Cleaning + update accord to latest SOFA changes

src/ModelOrderReduction/component/contact/MORFrictionContact.h

@@ -27,7 +27,7 @@
 #include <sofa/core/collision/Contact.h>
 #include <sofa/core/collision/Intersection.h>
 #include <sofa/component/mapping/linear/BarycentricMapping.h>
-#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h>
 #include <ModelOrderReduction/component/contact/MORUnilateralInteractionConstraint.h>
 #include <sofa/helper/Factory.h>
 #include <sofa/component/collision/response/mapper/BaseContactMapper.h>

src/ModelOrderReduction/component/contact/MORFrictionContact.inl

@@ -97,7 +97,7 @@ void MORFrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::ac
         m_constraint = sofa::core::objectmodel::New<sofa::component::constraint::lagrangian::model::MORUnilateralInteractionConstraint<defaulttype::Vec3Types> >(mmodel1, mmodel2, d_lambdaModesPath.getValue(), d_lambdaModesCoeffsPath.getValue());
         m_constraint->setName( this->getName() );
         this->setInteractionTags(mmodel1, mmodel2);
-        m_constraint->setCustomTolerance( tol.getValue() );
+        m_constraint->setCustomTolerance( this->d_tol.getValue() );
     }
 
     int size = contacts.size();

src/ModelOrderReduction/component/contact/MORUnilateralInteractionConstraint.h

@@ -28,7 +28,7 @@
 #include <iostream>
 #include <map>
 #include <deque>
-#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h>
 #include <Eigen/Sparse>
 
 namespace sofa::component::constraint::lagrangian::model
@@ -56,10 +56,10 @@ class MORUnilateralConstraintResolution : public UnilateralConstraintResolution
 
 
 template<class DataTypes>
-class MORUnilateralInteractionConstraint : public UnilateralInteractionConstraint<DataTypes>
+class MORUnilateralInteractionConstraint : public UnilateralLagrangianConstraint<DataTypes>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE(MORUnilateralInteractionConstraint,DataTypes), SOFA_TEMPLATE(UnilateralInteractionConstraint,DataTypes));
+    SOFA_CLASS(SOFA_TEMPLATE(MORUnilateralInteractionConstraint,DataTypes), SOFA_TEMPLATE(UnilateralLagrangianConstraint,DataTypes));
 
     typedef typename DataTypes::VecCoord VecCoord;
     typedef typename DataTypes::VecDeriv VecDeriv;
@@ -100,13 +100,13 @@ class MORUnilateralInteractionConstraint : public UnilateralInteractionConstrain
 
 protected:
 
-    using UnilateralInteractionConstraint<DataTypes>::contacts;
-    using UnilateralInteractionConstraint<DataTypes>::epsilon;
-    using UnilateralInteractionConstraint<DataTypes>::yetIntegrated;
-    using UnilateralInteractionConstraint<DataTypes>::customTolerance;
+    using UnilateralLagrangianConstraint<DataTypes>::contacts;
+    using UnilateralLagrangianConstraint<DataTypes>::epsilon;
+    using UnilateralLagrangianConstraint<DataTypes>::yetIntegrated;
+    using UnilateralLagrangianConstraint<DataTypes>::customTolerance;
 
-    using UnilateralInteractionConstraint<DataTypes>::prevForces;
-    using UnilateralInteractionConstraint<DataTypes>::contactsStatus;
+    using UnilateralLagrangianConstraint<DataTypes>::prevForces;
+    using UnilateralLagrangianConstraint<DataTypes>::contactsStatus;
 
 //    /// Computes constraint violation
 //    in position and stores it into resolution global vector
@@ -116,7 +116,7 @@ class MORUnilateralInteractionConstraint : public UnilateralInteractionConstrain
 
 public:
 
-    using UnilateralInteractionConstraint<DataTypes>::constraintId;
+    using UnilateralLagrangianConstraint<DataTypes>::constraintId;
 protected:
     MORUnilateralInteractionConstraint(MechanicalState* object1=nullptr, MechanicalState* object2=nullptr, std::string lambdaModesPath=nullptr,std::string lambdaModesCoeffsPath=nullptr);
     ~MORUnilateralInteractionConstraint();

