[DefaultType] Extract inner classes from SolidTypes in files (sofa-fr…

…amework#4513) * Move SpatialVector in its own file * Move Transform in its own file * Move both files in Sofa.Type * Change types from inner class of SolidTypes to its true type
mimesis-inria · Feb 27, 2024 · 251fd89 · 251fd89
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Showing 21 changed files with 839 additions and 635 deletions.
diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.cpp b/Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.cpp
@@ -36,7 +36,7 @@ void ForceFeedback::init()
     context = sofa::simulation::node::getNodeFrom(getContext());
 }
 
-void ForceFeedback::setReferencePosition(sofa::defaulttype::SolidTypes<SReal>::Transform& referencePosition)
+void ForceFeedback::setReferencePosition(sofa::type::Transform<SReal>& referencePosition)
 {
     SOFA_UNUSED(referencePosition);
 }

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.h b/Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.h
@@ -25,7 +25,7 @@
 
 #include <sofa/simulation/fwd.h>
 #include <sofa/core/behavior/BaseController.h>
-#include <sofa/defaulttype/SolidTypes.h>
+#include <sofa/type/Transform.h>
 #include <sofa/defaulttype/RigidTypes.h>
 
 namespace sofa::component::haptics
@@ -48,11 +48,11 @@ class SOFA_COMPONENT_HAPTICS_API ForceFeedback : public virtual core::behavior::
                               SReal u, SReal v, SReal w,
                               SReal q, SReal& fx, SReal& fy, SReal& fz) = 0;
 
-    virtual void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &,
-                               const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &,
-                               sofa::defaulttype::SolidTypes<SReal>::SpatialVector & )=0;
+    virtual void computeWrench(const sofa::type::Transform<SReal> &,
+                               const sofa::type::SpatialVector<SReal> &,
+                               sofa::type::SpatialVector<SReal> & )=0;
 
-    virtual void setReferencePosition(sofa::defaulttype::SolidTypes<SReal>::Transform& referencePosition);
+    virtual void setReferencePosition(sofa::type::Transform<SReal>& referencePosition);
     virtual bool isEnabled();
 
     /// Abstract method to lock or unlock the force feedback computation. To be implemented by child class if needed

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.cpp b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.cpp
@@ -45,9 +45,9 @@ void LCPForceFeedback< Rigid3Types >::computeForce(SReal x, SReal y, SReal z, SR
 
 
 template <>
-void LCPForceFeedback< Rigid3Types >::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool,
-        const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &/*V_tool_world*/,
-        sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world )
+void LCPForceFeedback< Rigid3Types >::computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
+        const sofa::type::SpatialVector<SReal> &/*V_tool_world*/,
+        sofa::type::SpatialVector<SReal> &W_tool_world )
 {
     if (!this->d_activate.getValue())
     {

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h
@@ -75,9 +75,9 @@ class LCPForceFeedback : public MechanicalStateForceFeedback<TDataTypes>
     void computeForce(SReal x, SReal y, SReal z,
                       SReal u, SReal v, SReal w,
                       SReal q, SReal& fx, SReal& fy, SReal& fz) override;
-    void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool,
-                       const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &V_tool_world,
-                       sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world ) override;
+    void computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
+                       const sofa::type::SpatialVector<SReal> &V_tool_world,
+                       sofa::type::SpatialVector<SReal> &W_tool_world ) override;
     void computeForce(const  VecCoord& state,  VecDeriv& forces) override;
 
 protected:

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.inl b/Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.inl
@@ -412,9 +412,9 @@ void LCPForceFeedback<DataTypes>::computeForce(SReal , SReal, SReal, SReal, SRea
 
 
 template <typename DataTypes>
-void LCPForceFeedback<DataTypes>::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &,
-        const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &,
-        sofa::defaulttype::SolidTypes<SReal>::SpatialVector & )
+void LCPForceFeedback<DataTypes>::computeWrench(const sofa::type::Transform<SReal> &,
+        const sofa::type::SpatialVector<SReal> &,
+        sofa::type::SpatialVector<SReal> & )
 {
 
