diff --git a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp index ac27e748341..d732bd93605 100644 --- a/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp +++ b/Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp @@ -400,12 +400,12 @@ void ConstraintAnimationLoop::writeAndAccumulateAndCountConstraintDirections(con MechanicalResetConstraintVisitor(&cparams).execute(context); // calling applyConstraint on each constraint - MechanicalSetConstraint(&cparams, core::vec_id::write_access::constraintJacobian, numConstraints).execute(context); + sofa::simulation::mechanicalvisitor::MechanicalBuildConstraintMatrix(&cparams, core::vec_id::write_access::constraintJacobian, numConstraints).execute(context); sofa::helper::AdvancedTimer::valSet("numConstraints", numConstraints); // calling accumulateConstraint on the mappings - MechanicalAccumulateConstraint2(&cparams, core::vec_id::write_access::constraintJacobian).execute(context); + sofa::simulation::mechanicalvisitor::MechanicalAccumulateMatrixDeriv(&cparams, core::vec_id::write_access::constraintJacobian).execute(context); getCP()->clear(numConstraints,this->d_tol.getValue()); } @@ -426,7 +426,7 @@ void ConstraintAnimationLoop::getIndividualConstraintSolvingProcess(const core:: cparams.setX(core::vec_id::read_access::freePosition); cparams.setV(core::vec_id::read_access::freeVelocity); - MechanicalGetConstraintResolutionVisitor(&cparams, getCP()->getConstraintResolutions(), 0).execute(context); + sofa::component::constraint::lagrangian::solver::MechanicalGetConstraintResolutionVisitor(&cparams, getCP()->getConstraintResolutions(), 0).execute(context); } void ConstraintAnimationLoop::computeComplianceInConstraintSpace() diff --git a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h index e89bb076d46..46453a04828 100644 --- a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h +++ b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h @@ -54,7 +54,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel to be created, size is 3 (3 points) because it contains just one Triangle triDOF->resize(3); - Data& dpositions = *triDOF->write(sofa::core::VecId::position()); + Data& dpositions = *triDOF->write(sofa::core::vec_id::write_access::position); MechanicalObject3::VecCoord& positions = *dpositions.beginEdit(); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z @@ -65,7 +65,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel& dvelocities = *triDOF->write(sofa::core::VecId::velocity()); + Data& dvelocities = *triDOF->write(sofa::core::vec_id::write_access::velocity); MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h index fb9f38075ef..e183b99276e 100644 --- a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h +++ b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h @@ -55,7 +55,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel to be created, size is 1 because it contains just one OBB sphereDOF->resize(1); - Data& dpositions = *sphereDOF->write(sofa::core::VecId::position()); + Data& dpositions = *sphereDOF->write(sofa::core::vec_id::write_access::position); MechanicalObjectRigid3::VecCoord& positions = *dpositions.beginEdit(); //we create a frame that we will rotate like it is specified by the parameters angles and order @@ -88,7 +88,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity()); + Data& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity); MechanicalObjectRigid3::VecDeriv& velocities = *dvelocities.beginEdit(); velocities[0] = v; @@ -122,7 +122,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel to be created, size is 1 because it contains just one OBB sphereDOF->resize(1); - Data& dpositions = *sphereDOF->write(sofa::core::VecId::position()); + Data& dpositions = *sphereDOF->write(sofa::core::vec_id::write_access::position); MechanicalObject3::VecCoord& positions = *dpositions.beginEdit(); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z @@ -131,7 +131,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity()); + Data& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity); MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/Sofa/framework/Helper/src/sofa/helper/Utils.cpp b/Sofa/framework/Helper/src/sofa/helper/Utils.cpp index df91f2af9f5..dfbc586d9ab 100644 --- a/Sofa/framework/Helper/src/sofa/helper/Utils.cpp +++ b/Sofa/framework/Helper/src/sofa/helper/Utils.cpp @@ -253,7 +253,7 @@ const std::string& Utils::getUserLocalDirectory() CoTaskMemFree(path); } - return Utils::narrowString(wresult); + return sofa::helper::narrowString(wresult); #elif defined(__APPLE__) // macOS : ${HOME}/Library/Application Support // https://stackoverflow.com/questions/5123361/finding-library-application-support-from-c diff --git a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp index a747ecf240b..695afcd0ed9 100644 --- a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp +++ b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp @@ -46,7 +46,7 @@ sofa::component::collision::BulletOBBCollisionModel to be created, size is 1 because it contains just one OBB obbDOF->resize(1); - Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); //we create a frame that we will rotate like it is specified by the parameters angles and order @@ -72,7 +72,7 @@ sofa::component::collision::BulletOBBCollisionModel & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; @@ -110,7 +110,7 @@ static void randTrans(Vec3 & angles,Vec3 & new_pos){ static void transMechaRigid(const Vec3 & angles,const Vec3 & new_pos,sofa::simulation::Node::SPtr & node){ MechanicalObjectRigid3* mecha = node->get(sofa::simulation::Node::SearchDown); - Data & dpositions = *mecha->write( sofa::core::VecId::position() ); + Data & dpositions = *mecha->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); auto & quat = positions[0].getOrientation(); @@ -131,11 +131,11 @@ struct copyBulletOBB{ //editing DOF related to the OBBCollisionModel to be created, size is 1 because it contains just one OBB obbDOF->resize(1); - Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get(); - const Data & read_positions = *read_mec->read( sofa::core::VecId::position() ); + const Data & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position ); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z positions[0] = (read_positions.getValue())[0]; @@ -174,11 +174,11 @@ struct copyBulletConvexHull{ //editing DOF related to the OBBCollisionModel to be created, size is 1 because it contains just one OBB cv_hullDOF->resize(1); - Data & dpositions = *cv_hullDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *cv_hullDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get(); - const Data & read_positions = *read_mec->read( sofa::core::VecId::position() ); + const Data & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position ); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z positions[0] = (read_positions.getValue())[0]; @@ -227,11 +227,11 @@ struct copyBulletConvexHull{ // //editing DOF related to the OBBCollisionModel to be created, size is 1 because it contains just one OBB // obbDOF->resize(1); -// Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); +// Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); // MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); // const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get(); -// const Data & read_positions = *read_mec->read( sofa::core::VecId::position() ); +// const Data & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position ); // //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z // positions[0] = (read_positions.getValue())[0]; diff --git a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl index 36664f9fd67..56b5e47a90d 100644 --- a/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl +++ b/applications/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl @@ -100,7 +100,7 @@ void TBulletConvexHullModel::initBullet(){ _mstate->resize(1); - Data::VecCoord>* dpositions = _mstate->write( sofa::core::VecId::position() ); + Data::VecCoord>* dpositions = _mstate->write( sofa::core::vec_id::write_access::position ); typename sofa::component::statecontainer::MechanicalObject::VecCoord & positions = *dpositions->beginEdit(); typename DataTypes::Coord one_position(_bary,Quaternion(0,0,0,1)); diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h index b2e77106dc3..53de65258dd 100644 --- a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h +++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h @@ -54,7 +54,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel to be created, size is 1 because it contains just one OBB obbDOF->resize(1); - Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); //we create a frame that we will rotate like it is specified by the parameters angles and order @@ -86,7 +86,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; @@ -122,7 +122,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel to be created, size is 1 because it contains just one OBB capDOF->resize(2); - Data& dpositions = *capDOF->write(sofa::core::VecId::position()); + Data& dpositions = *capDOF->write(sofa::core::vec_id::write_access::position); MechanicalObject3::VecCoord& positions = *dpositions.beginEdit(); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z @@ -132,7 +132,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel& dvelocities = *capDOF->write(sofa::core::VecId::velocity()); + Data& dvelocities = *capDOF->write(sofa::core::vec_id::write_access::velocity); MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp index d9f86ddaee8..dce0f3df576 100644 --- a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp +++ b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp @@ -96,7 +96,7 @@ sofa::component::collision::geometry::SphereCollisionModel to be created, size is 1 because it contains just one Sphere sphDOF->resize(1); - Data & dpositions = *sphDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *sphDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); positions[0] = Rigid3Types::Coord(center,Quat(0,0,0,1)); @@ -104,7 +104,7 @@ sofa::component::collision::geometry::SphereCollisionModel & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *sphDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/applications/plugins/SofaAssimp/SceneColladaLoader.cpp b/applications/plugins/SofaAssimp/SceneColladaLoader.cpp index 456f3e2e830..9e4081647c7 100644 --- a/applications/plugins/SofaAssimp/SceneColladaLoader.cpp +++ b/applications/plugins/SofaAssimp/SceneColladaLoader.cpp @@ -33,7 +33,7 @@ #include #include #include -#include +#include #include #include #include @@ -291,7 +291,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam currentBoneMechanicalObject->resize(currentAiMesh->mNumBones); { - Data* d_x = currentBoneMechanicalObject->write(core::VecCoordId::position()); + 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) { @@ -370,7 +370,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam currentBoneMechanicalObject->resize(1); { - Data >* d_x = currentBoneMechanicalObject->write(core::VecCoordId::position()); + 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); @@ -393,7 +393,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam currentUniformMass->setName(nameStream.str()); } - FixedConstraint::SPtr currentFixedConstraint = sofa::core::objectmodel::New >(); + FixedProjectiveConstraint::SPtr currentFixedConstraint = sofa::core::objectmodel::New >(); { // adding the generated FixedConstraint to its parent Node currentSubNode->addObject(currentFixedConstraint); @@ -448,7 +448,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam currentMechanicalObject->resize(vertexMap.size()); { - Data >* d_x = currentMechanicalObject->write(core::VecCoordId::position()); + 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; diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl index 6f21ee63f99..7d8ea0fd4b1 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl +++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl @@ -90,7 +90,7 @@ void ParticlesRepulsionForceField::addDForce(const co 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(core::ConstVecCoordId::position())->getValue(); + 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; @@ -142,7 +142,7 @@ void ParticlesRepulsionForceField::addDForce(const co 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(core::ConstVecCoordId::position())->getValue(); + 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; diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl index bceaf0551d1..5493d61e1b5 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl +++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl @@ -234,7 +234,7 @@ void SPHFluidForceField::draw(const core::visual::Vis if (!vparams->displayFlags().getShowForceFields()) return; //if (m_grid != NULL) // grid->draw(vparams); - helper::ReadAccessor x = this->mstate->read(core::ConstVecCoordId::position())->getValue(); + 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); diff --git a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp index dfab3e76f43..57342d81838 100644 --- a/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp +++ b/applications/plugins/SofaCUDA/src/SofaCUDA/component/constraint/projective/CudaFixedTranslationProjectiveConstraint.cpp @@ -73,7 +73,7 @@ void component::constraint::projective::FixedTranslationProjectiveConstraint void component::constraint::projective::FixedTranslationProjectiveConstraint::draw(const core::visual::VisualParams* vparams) { - const SetIndexArray & indices = f_indices.getValue(); + const SetIndexArray & indices = d_indices.getValue(); if (!vparams->displayFlags().getShowBehaviorModels()) return; const VecCoord& x = this->mstate->read(core::vec_id::read_access::position)->getValue(); @@ -81,7 +81,7 @@ void component::constraint::projective::FixedTranslationProjectiveConstraintisActive() || !model2->isActive()) return 0; - const CudaVector& p1 = model1->getMechanicalState()->read(core::ConstVecCoordId::position())->getValue(); + const CudaVector& p1 = model1->getMechanicalState()->read(sofa::core::vec_id::read_access::position)->getValue(); if (p1.empty()) return 0; for (CudaRigidDistanceGridCollisionElement e2 = CudaRigidDistanceGridCollisionElement(model2->begin()); e2!=model2->end(); ++e2) @@ -286,7 +286,7 @@ void CudaCollisionDetection::SphereRigidTest::fillInfo(GPUTest* tests) GPUContact* gresults = (GPUContact*)results.results.deviceWrite(); GPUContactPoint* gresults1 = (GPUContactPoint*)results.results1.deviceWrite(); GPUContactPoint* gresults2 = (GPUContactPoint*)results.results2.deviceWrite(); - const CudaVector& p1 = model1->getMechanicalState()->read(core::ConstVecCoordId::position())->getValue(); + const CudaVector& p1 = model1->getMechanicalState()->read(sofa::core::vec_id::read_access::position)->getValue(); for (unsigned int i=0; i& p1 = model1->getMechanicalState()->read(core::ConstVecCoordId::position())->getValue(); + const CudaVector& p1 = model1->getMechanicalState()->read(sofa::core::vec_id::read_access::position)->getValue(); CudaDistanceGrid& g2 = *elem2.getGrid(); test.nbPoints = elem1.getSize(); test.result = gresults + e.firstIndex; 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 566d72c8305..38c230398ab 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaCollisionDistanceGrid.cpp @@ -30,11 +30,6 @@ #include #include -#include -#include -#include -#include - #include #include #include 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 b1ac3c86b92..c5436aa50b8 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridCollisionModel.cpp @@ -615,7 +615,7 @@ void CudaRigidDistanceGridCollisionModel::computeBoundingTree(int maxDepth) type::Vec3 emin, emax; if (rigid) { - const RigidTypes::Coord& xform = rigid->read(core::ConstVecCoordId::position())->getValue()[i]; + const RigidTypes::Coord& xform = rigid->read(sofa::core::vec_id::read_access::position)->getValue()[i]; elems[i].translation = xform.getCenter(); xform.getOrientation().toMatrix(elems[i].rotation); elems[i].isTransformed = true; diff --git a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h index c14d6e47f61..e98718ceee4 100644 --- a/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h +++ b/applications/plugins/SofaDistanceGrid/extensions/CUDA/src/SofaDistanceGrid/CUDA/CudaDistanceGridContactMapper.h @@ -53,9 +53,9 @@ class sofa::component::collision::response::mapper::ContactMappermodel; MMechanicalState* outmodel = this->outmodel.get(); - Data* d_x = outmodel->write(core::VecCoordId::position()); + Data* d_x = outmodel->write(sofa::core::vec_id::write_access::position); VecDeriv& vx = *d_x->beginEdit(); - Data* d_v = outmodel->write(core::VecDerivId::velocity()); + Data* d_v = outmodel->write(sofa::core::vec_id::write_access::velocity); VecCoord& vv = *d_v->beginEdit(); typename DataTypes::Coord& x = vx[i]; @@ -93,7 +93,7 @@ class sofa::component::collision::response::mapper::ContactMapper* d_x = this->outmodel->write(core::VecCoordId::position()); + Data* d_x = this->outmodel->write(sofa::core::vec_id::write_access::position); VecCoord& vx = *d_x->beginEdit(); gpu::cuda::RigidContactMapperCuda3f_setPoints2(n, nt, maxp, outputs->tests.deviceRead(), outputs->results.deviceRead(), vx.deviceWrite()); d_x->endEdit(); diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h index 948cb9f820c..2a90203e589 100644 --- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h +++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h @@ -159,11 +159,11 @@ void randMoving(sofa::core::CollisionModel* cm,const Vector3 & min_vect,const Ve sofa::component::collision::OBBCollisionModel * obbm = dynamic_cast*>(cm->getLast()); MechanicalObjectRigid3* dof = dynamic_cast(obbm->getMechanicalState()); - Data & dpositions = *dof->write( sofa::core::VecId::position() ); + Data & dpositions = *dof->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); //Editing the velocity of the OBB - Data & dvelocities = *dof->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *dof->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); for(size_t i = 0 ; i < dof->getSize() ; ++i){ @@ -409,7 +409,7 @@ sofa::component::collision::OBBCollisionModel::S //editing DOF related to the OBBCollisionModel to be created, size is 1 because it contains just one OBB obbDOF->resize(n); - Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); for(int i = 0 ; i < n ; ++i) @@ -418,7 +418,7 @@ sofa::component::collision::OBBCollisionModel::S dpositions.endEdit(); //Editing the velocity of the OBB - Data & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); for(int i = 0 ; i < n ; ++i) diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h index d704f48b952..b4247e2f229 100644 --- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h +++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h @@ -53,7 +53,7 @@ inline sofa::component::collision::OBBCollisionModel to be created, size is 1 because it contains just one OBB obbDOF->resize(1); - Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); //we create a frame that we will rotate like it is specified by the parameters angles and order @@ -85,7 +85,7 @@ inline sofa::component::collision::OBBCollisionModel & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; @@ -121,7 +121,7 @@ inline sofa::component::collision::CapsuleCollisionModel to be created, size is 1 because it contains just one OBB capDOF->resize(2); - Data& dpositions = *capDOF->write(sofa::core::VecId::position()); + Data& dpositions = *capDOF->write(sofa::core::vec_id::write_access::position); MechanicalObject3::VecCoord& positions = *dpositions.beginEdit(); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z @@ -131,7 +131,7 @@ inline sofa::component::collision::CapsuleCollisionModel& dvelocities = *capDOF->write(sofa::core::VecId::velocity()); + Data& dvelocities = *capDOF->write(sofa::core::vec_id::write_access::velocity); MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp index a6abe0204f6..60ad7bb7d1e 100644 --- a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp +++ b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp @@ -97,7 +97,7 @@ sofa::component::collision::SphereCollisionModel //editing DOF related to the SphereCollisionModel to be created, size is 1 because it contains just one Sphere sphDOF->resize(1); - Data & dpositions = *sphDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *sphDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); positions[0] = Rigid3Types::Coord(center,Quaternion(0,0,0,1)); @@ -105,7 +105,7 @@ sofa::component::collision::SphereCollisionModel dpositions.endEdit(); //Editing the velocity of the Sphere - Data & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *sphDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/applications/plugins/SofaTest/BroadPhase_test.h b/applications/plugins/SofaTest/BroadPhase_test.h index 44ac2880e5e..389e3edb077 100644 --- a/applications/plugins/SofaTest/BroadPhase_test.h +++ b/applications/plugins/SofaTest/BroadPhase_test.h @@ -144,11 +144,11 @@ void randMoving(sofa::core::CollisionModel* cm,const sofa::type::Vec3 & min_vect sofa::component::collision::OBBCollisionModel * obbm = dynamic_cast*>(cm->getLast()); MechanicalObjectRigid3* dof = dynamic_cast(obbm->getMechanicalState()); - sofa::core::objectmodel::Data & dpositions = *dof->write( sofa::core::VecId::position() ); + sofa::core::objectmodel::Data & dpositions = *dof->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); //Editing the velocity of the OBB - sofa::core::objectmodel::Data & dvelocities = *dof->write( sofa::core::VecId::velocity() ); + sofa::core::objectmodel::Data & dvelocities = *dof->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); for(size_t i = 0 ; i < dof->getSize() ; ++i){ @@ -395,7 +395,7 @@ sofa::component::collision::OBBCollisionModel::S //editing DOF related to the OBBCollisionModel to be created, size is 1 because it contains just one OBB obbDOF->resize(n); - sofa::core::objectmodel::Data & dpositions = *obbDOF->write( sofa::core::VecId::position() ); + sofa::core::objectmodel::Data & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); for(int i = 0 ; i < n ; ++i) @@ -404,7 +404,7 @@ sofa::component::collision::OBBCollisionModel::S dpositions.endEdit(); //Editing the velocity of the OBB - sofa::core::objectmodel::Data & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() ); + sofa::core::objectmodel::Data & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); for(int i = 0 ; i < n ; ++i) diff --git a/applications/plugins/SofaTest/PrimitiveCreation.cpp b/applications/plugins/SofaTest/PrimitiveCreation.cpp index 436d9164b2e..3f286aa7c42 100644 --- a/applications/plugins/SofaTest/PrimitiveCreation.cpp +++ b/applications/plugins/SofaTest/PrimitiveCreation.cpp @@ -68,7 +68,7 @@ sofa::component::collision::geometry::TriangleCollisionModel to be created, size is 3 (3 points) because it contains just one Triangle triDOF->resize(3); - Data & dpositions = *triDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *triDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObject3::VecCoord & positions = *dpositions.beginEdit(); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z @@ -79,7 +79,7 @@ sofa::component::collision::geometry::TriangleCollisionModel & dvelocities = *triDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *triDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObject3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; @@ -119,7 +119,7 @@ sofa::component::collision::geometry::SphereCollisionModel to be created, size is 1 because it contains just one OBB sphereDOF->resize(1); - Data & dpositions = *sphereDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *sphereDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit(); //we create a frame that we will rotate like it is specified by the parameters angles and order @@ -145,7 +145,7 @@ sofa::component::collision::geometry::SphereCollisionModel & dvelocities = *sphereDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *sphereDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; @@ -179,7 +179,7 @@ sofa::component::collision::geometry::SphereCollisionModel to be created, size is 1 because it contains just one OBB sphereDOF->resize(1); - Data & dpositions = *sphereDOF->write( sofa::core::VecId::position() ); + Data & dpositions = *sphereDOF->write( sofa::core::vec_id::write_access::position ); MechanicalObject3::VecCoord & positions = *dpositions.beginEdit(); //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z @@ -188,7 +188,7 @@ sofa::component::collision::geometry::SphereCollisionModel & dvelocities = *sphereDOF->write( sofa::core::VecId::velocity() ); + Data & dvelocities = *sphereDOF->write( sofa::core::vec_id::write_access::velocity ); MechanicalObject3::VecDeriv & velocities = *dvelocities.beginEdit(); velocities[0] = v; diff --git a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h index 6489c7dadc6..5cf628d5d21 100644 --- a/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h +++ b/applications/plugins/VolumetricRendering/src/VolumetricRendering/OglVolumetricModel.h @@ -42,10 +42,10 @@ namespace sofa::component::visualmodel * */ -class SOFA_VOLUMETRICRENDERING_API OglVolumetricModel : public core::visual::VisualModel, public component::visual::Vec3State +class SOFA_VOLUMETRICRENDERING_API OglVolumetricModel : public core::visual::VisualModel, public sofa::core::visual::VisualState { public: - SOFA_CLASS2(OglVolumetricModel, core::visual::VisualModel, component::visual::Vec3State); + SOFA_CLASS2(OglVolumetricModel, core::visual::VisualModel, sofa::core::visual::VisualState); typedef sofa::core::topology::Tetrahedron