src/ModelOrderReduction/component/contact/MORUnilateralInteractionConstraint.inl

@@ -23,7 +23,7 @@
 #define MOR_MORUNILATERALINTERACTIONCONSTRAINT_INL
 
 #include "MORUnilateralInteractionConstraint.h"
-#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.inl>
+#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.inl>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/type/Vec.h>
 #include <sofa/type/RGBAColor.h>
@@ -36,7 +36,7 @@ namespace sofa::component::constraint::lagrangian::model
 using sofa::component::loader::MatrixLoader;
 template<class DataTypes>
 MORUnilateralInteractionConstraint<DataTypes>::MORUnilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2, std::string lambdaModesPath, std::string lambdaModesCoeffsPath)
-    : UnilateralInteractionConstraint<DataTypes>(object1,object2)
+    : UnilateralLagrangianConstraint<DataTypes>(object1,object2)
 {
     m_lambdaModesPath = lambdaModesPath;
     m_lambdaModesCoeffsPath = lambdaModesCoeffsPath;
@@ -61,7 +61,7 @@ void MORUnilateralInteractionConstraint<DataTypes>::buildConstraintMatrix(const
 {
     assert(this->mstate1);
     assert(this->mstate2);
-    double myMuForAllContacts;
+    double myMuForAllContacts {};
     reducedContacts.resize(0);
     if (this->mstate1 == this->mstate2)
     {
@@ -189,7 +189,7 @@ void MORUnilateralInteractionConstraint<DataTypes>::getConstraintViolation(const
 
     case core::ConstraintParams::ACC :
     case core::ConstraintParams::VEL :
-        UnilateralInteractionConstraint<DataTypes>::getVelocityViolation(v);
+        UnilateralLagrangianConstraint<DataTypes>::getVelocityViolation(v);
         break;
 
     default :
@@ -315,7 +315,7 @@ void MORUnilateralInteractionConstraint<DataTypes>::getConstraintResolution(cons
         if(c.mu > 0.0)
         {
             i = i+2;
-            UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.mu, NULL, &contactsStatus[i]);
+            UnilateralConstraintResolutionWithFriction* ucrwf = new UnilateralConstraintResolutionWithFriction(c.mu, nullptr, &contactsStatus[i]);
             ucrwf->setTolerance(customTolerance);
             resTab[offset] = ucrwf;
             // TODO : cette méthode de stockage des forces peu mal fonctionner avec 2 threads quand on utilise l'haptique

src/ModelOrderReduction/component/contact/MORpointModel.inl

@@ -121,7 +121,7 @@ void MORPointCollisionModel<DataTypes>::draw(const core::visual::VisualParams* v
         vparams->drawTool()->drawPoints(pointsP, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));
         vparams->drawTool()->drawLines(pointsL, 3, type::RGBAColor(color[0], color[1], color[2], color[3]));
 
-        if (m_displayFreePosition.getValue())
+        if (this->d_displayFreePosition.getValue())
         {
             std::vector< type::Vec3 > pointsPFree;
 

src/ModelOrderReduction/component/forcefield/HyperReducedHexahedronFEMForceField.inl

@@ -172,7 +172,7 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::addDForce (const core::Mech
         }
 
         Displacement F;
-        this->computeForce( F, X, _elementStiffnesses.getValue()[i] );
+        this->computeForce( F, X, this->d_elementStiffnesses.getValue()[i] );
         for(int w=0; w<8; ++w)
         {
             Deriv contrib = _rotations[i].multTranspose(Deriv(F[w*3], F[w*3+1], F[w*3+2])) * kFactor;
@@ -219,12 +219,12 @@ template<class DataTypes>
     }
 
 
-    if(f_updateStiffnessMatrix.getValue())
-        this->computeElementStiffness( (*_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );
+    if(this->d_updateStiffnessMatrix.getValue())
+        this->computeElementStiffness( (*this->d_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );
 
 
     Displacement F; //forces
-    this->computeForce( F, D, _elementStiffnesses.getValue()[i] ); // compute force on element
+    this->computeForce( F, D, this->d_elementStiffnesses.getValue()[i] ); // compute force on element
 
     for(int w=0; w<8; ++w)
         f[elem[w]] += Deriv( F[w*3],  F[w*3+1],   F[w*3+2]  ) ;
@@ -279,12 +279,12 @@ template<class DataTypes>
     }
 
 
-    if(f_updateStiffnessMatrix.getValue())
-        this->computeElementStiffness( (*_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );
+    if(this->d_updateStiffnessMatrix.getValue())
+        this->computeElementStiffness( (*this->d_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0 );
 
 
     Displacement F; //forces
-    this->computeForce( F, D, _elementStiffnesses.getValue()[i] ); // compute force on element
+    this->computeForce( F, D, this->d_elementStiffnesses.getValue()[i] ); // compute force on element
     std::vector<Deriv> contrib;
     std::vector<unsigned int> indexList;
     contrib.resize(8);
@@ -359,13 +359,13 @@ template<class DataTypes>
     //forces
     Displacement F;
 
