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[Constraint] Make name of constraints more explicit (sofa-framework#4302
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* Added projective and lagrangian suffix

* Reported changes to Cuda plugin

* Modify rest of the code to avoid warning from compatibility layer

* Add compatibility layer for deprecated header in CUDA

* add alias for compatibility layer in scene construction

* Report name modification to all scenes

* Revert Compat modification...

* [LinearAlgera, Core] Fix linking with LTO on MacOS/Clang (sofa-framework#4293)

Fix linking with LTO on macos

* [LinearSolver] Remove CSparse-based linear solvers (sofa-framework#4258)

* [LinearSolver.Direct] Remove CSparse based solvers

* Remove csparse extlib

* Fetchable CSparseSolvers plugin

* Remove references of SparseLUSolver

* Remove references to SparseCholeskySolver

* Remove csparse

* Try to fix on Linux

* Update the compat

* [LinearSolver.Direct] Remove CSparse based solvers

* Fix direct solver

* [GUI.Qt] Minor single-line cleaning (sofa-framework#4308)

Co-authored-by: erik pernod <erik.pernod@gmail.com>

* [Sofa.GUI.Qt] Add cmake module for QGLViewer (sofa-framework#4290)

* Add cmake module for QGLViewer

* Support library name for apt packages

* Fix qglviewer cmake finder module to first seach for a config cmake file.

* Update cmake/Modules/FindQGLViewer.cmake

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

---------

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>

* [MultiThreading] Avoid Static Initialization Order Fiasco (sofa-framework#4307)

* [Core] Minor clean of DefaultAnimationLoop  (sofa-framework#4314)

* Remove unlogical use of visitor

* Delete unused methods

* [LinearSystem] Speedup computation of Jacobian matrices  (sofa-framework#4317)

* [LinearSystem] Speedup computation of Jacobian matrices in case both mstates are the same

* minor reformat to align calls to computeJacobiansFrom

* [SofaCUDA] FIX compilation SofaCUDA along with SparseGrid with Cuda12 (sofa-framework#4319)

* FIX compilation SofaCUDA along with SparseGrid with Cuda12

* Use a multiplication instead

* [Common] Add message to make the fetch mechanism less hidden (sofa-framework#4310)

* Add message to make it more clear

* slight modifications to be even more clear and add an error the dependency cannot be met

* [Collections] Remove reference to non-existing SofaSimulation (sofa-framework#4320)

remove ref to non-existent sofasimu

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

* Remove repeating preffix from projective constraints

* Moved alias to original header

* Changed deprecation date

* add component change entry

* Change name following discussion with Hugo

* Change remaining scene with FixedConstraint

* remove last occurences in py files

* Changed the message display of sceneCheckUsingAlias when aliased component is in component change

* Fix factory

* Add alias creation when object in componentRenamed in factory

* Remove precedently added aliases

---------

Co-authored-by: Frederick Roy <fredroy@users.noreply.github.com>
Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>
Co-authored-by: erik pernod <erik.pernod@gmail.com>
Co-authored-by: Olivier Roussel <olivier.roussel@inria.fr>
Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
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@bakpaul @fredroy
@alxbilger @epernod @olivier-roussel @hugtalbot
6 people authored Dec 20, 2023
1 parent b1c49a7 commit 026a501
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Showing 564 changed files with 15,086 additions and 13,387 deletions.
4 changes: 2 additions & 2 deletions ...ollision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.h
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Expand Up @@ -26,7 +26,7 @@
#include <sofa/core/collision/Contact.h>
#include <sofa/core/collision/Intersection.h>
#include <sofa/core/behavior/MechanicalState.h>
#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h>
#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h>
#include <sofa/component/collision/response/mapper/BaseContactMapper.h>
#include <sofa/component/collision/response/contact/ContactIdentifier.h>

Expand Down Expand Up @@ -60,7 +60,7 @@ class FrictionContact : public core::collision::Contact, public ContactIdentifie
mapper::ContactMapper<CollisionModel1,DataTypes1> mapper1;
mapper::ContactMapper<CollisionModel2,DataTypes2> mapper2;

constraint::lagrangian::model::UnilateralInteractionConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
constraint::lagrangian::model::UnilateralLagrangianConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
core::objectmodel::BaseContext* parent;

