:41:34 2025 -0400 [CollisionModel] Rename proximity data to contactDistance (#5518) * Rename proximity data to contactDistance with compat layer * Modify SOFA scenes * Change methods names * Add compat layer * Modify description commit cd00e5e9666f0f201ee81a5bb781a33c7690127b Author: Alex Bilger Date: Thu Jul 3 05:30:45 2025 +0200 [Rendering3D] Minor cleaning of DataDisplay (#5586) commit b67a93946417cf21e1fc04fe0fa5c2631ebb567d Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Jul 2 19:23:12 2025 -0400 [SlidingLagrangianConstraint] Fix SlidingLagrangianConstraint and make it compatible with Rigids (#5528) * Fix Sliding constraint and make it compatible with Rigids * Take comment into account * Add forgotten file diff * Apply suggestions from code review Co-authored-by: Hugo --------- Co-authored-by: Hugo commit f37305c1672f69efc986f279802fdbf0c4ad7faa Author: Hugo Date: Mon Jun 30 01:57:22 2025 +0200 [GitHub] Add dependabot for monthly update of github-actions (#5552) commit 83276a98be498edc3cac390b860f5e3095f47ae0 Author: Frederick Roy Date: Thu Jun 26 22:07:06 2025 +0900 [Lagrangian.Model] BilateralLagrangianConstraint: enforce disabled state in getConstraintResolution (#5564) enforce disabled state in getConstraintResolution commit 8a65ebcd8ababcc432f08fe4dae46a7ff670a77d Author: Frederick Roy Date: Wed Jun 25 20:29:31 2025 +0900 [Visual] Add a new component drawing an AABB (#5527) * add new component drawing a AABB * Update Sofa/Component/Visual/src/sofa/component/visual/VisualBoundingBox.cpp (not necessary to add draw state) Co-authored-by: Alex Bilger * set template method pattern function private --------- Co-authored-by: Alex Bilger commit ad7495392dd348230b863cc7c84a83f874425db7 Author: Alex Bilger Date: Wed Jun 25 00:32:45 2025 +0200 [FEM.Elastic] Use triangle area function (#5555) commit 3f405d5ed04ba274ff85d558b8bd0bcdbf75caa8 Author: Alex Bilger Date: Tue Jun 24 02:13:33 2025 +0200 [Elastic] Generalize the use of Tetrahedron::volume (#5532) * [Elastic] Generalize the use of Tetrahedron::volume * add constexpr qualifier for Vec3r1 ctor * fix unit test * typo --------- Co-authored-by: Frederick Roy Co-authored-by: Frederick Roy commit 471cd37060a32ddaa0fbfe6b24427986e6b8c26c Author: Alex Bilger Date: Mon Jun 23 19:30:07 2025 +0200 [CMake] Add SofaSphFluid.CUDA to the presets (#5494) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo commit 7d27934f294758d9a0f00ad92895d3b7c7b69d34 Author: Frederick Roy Date: Mon Jun 23 21:31:07 2025 +0900 [Visual] VisualStyle: Set flags at init() (#5530) set flags at init() Co-authored-by: Hugo commit f1b2981a8df5b08c2c97740629cb7bb6cf21428a Author: Alex Bilger Date: Mon Jun 23 13:44:51 2025 +0200 [CMake] Add BeamAdapter.CUDA to the presets (#5491) Co-authored-by: Hugo commit 1ec80df821fd9ecab5a8290b60f2e0b2c2c0015e Author: Alex Bilger Date: Mon Jun 23 13:42:12 2025 +0200 [CMake] Add SofaDistanceGrid.CUDA to the presets (#5493) commit 56fa3647baa629f171c0776d7e1c09d4d936b223 Author: Alex Bilger Date: Mon Jun 23 08:28:43 2025 +0200 [CMake] Add SoftRobots.CUDA to the presets (#5492) commit db9c7bcd1445e36becfe5ea4782825bbc1302c75 Author: Alex Bilger Date: Mon Jun 23 00:35:07 2025 +0200 [FEM.Elastic] Avoid copy when reading rest position (#5544) commit b6aeee70426e6d9b042c8326e29c35e8d9dc4c06 Author: Alex Bilger Date: Fri Jun 20 10:15:30 2025 +0200 [SofaMatrix] Introduce widget to visualize a matrix in the GUI using imgui (#5512) * Move image components from Qt extension * remove registration in Qt * add registration * create plugin for imgui * add dependencies * add headers * implement the widget commit 6b913c64adf094bd9c996505fdc08732592cfdc8 Author: Olivier Roussel Date: Thu Jun 12 16:13:35 2025 +0200 [CImg] Fix CImg compat (#5526) * fix cimg cmake module to make it compatible with conda package * fix cimg compat for >=v3.5.0 commit c5ce643c34462f8161954a6a14bed343c667d2d9 Author: Alex Bilger Date: Thu Jun 12 09:16:42 2025 +0200 [Type] Remove the namespace on sqrt (#5531) commit 0cd2473c4816364652d8bc01ed983ed64cea73c9 Author: Frederick Roy Date: Thu Jun 12 09:14:18 2025 +0200 [Collision.Response.Mapper] Remove special characters for generated components' name (#5533) remove special characters commit 0fb23cbf56183ff5b1d06608bc5a11cc45b4836e Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jun 10 10:14:59 2025 +0200 [CMake] Add flag to enable the use of a local directory for external projects (#5511) Add flag to enable the use of a local directory for external projects instead of fetching them commit 21b7a67c7198a5cde725a82e8da0b23556222f5a Author: Alex Bilger Date: Wed Jun 4 21:42:17 2025 +0200 [Sofa.GL] Implement missing overload (#5522) Co-authored-by: Hugo commit 99ecb16709ba7eabb8ba9bf32fc1c087638f758b Author: courtecuisse Date: Wed Jun 4 14:35:51 2025 +0200 [SofaCUDA] Fix warning in SofaCUDA (#5520) Fix compilation of cuda-dependent plugins. Remove the NVCCFlag file in cuda-cmake.in as it xas suppress in previous commit. Also fix warning overflow in vector_device (change int to unsigned) Co-authored-by: Frederick Roy commit 401fe7fa98eb986256897684d1495523aa142ad4 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Jun 4 10:19:04 2025 +0200 [SofaCUDA] Fix OOT compilation of plugin depending on SofaCUDA (#5517) * Apply changes to the config file * Update applications/plugins/SofaCUDA/SofaCUDAConfig.cmake.in Co-authored-by: Alex Bilger * Add suggestion from Fred --------- Co-authored-by: Alex Bilger commit 11054c37c0602145d45371cc22650d29ef78c9f4 Author: Frederick Roy Date: Wed Jun 4 09:59:48 2025 +0200 [Collision.Geometry] Contribute to the BoundingBox only if drawn (#5508) contribute to the bbox only if is drawn (when onlyvisible=true) Co-authored-by: Hugo commit 282d423992d26422ac180024edbc8e0f825b5b7a Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue Jun 3 10:47:27 2025 +0200 [SofaCUDA] Reorder inclusion of SofaCUDA plugin and fix name of Sofa.Qt target (#5509) * Reoder inclusion of SofaCUDA plugin and fix name of Sofa.Qt target * Fix includes and namespaces * Fix missing --------- Co-authored-by: Hugo commit 1a38648d0dd1c3e41f458fb9b49688fe23c116bf Author: Alex Bilger Date: Mon Jun 2 16:57:43 2025 +0200 [Constraint] replace bwdInit by init (#5504) Co-authored-by: Hugo commit 4715cd1058e3781f5a62b37398c6fa790419fa8e Author: Alex Bilger Date: Mon Jun 2 09:24:43 2025 +0200 [Core] The Jacobian matrix of the constraints must be evaluated at the previous state (#5506) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 141a82ee1370238b2d9b6ec2d00e33b3acf870b1 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Mon Jun 2 09:22:53 2025 +0200 [Lagrangian] Remove multigrid support in LCPConstraintSolver (#5372) * Remove unused, unstable and hevy multigrid support * Remove not wanted diff * Try to fix strange diff * Fix disapeared diff * Fix unit tests failing * Add compat layer * Complete ompat layer * restore initial changes * computeHierarchy was doing a necessary cleaning that wasn't related to the hierarchy * DEPRECATE instead of DISABLE getInfo --------- Co-authored-by: Alex Bilger Co-authored-by: Frederick Roy Co-authored-by: Hugo commit 8949253d66359a6c897ebd858ba00ca56346f02f Author: Alex Bilger Date: Wed May 28 21:57:53 2025 +0200 [Core] Deprecate unused method rebuildSystem (#5505) * [Core] Deprecate unused method rebuildSystem * deprecation instead of disabling Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo commit 21d60551d0e4cf3b022ee3847b532bbdaccdfca8 Author: Alex Bilger Date: Wed May 28 21:47:34 2025 +0200 [Core] Remove not relevant comment (#5487) * [Core] Unvirtualize drawVisual * Restore virtual final Co-authored-by: Hugo * remove ; --------- Co-authored-by: Hugo commit e0e6b51cf9918ff0bf79a9439e41410b3df0e3d1 Author: Alex Bilger Date: Wed May 28 20:23:52 2025 +0200 [Lagrangian.Model] Redundant reading of free position (#5507) * [Lagrangian.Model] Redundant reading of free position * remove SOFA_UNUSED Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Co-authored-by: Hugo commit 39777bd945534b239a07156d8ac2402c1aa13089 Author: Alex Bilger Date: Wed May 28 19:15:49 2025 +0200 [Constraint] Introduce correctionFactor function for factorization (#5503) Co-authored-by: Hugo commit c311051cc6dd0cc170b3ce0082c2da21a8d82229 Author: Alex Bilger Date: Wed May 28 19:14:30 2025 +0200 [Core] Apply template method design pattern to CollisionModel::draw (#5490) * [Core] Apply template method design pattern to CollisionModel::draw * adapt CudaPointCollisionModel * change logic to visualize bounding hierarchy even if collision models are hidden * adapt CudaRigidDistanceGridCollisionModel * simplification --------- Co-authored-by: Hugo commit 6d6f12c0b94cac191ec466006c860ce0710c700e Author: Frederick Roy Date: Thu May 29 02:10:41 2025 +0900 [SofaCUDA] Modernize cmake (#5480) * remove find_package(SofaCUDA), move files for a more consistent structure, etc * add archs * add required(?) cudatoolkit and link cuda_runtime (for TLED) * restore cmake min version to 3.22 and add test for native feature * correct value for __cplusplus with msvc * set VolumetricRendering.CUDA as cuda project * debug: force 75 as arch * update distancegrid.cuda * add win32 definition * Revert "debug: force 75 as arch" This reverts commit 7a05f49fd52f6a44b305d7318e75d253dcd1a7f8. * use deprecated CUDA_ARCH_LIST variable if set (and warn) * fix cmake command * remove now useless SofaCUDANvccFlags file commit 3db7d742672c8bc7d1925eacf3b8e6f0505312f6 Author: Alex Bilger Date: Tue May 27 17:37:30 2025 +0200 [Core,Lagrangian] Add some useful comments (#5500) * [Core,Lagrangian] Add some useful comments * more comments --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit ed3c534d30e7ee79dab76c11e05c91100683376e Author: Alex Bilger Date: Tue May 27 17:34:37 2025 +0200 [Core] Replace raw pointer by SingleStateAccessor (#5499) Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit f95579b76a0298e01844fa734e56620932a3b94c Author: Frederick Roy Date: Wed May 28 00:33:39 2025 +0900 [Type] Mat: Fix unsafe methods (constructor and assignement) from ptr (#5427) * rewrite methods from ptr * split tests and remove warnings --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 4acaf0f436ca5c65afd91a9c4c470499e37833b6 Author: Alex Bilger Date: Tue May 27 01:08:44 2025 +0200 [Core] Simplify constraint force computation (#5498) * [Core] Simplify constraint force computation * restore previous resize because of SofaCUDA * another simplification of a projection * don't repeat commit 6c98561ebb24a07969ac077732dcb728c1bf0675 Author: Alex Bilger Date: Thu May 22 03:36:21 2025 +0200 [Core] Rename Constraint to LagrangianConstraint (#5472) * rename files * compatibility for files * Rename class * Apply renaming * replace includes commit df96d0b435b0244a7aacde4a939d142cbc6353ee Author: Alex Bilger Date: Wed May 21 02:44:54 2025 +0200 [SofaCUDA] Remove code related to SPH (#5458) commit 4244202053b6595c16f639a95f7878ac05a41560 Author: Hugo Date: Tue May 20 06:24:59 2025 +0200 [VolumetricRendering] Apply new factory registration mechanism (#5406) * [VolumetricRendering] Apply new factory registration mechanism * fix warning * make CUDA extension in the same namspace (volumetricrendering) * fix wrongly replaced gpu::cuda::CudaVector * fix invalid change * forgot registerObjects function extern declaration * restore cuda namespace --------- Co-authored-by: Alex Bilger commit f05182c5f675d23798449b19cdb0fc7cfe59cdf3 Author: Alex Bilger Date: Tue May 20 01:06:11 2025 +0200 [Simulation.Core] Deprecate AnimateVisitor (#5497) * remove includes * deprecate AnimateVisitor commit 766560e87f8171ab79e1b40ac75c781e2f853965 Author: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Date: Mon May 19 01:51:07 2025 +0200 [SofaDistanceGrid] Substitute pointer-sharing and ref-counting mechanism of the DistanceGrid class with std smart pointers (#5426) * [SofaDistanceGrid] Add smart pointers to DistanceGrid objects - less manual memory management * [SofaDistanceGrid] Substitute shared with weak ptr to the static key-value pair in DistanceGrid The weak ptr replicates the previous behavior: the ptr in the static map does not increase counts in the ref block --------- Co-authored-by: Themis Skamagkis commit 8c1314e311f696f787bb3c5a5e3e9dae25fb8a87 Author: Alex Bilger Date: Mon May 19 01:24:46 2025 +0200 [Core] Update comment to reflect code (#5495) commit 99e29b777860e01501632efb5c9af641f4352e1a Author: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Date: Fri May 16 14:30:14 2025 +0200 [SOFADistanceGrid] Replace pointer to the mstate with a link in the collision models of the plugin (#5425) * [SofaDistanceGrid] Swaped pointer to MechanicalState with a Link within the node of the collision model * [SofaDistanceGrid] Removed the ffdRGrid & ffdSGrid pointers from the FFDDistanceGridCollisionModel class * Their scope is restricted within the init function - they should only be defined inside the function. * [SofaDistanceGrid] Pointer to BaseMeshTopology swaped for a Link in FFDDistanceGridCollisionModel * [SofaDistanceGrid] Use of the SingleStateAccessor to create a link with the MechanicalState for the collision models of the plugin --------- Co-authored-by: Themis Skamagkis commit 4967bb465e41a91437aa68b7c0347dff4765e72b Author: Hugo Date: Fri May 16 04:13:46 2025 +0200 [ODESolver] Fix warnings in StaticSolver (#5488) commit 6fa5ac47bb32f4f3a1ea671bbfaeeb6f1557c1a6 Author: Hugo Date: Fri May 16 04:11:19 2025 +0200 [Core] Remove useless inheritance in BaseInteractionProjectiveCS (#5479) [Core] Remove useless inheritance in BaseInteractionProjectiveConstraintSet BaseInteractionProjectiveConstraintSet inherits from BaseProjectiveConstraintSet which already inherits from StateAccessor commit dfd269f08225881f1c1dbee0740920013d1f4acc Author: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Date: Thu May 15 22:04:01 2025 +0200 [SofaDistanceGrid] New scenes and regression tests for the plugin (#5411) * [SofaDistanceGrid] Duplicated example scenes to demonstrate their use with the FreeMotionAnimationLoop * Some updates in the old scenes as well * [SofaDistanceGrid] Added a new example scene for the RigidDistanceGridCollisionModel * It uses the FreeMotionAnimationLoop * Updated scene names in CMakeLists * [SofaDistanceGrid] Updated .regression-tests for the plugin scenes * Possible removal for windows_vs2022_options check with timeout errors for 15 scenes ? --------- Co-authored-by: Themis Skamagkis commit 000f9fe98e2d780c513177ecc4867f1119194d69 Author: Alex Bilger Date: Thu May 15 02:57:47 2025 +0200 [Topology.Container.Dynamic] Missing call to super init (#5431) * [Topology.Container.Dynamic] Missing call to super init * Fix reload of the mesh file because of src="@" commit f74321644d9ad7ed95ba0f3a008fc28d38111b09 Author: Alex Bilger Date: Thu May 15 00:55:57 2025 +0200 [Core] Update deprecation date (#5469) commit 7cc7f6c5fa805ac37711356b18148a2e0761e96d