Merge branch 'master' into pluginmanager_support_multiconfig

sofa-framework · Dec 27, 2024 · 419fc86 · 419fc86
2 parents 5a404ab + 238851c
commit 419fc86
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Showing 75 changed files with 426 additions and 8,977 deletions.
diff --git a/...an/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp b/...an/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp
@@ -31,11 +31,11 @@ namespace sofa::component::constraint::lagrangian::model
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
 
-int AugmentedLagrangianConstraintClass = core::RegisterObject("AugmentedLagrangianConstraint")
-        .add< AugmentedLagrangianConstraint<Vec3Types> >()
-
-        ;
-
+void registerAugmentedLagrangianConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("AugmentedLagrangianConstraint")
+        .add< AugmentedLagrangianConstraint<Vec3Types> >());
+}
 
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BaseContactLagrangianConstraint<Vec3Types,AugmentedLagrangianContactParameters>;
 template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API AugmentedLagrangianConstraint<Vec3Types>;

diff --git a/...an/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp b/...an/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp
@@ -90,7 +90,7 @@ class BilateralLagrangianConstraintSpecialization<RigidImpl>
     static void getConstraintResolution(BilateralLagrangianConstraint<T>& self,
                                         const ConstraintParams* cParams,
                                         std::vector<ConstraintResolution*>& resTab,
-                                        unsigned int& offset, SReal tolerance)
+                                        unsigned int& offset)
     {
         SOFA_UNUSED(cParams);
         const unsigned minp = std::min(self.d_m1.getValue().size(),
@@ -100,7 +100,6 @@ class BilateralLagrangianConstraintSpecialization<RigidImpl>
             resTab[offset] = new BilateralConstraintResolution3Dof();
             offset += 3;
             BilateralConstraintResolution3Dof* temp = new BilateralConstraintResolution3Dof();
-            temp->setTolerance(tolerance);	// specific (smaller) tolerance for the rotation
             resTab[offset] = temp;
             offset += 3;
         }
@@ -276,8 +275,7 @@ void BilateralLagrangianConstraint<Rigid3Types>::getConstraintResolution(
     unsigned int& offset)
 {
     RigidBilateralLagrangianConstraint::getConstraintResolution(*this,
-        cParams, resTab, offset,
-        d_numericalTolerance.getValue());
+        cParams, resTab, offset);
 }
 
 template <> SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API

diff --git a/...gian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h b/...gian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h
@@ -114,7 +114,8 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint<DataTypes
     Data<VecDeriv> d_restVector; ///< Relative position to maintain between attached points (optional)
     VecCoord initialDifference;
 
-    Data<SReal> d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001
+    SOFA_ATTRIBUTE_DEPRECATED__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)
 

diff --git a/...an/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl b/...an/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl
@@ -44,8 +44,6 @@ BilateralLagrangianConstraint<DataTypes>::BilateralLagrangianConstraint(Mechanic
     , d_m1(initData(&d_m1, "first_point","index of the constraint on the first model (object1)"))
     , d_m2(initData(&d_m2, "second_point","index of the constraint on the second model (object2)"))
     , d_restVector(initData(&d_restVector, "rest_vector","Relative position to maintain between attached points (optional)"))
-    , d_numericalTolerance(initData(&d_numericalTolerance, 1e-4_sreal, "numericalTolerance",
-                                    "a real value specifying the tolerance during the constraint solving.") )
     , d_activate( initData(&d_activate, true, "activate", "control constraint activation (true by default)"))
     , d_keepOrientDiff(initData(&d_keepOrientDiff, false, "keepOrientationDifference", "keep the initial difference in orientation (only for rigids)"))
     , l_topology1(initLink("topology1", "link to the first topology container"))

diff --git a/...nt/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in b/...nt/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in
@@ -44,4 +44,14 @@ namespace sofa::component::constraint::lagrangian::model
     SOFA_ATTRIBUTE_DEPRECATED( \
         "v24.06", "v24.12", \
         "Data renamed according to the guidelines")
+#endif
+
+
+#ifdef SOFA_BUILD_SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL
+#define SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE()
+#else
+#define SOFA_ATTRIBUTE_DEPRECATED__BILATERALREMOVEUNUSEDTOLERANCE() \
+    SOFA_ATTRIBUTE_DEPRECATED( \
+        "v25.06", "v25.12", \
+        "Data \'d_numericalTolerance\' has been removed since it was actually not taken into account")
 #endif
diff --git a/...onent/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp b/...onent/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp
@@ -26,6 +26,7 @@
 namespace sofa::component::constraint::lagrangian::model
 {
 
