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[Constraint] Make name of constraints more explicit (#4302)
* 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 (#4293) Fix linking with LTO on macos * [LinearSolver] Remove CSparse-based linear solvers (#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 (#4308) Co-authored-by: erik pernod <[email protected]> * [Sofa.GUI.Qt] Add cmake module for QGLViewer (#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 <[email protected]> --------- Co-authored-by: Frederick Roy <[email protected]> Co-authored-by: Hugo <[email protected]> * [MultiThreading] Avoid Static Initialization Order Fiasco (#4307) * [Core] Minor clean of DefaultAnimationLoop (#4314) * Remove unlogical use of visitor * Delete unused methods * [LinearSystem] Speedup computation of Jacobian matrices (#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 (#4319) * FIX compilation SofaCUDA along with SparseGrid with Cuda12 * Use a multiplication instead * [Common] Add message to make the fetch mechanism less hidden (#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 (#4320) remove ref to non-existent sofasimu Co-authored-by: Paul Baksic <[email protected]> * 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 <[email protected]> Co-authored-by: Alex Bilger <[email protected]> Co-authored-by: erik pernod <[email protected]> Co-authored-by: Olivier Roussel <[email protected]> Co-authored-by: Hugo <[email protected]>
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| * Contact information: [email protected] * | ||
| ******************************************************************************/ | ||
| #pragma once | ||
| #include <sofa/component/constraint/lagrangian/model/config.h> | ||
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| #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> | ||
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| #include <sofa/type/Mat.h> | ||
| #include <sofa/defaulttype/RigidTypes.h> | ||
| #include <sofa/type/Vec.h> | ||
| #include <sofa/defaulttype/VecTypes.h> | ||
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| #include <deque> | ||
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| #include <sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h> | ||
| SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h") | ||
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| namespace sofa::component::constraint::lagrangian::model | ||
| { | ||
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| /// 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; | ||
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| using sofa::linearalgebra::BaseVector ; | ||
| using sofa::type::Vec3d; | ||
| using sofa::type::Quat ; | ||
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| using sofa::defaulttype::Rigid3Types ; | ||
| using sofa::defaulttype::Vec3Types ; | ||
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| template<class T> | ||
| class BilateralInteractionConstraintSpecialization {}; | ||
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| template<class DataTypes> | ||
| class BilateralInteractionConstraint : public PairInteractionConstraint<DataTypes> | ||
| { | ||
| public: | ||
| SOFA_CLASS(SOFA_TEMPLATE(BilateralInteractionConstraint,DataTypes), | ||
| SOFA_TEMPLATE(PairInteractionConstraint,DataTypes)); | ||
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| /// That any templates variation of BilateralInteractionConstraintSpecialization are friend. | ||
| template<typename> | ||
| friend class BilateralInteractionConstraintSpecialization ; | ||
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| typedef PairInteractionConstraint<DataTypes> Inherit; | ||
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| 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; | ||
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| typedef core::behavior::MechanicalState<DataTypes> MechanicalState; | ||
| typedef BaseConstraint::PersistentID PersistentID; | ||
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| typedef Data<VecCoord> DataVecCoord; | ||
| typedef Data<VecDeriv> DataVecDeriv; | ||
| typedef Data<MatrixDeriv> DataMatrixDeriv; | ||
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| using SubsetIndices = type::vector<Index>; | ||
| using DataSubsetIndices = sofa::core::topology::TopologySubsetIndices; | ||
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| protected: | ||
| std::vector<Deriv> dfree; | ||
| Quat<SReal> q; | ||
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| std::vector<unsigned int> cid; | ||
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| 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; | ||
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| 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) | ||
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| 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 | ||
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| std::vector<Vec3d> prevForces; | ||
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| 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)."}; | ||
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| 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."}; | ||
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| 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."}; | ||
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| BilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2) ; | ||
| BilateralInteractionConstraint(MechanicalState* object) ; | ||
| BilateralInteractionConstraint(); | ||
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| virtual ~BilateralInteractionConstraint(){} | ||
| public: | ||
| void init() override; | ||
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| void bwdInit() override {} | ||
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| void reinit() override; | ||
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| void buildConstraintMatrix(const ConstraintParams* cParams, | ||
| DataMatrixDeriv &c1, DataMatrixDeriv &c2, | ||
| unsigned int &cIndex, | ||
| const DataVecCoord &x1, const DataVecCoord &x2) override; | ||
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| void getConstraintViolation(const ConstraintParams* cParams, | ||
| BaseVector *v, | ||
| const DataVecCoord &x1, const DataVecCoord &x2, | ||
| const DataVecDeriv &v1, const DataVecDeriv &v2) override; | ||
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| void getVelocityViolation(BaseVector *v, | ||
| const DataVecCoord &x1, const DataVecCoord &x2, | ||
| const DataVecDeriv &v1, const DataVecDeriv &v2); | ||
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| void getConstraintResolution(const ConstraintParams* cParams, | ||
| std::vector<ConstraintResolution*>& resTab, | ||
| unsigned int& offset) override; | ||
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| void handleEvent(sofa::core::objectmodel::Event *event) override; | ||
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| void draw(const core::visual::VisualParams* vparams) override; | ||
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| void clear(int reserve = 0) ; | ||
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| 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); | ||
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| void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance, | ||
| int m1, int m2, long id=0, PersistentID localid=0) ; | ||
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| void addContact(Deriv norm, Real contactDistance, int m1, int m2, | ||
| long id=0, PersistentID localid=0) ; | ||
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| /// 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); | ||
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| virtual type::vector<std::string> getBilateralInteractionIdentifiers() {return {};} | ||
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| virtual type::vector<std::string> getPairInteractionIdentifiers() override final | ||
| { | ||
| type::vector<std::string> ids = getBilateralInteractionIdentifiers(); | ||
| ids.push_back("Bilateral"); | ||
| return ids; | ||
| } | ||
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| private: | ||
| void unspecializedInit() ; | ||
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| /// 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); | ||
| }; | ||
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| #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 | ||
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| } // 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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