Merge branch 'master' into dev_LnRobotics

# Conflicts:
#	src/BeamAdapter/component/controller/AdaptiveBeamController.inl

BeamAdapter_test/component/constraint/AdaptiveBeamSlidingConstraintTest.cpp

@@ -57,8 +57,8 @@ template <typename DataTypes>
 struct AdaptiveBeamSlidingConstraintTest : public sofa::testing::BaseSimulationTest, AdaptiveBeamSlidingConstraint<DataTypes>
 {
     void normalBehavior(){
-        Simulation* simu;
-        setSimulation(simu = new DAGSimulation());
+        simulation::Simulation* simu = sofa::simulation::getSimulation();
+        assert(simu);
 
         typename AdaptiveBeamSlidingConstraint<DataTypes>::SPtr thisObject = New<AdaptiveBeamSlidingConstraint<DataTypes>>();
         thisObject->setName("myname");

BeamAdapter_test/component/controller/InterventionalRadiologyController_test.cpp

@@ -52,17 +52,15 @@ class InterventionalRadiologyController_test : public BaseTest
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid");
         sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective");
-
-        m_simu = sofa::simpleapi::createSimulation("DAG");
-        sofa::simulation::setSimulation(m_simu.get());
-        m_root = sofa::simpleapi::createRootNode(m_simu, "root");
+
+        m_root = sofa::simpleapi::createRootNode(sofa::simulation::getSimulation(), "root");
     }
 
     /// Unload the scene
     void onTearDown() override
     {
-        if (m_simu != nullptr && m_root != nullptr) {
-            m_simu->unload(m_root);
+        if (m_root != nullptr) {
+            sofa::simulation::node::unload(m_root);
         }
     }
 
@@ -92,8 +90,6 @@ class InterventionalRadiologyController_test : public BaseTest
      */   
 
 private:
-    /// Pointer to SOFA simulation
-    sofa::simulation::Simulation::SPtr m_simu = nullptr;
     /// Pointer to root Node
     sofa::simulation::Node::SPtr m_root = nullptr;
 

BeamAdapter_test/component/forcefield/AdaptiveBeamForceFieldAndMassTest.cpp

@@ -108,7 +108,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
             "</Node> ";
 
         Node::SPtr root = SceneLoaderXML::loadFromMemory("singleBeam", scene.c_str());
-        sofa::simulation::getSimulation()->init(root.get());
+        sofa::simulation::node::initRoot(root.get());
 
         return root;
     }
@@ -162,7 +162,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
         auto simulation = sofa::simulation::getSimulation();
         for (int i = 0; i < nbrStep; i++)
         {
-            simulation->animate(root.get(), 0.01);
+            sofa::simulation::node::animate(root.get(), 0.01);
         }
 
         // Check position after simulation
@@ -182,13 +182,12 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
         double timeMin = std::numeric_limits<double>::max();
         double timeMax = std::numeric_limits<double>::min();
 
-        auto simulation = sofa::simulation::getSimulation();
         for (int i = 0; i < nbrTest; ++i)
         {
             ctime_t startTime = sofa::helper::system::thread::CTime::getRefTime();
             for (int i = 0; i < nbrStep; i++)
             {
-                simulation->animate(root.get(), 0.01);
+                sofa::simulation::node::animate(root.get(), 0.01);
             }
 
             ctime_t diffTime = sofa::helper::system::thread::CTime::getRefTime() - startTime;
@@ -199,7 +198,7 @@ struct AdaptiveBeamForceFieldAndMassTest : public sofa::testing::BaseSimulationT
             if (timeMax < diffTimed)
                 timeMax = diffTimed;
 
-            simulation->reset(root.get());
+            sofa::simulation::node::reset(root.get());
         }
     }
 };

BeamAdapter_test/component/model/WireRestShape_test.cpp

@@ -48,9 +48,7 @@ class WireRestShape_test : public BaseTest
 
     void onSetUp() override
     {
-        m_simu = sofa::simpleapi::createSimulation("DAG");
-        sofa::simulation::setSimulation(m_simu.get());
-        m_root = sofa::simpleapi::createRootNode(m_simu, "root");
+        m_root = sofa::simpleapi::createRootNode(sofa::simulation::getSimulation(), "root");
 
         sofa::simpleapi::importPlugin("BeamAdapter");
         sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
@@ -59,8 +57,8 @@ class WireRestShape_test : public BaseTest
     /// Unload the scene
     void onTearDown() override
     {
-        if (m_simu != nullptr && m_root != nullptr) {
-            m_simu->unload(m_root);
+        if (m_root != nullptr) {
+            sofa::simulation::node::unload(m_root);
         }
     }
 