Author: Hugo Date: Wed May 14 06:05:05 2025 +0200 [IO.Mesh] Add check on VTK format version (#5438) * [IO.Mesh] Add check on VTK format version * Update Sofa/Component/IO/Mesh/src/sofa/component/io/mesh/MeshVTKLoader.cpp Co-authored-by: Alex Bilger --------- Co-authored-by: Frederick Roy Co-authored-by: Alex Bilger commit 09310db49241973ae4e1acec57ea9c7fa1947a13 Author: Hugo Date: Wed May 14 03:52:27 2025 +0200 [Core] isComponentStateInvalid function (#5440) commit af79e47404aab1df7af5f636bcca570ae8f6b957 Author: Alex Bilger Date: Tue May 13 10:05:33 2025 +0200 [Core] Rename BaseConstraint to BaseLagrangianConstraint (#5423) * [Core] Rename BaseConstraint to BaseLagrangianConstraint * restore toBaseConstraint and deprecate it * fix? --------- Co-authored-by: Hugo commit fe008edf459167c4a71c102c6786e6d18ea84625 Author: Alex Bilger Date: Tue May 13 00:57:06 2025 +0200 [Engine.Select] Automatically find topology in MeshBoundaryROI (#5116) * [Engine.Select] Automatically find topology in MeshBoundaryROI * add warning when no topology is provided commit 9323eaa7f7b06a45894820eb9c8b1c121518f565 Author: Alex Bilger Date: Thu May 8 02:07:06 2025 +0200 [LinearSolver] Fix usage of a wrong pointer (#5430) commit 41876e7ee2c91a0ca346db2301c7553afbfaf439 Author: Alex Bilger Date: Wed Apr 30 10:37:25 2025 +0200 [SofaImplicitField] A bit of cleaning in the plugin (#5419) * Introduced `MODULE_NAME` and `MODULE_VERSION` as constants in the configuration for maintainability * remove useless readme file * remove dependency to SofaDistanceGrid * Remove definition Co-authored-by: Frederick Roy --------- Co-authored-by: Hugo Co-authored-by: Frederick Roy commit 6d5559d940ddf3a5613ab6450b407079ad66d5a7 Author: Hugo Date: Wed Apr 30 07:30:33 2025 +0200 [ArticulatedSystemPlugin] Apply new factory registration mechanism (#5394) * [ArticulatedSystemPlugin] Apply new factory registration mechanism * update namespace commit b1ceb29ae85e25d12d01266a7a69e4dfff578867 Author: Hugo Date: Wed Apr 30 07:29:07 2025 +0200 [SofaImplicitField] Apply new factory registration mechanism (#5392) * [SofaImplicitField] Apply new factory registration mechanism * remove getModuleComponentList * fix typo in namespace * forgotten typo commit 4156b8be64f6a5534e4d01d7b64644362becf9cc Author: Hugo Date: Wed Apr 30 07:27:28 2025 +0200 [SofaDistanceGrid] Apply new factory registration mechanism (#5391) * [SofaDistanceGrid] Apply new factory registration mechanism * remove getModuleComponentList * Correctly sort registration in folder-appropriate init.cpp * fix init.cpp in cuda extension * Apply suggestions from code review * Update DistanceGridCollisionModel.cpp * fix typo in registerObjects --------- Co-authored-by: Frederick Roy commit f8fb655aebc38238fcf68c110c58b2ddc114a8ed Author: Hugo Date: Mon Apr 28 01:13:42 2025 +0200 [CollisionOBBCapsule] Apply new factory registration mechanism (#5404) * [CollisionOBBCapsule] Apply new factory registration mechanism * Fix test commit 590b9f7ae01b730c7f1b316d00da48f1d8f86d16 Author: EulalieCoevoet Date: Thu Apr 24 03:20:46 2025 +0200 [runSofa,Helper] Changes screenshots and config directories location (#5096) * [main] changes screenshots and config directories location * [helper] Utils: on Windows, check env to get user home directory * [Helper] fixes getUserHomeDirectory for Windows * Update Utils.cpp (bogus bracket) * Apply suggestions from code review Use of FileSystem::append Co-authored-by: Alex Bilger * [runSofa,Helper] adds test for getUserHomeDirectory and getSofaDataDirectory * [helper/test] attempt to fix test on Windows * test * [helper/test] attempt to fix test on Windows * [helper] replaces findOrCreateAValidPath by ensureFolderExists * [helper] removes test * fix user home for macOS * test using fs::exists * use only std::fs in main --------- Co-authored-by: Frederick Roy Co-authored-by: Hugo Co-authored-by: Alex Bilger Co-authored-by: Frederick Roy commit a85c8b8275bf895e5fc3101ca916e7726dbac67d Author: Alex Bilger Date: Thu Apr 24 00:17:18 2025 +0200 [Lagrangian.Model] Remove extra endEdit (#5421) commit 74ab93433e1935759053c247fa85cc8fb90184bd Author: Alex Bilger Date: Thu Apr 24 00:16:06 2025 +0200 [examples] Run PluginFinder (#5415) run PluginFinder commit 960bfc2e249da32a65433de079800592ab2ae9bb Author: Alex Bilger Date: Wed Apr 23 02:45:29 2025 +0200 [examples] remove non-existing plugin (#5417) remove non-existing plugin commit c0f83483b4520ba7a5cd7d4c4338d2dd0ce4a214 Author: Alex Bilger Date: Wed Apr 23 02:22:59 2025 +0200 [examples] Remove scenes with SleepController (#5416) Remove scenes with SleepController commit ef80a04ce89e2873d27b4558929afe60abfb5ab8 Author: Alex Bilger Date: Wed Apr 23 01:33:08 2025 +0200 [Examples] Remove examples using Monitor (#5418) Remove examples using Monitor commit 5007b6dc27661cddbcb3becee9de3874f9ab8180 Author: Frederick Roy Date: Wed Sep 24 21:37:23 2025 +0900 [Examples] Fix MultiStepAnimationLoop scene (#5700) make the multistepanimationloop scene work again Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit b0886d2087687f3dd1829a2a740e03e129c07689 Author: Frederick Roy Date: Wed Sep 24 21:36:22 2025 +0900 [all] Matrix: replace all calls to [i][j] with a single call (i,j) (#5650) * replace in animation loop * replace in collision * replace in constraint * debug: add assertion ;; replace in type * replace in helper * replace in linearalgebra * replace in defaulttype * replace in core * compile AnimationLoop * compile Mapping * compile LinearSolver * compile FEM.HyperE * compile FEM.Elastic * compile FEM.NonUni * compile Spring * compile MechaLoad * compile Engine * compile Collision * compile MT * compile full Mat * compile gl * restore operator [] * restore [] for lines * Update Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> * fix typo (from copy paste...) * forgotten case * fix tests compilation * fix bad copy paste Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --------- Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com> Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 034d3d7ed019d606d091928c7c13e61cbde86b5a Author: Frederick Roy Date: Fri Sep 19 16:04:51 2025 +0900 [GUI.Common] Fix crash when selecting a MechanicalObject (#5699) fix crash when selecting commit 366f3243645a7afb5f34645d6414794ad29bdc0f Author: Damien Marchal Date: Fri Sep 12 03:47:08 2025 +0200 [SofaImplicitField] Add getHessian and getGradient to the python binding (#5655) * Add binding for hessian & gradient. * Add getHessian, getGradient and getValue with an unified API to Binding_ScalarField I unified the interface so it is conformant with the one from sofa expect for getHessian. * Update applications/plugins/SofaImplicitField/python/src/Binding_ScalarField.cpp commit 47cf52a38c3ec14e749f9a293497920289f38a02 Author: Isaac94b <48739538+Isaac94b@users.noreply.github.com> Date: Wed Sep 10 00:41:36 2025 +0200 [SofaCUDA] adding support for CUDA 13.0: remove deprecated API usage (#5686) adding support for CUDA 13.0: remove deprecated API usage Co-authored-by: ishak barkat commit a2c58993f6a44f0b7b647d510e670a96882417dd Author: Damien Marchal Date: Mon Sep 8 09:27:45 2025 +0200 [Sofa.Gui.Common] Fix invalid rendering of Node when selected. (#5687) Fix invalid rendering of Node depending on mShowSelection commit 0ed33b8daf9300f7b2af3984f77293480a6c5c97 Author: Frederick Roy Date: Fri Sep 5 16:46:49 2025 +0900 [Core] ObjectFactory: fix warning about string concatenation (#5678) fix warning about concat Co-authored-by: Hugo Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 5f6d24d4e0ecfe394d87bd20f63aa75f577ed309 Author: Frederick Roy Date: Fri Sep 5 16:36:51 2025 +0900 [Type] Vec: update equality methods (#5635) update equality methods Co-authored-by: Hugo Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit ddf26388b893498d79eff9378bc0a809f9b1d48c Author: Frederick Roy Date: Fri Sep 5 16:28:09 2025 +0900 [Mapping.Linear] BarycentricMappingTopologyContainerMapper: Various cleanups (#5630) * refactor to avoid pointer * various cleaning (types) --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> commit 7986776a7760f13e2b89fc5f7cf3c819433086b7 Author: Damien Marchal Date: Fri Sep 5 09:26:46 2025 +0200 [Sofa.Core] Merge DAGNode in Node (#5566) * Merge DAGNode in Node * Use Node in place of DAGNode in sofa's code. * Copy past content of DAGNode in Node * FIXUP forward declaration of BaseMechanicalstate * FIX Node refactoring invalid merge. * Clean of the integration of DAGNode into Node Important things are: - integration of NODEgetMeshTopologyLink into getMeshTopologyLink - refactoring of updateContext, updateVisualContext and updateSimulationContext Some code was shared between them.. so I factorize that into a new method called initializeContexts() non important things are removal of un-needed static_cast * Add deprecation macro in DAGNode.h forwarding to Node commit 8a2ea19c177f14b4b4094c9cb0ffb2d00501fb6e Author: Frederick Roy Date: Thu Sep 4 14:57:31 2025 +0900 [Mapping.Linear] BarycentricMappingTopologyContainerMapper: use array for barycentric coefficients (#5628) * add new function to create array of baryCoeff (and not dynamic vector) * remove dynamic vector version * add perf bench scenes * rename parameter * replace sreal with real in return type commit 20d3d7bdf5e1b03c09aa557d32490ca50669b85c Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu Sep 4 01:39:18 2025 +0200 [CImgPlugin] Fix configuration when cmake is reloaded without the fetched dir (#5683) Fix configuration when cmake is reloaded without the fetched dir commit 17440b84d69bd3256b5985ee7e0142af1bc5e3c3 Author: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed Sep 3 14:13:13 2025 +0200 [Plugins] Remove SofaAssimp from sources and pluginize it (#5653) * Remove SofaAssimp from sources and pluginize it * Propagate changes into CMakeLists.txt commit 64e5dbbe9ecfc95ca9ab6dff965f1398c9f2c7f2 Author: Hugo Date: Wed Sep 3 08:39:26 2025 +0200 [all] Fix warnings (#5660) * [all] Fix warnings * Update Sofa/Component/SolidMechanics/FEM/NonUniform/src/sofa/component/solidmechanics/fem/nonuniform/NonUniformHexahedronFEMForceFieldAndMass.inl --------- Co-authored-by: Frederick Roy commit 2a1a23d357e8533091039b4bdb88f98ba40d5679 Author: Hugo Date: Wed Sep 3 03:20:27 2025 +0200 [all] Lifecycle v25.12 : disable deprecated attributes (#5659) * [all] Lifecycle v25.12 : disable attributes * disable onSetUp and remove use of findOrCreateAValidPath * Fix NewtonRaphsonSolver_test.cpp * fix compilation MechanicalObjectVOp_test commit cc263efbdaa2e7919e8dea9ae73bde408a0c2ff2 Author: Damien Marchal Date: Tue Sep 2 19:49:15 2025 +0200 [Sofa.GUI.Common] Handle object selection in BaseViewer (#5636) * Add a way to handle object selection in viewer. It is usefull to be able to handle the currently selected object in the viewer to implement visual feedbacks. This is done by adding a vector of selected node/object as well as a drawSelection method to do the rendering. * Replace std::vector with std::set * FIXUP * Add configuration parameters to control the selectionDrawing * Update BaseViewer.cpp Remove commented code. * Update BaseViewer.cpp Integrate comments * Update Sofa/GUI/Common/src/sofa/gui/common/BaseViewer.cpp Co-authored-by: Hugo * Update S… * Reduce work load to test more easily * restore old script --- .github/workflows/build-and-test.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index f4d1858a6cc..32a010a08b8 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -89,6 +89,7 @@ jobs: ## Go to workspace given by the runner (this file is generated by the pre-build script) WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA)/${{ matrix.os }} echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV + echo "BUILDER_OS=${{ matrix.os }}" >> $GITHUB_ENV if [ ! -d $WORKSPACE ]; then mkdir -p $WORKSPACE @@ -202,7 +203,6 @@ jobs: done fi - - name: Notify dashboard shell: bash run: | @@ -342,7 +342,7 @@ jobs: if: always() uses: actions/upload-artifact@v4 with: - name: build-logs + name: build-logs_${{ env.BUILDER_OS }} path: | ${{ env.BUILD_DIR }}/make-output.txt @@ -350,6 +350,6 @@ jobs: if: always() uses: actions/upload-artifact@v4 with: - name: tests-logs + name: tests-logs_${{ env.BUILDER_OS }} path: | ${{ env.BUILD_DIR }}/tests_results/ From 5076ab74f0678dd8fdfb52bb8c0422bee68b5e82 Mon Sep 17 00:00:00 2001 From: Hugo Date: Wed, 1 Oct 2025 15:54:32 +0100 Subject: [PATCH 065/115] Add step checking build and test status (#30) * Add step checking build and test status * Apply suggestions from code review * Apply suggestions from code review --------- Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com> --- .github/workflows/build-and-test.yml | 25 +++++++++++++++++++++++-- 1 file changed, 23 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 32a010a08b8..8ec0b58661b 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -77,6 +77,7 @@ jobs: echo "additionnal-cmake-flags : ${{ inputs.additionnal-cmake-flags }}" echo "builder-os : ${{ inputs.builder-os }}" + build: strategy: matrix: @@ -115,6 +116,7 @@ jobs: ##TODO (if required) fix path too long for windows (see main.sh:201) + - name: Clone SOFA and CI shell: bash run: | @@ -213,6 +215,7 @@ jobs: #TODO #Need more information. Might be good to + - name: Build id: build-step continue-on-error: true @@ -311,7 +314,9 @@ jobs: run: | #TODO + - name: Launch tests + id: launch-tests-step continue-on-error: true if: steps.build-step.outcome == 'success' shell: bash @@ -330,7 +335,7 @@ jobs: bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "${{ inputs.with-all-tests }}" fi - + - name: Publish artifacts if: steps.build-step.outcome == 'success' && inputs.generate-binaries == true @@ -338,6 +343,7 @@ jobs: run: | #TODO + - name: Publish build logs if: always() uses: actions/upload-artifact@v4 @@ -346,10 +352,25 @@ jobs: path: | ${{ env.BUILD_DIR }}/make-output.txt + - name: Publish tests logs if: always() uses: actions/upload-artifact@v4 with: name: tests-logs_${{ env.BUILDER_OS }} path: | - ${{ env.BUILD_DIR }}/tests_results/ + ${{ env.BUILD_DIR }}/tests_results/ + + - name: Check build and test status + if: always() + shell: bash + run: | + if [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then + echo "❌ Build step failed" + exit 1 + elif [[ "${{ steps.launch-tests-step.outcome }}" == "failure" ]]; then + echo "❌ Launch tests step failed" + exit 1 + else + echo "✅ Both build and test steps ran successfully." + From 6db49354adbffca1d445e410246c02689a329fa5 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 1 Oct 2025 17:04:36 +0200 Subject: [PATCH 066/115] Fix script --- .github/workflows/build-and-test.yml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 8ec0b58661b..595259235ac 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -373,4 +373,8 @@ jobs: exit 1 else echo "✅ Both build and test steps ran successfully." + fi + + + From 