[all] Sofa defrost sprint week2

SofaKernel/framework/sofa/core/CMakeLists.txt

@@ -164,6 +164,7 @@ set(SOURCE_FILES
     State.cpp
     behavior/BaseAnimationLoop.cpp
     behavior/BaseConstraint.cpp
+    behavior/BaseConstraintCorrection.cpp
     behavior/BaseConstraintSet.cpp
     behavior/BaseForceField.cpp
     behavior/BaseInteractionForceField.cpp

SofaKernel/framework/sofa/core/behavior/BaseConstraintCorrection.cpp

@@ -0,0 +1,64 @@
+/******************************************************************************
+*       SOFA, Simulation Open-Framework Architecture, development version     *
+*                (c) 2006-2018 INRIA, USTL, UJF, CNRS, MGH                    *
+*                                                                             *
+* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/core/behavior/BaseConstraintCorrection.h>
+
+namespace sofa
+{
+
+namespace core
+{
+
+namespace behavior
+{
+
+BaseConstraintCorrection::BaseConstraintCorrection(){}
+BaseConstraintCorrection::~BaseConstraintCorrection(){}
+
+void BaseConstraintCorrection::rebuildSystem(double /*massFactor*/, double /*forceFactor*/){}
+
+void BaseConstraintCorrection::getComplianceWithConstraintMerge(defaulttype::BaseMatrix* /*Wmerged*/, std::vector<int> & /*constraint_merge*/)
+{
+    msg_warning() << "getComplianceWithConstraintMerge is not implemented yet " ;
+}
+
+void BaseConstraintCorrection::computeResidual(const core::ExecParams* /*params*/, defaulttype::BaseVector * /*lambda*/)
+{
+    dmsg_warning() << "ComputeResidual is not implemented in " << this->getName() ;
+}
+
+void BaseConstraintCorrection::getBlockDiagonalCompliance(defaulttype::BaseMatrix* /*W*/, int /*begin*/,int /*end*/)
+{
+    dmsg_warning() << "getBlockDiagonalCompliance(defaulttype::BaseMatrix* W) is not implemented in " << this->getTypeName() ;
+}
+
+bool BaseConstraintCorrection::hasConstraintNumber(int /*index*/) {return true;}
+void BaseConstraintCorrection::resetForUnbuiltResolution(double * /*f*/, std::list<unsigned int>& /*renumbering*/) {}
+void BaseConstraintCorrection::addConstraintDisplacement(double * /*d*/, int /*begin*/, int /*end*/) {}
+void BaseConstraintCorrection::setConstraintDForce(double * /*df*/, int /*begin*/, int /*end*/, bool /*update*/) {}	  // f += df
+
+
+} // namespace behavior
+
+} // namespace core
+
+} // namespace sofa
+

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

@@ -23,7 +23,6 @@
 #define SOFA_CORE_BEHAVIOR_BASECONSTRAINTCORRECTION_H
 
 #include <sofa/core/objectmodel/BaseObject.h>
-
 #include <sofa/core/ConstraintParams.h>
 
 namespace sofa
@@ -51,24 +50,14 @@ class ConstraintSolver;
 /**
  *  \brief Component computing constraint forces within a simulated body using the compliance method.
  */
-class BaseConstraintCorrection : public virtual objectmodel::BaseObject
+class SOFA_CORE_API BaseConstraintCorrection : public virtual objectmodel::BaseObject
 {
 public:
     SOFA_ABSTRACT_CLASS(BaseConstraintCorrection, objectmodel::BaseObject);
-protected:
-    BaseConstraintCorrection() {};
-    virtual ~BaseConstraintCorrection() {}
-
-private:
-    BaseConstraintCorrection(const BaseConstraintCorrection& n) ;
-    BaseConstraintCorrection& operator=(const BaseConstraintCorrection& n) ;
 
+    virtual bool isActive() { return this->getContext()->isActive(); }
 
-public:
-
-	virtual bool isActive() { return this->getContext()->isActive(); }
-
-	/// @name Compliance Matrix API
+    /// @name Compliance Matrix API
     /// @{
 
     virtual void addComplianceInConstraintSpace(const ConstraintParams *, defaulttype::BaseMatrix* W) = 0;
@@ -77,10 +66,7 @@ class BaseConstraintCorrection : public virtual objectmodel::BaseObject
     virtual void getComplianceMatrix(defaulttype::BaseMatrix* m) const = 0;
 