-    if(f_updateStiffnessMatrix.getValue())
+    if(this->d_updateStiffnessMatrix.getValue())
 // 		this->computeElementStiffness( _elementStiffnesses[i], _materialsStiffnesses[i], deformed );
-        this->computeElementStiffness( (*_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0);
+        this->computeElementStiffness( (*this->d_elementStiffnesses.beginEdit())[i], _materialsStiffnesses[i], deformed, i, _sparseGrid?_sparseGrid->getStiffnessCoef(i):1.0);
 
 
     // compute force on element
-    this->computeForce( F, D, _elementStiffnesses.getValue()[i] );
+    this->computeForce( F, D, this->d_elementStiffnesses.getValue()[i] );
 
 
     for(int j=0; j<8; ++j)
@@ -397,15 +397,15 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::buildStiffnessMatrix(
     constexpr auto S = DataTypes::deriv_total_size; // size of node blocks
     constexpr auto N = Element::size();
 
-    const auto& stiffnesses = _elementStiffnesses.getValue();
+    const auto& stiffnesses = this->d_elementStiffnesses.getValue();
     const auto* indexedElements = this->getIndexedElements();
     sofa::type::Mat<3, 3, Real> localMatrix(type::NOINIT);
 
     auto dfdx = matrix->getForceDerivativeIn(this->mstate)
                        .withRespectToPositionsIn(this->mstate);
 
 
-    typename VecElement::const_iterator it, it0;
+    VecElement::const_iterator it, it0;
 
     it0 = indexedElements->begin();
     std::size_t nbElementsConsidered;
@@ -453,7 +453,7 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::draw(const core::visual::Vi
 {
     if (!vparams->displayFlags().getShowForceFields()) return;
     if (!this->mstate) return;
-    if (!f_drawing.getValue()) return;
+    if (!this->d_drawing.getValue()) return;
 
 
     const VecCoord& x = this->mstate->read(core::ConstVecCoordId::position())->getValue();
@@ -495,7 +495,7 @@ void HyperReducedHexahedronFEMForceField<DataTypes>::draw(const core::visual::Vi
         Index g = (*it)[6];
 
         Coord center = (x[a]+x[b]+x[c]+x[d]+x[e]+x[g]+x[f]+x[h])*0.125;
-        Real percentage = f_drawPercentageOffset.getValue();
+        Real percentage = this->d_drawPercentageOffset.getValue();
         Coord pa = x[a]-(x[a]-center)*percentage;
         Coord pb = x[b]-(x[b]-center)*percentage;
         Coord pc = x[c]-(x[c]-center)*percentage;

src/ModelOrderReduction/component/forcefield/HyperReducedTetrahedralCorotationalFEMForceField.h

@@ -108,21 +108,20 @@ class HyperReducedTetrahedralCorotationalFEMForceField : public virtual Tetrahed
 
 
     using TetrahedralCorotationalFEMForceField<DataTypes>::method;
-    using TetrahedralCorotationalFEMForceField<DataTypes>::f_method; ///< the computation method of the displacements
-    using TetrahedralCorotationalFEMForceField<DataTypes>::_poissonRatio; ///< FEM Poisson Ratio
-    using TetrahedralCorotationalFEMForceField<DataTypes>::_youngModulus; ///< FEM Young Modulus
-    using TetrahedralCorotationalFEMForceField<DataTypes>::_localStiffnessFactor; ///< Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N]
-    using TetrahedralCorotationalFEMForceField<DataTypes>::_updateStiffnessMatrix;
-    using TetrahedralCorotationalFEMForceField<DataTypes>::_assembling;
-    using TetrahedralCorotationalFEMForceField<DataTypes>::f_drawing; ///<  draw the forcefield if true
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_method; ///< the computation method of the displacements
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_poissonRatio; ///< FEM Poisson Ratio
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_youngModulus; ///< FEM Young Modulus
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_localStiffnessFactor; ///< Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N]
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_updateStiffnessMatrix;
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_assembling;
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawing; ///<  draw the forcefield if true
     using TetrahedralCorotationalFEMForceField<DataTypes>::_displayWholeVolume;
-    using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor1; ///<  draw color for faces 1
-    using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor2; ///<  draw color for faces 2
-    using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor3; ///<  draw color for faces 3
-    using TetrahedralCorotationalFEMForceField<DataTypes>::drawColor4; ///<  draw color for faces 4
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor1; ///<  draw color for faces 1
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor2; ///<  draw color for faces 2
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor3; ///<  draw color for faces 3
+    using TetrahedralCorotationalFEMForceField<DataTypes>::d_drawColor4; ///<  draw color for faces 4
     using TetrahedralCorotationalFEMForceField<DataTypes>::_volumeGraph;
-protected:
-    HyperReducedTetrahedralCorotationalFEMForceField();
+
 public:
 
     virtual void init() override;