@@ -91,8 +89,6 @@ class WireRestShape_test : public BaseTest
     void testTransformMethods();
 
 private:
-    /// Pointer to SOFA simulation
-    sofa::simulation::Simulation::SPtr m_simu = nullptr;
     /// Pointer to root Node
     sofa::simulation::Node::SPtr m_root = nullptr;
 

src/BeamAdapter/component/BeamInterpolation.h

@@ -154,12 +154,8 @@ class BeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
     void getDOFtoLocalTransform(unsigned int edgeInList,Transform &DOF0_H_local0, Transform &DOF1_H_local1);
     void getDOFtoLocalTransformInGlobalFrame(unsigned int edgeInList, Transform &DOF0Global_H_local0, Transform &DOF1Global_H_local1, const VecCoord &x);
 
-
-    int computeTransform(unsigned int edgeInList,  Transform &global_H0_local,  Transform &global_H1_local,
-                         Transform &local0_H_local1,  Quat& local_R_local0, const VecCoord &x);
-
-    int computeTransform2(unsigned int edgeInList,
-                          Transform &global_H_local0,  Transform &global_H_local1, const VecCoord &x);
+
+    int computeTransform(ElementID edgeInList, Transform &global_H_local0,  Transform &global_H_local1, const VecCoord &x);
 
     void getTangent(Vec3& t, const Real& baryCoord,
                     const Transform &global_H_local0, const Transform &global_H_local1,const Real &L);

src/BeamAdapter/component/BeamInterpolation.inl

@@ -315,7 +315,7 @@ void BeamInterpolation<DataTypes>::bwdInit()
                 // this transforamtion is given by global_H_local0 for node 0 (and dof0)
                 // and global_H_local1 for node 1 (and dof1)
                 Transform global_H_local0, global_H_local1;
-                computeTransform2(i,  global_H_local0,  global_H_local1, statePos.ref()) ;
+                computeTransform(i,  global_H_local0,  global_H_local1, statePos.ref()) ;
                 Vec3 beam_segment = global_H_local1.getOrigin() -  global_H_local0.getOrigin();
                 lengthList.push_back(beam_segment.norm());
 
@@ -639,69 +639,18 @@ void BeamInterpolation<DataTypes>::getDOFtoLocalTransformInGlobalFrame(unsigned
 }
 
 
-template<class DataTypes>
-int BeamInterpolation<DataTypes>::computeTransform(unsigned int edgeInList,
-                                                   Transform &global_H0_local,
-                                                   Transform &global_H1_local,
-                                                   Transform &local0_H_local1,
-                                                   Quat &local_R_local0,
-                                                   const VecCoord &x)
-{
-    /// 1. Get the indices of element and nodes
-    unsigned int node0Idx, node1Idx;
-    if (getNodeIndices( edgeInList,  node0Idx, node1Idx ) == -1)
-    {
-        dmsg_error() << "[computeTransform2] Error in getNodeIndices(). (Aborting)" ;
-        return -1;
-    }
-
-    /// 2. Computes the optional rigid transformation of DOF0_Transform_node0 and DOF1_Transform_node1
-    Transform DOF0_H_local0, DOF1_H_local1;
-    getDOFtoLocalTransform(edgeInList, DOF0_H_local0,  DOF1_H_local1);
-
-
-    /// 3. Computes the transformation global To local for both nodes
-    Transform global_H_DOF0(x[node0Idx].getCenter(), x[node0Idx].getOrientation());
-    Transform global_H_DOF1(x[node1Idx].getCenter(), x[node1Idx].getOrientation());
-
-    /// - add a optional transformation
-    Transform global_H_local0 = global_H_DOF0*DOF0_H_local0;
-    Transform global_H_local1 = global_H_DOF1*DOF1_H_local1;
-
-
-    /// 4. Compute the local frame
-    /// SIMPLIFICATION: local = local0:
-    local_R_local0.clear();
-
-    global_H_DOF0.set(Vec3(0,0,0), x[node0Idx].getOrientation());
-    global_H_DOF1.set(Vec3(0,0,0), x[node1Idx].getOrientation());
-
-    /// - rotation due to the optional transformation
-    global_H_local0 = global_H_DOF0*DOF0_H_local0;
-    global_H_local1 = global_H_DOF1*DOF1_H_local1;
-
-    global_H0_local = global_H_local0;
-    Quat local0_R_local1 = local0_H_local1.getOrientation();
-    Transform local0_HR_local1(Vec3(0,0,0), local0_R_local1);
-
-    global_H1_local = global_H_local1 * local0_HR_local1.inversed();
-
-    return 1;
-
-}
-
 
