[all] Lifecycle v26.12 auto-generated

Sofa/Component/AnimationLoop/CMakeLists.txt

@@ -5,16 +5,15 @@ set(SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR "src/sofa/component/animationloop")
 
 set(HEADER_FILES
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/config.h.in
-    ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/FreeMotionAnimationLoop.h
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/ConstraintAnimationLoop.h
+    ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/FreeMotionAnimationLoop.h
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/MultiStepAnimationLoop.h
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/MultiTagAnimationLoop.h
 )
 
 set(SOURCE_FILES
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/init.cpp
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/FreeMotionAnimationLoop.cpp
-    ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/ConstraintAnimationLoop.cpp
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/MultiStepAnimationLoop.cpp
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/MultiTagAnimationLoop.cpp
 )

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h

@@ -22,148 +22,4 @@
 #pragma once
 #include <sofa/component/animationloop/config.h>
 
-SOFA_HEADER_DEPRECATED_NOT_REPLACED("v26.06", "v26.12")
-
-
-#include <sofa/helper/map.h>
-#include <sofa/linearalgebra/FullMatrix.h>
-#include <sofa/core/MultiVecId.h>
-#include <sofa/core/VecId.h>
-#include <sofa/core/behavior/BaseConstraintCorrection.h>
-#include <sofa/core/behavior/OdeSolver.h>
-#include <sofa/core/ConstraintParams.h>
-#include <sofa/core/fwd.h>
-
-#include <sofa/simulation/CollisionAnimationLoop.h>
-#include <sofa/simulation/MechanicalVisitor.h>
-#include <sofa/simulation/fwd.h>
-
-#include <vector>
-
-namespace sofa::simulation::mechanicalvisitor
-{
-    class MechanicalAccumulateMatrixDeriv;
-    class MechanicalBuildConstraintMatrix;
-}
-
-namespace sofa::component::constraint::lagrangian::solver
-{
-    class MechanicalGetConstraintResolutionVisitor;
-}
-
-namespace sofa::component::animationloop
-{
-
-class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintProblem
-{
-protected:
-    sofa::linearalgebra::LPtrFullMatrix<SReal> _W;
-    sofa::linearalgebra::FullVector<SReal> _dFree, _force, _d, _df;// cf. These Duriez + _df for scheme correction
-    std::vector<core::behavior::ConstraintResolution*> _constraintsResolutions;
-    SReal _tol;
-    int _dim;
-    sofa::helper::system::thread::CTime *_timer;
-
-public:
-    ConstraintProblem(bool printLog=false);
-    virtual ~ConstraintProblem();
-    virtual void clear(int dim, const SReal &tol);
-
-    inline int getSize(void) {return _dim;}
-    inline sofa::linearalgebra::LPtrFullMatrix<SReal>* getW(void) {return &_W;}
-    inline sofa::linearalgebra::FullVector<SReal>* getDfree(void) {return &_dFree;}
-    inline sofa::linearalgebra::FullVector<SReal>* getD(void) {return &_d;}
-    inline sofa::linearalgebra::FullVector<SReal>* getF(void) {return &_force;}
-    inline sofa::linearalgebra::FullVector<SReal>* getdF(void) {return &_df;}
-    inline std::vector<core::behavior::ConstraintResolution*>& getConstraintResolutions(void) {return _constraintsResolutions;}
-    inline SReal *getTolerance(void) {return &_tol;}
-
-    void gaussSeidelConstraintTimed(SReal &timeout, int numItMax);
-};
-
-
-
-
-class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintAnimationLoop : public sofa::simulation::CollisionAnimationLoop
-{
-public:
-    typedef sofa::simulation::CollisionAnimationLoop Inherit;
-
-    SOFA_CLASS(ConstraintAnimationLoop, sofa::simulation::CollisionAnimationLoop);
-protected:
-    ConstraintAnimationLoop();
-    ~ConstraintAnimationLoop() override;
-public:
-
-    void step(const core::ExecParams* params, SReal dt) override;
-    void init() override;
-
-    Data<bool> d_displayTime; ///< Display time for each important step of ConstraintAnimationLoop.
-    Data<SReal> d_tol; ///< Tolerance of the Gauss-Seidel
-    Data<int> d_maxIt; ///< Maximum number of iterations of the Gauss-Seidel
-    Data<bool> d_doCollisionsFirst; ///< Compute the collisions first (to support penality-based contacts)
-    Data<bool> d_doubleBuffer; ///< Double the buffer dedicated to the constraint problem to make it accessible to another thread
-    Data<bool> d_scaleTolerance; ///< Scale the error tolerance with the number of constraints
-    Data<bool> d_allVerified; ///< All constraints must be verified (each constraint's error < tolerance)
-    Data<SReal> d_sor; ///< Successive Over Relaxation parameter (0-2)
-    Data<bool> d_schemeCorrection; ///< Apply new scheme where compliance is progressively corrected
-    Data<bool> d_realTimeCompensation; ///< If the total computational time T < dt, sleep(dt-T)
-
-    Data<bool> d_activateSubGraph;
-
-    Data<std::map < std::string, sofa::type::vector<SReal> > > d_graphErrors; ///< Sum of the constraints' errors at each iteration
-    Data<std::map < std::string, sofa::type::vector<SReal> > > d_graphConstraints; ///< Graph of each constraint's error at the end of the resolution
-    Data<std::map < std::string, sofa::type::vector<SReal> > > d_graphForces; ///< Graph of each constraint's force at each step of the resolution
-
-    ConstraintProblem *getConstraintProblem() {return bufCP1 ? &CP1 : &CP2;}
-
-protected:
-    void launchCollisionDetection(const core::ExecParams* params);
-    void freeMotion(const core::ExecParams* params, simulation::Node *context, SReal &dt);
-    void setConstraintEquations(const core::ExecParams* params, simulation::Node *context);
-    void correctiveMotion(const core::ExecParams* params, simulation::Node *context);
-    void debugWithContact(int numConstraints);
-
-    ///  Specific procedures that are called for setting the constraints:
-
-    /// 1.calling resetConstraint & setConstraint & accumulateConstraint visitors
-    /// and resize the constraint problem that will be solved
-    void writeAndAccumulateAndCountConstraintDirections(const core::ExecParams* params, simulation::Node *context, unsigned int &numConstraints);
-
-    /// 2.calling GetConstraintViolationVisitor: each constraint provides its present violation
-    /// for a given state (by default: free_position TODO: add VecId to make this method more generic)
-    void getIndividualConstraintViolations(const core::ExecParams* params, simulation::Node *context);
-
-    /// 3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations
-    void getIndividualConstraintSolvingProcess(const core::ExecParams* params, simulation::Node *context);
-
-    /// 4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht
-    virtual void computeComplianceInConstraintSpace();
-
-
-    /// method for predictive scheme:
-    void computePredictiveForce(int dim, SReal* force, std::vector<core::behavior::ConstraintResolution*>& res);
-
-
-
-    void gaussSeidelConstraint(int dim, SReal* dfree, SReal** w, SReal* force, SReal* d, std::vector<core::behavior::ConstraintResolution*>& res, SReal* df);
-
-    std::vector<core::behavior::BaseConstraintCorrection*> constraintCorrections;
-
-
-    virtual ConstraintProblem* getCP();
-
-    sofa::helper::system::thread::CTime *timer;
-    SReal timeScale, time ;
-
-
-    unsigned int numConstraints;
-
-    bool bufCP1;
-    SReal compTime, iterationTime;
-
-private:
-    ConstraintProblem CP1, CP2;
-};
-
-} //namespace sofa::component::animationloop
+SOFA_HEADER_DISABLED_NOT_REPLACED("v26.06", "v26.12")

