From 4aca2680b8ace1c0504a0977343c89cbe1137fac Mon Sep 17 00:00:00 2001 From: Frederick Roy Date: Wed, 18 Dec 2024 21:28:35 +0900 Subject: [PATCH 1/8] [Core, Simulation.Core] Registration: (re)enable deprecation warnings (#5155) * enable deprecation warnings for RegisterObject * enable runtime deprecation warnings * re enable disabled tests * fix typo * fix units tests * expect a warning when loading pluginA * load plugins once (avoiding registering several times) * add more info when warning the user of a deprecated registration * set warnings only if dev mode is enabled (SOFA_WITH_DEVTOOLS enabled) * apply new mechanism registration to AugmentedLagrangianConstraint --- .../model/AugmentedLagrangianConstraint.cpp | 10 +-- .../constraint/lagrangian/model/init.cpp | 2 + .../IO/Mesh/tests/STLExporter_test.cpp | 2 +- .../Core/src/sofa/core/ObjectFactory.cpp | 7 +- .../Core/src/sofa/core/ObjectFactory.h | 4 +- .../Helper/test/system/PluginManager_test.cpp | 18 +++-- .../src/sofa/simulation/RequiredPlugin.cpp | 11 ++- .../Core/test/RequiredPlugin_test.cpp | 8 +-- .../simutest/parallel_scenes_test.cpp | 71 ++++++++----------- .../SceneChecking/tests/SceneChecker_test.cpp | 5 +- 10 files changed, 69 insertions(+), 69 deletions(-) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp index 0f2ac2fad2f..e3970402ce7 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/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 >() - - ; - +void registerAugmentedLagrangianConstraint(sofa::core::ObjectFactory* factory) +{ + factory->registerObjects(core::ObjectRegistrationData("AugmentedLagrangianConstraint") + .add< AugmentedLagrangianConstraint >()); +} template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BaseContactLagrangianConstraint; template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API AugmentedLagrangianConstraint; diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp index de09f9f65d9..ba40a5df106 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/init.cpp +++ b/Sofa/Component/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/IO/Mesh/tests/STLExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp index 55b6be2b8b8..067f0bfef90 100644 --- 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 { " \n" " \n" " \n" - " \n" " \n" " \n" " \n" diff --git a/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp b/Sofa/framework/Core/src/sofa/core/ObjectFactory.cpp index 6f9d02cf2c8..20402e7c25f 100644 --- 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 index 302c70f3590..2126496ac8e 100644 --- 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 index ec780e35207..7673e8b6445 100644 --- 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 index 088e72f3251..32e49c43ebe 100644 --- 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 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 index c9349748989..1013581b97a 100644 --- 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 << "" @@ -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 << "" @@ -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(); } } diff --git a/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp b/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp index 8ed14089499..9e0385facb7 100644 --- a/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp +++ b/Sofa/framework/Simulation/simutest/parallel_scenes_test.cpp @@ -29,9 +29,6 @@ using sofa::simulation::Node ; #include using sofa::component::sceneutility::InfoComponent; -#include -using sofa::helper::system::PluginManager ; - #include using sofa::simulation::SceneLoaderXML ; @@ -47,10 +44,36 @@ class ParallelScenesTest : public virtual sofa::testing::BaseTest { } + void SetUp() override + { + EXPECT_MSG_NOEMIT(Error, Warning); + + sofa::simpleapi::importPlugin("Sofa.Component.AnimationLoop"); + sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Algorithm"); + sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Intersection"); + sofa::simpleapi::importPlugin("Sofa.Component.Collision.Geometry"); + sofa::simpleapi::importPlugin("Sofa.Component.Collision.Response.Contact"); + sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Lagrangian.Correction"); + sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Lagrangian.Solver"); + sofa::simpleapi::importPlugin("Sofa.Component.Constraint.Projective"); + sofa::simpleapi::importPlugin("Sofa.Component.IO.Mesh"); + sofa::simpleapi::importPlugin("Sofa.Component.LinearSolver.Iterative"); + sofa::simpleapi::importPlugin("Sofa.Component.Mapping.Linear"); + sofa::simpleapi::importPlugin("Sofa.Component.Mass"); + sofa::simpleapi::importPlugin("Sofa.Component.ODESolver.Backward"); + sofa::simpleapi::importPlugin("Sofa.Component.SolidMechanics.FEM.Elastic"); + sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); + sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Constant"); + sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic"); + sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid"); + sofa::simpleapi::importPlugin("Sofa.Component.Visual"); + sofa::simpleapi::importPlugin("Sofa.GL.Component.Rendering3D"); + sofa::simpleapi::importPlugin("Sofa.Component.LinearSystem"); + } + void executeInParallel(const char* sceneStr, const std::size_t nbScenes, const std::size_t nbSteps) { - EXPECT_MSG_NOEMIT(Error); - EXPECT_MSG_NOEMIT(Warning); + EXPECT_MSG_NOEMIT(Error, Warning); std::vector groots; groots.resize(nbScenes); @@ -104,21 +127,6 @@ class ParallelScenesTest : public virtual sofa::testing::BaseTest const std::string sceneStr = R"( - - - - - - - - - - - - - - - @@ -160,29 +168,6 @@ class ParallelScenesTest : public virtual sofa::testing::BaseTest const std::string sceneStr = R"( - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/projects/SceneChecking/tests/SceneChecker_test.cpp b/applications/projects/SceneChecking/tests/SceneChecker_test.cpp index 9de8d0bbcf4..2ccaba88ecb 100644 --- a/applications/projects/SceneChecking/tests/SceneChecker_test.cpp +++ b/applications/projects/SceneChecking/tests/SceneChecker_test.cpp @@ -173,11 +173,12 @@ struct SceneChecker_test : public BaseSimulationTest EXPECT_MSG_NOEMIT(Warning); const std::string lvl = (shouldWarn)?"17.06":"17.12"; - + + sofa::simpleapi::importPlugin("Sofa.Component.SceneUtility"); + std::stringstream scene; scene << " \n" << " \n" - << " \n" << " \n" << " \n" << " \n"; From 3ecd69c9374c47ef411e55072e5dc604bafe5134 Mon Sep 17 00:00:00 2001 From: Alex Bilger Date: Wed, 18 Dec 2024 17:24:59 +0100 Subject: [PATCH 2/8] [SofaCUDA] Remove NO_CUDA condition (#5171) --- .../plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu | 138 ------------------ 1 file changed, 138 deletions(-) diff --git a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu b/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu index 89bd6e5d672..0617c7ee550 100644 --- a/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu +++ b/applications/plugins/SofaCUDA/sofa/gpu/cuda/mycuda.cu @@ -28,9 +28,6 @@ #include #include - -//#define NO_CUDA - cudaDeviceProp mycudaDeviceProp; @@ -43,139 +40,6 @@ namespace cuda { #endif -#ifdef NO_CUDA - -bool cudaCheck(cudaError_t, const char*) -{ - return true; -} - -bool cudaInitCalled = false; - -int mycudaInit(int) -{ - cudaInitCalled = true; - return 0; -} - -void mycudaMalloc(void **devPtr, size_t,int ) -{ - *devPtr = NULL; -} - -void mycudaMallocPitch(void **devPtr, size_t*, size_t, size_t) -{ - *devPtr = NULL; -} - -void mycudaFree(void *, int) -{ -} - -void mycudaMallocHost(void **hostPtr, size_t size) -{ - *hostPtr = malloc(size); -} - -void mycudaFreeHost(void *hostPtr) -{ - free(hostPtr); -} - -void mycudaMemcpyHostToDevice(void *, const void *, size_t, int) -{ -} - -void mycudaMemcpyDeviceToDevice(void *, const void *, size_t,int ) -{ -} - -void mycudaMemcpyDeviceToHost(void *, const void *, size_t,int ) -{ -} - -void mycudaMemcpyHostToDevice2D(void *, size_t, const void *, size_t, size_t, size_t) -{ -} - -void mycudaMemcpyDeviceToDevice2D(void *, size_t, const void *, size_t, size_t, size_t ) -{ -} - -void mycudaMemcpyDeviceToHost2D(void *, size_t, const void *, size_t, size_t, size_t) -{ -} - -void mycudaGLRegisterBufferObject(int) -{ -} - -void mycudaGLUnregisterBufferObject(int) -{ -} - -void mycudaGLMapBufferObject(void** ptr, int) -{ - *ptr = NULL; -} - -void mycudaGLUnmapBufferObject(int) -{ -} - -int mycudaGetnumDevices() -{ - return 0; -} - -int mycudaGetBufferDevice() -{ - return 0; -} - -void mycudaMemset(void *devPtr, int val, size_t size,int ) -{ -} - -void cuda_void_kernel() -{ -} - -#ifdef SOFA_GPU_CUBLAS -cusparseHandle_t getCusparseCtx() -{ - return NULL; -} - -cublasHandle_t getCublasCtx() -{ - return NULL; -} - -cusparseMatDescr_t getCusparseMatGeneralDescr() -{ - return NULL; -} - -cusparseMatDescr_t getCusparseMatTriangularLowerDescr() -{ - return NULL; -} - -cusparseMatDescr_t getCusparseMatTriangularUpperDescr() -{ - return NULL; -} - - -void SOFA_GPU_CUDA_API mycudaMemGetInfo(size_t * free,size_t * total) { - -} - -#endif //SOFA_GPU_CUBLAS - -#else - extern "C" { int SOFA_GPU_CUDA_API mycudaGetMultiProcessorCount(); @@ -513,8 +377,6 @@ void SOFA_GPU_CUDA_API mycudaMemGetInfo(size_t * free,size_t * total) { #endif //SOFA_GPU_CUBLAS -#endif - #if defined(__cplusplus) } // namespace cuda } // namespace gpu From 3e508d34dabf30754009cbdb891f32136327ea07 Mon Sep 17 00:00:00 2001 From: Alex Bilger Date: Fri, 20 Dec 2024 04:53:09 +0100 Subject: [PATCH 3/8] [Type] Test and clean BoundingBox (#5138) [Type] Test for BoundingBox --- .../sofa/component/engine/select/MeshROI.inl | 4 +- .../Type/src/sofa/type/BoundingBox.cpp | 50 ++----- .../Type/src/sofa/type/BoundingBox.h | 79 +++++++---- Sofa/framework/Type/src/sofa/type/config.h.in | 9 ++ Sofa/framework/Type/test/BoundingBox_test.cpp | 123 ++++++++++++++++++ Sofa/framework/Type/test/CMakeLists.txt | 1 + 6 files changed, 200 insertions(+), 66 deletions(-) create mode 100644 Sofa/framework/Type/test/BoundingBox_test.cpp 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 index 1121b696f00..679a9259e20 100644 --- 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::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/framework/Type/src/sofa/type/BoundingBox.cpp b/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp index 08c9121191e..b2d5e391af3 100644 --- a/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp +++ b/Sofa/framework/Type/src/sofa/type/BoundingBox.cpp @@ -36,56 +36,23 @@ BoundingBox::bbox_t make_neutralBBox() return std::make_pair(minBBox,maxBBox); } -BoundingBox::BoundingBox() - :bbox(make_neutralBBox()) -{ -} - -BoundingBox::BoundingBox(const bbox_t& bbox) - :bbox(bbox) -{ -} - -BoundingBox::BoundingBox(const sofa::type::Vec3& minBBox, const sofa::type::Vec3& maxBBox) - :bbox(std::make_pair(minBBox,maxBBox)) -{ -} - -BoundingBox::BoundingBox(SReal xmin, SReal xmax, SReal ymin, SReal ymax, SReal zmin, SReal zmax ) - :bbox(std::make_pair(sofa::type::Vec3((SReal)xmin, (SReal)ymin, (SReal)zmin),sofa::type::Vec3( (SReal)xmax, (SReal)ymax, (SReal)zmax))) -{ -} - - -BoundingBox::BoundingBox(const Vec6f& v ) - :bbox(std::make_pair(sofa::type::Vec3(v[0],v[2],v[4]),sofa::type::Vec3(v[1],v[3],v[5]))) -{ -} - -BoundingBox::BoundingBox(const Vec6d& v ) - :bbox(std::make_pair(sofa::type::Vec3((SReal)v[0],(SReal)v[2],(SReal)v[4]),sofa::type::Vec3((SReal)v[1],(SReal)v[3],(SReal)v[5]))) -{ -} - - -/*static*/ -BoundingBox BoundingBox::neutral_bbox() -{ - return BoundingBox(make_neutralBBox()); -} - void BoundingBox::invalidate() { this->bbox = make_neutralBBox(); } -bool BoundingBox::isNegligeable() const +bool BoundingBox::isNegligible() const { return minBBox().x() >= maxBBox().x() && minBBox().y() >= maxBBox().y() && minBBox().z() >= maxBBox().z(); } +bool BoundingBox::isNegligeable() const +{ + return isNegligible(); +} + bool BoundingBox::isValid() const { return minBBox().x() <= maxBBox().x() && @@ -112,6 +79,11 @@ BoundingBox::operator bbox_t() const return bbox; } +bool BoundingBox::operator==(const BoundingBox& other) const +{ + return this->bbox == other.bbox; +} + SReal* BoundingBox::minBBoxPtr() { return bbox.first.ptr(); diff --git a/Sofa/framework/Type/src/sofa/type/BoundingBox.h b/Sofa/framework/Type/src/sofa/type/BoundingBox.h index fd7a4bcdd85..d868b56fff4 100644 --- a/Sofa/framework/Type/src/sofa/type/BoundingBox.h +++ b/Sofa/framework/Type/src/sofa/type/BoundingBox.h @@ -35,41 +35,68 @@ class SOFA_TYPE_API BoundingBox public: typedef std::pair< sofa::type::Vec3, sofa::type::Vec3 > bbox_t; + using Real = sofa::type::Vec3::value_type; - BoundingBox(); - /// Define using the endpoints of the main diagonal - BoundingBox(const sofa::type::Vec3& minBBox, const sofa::type::Vec3& maxBBox); - BoundingBox(const bbox_t& bbox); - /// Define using xmin, xmax, ymin, ymax, zmin, zmax in this order - BoundingBox(SReal xmin, SReal xmax, SReal ymin, SReal ymax, SReal zmin, SReal zmax ); - /// Define using xmin, xmax, ymin, ymax, zmin, zmax in this order - BoundingBox(const Vec6f& bbox); - /// Define using xmin, xmax, ymin, ymax, zmin, zmax in this order - BoundingBox(const Vec6d& bbox); + constexpr BoundingBox() + : BoundingBox(neutral_bbox().bbox) + {} - static BoundingBox neutral_bbox(); + /// Define using the endpoints of the main diagonal + constexpr BoundingBox(const sofa::type::Vec3& minBBox, const sofa::type::Vec3& maxBBox) + : bbox({minBBox, maxBBox}) {} + + constexpr explicit BoundingBox(const bbox_t& bbox) + : bbox(bbox) + {} + + /// Define using xMin, xMax, yMin, yMax, zMin, zMax in this order + constexpr BoundingBox( + const Real xMin, const Real xMax, + const Real yMin, const Real yMax, + const Real zMin, const Real zMax ) + : BoundingBox({xMin, yMin, zMin}, {xMax, yMax, zMax}) + {} + + template + constexpr explicit BoundingBox(const Vec<6, Scalar>& bbox) + : BoundingBox(bbox[0], bbox[1], bbox[2], bbox[3], bbox[4], bbox[5]) + {} + + static constexpr BoundingBox