[SofaBaseLinearSolver] Remove virtual function BaseLinearSolver::isMultiGroup

SofaKernel/framework/sofa/core/behavior/LinearSolver.h

@@ -51,13 +51,6 @@ class SOFA_CORE_API BaseLinearSolver : public objectmodel::BaseObject
     SOFA_ABSTRACT_CLASS(BaseLinearSolver, objectmodel::BaseObject);
     SOFA_BASE_CAST_IMPLEMENTATION(BaseLinearSolver)
 
-    /// Check if this solver handle multiple independent integration groups, placed as child nodes in the scene graph.
-    /// If this is the case, then when collisions occur, the CollisionGroupManager can simply group the interacting groups into new child nodes without creating a new solver to handle them.
-    virtual bool isMultiGroup() const
-    {
-        return false;
-    }
-
     bool insertInNode( objectmodel::BaseNode* node ) override;
     bool removeInNode( objectmodel::BaseNode* node ) override;
 

SofaKernel/modules/SofaBaseLinearSolver/CGLinearSolver.inl

@@ -169,9 +169,9 @@ void CGLinearSolver<TMatrix,TVector>::solve(Matrix& M, Vector& x, Vector& b)
 
 
     std::map < std::string, sofa::helper::vector<SReal> >& graph = *f_graph.beginEdit();
-    sofa::helper::vector<SReal>& graph_error = graph[(this->isMultiGroup()) ? this->currentNode->getName()+std::string("-Error") : std::string("Error")];
+    sofa::helper::vector<SReal>& graph_error = graph[std::string("Error")];
     graph_error.clear();
-    sofa::helper::vector<SReal>& graph_den = graph[(this->isMultiGroup()) ? this->currentNode->getName()+std::string("-Denominator") : std::string("Denominator")];
+    sofa::helper::vector<SReal>& graph_den = graph[std::string("Denominator")];
     graph_den.clear();
     graph_error.push_back(1);
     unsigned nb_iter = 0;

applications/plugins/SofaMiscCollision/DefaultCollisionGroupManager.cpp

@@ -281,37 +281,8 @@ simulation::Node* DefaultCollisionGroupManager::getIntegrationNode(core::Collisi
 
     if (listSolver.empty())
         return NULL;
-    simulation::Node* solvernode = static_cast<simulation::Node*>(listSolver.back()->getContext());
-    if (solvernode->linearSolver.empty())
-        return solvernode; // no linearsolver
-    core::behavior::BaseLinearSolver * linearSolver = solvernode->linearSolver[0];
-    if (!linearSolver->isMultiGroup())
-    {
-        return solvernode;
-    }
-    // This solver handles multiple groups, we have to find which group contains this collision model
-    // First move up to the node of the initial mechanical object
-    while (node->mechanicalMapping && node->mechanicalMapping->getMechFrom()[0])
-        node = static_cast<simulation::Node*>(node->mechanicalMapping->getMechFrom()[0]->getContext());
 
-    // Then check if it is one of the child nodes of the solver node
-    for (simulation::Node::ChildIterator it = solvernode->child.begin(), itend = solvernode->child.end(); it != itend; ++it)
-        if (*it == node)
-        {
-            return it->get();
-        }
-
-    // Then check if it is a child of one of the child nodes of the solver node
-    for (simulation::Node::ChildIterator it = solvernode->child.begin(), itend = solvernode->child.end(); it != itend; ++it)
-        if (node->hasParent(it->get()))
-            return it->get();
-
-    // Then check if it is a grand-childs of one of the child nodes of the solver node
-    for (simulation::Node::ChildIterator it = solvernode->child.begin(), itend = solvernode->child.end(); it != itend; ++it)
-        if (node->getContext()->hasAncestor(it->get()))
-            return it->get();
-
-    // group not found, simply return the solver node
+    simulation::Node* solvernode = static_cast<simulation::Node*>(listSolver.back()->getContext());
     return solvernode;
 }
 

modules/SofaGeneralLinearSolver/MinResLinearSolver.inl

@@ -88,7 +88,7 @@ void MinResLinearSolver<TMatrix,TVector>::solve(Matrix& A, Vector& x, Vector& b)
 
 
     std::map < std::string, sofa::helper::vector<SReal> >& graph = *f_graph.beginEdit();
-    sofa::helper::vector<SReal>& graph_error = graph[(this->isMultiGroup()) ? this->currentNode->getName()+std::string("-Error") : std::string("Error")];
+    sofa::helper::vector<SReal>& graph_error = graph[std::string("Error")];
     graph_error.clear();
     graph_error.push_back(1);