 template<class DataTypes>
-int BeamInterpolation<DataTypes>::computeTransform2(unsigned int edgeInList,
-                                                    Transform &global_H_local0,
-                                                    Transform &global_H_local1,
-                                                    const VecCoord &x)
+int BeamInterpolation<DataTypes>::computeTransform(ElementID edgeInList,
+    Transform &global_H_local0,
+    Transform &global_H_local1,
+    const VecCoord &x)
 {
     /// 1. Get the indices of element and nodes
     unsigned int node0Idx, node1Idx;
     if ( getNodeIndices( edgeInList,  node0Idx, node1Idx ) == -1)
     {
-        dmsg_error() << "[computeTransform2] Error in getNodeIndices(). (Aborting)" ;
+        dmsg_error() << "[computeTransform] Error in getNodeIndices(). (Aborting)" ;
         return -1;
     }
 
@@ -839,9 +788,9 @@ template<class DataTypes>
 void BeamInterpolation<DataTypes>::getSplinePoints(unsigned int edgeInList, const VecCoord &x, Vec3& P0, Vec3& P1, Vec3& P2, Vec3 &P3)
 {
     Transform global_H_local0, global_H_local1;
-    if (computeTransform2(edgeInList,  global_H_local0,  global_H_local1, x) == -1)
+    if (computeTransform(edgeInList,  global_H_local0,  global_H_local1, x) == -1)
     {
-        dmsg_error() << "[getSplinePoints] error with computeTransform2. (Aborting)" ;
+        dmsg_error() << "[getSplinePoints] error with computeTransform. (Aborting)" ;
         return;
     }
 
@@ -1008,9 +957,9 @@ void BeamInterpolation<DataTypes>::interpolatePointUsingSpline(unsigned int edge
         }
         else
         {
-            /// \todo remove call to computeTransform2 => make something faster !
+            /// \todo remove call to computeTransform => make something faster !
             Transform global_H_local0, global_H_local1;
-            computeTransform2(edgeInList,  global_H_local0,  global_H_local1, x);
+            computeTransform(edgeInList,  global_H_local0,  global_H_local1, x);
             Vec3 DP=global_H_local0.getOrigin() - global_H_local1.getOrigin();
 
             if( DP.norm()< _L*0.01 )
@@ -1123,7 +1072,7 @@ void BeamInterpolation<DataTypes>::updateBezierPoints( const VecCoord &x,unsigne
     /// \todo remove call to
     /// nsform2 => make something faster !
     Transform global_H_local0, global_H_local1;
-    computeTransform2(index,  global_H_local0,  global_H_local1, x);
+    computeTransform(index,  global_H_local0,  global_H_local1, x);
 
     ///Mechanical Object to stock Bezier points
     bezierPosVec[index*4] =global_H_local0.getOrigin(); //P0
@@ -1192,7 +1141,7 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){
 
         /// convert position (RigidTypes) in Transform
         Transform global_H_local0, global_H_local1;
-        computeTransform2(numBeam, global_H_local0, global_H_local1, x->getValue() );
+        computeTransform(numBeam, global_H_local0, global_H_local1, x->getValue() );
 
         /// compute the length of the spline
         Vec3 P0,P1,P2,P3;
@@ -1349,9 +1298,9 @@ void BeamInterpolation<DataTypes>::InterpolateTransformUsingSpline(unsigned int
                                                                    Transform &global_H_localInterpol)
 {
     Transform global_H_local0, global_H_local1;
-    if (computeTransform2(edgeInList,  global_H_local0,  global_H_local1, x) == -1)
+    if (computeTransform(edgeInList,  global_H_local0,  global_H_local1, x) == -1)
     {
-        msg_error() << "[InterpolateTransformUsingSpline] error with computeTransform2. (Aborting). " ;
+        msg_error() << "[InterpolateTransformUsingSpline] error with computeTransform. (Aborting). " ;
         return;
     }
 

src/BeamAdapter/component/WireBeamInterpolation.inl

@@ -219,7 +219,7 @@ bool WireBeamInterpolation<DataTypes>::getApproximateCurvAbs(const Vec3& x_input
 
