[Lagrangian] Remove multigrid support in LCPConstraintSolver

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.h

@@ -63,13 +63,9 @@ class BaseContactLagrangianConstraint : public core::behavior::PairInteractionCo
 
     typedef core::behavior::BaseLagrangianConstraint::ConstraintBlockInfo ConstraintBlockInfo;
     typedef core::behavior::BaseLagrangianConstraint::PersistentID PersistentID;
-    typedef core::behavior::BaseLagrangianConstraint::ConstCoord ConstCoord;
 
     typedef core::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
     typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstCoord VecConstCoord;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstDeriv VecConstDeriv;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstArea VecConstArea;
 
     typedef core::objectmodel::Data<VecCoord>		DataVecCoord;
     typedef core::objectmodel::Data<VecDeriv>		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<core::behavior::ConstraintResolution*>& resTab, unsigned int& offset) =0;
     bool isActive() const override;

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BaseContactLagrangianConstraint.inl

@@ -74,6 +74,7 @@ void BaseContactLagrangianConstraint<DataTypes, ContactParams>::addContact(const
             id, localid);
 }
 
+
 template<class DataTypes, class ContactParams>
 void BaseContactLagrangianConstraint<DataTypes, ContactParams>::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<DataTypes, ContactParams>::addContact(const
 }
 
 
+
 template<class DataTypes, class ContactParams>
 void BaseContactLagrangianConstraint<DataTypes, ContactParams>::buildConstraintMatrix(const core::ConstraintParams *, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &contactId
         , const DataVecCoord &, const DataVecCoord &)
@@ -310,7 +312,7 @@ void BaseContactLagrangianConstraint<DataTypes, ContactParams>::getConstraintVio
 
 
 template<class DataTypes, class ContactParams>
-void BaseContactLagrangianConstraint<DataTypes, ContactParams>::getConstraintInfo(const core::ConstraintParams*, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& /*positions*/, VecConstDeriv& directions, VecConstArea& /*areas*/)
+void BaseContactLagrangianConstraint<DataTypes, ContactParams>::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<DataTypes, ContactParams>::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<contacts.size(); i++)
     {
         Contact& c = contacts[i];
         ids.push_back( yetIntegrated ? c.contactId : -c.contactId);
-        directions.push_back( c.norm );
-        if (friction)
-        {
-            directions.push_back( c.t );
-            directions.push_back( c.s );
-        }
     }
 
+
     yetIntegrated = true;
 
     blocks.push_back(info);
@@ -367,7 +362,7 @@ void BaseContactLagrangianConstraint<DataTypes, ContactParams>::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());
 

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h

@@ -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<bool> d_displayDebug; ///< Display debug information.
     Data<bool> d_initial_guess; ///< activate LCP results history to improve its resolution performances.
@@ -81,22 +81,22 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
     Data<SReal> d_mu; ///< Friction coefficient
     Data<SReal> 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<SReal> d_maxF; ///< If not zero, constraints whose response force becomes larger than this threshold will be ignored
-    Data<bool> d_multi_grid; ///< activate multi_grid resolution (NOT STABLE YET)
-    Data<int> d_multi_grid_levels; ///< if multi_grid is active: how many levels to create (>=2)
-    Data<int> d_merge_method; ///< if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates)
-    Data<int> d_merge_spatial_step; ///< if merge_method is 1: grid size reduction between multigrid levels
-    Data<int> 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<type::vector< SReal >> d_constraintForces; ///< OUTPUT: constraint forces (stored only if computeConstraintForces=True)
     Data<bool> d_computeConstraintForces; ///< The indices of the constraintForces to store in the constraintForce data field
 
     Data < std::set<int> > d_constraintGroups; ///< list of ID of groups of constraints to be handled by this solver.
 
     Data<std::map < std::string, sofa::type::vector<SReal> > > d_graph; ///< Graph of residuals at each iteration
 
-    Data<int> d_showLevels; ///< Number of constraint levels to display
+    DeprecatedAndRemoved d_showLevels; ///< Number of constraint levels to display
     Data<SReal> d_showCellWidth; ///< Distance between each constraint cells
     Data<type::Vec3> d_showTranslation; ///< Position of the first cell
-    Data<type::Vec3> 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<SReal>  *_W;
 