9b53c93a0779266ec681f114a73d4798894c037e Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 1 Oct 2025 17:17:54 +0200 Subject: [PATCH 067/115] Remove fail fast and fix reboot action --- .github/workflows/build-and-test.yml | 3 ++- .github/workflows/reboot_builders.yml | 19 ++++++++++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 595259235ac..a8cdea5672e 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -81,6 +81,7 @@ jobs: build: strategy: matrix: + fail-fast: false os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} steps: @@ -375,6 +376,6 @@ jobs: echo "✅ Both build and test steps ran successfully." fi - + diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml index 8aff8a90173..fe8cbd3d9e1 100644 --- a/.github/workflows/reboot_builders.yml +++ b/.github/workflows/reboot_builders.yml @@ -34,9 +34,11 @@ on: jobs: # Filter build handling : push in master, commits in PR, comments in PR and dispatch - reboot_builders: + reboot_builders_by_hand: + if: ${{ github.event_name != 'schedule'}} strategy: matrix: + fail-fast: false os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} steps: @@ -46,3 +48,18 @@ jobs: # WARNING: this command needs to add in /etc/sudoers this line: # ALL ALL=NOPASSWD: /usr/sbin/reboot, /usr/sbin/shutdown, /sbin/reboot, /sbin/shutdown echo '' | sudo -S /sbin/shutdown -r +1 & + + rebot_builder_nightly: + if: github.event.schedule == '0 2 * * *' + strategy: + matrix: + fail-fast: false + os: ["sofa-ci-dev-ubuntu2204-0","sofa-ci-dev-ubuntu2204-1","sofa-ci-dev-ubuntu2204-2","sofa-ci-dev-ubuntu2204-3","sofa-ci-dev-ubuntu2204-4","consortium-macos-2","consortium-macos-3"] + runs-on: ${{ matrix.os }} + steps: + - name: Configure builder + shell: bash + run: | + # WARNING: this command needs to add in /etc/sudoers this line: + # ALL ALL=NOPASSWD: /usr/sbin/reboot, /usr/sbin/shutdown, /sbin/reboot, /sbin/shutdown + echo '' | sudo -S /sbin/shutdown -r +1 & \ No newline at end of file From 23608bf6897699cd06e782577afc66a519ae4010 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 1 Oct 2025 17:21:17 +0200 Subject: [PATCH 068/115] Fix fail-fast --- .github/workflows/build-and-test.yml | 2 +- .github/workflows/reboot_builders.yml | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index a8cdea5672e..65aebea6bb5 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -80,8 +80,8 @@ jobs: build: strategy: + fail-fast: false matrix: - fail-fast: false os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} steps: diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml index fe8cbd3d9e1..502ad367b01 100644 --- a/.github/workflows/reboot_builders.yml +++ b/.github/workflows/reboot_builders.yml @@ -37,8 +37,8 @@ jobs: reboot_builders_by_hand: if: ${{ github.event_name != 'schedule'}} strategy: + fail-fast: false matrix: - fail-fast: false os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} steps: @@ -52,8 +52,8 @@ jobs: rebot_builder_nightly: if: github.event.schedule == '0 2 * * *' strategy: + fail-fast: false matrix: - fail-fast: false os: ["sofa-ci-dev-ubuntu2204-0","sofa-ci-dev-ubuntu2204-1","sofa-ci-dev-ubuntu2204-2","sofa-ci-dev-ubuntu2204-3","sofa-ci-dev-ubuntu2204-4","consortium-macos-2","consortium-macos-3"] runs-on: ${{ matrix.os }} steps: From 6aa42c0df6bc9976b876ebfd29c33f5939779a2e Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 2 Oct 2025 17:27:31 +0200 Subject: [PATCH 069/115] Fix nightly reboot --- .github/workflows/reboot_builders.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml index 502ad367b01..1ed3e02c895 100644 --- a/.github/workflows/reboot_builders.yml +++ b/.github/workflows/reboot_builders.yml @@ -50,7 +50,7 @@ jobs: echo '' | sudo -S /sbin/shutdown -r +1 & rebot_builder_nightly: - if: github.event.schedule == '0 2 * * *' + if: ${{ github.event_name == 'schedule'}} strategy: fail-fast: false matrix: From ce066e0e4594e87ef647700f088c82b31ea750e4 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 8 Oct 2025 15:53:04 +0200 Subject: [PATCH 070/115] Try to activate nightly build --- .github/workflows/trigger-build-and-tests.yml | 33 +++++++++++++++---- 1 file changed, 27 insertions(+), 6 deletions(-) diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index e2d3dc0567e..90f91da7926 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -41,10 +41,9 @@ on: description: On which OS run the binaries generation options: - '["sh-ubuntu_gcc_release"]' - - '["sh-windows_vs2022_release"]' - '["sh-macos_clang_release"]' - - '["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' - default: '["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' + - '["sh-ubuntu_gcc_release","sh-macos_clang_release"]' + default: '["sh-ubuntu_gcc_release","sh-macos_clang_release"]' @@ -165,7 +164,7 @@ jobs: echo "SOFA_COMMIT_SHA=${{ github.sha }}">> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "FORCE_FULL_BUILD=true" >> $GITHUB_ENV - echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-ubuntu_clang_release","sh-ubuntu_clang_debug","sh-fedora_clang_release","sh-macos_clang_release"]' >> $GITHUB_ENV - name: Run when PR is opened or a commit is pushed in a PR if: ${{ github.event_name == 'pull_request' }} @@ -296,7 +295,7 @@ jobs: echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" echo "PR_COMMIT_SHA=HEAD" >> $GITHUB_ENV # PR_COMMIT_SHA: "HEAD" - echo 'BUILDER_OS=["sh-ubuntu_gcc_release"]' >> $GITHUB_ENV # BUILDER_OS: ["sh-ubuntu_gcc_release"] + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV # BUILDER_OS: ["sh-ubuntu_gcc_release","sh-macos_clang_release"] - name: Set up python uses: actions/setup-python@v5 @@ -318,7 +317,7 @@ jobs: echo "PRESET=standard-dev" >> $GITHUB_ENV echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV echo "GENERATE_BINARIES=true" >> $GITHUB_ENV - echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-windows_vs2022_release","sh-macos_clang_release"]' >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV - name: Export environment variables as outputs id: export-vars @@ -363,3 +362,25 @@ jobs: pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }} pr-commit-sha: ${{ needs.filter_build.outputs.PR_COMMIT_SHA }} builder-os: ${{ needs.filter_build.outputs.BUILDER_OS }} + + + + # Trigger the build and sharing all parameters from nightly_build > outputs + call-workflow-passing-data: + needs: nightly_build + uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master + with: + sofa-branch-name: ${{ needs.nightly_build.outputs.SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ needs.nightly_build.outputs.SOFA_COMMIT_SHA }} + preset: ${{ needs.nightly_build.outputs.PRESET }} + python-version: ${{ needs.nightly_build.outputs.PYTHON_VERSION }} + ci-depends-on: ${{ needs.nightly_build.outputs.CI_DEPENDS_ON }} + with-all-tests: ${{ needs.nightly_build.outputs.WITH_ALL_TESTS == 'true'}} + force-full-build: ${{ needs.nightly_build.outputs.FORCE_FULL_BUILD == 'true'}} + external-plugins: ${{ needs.nightly_build.outputs.EXTERNAL_PLUGINS }} + additionnal-cmake-flags: ${{ needs.nightly_build.outputs.ADDITIONNAL_CMAKE_FLAGS }} + generate-binaries: ${{ needs.nightly_build.outputs.GENERATE_BINARIES == 'true'}} + pr-owner-url: ${{ needs.nightly_build.outputs.PR_OWNER_URL }} + pr-branch-name: ${{ needs.nightly_build.outputs.PR_BRANCH_NAME }} + pr-commit-sha: ${{ needs.nightly_build.outputs.PR_COMMIT_SHA }} + builder-os: ${{ needs.nightly_build.outputs.BUILDER_OS }} From c1018b59951309c65fa3946f2bd028d15e8d4bdc Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 8 Oct 2025 15:54:27 +0200 Subject: [PATCH 071/115] Fix test --- .github/workflows/trigger-build-and-tests.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index 90f91da7926..02d63189623 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -344,7 +344,7 @@ jobs: # =============================================================== # Trigger the build and sharing all parameters from filter_build > outputs - call-workflow-passing-data: + call-workflow-passing-data-from-commit-or-pr: needs: filter_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: @@ -366,7 +366,7 @@ jobs: # Trigger the build and sharing all parameters from nightly_build > outputs - call-workflow-passing-data: + call-workflow-passing-data-from-nightly: needs: nightly_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: From 592a783fd925e0c03dc0af07a029152de889acd6 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 8 Oct 2025 15:59:03 +0200 Subject: [PATCH 072/115] Divide nightly from the rest --- .github/workflows/nightly-build-and-tests.yml | 122 ++++++++++++++++++ .github/workflows/trigger-build-and-tests.yml | 115 ----------------- 2 files changed, 122 insertions(+), 115 deletions(-) create mode 100644 .github/workflows/nightly-build-and-tests.yml diff --git a/.github/workflows/nightly-build-and-tests.yml b/.github/workflows/nightly-build-and-tests.yml new file mode 100644 index 00000000000..98fd004d221 --- /dev/null +++ b/.github/workflows/nightly-build-and-tests.yml @@ -0,0 +1,122 @@ +name: Nightly build and tests + +# =============================================================== +# =============================================================== + + +on: + # Nightly build + schedule: + - cron: '0 2 * * *' # Evevery night + +# =============================================================== +# =============================================================== + + +jobs: + # Nightly build triggered once a day + nightly_build: + runs-on: ubuntu-latest + strategy: + matrix: + sofa_version: [master, v24.12] + ### if: ${{ github.repository_owner == 'sofa-framework' }} + outputs: + SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} + SOFA_COMMIT_SHA: ${{ steps.export-vars.outputs.SOFA_COMMIT_SHA }} + PRESET: ${{ steps.export-vars.outputs.PRESET }} + PYTHON_VERSION: ${{ steps.export-vars.outputs.PYTHON_VERSION }} + CI_DEPENDS_ON: ${{ steps.export-vars.outputs.CI_DEPENDS_ON }} + WITH_ALL_TESTS: ${{ steps.export-vars.outputs.WITH_ALL_TESTS }} + FORCE_FULL_BUILD: ${{ steps.export-vars.outputs.FORCE_FULL_BUILD }} + EXTERNAL_PLUGINS: ${{ steps.export-vars.outputs.EXTERNAL_PLUGINS }} + ADDITIONNAL_CMAKE_FLAGS: ${{ steps.export-vars.outputs.ADDITIONNAL_CMAKE_FLAGS }} + GENERATE_BINARIES: ${{ steps.export-vars.outputs.GENERATE_BINARIES }} + PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }} + PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }} + PR_COMMIT_SHA: ${{ steps.export-vars.outputs.PR_COMMIT_SHA }} + BUILDER_OS: ${{ steps.export-vars.outputs.BUILDER_OS }} + + steps: + - name: Default values of environment variables + run: | + echo "SOFA_BRANCH_NAME=master" >> $GITHUB_ENV # SOFA_BRANCH_NAME: "master" + echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV # SOFA_COMMIT_SHA: "HEAD" + echo "PRESET=full" >> $GITHUB_ENV # PRESET: "full" + echo "PYTHON_VERSION=3.12" >> $GITHUB_ENV # PYTHON_VERSION: "3.12" + echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" + echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false + echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false + echo "EXTERNAL_PLUGINS=" >> $GITHUB_ENV # EXTERNAL_PLUGINS: "" + echo "ADDITIONNAL_CMAKE_FLAGS=" >> $GITHUB_ENV # ADDITIONNAL_CMAKE_FLAGS: "" + echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false + echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" + echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" + echo "PR_COMMIT_SHA=HEAD" >> $GITHUB_ENV # PR_COMMIT_SHA: "HEAD" + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV # BUILDER_OS: ["sh-ubuntu_gcc_release","sh-macos_clang_release"] + + - name: Set up python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + + - name: Install pip packages + run: | + pip install python-graphql-client + pip install requests + + - name: Check out code + uses: actions/checkout@v2 + + - name: Run when nightly + run: | + echo "This step runs only for nightly builds." + echo "SOFA_BRANCH_NAME=${{ matrix.sofa_version }}" >> $GITHUB_ENV + echo "PRESET=standard-dev" >> $GITHUB_ENV + echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV + echo "GENERATE_BINARIES=true" >> $GITHUB_ENV + echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV + + - name: Export environment variables as outputs + id: export-vars + run: | + echo "SOFA_BRANCH_NAME=${SOFA_BRANCH_NAME}" >> $GITHUB_OUTPUT + echo "SOFA_COMMIT_SHA=${SOFA_COMMIT_SHA}" >> $GITHUB_OUTPUT + echo "PRESET=${PRESET}" >> $GITHUB_OUTPUT + echo "PYTHON_VERSION=${PYTHON_VERSION}" >> $GITHUB_OUTPUT + echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT + echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT + echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT + echo "EXTERNAL_PLUGINS=${EXTERNAL_PLUGINS}" >> $GITHUB_OUTPUT + echo "ADDITIONNAL_CMAKE_FLAGS=${ADDITIONNAL_CMAKE_FLAGS}" >> $GITHUB_OUTPUT + echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT + echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT + echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT + echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" >> $GITHUB_OUTPUT + echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT + + + + + # =============================================================== + # =============================================================== + + # Trigger the build and sharing all parameters from nightly_build > outputs + call-workflow-passing-data-from-nightly: + needs: nightly_build + uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master + with: + sofa-branch-name: ${{ needs.nightly_build.outputs.SOFA_BRANCH_NAME }} + sofa-commit-sha: ${{ needs.nightly_build.outputs.SOFA_COMMIT_SHA }} + preset: ${{ needs.nightly_build.outputs.PRESET }} + python-version: ${{ needs.nightly_build.outputs.PYTHON_VERSION }} + ci-depends-on: ${{ needs.nightly_build.outputs.CI_DEPENDS_ON }} + with-all-tests: ${{ needs.nightly_build.outputs.WITH_ALL_TESTS == 'true'}} + force-full-build: ${{ needs.nightly_build.outputs.FORCE_FULL_BUILD == 'true'}} + external-plugins: ${{ needs.nightly_build.outputs.EXTERNAL_PLUGINS }} + additionnal-cmake-flags: ${{ needs.nightly_build.outputs.ADDITIONNAL_CMAKE_FLAGS }} + generate-binaries: ${{ needs.nightly_build.outputs.GENERATE_BINARIES == 'true'}} + pr-owner-url: ${{ needs.nightly_build.outputs.PR_OWNER_URL }} + pr-branch-name: ${{ needs.nightly_build.outputs.PR_BRANCH_NAME }} + pr-commit-sha: ${{ needs.nightly_build.outputs.PR_COMMIT_SHA }} + builder-os: ${{ needs.nightly_build.outputs.BUILDER_OS }} diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index 02d63189623..d9d81de7a51 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -44,12 +44,6 @@ on: - '["sh-macos_clang_release"]' - '["sh-ubuntu_gcc_release","sh-macos_clang_release"]' default: '["sh-ubuntu_gcc_release","sh-macos_clang_release"]' - - - - # Nightly build - schedule: - - cron: '0 2 * * *' # Evevery night # PR-related build (open, labels, push) pull_request: @@ -71,7 +65,6 @@ on: jobs: # Filter build handling : push in master, commits in PR, comments