     // Initialize with the first vertex
     Transform globalHlocal0, globalHlocal1;
-    this->computeTransform2(0, globalHlocal0, globalHlocal1, x);
+    this->computeTransform(0, globalHlocal0, globalHlocal1, x);
     Real closestDist = (x_input-globalHlocal0.getOrigin()).norm2();
     Real beamBary = 0.0;
     bool projected = false;
@@ -230,7 +230,7 @@ bool WireBeamInterpolation<DataTypes>::getApproximateCurvAbs(const Vec3& x_input
     unsigned int nb = this->getNumBeams();
     for(unsigned int i=0; i<nb; i++)	// Check each segment and each vertex
     {
-        this->computeTransform2(i, globalHlocal0, globalHlocal1, x);
+        this->computeTransform(i, globalHlocal0, globalHlocal1, x);
         Vec3 A = globalHlocal0.getOrigin(), B = globalHlocal1.getOrigin();
         Real r = ((x_input-A) * (B-A)) / (B-A).norm2();
 

src/BeamAdapter/component/constraint/AdaptiveBeamLengthConstraint.inl

@@ -121,7 +121,7 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
 
         /// 2. compute the bending angle
         Transform Tnode0, Tnode1;
-        interpolation->computeTransform2(b,Tnode0,Tnode1,x);
+        interpolation->computeTransform(b,Tnode0,Tnode1,x);
         Real angleBeam = interpolation->ComputeTotalBendingRotationAngle(rest_length/10.0, Tnode0, Tnode1,rest_length , 0.0, 1.0);
 
         /// 3. treatment of the different case..
@@ -164,7 +164,7 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
                 interpolation->getSplinePoints(b,xfree,P0,P1,P2,P3);
 
                 Transform global_H_local0_free, global_H_local1_free;
-                interpolation->computeTransform2(b,  global_H_local0_free,  global_H_local1_free, xfree);
+                interpolation->computeTransform(b,  global_H_local0_free,  global_H_local1_free, xfree);
                 intervalDef.posFreeEnd  = global_H_local0_free.getOrigin(); /// store the free position
 
                 intervalDef.rest_length=rest_length_interval; /// store the rest_length
@@ -231,10 +231,10 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
                 interpolation->getDOFtoLocalTransform(b, DOF0_H_local0,  DOF1_H_local1);
 
                 Transform global_H_local0, global_H_local1;
-                interpolation->computeTransform2(b,  global_H_local0,  global_H_local1, x);
+                interpolation->computeTransform(b,  global_H_local0,  global_H_local1, x);
 
                 Transform global_H_local0_free, global_H_local1_free;
-                interpolation->computeTransform2(b,  global_H_local0_free,  global_H_local1_free, xfree);
+                interpolation->computeTransform(b,  global_H_local0_free,  global_H_local1_free, xfree);
 
                 intervalDef.dof_H_begin = DOF0_H_local0;
                 intervalDef.IdxBegin = n0;
@@ -262,11 +262,11 @@ void AdaptiveBeamLengthConstraint<DataTypes>::detectElongation(const VecCoord& x
 
         Transform global_H_local0, global_H_local1;
 
-        interpolation->computeTransform2(b,  global_H_local0,  global_H_local1, x);
+        interpolation->computeTransform(b,  global_H_local0,  global_H_local1, x);
 
 
         Transform global_H_local0_free, global_H_local1_free;
-        interpolation->computeTransform2(b,  global_H_local0_free,  global_H_local1_free, xfree);
+        interpolation->computeTransform(b,  global_H_local0_free,  global_H_local1_free, xfree);
 
 
         intervalDef.dof_H_end = DOF1_H_local1;

src/BeamAdapter/component/constraint/AdaptiveBeamSlidingConstraint.inl

@@ -170,7 +170,7 @@ void AdaptiveBeamSlidingConstraint<DataTypes>::buildConstraintMatrix(const Const
 
         // Position and frame on the curve
         interpolation->getBeamAtCurvAbs(m_previousPositions[i], beam, baryCoord);
-        interpolation->computeTransform2(beam, Tnode0, Tnode1, x1free.ref());
+        interpolation->computeTransform(beam, Tnode0, Tnode1, x1free.ref());
         interpolation->InterpolateTransformUsingSpline(Tresult, baryCoord, Tnode0, Tnode1, interpolation->getLength(beam));
         Pos p = Tresult.getOrigin();
         Pos dir0, dir1, dir2;

src/BeamAdapter/component/controller/AdaptiveBeamController.inl

@@ -128,7 +128,7 @@ void AdaptiveBeamController<DataTypes>::onMouseEvent(MouseEvent *mev)
     auto x_instr_tip = sofa::helper::getWriteOnlyAccessor(d_xtip);
 
     if (id >= (int)(x_instr_tip.size())){
-        msg_warning() << "The instrument number " << id << " do not exist (size =" << x_instr_tip.size() << ") exiting mouse event.";
+        msg_warning() << "The instrument number " << id << " does not exist (size =" << x_instr_tip.size() << ") exiting mouse event.";
         return;
     }