Follow SOFA Lifecycle v24.06 (#102)

src/Cosserat/constraint/CosseratActuatorConstraint.inl

@@ -83,7 +83,8 @@ void CosseratActuatorConstraint<DataTypes>::internalInit()
     if(d_value.getValue().size()==0)
     {
         WriteAccessor<Data<vector<Real>>> value = d_value;
-        value.resize(1,0.);
+        value.resize(1);
+        value[0] = 0.;
     }
 
     // check for errors in the initialization

src/Cosserat/constraint/CosseratNeedleSlidingConstraint.h

@@ -109,13 +109,11 @@ namespace sofa::component::constraintset
             j.multTransposeBaseVector(res, lambda); // lambda is a vector of scalar value so block size is one.
         }
 
-         void storeLambda(const ConstraintParams */*cParams*/, MultiVecDerivId res, const sofa::linearalgebra::BaseVector *lambda) override
+         void storeLambda(const ConstraintParams *cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector *lambda) override
          {
-            // if (cParams)
-            // {
-            //     storeLambda(cParams, *res[m_state1->getMstate()].write(), *cParams->readJ(m_state1->getMstate()), lambda);
-            //     storeLambda(cParams, *res[m_state2->getMstate()].write(), *cParams->readJ(m_state2->getMstate()), lambda);
-            // }
+            SOFA_UNUSED(cParams);
+            SOFA_UNUSED(res);
+            SOFA_UNUSED(lambda);
          }
 
     protected:

src/Cosserat/constraint/CosseratNeedleSlidingConstraint.inl

@@ -32,7 +32,7 @@
 
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/type/Vec.h>
-#include <sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>
 #include "CosseratNeedleSlidingConstraint.h"
 
 namespace sofa::component::constraintset
@@ -91,7 +91,8 @@ namespace sofa::component::constraintset
     if (d_value.getValue().size() == 0)
     {
       WriteAccessor<Data<vector<Real>>> value = d_value;
-      value.resize(1, 0.);
+      value.resize(1);
+      value[0] = 0.;
     }
 
     // check for errors in the initialization

src/Cosserat/constraint/QPSlidingConstraint.h

@@ -35,7 +35,7 @@
 
 #include <SoftRobots/component/constraint/model/CableModel.h>
 #include <SoftRobots/component/behavior/SoftRobotsConstraint.h>
-#include <sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>
 
 namespace sofa::component::constraintset
 {

src/Cosserat/constraint/QPSlidingConstraint.inl

@@ -32,7 +32,7 @@
 
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/type/Vec.h>
-#include <sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>
 
 #include "QPSlidingConstraint.h"
 
@@ -95,7 +95,8 @@ void QPSlidingConstraint<DataTypes>::internalInit()
     if(d_value.getValue().size()==0)
     {
         WriteAccessor<Data<vector<Real>>> value = d_value;
-        value.resize(1,0.);
+        value.resize(1);
+        value[0] = 0.;
     }
 
     // check for errors in the initialization
@@ -205,8 +206,7 @@ void QPSlidingConstraint<DataTypes>::getConstraintResolution(const ConstraintPar
                                                              unsigned int& offset)
 {
     ReadAccessor<Data<VecCoord>> positions = m_state->readPositions();
-    //    std::cout << "The position size is : " << positions.size()<< std::endl;
-    double imposedValue= 1.0;
+
     for (size_t i = 0; i < positions.size(); i++){
 
         resTab[offset++] = new BilateralConstraintResolution();
@@ -215,13 +215,13 @@ void QPSlidingConstraint<DataTypes>::getConstraintResolution(const ConstraintPar
             resTab[offset++] = new BilateralConstraintResolution();
         }
     }
-    //    std::cout << "The position size is END " << std::endl;
 }
 
 
 template<class DataTypes>
 void QPSlidingConstraint<DataTypes>::draw(const VisualParams* vparams)
 {
+    SOFA_UNUSED(vparams);
     if(d_componentState.getValue() != ComponentState::Valid)
         return ;
 

src/Cosserat/engine/CosseratState.h

@@ -35,7 +35,7 @@ namespace sofa::component::container
     using namespace core::objectmodel;
     using namespace sofa::defaulttype;
     using namespace sofa::core::topology;
-    using sofa::defaulttype::Vector3;
+    using sofa::type::Vec3;
 
     template <class DataTypes>
     class TemperatureState : public sofa::component::container::MechanicalObject<DataTypes>

src/Cosserat/engine/PointsManager.h

@@ -43,8 +43,8 @@ namespace sofa::core::behavior
         PointSetTopologyModifier *m_modifier;
         core::behavior::MechanicalState<DataTypes> *m_beam;
 