 }
@@ -425,9 +425,9 @@ template <>
 void SOFA_COMPONENT_HAPTICS_API LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeForce(SReal x, SReal y, SReal z, SReal, SReal, SReal, SReal, SReal& fx, SReal& fy, SReal& fz);
 
 template <>
-void SOFA_COMPONENT_HAPTICS_API LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool,
-        const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &/*V_tool_world*/,
-        sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world );
+void SOFA_COMPONENT_HAPTICS_API LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
+        const sofa::type::SpatialVector<SReal> &/*V_tool_world*/,
+        sofa::type::SpatialVector<SReal> &W_tool_world );
 
 
 

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/MechanicalStateForceFeedback.h b/Sofa/Component/Haptics/src/sofa/component/haptics/MechanicalStateForceFeedback.h
@@ -44,8 +44,8 @@ class SOFA_COMPONENT_HAPTICS_API MechanicalStateForceFeedback : public ForceFeed
 
     void init() override {context = sofa::simulation::node::getNodeFrom(getContext());}
     void computeForce(SReal x, SReal y, SReal z, SReal u, SReal v, SReal w, SReal q, SReal& fx, SReal& fy, SReal& fz) override = 0;
-    void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &, sofa::defaulttype::SolidTypes<SReal>::SpatialVector & ) override = 0;
-    void setReferencePosition(sofa::defaulttype::SolidTypes<SReal>::Transform& /*referencePosition*/) override {}
+    void computeWrench(const sofa::type::Transform<SReal> &, const sofa::type::SpatialVector<SReal> &, sofa::type::SpatialVector<SReal> & ) override = 0;
+    void setReferencePosition(sofa::type::Transform<SReal>& /*referencePosition*/) override {}
 
 protected:
     MechanicalStateForceFeedback(void) {}

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.cpp b/Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.cpp
@@ -36,7 +36,7 @@ void NullForceFeedback::computeForce(SReal /*x*/, SReal /*y*/, SReal /*z*/, SRea
     fx = fy = fz = 0.0;
 }
 
-void NullForceFeedback::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &/*world_H_tool*/, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &/*V_tool_world*/, sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world )
+void NullForceFeedback::computeWrench(const sofa::type::Transform<SReal> &/*world_H_tool*/, const sofa::type::SpatialVector<SReal> &/*V_tool_world*/, sofa::type::SpatialVector<SReal> &W_tool_world )
 {
     W_tool_world.clear();
 }

diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.h b/Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.h
@@ -37,7 +37,7 @@ class SOFA_COMPONENT_HAPTICS_API NullForceFeedback : public ForceFeedback
     void init() override;
 
     void computeForce(SReal x, SReal y, SReal z, SReal u, SReal v, SReal w, SReal q, SReal& fx, SReal& fy, SReal& fz) override;
-    void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &V_tool_world, sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world ) override;
+    void computeWrench(const sofa::type::Transform<SReal> &world_H_tool, const sofa::type::SpatialVector<SReal> &V_tool_world, sofa::type::SpatialVector<SReal> &W_tool_world ) override;
 };
 
 } // namespace sofa::component::haptics
diff --git a/Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedbackT.h b/Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedbackT.h
@@ -43,7 +43,7 @@ class SOFA_COMPONENT_HAPTICS_API NullForceFeedbackT : public MechanicalStateForc
         fx = fy = fz = 0.0;
     }
     void computeForce(const  VecCoord &,  VecDeriv &) override {}
-    void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &, sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world ) override {W_tool_world.clear();}
+    void computeWrench(const sofa::type::Transform<SReal> &, const sofa::type::SpatialVector<SReal> &, sofa::type::SpatialVector<SReal> &W_tool_world ) override {W_tool_world.clear();}
 };
 