     /// For multigrid approach => constraints are merged
-    virtual void getComplianceWithConstraintMerge(defaulttype::BaseMatrix* /*Wmerged*/, std::vector<int> & /*constraint_merge*/)
-    {
-        sout << "getComplianceWithConstraintMerge is not implemented yet " << sendl;
-    }
+    virtual void getComplianceWithConstraintMerge(defaulttype::BaseMatrix* /*Wmerged*/, std::vector<int> & /*constraint_merge*/);
 
     /// @}
 
@@ -102,7 +88,6 @@ class BaseConstraintCorrection : public virtual objectmodel::BaseObject
     /// @param lambda is the constraint space force vector
     virtual void computeMotionCorrectionFromLambda(const core::ConstraintParams* cparams, core::MultiVecDerivId dx, const defaulttype::BaseVector * lambda) = 0;
 
-
     /// Compute motion correction from the constraint resolution (LCP) calculated force
     ///
     /// @param cparams
@@ -137,43 +122,36 @@ class BaseConstraintCorrection : public virtual objectmodel::BaseObject
 
     /// Rebuild the system using a mass and force factor
     /// Experimental API used to investigate convergence issues.
-    virtual void rebuildSystem(double /*massFactor*/, double /*forceFactor*/){}
+    virtual void rebuildSystem(double /*massFactor*/, double /*forceFactor*/);
 
     /// Compute the residual in the newton iterations due to the constraints forces
     /// i.e. compute Vecid::force() += J^t lambda
     /// the result is accumulated in Vecid::force()
-    virtual void computeResidual(const core::ExecParams* /*params*/, defaulttype::BaseVector * /*lambda*/)
-    {
-        dmsg_error() << "ComputeResidual is not implemented in " << this->getName() ;
-    }
+    virtual void computeResidual(const core::ExecParams* /*params*/, defaulttype::BaseVector * /*lambda*/) ;
 
     /// @name Deprecated API
     /// @{
-
     virtual void applyContactForce(const defaulttype::BaseVector *f) = 0;
-
     virtual void resetContactForce() = 0;
-
     /// @}
 
-
     /// @name Unbuilt constraint system during resolution
     /// @{
+    virtual bool hasConstraintNumber(int /*index*/);
+    virtual void resetForUnbuiltResolution(double * /*f*/, std::list<unsigned int>& /*renumbering*/);
+    virtual void addConstraintDisplacement(double * /*d*/, int /*begin*/, int /*end*/);
+    virtual void setConstraintDForce(double * /*df*/, int /*begin*/, int /*end*/, bool /*update*/);	  // f += df
+    virtual void getBlockDiagonalCompliance(defaulttype::BaseMatrix* /*W*/, int /*begin*/,int /*end*/);
+    /// @}
 
-    virtual bool hasConstraintNumber(int /*index*/) {return true;}
-
-    virtual void resetForUnbuiltResolution(double * /*f*/, std::list<unsigned int>& /*renumbering*/) {}
-
-    virtual void addConstraintDisplacement(double * /*d*/, int /*begin*/, int /*end*/) {}
-
-    virtual void setConstraintDForce(double * /*df*/, int /*begin*/, int /*end*/, bool /*update*/) {}	  // f += df
+protected:
+    BaseConstraintCorrection();
+    virtual ~BaseConstraintCorrection() override;
 
-    virtual void getBlockDiagonalCompliance(defaulttype::BaseMatrix* /*W*/, int /*begin*/,int /*end*/)
-    {
-        sout << "warning : getBlockDiagonalCompliance(defaulttype::BaseMatrix* W) is not implemented in " << this->getTypeName() << sendl;
-    }
+private:
+    BaseConstraintCorrection(const BaseConstraintCorrection& n) ;
+    BaseConstraintCorrection& operator=(const BaseConstraintCorrection& n) ;
 
-    /// @}
 };
 
 } // namespace behavior

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

@@ -58,7 +58,7 @@ class SOFA_CORE_API BaseInteractionConstraint : public BaseConstraint
 
 protected:
     BaseInteractionConstraint() {}
-	virtual ~BaseInteractionConstraint(){}
+    virtual ~BaseInteractionConstraint()override {}
 
 private:
 	BaseInteractionConstraint(const BaseInteractionConstraint& n) ;

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

@@ -140,8 +140,8 @@ class SOFA_CORE_API BaseLMConstraint: public BaseConstraintSet
 
 protected:
     BaseLMConstraint();
+    virtual ~BaseLMConstraint() override {}
 
-    ~BaseLMConstraint() {}
 public:
 
     /// Called by MechanicalWriteLMConstaint: The Object will compute the constraints present in the current state, and create the ConstraintGroup related.