Data<double> mu; ///< friction coefficient (0 for frictionless contacts)
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2 changes: 1 addition & 1 deletion ...lision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl
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Expand Up @@ -144,7 +144,7 @@ void FrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::activ
{
mmodel2 = mapper2.createMapping(getName().c_str());
}
m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::UnilateralInteractionConstraint<defaulttype::Vec3Types> >(mmodel1, mmodel2);
m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::UnilateralLagrangianConstraint<defaulttype::Vec3Types> >(mmodel1, mmodel2);
m_constraint->setName( getName() );
setInteractionTags(mmodel1, mmodel2);
m_constraint->setCustomTolerance( tol.getValue() );
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4 changes: 2 additions & 2 deletions ...n/Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.h
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Expand Up @@ -24,7 +24,7 @@

#include <sofa/core/collision/Contact.h>
#include <sofa/core/collision/Intersection.h>
#include <sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h>
#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>
#include <sofa/helper/Factory.h>
#include <sofa/component/collision/response/mapper/BaseContactMapper.h>
#include <sofa/component/collision/response/contact/ContactIdentifier.h>
Expand Down Expand Up @@ -58,7 +58,7 @@ class StickContactConstraint : public core::collision::Contact, public ContactId
mapper::ContactMapper<CollisionModel1,DataTypes1> mapper1;
mapper::ContactMapper<CollisionModel2,DataTypes2> mapper2;

constraint::lagrangian::model::BilateralInteractionConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
core::objectmodel::BaseContext* parent;

std::vector< sofa::core::collision::DetectionOutput* > contacts;
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2 changes: 1 addition & 1 deletion ...Response/Contact/src/sofa/component/collision/response/contact/StickContactConstraint.inl
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Expand Up @@ -128,7 +128,7 @@ void StickContactConstraint<TCollisionModel1,TCollisionModel2>::activateMappers(
msg_info() << "Creating StickContactConstraint bilateral constraints";
MechanicalState1* mstate1 = mapper1.createMapping(mapper::GenerateStringID::generate().c_str());
MechanicalState2* mstate2 = mapper2.createMapping(mapper::GenerateStringID::generate().c_str());
m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::BilateralInteractionConstraint<defaulttype::Vec3Types> >(mstate1, mstate2);
m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::BilateralLagrangianConstraint<defaulttype::Vec3Types> >(mstate1, mstate2);
m_constraint->setName( getName() );
}

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23 changes: 18 additions & 5 deletions Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt
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Expand Up @@ -15,17 +15,30 @@ set(HEADER_FILES
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperConstraint.inl
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.inl
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralConstraintResolution.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.inl

${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.inl
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.inl
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.inl
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.inl
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.h
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.inl
)

set(SOURCE_FILES
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/init.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralInteractionConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.cpp
${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.cpp

)

sofa_find_package(Sofa.Simulation.Core REQUIRED)
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171 changes: 4 additions & 167 deletions ...ian/Model/src/sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h
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Expand Up @@ -20,176 +20,13 @@
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#pragma once
#include <sofa/component/constraint/lagrangian/model/config.h>

#include <sofa/core/topology/TopologySubsetIndices.h>
#include <sofa/core/behavior/PairInteractionConstraint.h>
#include <sofa/core/behavior/MechanicalState.h>
#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>

#include <sofa/type/Mat.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/type/Vec.h>
#include <sofa/defaulttype/VecTypes.h>

#include <deque>

#include <sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h>
SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h")

namespace sofa::component::constraint::lagrangian::model
{

/// These 'using' are in a per-file namespace so they will not leak
/// and polluate the standard namespace.
using sofa::core::behavior::BaseConstraint ;
using sofa::core::behavior::ConstraintResolution ;
using sofa::core::behavior::PairInteractionConstraint ;
using sofa::core::objectmodel::Data ;
using sofa::core::ConstraintParams ;
using sofa::core::ConstVecCoordId;

using sofa::linearalgebra::BaseVector ;
using sofa::type::Vec3d;
using sofa::type::Quat ;

using sofa::defaulttype::Rigid3Types ;
using sofa::defaulttype::Vec3Types ;


template<class T>
class BilateralInteractionConstraintSpecialization {};


template<class DataTypes>
class BilateralInteractionConstraint : public PairInteractionConstraint<DataTypes>
{
public:
SOFA_CLASS(SOFA_TEMPLATE(BilateralInteractionConstraint,DataTypes),
SOFA_TEMPLATE(PairInteractionConstraint,DataTypes));