 } // namespace sofa::component::haptics
diff --git a/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp b/Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
@@ -29,7 +29,7 @@
 using Mat3 = sofa::type::Mat3x3;
 using Mat4 = sofa::type::Mat4x4;
 
-#include <sofa/defaulttype/SolidTypes.h>
+#include <sofa/type/Transform.h>
 #include <sofa/simulation/AnimateBeginEvent.h>
 
 #include <sofa/helper/rmath.h>
@@ -369,7 +369,7 @@ type::Vec2 BaseCamera::worldToScreenCoordinates(const type::Vec3& pos)
 
 void BaseCamera::getModelViewMatrix(double mat[16])
 {
-    const defaulttype::SolidTypes<SReal>::Transform world_H_cam(p_position.getValue(), this->getOrientation());
+    const sofa::type::Transform<SReal> world_H_cam(p_position.getValue(), this->getOrientation());
     Mat3 rot = world_H_cam.inversed().getRotationMatrix();
 
     //rotation
@@ -392,7 +392,7 @@ void BaseCamera::getModelViewMatrix(double mat[16])
 
 void BaseCamera::getOpenGLModelViewMatrix(double mat[16])
 {
-    const defaulttype::SolidTypes<SReal>::Transform world_H_cam(p_position.getValue(), this->getOrientation());
+    const sofa::type::Transform<SReal> world_H_cam(p_position.getValue(), this->getOrientation());
     world_H_cam.inversed().writeOpenGlMatrix(mat);
 }
 
@@ -548,10 +548,10 @@ void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point,
     rotation.quatToAxis(tempAxis, tempAngle);
     const Quat tempQuat (orientationCam.rotate(-tempAxis), tempAngle);
 
-    const defaulttype::SolidTypes<SReal>::Transform world_H_cam(positionCam, orientationCam);
-    const defaulttype::SolidTypes<SReal>::Transform world_H_pivot(point, Quat());
-    const defaulttype::SolidTypes<SReal>::Transform pivotBefore_R_pivotAfter(type::Vec3(0.0,0.0,0.0), tempQuat);
-    const defaulttype::SolidTypes<SReal>::Transform camera_H_WorldAfter = world_H_cam.inversed() * world_H_pivot * pivotBefore_R_pivotAfter * world_H_pivot.inversed();
+    const sofa::type::Transform<SReal> world_H_cam(positionCam, orientationCam);
+    const sofa::type::Transform<SReal> world_H_pivot(point, Quat());
+    const sofa::type::Transform<SReal> pivotBefore_R_pivotAfter(type::Vec3(0.0,0.0,0.0), tempQuat);
+    const sofa::type::Transform<SReal> camera_H_WorldAfter = world_H_cam.inversed() * world_H_pivot * pivotBefore_R_pivotAfter * world_H_pivot.inversed();
     //defaulttype::SolidTypes<double>::Transform camera_H_WorldAfter = worldBefore_H_cam.inversed()*worldBefore_R_worldAfter;
 
     positionCam = camera_H_WorldAfter.inversed().getOrigin();
@@ -662,7 +662,7 @@ void BaseCamera::computeZ()
     if (p_computeZClip.getValue())
     {
         //modelview transform
-        defaulttype::SolidTypes<SReal>::Transform world_H_cam(p_position.getValue(), this->getOrientation());
+        sofa::type::Transform<SReal> world_H_cam(p_position.getValue(), this->getOrientation());
 
         //double distanceCamToCenter = fabs((world_H_cam.inversed().projectPoint(sceneCenter))[2]);
         const double distanceCamToCenter = (p_position.getValue() - sceneCenter).norm();

diff --git a/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.h b/Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.h
@@ -22,7 +22,6 @@
 #pragma once
 #include <sofa/gl/component/shader/config.h>
 
-#include <sofa/defaulttype/SolidTypes.h>
 #include <sofa/gl/component/shader/Light.h>
 #include <sofa/core/visual/VisualManager.h>
 #include <sofa/type/Mat.h>