Merge pull request #1 from alxbilger/update

Update according to SOFA changes
sofa-framework · Aug 30, 2023 · 54162cd · 54162cd
2 parents ede540c + 6459919
commit 54162cd
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Showing 14 changed files with 91 additions and 52 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -12,13 +12,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, macos-10.15, windows-2019]
-        sofa_branch: [master, v21.12]
+        os: [ubuntu-20.04, macos-11, windows-2019]
+        sofa_branch: [master]
 
     steps:
       - name: Setup SOFA and environment
         id: sofa
-        uses: sofa-framework/sofa-setup-action@v3.0
+        uses: sofa-framework/sofa-setup-action@v4
         with:
           sofa_root: ${{ github.workspace }}/sofa
           sofa_version: ${{ matrix.sofa_branch }}
@@ -93,7 +93,7 @@ jobs:
         with:
           name: ${{ github.ref_name }}
           tag_name: release-${{ github.ref_name }}
-          fail_on_unmatched_files: true
+          fail_on_unmatched_files: false
           files: |
             artifacts/ShapeMatchingPlugin_*_Linux.zip
             artifacts/ShapeMatchingPlugin_*_Windows.zip

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,6 +3,8 @@ project(ShapeMatchingPlugin LANGUAGES CXX)
 
 set(SHAPEMATCHINGPLUGIN_SRC "src/${PROJECT_NAME}")
 
+find_package(Sofa.Core REQUIRED)
+
 set(HEADER_FILES
     ${SHAPEMATCHINGPLUGIN_SRC}/config.h.in
     ${SHAPEMATCHINGPLUGIN_SRC}/initShapeMatchingPlugin.h
@@ -18,10 +20,8 @@ set(SOURCE_FILES
     ${SHAPEMATCHINGPLUGIN_SRC}/ShapeMatchingForceField.cpp
 )
 
-find_package(SofaBaseLinearSolver REQUIRED)
-
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
-target_link_libraries(${PROJECT_NAME} PUBLIC SofaBaseLinearSolver)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Core)
 
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}

diff --git a/ShapeMatchingPluginConfig.cmake.in b/ShapeMatchingPluginConfig.cmake.in
@@ -2,7 +2,7 @@
 
 @PACKAGE_INIT@
 
-find_package(SofaBaseLinearSolver QUIET REQUIRED)
+find_package(Sofa.Core QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

diff --git a/examples/ConstraintRotationFinder.scn b/examples/ConstraintRotationFinder.scn
@@ -1,23 +1,35 @@
 <Node name="root" gravity="0.0 -2.0 0.0" dt="0.04">
-    <RequiredPlugin name="SofaBoundaryCondition"/>
-    <RequiredPlugin name="SofaConstraint"/>
-    <RequiredPlugin name="SofaDeformable"/>
-    <RequiredPlugin name="SofaEngine"/>
-    <RequiredPlugin name="SofaGeneralDeformable"/>
-    <RequiredPlugin name="SofaImplicitOdeSolver"/>
-    <RequiredPlugin name="SofaLoader"/>
-    <RequiredPlugin name="SofaMeshCollision"/>
-    <RequiredPlugin name="SofaOpenglVisual"/>
-    <RequiredPlugin name="ShapeMatchingPlugin"/> 
 
-    <FreeMotionAnimationLoop initial_guess="true" displayTime="1" />
-    <DefaultPipeline verbose="0" draw="0" />
+    <Node name="plugins">
+        <RequiredPlugin name="ShapeMatchingPlugin"/> <!-- Needed to use components [ShapeMatchingRotationFinder] -->
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,CollisionPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel,PointCollisionModel,TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [PrecomputedConstraintCorrection] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField,QuadBendingSprings] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    </Node>
+
+    <FreeMotionAnimationLoop />
+    <CollisionPipeline verbose="0" draw="0" />
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
     <LocalMinDistance name="Proximity" alarmDistance="0.50" contactDistance="0.25" />
-    <DefaultContactManager name="Response" response="FrictionContact" />
+    <CollisionResponse name="Response" response="FrictionContactConstraint"/>
     <LCPConstraintSolver maxIt="1000" tolerance="0.001" />
-    <DefaultAnimationLoop />
     <DefaultVisualManagerLoop />
     <Node name="Floor">
         <RegularGridTopology nx="2" ny="1" nz="2" xmin="20" xmax="-20" ymin="-3.05" ymax="-3.05" zmin="-20" zmax="20" />