neutral_bbox() + { + constexpr Real max_real = std::numeric_limits::max(); + constexpr Real min_real = std::numeric_limits::lowest(); + return BoundingBox{ + {max_real, max_real, max_real}, + {min_real, min_real, min_real} + }; + } operator bbox_t() const; + [[nodiscard]] bool operator==(const BoundingBox& other) const; + void invalidate(); - bool isValid() const; - bool isFlat() const; - bool isNegligeable() const; // !valid || flat - bool isNull() const; + [[nodiscard]] bool isValid() const; + [[nodiscard]] bool isFlat() const; + [[nodiscard]] bool isNegligible() const; // !valid || flat + SOFA_ATTRIBUTE_DISABLED__BOUNDINGBOX_TYPO() + [[nodiscard]] bool isNegligeable() const; + [[nodiscard]] bool isNull() const; SReal* minBBoxPtr(); SReal* maxBBoxPtr(); - const SReal* minBBoxPtr() const; - const SReal* maxBBoxPtr() const; - const sofa::type::Vec3& minBBox() const; - const sofa::type::Vec3& maxBBox() const; + [[nodiscard]] const SReal* minBBoxPtr() const; + [[nodiscard]] const SReal* maxBBoxPtr() const; + [[nodiscard]] const sofa::type::Vec3& minBBox() const; + [[nodiscard]] const sofa::type::Vec3& maxBBox() const; sofa::type::Vec3& minBBox(); sofa::type::Vec3& maxBBox(); - bool contains( const sofa::type::Vec3& point) const; - bool contains( const BoundingBox& other) const; + [[nodiscard]] bool contains( const sofa::type::Vec3& point) const; + [[nodiscard]] bool contains( const BoundingBox& other) const; - bool intersect( const BoundingBox& other) const; + [[nodiscard]] bool intersect( const BoundingBox& other) const; void intersection( const BoundingBox& other); void include( const sofa::type::Vec3& point); @@ -77,10 +104,10 @@ class SOFA_TYPE_API BoundingBox void inflate( SReal amount ); - BoundingBox getIntersection( const BoundingBox& other ) const; - BoundingBox getInclude( const sofa::type::Vec3& point ) const; - BoundingBox getInclude( const BoundingBox& other ) const; - BoundingBox getInflate( SReal amount ) const; + [[nodiscard]] BoundingBox getIntersection( const BoundingBox& other ) const; + [[nodiscard]] BoundingBox getInclude( const sofa::type::Vec3& point ) const; + [[nodiscard]] BoundingBox getInclude( const BoundingBox& other ) const; + [[nodiscard]] BoundingBox getInflate( SReal amount ) const; friend std::ostream& operator << ( std::ostream& out, const BoundingBox& bbox) { diff --git a/Sofa/framework/Type/src/sofa/type/config.h.in b/Sofa/framework/Type/src/sofa/type/config.h.in index 3fc2d71b07b..c4c1194ef7a 100644 --- a/Sofa/framework/Type/src/sofa/type/config.h.in +++ b/Sofa/framework/Type/src/sofa/type/config.h.in @@ -41,3 +41,12 @@ "v23.12", "v24.06", \ "RGBAColor does not inherit anymore from sofa::type::fixed_array. Use respective functions accordingly.") #endif + +#ifdef SOFA_BUILD_SOFA_TYPE +#define SOFA_ATTRIBUTE_DISABLED__BOUNDINGBOX_TYPO() +#else +#define SOFA_ATTRIBUTE_DISABLED__BOUNDINGBOX_TYPO() \ + SOFA_ATTRIBUTE_DISABLED( \ + "v24.12", "v25.06", \ + "Use isNegligible instead.") +#endif diff --git a/Sofa/framework/Type/test/BoundingBox_test.cpp b/Sofa/framework/Type/test/BoundingBox_test.cpp new file mode 100644 index 00000000000..6b10e77db15 --- /dev/null +++ b/Sofa/framework/Type/test/BoundingBox_test.cpp @@ -0,0 +1,123 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +namespace sofa +{ + +using sofa::type::BoundingBox; +using sofa::type::Vec3; + +TEST(BoundingBoxTest, DefaultConstructor) +{ + static constexpr BoundingBox bbox; + EXPECT_TRUE(bbox.isNegligible()); // Default