     /// multi-grid approach ///
-    void MultigridConstraintsMerge();
-    void MultigridConstraintsMerge_Compliance();
-    void MultigridConstraintsMerge_Spatial();
     void build_Coarse_Compliance(std::vector<int> &/*constraint_merge*/, int /*sizeCoarseSystem*/);
     sofa::linearalgebra::LPtrFullMatrix<SReal>  _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
@@ -149,15 +144,9 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
 
     typedef core::behavior::BaseLagrangianConstraint::ConstraintBlockInfo ConstraintBlockInfo;
     typedef core::behavior::BaseLagrangianConstraint::PersistentID PersistentID;
-    typedef core::behavior::BaseLagrangianConstraint::ConstCoord ConstCoord;
-    typedef core::behavior::BaseLagrangianConstraint::ConstDeriv ConstDeriv;
-    typedef core::behavior::BaseLagrangianConstraint::ConstArea ConstArea;
 
     typedef core::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
     typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstCoord VecConstCoord;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstDeriv VecConstDeriv;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstArea VecConstArea;
 
     class ConstraintBlockBuf
     {
@@ -169,11 +158,8 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
     std::map<core::behavior::BaseLagrangianConstraint*, ConstraintBlockBuf> _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;

Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.cpp

@@ -34,15 +34,20 @@ void BaseLagrangianConstraint::setGroup(int g)
 }
 
 void BaseLagrangianConstraint::getConstraintInfo(const ConstraintParams* cParams, VecConstraintBlockInfo& blocks,
-    VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas)
+    VecPersistentID& ids)
 {
     SOFA_UNUSED(cParams);
     SOFA_UNUSED(blocks);
     SOFA_UNUSED(ids);
+}
+
+void BaseLagrangianConstraint::getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas)
+{
+    msg_warning()<<"BaseLagrangianConstraint::getConstraintInfo signature has changed. Positions, directions and areas are not used anymore. This method is deprecated since v25.06 and will be deleted in v25.12.";
+    this->getConstraintInfo(cParams, blocks, ids);
     SOFA_UNUSED(positions);
     SOFA_UNUSED(directions);
     SOFA_UNUSED(areas);
-
 }
 
 void BaseLagrangianConstraint::getConstraintResolution(const ConstraintParams* cParams,

Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.h

@@ -62,12 +62,6 @@ class SOFA_CORE_API BaseLagrangianConstraint : public BaseConstraintSet
 
     typedef long long PersistentID;
     typedef type::vector<PersistentID> VecPersistentID;
-    typedef type::Vec<3,int> ConstCoord;
-    typedef type::vector<ConstCoord> VecConstCoord;
-    typedef type::Vec<3,double> ConstDeriv;
-    typedef type::vector<ConstDeriv> VecConstDeriv;
-    typedef double ConstArea;
-    typedef type::vector<ConstArea> VecConstArea;
 
     class ConstraintBlockInfo
     {
@@ -77,21 +71,23 @@ class SOFA_CORE_API BaseLagrangianConstraint : public BaseConstraintSet
         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)
+        ConstraintBlockInfo() : parent(nullptr), const0(0), nbLines(1), nbGroups(0), hasId(false), offsetId(0)
         {}
     };
     typedef type::vector<ConstraintBlockInfo> 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);
+    virtual void getConstraintInfo(const ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids);
+
+
+    //DEPRECATED(v25.06, v25.12)
+    typedef sofa::type::vector<type::Vec<3,double>> VecConstCoord;
+    typedef sofa::type::vector<type::Vec<3,double>> VecConstDeriv;
+    typedef sofa::type::vector<double> VecConstArea;
+    SOFA_ATTRIBUTE_DEPRECATED__DELETED_ARGUMENTS()
+    virtual void getConstraintInfo(const core::ConstraintParams* cParams, VecConstraintBlockInfo& blocks, VecPersistentID& ids, VecConstCoord& positions, VecConstDeriv& directions, VecConstArea& areas) final;
 
     /// 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, ...)

Sofa/framework/Core/src/sofa/core/config.h.in

@@ -84,6 +84,12 @@
 #endif
 
 
+#ifdef SOFA_BUILD_SOFA_CORE
+#define SOFA_ATTRIBUTE_DEPRECATED__DELETED_ARGUMENTS()
+#else
+#define SOFA_ATTRIBUTE_DEPRECATED__DELETED_ARGUMENTS() \
+    SOFA_ATTRIBUTE_DEPRECATED("v25.06", "v25.12", "Signature has changed, use 'getConstraintResolution(const ConstraintParams* cParams, std::vector<ConstraintResolution*> &resTab, unsigned int &offset)' instead")
+#endif
 
 
 #ifdef SOFA_BUILD_SOFA_CORE

Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.cpp

@@ -27,14 +27,10 @@ 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)
 {}
 
@@ -44,7 +40,7 @@ Visitor::Result MechanicalGetConstraintInfoVisitor::fwdConstraintSet(simulation:
     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;

Sofa/framework/Simulation/Core/src/sofa/simulation/mechanicalvisitor/MechanicalGetConstraintInfoVisitor.h

@@ -31,11 +31,8 @@ class SOFA_SIMULATION_CORE_API MechanicalGetConstraintInfoVisitor : public simul
 public:
     typedef core::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
     typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstCoord VecConstCoord;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstDeriv VecConstDeriv;
-    typedef core::behavior::BaseLagrangianConstraint::VecConstArea VecConstArea;
 
-    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;
 };