diff --git a/examples/RotationFinder.scn b/examples/RotationFinder.scn
@@ -1,18 +1,29 @@
 <Node name="root" gravity="0.0 -2.0 0.0" dt="0.04">
-    <RequiredPlugin name="SofaBoundaryCondition"/>
-    <RequiredPlugin name="SofaDeformable"/>
-    <RequiredPlugin name="SofaEngine"/>
-    <RequiredPlugin name="SofaGeneralDeformable"/> 
-    <RequiredPlugin name="SofaImplicitOdeSolver"/> 
-    <RequiredPlugin name="SofaMeshCollision"/>
-    <RequiredPlugin name="SofaOpenglVisual"/>
-    <RequiredPlugin name="SofaLoader"/>
-    <RequiredPlugin name="ShapeMatchingPlugin"/> 
 
-    <DefaultPipeline verbose="0" draw="0" />
+    <Node name="plugins">
+        <RequiredPlugin name="ShapeMatchingPlugin"/> <!-- Needed to use components [ShapeMatchingRotationFinder] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,CollisionPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [NewProximityIntersection] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField,SphereForceField] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField,QuadBendingSprings] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    </Node>
+
+    <CollisionPipeline verbose="0" draw="0" />
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
-    <DefaultContactManager name="Response" />
+    <CollisionResponse name="Response" />
     <NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
     <DefaultAnimationLoop />
     <DefaultVisualManagerLoop />

diff --git a/examples/ShapeMatchingForceField.scn b/examples/ShapeMatchingForceField.scn
@@ -1,16 +1,27 @@
 <Node name="root" dt="0.02">
-    <RequiredPlugin name="SofaImplicitOdeSolver"/>
-    <RequiredPlugin name="SofaLoader"/>
-    <RequiredPlugin name="SofaOpenglVisual"/>
-    <RequiredPlugin name="SofaMeshCollision"/>
-    <RequiredPlugin name="ShapeMatchingPlugin"/>
+    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,CollisionPipeline] -->
+    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
+    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel,PointCollisionModel,SphereCollisionModel,TriangleCollisionModel] -->
+    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
+    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
+    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
+    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+    <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
+    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+    <RequiredPlugin name="ShapeMatchingPlugin"/> <!-- Needed to use components [ShapeMatchingForceField,ShapeMatchingRotationFinder] -->
 
+    <DefaultAnimationLoop/>
     <VisualStyle displayFlags="showBehaviorModels showForceFields" />
-    <DefaultPipeline verbose="0" draw="0" />
+    <CollisionPipeline verbose="0" draw="0" />
     <BruteForceBroadPhase />
     <BVHNarrowPhase />
     <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
-    <DefaultContactManager name="Response" response="default" />
+    <CollisionResponse name="Response" response="PenalityContactForceField" />
     <Node name="cubeFEM">
         <EulerImplicitSolver name="cg_odesolver" printLog="false" />
         <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

diff --git a/src/ShapeMatchingPlugin/ShapeMatchingForceField.cpp b/src/ShapeMatchingPlugin/ShapeMatchingForceField.cpp
@@ -31,9 +31,9 @@ namespace sofa::component::forcefield
 using namespace sofa::defaulttype;
 
 int ShapeMatchingForceFieldClass = core::RegisterObject("Meshless deformations based on shape matching")
-.add< ShapeMatchingForceField<Vec3dTypes> >()
+.add< ShapeMatchingForceField<Vec3Types> >()
 ;
 
-template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingForceField<Vec3dTypes>;
+template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingForceField<Vec3Types>;
 
 } // namespace sofa::component::forcefield
diff --git a/src/ShapeMatchingPlugin/ShapeMatchingForceField.h b/src/ShapeMatchingPlugin/ShapeMatchingForceField.h
@@ -71,7 +71,7 @@ class ShapeMatchingForceField : public core::behavior::ForceField<DataTypes>
 };
 