neutral box should be negligible +} + +TEST(BoundingBoxTest, ConstructorWithEndpoints) { + static constexpr Vec3 minVec(0.0, 0.0, 0.0); + static constexpr Vec3 maxVec(1.0, 1.0, 1.0); + static constexpr BoundingBox bbox(minVec, maxVec); + + EXPECT_EQ(bbox.minBBox(), minVec); + EXPECT_EQ(bbox.maxBBox(), maxVec); +} + +TEST(BoundingBoxTest, ConstructorWithLimits) { + static constexpr BoundingBox bbox(0.0, 1.0, 0.0, 1.0, 0.0, 1.0); + EXPECT_EQ(bbox.minBBox(), Vec3(0.0, 0.0, 0.0)); + EXPECT_EQ(bbox.maxBBox(), Vec3(1.0, 1.0, 1.0)); +} + +TEST(BoundingBoxTest, NeutralBoundingBox) { + static constexpr auto neutral = BoundingBox::neutral_bbox(); + EXPECT_FALSE(neutral.isValid()); // Neutral bbox is invalid +} + +TEST(BoundingBoxTest, Invalidate) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + bbox.invalidate(); + EXPECT_FALSE(bbox.isValid()); +} + +TEST(BoundingBoxTest, IsFlat) { + static constexpr BoundingBox flatBBox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 0.0, 0.0)); + EXPECT_TRUE(flatBBox.isFlat()); + + static constexpr BoundingBox nonFlatBBox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + EXPECT_FALSE(nonFlatBBox.isFlat()); +} + +TEST(BoundingBoxTest, ContainsPoint) { + static constexpr BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + static constexpr Vec3 pointInside(0.5, 0.5, 0.5); + static constexpr Vec3 pointOutside(1.5, 1.5, 1.5); + + EXPECT_TRUE(bbox.contains(pointInside)); + EXPECT_FALSE(bbox.contains(pointOutside)); +} + +TEST(BoundingBoxTest, ContainsBoundingBox) { + static constexpr BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(2.0, 2.0, 2.0)); + static constexpr BoundingBox containedBBox(Vec3(0.5, 0.5, 0.5), Vec3(1.5, 1.5, 1.5)); + static constexpr BoundingBox outsideBBox(Vec3(2.5, 2.5, 2.5), Vec3(3.0, 3.0, 3.0)); + + EXPECT_TRUE(bbox.contains(containedBBox)); + EXPECT_FALSE(bbox.contains(outsideBBox)); +} + +TEST(BoundingBoxTest, Intersection) { + static constexpr BoundingBox bbox1(Vec3(0.0, 0.0, 0.0), Vec3(2.0, 2.0, 2.0)); + static constexpr BoundingBox bbox2(Vec3(1.0, 1.0, 1.0), Vec3(3.0, 3.0, 3.0)); + static constexpr BoundingBox expectedIntersection(Vec3(1.0, 1.0, 1.0), Vec3(2.0, 2.0, 2.0)); + + EXPECT_TRUE(bbox1.intersect(bbox2)); + EXPECT_EQ(bbox1.getIntersection(bbox2), expectedIntersection); +} + +TEST(BoundingBoxTest, Inflate) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + bbox.inflate(1.0); + + EXPECT_EQ(bbox.minBBox(), Vec3(-1.0, -1.0, -1.0)); + EXPECT_EQ(bbox.maxBBox(), Vec3(2.0, 2.0, 2.0)); +} + +TEST(BoundingBoxTest, IncludePoint) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + static constexpr Vec3 point(2.0, 2.0, 2.0); + bbox.include(point); + + EXPECT_EQ(bbox.maxBBox(), point); +} + +TEST(BoundingBoxTest, IncludeBoundingBox) { + BoundingBox bbox(Vec3(0.0, 0.0, 0.0), Vec3(1.0, 1.0, 1.0)); + static constexpr BoundingBox other(Vec3(-1.0, -1.0, -1.0), Vec3(2.0, 2.0, 2.0)); + bbox.include(other); + + EXPECT_EQ(bbox.minBBox(), other.minBBox()); + EXPECT_EQ(bbox.maxBBox(), other.maxBBox()); +} + +} diff --git a/Sofa/framework/Type/test/CMakeLists.txt b/Sofa/framework/Type/test/CMakeLists.txt index 84f70ddc9d4..d6ac8363490 100644 --- a/Sofa/framework/Type/test/CMakeLists.txt +++ b/Sofa/framework/Type/test/CMakeLists.txt @@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.22) project(Sofa.Type_test) set(SOURCE_FILES + BoundingBox_test.cpp MatSym_test.cpp MatTypes_test.cpp Material_test.cpp From 642cdc6e3971d1d15e77c547f658e1339c0cd173 