-        void init();
-        void handleEvent(sofa::core::objectmodel::Event *event);
+        void init() override;
+        void handleEvent(sofa::core::objectmodel::Event *event) override;
         // void draw(const core::visual::VisualParams *vparams);
 
         void addNewPointToState();

src/Cosserat/engine/PointsManager.inl

@@ -76,10 +76,8 @@ namespace sofa::core::behavior
     {
         helper::WriteAccessor<Data<VecCoord>> x = *this->getMstate()->write(core::VecCoordId::position());
         helper::WriteAccessor<Data<VecCoord>> xfree = *this->getMstate()->write(core::VecCoordId::freePosition());
-        const helper::ReadAccessor<Data<VecCoord>> &beam = m_beam->readPositions();
         unsigned nbPoints = this->getTopology()->getNbPoints(); // do not take the last point because there is a bug
 
-        size_t beamSz = beam.size();
         sofa::type::vector<unsigned int> Indices;
         if (nbPoints > 0)
         {

src/Cosserat/mapping/BaseCosserat.h

@@ -38,7 +38,7 @@ using sofa::defaulttype::SolidTypes ;
 using sofa::core::objectmodel::BaseContext ;
 using sofa::type::Matrix3;
 using sofa::type::Matrix4;
-using type::Vector3;
+using type::Vec3;
 using type::Vec6;
 using std::get;
 using sofa::core::objectmodel::BaseObject;

src/Cosserat/mapping/DifferenceMultiMapping.inl

@@ -701,7 +701,7 @@ namespace sofa::component::mapping
 
             if (d_lastPointIsFixed.getValue())
             {
-                if ((rowIt.index() / 2) < (x1from.size() - 1))
+                if ((rowIt.index() / 2) < (int)(x1from.size() - 1))
                 {
                     while (colIt != colItEnd)
                     {

src/Cosserat/mapping/DiscreteCosseratMapping.h

@@ -108,7 +108,7 @@ class DiscreteCosseratMapping : public core::Multi2Mapping<TIn1, TIn2, TOut>, pu
     Data<Real2>                             d_min;
     Data<Real1>                             d_radius ;
     Data<bool>                              d_drawMapBeam ;
-    Data<type::Vec4f>                       d_color;
+    Data<sofa::type::RGBAColor>             d_color;
     Data<type::vector<int> >                d_index;
     Data<unsigned int>                      d_baseIndex;
 

src/Cosserat/mapping/DiscreteCosseratMapping.inl

@@ -60,7 +60,7 @@ DiscreteCosseratMapping<TIn1, TIn2, TOut>::DiscreteCosseratMapping()
                                  "the axis in which we want to show the deformation.\n"))
     , d_drawMapBeam(initData(&d_drawMapBeam, true,"nonColored", "if this parameter is false, you draw the beam with "
                                                                 "color according to the force apply to each beam"))
-    , d_color(initData(&d_color, type::Vec4f (40/255.0, 104/255.0, 137/255.0, 0.8) ,"color", "The default beam color"))
+    , d_color(initData(&d_color, sofa::type::RGBAColor(40/255.0, 104/255.0, 137/255.0, 0.8) ,"color", "The default beam color"))
     , d_index(initData(&d_index, "index", "if this parameter is false, you draw the beam with color "
                                                           "according to the force apply to each beam"))
     , d_baseIndex(initData(&d_baseIndex, (unsigned int) 0, "baseIndex", "This parameter defines the index of the rigid "
@@ -588,7 +588,7 @@ void DiscreteCosseratMapping<TIn1, TIn2, TOut>::draw(const core::visual::VisualP
     glLineWidth(d_radius.getValue());
     glBegin(GL_LINES);
     if(d_drawMapBeam.getValue()){
-        type::Vec4f _color = d_color.getValue();
+        sofa::type::RGBAColor _color = d_color.getValue();
         RGBAColor colorL = RGBAColor(_color[0],_color[1],_color[2],_color[3]);
         glColor4f(colorL[0], colorL[1], colorL[2],colorL[3]);
         for (unsigned int i=0; i<sz-1; i++) {

