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[SofaSimulationCore] Clean free motion animation loop #1930

Merged
merged 8 commits into from
Apr 2, 2021
Merged

[SofaSimulationCore] Clean free motion animation loop #1930

merged 8 commits into from
Apr 2, 2021

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alxbilger
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Minor cleaning:

  • Remove includes and prefer forward declaration
  • Name scope timers to avoid immediate destruction (however, I had a runtime error with this one:

    sofa/SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/UpdateBoundingBoxVisitor.cpp

    Line 52 in 2072f96

    sofa::helper::ScopedAdvancedTimer("ComputeBBox: " + (*object)->getName());
    )
  • Condition is evaluated at compile-time instead of run-time (although I guess the compiler is smart enough).
  • A private Data is removed
  • A local variable was shadowed by another local variable (dx)

By submitting this pull request, I acknowledge that
I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

Reviewers will merge this pull-request only if

  • it builds with SUCCESS for all platforms on the CI.
  • it does not generate new warnings.
  • it does not generate new unit test failures.
  • it does not generate new scene test failures.
  • it does not break API compatibility.
  • it is more than 1 week old (or has fast-merge label).

@hugtalbot hugtalbot added pr: clean Cleaning the code pr: status to review To notify reviewers to review this pull-request labels Mar 17, 2021
hugtalbot
hugtalbot reviewed Mar 17, 2021
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modules/SofaConstraint/src/SofaConstraint/FreeMotionAnimationLoop.h Outdated
@@ -59,7 +57,7 @@ class SOFA_SOFACONSTRAINT_API FreeMotionAnimationLoop : public sofa::simulation:
~FreeMotionAnimationLoop() override ;

sofa::core::behavior::ConstraintSolver *constraintSolver;
component::constraintset::LCPConstraintSolver::SPtr defaultSolver;
sofa::core::behavior::ConstraintSolver::SPtr defaultSolver;
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We could add a description for the doxy doc:

///< pointers towards a possible ConstraintSolver present in the scene graph
///< pointers towards a default ConstraintSolver used in case none was found in the scene graph

@alxbilger
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[ci-build][with-all-tests]

damienmarchal
damienmarchal reviewed Mar 18, 2021
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SofaKernel/modules/SofaSimulationCore/src/sofa/simulation/DefaultAnimationLoop.cpp Outdated
@@ -140,11 +140,12 @@ void DefaultAnimationLoop::step(const core::ExecParams* params, SReal dt)
}
sofa::helper::AdvancedTimer::stepEnd("UpdateMapping");

if (!SOFA_NO_UPDATE_BBOX)
#if SOFA_NO_UPDATE_BBOX == 0
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Hi alex,

If possible, the rules is to do as much as possible

if(SOFA_NO_UPDATE_BBOX)
{
    ....
}

The rational behind is that the conditional content is still compiled (eg: in the CI) so this ease maintenance and code refactoring while the compiler's optimizer can strip-out the if() when it is false.

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Since SOFA_NO_UPDATE_BBOX is a preprocessor variable, it makes more sense to me to use a preprocessor condition on it. IDEs would color the code differently on a deactivated code.
If you put the condition in a traditional condition, I am not sure the compiler compiles the code if the condition is false. IMO it sees it is false and does not bother compiling it. But I may be wrong, I don't know it for a fact.
The preprocessor condition would also remove the warning "the condition is always true".
A third alternative is
if constexpr (SOFA_NO_UPDATE_BBOX) { }
What do you think about this one?

Honestly, I don't have a strong preference. I don't mind reverting this change

damienmarchal
damienmarchal reviewed Mar 18, 2021
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modules/SofaConstraint/src/SofaConstraint/FreeMotionAnimationLoop.cpp Outdated
@@ -286,11 +259,12 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
}
}

if (!SOFA_NO_UPDATE_BBOX)
#if SOFA_NO_UPDATE_BBOX == 0
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So it seems to you are doing the inverse move from what I consider the best way to do...could you elaborate a bit why ?

@hugtalbot hugtalbot added pr: status wip Development in the pull-request is still in progress and removed pr: status to review To notify reviewers to review this pull-request labels Mar 31, 2021
@alxbilger alxbilger added pr: status to review To notify reviewers to review this pull-request and removed pr: status wip Development in the pull-request is still in progress labels Apr 1, 2021
@alxbilger
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[ci-build][with-all-tests]

@hugtalbot
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Looks fine to me and to the CI as well

@hugtalbot hugtalbot added pr: status ready Approved a pull-request, ready to be squashed and removed pr: status to review To notify reviewers to review this pull-request labels Apr 1, 2021
@epernod epernod merged commit 2e6d93d into sofa-framework:master Apr 2, 2021
@guparan guparan added this to the v21.06 milestone Jun 28, 2021
@alxbilger alxbilger deleted the cleanFreeMotion branch June 28, 2022 10:49
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@damienmarchal damienmarchal damienmarchal left review comments

@hugtalbot hugtalbot hugtalbot approved these changes

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@alxbilger @hugtalbot @damienmarchal @guparan @epernod