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/init.cpp

@@ -26,7 +26,6 @@
 namespace sofa::component::animationloop
 {
 
-extern void registerConstraintAnimationLoop(sofa::core::ObjectFactory* factory);
 extern void registerFreeMotionAnimationLoop(sofa::core::ObjectFactory* factory);
 extern void registerMultiStepAnimationLoop(sofa::core::ObjectFactory* factory);
 extern void registerMultiTagAnimationLoop(sofa::core::ObjectFactory* factory);
@@ -55,7 +54,6 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    registerConstraintAnimationLoop(factory);
     registerFreeMotionAnimationLoop(factory);
     registerMultiStepAnimationLoop(factory);
     registerMultiTagAnimationLoop(factory);

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl

@@ -355,7 +355,8 @@ void PenalityContactForceField<DataTypes>::grabPoint(
             {
                 if (contactsRef[i].m1 == index[j])
                 {
-                    result.push_back(std::make_pair(static_cast< core::objectmodel::BaseComponent *>(this),mstate2Pos[contactsRef[i].m2]));
+                    const auto& p2 = mstate2Pos[contactsRef[i].m2];
+                    result.push_back(std::make_pair(static_cast< core::objectmodel::BaseComponent *>(this), type::Vec3f(p2[0], p2[1], p2[2])));
                     triangle.push_back(contactsRef[i].index2);
                     index_point.push_back(index[j]);
                 }
@@ -371,7 +372,8 @@ void PenalityContactForceField<DataTypes>::grabPoint(
             {
                 if (contactsRef[i].m2 == index[j])
                 {
-                    result.push_back(std::make_pair(static_cast< core::objectmodel::BaseComponent *>(this), mstate1Pos[contactsRef[i].m1]));
+                    const auto& p1 = mstate1Pos[contactsRef[i].m1];
+                    result.push_back(std::make_pair(static_cast< core::objectmodel::BaseComponent *>(this), type::Vec3f(p1[0], p1[1], p1[2])));
                     triangle.push_back(contactsRef[i].index1);
                     index_point.push_back(index[j]);
                 }