in PR and dispatch filter_build: - if: ${{ github.event_name != 'schedule'}} runs-on: ubuntu-latest outputs: SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} @@ -254,92 +247,6 @@ jobs: echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT - - # Nightly build triggered once a day - nightly_build: - runs-on: ubuntu-latest - if: github.event.schedule == '0 2 * * *' - strategy: - matrix: - sofa_version: [master, v24.12] - ### if: ${{ github.repository_owner == 'sofa-framework' }} - outputs: - SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} - SOFA_COMMIT_SHA: ${{ steps.export-vars.outputs.SOFA_COMMIT_SHA }} - PRESET: ${{ steps.export-vars.outputs.PRESET }} - PYTHON_VERSION: ${{ steps.export-vars.outputs.PYTHON_VERSION }} - CI_DEPENDS_ON: ${{ steps.export-vars.outputs.CI_DEPENDS_ON }} - WITH_ALL_TESTS: ${{ steps.export-vars.outputs.WITH_ALL_TESTS }} - FORCE_FULL_BUILD: ${{ steps.export-vars.outputs.FORCE_FULL_BUILD }} - EXTERNAL_PLUGINS: ${{ steps.export-vars.outputs.EXTERNAL_PLUGINS }} - ADDITIONNAL_CMAKE_FLAGS: ${{ steps.export-vars.outputs.ADDITIONNAL_CMAKE_FLAGS }} - GENERATE_BINARIES: ${{ steps.export-vars.outputs.GENERATE_BINARIES }} - PR_OWNER_URL: ${{ steps.export-vars.outputs.PR_OWNER_URL }} - PR_BRANCH_NAME: ${{ steps.export-vars.outputs.PR_BRANCH_NAME }} - PR_COMMIT_SHA: ${{ steps.export-vars.outputs.PR_COMMIT_SHA }} - BUILDER_OS: ${{ steps.export-vars.outputs.BUILDER_OS }} - - steps: - - name: Default values of environment variables - run: | - echo "SOFA_BRANCH_NAME=master" >> $GITHUB_ENV # SOFA_BRANCH_NAME: "master" - echo "SOFA_COMMIT_SHA=HEAD" >> $GITHUB_ENV # SOFA_COMMIT_SHA: "HEAD" - echo "PRESET=full" >> $GITHUB_ENV # PRESET: "full" - echo "PYTHON_VERSION=3.12" >> $GITHUB_ENV # PYTHON_VERSION: "3.12" - echo "CI_DEPENDS_ON=" >> $GITHUB_ENV # CI_DEPENDS_ON: "" - echo "WITH_ALL_TESTS=false" >> $GITHUB_ENV # WITH_ALL_TESTS: false - echo "FORCE_FULL_BUILD=false" >> $GITHUB_ENV # FORCE_FULL_BUILD: false - echo "EXTERNAL_PLUGINS=" >> $GITHUB_ENV # EXTERNAL_PLUGINS: "" - echo "ADDITIONNAL_CMAKE_FLAGS=" >> $GITHUB_ENV # ADDITIONNAL_CMAKE_FLAGS: "" - echo "GENERATE_BINARIES=false" >> $GITHUB_ENV # GENERATE_BINARIES: false - echo "PR_OWNER_URL=" >> $GITHUB_ENV # PR_OWNER_URL: "" - echo "PR_BRANCH_NAME=" >> $GITHUB_ENV # PR_BRANCH_NAME: "" - echo "PR_COMMIT_SHA=HEAD" >> $GITHUB_ENV # PR_COMMIT_SHA: "HEAD" - echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV # BUILDER_OS: ["sh-ubuntu_gcc_release","sh-macos_clang_release"] - - - name: Set up python - uses: actions/setup-python@v5 - with: - python-version: ${{ env.PYTHON_VERSION }} - - - name: Install pip packages - run: | - pip install python-graphql-client - pip install requests - - - name: Check out code - uses: actions/checkout@v2 - - - name: Run when nightly - run: | - echo "This step runs only for nightly builds." - echo "SOFA_BRANCH_NAME=${{ matrix.sofa_version }}" >> $GITHUB_ENV - echo "PRESET=standard-dev" >> $GITHUB_ENV - echo "WITH_ALL_TESTS=true" >> $GITHUB_ENV - echo "GENERATE_BINARIES=true" >> $GITHUB_ENV - echo 'BUILDER_OS=["sh-ubuntu_gcc_release","sh-macos_clang_release"]' >> $GITHUB_ENV - - - name: Export environment variables as outputs - id: export-vars - run: | - echo "SOFA_BRANCH_NAME=${SOFA_BRANCH_NAME}" >> $GITHUB_OUTPUT - echo "SOFA_COMMIT_SHA=${SOFA_COMMIT_SHA}" >> $GITHUB_OUTPUT - echo "PRESET=${PRESET}" >> $GITHUB_OUTPUT - echo "PYTHON_VERSION=${PYTHON_VERSION}" >> $GITHUB_OUTPUT - echo "CI_DEPENDS_ON=${CI_DEPENDS_ON}" >> $GITHUB_OUTPUT - echo "WITH_ALL_TESTS=${WITH_ALL_TESTS}" >> $GITHUB_OUTPUT - echo "FORCE_FULL_BUILD=${FORCE_FULL_BUILD}" >> $GITHUB_OUTPUT - echo "EXTERNAL_PLUGINS=${EXTERNAL_PLUGINS}" >> $GITHUB_OUTPUT - echo "ADDITIONNAL_CMAKE_FLAGS=${ADDITIONNAL_CMAKE_FLAGS}" >> $GITHUB_OUTPUT - echo "GENERATE_BINARIES=${GENERATE_BINARIES}" >> $GITHUB_OUTPUT - echo "PR_OWNER_URL=${PR_OWNER_URL}" >> $GITHUB_OUTPUT - echo "PR_BRANCH_NAME=${PR_BRANCH_NAME}" >> $GITHUB_OUTPUT - echo "PR_COMMIT_SHA=${PR_COMMIT_SHA}" >> $GITHUB_OUTPUT - echo "BUILDER_OS=${BUILDER_OS}" >> $GITHUB_OUTPUT - - - - # =============================================================== # =============================================================== @@ -362,25 +269,3 @@ jobs: pr-branch-name: ${{ needs.filter_build.outputs.PR_BRANCH_NAME }} pr-commit-sha: ${{ needs.filter_build.outputs.PR_COMMIT_SHA }} builder-os: ${{ needs.filter_build.outputs.BUILDER_OS }} - - - - # Trigger the build and sharing all parameters from nightly_build > outputs - call-workflow-passing-data-from-nightly: - needs: nightly_build - uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master - with: - sofa-branch-name: ${{ needs.nightly_build.outputs.SOFA_BRANCH_NAME }} - sofa-commit-sha: ${{ needs.nightly_build.outputs.SOFA_COMMIT_SHA }} - preset: ${{ needs.nightly_build.outputs.PRESET }} - python-version: ${{ needs.nightly_build.outputs.PYTHON_VERSION }} - ci-depends-on: ${{ needs.nightly_build.outputs.CI_DEPENDS_ON }} - with-all-tests: ${{ needs.nightly_build.outputs.WITH_ALL_TESTS == 'true'}} - force-full-build: ${{ needs.nightly_build.outputs.FORCE_FULL_BUILD == 'true'}} - external-plugins: ${{ needs.nightly_build.outputs.EXTERNAL_PLUGINS }} - additionnal-cmake-flags: ${{ needs.nightly_build.outputs.ADDITIONNAL_CMAKE_FLAGS }} - generate-binaries: ${{ needs.nightly_build.outputs.GENERATE_BINARIES == 'true'}} - pr-owner-url: ${{ needs.nightly_build.outputs.PR_OWNER_URL }} - pr-branch-name: ${{ needs.nightly_build.outputs.PR_BRANCH_NAME }} - pr-commit-sha: ${{ needs.nightly_build.outputs.PR_COMMIT_SHA }} - builder-os: ${{ needs.nightly_build.outputs.BUILDER_OS }} From f8182500924f3a8411f3c25c68e3beca24562d91 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 14 Oct 2025 10:13:20 +0200 Subject: [PATCH 073/115] Add binaries publication --- .github/workflows/build-and-test.yml | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 65aebea6bb5..9d452983d27 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -319,7 +319,7 @@ jobs: - name: Launch tests id: launch-tests-step continue-on-error: true - if: steps.build-step.outcome == 'success' + if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false shell: bash run: | # If os has got docker then use it @@ -340,9 +340,11 @@ jobs: - name: Publish artifacts if: steps.build-step.outcome == 'success' && inputs.generate-binaries == true - shell: bash - run: | - #TODO + uses: actions/upload-artifact@v4 + with: + name: binaries_${{ env.BUILDER_OS }} + path: | + ${{ env.BUILD_DIR }}/SOFA_v* - name: Publish build logs From a4d1ce80ca390dfb16787eaa07516526d818a55c Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 15 Oct 2025 15:50:54 +0200 Subject: [PATCH 074/115] Remove continue on fail for build + display more info on summary --- .github/workflows/build-and-test.yml | 37 +++++++++++++++++++++++++--- 1 file changed, 33 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 9d452983d27..69d9705c601 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -86,6 +86,7 @@ jobs: runs-on: ${{ matrix.os }} steps: - name: Configure builder + id: configure shell: bash run: | ## Go to workspace given by the runner (this file is generated by the pre-build script) @@ -119,6 +120,7 @@ jobs: - name: Clone SOFA and CI + id: clone shell: bash run: | cd $WORKSPACE @@ -219,7 +221,6 @@ jobs: - name: Build id: build-step - continue-on-error: true shell: bash run: | ## Configure the build: setup cmake variables @@ -318,7 +319,6 @@ jobs: - name: Launch tests id: launch-tests-step - continue-on-error: true if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false shell: bash run: | @@ -348,6 +348,7 @@ jobs: - name: Publish build logs + id: publish-build-logs if: always() uses: actions/upload-artifact@v4 with: @@ -357,6 +358,7 @@ jobs: - name: Publish tests logs + id: publish-tests-logs if: always() uses: actions/upload-artifact@v4 with: @@ -364,16 +366,43 @@ jobs: path: | ${{ env.BUILD_DIR }}/tests_results/ - - name: Check build and test status + - name: Summarize results if: always() shell: bash run: | - if [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then + bold=$(tput bold) + normal=$(tput sgr0) + if [[ "${{ steps.configure.outcome }}" == "failure" || "${{ steps.clone.outcome }}" == "failure" ]]; then + echo "❌ Something whent wrong during the fconfigure or clone steps..." + echo "${bold}Please check this action logs${normal}" + exit 1 + elif [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then echo "❌ Build step failed" + echo "${bold}You can download all logs here : ${{ steps.publish-build-logs.outputs.artifact-url }}${normal}" exit 1 elif [[ "${{ steps.launch-tests-step.outcome }}" == "failure" ]]; then echo "❌ Launch tests step failed" exit 1 + elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == "" ]]; then + echo "❌ Tests have resulted in errors:" + echo "" + echo "#----------------------------------------#" + for testType in 'unit' 'scene' 'regression'; + do + for errorType in 'errors' 'crashes' 'failure'; + do + if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then + echo "" + echo "${bold}${testType^} ${errorType}:${normal}" + echo "" + cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" + echo "" + echo "#----------------------------------------#" + fi + done + done + echo "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" + exit 1 else echo "✅ Both build and test steps ran successfully." fi From 5e22fa407d0170ba0df84f43e994e4c3bbd647c6 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 15 Oct 2025 17:34:04 +0200 Subject: [PATCH 075/115] Move ci scripts to CI and checkout CI instead of SOFA in trigger build --- .github/workflows/trigger-build-and-tests.yml | 7 +- scripts/github_CI/checkPRInfoBeforeBuild.py | 226 ------------------ 2 files changed, 5 insertions(+), 228 deletions(-) delete mode 100644 scripts/github_CI/checkPRInfoBeforeBuild.py diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index d9d81de7a51..e828c53dfa0 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -149,6 +149,9 @@ jobs: - name: Check out code uses: actions/checkout@v2 + with: + repository: sofa/ci + path: ./ci - name: Check push on master case (e.g. merge) if: ${{ github.event_name == 'push'}} @@ -170,7 +173,7 @@ jobs: echo "This step runs only when a PR is opened or synchronized." # Trigger the Build action - python scripts/github_CI/checkPRInfoBeforeBuild.py + python ci/scripts/checkPRInfoBeforeBuild.py - name: Run when PR comment is created or edited > set up environment variables id: pr-comment-setup @@ -218,7 +221,7 @@ jobs: # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then - python scripts/github_CI/checkPRInfoBeforeBuild.py + python ci/scripts/checkPRInfoBeforeBuild.py fi - name: Export environment variables as outputs diff --git a/scripts/github_CI/checkPRInfoBeforeBuild.py b/scripts/github_CI/checkPRInfoBeforeBuild.py deleted file mode 100644 index 27082fd3cf8..00000000000 --- a/scripts/github_CI/checkPRInfoBeforeBuild.py +++ /dev/null @@ -1,226 +0,0 @@ -#!python - -import os, re, requests - -GITHUB_TOKEN = os.getenv('GITHUB_TOKEN') -PR_NUMBER = os.getenv('PR_NUMBER') -OWNER_NAME = os.getenv('OWNER_NAME') -PR_COMMIT_SHA = os.getenv('PR_COMMIT_SHA') - - -if (not GITHUB_TOKEN) or (not PR_NUMBER) or (not OWNER_NAME) or (not PR_COMMIT_SHA): - print("Error: Missing required environment variables.") - if (not GITHUB_TOKEN): - print(" - Missing GITHUB_TOKEN") - if (not PR_NUMBER): - print(" - Missing PR_NUMBER") - if (not OWNER_NAME): - print(" - Missing OWNER_NAME") - if (not PR_COMMIT_SHA): - print(" - Missing PR_COMMIT_SHA") - exit(1) - - -# GitHub API base URL -API_URL = f"https://api.github.com/repos/bakpaul/sofa" - -# Headers for authentication -HEADERS = { - "Authorization": f"Bearer {GITHUB_TOKEN}", - "Accept": "application/vnd.github.v3+json" -} - - -# Flags to determine actions -to_review_label_found = False -is_draft_pr = False -with_all_tests_found = False -force_full_build_found = False -dependency_dict = {} - -# ======================================================================== - -# Check PR labels -def check_labels(): - global to_review_label_found - labels_url = f"{API_URL}/issues/{PR_NUMBER}/labels" - response = requests.get(labels_url, headers=HEADERS) - - if response.status_code != 200: - print(f"Failed to fetch labels: {response.status_code}") - exit(1) - - labels = [label['name'].lower() for label in response.json()] - print(f"Labels found: {labels}.") - - if "pr: status to review" in labels: - to_review_label_found = True - print("PR is marked as 'to review'.") - else: - print(f"Flag to review has not been found. CI will stop.") - exit(1) - - -# ======================================================================== - -# Check the PR draft status -def check_if_draft(): - global is_draft_pr - pr_url = f"{API_URL}/pulls/{PR_NUMBER}" - response = requests.get(pr_url, headers=HEADERS) - - if response.status_code != 200: - print(f"Failed to fetch pull request details: {response.status_code}") - exit(1) - - pr_data = response.json() - is_draft_pr = pr_data.get('draft', False) - - if is_draft_pr: - print("The pull request is a draft. The Bash script will not run.") - - -# ======================================================================== - -# Check PR comments for "[with-all-tests]" and "[force-full-build]" -def check_comments(): - global with_all_tests_found - global force_full_build_found - comments_url = f"{API_URL}/issues/{PR_NUMBER}/comments" - response = requests.get(comments_url, headers=HEADERS) - - if response.status_code != 200: - print(f"Failed to fetch comments: {response.status_code}") - exit(1) - - comments = [comment['body'].lower() for comment in response.json()] - - if any("[with-all-tests]" in comment for comment in comments): - with_all_tests_found = True - print("Found a comment containing 'with-all-tests'.") - if any("[force-full-build]" in comment for comment in comments): - force_full_build_found = True - print("Found a comment containing 'with-all-tests'.") - - -# ======================================================================== - -# Export all needed PR information -def export_pr_info(): - pr_url = f"{API_URL}/pulls/{PR_NUMBER}" - response = requests.get(pr_url, headers=HEADERS) - - if response.status_code != 200: - print(f"Failed to fetch pull request details: {response.status_code}") - exit(1) - - pr_data = response.json() - - pr_url = str(pr_data['user']['html_url']) + "/" + str(pr_data['base']['repo']['name']) - pr_branch_name = pr_data['head']['ref'] - pr_commit_sha = pr_data['head']['sha'] - - print("PR comes from the repository: "+str(pr_url)) - print("PR branch name is: "+str(pr_branch_name)) - print("PR commit sha is: "+str(pr_commit_sha)) - - with open(os.environ["GITHUB_ENV"], "a") as env_file: - env_file.write(f"PR_OWNER_URL={pr_url}\n") - env_file.write(f"PR_BRANCH_NAME={pr_branch_name}\n") - env_file.write(f"PR_COMMIT_SHA={pr_commit_sha}\n") - - ## TODO : pr_data.get('mergeable', False) could also let us know if it is mergeable - - -# ======================================================================== - -# Extract repositories from ci-depends-on -def extract_ci_depends_on(): - global dependency_dict - - pr_url = f"{API_URL}/pulls/{PR_NUMBER}" - response = requests.get(pr_url, headers=HEADERS) - - if response.status_code != 200: - print(f"Failed to fetch pull request details: {response.status_code}") - exit(1) - - pr_data = response.json() - - # Extract the PR description and look for [ci-depends-on ...] patterns - pr_body = pr_data.get("body", "") - ci_depends_on = [] - - # Search in each line for the pattern "[ci-depends-on ...]" - for line in pr_body.splitlines(): - match = re.search(r'\[ci-depends-on (.