Tetrahedron; typedef sofa::core::topology::Hexahedron Hexahedron; diff --git a/applications/tutorials/mixedPendulum/mixedPendulum.cpp b/applications/tutorials/mixedPendulum/mixedPendulum.cpp index daee5e7c58e..7b81ad18236 100644 --- a/applications/tutorials/mixedPendulum/mixedPendulum.cpp +++ b/applications/tutorials/mixedPendulum/mixedPendulum.cpp @@ -25,10 +25,10 @@ #include #include #include -#include +#include #include #include -#include +#include #include #include // gui @@ -84,7 +84,7 @@ int main(int argc, char** argv) DOF->resize(2); DOF->setName("Dof1"); - auto x = sofa::helper::getWriteAccessor(*DOF->write(VecId::position())); + auto x = sofa::helper::getWriteAccessor(*DOF->write(sofa::core::vec_id::write_access::position)); x[0] = { 0,0,0 }; x[1] = { endPos,0,0 }; @@ -96,7 +96,7 @@ int main(int argc, char** argv) mass->setName("M1"); // Fixed point - using FixedConstraint3 = sofa::component::constraint::projective::FixedConstraint; + using FixedConstraint3 = sofa::component::constraint::projective::FixedProjectiveConstraint; auto constraints = sofa::core::objectmodel::New(); deformableBody->addObject(constraints); constraints->setName("C"); @@ -120,7 +120,7 @@ int main(int argc, char** argv) rigidBody->addObject(rigidDOF); rigidDOF->resize(1); rigidDOF->setName("Dof2"); - auto rigid_x = sofa::helper::getWriteAccessor(*rigidDOF->write(VecId::position())); + auto rigid_x = sofa::helper::getWriteAccessor(*rigidDOF->write(sofa::core::vec_id::write_access::position)); rigid_x[0] = { {endPos - attach + splength,0,0}, sofa::type::Quatd::identity() }; // mass @@ -149,7 +149,7 @@ int main(int argc, char** argv) rigidParticles->addObject(rigidParticleDOF); rigidParticleDOF->resize(1); rigidParticleDOF->setName("Dof3"); - auto rp_x = sofa::helper::getWriteAccessor(*rigidParticleDOF->write(VecId::position())); + auto rp_x = sofa::helper::getWriteAccessor(*rigidParticleDOF->write(sofa::core::vec_id::write_access::position)); rp_x[0] = { attach,0,0 }; // mapping from the rigid body DOF to the skin DOF, to rigidly attach the skin to the body diff --git a/applications/tutorials/oneParticle/oneParticle.cpp b/applications/tutorials/oneParticle/oneParticle.cpp index 1ed6e9b5241..88165be5271 100644 --- a/applications/tutorials/oneParticle/oneParticle.cpp +++ b/applications/tutorials/oneParticle/oneParticle.cpp @@ -24,7 +24,7 @@ #include #include #include -#include +#include #include #include #include @@ -82,10 +82,10 @@ int main(int argc, char** argv) particule_node->addObject(dof); dof->resize(1); // get write access the particle positions vector - auto positions = sofa::helper::getWriteAccessor(*dof->write(VecId::position())); + auto positions = sofa::helper::getWriteAccessor(*dof->write(sofa::core::vec_id::write_access::position)); positions[0] = { 0,0,0 }; // get write access the particle velocities vector - auto velocities = sofa::helper::getWriteAccessor(*dof->write(VecId::velocity())); + auto velocities = sofa::helper::getWriteAccessor(*dof->write(sofa::core::vec_id::write_access::velocity)); velocities[0] = { 0,0,0 }; // show the particle dof->showObject.setValue(true); diff --git a/applications/tutorials/oneTetrahedron/oneTetrahedron.cpp b/applications/tutorials/oneTetrahedron/oneTetrahedron.cpp index 46063f78a79..261d9365f4a 100644 --- a/applications/tutorials/oneTetrahedron/oneTetrahedron.cpp +++ b/applications/tutorials/oneTetrahedron/oneTetrahedron.cpp @@ -52,8 +52,8 @@ using UniformMass3 = sofa::component::mass::UniformMass; using sofa::component::topology::container::constant::MeshTopology; #include using sofa::component::visual::VisualStyle; -#include -using FixedConstraint3 = sofa::component::constraint::projective::FixedConstraint; +#include +using FixedConstraint3 = sofa::component::constraint::projective::FixedProjectiveConstraint; #include using sofa::component::odesolver::backward::EulerImplicitSolver; #include @@ -110,7 +110,7 @@ int main(int argc, char** argv) DOF->resize(4); DOF->setName("DOF"); //get write access to the position vector of mechanical object DOF - WriteAccessor > x = *DOF->write(VecId::position()); + WriteAccessor > x = *DOF->write(sofa::core::vec_id::write_access::position); x[0] = Coord3(0,10,0); x[1] = Coord3(10,0,0); x[2] = Coord3(-10*0.5,0,10*0.866);