 #if !defined(SOFA_COMPONENT_FORCEFIELD_SHAPEMATCHINGFORCEFIELD_CPP)
-extern template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingForceField<defaulttype::Vec3dTypes>;
+extern template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingForceField<defaulttype::Vec3Types>;
 #endif // !defined(SOFA_COMPONENT_FORCEFIELD_SHAPEMATCHINGFORCEFIELD_CPP)
 
 } // namespace sofa::component::forcefield
diff --git a/src/ShapeMatchingPlugin/ShapeMatchingForceField.inl b/src/ShapeMatchingPlugin/ShapeMatchingForceField.inl
@@ -27,7 +27,6 @@
 #include <sofa/helper/rmath.h>
 #include <assert.h>
 #include <iostream>
-#include <sofa/simulation/Node.h>
 
 namespace sofa::component::forcefield
 {

diff --git a/src/ShapeMatchingPlugin/ShapeMatchingRotationFinder.cpp b/src/ShapeMatchingPlugin/ShapeMatchingRotationFinder.cpp
@@ -39,10 +39,10 @@ using namespace sofa::defaulttype;
 
 // Register in the Factory
 int ShapeMatchingRotationFinderClass = core::RegisterObject("ShapeMatchingRotationFinder")
-.add< ShapeMatchingRotationFinder< Vec3dTypes > >()
+.add< ShapeMatchingRotationFinder< Vec3Types > >()
 .addAlias("RotationFinder")
 ;
 
-template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingRotationFinder< defaulttype::Vec3dTypes >;
+template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingRotationFinder< defaulttype::Vec3Types >;
 
 } // namespace sofa::component::container
diff --git a/src/ShapeMatchingPlugin/ShapeMatchingRotationFinder.h b/src/ShapeMatchingPlugin/ShapeMatchingRotationFinder.h
@@ -117,7 +117,7 @@ class ShapeMatchingRotationFinder : public sofa::core::behavior::RotationFinder<
 };
 
 #if !defined(SOFA_COMPONENT_CONTAINER_SHAPEMATCHINGROTATIONFINDER_CPP)
-extern template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingRotationFinder< defaulttype::Vec3dTypes >;
+extern template class SOFA_SHAPEMATCHINGPLUGIN_API ShapeMatchingRotationFinder< defaulttype::Vec3Types >;
 #endif
 
 } // namespace sofa::component::container
diff --git a/src/ShapeMatchingPlugin/ShapeMatchingRotationFinder.inl b/src/ShapeMatchingPlugin/ShapeMatchingRotationFinder.inl
@@ -558,7 +558,7 @@ void ShapeMatchingRotationFinder<DataTypes>::draw(const core::visual::VisualPara
 
 		vparams->drawTool()->disableLighting();
 
-		std::vector<type::Vector3> vertices;
+		std::vector<type::Vec3> vertices;
 		std::vector<type::RGBAColor> colors;
 
 		for (unsigned int i=0 ; i<m_rotations.size() ; i++)
@@ -590,7 +590,7 @@ void ShapeMatchingRotationFinder<DataTypes>::draw(const core::visual::VisualPara
 
 		vparams->drawTool()->disableLighting();
 
-		std::vector<type::Vector3> vertices;
+		std::vector<type::Vec3> vertices;
 		std::vector<type::RGBAColor> colors;
 
         float r, g, b;

diff --git a/src/ShapeMatchingPlugin/config.h.in b/src/ShapeMatchingPlugin/config.h.in
@@ -31,4 +31,10 @@
 #  define SOFA_SHAPEMATCHINGPLUGIN_API SOFA_EXPORT_DYNAMIC_LIBRARY
 #else
 #  define SOFA_SHAPEMATCHINGPLUGIN_API SOFA_IMPORT_DYNAMIC_LIBRARY
-#endif
+#endif
+
+namespace shapematching
+{
+    constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+    constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+}
diff --git a/src/ShapeMatchingPlugin/initShapeMatchingPlugin.cpp b/src/ShapeMatchingPlugin/initShapeMatchingPlugin.cpp
@@ -53,12 +53,12 @@ namespace sofa::component
 
 	const char* getModuleName()
 	{
-		return "ShapeMatchingPlugin";
+		return shapematching::MODULE_NAME;
 	}
 
 	const char* getModuleVersion()
 	{
-		return "1.0";
+		return shapematching::MODULE_VERSION;
 	}
 
 	const char* getModuleLicense()