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h

@@ -101,7 +101,6 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint<DataTypes
     Data<VecDeriv> d_restVector; ///< Relative position to maintain between attached points (optional)
     VecCoord initialDifference;
 
-    SOFA_ATTRIBUTE_DISABLED__BILATERALREMOVEUNUSEDTOLERANCE() DeprecatedAndRemoved d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001
 
     Data<bool> d_activate; ///< control constraint activation (true by default)
     Data<bool> d_keepOrientDiff; ///< keep the initial difference in orientation (only for rigids)

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.inl

@@ -23,7 +23,7 @@
 #pragma once
 #include <sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h>
 
-#include <sofa/core/behavior/Constraint.inl>
+#include <sofa/core/behavior/LagrangianConstraint.inl>
 #include <sofa/core/objectmodel/Data.h>
 #include <sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h>
 

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in

@@ -36,13 +36,3 @@ namespace sofa::component::constraint::lagrangian::model
 	constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
 	constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
 } // namespace sofa::component::constraint::lagrangian::model
-
-
-#ifdef SOFA_BUILD_SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL
-#define SOFA_ATTRIBUTE_DISABLED__BILATERALREMOVEUNUSEDTOLERANCE()
-#else
-#define SOFA_ATTRIBUTE_DISABLED__BILATERALREMOVEUNUSEDTOLERANCE() \
-    SOFA_ATTRIBUTE_DISABLED( \
-        "v25.06", "v25.12", \
-        "Data \'d_numericalTolerance\' has been removed since it was actually not taken into account")
-#endif

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h

@@ -81,22 +81,22 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
     Data<SReal> d_mu; ///< Friction coefficient
     Data<SReal> d_minW; ///< If not zero, constraints whose self-compliance (i.e. the corresponding value on the diagonal of W) is smaller than this threshold will be ignored
     Data<SReal> d_maxF; ///< If not zero, constraints whose response force becomes larger than this threshold will be ignored
-    DeprecatedAndRemoved d_multi_grid; ///< activate multi_grid resolution (NOT STABLE YET)
-    DeprecatedAndRemoved d_multi_grid_levels; ///< if multi_grid is active: how many levels to create (>=2)
-    DeprecatedAndRemoved d_merge_method; ///< if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates)
-    DeprecatedAndRemoved d_merge_spatial_step; ///< if merge_method is 1: grid size reduction between multigrid levels
-    DeprecatedAndRemoved d_merge_local_levels; ///< if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs.
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_multi_grid; ///< activate multi_grid resolution (NOT STABLE YET)
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_multi_grid_levels; ///< if multi_grid is active: how many levels to create (>=2)
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_merge_method; ///< if multi_grid is active: which method to use to merge constraints (0 = compliance-based, 1 = spatial coordinates)
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_merge_spatial_step; ///< if merge_method is 1: grid size reduction between multigrid levels
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_merge_local_levels; ///< if merge_method is 1: up to the specified level of the multigrid, constraints are grouped locally, i.e. separately within each contact pairs, while on upper levels they are grouped globally independently of contact pairs.
     Data<type::vector< SReal >> d_constraintForces; ///< OUTPUT: constraint forces (stored only if computeConstraintForces=True)
     Data<bool> d_computeConstraintForces; ///< The indices of the constraintForces to store in the constraintForce data field
 
     Data < std::set<int> > d_constraintGroups; ///< list of ID of groups of constraints to be handled by this solver.
 
     Data<std::map < std::string, sofa::type::vector<SReal> > > d_graph; ///< Graph of residuals at each iteration
 
-    DeprecatedAndRemoved d_showLevels; ///< Number of constraint levels to display
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_showLevels; ///< Number of constraint levels to display
     Data<SReal> d_showCellWidth; ///< Distance between each constraint cells
     Data<type::Vec3> d_showTranslation; ///< Position of the first cell
-    DeprecatedAndRemoved d_showLevelTranslation; ///< Translation between levels
+    SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() DeprecatedAndRemoved d_showLevelTranslation; ///< Translation between levels
 
     ConstraintProblem* getConstraintProblem() override;
     void lockConstraintProblem(sofa::core::objectmodel::BaseComponent* from, ConstraintProblem* p1, ConstraintProblem* p2=nullptr) override; ///< Do not use the following LCPs until the next call to this function. This is used to prevent concurrent access to the LCP when using a LCPForceFeedback through an haptic thread

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/config.h.in

@@ -31,6 +31,13 @@
 #  define SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API SOFA_IMPORT_DYNAMIC_LIBRARY
 #endif
 