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

@@ -195,7 +195,6 @@ extern template class SOFA_CORE_API ConstraintCorrection< sofa::defaulttype::Vec
 extern template class SOFA_CORE_API ConstraintCorrection< sofa::defaulttype::Vec1Types >;
 extern template class SOFA_CORE_API ConstraintCorrection< sofa::defaulttype::Rigid3Types >;
 
-
 #endif
 
 } // namespace behavior

SofaKernel/framework/sofa/core/behavior/ForceField.inl

@@ -160,11 +160,7 @@ void ForceField<DataTypes>::addBToMatrix(const MechanicalParams* mparams, const
 template<class DataTypes>
 void ForceField<DataTypes>::addBToMatrix(sofa::defaulttype::BaseMatrix * /*mat*/, SReal /*bFact*/, unsigned int &/*offset*/)
 {
-//    static int i=0;
-//    if (i < 10) {
-//        serr << "addBToMatrix not implemented." << sendl;
-//        i++;
-//    }
+
 }
 
 template<class DataTypes>

SofaKernel/framework/sofa/core/behavior/PairInteractionForceField.inl

@@ -96,84 +96,6 @@ void PairInteractionForceField<DataTypes>::addDForce(const MechanicalParams* mpa
         serr<<"PairInteractionForceField<DataTypes>::addDForce(const MechanicalParams* /*mparams*/, MultiVecDerivId /*fId*/ ), mstate missing"<<sendl;
 }
 
-/*
-template<class DataTypes>
-void PairInteractionForceField<DataTypes>::addForce(const MechanicalParams* mparams, DataVecDeriv& f1, DataVecDeriv& f2, const DataVecCoord& x1, const DataVecCoord& x2, const DataVecDeriv& v1, const DataVecDeriv& v2 )
-{
-    addForce( *f1.beginEdit(mparams) , *f2.beginEdit(mparams),
-			  x1.getValue(mparams)   , x2.getValue(mparams)  ,
-			  v1.getValue(mparams)   , v2.getValue(mparams) );
-	f1.endEdit(mparams); f2.endEdit(mparams);
-}
-template<class DataTypes>
-void PairInteractionForceField<DataTypes>::addForce(VecDeriv& , VecDeriv& , const VecCoord& , const VecCoord& , const VecDeriv& , const VecDeriv& )
-{
-    serr << "ERROR("<<getClassName()<<"): addForce not implemented." << sendl;
-}
-*/
-
-
-/*
-template<class DataTypes>
-void PairInteractionForceField<DataTypes>::addDForce(const MechanicalParams* mparams, DataVecDeriv& df1, DataVecDeriv& df2, const DataVecDeriv& dx1, const DataVecDeriv& dx2)
-{
-	addDForce(*df1.beginEdit(mparams), *df2.beginEdit(mparams), dx1.getValue(mparams), dx2.getValue(mparams),mparams->kFactor(),mparams->bFactor());
-	df1.endEdit(mparams); df2.endEdit(mparams);
-}
-template<class DataTypes>
-void PairInteractionForceField<DataTypes>::addDForce(VecDeriv& df1, VecDeriv& df2, const VecDeriv& dx1, const VecDeriv& dx2, SReal kFactor, SReal)
-{
-    if (kFactor == 1.0)
-        addDForce(df1, df2, dx1, dx2);
-    else if (kFactor != 0.0)
-    {
-        VecDerivId vtmp1(VecDerivId::V_FIRST_DYNAMIC_INDEX);
-        mstate1->vAvail(vtmp1);
-        mstate1->vAlloc(vtmp1);
-        VecDerivId vdx1(0);
-        /// @TODO: Add a better way to get the current VecId of dx
-        for (vdx1.index=0;vdx1.index<vtmp1.index;++vdx1.index)
-            if (&mstate1->read(VecDerivId(vdx1))->getValue() == &dx1)
-		break;
-        VecDeriv* dx1scaled = mstate1->write(vtmp1)->beginEdit();
-        dx1scaled->resize(dx1.size());
-        mstate1->vOp(vtmp1,VecId::null(),vdx1,kFactor);
-        //sout << "dx1 = "<<dx1<<sendl;
-        //sout << "dx1*"<<kFactor<<" = "<<dx1scaled<<sendl;
-        VecDerivId vtmp2(VecDerivId::V_FIRST_DYNAMIC_INDEX);
-        mstate2->vAvail(vtmp2);
-        mstate2->vAlloc(vtmp2);
-        VecDerivId vdx2(0);
-        /// @TODO: Add a better way to get the current VecId of dx
-        for (vdx2.index=0;vdx2.index<vtmp2.index;++vdx2.index)
-
-            if (&mstate2->read(VecDerivId(vdx2))->getValue() == &dx2)
-		break;
-        VecDeriv* dx2scaled = mstate2->write(vtmp2)->beginEdit();
-        dx2scaled->resize(dx2.size());
-        mstate2->vOp(vtmp2,VecId::null(),vdx2,kFactor);
-        //sout << "dx2 = "<<dx2<<sendl;
-        //sout << "dx2*"<<kFactor<<" = "<<dx2scaled<<sendl;
-
-        addDForce(df1, df2, *dx1scaled, *dx2scaled);
-
-        mstate1->write(vtmp1)->endEdit();
-        mstate2->write(vtmp2)->endEdit();
-
-		mstate1->vFree(vtmp1);
-		mstate2->vFree(vtmp2);
-    }
-}
-template<class DataTypes>
-void PairInteractionForceField<DataTypes>::addDForce(VecDeriv& , VecDeriv&, const VecDeriv&, const VecDeriv& )
-{
-    serr << "ERROR("<<getClassName()<<"): addDForce not implemented." << sendl;
-}
-
-*/
-
-
-
 template<class DataTypes>
 SReal PairInteractionForceField<DataTypes>::getPotentialEnergy(const MechanicalParams* mparams) const
 {
@@ -182,21 +104,6 @@ SReal PairInteractionForceField<DataTypes>::getPotentialEnergy(const MechanicalP
     else return 0.0;
 }
 