+extern void registerAugmentedLagrangianConstraint(sofa::core::ObjectFactory* factory);
 extern void registerBilateralLagrangianConstraint(sofa::core::ObjectFactory* factory);
 extern void registerFixedLagrangianConstraint(sofa::core::ObjectFactory* factory);
 extern void registerSlidingLagrangianConstraint(sofa::core::ObjectFactory* factory);
@@ -57,6 +58,7 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
+    registerAugmentedLagrangianConstraint(factory);
     registerBilateralLagrangianConstraint(factory);
     registerFixedLagrangianConstraint(factory);
     registerSlidingLagrangianConstraint(factory);

diff --git a/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl b/Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshROI.inl
@@ -501,7 +501,9 @@ void MeshROI<DataTypes>::roiComputeBBox(const core::ExecParams* params, type::Bo
 
     for (const auto& p : roiPositions)
     {
-        bbox.include(DataTypes::getCPos(p));
+        Real x, y, z;
+        DataTypes::get(x, y, z, p);
+        bbox.include({x, y, z});
     }
 }
 

diff --git a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp
@@ -70,11 +70,12 @@ struct BoxROITest :  public sofa::testing::BaseTest
     Node::SPtr m_node;
     typename TheBoxROI::SPtr m_boxroi;
 
-    void SetUp() override
+    void onSetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
-        sofa::simpleapi::importPlugin("Sofa.Component.Engine.Select");
+        this->loadPlugins({
+            "Sofa.Component.StateContainer",
+            "Sofa.Component.Topology.Container.Dynamic",
+            "Sofa.Component.Engine.Select"});
 
         m_simu = sofa::simulation::getSimulation();
         ASSERT_NE(m_simu, nullptr);
@@ -86,7 +87,7 @@ struct BoxROITest :  public sofa::testing::BaseTest
         m_node->addObject(m_boxroi);
     }
 
-    void TearDown() override
+    void onTearDown() override
     {
         if (m_root != nullptr){
             sofa::simulation::node::unload(m_root);

diff --git a/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp
@@ -69,6 +69,7 @@ class STLExporter_test : public BaseSimulationTest {
     {
         sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
         sofa::simpleapi::importPlugin("Sofa.Component.Visual");
+        sofa::simpleapi::importPlugin("Sofa.Component.IO.Mesh");
     }
 
     void TearDown() override
@@ -98,7 +99,6 @@ class STLExporter_test : public BaseSimulationTest {
                 "<?xml version='1.0'?> \n"
                 "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >       \n"
                 "   <DefaultAnimationLoop/>                                        \n"
-                "   <RequiredPlugin name='Sofa.Component.IO.Mesh' />               \n"
                 "   <MechanicalObject position='0 1 2 3 4 5 6 7 8 9'/>             \n"
                 "   <MeshOBJLoader name='loader' filename='mesh/liver-smooth.obj'/> \n"
                 "   <VisualModel src='@loader'/>                                      \n"

diff --git a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
@@ -57,9 +57,10 @@ TEST(SparseLDLSolver, EmptyMState)
 
     const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root");
 
-    sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Direct");
-    sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward");
-    sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
+    const auto plugins = sofa::testing::makeScopedPlugin({
+        "Sofa.Component.LinearSolver.Direct",
+        "Sofa.Component.ODESolver.Backward",
+        "Sofa.Component.StateContainer"});
 
     sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
     sofa::simpleapi::createObject(root, "EulerImplicitSolver");
@@ -83,14 +84,15 @@ TEST(SparseLDLSolver, TopologyChangeEmptyMState)
     // required to be able to use EXPECT_MSG_NOEMIT and EXPECT_MSG_EMIT
     sofa::helper::logging::MessageDispatcher::addHandler(sofa::testing::MainGtestMessageHandler::getInstance() ) ;
 