+?)\]', line) - if match: - dependency = match.group(1).strip() - ci_depends_on.append(dependency) - print(f"Found ci-depends-on dependency: {dependency}") - - # Ensure the URL is in the expected dependency format, e.g. https://github.com/sofa-framework/Sofa.Qt/pull/6 - parts = dependency.split('/') - if len(parts) != 7 or parts[0] != 'https:' or parts[1] != '' or parts[2] != 'github.com': - raise ValueError("") - print(f"Invalid URL ci-depends-on format: {dependency}") - exit(1) - - owner = parts[3] - repo = parts[4] - pull_number = parts[6] - dependency_request_url = f"https://api.github.com/repos/{owner}/{repo}/pulls/{pull_number}" - - response = requests.get(dependency_request_url, headers=HEADERS) - - if response.status_code != 200: - print(f"Failed to fetch pull request details: {response.status_code}") - exit(1) - - dependency_pr_data = response.json() - - key = dependency_pr_data['base']['repo']['name'] #Sofa.Qt - repo_url = dependency_pr_data['head']['repo']['html_url'] #https://github.com/{remote from which pr comes}/Sofa.Qt - branch_name = dependency_pr_data['head']['ref'] #my_feature_branch - - dependency_dict[key] = { - "repo_url": repo_url, - "branch_name": branch_name - } - - match = re.search(r'\[with-all-tests\]', line) - if match: - with_all_tests_found = True - - -# ======================================================================== -# Script core -# ======================================================================== - - -# Execute the checks -check_labels() -check_if_draft() - -# Trigger the build if conditions are met -if to_review_label_found and not is_draft_pr: - # Export PR information (url, name, sha) - export_pr_info() - - # Check compilation options in PR comments - check_comments() - - # Extract dependency repositories - extract_ci_depends_on() - - # Export all environment variables specific to pull-requests - with open(os.environ["GITHUB_ENV"], "a") as env_file: - env_file.write(f"WITH_ALL_TESTS={with_all_tests_found}\n") - env_file.write(f"FORCE_FULL_BUILD={force_full_build_found}\n") - - ci_depends_on_str = f"{dependency_dict}".replace("'", "\\\"") - env_file.write(f"CI_DEPENDS_ON={ci_depends_on_str}\n") - env_file.write(f'BUILDER_OS=["sh-ubuntu_gcc_release","sh-fedora_clang_release","sh-windows_vs2022_release","sh-macos_clang_release"]') - - -# ======================================================================== From e660219c1751ec02b9cbd66901203c74138a013c Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 15 Oct 2025 18:07:32 +0200 Subject: [PATCH 076/115] Add new action that chacks ci-depends-on --- .github/workflows/ci-depends-on.yml | 47 +++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 .github/workflows/ci-depends-on.yml diff --git a/.github/workflows/ci-depends-on.yml b/.github/workflows/ci-depends-on.yml new file mode 100644 index 00000000000..cc9bd6d4d9c --- /dev/null +++ b/.github/workflows/ci-depends-on.yml @@ -0,0 +1,47 @@ +name: Check ci-dpends-on + +# =============================================================== +# =============================================================== + + +on: + + # PR-related build (open, labels, push) + pull_request: + types: [opened, synchronize] + + # Comment on PR + issue_comment: + types: [created, edited] + +# =============================================================== +# =============================================================== + + +jobs: + # Filter build handling : push in master, commits in PR, comments in PR and dispatch + check_ci-depends-on: + runs-on: ubuntu-latest + if: ${{ github.event_name == 'push' || github.event_name == 'issue_comment' && github.event.issue.pull_request }} + steps: + - name: Set up python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + + - name: Install pip packages + run: | + pip install python-graphql-client + pip install requests + + - name: Check out ci code + uses: actions/checkout@v2 + with: + repository: sofa/ci + path: ./ci + + - name: Run check + run: | + cd ci/scripts + python3 -c "from checkPRInfoBeforeBuild import *; check_ci_depends_on();" + From 7d32a2a56e1633c96579782e993938ec157c4188 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 15 Oct 2025 18:08:18 +0200 Subject: [PATCH 077/115] Dump --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index e5e1ecb2401..9e28dd1776d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ if(CMAKE_VERSION VERSION_GREATER_EQUAL "3.24.0") set(CMAKE_FIND_PACKAGE_TARGETS_GLOBAL ON) # https://cmake.org/cmake/help/latest/variable/CMAKE_FIND_PACKAGE_TARGETS_GLOBAL.html endif() - + # Manually define VERSION set(Sofa_VERSION_MAJOR 25) set(Sofa_VERSION_MINOR 12) From fb8c77a71f6f5cf5963475d319082ec59f2889a4 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 15 Oct 2025 18:13:03 +0200 Subject: [PATCH 078/115] Fix actions --- .github/workflows/ci-depends-on.yml | 2 +- .github/workflows/trigger-build-and-tests.yml | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ci-depends-on.yml b/.github/workflows/ci-depends-on.yml index cc9bd6d4d9c..56481e042c3 100644 --- a/.github/workflows/ci-depends-on.yml +++ b/.github/workflows/ci-depends-on.yml @@ -22,7 +22,7 @@ jobs: # Filter build handling : push in master, commits in PR, comments in PR and dispatch check_ci-depends-on: runs-on: ubuntu-latest - if: ${{ github.event_name == 'push' || github.event_name == 'issue_comment' && github.event.issue.pull_request }} + if: ${{ github.event_name == 'pull_request' || github.event_name == 'issue_comment' && github.event.issue.pull_request }} steps: - name: Set up python uses: actions/setup-python@v5 diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index e828c53dfa0..b9800611534 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -148,9 +148,10 @@ jobs: pip install requests - name: Check out code - uses: actions/checkout@v2 + uses: actions/checkout@v5 with: - repository: sofa/ci + repository: bakpaul/ci + ref: jenkins_gha_migration path: ./ci - name: Check push on master case (e.g. merge) From d0170e21c56f62557148e7fe34b26597a0e53d65 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 15 Oct 2025 18:14:39 +0200 Subject: [PATCH 079/115] Fix ci-depends-on actions --- .github/workflows/ci-depends-on.yml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ci-depends-on.yml b/.github/workflows/ci-depends-on.yml index 56481e042c3..0fea17852bf 100644 --- a/.github/workflows/ci-depends-on.yml +++ b/.github/workflows/ci-depends-on.yml @@ -34,10 +34,11 @@ jobs: pip install python-graphql-client pip install requests - - name: Check out ci code - uses: actions/checkout@v2 + - name: Check out code + uses: actions/checkout@v5 with: - repository: sofa/ci + repository: bakpaul/ci + ref: jenkins_gha_migration path: ./ci - name: Run check From 99aca5ee28488f50268219e72ea7a759864775d9 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 11:09:35 +0200 Subject: [PATCH 080/115] Rermove ci depends on now it is dealt with by the trigger build and test step --- .github/workflows/ci-depends-on.yml | 48 ----------------------------- 1 file changed, 48 deletions(-) delete mode 100644 .github/workflows/ci-depends-on.yml diff --git a/.github/workflows/ci-depends-on.yml b/.github/workflows/ci-depends-on.yml deleted file mode 100644 index 0fea17852bf..00000000000 --- a/.github/workflows/ci-depends-on.yml +++ /dev/null @@ -1,48 +0,0 @@ -name: Check ci-dpends-on - -# =============================================================== -# =============================================================== - - -on: - - # PR-related build (open, labels, push) - pull_request: - types: [opened, synchronize] - - # Comment on PR - issue_comment: - types: [created, edited] - -# =============================================================== -# =============================================================== - - -jobs: - # Filter build handling : push in master, commits in PR, comments in PR and dispatch - check_ci-depends-on: - runs-on: ubuntu-latest - if: ${{ github.event_name == 'pull_request' || github.event_name == 'issue_comment' && github.event.issue.pull_request }} - steps: - - name: Set up python - uses: actions/setup-python@v5 - with: - python-version: ${{ env.PYTHON_VERSION }} - - - name: Install pip packages - run: | - pip install python-graphql-client - pip install requests - - - name: Check out code - uses: actions/checkout@v5 - with: - repository: bakpaul/ci - ref: jenkins_gha_migration - path: ./ci - - - name: Run check - run: | - cd ci/scripts - python3 -c "from checkPRInfoBeforeBuild import *; check_ci_depends_on();" - From 93860729478b8c9fe9fde76230a7c5676809658e Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 11:26:33 +0200 Subject: [PATCH 081/115] Change job name --- .github/workflows/build-and-test.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 69d9705c601..c7734bb7e2e 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -84,6 +84,7 @@ jobs: matrix: os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} + name: ${{ matrix.os }} steps: - name: Configure builder id: configure From be92807f11bafdac8ee61d97376fb097d5239f96 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 11:41:33 +0200 Subject: [PATCH 082/115] Chaneg run name --- .github/workflows/build-and-test.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index c7734bb7e2e..ecc704af6c7 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -85,6 +85,7 @@ jobs: os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} name: ${{ matrix.os }} + run-name: ${{ matrix.os }} steps: - name: Configure builder id: configure From 198da6325cd033c335353f8fd5e02de3f1f3c289 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 11:43:31 +0200 Subject: [PATCH 083/115] Fix build action --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index ecc704af6c7..3e1f5368fd6 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -1,4 +1,5 @@ name: Compile SOFA and run Tests +run-name: Build on: workflow_call: inputs: @@ -85,7 +86,6 @@ jobs: os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} name: ${{ matrix.os }} - run-name: ${{ matrix.os }} steps: - name: Configure builder id: configure From eee439b1a6c1aebc84fd2ce0ed85f6a0b59f12e6 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 11:50:32 +0200 Subject: [PATCH 084/115] Change passing action name --- .github/workflows/build-and-test.yml | 1 - .github/workflows/nightly-build-and-tests.yml | 2 +- .github/workflows/trigger-build-and-tests.yml | 2 +- 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 3e1f5368fd6..c7734bb7e2e 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -1,5 +1,4 @@ name: Compile SOFA and run Tests -run-name: Build on: workflow_call: inputs: diff --git a/.github/workflows/nightly-build-and-tests.yml b/.github/workflows/nightly-build-and-tests.yml index 98fd004d221..e32ba558a00 100644 --- a/.github/workflows/nightly-build-and-tests.yml +++ b/.github/workflows/nightly-build-and-tests.yml @@ -102,7 +102,7 @@ jobs: # =============================================================== # Trigger the build and sharing all parameters from nightly_build > outputs - call-workflow-passing-data-from-nightly: + build-on: needs: nightly_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index b9800611534..ef1f742b7fc 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -255,7 +255,7 @@ jobs: # =============================================================== # Trigger the build and sharing all parameters from filter_build > outputs - call-workflow-passing-data-from-commit-or-pr: + build-on: needs: filter_build uses: bakpaul/sofa/.github/workflows/build-and-test.yml@master with: From 7bef0cb30736564985b6a28a98ae3d7b6ff9de4c Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 13:41:29 +0200 Subject: [PATCH 085/115] Fix summarize results step --- .github/workflows/build-and-test.yml | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index c7734bb7e2e..658eb656654 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -371,18 +371,19 @@ jobs: if: always() shell: bash run: | - bold=$(tput bold) - normal=$(tput sgr0) + bold="\033[1m" + normal="\033[0m" if [[ "${{ steps.configure.outcome }}" == "failure" || "${{ steps.clone.outcome }}" == "failure" ]]; then - echo "❌ Something whent wrong during the fconfigure or clone steps..." - echo "${bold}Please check this action logs${normal}" + echo "❌ Something whent wrong during the configure or clone steps..." + echo -e "${bold}Please check those actions logs${normal}" exit 1 elif [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then echo "❌ Build step failed" - echo "${bold}You can download all logs here : ${{ steps.publish-build-logs.outputs.artifact-url }}${normal}" + echo -e "${bold}You can download all logs here : ${{ steps.publish-build-logs.outputs.artifact-url }}${normal}" exit 1 elif [[ "${{ steps.launch-tests-step.outcome }}" == "failure" ]]; then - echo "❌ Launch tests step failed" + echo "❌ Something whent wrong during the Launch tests step" + echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" exit 1 elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == "" ]]; then echo "❌ Tests have resulted in errors:" @@ -394,7 +395,7 @@ jobs: do if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then echo "" - echo "${bold}${testType^} ${errorType}:${normal}" + echo -e "${bold}${testType^} ${errorType}:${normal}" echo "" cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" echo "" @@ -402,7 +403,7 @@ jobs: fi done done - echo "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" + echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" exit 1 else echo "✅ Both build and test steps ran successfully." From d3bfe34e9a3ab3e116e4feaa0aaf7c22c3393d82 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 14:12:04 +0200 Subject: [PATCH 086/115] Add comment --- .github/workflows/trigger-build-and-tests.