Cosserat extension refactoring 2

CMakeLists.txt

@@ -20,9 +20,11 @@ endif()
 set(SRC_ROOT_DIR src/${PROJECT_NAME})
 
 set(HEADER_FILES
-    ${SRC_ROOT_DIR}/initCosserat.h.in
-    ${SRC_ROOT_DIR}/mapping/BaseCosserat.h
-    ${SRC_ROOT_DIR}/mapping/BaseCosserat.inl
+    ${SRC_ROOT_DIR}/config.h.in
+    ${SRC_ROOT_DIR}/fwd.h
+    ${SRC_ROOT_DIR}/types.h
+    ${SRC_ROOT_DIR}/mapping/BaseCosseratMapping.h
+    ${SRC_ROOT_DIR}/mapping/BaseCosseratMapping.inl
     ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.h
     ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.inl
     ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.h
@@ -50,7 +52,7 @@ set(HEADER_FILES
     )
 set(SOURCE_FILES
     ${SRC_ROOT_DIR}/initCosserat.cpp
-    ${SRC_ROOT_DIR}/mapping/BaseCosserat.cpp
+    ${SRC_ROOT_DIR}/mapping/BaseCosseratMapping.cpp
     ${SRC_ROOT_DIR}/mapping/DiscreteCosseratMapping.cpp
     ${SRC_ROOT_DIR}/mapping/DiscreteDynamicCosseratMapping.cpp
     ${SRC_ROOT_DIR}/engine/ProjectionEngine.cpp

Tests/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.12)
 
 set(This Cosserat_test)
 

docs/testScene/tuto_compare_2.py

@@ -49,11 +49,13 @@ def _add_cosserat_frame(p_node, _bending_node, framesF, _section_curv_abs, _fram
 
     cosserat_in_Sofa_frame_node.addObject('UniformMass', totalMass=_beam_mass)
 
-    cosserat_in_Sofa_frame_node.addObject('DiscreteCosseratMapping', curv_abs_input=_section_curv_abs,
-                                          curv_abs_output=_frame_curv_abs, name='cosseratMapping',
+    cosserat_in_Sofa_frame_node.addObject('DiscreteCosseratMapping', 
+    					  curv_abs_input=_section_curv_abs,
+                                          curv_abs_output=_frame_curv_abs, 
+                                          name='cosseratMapping',
                                           input1=_bending_node.cosserat_state.getLinkPath(),
                                           input2=p_node.cosserat_base_mo.getLinkPath(),
-                                          output=frames_mo.getLinkPath(), debug=0, radius=_radius)
+                                          output=frames_mo.getLinkPath(), printLog=True, radius=_radius)
     return cosserat_in_Sofa_frame_node
 
 

src/Cosserat/CMakeLists.txt

@@ -1,7 +1,7 @@
 project(Cosserat.src VERSION 21.06.99)
 
 set(HEADER_FILES
-    initCosserat.h
+    config.h
 
     mapping/BaseCosserat.h
     mapping/BaseCosserat.inl

src/Cosserat/initCosserat.h.in → src/Cosserat/config.h.in

@@ -27,8 +27,7 @@
  * Contact information: https://project.inria.fr/softrobot/contact/            *
  *                                                                             *
  ******************************************************************************/
-#ifndef SOFA_COSSERAT_INIT_H
-#define SOFA_COSSERAT_INIT_H
+#pragma once
 
 #include <sofa/config.h>
 
@@ -45,17 +44,9 @@
   This is the plugin for the Discret Cosserat Plugin
 */
 
-namespace Cosserat {
-
-namespace type {
-//using Vec3 = sofa::defaulttype::Vec3;
-//using cosserat::type::SE3;
+namespace Cosserat
+{
+    SOFA_COSSERAT_API void init();
+    constexpr const char *MODULE_NAME = "@PROJECT_NAME@";
+    constexpr const char *MODULE_VERSION = "@PROJECT_VERSION@";
 }
-
-
-SOFA_COSSERAT_API void init();
-constexpr const char *MODULE_NAME = "@PROJECT_NAME@";
-constexpr const char *MODULE_VERSION = "@PROJECT_VERSION@";
-} // namespace Cosserat
-
-#endif /* SOFA_COSSERAT_INIT_H */

src/Cosserat/engine/ProjectionEngine.h

@@ -22,7 +22,7 @@
 #ifndef COSSERAT_ProjectionEngine_H
 #define COSSERAT_ProjectionEngine_H
 