-  const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root");
+    const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root");
 
-    sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Direct");
-    sofa::simpleapi::importPlugin("Sofa.Component.Mass");
-    sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward");
-    sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-    sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
-    sofa::simpleapi::importPlugin("Sofa.Component.Topology.Utility");
+    const auto plugins = sofa::testing::makeScopedPlugin({
+        "Sofa.Component.LinearSolver.Direct",
+        "Sofa.Component.Mass",
+        "Sofa.Component.ODESolver.Backward",
+        "Sofa.Component.StateContainer",
+        "Sofa.Component.Topology.Container.Dynamic",
+        "Sofa.Component.Topology.Utility"});
 
     sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
     sofa::simpleapi::createObject(root, "EulerImplicitSolver");

diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt
@@ -105,8 +105,8 @@ if((CMAKE_SYSTEM_NAME STREQUAL Windows) AND SOFA_USE_DEPENDENCY_PACK)
 endif()
 
 # Compile options
-# Set C++17
-target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
+# Set C++20
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_20)
 
 set(SOFACONFIG_COMPILE_OPTIONS_DEBUG "")
 set(SOFACONFIG_COMPILE_OPTIONS_RELEASE "")

diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp
@@ -775,7 +775,8 @@ bool ObjectFactory::registerObjectsFromPlugin(const std::string& pluginName)
     // do not register if it was already done before
     if(m_registeredPluginSet.count(pluginName) > 0)
     {
-        // msg_warning("ObjectFactory") << pluginName << " has already registered its components.";
+        // This warning should be generalized (i.e not only in dev mode) when runSofa will not auto-load modules/plugins by default anymore
+        dmsg_warning("ObjectFactory") << pluginName << " has already registered its components.";
         return false;
     }
 
@@ -837,8 +838,8 @@ RegisterObject& RegisterObject::addCreator(std::string classname, std::string te
 
 RegisterObject::operator int() const
 {
-    //std::cout << "Implicit object registration is deprecrated since v24.06. Check #4429 for more information." << std::endl;
-    // msg_warning("RegisterObject") << "Implicit object registration is deprecrated since v24.06. Check #4429 for more information.";
+    dmsg_warning("RegisterObject") << m_objectRegistrationdata.entry.className
+                                  << ": Implicit object registration is deprecated since v24.12. Check #4429 for more information.";
     return commitTo(ObjectFactory::getInstance());
 }
 

diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.h b/Sofa/framework/Core/src/sofa/core/ObjectFactory.h
@@ -377,12 +377,14 @@ class SOFA_CORE_API ObjectRegistrationData
 
     /// This is the final operation that will actually commit the additions to the ObjectFactory.
     bool commitTo(sofa::core::ObjectFactory* objectFactory) const;
+
+    friend class RegisterObject;
 };
 
 
 // Legacy structure, to keep compatibility with olden code
 // using the singleton to get the instance of ObjectFactory
-class /* SOFA_ATTRIBUTE_DEPRECATED__REGISTEROBJECT() */ SOFA_CORE_API RegisterObject
+class SOFA_ATTRIBUTE_DEPRECATED__REGISTEROBJECT() SOFA_CORE_API RegisterObject
 {
 private:
     ObjectRegistrationData m_objectRegistrationdata;

diff --git a/Sofa/framework/Helper/test/system/PluginManager_test.cpp b/Sofa/framework/Helper/test/system/PluginManager_test.cpp
@@ -122,12 +122,22 @@ TEST_F(PluginManager_test, loadTestPluginAByPath)
     /// Check that existing plugins are correctly handled and returns no
     /// error/warning message.
     {
-        EXPECT_MSG_NOEMIT(Warning, Error);
-
+        EXPECT_MSG_NOEMIT(Error, Warning);
+        
         std::cout << "PluginManager_test.loadTestPluginAByPath: "
-                  << "pm.getPluginMap().size() = " << pm.getPluginMap().size()
-                  << std::endl;
+        << "pm.getPluginMap().size() = " << pm.getPluginMap().size()
+        << std::endl;
+    }
+    {
+        EXPECT_MSG_NOEMIT(Error);
+        // Plugin A still uses the deprecated registration mechanism
+        // and is expected to throw a warning when loaded
+        EXPECT_MSG_EMIT(Warning);
+
         ASSERT_EQ(pm.loadPluginByPath(pluginPath), PluginManager::PluginLoadStatus::SUCCESS);
+    }
+    {
+        EXPECT_MSG_NOEMIT(Error, Warning);
         ASSERT_GT(pm.findPlugin(pluginAName).size(), 0u);
     }
 