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index ef1f742b7fc..37a539a7ab6 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -174,7 +174,9 @@ jobs: echo "This step runs only when a PR is opened or synchronized." # Trigger the Build action + # Warning ! This script also changes ENV variables python ci/scripts/checkPRInfoBeforeBuild.py + - name: Run when PR comment is created or edited > set up environment variables id: pr-comment-setup @@ -222,6 +224,7 @@ jobs: # Trigger the Build action if [ci-build] is in the comment if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then + # Warning ! This script also changes ENV variables python ci/scripts/checkPRInfoBeforeBuild.py fi From ce8b5f329b59dacc53beefa0bb19216a2a8206e8 Mon Sep 17 00:00:00 2001 From: bakpaul Date: Mon, 20 Oct 2025 17:09:32 +0200 Subject: [PATCH 087/115] Add better output for tests --- .github/workflows/build-and-test.yml | 69 +++++++++++++++++----------- 1 file changed, 43 insertions(+), 26 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 658eb656654..13cc210e8cb 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -377,36 +377,53 @@ jobs: echo "❌ Something whent wrong during the configure or clone steps..." echo -e "${bold}Please check those actions logs${normal}" exit 1 - elif [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then + else + echo "✅ Setup OK." + fi + + if [[ "${{ steps.build-step.outcome }}" == "failure" ]]; then echo "❌ Build step failed" echo -e "${bold}You can download all logs here : ${{ steps.publish-build-logs.outputs.artifact-url }}${normal}" exit 1 - elif [[ "${{ steps.launch-tests-step.outcome }}" == "failure" ]]; then - echo "❌ Something whent wrong during the Launch tests step" - echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" - exit 1 - elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == "" ]]; then - echo "❌ Tests have resulted in errors:" - echo "" - echo "#----------------------------------------#" - for testType in 'unit' 'scene' 'regression'; - do - for errorType in 'errors' 'crashes' 'failure'; - do - if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then - echo "" - echo -e "${bold}${testType^} ${errorType}:${normal}" - echo "" - cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" - echo "" - echo "#----------------------------------------#" - fi - done - done - echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" - exit 1 else - echo "✅ Both build and test steps ran successfully." + echo "✅ Build OK." + fi + + if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then + if [[ "${{ steps.launch-tests-step.outcome }}" == "failure" ]]; then + echo "❌ Something whent wrong during the Launch tests step" + echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" + exit 1 + elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == "" ]]; then + echo "❌ Tests have resulted in : " + echo "" + python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/" + echo "" + echo "#----------------------------------------#" + echo "#---------------Quick Logs---------------#" + echo "#----------------------------------------#" + for testType in 'unit' 'scene' 'regression'; + do + for errorType in 'errors' 'crashes' 'failure'; + do + if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then + echo "" + echo -e "${bold}${testType^} ${errorType}:${normal}" + echo "" + cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" + echo "" + echo "#----------------------------------------#" + fi + done + done + echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" + exit 1 + else + echo "✅ Tests where successful : " + echo "" + python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/" + echo "" + fi fi From 3759fec02ac4d5905574cf7fd82abf36a5a264e1 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Mon, 20 Oct 2025 18:18:51 +0200 Subject: [PATCH 088/115] Update condition for summary for tests --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 13cc210e8cb..4fe8ad5dc28 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -394,7 +394,7 @@ jobs: echo "❌ Something whent wrong during the Launch tests step" echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" exit 1 - elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == "" ]]; then + elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then echo "❌ Tests have resulted in : " echo "" python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/" From a6c458d59f0209d0f747ca0a9d066d1747174eb9 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 21 Oct 2025 11:02:59 +0200 Subject: [PATCH 089/115] Use env variable for docker hub token --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 4fe8ad5dc28..c82c69e2ebb 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -283,7 +283,7 @@ jobs: default_tag=master fi - echo "dckr_pat_ohBds9gXTs9Iy91QPKJZXGdVS5s" | docker login -u sofaframework --password-stdin + echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..." docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true From 6f54807dd3096d166afb5181355ca102993db406 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 21 Oct 2025 11:13:36 +0200 Subject: [PATCH 090/115] Fix docker token --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index c82c69e2ebb..6dd75455049 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -283,7 +283,7 @@ jobs: default_tag=master fi - echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin + echo "${{ env.DOCKERHUB_TOKEN }}" | docker login -u sofaframework --password-stdin echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..." docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true From a5b9bab45c4859a50824dd329a400796a92a0a07 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 21 Oct 2025 11:26:23 +0200 Subject: [PATCH 091/115] Try fix docker hub --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 6dd75455049..c82c69e2ebb 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -283,7 +283,7 @@ jobs: default_tag=master fi - echo "${{ env.DOCKERHUB_TOKEN }}" | docker login -u sofaframework --password-stdin + echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..." docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true From fdee5cae3e9527a0c95aae3880c291331b8dbced Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 21 Oct 2025 11:31:44 +0200 Subject: [PATCH 092/115] Try again --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index c82c69e2ebb..16d1c081d49 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -283,7 +283,7 @@ jobs: default_tag=master fi - echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin + docker login -u sofaframework --password ${DOCKERHUB_TOKEN} echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..." docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true From b566f84d41d9972a27be7da83f4bfa6cf995d953 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 21 Oct 2025 17:50:15 +0200 Subject: [PATCH 093/115] Put back stdin method --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 16d1c081d49..bed9bbf35e3 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -283,7 +283,7 @@ jobs: default_tag=master fi - docker login -u sofaframework --password ${DOCKERHUB_TOKEN} + echo "${DOCKERHUB_TOKEN}" | docker login -u sofaframework --password-stdin echo "Pulling Docker image sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} ..." docker pull --quiet sofaframework/sofabuilder_${builder_type}:${CI_BRANCH} || true From 223fe77627fda386f5eee8f015c3035bb23d7af8 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Wed, 22 Oct 2025 17:30:15 +0200 Subject: [PATCH 094/115] fix subtition --- .github/workflows/build-and-test.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index bed9bbf35e3..dabbd274f7f 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -407,8 +407,9 @@ jobs: for errorType in 'errors' 'crashes' 'failure'; do if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then + capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}" echo "" - echo -e "${bold}${testType^} ${errorType}:${normal}" + echo -e "${bold}${capitalized} ${errorType}:${normal}" echo "" cat "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" echo "" From 01d5de034b7896907e55faf87dd4677723c0f3dc Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 09:21:11 +0200 Subject: [PATCH 095/115] Publish also cmake output --- .github/workflows/build-and-test.yml | 38 ++++++++++++++-------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index dabbd274f7f..f11ebf523cb 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -255,24 +255,24 @@ jobs: echo "Adding the following cmake variable : $CMAKE_OPTIONS" fi - echo "" - echo "------ Before build (and docker) ------" - echo "Main folders:" - echo " - WORKSPACE = $WORKSPACE" - echo " - SRC_DIR = $SRC_DIR" - echo " - CI_DIR = $CI_DIR" - echo " - BUILD_DIR = $BUILD_DIR" - echo "" - echo "Configuration:" - echo " - NODE_NAME = $NODE_NAME" - echo " - BUILD_TYPE = $BUILD_TYPE" - echo " - CONFIG = $CONFIG" - echo " - PYTHON_VERSION = ${{ inputs.python-version }}" - echo " - PRESET = ${{ inputs.preset }}" - echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" - echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" - echo "---------------------------------------" - echo "" + echo "" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "------ Before build (and docker) ------" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "Main folders:" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - WORKSPACE = $WORKSPACE" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - SRC_DIR = $SRC_DIR" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - CI_DIR = $CI_DIR" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - BUILD_DIR = $BUILD_DIR" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "Configuration:" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - NODE_NAME = $NODE_NAME" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - BUILD_TYPE = $BUILD_TYPE" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - CONFIG = $CONFIG" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - PYTHON_VERSION = ${{ inputs.python-version }}" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - PRESET = ${{ inputs.preset }}" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "---------------------------------------" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "" | tee -a "${BUILD_DIR}/cmake-output.txt" #If os has got docker then use it if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then @@ -356,7 +356,7 @@ jobs: name: build-logs_${{ env.BUILDER_OS }} path: | ${{ env.BUILD_DIR }}/make-output.txt - + ${{ env.BUILD_DIR }}/cmake-output.txt - name: Publish tests logs id: publish-tests-logs From 0074918734cf5b1134f768db6e43c71bfe55da96 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 15:43:16 +0200 Subject: [PATCH 096/115] Output cmake log outside of build dir to avoid breaking configuration --- .github/workflows/build-and-test.yml | 38 ++++++++++++++-------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index f11ebf523cb..83bcdbfd307 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -255,24 +255,24 @@ jobs: echo "Adding the following cmake variable : $CMAKE_OPTIONS" fi - echo "" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo "------ Before build (and docker) ------" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo "Main folders:" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - WORKSPACE = $WORKSPACE" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - SRC_DIR = $SRC_DIR" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - CI_DIR = $CI_DIR" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - BUILD_DIR = $BUILD_DIR" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo "" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo "Configuration:" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - NODE_NAME = $NODE_NAME" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - BUILD_TYPE = $BUILD_TYPE" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - CONFIG = $CONFIG" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - PYTHON_VERSION = ${{ inputs.python-version }}" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - PRESET = ${{ inputs.preset }}" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo "---------------------------------------" | tee -a "${BUILD_DIR}/cmake-output.txt" - echo "" | tee -a "${BUILD_DIR}/cmake-output.txt" + echo "" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "------ Before build (and docker) ------" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "Main folders:" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - WORKSPACE = $WORKSPACE" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - SRC_DIR = $SRC_DIR" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - CI_DIR = $CI_DIR" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - BUILD_DIR = $BUILD_DIR" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "Configuration:" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - NODE_NAME = $NODE_NAME" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - BUILD_TYPE = $BUILD_TYPE" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - CONFIG = $CONFIG" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - PYTHON_VERSION = ${{ inputs.python-version }}" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - PRESET = ${{ inputs.preset }}" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" | tee -a "${WORKSPACE}/cmake-output.txt" + echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "---------------------------------------" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "" | tee -a "${WORKSPACE}/cmake-output.txt" #If os has got docker then use it if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then @@ -356,7 +356,7 @@ jobs: name: build-logs_${{ env.BUILDER_OS }} path: | ${{ env.BUILD_DIR }}/make-output.txt - ${{ env.BUILD_DIR }}/cmake-output.txt + ${{ env.WORKSPACE }}/cmake-output.txt - name: Publish tests logs id: publish-tests-logs From eb3311861491346779779742e4629493682df998 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 15:58:55 +0200 Subject: [PATCH 097/115] Deal better with the logs --- .github/workflows/build-and-test.yml | 46 +++++++++++++++------------- 1 file changed, 24 insertions(+), 22 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 83bcdbfd307..166af72d53e 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -93,6 +93,7 @@ jobs: ## Go to workspace given by the runner (this file is generated by the pre-build script) WORKSPACE=$(cat $GITHUB_WORKFLOW_SHA)/${{ matrix.os }} echo "WORKSPACE=$WORKSPACE" >> $GITHUB_ENV + echo "LOG_DIR=$WORKSPACE" >> $GITHUB_ENV echo "BUILDER_OS=${{ matrix.os }}" >> $GITHUB_ENV if [ ! -d $WORKSPACE ]; then @@ -255,24 +256,25 @@ jobs: echo "Adding the following cmake variable : $CMAKE_OPTIONS" fi - echo "" | tee -a "${WORKSPACE}/cmake-output.txt" - echo "------ Before build (and docker) ------" | tee -a "${WORKSPACE}/cmake-output.txt" - echo "Main folders:" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - WORKSPACE = $WORKSPACE" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - SRC_DIR = $SRC_DIR" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - CI_DIR = $CI_DIR" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - BUILD_DIR = $BUILD_DIR" | tee -a "${WORKSPACE}/cmake-output.txt" - echo "" | tee -a "${WORKSPACE}/cmake-output.txt" - echo "Configuration:" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - NODE_NAME = $NODE_NAME" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - BUILD_TYPE = $BUILD_TYPE" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - CONFIG = $CONFIG" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - PYTHON_VERSION = ${{ inputs.python-version }}" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - PRESET = ${{ inputs.preset }}" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" | tee -a "${WORKSPACE}/cmake-output.txt" - echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" | tee -a "${WORKSPACE}/cmake-output.txt" - echo "---------------------------------------" | tee -a "${WORKSPACE}/cmake-output.txt" - echo "" | tee -a "${WORKSPACE}/cmake-output.txt" + echo "" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo "------ Before build (and docker) ------" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo "Main folders:" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - WORKSPACE = $WORKSPACE" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - SRC_DIR = $SRC_DIR" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - CI_DIR = $CI_DIR" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - BUILD_DIR = $BUILD_DIR" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - LOG_DIR = ${{ env.LOG_DIR }}" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo "" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo "Configuration:" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - NODE_NAME = $NODE_NAME" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - BUILD_TYPE = $BUILD_TYPE" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - CONFIG = $CONFIG" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - PYTHON_VERSION = ${{ inputs.python-version }}" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - PRESET = ${{ inputs.preset }}" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - GENERATE_BINARIES = ${{ inputs.generate-binaries }}" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo " - ADDITIONNAL_CMAKE_OPTIONS = $CMAKE_OPTIONS" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo "---------------------------------------" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" + echo "" | tee -a "${{ env.LOG_DIR }}/cmake-output.txt" #If os has got docker then use it if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then @@ -303,11 +305,11 @@ jobs: docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ /workspace/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" else echo "Launching configuration and build" - bash ${CI_DIR}/scripts/configure-and-build.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${BUILD_TYPE}" "${CONFIG}" "${{ inputs.python-version }}" "${{ inputs.preset }}" "${{ inputs.generate-binaries }}" "${CMAKE_OPTIONS}" + bash ${CI_DIR}/scripts/configure-and-build.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${{ env.LOG_DIR }}" "${NODE_NAME}" "${BUILD_TYPE}" "${CONFIG}" "${{ inputs.python-version }}" "${{ inputs.preset }}" "${{ inputs.generate-binaries }}" "${CMAKE_OPTIONS}" fi @@ -355,8 +357,8 @@ jobs: with: name: build-logs_${{ env.BUILDER_OS }} path: | - ${{ env.BUILD_DIR }}/make-output.txt - ${{ env.WORKSPACE }}/cmake-output.txt + ${{ env.LOG_DIR }}/make-output.txt + ${{ env.LOG_DIR }}/cmake-output.txt - name: Publish tests logs id: publish-tests-logs From c27906b0e32189ce292a964a6c21af7d993139ed Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 16:38:49 +0200 Subject: [PATCH 098/115] Use relative paths to be more generic --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 166af72d53e..298c5b9baec 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -305,7 +305,7 @@ jobs: docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ /workspace/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/configure-and-build.sh /workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR) /workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR) /workspace/(realpath --relative-to=$WORKSPACE $CI_DIR)/scripts/ /workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }}) \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" else echo "Launching configuration and build" From 2c5d5951eba83e861229315cf261b5c6383b1620 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 16:40:58 +0200 Subject: [PATCH 099/115] complete relative paths --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 298c5b9baec..e1839310187 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -305,7 +305,7 @@ jobs: docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/configure-and-build.sh /workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR) /workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR) /workspace/(realpath --relative-to=$WORKSPACE $CI_DIR)/scripts/ /workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }}) \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + /bin/bash -c "env ; cd /workspace; /bin/bash ./$(realpath --relative-to=$WORKSPACE $CI_DIR)/scripts/configure-and-build.sh /workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR) /workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR) /workspace/$(realpath --relative-to=$WORKSPACE $CI_DIR)/scripts/ /workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }}) \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" else echo "Launching configuration and build" From bfce75e9441655507eead3b5222f0d251f8252a6 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 17:19:05 +0200 Subject: [PATCH 100/115] Remove commented triggers --- .github/workflows/trigger-build-and-tests.yml | 55 ------------------- 1 file changed, 55 deletions(-) diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index 37a539a7ab6..c8047efdf76 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -49,10 +49,6 @@ on: pull_request: types: [opened, synchronize] - # Comment on PR - issue_comment: - types: [created, edited] - # CI for dashboard master push: branches: @@ -176,57 +172,6 @@ jobs: # Trigger the Build action # Warning ! This script also changes ENV variables python ci/scripts/checkPRInfoBeforeBuild.py - - - - name: Run when PR comment is created or edited > set up environment variables - id: pr-comment-setup - if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.issue.number }} - run: | - echo "This step runs only when a PR comment is created or edited." - COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) - echo "Comment: $COMMENT_BODY" - - # Trigger the Build action if [ci-build] is in the comment - if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then - echo "Fetching PR #$PR_NUMBER information" - - pr_data=$(curl -s -H "Authorization: Bearer $GITHUB_TOKEN" \ - -H "Accept: application/vnd.github+json" \ - "https://api.github.com/repos/bakpaul/sofa/pulls/$PR_NUMBER") - - # Extract data - OWNER_NAME=$(echo "$pr_data" | jq -r '.user.login') - PR_COMMIT_SHA=$(echo "$pr_data" | jq -r '.head.sha') - - echo "- PR number : $PR_NUMBER" - echo "- PR owner name : $OWNER_NAME" - echo "- PR commit SHA : $PR_COMMIT_SHA" - - # Save to environment variables for future steps - echo "OWNER_NAME=$OWNER_NAME" >> $GITHUB_ENV - echo "PR_COMMIT_SHA=$PR_COMMIT_SHA" >> $GITHUB_ENV - - echo "Env: OWNER_NAME = $OWNER_NAME" - echo "Env: PR_COMMIT_SHA = $PR_COMMIT_SHA" - fi - - - name: Run when PR comment is created or edited > trigger python script - if: ${{ github.event_name == 'issue_comment' && github.event.issue.pull_request && steps.pr-comment-setup.outcome == 'success' }} - env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} - PR_NUMBER: ${{ github.event.issue.number }} - run: | - COMMENT_BODY=$(jq -r '.comment.body' < $GITHUB_EVENT_PATH) - echo "Comment: $COMMENT_BODY" - - # Trigger the Build action if [ci-build] is in the comment - if [[ "$COMMENT_BODY" == *"[ci-build]"* ]]; then - # Warning ! This script also changes ENV variables - python ci/scripts/checkPRInfoBeforeBuild.py - fi - name: Export environment variables as outputs id: export-vars From be10df57861367ff5574242d733e847b5bde613e Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 17:25:33 +0200 Subject: [PATCH 101/115] Deactivate nightly for other branch than master and activate push event on latest release branch --- .github/workflows/nightly-build-and-tests.yml | 2 +- .github/workflows/trigger-build-and-tests.yml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/nightly-build-and-tests.yml b/.github/workflows/nightly-build-and-tests.yml index e32ba558a00..c9789cb85e6 100644 --- a/.github/workflows/nightly-build-and-tests.yml +++ b/.github/workflows/nightly-build-and-tests.yml @@ -19,7 +19,7 @@ jobs: runs-on: ubuntu-latest strategy: matrix: - sofa_version: [master, v24.12] + sofa_version: [master] ### if: ${{ github.repository_owner == 'sofa-framework' }} outputs: SOFA_BRANCH_NAME: ${{ steps.export-vars.outputs.SOFA_BRANCH_NAME }} diff --git a/.github/workflows/trigger-build-and-tests.yml b/.github/workflows/trigger-build-and-tests.yml index c8047efdf76..69a8abc0afa 100644 --- a/.github/workflows/trigger-build-and-tests.yml +++ b/.github/workflows/trigger-build-and-tests.yml @@ -53,6 +53,7 @@ on: push: branches: - 'master' + - 'v25.12' # =============================================================== # =============================================================== From 150ece3e8ba60b350ccdc10ce273820946a78098 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 23 Oct 2025 17:34:43 +0200 Subject: [PATCH 102/115] Enable multiple builder on same host --- .github/workflows/build-and-test.yml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index e1839310187..8edac3628e5 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -229,7 +229,12 @@ jobs: # retrive build type and compiler BUILD_TYPE=$(echo ${{ matrix.os }} | awk -F '_' '{print $3}') CONFIG=$(echo ${{ matrix.os }} | awk -F '_' '{print $1"_"$2}') - NODE_NAME="${{ runner.name }}" # Needed by configure-and-build --> TODO: be able to get hostname multiplatform + # Needed by configure-and-build + if [[ "$RUNNER_OS" == "Linux" ]]; then + NODE_NAME="$(hostname)" + else + NODE_NAME="$(scutil --get LocalHostName)" + fi echo "NODE_NAME=$NODE_NAME" >> $GITHUB_ENV ## Deal with ci-depends-on From d30d868c46299a909924855ce8487eb26fcc587a Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Fri, 24 Oct 2025 10:25:16 +0200 Subject: [PATCH 103/115] Fix typo in error type --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 8edac3628e5..4759790d5ad 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -411,7 +411,7 @@ jobs: echo "#----------------------------------------#" for testType in 'unit' 'scene' 'regression'; do - for errorType in 'errors' 'crashes' 'failure'; + for errorType in 'errors' 'crashes' 'failures'; do if [ -f "${{ env.BUILD_DIR }}/tests_results/${testType}-tests_${errorType}" ]; then capitalized="$(echo "${testType:0:1}" | tr '[:lower:]' '[:upper:]')${testType:1}" From e939d3f45fbe8b71f6b35b8b9a07e668468ef437 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 27 Oct 2025 10:04:47 +0100 Subject: [PATCH 104/115] Fix ci depends on --- .github/workflows/build-and-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 4759790d5ad..e26715efcad 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -247,8 +247,8 @@ jobs: # Format the CMake flags for this key and append to the result fixed_name=$(echo "$key" | awk '{gsub(/\./, "_"); print toupper($0)}') - flag_repository="-D${fixed_name}_GIT_REPOSITORY=\"$repo_url\")" - flag_tag="-D${fixed_name}_GIT_TAG=\"$branch_name\")" + flag_repository="-D${fixed_name}_GIT_REPOSITORY=\"$repo_url\" + flag_tag="-D${fixed_name}_GIT_TAG=\"$branch_name\" # Append both flags to the result string with a space CMAKE_OPTIONS="$CMAKE_OPTIONS $flag_repository $flag_tag " From fb2ac3f564bed4396bd8ac78a4f3bb5d104d05be Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 27 Oct 2025 11:54:23 +0100 Subject: [PATCH 105/115] put tests in three separated steps + clean docker call --- .github/workflows/build-and-test.yml | 100 +++++++++++++++++++-------- 1 file changed, 73 insertions(+), 27 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index e26715efcad..2d53e69d838 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -210,17 +210,6 @@ jobs: done fi - - name: Notify dashboard - shell: bash - run: | - . ${CI_DIR}/scripts/utils.sh - . ${CI_DIR}/scripts/dashboard.sh - - #Really necessary ? - #TODO - #Need more information. Might be good to - - - name: Build id: build-step shell: bash @@ -305,12 +294,22 @@ jobs: echo "DOCKER_IMAGE=$DOCKER_IMAGE" >> $GITHUB_ENV + DOCKER_SRC_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR)" + DOCKER_BUILD_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR)" + DOCKER_CI_DIR="/workspace/$(realpath --relative-to=$WORKSPACE $CI_DIR)" + DOCKER_LOG_DIR="/workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }})" + + echo "DOCKER_SRC_DIR=$DOCKER_SRC_DIR" >> $GITHUB_ENV + echo "DOCKER_BUILD_DIR=$DOCKER_BUILD_DIR" >> $GITHUB_ENV + echo "DOCKER_CI_DIR=$DOCKER_CI_DIR" >> $GITHUB_ENV + echo "DOCKER_LOG_DIR=$DOCKER_LOG_DIR" >> $GITHUB_ENV + echo "Launching configuration and build through docker using image ${DOCKER_IMAGE}. Running ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./$(realpath --relative-to=$WORKSPACE $CI_DIR)/scripts/configure-and-build.sh /workspace/$(realpath --relative-to=$WORKSPACE $BUILD_DIR) /workspace/$(realpath --relative-to=$WORKSPACE $SRC_DIR) /workspace/$(realpath --relative-to=$WORKSPACE $CI_DIR)/scripts/ /workspace/$(realpath --relative-to=$WORKSPACE ${{ env.LOG_DIR }}) \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" else echo "Launching configuration and build" @@ -318,31 +317,76 @@ jobs: fi - - name: Notify dashboard - if: always() + - name: Unit tests + id: unit-tests-step + if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false shell: bash run: | - #TODO + # If os has got docker then use it + # Here no need to fetch it because it has already been taken care of in the build step + if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then + echo "Launching unit test suite through docker using image ${DOCKER_IMAGE}." + docker run --rm \ + --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ + ${DOCKER_IMAGE} \ + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT" + else + echo "Launching unit test suite." - - name: Launch tests - id: launch-tests-step - if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false + bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "UNIT" + fi + + if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"unit-tests_"* ]]; then + exit 1 + fi + + - name: Scene tests + id: scene-tests-step + if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true shell: bash run: | # If os has got docker then use it # Here no need to fetch it because it has already been taken care of in