/// That any templates variation of BilateralInteractionConstraintSpecialization are friend.
template<typename>
friend class BilateralInteractionConstraintSpecialization ;

typedef PairInteractionConstraint<DataTypes> Inherit;

typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::MatrixDeriv MatrixDeriv;
typedef typename DataTypes::Coord Coord;
typedef typename DataTypes::Deriv Deriv;
typedef typename Coord::value_type Real;
typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator;

typedef core::behavior::MechanicalState<DataTypes> MechanicalState;
typedef BaseConstraint::PersistentID PersistentID;

typedef Data<VecCoord> DataVecCoord;
typedef Data<VecDeriv> DataVecDeriv;
typedef Data<MatrixDeriv> DataMatrixDeriv;

using SubsetIndices = type::vector<Index>;
using DataSubsetIndices = sofa::core::topology::TopologySubsetIndices;

protected:
std::vector<Deriv> dfree;
Quat<SReal> q;

std::vector<unsigned int> cid;

DataSubsetIndices m1; ///< index of the constraint on the first model
DataSubsetIndices m2; ///< index of the constraint on the second model
Data<VecDeriv> restVector; ///< Relative position to maintain between attached points (optional)
VecCoord initialDifference;

Data<double> d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001
Data<bool> d_activate; ///< bool to control constraint activation
Data<bool> keepOrientDiff; ///< keep the initial difference in orientation (only for rigids)


SingleLink<BilateralInteractionConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology1; ///< Link to be set to the first topology container in order to support topological changes
SingleLink<BilateralInteractionConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology2; ///< Link to be set to the second topology container in order to support topological changes

std::vector<Vec3d> prevForces;

SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'activateAtIteration' has been removed, please use the Data d_activate instead and an engine or a script to change the behavior at the right step (see PR #3327).")
sofa::core::objectmodel::lifecycle::RemovedData activateAtIteration{this, "v22.12", "v23.06", "activateAtIteration", "use the boolean data 'activate' instead and an engine or a script to change the behavior at the right step (see PR #3327)."};

SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'merge' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).")
sofa::core::objectmodel::lifecycle::RemovedData merge{this, "v22.12", "v23.06", "merge", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."};

SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'derivative' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).")
sofa::core::objectmodel::lifecycle::RemovedData derivative{this, "v22.12", "v23.06", "derivative", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."};


BilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2) ;
BilateralInteractionConstraint(MechanicalState* object) ;
BilateralInteractionConstraint();

virtual ~BilateralInteractionConstraint(){}
public:
void init() override;

void bwdInit() override {}

void reinit() override;

void buildConstraintMatrix(const ConstraintParams* cParams,
DataMatrixDeriv &c1, DataMatrixDeriv &c2,
unsigned int &cIndex,
const DataVecCoord &x1, const DataVecCoord &x2) override;

void getConstraintViolation(const ConstraintParams* cParams,
BaseVector *v,
const DataVecCoord &x1, const DataVecCoord &x2,
const DataVecDeriv &v1, const DataVecDeriv &v2) override;

void getVelocityViolation(BaseVector *v,
const DataVecCoord &x1, const DataVecCoord &x2,
const DataVecDeriv &v1, const DataVecDeriv &v2);

void getConstraintResolution(const ConstraintParams* cParams,
std::vector<ConstraintResolution*>& resTab,
unsigned int& offset) override;

void handleEvent(sofa::core::objectmodel::Event *event) override;

void draw(const core::visual::VisualParams* vparams) override;

void clear(int reserve = 0) ;

virtual void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance,
int m1, int m2, Coord Pfree, Coord Qfree,
long id=0, PersistentID localid=0);

void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance,
int m1, int m2, long id=0, PersistentID localid=0) ;

void addContact(Deriv norm, Real contactDistance, int m1, int m2,
long id=0, PersistentID localid=0) ;

/// Method to remove a contact using point @param indices and id of buffer: @sa m1 (resp. @sa 2m) if @param objectId is equal to 0 (resp. to 1)
void removeContact(int objectId, SubsetIndices indices);

virtual type::vector<std::string> getBilateralInteractionIdentifiers() {return {};}

virtual type::vector<std::string> getPairInteractionIdentifiers() override final
{
type::vector<std::string> ids = getBilateralInteractionIdentifiers();
ids.push_back("Bilateral");
return ids;
}

private:
void unspecializedInit() ;

/// Method to get the index position of a @param point Id inside @sa m1 or @sa m2) depending of the value passed in @param cIndices. Return InvalidID if not found.
Index indexOfElemConstraint(const SubsetIndices& cIndices, Index Id);
};


#if !defined(SOFA_COMPONENT_CONSTRAINTSET_BILATERALINTERACTIONCONSTRAINT_CPP)
extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint< Vec3Types >;
extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint< Rigid3Types >;
#endif

} // namespace sofa::component::constraint::lagrangian::model
using BilateralInteractionConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "BilateralInteractionConstraint has been renamed to BilateralLagrangianConstraint") = BilateralLagrangianConstraint<T>;
}
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