diff --git a/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp b/Sofa/framework/Simulation/Core/src/sofa/simulation/RequiredPlugin.cpp
@@ -136,17 +136,16 @@ bool RequiredPlugin::loadPlugin()
                 objectFactory->registerObjectsFromPlugin(name);
 
                 // fail-safe to check if potential components have been registered (implicitly or explicitly)
-                // SOFA_ATTRIBUTE_DEPRECATED__REGISTEROBJECT()
                 std::vector<sofa::core::ObjectFactory::ClassEntry::SPtr> entries;
                 objectFactory->getEntriesFromTarget(entries, name);
 
                 if (entries.empty())
                 {
-//                    msg_warning() << "No component has been registered from " << name << ".\n"
-//                        << "It could be because: \n"
-//                        << " - the entrypoint registerObjects() has not been implemented;\n"
-//                        << " - (deprecated) no sofa::core::RegisterObject() has been called;\n"
-//                        << " - your plugin does not add any component (i.e BaseObject) into the factory. In that case, RequiredPlugin is not useful for this kind of plugin.";
+                    msg_warning() << "No component has been registered from " << name << ".\n"
+                        << "It could be because: \n"
+                        << " - the entrypoint registerObjects() has not been implemented;\n"
+                        << " - (deprecated since v24.12) no sofa::core::RegisterObject() has been called;\n"
+                        << " - your plugin does not add any component (i.e BaseObject) into the factory. In that case, RequiredPlugin is not useful for this kind of plugin.";
                 }
 
                 if (d_stopAfterFirstSuffixFound.getValue()) break;

diff --git a/Sofa/framework/Simulation/Core/test/RequiredPlugin_test.cpp b/Sofa/framework/Simulation/Core/test/RequiredPlugin_test.cpp
@@ -85,7 +85,7 @@ struct RequiredPlugin_test : public BaseSimulationTest
 
     void testLoadPluginB()
     {
-        EXPECT_MSG_EMIT(Warning); // // TestPluginB does not register any component
+        EXPECT_MSG_EMIT(Warning); // TestPluginB does not register any component
 
         std::stringstream scene;
         scene << "<?xml version='1.0'?>"
@@ -101,7 +101,7 @@ struct RequiredPlugin_test : public BaseSimulationTest
 
     void testLoadPluginC()
     {
-        EXPECT_MSG_NOEMIT(Warning); // // TestPluginC registers its component explicitly
+        EXPECT_MSG_NOEMIT(Warning); // TestPluginC registers its component explicitly
 
         std::stringstream scene;
         scene << "<?xml version='1.0'?>"
@@ -118,8 +118,8 @@ struct RequiredPlugin_test : public BaseSimulationTest
 
 TEST_F(RequiredPlugin_test, testNotExistingPlugin ) { testNotExistingPlugin(); }
 TEST_F(RequiredPlugin_test, testNoParameter ) { testNoParameter(); }
-TEST_F(RequiredPlugin_test, DISABLED_testLoadPluginA) { testLoadPluginA(); } // disabled because testLoadPluginA() should throw a warning (but this warning is commented for the moment)
-TEST_F(RequiredPlugin_test, DISABLED_testLoadPluginB) { testLoadPluginB(); }// disabled because testLoadPluginB() should throw a warning (but this warning is commented for the moment)
+TEST_F(RequiredPlugin_test, testLoadPluginA) { testLoadPluginA(); }
+TEST_F(RequiredPlugin_test, testLoadPluginB) { testLoadPluginB(); }
 TEST_F(RequiredPlugin_test, testLoadPluginC) { testLoadPluginC(); }
 
 }