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 #include <sofa/core/behavior/PairInteractionConstraint.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/DataEngine.h>

src/Cosserat/forcefield/BeamHookeLawForceField.h

@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>

src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.h

@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>

src/Cosserat/forcefield/CosseratInternalActuation.h

@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>

src/Cosserat/forcefield/CosseratInternalActuation.inl

@@ -28,7 +28,7 @@
 *                                                                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 #include <Cosserat/forcefield/CosseratInternalActuation.h>
 
 #include <sofa/linearalgebra/FullVector.h>

src/Cosserat/forcefield/MyUniformVelocityDampingForceField.cpp

@@ -21,7 +21,7 @@
 ******************************************************************************/
 #define SOFA_COMPONENT_FORCEFIELD_UNIFORMVELOCITYDAMPINGFORCEFIELD_CPP
 
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 #include <Cosserat/forcefield/MyUniformVelocityDampingForceField.inl>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/defaulttype/VecTypes.h>

src/Cosserat/forcefield/MyUniformVelocityDampingForceField.h

@@ -20,7 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 
 #include <sofa/core/behavior/ForceField.h>
 

src/Cosserat/forcefield/MyUniformVelocityDampingForceField.inl

@@ -20,7 +20,7 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 #include <Cosserat/forcefield/MyUniformVelocityDampingForceField.h>
 #include "MyUniformVelocityDampingForceField.h"
 #include <sofa/defaulttype/BaseMatrix.h>

src/Cosserat/fwd.h

@@ -0,0 +1,41 @@
+/******************************************************************************
+ *       SOFA, Simulation Open-Framework Architecture                          *
+ *                (c) 2006-2018 INRIA, USTL, UJF, CNRS, MGH                    *
+ *                                                                             *
+ * This library is free software; you can redistribute it and/or modify it     *
+ * under the terms of the GNU Lesser General Public License as published by    *
+ * the Free Software Foundation; either version 2.1 of the License, or (at     *
+ * your option) any later version.                                             *
+ *                                                                             *
+ * This library is distributed in the hope that it will be useful, but WITHOUT *
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+ * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+ * for more details.                                                           *
+ *                                                                             *
+ * You should have received a copy of the GNU Lesser General Public License    *
+ * along with this library; if not, write to the Free Software Foundation,     *
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
+ *******************************************************************************
+ *                           Plugin Cosserat    v1.0                           *
+ *				                                                              *
+ * This plugin is also distributed under the GNU LGPL (Lesser General          *
+ * Public License) license with the same conditions than SOFA.                 *
+ *                                                                             *
+ * Contributors: Defrost team  (INRIA, University of Lille, CNRS,              *
+ *               Ecole Centrale de Lille)                                      *
+ *                                                                             *
+ * Contact information: https://project.inria.fr/softrobot/contact/            *
+ *                                                                             *
+ ******************************************************************************/
+#pragma once
+
+#include <Cosserat/config.h>
+#include <sofa/type/fwd.h>
+namespace Cosserat
+{
+    namespace type
+    {
+        using SE3 =  sofa::type::Matrix4;
+    }
+}
+

src/Cosserat/initCosserat.cpp

@@ -24,7 +24,7 @@
  *                                                                             *
  * Contact information: contact@sofa-framework.org                             *
  ******************************************************************************/
-#include <Cosserat/initCosserat.h>
+#include <Cosserat/config.h>
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>