From 3c5c1c231292971a38c2e7e9d052f4e529793f29 Mon Sep 17 00:00:00 2001
From: Paul Baksic <paul.baksic@outlook.fr>
Date: Tue, 21 Nov 2023 18:11:57 +0100
Subject: [PATCH 1/2] Remove unlogical use of visitor

---
 .../Core/src/sofa/simulation/DefaultAnimationLoop.cpp          | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
index 1673a6940d9..5562cd59c8d 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
@@ -292,14 +292,11 @@ void DefaultAnimationLoop::animate(const core::ExecParams* params, SReal dt) con
     behaviorUpdatePosition(params, dt);
     updateInternalData(params);
 
-    resetConstraint(params);
-
     collisionDetection(params);
 
     beginIntegration(params, dt);
     {
         const core::ConstraintParams cparams;
-        buildConstraintMatrix(cparams);
         accumulateMatrixDeriv(cparams);
 
         solve(params, dt);

From b7f874ad6c200a4ba80c0b4716512794b1312ace Mon Sep 17 00:00:00 2001
From: bakpaul <bakpaul@hotmail.fr>
Date: Wed, 22 Nov 2023 15:09:13 +0100
Subject: [PATCH 2/2] Delete unused methods

---
 .../src/sofa/simulation/DefaultAnimationLoop.cpp | 16 ----------------
 .../src/sofa/simulation/DefaultAnimationLoop.h   |  2 --
 2 files changed, 18 deletions(-)

diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
index 5562cd59c8d..0bf53d191c8 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
@@ -170,14 +170,6 @@ void DefaultAnimationLoop::propagateAnimateBeginEvent(const core::ExecParams* pa
     m_node->execute(act);
 }
 
-void DefaultAnimationLoop::resetConstraint(const core::ExecParams* params) const
-{
-    SCOPED_TIMER("resetConstraint");
-    const sofa::core::ConstraintParams cparams(*params);
-    sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor resetConstraint(&cparams);
-    m_node->execute(&resetConstraint);
-}
-
 void DefaultAnimationLoop::beginIntegration(const core::ExecParams* params, SReal dt) const
 {
     propagateIntegrateBeginEvent(params);
@@ -195,14 +187,6 @@ void DefaultAnimationLoop::propagateIntegrateBeginEvent(const core::ExecParams*
     eventPropagation.execute(m_node);
 }
 
-void DefaultAnimationLoop::buildConstraintMatrix(core::ConstraintParams cparams) const
-{
-    SCOPED_TIMER("buildConstraintMatrix");
-    unsigned int constraintId = 0;
-    mechanicalvisitor::MechanicalBuildConstraintMatrix buildConstraintMatrix(&cparams, core::MatrixDerivId::constraintJacobian(), constraintId );
-    buildConstraintMatrix.execute(m_node);
-}
-
 void DefaultAnimationLoop::accumulateMatrixDeriv(const core::ConstraintParams cparams) const
 {
     SCOPED_TIMER("accumulateMatrixDeriv");
diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
index dff897be485..c11161170f0 100644
--- a/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
+++ b/Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
@@ -69,10 +69,8 @@ protected :
 
     void behaviorUpdatePosition(const sofa::core::ExecParams* params, SReal dt) const;
     void updateInternalData(const sofa::core::ExecParams* params) const;
-    void resetConstraint(const sofa::core::ExecParams* params) const;
     void beginIntegration(const sofa::core::ExecParams* params, SReal dt) const;
     void propagateIntegrateBeginEvent(const sofa::core::ExecParams* params) const;
-    void buildConstraintMatrix(sofa::core::ConstraintParams cparams) const;
     void accumulateMatrixDeriv(sofa::core::ConstraintParams cparams) const;
     void solve(const sofa::core::ExecParams* params, SReal dt) const;
     void propagateIntegrateEndEvent(const sofa::core::ExecParams* params) const;