+#ifdef SOFA_BUILD_SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER
+#define SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID()
+#else
+#define SOFA_ATTRIBUTE_DISABLED__LCPCONSTRAINTSOLVERMULTIGRID() \
+    SOFA_ATTRIBUTE_DISABLED("v25.12", "v27.06", "Multigrid support has been removed from LCPConstraintSolver.")
+#endif
+
 namespace sofa::component::constraint::lagrangian::solver
 {
 	constexpr const char* MODULE_NAME = "@PROJECT_NAME@";

Sofa/Component/Diffusion/src/sofa/component/diffusion/TetrahedronDiffusionFEMForceField.h

@@ -99,10 +99,6 @@ class TetrahedronDiffusionFEMForceField : public core::behavior::ForceField<Data
       Data<Real> d_constantDiffusionCoefficient;
       /// Vector of diffusivities associated with all tetras
       Data<sofa::type::vector<Real> > d_tetraDiffusionCoefficient;
-      /// bool used to specify 1D diffusion
-      /// This data is now useless, as it can be deduced from the template
-      DeprecatedAndRemoved d_1DDiffusion;
-
       /// Ratio for anisotropic diffusion
       Data<Real> d_transverseAnisotropyRatio;
       /// Vector for transverse anisotropy

Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/EigenDirectSparseSolver.h

@@ -68,7 +68,6 @@ class EigenDirectSparseSolver
 
 protected:
 
-    DeprecatedAndRemoved d_orderingMethod;
     std::string m_selectedOrderingMethod;
 
     std::unique_ptr<BaseEigenSolverProxy> m_solver;

Sofa/Component/LinearSolver/Iterative/CMakeLists.txt

@@ -16,8 +16,6 @@ set(HEADER_FILES
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MatrixLinearSystem[GraphScattered].h
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MinResLinearSolver.h
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/MinResLinearSolver.inl
-    ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/ShewchukPCGLinearSolver.h
-    ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/ShewchukPCGLinearSolver.inl
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/PCGLinearSolver.h
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/PCGLinearSolver.inl
     ${SOFACOMPONENTLINEARSOLVERITERATIVE_SOURCE_DIR}/PreconditionedMatrixFreeSystem.h

Sofa/Component/LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/MatrixLinearSolver.h

@@ -65,9 +65,6 @@ class BaseMatrixLinearSolver : public sofa::core::behavior::LinearSolver
 
     virtual void solve(Matrix& M, Vector& solution, Vector& rh) = 0;
 
-    SOFA_ITERATIVE_SOLVER_ATTRIBUTE_REMOVE_ASSEMBLY_API()
-    virtual Matrix * getSystemMatrix() final = delete;
-
 };
 
 /// Empty class used for default solver implementation without multi-threading support
@@ -194,10 +191,6 @@ class MatrixLinearSolver<Matrix,Vector,NoThreadManager> : public BaseMatrixLinea
 
     void init() override;
 
-    /// Reset the current linear system.
-    SOFA_ITERATIVE_SOLVER_ATTRIBUTE_REMOVE_ASSEMBLY_API()
-    void resizeSystem(Size n) = delete;
-
     /// Get the linear system right-hand term vector, or nullptr if this solver does not build it
     SOFA_ITERATIVE_SOLVER_ATTRIBUTE_DISABLED_ASSEMBLY_API()
     Vector* getSystemRHVector() = delete;
@@ -212,10 +205,6 @@ class MatrixLinearSolver<Matrix,Vector,NoThreadManager> : public BaseMatrixLinea
     /// Solve the system as constructed using the previous methods
     void solveSystem() override;
 
-    /// Apply the solution of the system to all the objects
-    SOFA_ITERATIVE_SOLVER_ATTRIBUTE_REMOVE_ASSEMBLY_API()
-    void applySystemSolution() = delete;
-
     /// Invert the system, this method is optional because it's call when solveSystem() is called for the first time
     void invertSystem() override;
 
@@ -332,12 +321,6 @@ class MatrixLinearSolver<Matrix,Vector,NoThreadManager> : public BaseMatrixLinea
 
     virtual MatrixInvertData * createInvertData();
 
-    SOFA_ITERATIVE_SOLVER_ATTRIBUTE_REMOVE_ASSEMBLY_API()
-    DeprecatedAndRemoved linearSystem;
-
-    SOFA_ITERATIVE_SOLVER_ATTRIBUTE_REMOVE_ASSEMBLY_API()
-    DeprecatedAndRemoved currentMFactor, currentBFactor, currentKFactor;
-
     bool singleThreadAddJMInvJtLocal(Matrix * /*M*/,ResMatrixType * result,const JMatrixType * J, SReal fact);
 
     Data<bool> d_factorizationInvalidation;