src/Cosserat/mapping/DiscreteDynamicCosseratMapping.h

@@ -35,7 +35,7 @@ using sofa::defaulttype::SolidTypes ;
 using sofa::core::objectmodel::BaseContext ;
 using sofa::type::Matrix3;
 using sofa::type::Matrix4;
-using type::Vector3;
+using type::Vec3;
 using type::Vec6;
 using std::get;
 

src/Cosserat/mapping/DiscreteDynamicCosseratMapping.inl

@@ -265,7 +265,6 @@ void DiscreteDynamicCosseratMapping<TIn1, TIn2, TOut>::computeJ_Jdot_i(const Mat
 	Mat6x6 M;
 
 	Mat6x3 Si_dot;
-	Mat6x6 M_dot;
 	Mat6x6 adj_eta; //to be computed
 	//std::cout << "indice vector : "<< this->m_indicesVectors <<" vecId :"<< this->m_indicesVectors[frameId] << std::endl;
 	//std::cout << "this->m_framesTangExpVectors[frameId]  :"<< this->m_framesTangExpVectors[frameId] << std::endl;

src/Cosserat/mapping/LegendrePolynomialsMapping.h

@@ -20,7 +20,7 @@ namespace sofa::component::mapping {
     using sofa::core::objectmodel::BaseContext;
     using sofa::type::Matrix3;
     using sofa::type::Matrix4;
-    using type::Vector3;
+    using type::Vec3;
     using type::Vec6;
     using std::get;
 

src/Cosserat/mapping/LegendrePolynomialsMapping.inl

@@ -92,7 +92,6 @@ namespace sofa::component::mapping {
         helper::ReadAccessor< Data<InVecDeriv> > velIn = dIn;
 
         helper::WriteOnlyAccessor< Data<VecDeriv> > out = dOut;
-        helper::ReadAccessor< Data<InVecDeriv> > in = dIn;
 
         const auto sz = d_vectorOfCurvilinearAbscissa.getValue().size();
         out.resize(sz-1);

src/Cosserat/mapping/RigidDistanceMapping.cpp

@@ -19,7 +19,7 @@
 *                                                                             *
 * Contact information: [email protected]                             *
 ******************************************************************************/
-#pragma once
+#define SOFA_COSSERAT_CPP_RigidDistanceMapping
 #include "RigidDistanceMapping.inl"
 #include <sofa/defaulttype/VecTypes.h>
 #include <sofa/defaulttype/RigidTypes.h>

src/Cosserat/mapping/RigidDistanceMapping.inl

@@ -45,8 +45,7 @@ namespace sofa::component::mapping
 
 template <class TIn1, class TIn2, class TOut>
 RigidDistanceMapping<TIn1, TIn2, TOut>::RigidDistanceMapping()
-    : m_toModel(NULL)
-    , d_index1(initData(&d_index1, "first_point", "index of the first model \n"))
+    : d_index1(initData(&d_index1, "first_point", "index of the first model \n"))
     , d_index2(initData(&d_index2, "second_point", "index of the second model \n"))
     , d_max(initData(&d_max, (Real)1.0e-2, "max", "the maximum of the deformation.\n"))
     , d_min(initData(&d_min, (Real)0.0, "min", "the minimum of the deformation.\n"))
@@ -55,6 +54,7 @@ RigidDistanceMapping<TIn1, TIn2, TOut>::RigidDistanceMapping()
     , d_index(initData(&d_index, "index", "if this parameter is false, you draw the beam with color "
                                                           "according to the force apply to each beam"))
     , d_debug(initData(&d_debug, false, "debug", "show debug output.\n"))
+    , m_toModel(NULL)
 {
         d_debug.setValue(false);
 }
@@ -139,8 +139,6 @@ void RigidDistanceMapping<TIn1, TIn2, TOut>:: applyJ(
     const auto &m1Indices = d_index1.getValue();
     const auto &m2Indices = d_index2.getValue();
 
-    SpatialVector vDOF1, vDOF2;
-
     for (sofa::Index index = 0; index < m_minInd; index++) {
         getVCenter(outVel[index]) = getVCenter(in2Vel[m2Indices[index]]) - getVCenter(in1Vel[m1Indices[index]]);
         getVOrientation(outVel[index]) =  getVOrientation(in2Vel[m2Indices[index]]) - getVOrientation(in1Vel[m1Indices[index]]) ;