the build step if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then - echo "Launching test suite through docker using image ${DOCKER_IMAGE}. Running ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/ ${NODE_NAME} ${{ inputs.python-version }}" + echo "Launching scene test suite through docker using image ${DOCKER_IMAGE}." docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} ${{ inputs.with-all-tests }}" + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE" else - echo "Launching test suite" + echo "Launching scene test suite." - bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "${{ inputs.with-all-tests }}" + bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "SCENE" + fi + + if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"scene-tests_"* ]]; then + exit 1 + fi + + - name: Regression tests + id: regression-tests-step + if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true + shell: bash + run: | + # If os has got docker then use it + # Here no need to fetch it because it has already been taken care of in the build step + if [[ "${{ matrix.os }}" == *"ubuntu"* ]] || [[ "${{ matrix.os }}" == *"fedora"* ]]; then + + echo "Launching regression test suite through docker using image ${DOCKER_IMAGE}." + docker run --rm \ + --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ + ${DOCKER_IMAGE} \ + /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION" + else + echo "Launching regression test suite" + + bash ${CI_DIR}/scripts/test.sh "${BUILD_DIR}" "${SRC_DIR}" "${CI_DIR}/scripts/" "${NODE_NAME}" "${{ inputs.python-version }}" "REGRESSION" + fi + + if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" == *"regression-tests_"* ]]; then + exit 1 fi @@ -365,6 +409,7 @@ jobs: ${{ env.LOG_DIR }}/make-output.txt ${{ env.LOG_DIR }}/cmake-output.txt + - name: Publish tests logs id: publish-tests-logs if: always() @@ -374,6 +419,7 @@ jobs: path: | ${{ env.BUILD_DIR }}/tests_results/ + - name: Summarize results if: always() shell: bash @@ -397,11 +443,7 @@ jobs: fi if [[ "${{ inputs.generate-binaries }}" == "false" ]]; then - if [[ "${{ steps.launch-tests-step.outcome }}" == "failure" ]]; then - echo "❌ Something whent wrong during the Launch tests step" - echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" - exit 1 - elif [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then + if [[ "$(cd "${{ env.BUILD_DIR }}/tests_results/" && find . -maxdepth 1 -type f)" != "" ]]; then echo "❌ Tests have resulted in : " echo "" python3 ${{ env.CI_DIR }}/scripts/generate-tests-table.py "${{ env.BUILD_DIR }}/tests_results/" @@ -426,6 +468,10 @@ jobs: done echo -e "${bold}You can download all logs here : ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" exit 1 + elif [[ "${{ steps.unit-tests-step.outcome }}" == "failure" || "${{ steps.scene-tests-step.outcome }}" == "failure" || "${{ steps.regression-tests-step.outcome }}" == "failure" ]]; then + echo "❌ Something whent wrong during one of the tests steps" + echo -e "${bold}Please check this action logs, and download tests logs here: ${{ steps.publish-tests-logs.outputs.artifact-url }}${normal}" + exit 1 else echo "✅ Tests where successful : " echo "" From 6547db5beb374d6c5ee06a0f4848e529e53abe86 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 27 Oct 2025 11:59:40 +0100 Subject: [PATCH 106/115] Refacto call to docker --- .github/workflows/build-and-test.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 2d53e69d838..5dd7c8f4ee3 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -330,7 +330,7 @@ jobs: docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT" + /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} UNIT" else echo "Launching unit test suite." @@ -354,7 +354,7 @@ jobs: docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE" + /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} SCENE" else echo "Launching scene test suite." @@ -378,7 +378,7 @@ jobs: docker run --rm \ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash ./ci/scripts/test.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION" + /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/test.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ ${NODE_NAME} ${{ inputs.python-version }} REGRESSION" else echo "Launching regression test suite" From b517091fc6ce5bf560acea865f9a8246c0256b2c Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 27 Oct 2025 12:10:53 +0100 Subject: [PATCH 107/115] Fix typo" --- .github/workflows/build-and-test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 5dd7c8f4ee3..243d9fa05e1 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -236,8 +236,8 @@ jobs: # Format the CMake flags for this key and append to the result fixed_name=$(echo "$key" | awk '{gsub(/\./, "_"); print toupper($0)}') - flag_repository="-D${fixed_name}_GIT_REPOSITORY=\"$repo_url\" - flag_tag="-D${fixed_name}_GIT_TAG=\"$branch_name\" + flag_repository="-D${fixed_name}_GIT_REPOSITORY=\"$repo_url\"" + flag_tag="-D${fixed_name}_GIT_TAG=\"$branch_name\"" # Append both flags to the result string with a space CMAKE_OPTIONS="$CMAKE_OPTIONS $flag_repository $flag_tag " From c40b66d91dffd3b9fb8d5671f686af2ba318b36a Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 27 Oct 2025 16:43:37 +0100 Subject: [PATCH 108/115] Always run all tests if build is ok and all tests is enable --- .github/workflows/build-and-test.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 243d9fa05e1..4ea8afef0d1 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -319,7 +319,7 @@ jobs: - name: Unit tests id: unit-tests-step - if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false + if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == false shell: bash run: | # If os has got docker then use it @@ -343,7 +343,7 @@ jobs: - name: Scene tests id: scene-tests-step - if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true + if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true shell: bash run: | # If os has got docker then use it @@ -367,7 +367,7 @@ jobs: - name: Regression tests id: regression-tests-step - if: steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true + if: always() && steps.build-step.outcome == 'success' && inputs.generate-binaries == false && inputs.with-all-tests == true shell: bash run: | # If os has got docker then use it From 976321948557340ea0b7a14e5b10c70807df722a Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 28 Oct 2025 14:53:45 +0100 Subject: [PATCH 109/115] If mkdir returns 'folder already exists' then all good. --- Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp index e41aec5b5a1..60296fa5ff9 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp @@ -146,7 +146,8 @@ bool FileSystem::createDirectory(const std::string& path) return true; } #else - if (mkdir(path.c_str(), 0755)) + int status = mkdir(path.c_str(), 0755); + if (status && status != EEXIST) { msg_error(error) << path << ": " << strerror(errno); return true; From e0b796745dd2c4d9cdb855dbc516f4b9b347e1e0 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 28 Oct 2025 16:27:11 +0100 Subject: [PATCH 110/115] Try fix --- Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp index 60296fa5ff9..d81e2bc8037 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp @@ -149,7 +149,7 @@ bool FileSystem::createDirectory(const std::string& path) int status = mkdir(path.c_str(), 0755); if (status && status != EEXIST) { - msg_error(error) << path << ": " << strerror(errno); + msg_error(error) << path << ": " << strerror(errno) << ". With status: " << status; return true; } #endif From b10174c776799621e398953c34145bb35dc55142 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 29 Oct 2025 15:36:54 +0100 Subject: [PATCH 111/115] Update Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp --- Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp index d81e2bc8037..b8b60cfb75b 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp @@ -147,7 +147,7 @@ bool FileSystem::createDirectory(const std::string& path) } #else int status = mkdir(path.c_str(), 0755); - if (status && status != EEXIST) + if (status && errno != EEXIST) { msg_error(error) << path << ": " << strerror(errno) << ". With status: " << status; return true; From 8c0c750bca8da35b6d3bc2f017770c99435cebe6 Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Wed, 29 Oct 2025 15:38:03 +0100 Subject: [PATCH 112/115] USe a common cache dir for all build (#44) --- .github/workflows/build-and-test.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 4ea8afef0d1..a95581d6e38 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -304,9 +304,10 @@ jobs: echo "DOCKER_CI_DIR=$DOCKER_CI_DIR" >> $GITHUB_ENV echo "DOCKER_LOG_DIR=$DOCKER_LOG_DIR" >> $GITHUB_ENV + export XDG_CACHE_HOME="/cache" echo "Launching configuration and build through docker using image ${DOCKER_IMAGE}. Running ./ci/scripts/configure-and-build.sh /workspace/build/ /workspace/sofa/ /workspace/ci/scripts/ \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" - docker run --rm \ + docker run --rm --env XDG_CACHE_HOME -v $BUILDER_CACHE_DIR:/cache\ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" From a2c646058fdc643a21b2b97ba4ad426e29927529 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 30 Oct 2025 14:57:16 +0100 Subject: [PATCH 113/115] Increase ccache size before launching build --- .github/workflows/build-and-test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index a95581d6e38..1cf936a932b 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -310,7 +310,7 @@ jobs: docker run --rm --env XDG_CACHE_HOME -v $BUILDER_CACHE_DIR:/cache\ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + /bin/bash -c "env ; cd /workspace; ccache -M 5; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" else echo "Launching configuration and build" From d6947d2f6a77931917f2dcb7a4b62a0d916e83fc Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 30 Oct 2025 15:08:36 +0100 Subject: [PATCH 114/115] Clear ccache when rebooting --- .github/workflows/build-and-test.yml | 2 +- .github/workflows/reboot_builders.yml | 22 +++++++++++++++++++--- 2 files changed, 20 insertions(+), 4 deletions(-) diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml index 1cf936a932b..d118cf11ec7 100644 --- a/.github/workflows/build-and-test.yml +++ b/.github/workflows/build-and-test.yml @@ -310,7 +310,7 @@ jobs: docker run --rm --env XDG_CACHE_HOME -v $BUILDER_CACHE_DIR:/cache\ --user $(id -u):$(id -g) --network=host -v $WORKSPACE:/workspace \ ${DOCKER_IMAGE} \ - /bin/bash -c "env ; cd /workspace; ccache -M 5; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" + /bin/bash -c "env; cd /workspace; ccache -M 5; /bin/bash $DOCKER_CI_DIR/scripts/configure-and-build.sh $DOCKER_BUILD_DIR $DOCKER_SRC_DIR $DOCKER_CI_DIR/scripts/ $DOCKER_LOG_DIR \"${NODE_NAME}\" \"${BUILD_TYPE}\" \"${CONFIG}\" \"${{ inputs.python-version }}\" \"${{ inputs.preset }}\" \"${{ inputs.generate-binaries }}\" \"${CMAKE_OPTIONS}\"" else echo "Launching configuration and build" diff --git a/.github/workflows/reboot_builders.yml b/.github/workflows/reboot_builders.yml index 1ed3e02c895..082df4d9d5e 100644 --- a/.github/workflows/reboot_builders.yml +++ b/.github/workflows/reboot_builders.yml @@ -26,7 +26,7 @@ on: # Nightly build schedule: - - cron: '0 1 * * *' # Evevery night @1:00 a.m. + - cron: '30 1 * * *' # Evevery night @1:30 a.m. # =============================================================== # =============================================================== @@ -42,7 +42,15 @@ jobs: os: ${{ fromJson(inputs.builder-os) }} runs-on: ${{ matrix.os }} steps: - - name: Configure builder + - name: Clear ccache + if: ${{ runner.os == 'Linux' }} + shell: bash + run: | + if [[ -n "$BUILDER_CACHE_DIR" ]]; then + rm -rf $BUILDER_CACHE_DIR/* + fi + + - name: Reboot builder shell: bash run: | # WARNING: this command needs to add in /etc/sudoers this line: @@ -57,7 +65,15 @@ jobs: os: ["sofa-ci-dev-ubuntu2204-0","sofa-ci-dev-ubuntu2204-1","sofa-ci-dev-ubuntu2204-2","sofa-ci-dev-ubuntu2204-3","sofa-ci-dev-ubuntu2204-4","consortium-macos-2","consortium-macos-3"] runs-on: ${{ matrix.os }} steps: - - name: Configure builder + - name: Clear ccache + if: ${{ runner.os == 'Linux' }} + shell: bash + run: | + if [[ -n "$BUILDER_CACHE_DIR" ]]; then + rm -rf $BUILDER_CACHE_DIR/* + fi + + - name: Reboot builder shell: bash run: | # WARNING: this command needs to add in /etc/sudoers this line: From c8e0a69030335a403270abe39ea8ad3184c3d7af Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Thu, 30 Oct 2025 15:28:13 +0100 Subject: [PATCH 115/115] Now if path already exists and is actually a folder then throw no error --- .../src/sofa/helper/system/FileSystem.cpp | 21 +++++++++++++++--- .../Helper/test/system/FileSystem_test.cpp | 22 +++++++++---------- 2 files changed, 28 insertions(+), 15 deletions(-) diff --git a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp index b8b60cfb75b..dfbb2cd5ecd 100644 --- a/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/system/FileSystem.cpp @@ -147,10 +147,25 @@ bool FileSystem::createDirectory(const std::string& path) } #else int status = mkdir(path.c_str(), 0755); - if (status && errno != EEXIST) + if(status) { - msg_error(error) << path << ": " << strerror(errno) << ". With status: " << status; - return true; + if (errno != EEXIST) + { + msg_error(error) << path << ": " << strerror(errno); + return true; + } + else + { + struct stat st_buf; + if (stat(path.c_str(), &st_buf) == 0) + { + if ((st_buf.st_mode & S_IFMT) != S_IFDIR) { + msg_error(error) << path << ": File exists and is not a directoy"; + return true; + } + } + + } } #endif else diff --git a/Sofa/framework/Helper/test/system/FileSystem_test.cpp b/Sofa/framework/Helper/test/system/FileSystem_test.cpp index 63881207d00..1eadead4e92 100644 --- a/Sofa/framework/Helper/test/system/FileSystem_test.cpp +++ b/Sofa/framework/Helper/test/system/FileSystem_test.cpp @@ -143,18 +143,16 @@ TEST(FileSystemTest, createDirectory_alreadyExists) // required to be able to use EXPECT_MSG_NOEMIT and EXPECT_MSG_EMIT sofa::helper::logging::MessageDispatcher::addHandler(sofa::testing::MainGtestMessageHandler::getInstance() ) ; - { - EXPECT_MSG_NOEMIT(Error) ; - FileSystem::createDirectory("createDirectoryTestDir"); - } - { - EXPECT_MSG_EMIT(Error) ; - EXPECT_TRUE(FileSystem::createDirectory("createDirectoryTestDir")); - } - { - EXPECT_MSG_NOEMIT(Error) ; - FileSystem::removeDirectory("createDirectoryTestDir"); - } + EXPECT_MSG_NOEMIT(Error) ; + + EXPECT_FALSE(FileSystem::createDirectory("createDirectoryTestDir")); + EXPECT_TRUE(FileSystem::exists("createDirectoryTestDir")); + EXPECT_TRUE(FileSystem::isDirectory("createDirectoryTestDir")); + EXPECT_TRUE(FileSystem::createDirectory("createDirectoryTestDir")); + + // Cleanup + FileSystem::removeDirectory("createDirectoryTestDir"); + } TEST(FileSystemTest, removeDirectory)

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