-/*
-template<class DataTypes>
-SReal PairInteractionForceField<DataTypes>::getPotentialEnergy(const MechanicalParams* mparams, const DataVecCoord& x1, const DataVecCoord& x2 ) const
-{
-	return getPotentialEnergy( x1.getValue(mparams) , x2.getValue(mparams) );
-}
-template<class DataTypes>
-SReal PairInteractionForceField<DataTypes>::getPotentialEnergy(const VecCoord& , const VecCoord& ) const
-{
-    serr << "ERROR("<<getClassName()<<"): getPotentialEnergy(const VecCoord1& , const VecCoord2&) not implemented." << sendl;
-    return 0.0;
-}
-*/
-
-
 template<class DataTypes>
 void PairInteractionForceField<DataTypes>::updateForceMask()
 {
@@ -206,12 +113,6 @@ void PairInteractionForceField<DataTypes>::updateForceMask()
     mstate2->forceMask.assign( mstate2->getSize(), true );
 }
 
-
-
-
-
-
-
 } // namespace behavior
 
 } // namespace core

SofaKernel/framework/sofa/core/behavior/ProjectiveConstraintSet.inl

@@ -79,14 +79,10 @@ void ProjectiveConstraintSet<DataTypes>::projectJacobianMatrix(const MechanicalP
 template<class DataTypes>
 void ProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId)
 {
-//    serr << "ProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) " << this->getName() << sendl;
-
     if (!isActive())
         return;
     if (mstate)
     {
-//        serr << "ProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId) " << this->getName() << " has mstate " << sendl;
-
             projectResponse(mparams, *dxId[mstate.get(mparams)].write());
     }
     else serr << "ProjectiveConstraintSet<DataTypes>::projectResponse(const MechanicalParams* mparams, MultiVecDerivId dxId), no mstate for " << this->getName() << sendl;

SofaKernel/framework/sofa/defaulttype/SolidTypes.h

@@ -93,7 +93,6 @@ class SOFA_DEFAULTTYPE_API SolidTypes
             return SpatialVector( lineVec *a, freeVec * a);
         }
 
-        //template<class Real2>
         SpatialVector& operator *= ( Real a )
         {
             lineVec *=a;