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Merged
bakpaul merged 10 commits into from
Mar 6, 2025
Merged

[all] Set of fixes before lifecycle #5306

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c01438c
fix compilation
fredroy Feb 26, 2025
92eebbc
Fix compilation in tutorials
hugtalbot Feb 17, 2025
e929888
Fix compilation plugin Assimp
hugtalbot Feb 17, 2025
b3ed41b
fix compilation again
fredroy Feb 26, 2025
eea1f46
Fix compilation, especially using vec_id::write_access
hugtalbot Mar 5, 2025
fad37e1
Complete compilation on Assimp
hugtalbot Feb 17, 2025
0b547f2
fix compilation (cuda with sph)
fredroy Feb 26, 2025
080ee34
fix compilation (cuda with distancegrid)
fredroy Feb 26, 2025
38a0d61
Update visitor names
hugtalbot Mar 5, 2025
04d683e
Fix compilation in OglVolumetricModel
hugtalbot Feb 12, 2025
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6 changes: 3 additions & 3 deletions Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
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Expand Up @@ -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());
}
Expand All @@ -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()
Expand Down
4 changes: 2 additions & 2 deletions Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h
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Expand Up @@ -54,7 +54,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul

//editing DOF related to the TriangleCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 3 (3 points) because it contains just one Triangle
triDOF->resize(3);
Data<MechanicalObject3::VecCoord>& dpositions = *triDOF->write(sofa::core::VecId::position());
Data<MechanicalObject3::VecCoord>& 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
Expand All @@ -65,7 +65,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
dpositions.endEdit();

//Editing the velocity of the OBB
Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::VecId::velocity());
Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::vec_id::write_access::velocity);

MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down
8 changes: 4 additions & 4 deletions ...Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h
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Expand Up @@ -55,7 +55,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
sphereDOF->resize(1);
Data<MechanicalObjectRigid3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::VecId::position());
Data<MechanicalObjectRigid3::VecCoord>& 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
Expand Down Expand Up @@ -88,7 +88,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
dpositions.endEdit();

//Editing the velocity of the OBB
Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity);

MechanicalObjectRigid3::VecDeriv& velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down Expand Up @@ -122,7 +122,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
sphereDOF->resize(1);
Data<MechanicalObject3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::VecId::position());
Data<MechanicalObject3::VecCoord>& 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
Expand All @@ -131,7 +131,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
dpositions.endEdit();

//Editing the velocity of the OBB
Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity);

MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down
2 changes: 1 addition & 1 deletion Sofa/framework/Helper/src/sofa/helper/Utils.cpp
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Expand Up @@ -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
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18 changes: 9 additions & 9 deletions applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp
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Expand Up @@ -46,7 +46,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
obbDOF->resize(1);
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
Data<MechanicalObjectRigid3::VecCoord> & 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
Expand All @@ -72,7 +72,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
dpositions.endEdit();

//Editing the velocity of the OBB
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );

MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down Expand Up @@ -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<MechanicalObjectRigid3>(sofa::simulation::Node::SearchDown);

Data<MechanicalObjectRigid3::VecCoord> & dpositions = *mecha->write( sofa::core::VecId::position() );
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *mecha->write( sofa::core::vec_id::write_access::position );
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();

auto & quat = positions[0].getOrientation();
Expand All @@ -131,11 +131,11 @@ struct copyBulletOBB{

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
obbDOF->resize(1);
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();

const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
const Data<MechanicalObjectRigid3::VecCoord> & 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];
Expand Down Expand Up @@ -174,11 +174,11 @@ struct copyBulletConvexHull{

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
cv_hullDOF->resize(1);
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *cv_hullDOF->write( sofa::core::VecId::position() );
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *cv_hullDOF->write( sofa::core::vec_id::write_access::position );
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();

const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
const Data<MechanicalObjectRigid3::VecCoord> & 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];
Expand Down Expand Up @@ -227,11 +227,11 @@ struct copyBulletConvexHull{

// //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
// obbDOF->resize(1);
// Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
// Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
// MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();

// const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
// const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
// const Data<MechanicalObjectRigid3::VecCoord> & 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];
Expand Down
2 changes: 1 addition & 1 deletion ...s/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
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Expand Up @@ -100,7 +100,7 @@ void TBulletConvexHullModel<DataTypes>::initBullet(){

_mstate->resize(1);

Data<typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord>* dpositions = _mstate->write( sofa::core::VecId::position() );
Data<typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord>* dpositions = _mstate->write( sofa::core::vec_id::write_access::position );
typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord & positions = *dpositions->beginEdit();

typename DataTypes::Coord one_position(_bary,Quaternion(0,0,0,1));
Expand Down
8 changes: 4 additions & 4 deletions applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h
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Expand Up @@ -54,7 +54,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
obbDOF->resize(1);
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
Data<MechanicalObjectRigid3::VecCoord> & 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
Expand Down Expand Up @@ -86,7 +86,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
dpositions.endEdit();

//Editing the velocity of the OBB
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );

MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down Expand Up @@ -122,7 +122,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V

//editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
capDOF->resize(2);
Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::VecId::position());
Data<MechanicalObject3::VecCoord>& 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
Expand All @@ -132,7 +132,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
dpositions.endEdit();

//Editing the velocity of the OBB
Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::VecId::velocity());
Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::vec_id::write_access::velocity);

MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down
4 changes: 2 additions & 2 deletions applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp
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Expand Up @@ -96,15 +96,15 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ri

//editing DOF related to the SphereCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 1 because it contains just one Sphere
sphDOF->resize(1);
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::VecId::position() );
Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::vec_id::write_access::position );
MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();

positions[0] = Rigid3Types::Coord(center,Quat<SReal>(0,0,0,1));

dpositions.endEdit();

//Editing the velocity of the Sphere
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() );
Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::vec_id::write_access::velocity );

MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
velocities[0] = v;
Expand Down
10 changes: 5 additions & 5 deletions applications/plugins/SofaAssimp/SceneColladaLoader.cpp
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Expand Up @@ -33,7 +33,7 @@
#include <sofa/component/mapping/linear/SkinningMapping.h>
#include <sofa/component/mapping/linear/BarycentricMapping.h>
#include <sofa/component/mapping/linear/IdentityMapping.h>
#include <sofa/component/constraint/projective/FixedConstraint.h>
#include <sofa/component/constraint/projective/FixedProjectiveConstraint.h>
#include <sofa/component/constraint/projective/SkeletalMotionProjectiveConstraint.h>
#include <sofa/core/visual/VisualParams.h>
#include <sofa/helper/system/SetDirectory.h>
Expand Down Expand Up @@ -291,7 +291,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
currentBoneMechanicalObject->resize(currentAiMesh->mNumBones);

{
Data<Rigid3Types::VecCoord>* d_x = currentBoneMechanicalObject->write(core::VecCoordId::position());
Data<Rigid3Types::VecCoord>* 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)
{
Expand Down Expand Up @@ -370,7 +370,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
currentBoneMechanicalObject->resize(1);

{
Data<type::vector<Rigid3Types::Coord> >* d_x = currentBoneMechanicalObject->write(core::VecCoordId::position());
Data<type::vector<Rigid3Types::Coord> >* d_x = currentBoneMechanicalObject->write(core::vec_id::write_access::position);
type::vector<Rigid3Types::Coord> &x = *d_x->beginEdit();

Vec3d boneTranslation(0.0, 0.0, 0.0);
Expand All @@ -393,7 +393,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
currentUniformMass->setName(nameStream.str());
}

FixedConstraint<Rigid3Types>::SPtr currentFixedConstraint = sofa::core::objectmodel::New<FixedConstraint<Rigid3Types> >();
FixedProjectiveConstraint<Rigid3Types>::SPtr currentFixedConstraint = sofa::core::objectmodel::New<FixedProjectiveConstraint<Rigid3Types> >();
{
// adding the generated FixedConstraint to its parent Node
currentSubNode->addObject(currentFixedConstraint);
Expand Down Expand Up @@ -448,7 +448,7 @@ bool SceneColladaLoader::readDAE (std::ifstream &/*file*/, const char* /*filenam
currentMechanicalObject->resize(vertexMap.size());

{
Data<type::vector<Vec3Types::Coord> >* d_x = currentMechanicalObject->write(core::VecCoordId::position());
Data<type::vector<Vec3Types::Coord> >* d_x = currentMechanicalObject->write(core::vec_id::write_access::position);
type::vector<Vec3Types::Coord> &x = *d_x->beginEdit();
for( std::map<Vec3d,unsigned>::iterator it=vertexMap.begin() , itend=vertexMap.end() ; it!=itend ; ++it )
x[it->second] = it->first;
Expand Down
4 changes: 2 additions & 2 deletions applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaParticlesRepulsionForceField.inl
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Expand Up @@ -90,7 +90,7 @@ void ParticlesRepulsionForceField<gpu::cuda::CudaVec3fTypes>::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;
Expand Down Expand Up @@ -142,7 +142,7 @@ void ParticlesRepulsionForceField<gpu::cuda::CudaVec3dTypes>::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;
Expand Down
2 changes: 1 addition & 1 deletion applications/plugins/SofaCUDA/sofa/gpu/cuda/CudaSPHFluidForceField.inl
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Expand Up @@ -234,7 +234,7 @@ void SPHFluidForceField<gpu::cuda::CudaVec3fTypes>::draw(const core::visual::Vis
if (!vparams->displayFlags().getShowForceFields()) return;
//if (m_grid != NULL)
// grid->draw(vparams);
helper::ReadAccessor<VecCoord> x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
helper::ReadAccessor<VecCoord> x = this->mstate->read(sofa::core::vec_id::read_access::position)->getValue();
helper::ReadAccessor<gpu::cuda::CudaVector<type::Vec4f> > pos4 = this->data.pos4;
if (pos4.empty()) return;
glDisable(GL_LIGHTING);
Expand Down
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