Mon Sep 17 00:00:00 2001 From: Hugo Date: Fri, 20 Dec 2024 04:54:50 +0100 Subject: [PATCH 4/8] [Lagrangian] Remove unused data numericalTolerance in BLC (#5164) --- .../lagrangian/model/BilateralLagrangianConstraint.cpp | 6 ++---- .../lagrangian/model/BilateralLagrangianConstraint.h | 3 ++- .../lagrangian/model/BilateralLagrangianConstraint.inl | 2 -- .../component/constraint/lagrangian/model/config.h.in | 10 ++++++++++ 4 files changed, 14 insertions(+), 7 deletions(-) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp index a1f07d3db8c..5ba36d4df61 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.cpp @@ -90,7 +90,7 @@ class BilateralLagrangianConstraintSpecialization static void getConstraintResolution(BilateralLagrangianConstraint& self, const ConstraintParams* cParams, std::vector& 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 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::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/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h index abc001ded95..97b6f4a396b 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h @@ -114,7 +114,8 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint d_restVector; ///< Relative position to maintain between attached points (optional) VecCoord initialDifference; - Data 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 d_activate; ///< control constraint activation (true by default) Data d_keepOrientDiff; ///< keep the initial difference in orientation (only for rigids) diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl index 28e5ddd9d19..18a56f733cd 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl +++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.inl @@ -44,8 +44,6 @@ BilateralLagrangianConstraint::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/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in index 06c71b9df5f..8d0b5acc531 100644 --- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/config.h.in +++ b/Sofa/Component/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 \ No newline at end of file From ca6655444308f62edc0573ba4a093a93271eae2b Mon Sep 17 00:00:00 2001 From: Alex Bilger Date: Fri, 20 Dec 2024 13:31:30 +0100 Subject: [PATCH 5/8] [Config] Upgrade to C++20 (#5111) --- Sofa/framework/Config/CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Sofa/framework/Config/CMakeLists.txt b/Sofa/framework/Config/CMakeLists.txt index 4683959c252..6d72f023115 100644 --- 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 "") From e2b94280b27e59533f1080d736fa93d66137a541 Mon Sep 17 00:00:00 2001 From: Alex Bilger Date: Mon, 23 Dec 2024 05:52:16 +0100 Subject: [PATCH 6/8] [Testing] Mitigate plugin import leakage between tests (#5161) * [Testing] ScopedPlugin * add version with lists * unload plugins at tear down * use ScopedPlugin in a test as an example * support multiple calls to loadPlugins --- .../Engine/Select/tests/BoxROI_test.cpp | 11 +-- .../Direct/tests/SparseLDLSolver_test.cpp | 22 +++--- Sofa/framework/Testing/CMakeLists.txt | 2 + .../Testing/src/sofa/testing/BaseTest.cpp | 7 ++ .../Testing/src/sofa/testing/BaseTest.h | 6 ++ .../Testing/src/sofa/testing/ScopedPlugin.cpp | 60 ++++++++++++++++ .../Testing/src/sofa/testing/ScopedPlugin.h | 68 +++++++++++++++++++ Sofa/framework/Testing/test/CMakeLists.txt | 3 +- .../Testing/test/ScopedPlugin_test.cpp | 59 ++++++++++++++++ 9 files changed, 222 insertions(+), 16 deletions(-) create mode 100644 Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp create mode 100644 Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h create mode 100644 Sofa/framework/Testing/test/ScopedPlugin_test.cpp diff --git a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp index 6b0d14609ae..c695c34e884 100644 --- 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/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp index 6dd556f57b6..c55dceb4748 100644 --- 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/Testing/CMakeLists.txt b/Sofa/framework/Testing/CMakeLists.txt index a4152a1925c..22b0a88b2ea 100644 --- a/Sofa/framework/Testing/CMakeLists.txt +++ b/Sofa/framework/Testing/CMakeLists.txt @@ -65,6 +65,7 @@ set(HEADER_FILES ${SOFATESTINGSRC_ROOT}/BaseTest.h ${SOFATESTINGSRC_ROOT}/LinearCongruentialRandomGenerator.h ${SOFATESTINGSRC_ROOT}/NumericTest.h + ${SOFATESTINGSRC_ROOT}/ScopedPlugin.h ${SOFATESTINGSRC_ROOT}/TestMessageHandler.h ${SOFATESTINGSRC_ROOT}/BaseSimulationTest.h ) @@ -74,6 +75,7 @@ set(SOURCE_FILES ${SOFATESTINGSRC_ROOT}/BaseTest.cpp ${SOFATESTINGSRC_ROOT}/LinearCongruentialRandomGenerator.cpp ${SOFATESTINGSRC_ROOT}/NumericTest.cpp + ${SOFATESTINGSRC_ROOT}/ScopedPlugin.cpp ${SOFATESTINGSRC_ROOT}/TestMessageHandler.cpp ${SOFATESTINGSRC_ROOT}/BaseSimulationTest.cpp ) diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp b/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp index 618a974466a..474fa830b5c 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp +++ b/Sofa/framework/Testing/src/sofa/testing/BaseTest.cpp @@ -93,6 +93,12 @@ BaseTest::BaseTest() : BaseTest::~BaseTest() {} +void BaseTest::loadPlugins( + const std::initializer_list& pluginNames) +{ + m_loadedPlugins.emplace_back(pluginNames.begin(), pluginNames.end()); +} + void BaseTest::SetUp() { onSetUp(); @@ -100,6 +106,7 @@ void BaseTest::SetUp() void BaseTest::TearDown() { + m_loadedPlugins.clear(); onTearDown(); } diff --git a/Sofa/framework/Testing/src/sofa/testing/BaseTest.h b/Sofa/framework/Testing/src/sofa/testing/BaseTest.h index 1ec7c55dd14..c42cdedfb0e 100644 --- a/Sofa/framework/Testing/src/sofa/testing/BaseTest.h +++ b/Sofa/framework/Testing/src/sofa/testing/BaseTest.h @@ -21,10 +21,12 @@ ******************************************************************************/ #pragma once +#include #include #include #include +#include namespace sofa::testing { @@ -51,9 +53,13 @@ class SOFA_TESTING_API BaseTest : public ::testing::Test /// Seed value static int seed; + void loadPlugins(const std::initializer_list& pluginNames); + private: void SetUp() override ; void TearDown() override ; + + std::deque m_loadedPlugins; }; } // namespace sofa::testing diff --git a/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp new file mode 100644 index 00000000000..e0eee3ed616 --- /dev/null +++ b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.cpp @@ -0,0 +1,60 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +namespace sofa::testing +{ + +ScopedPlugin::ScopedPlugin(const std::string& pluginName, + helper::system::PluginManager* pluginManager) +: m_pluginManager(pluginManager) +{ + addPlugin(pluginName); +} + +ScopedPlugin::~ScopedPlugin() +{ + if (m_pluginManager) + { + for (const auto& pluginName : m_loadedPlugins) + { + const auto [path, isLoaded] = m_pluginManager->isPluginLoaded(pluginName); + if (isLoaded) + { + m_pluginManager->unloadPlugin(path); + } + } + } +} + +void ScopedPlugin::addPlugin(const std::string& pluginName) +{ + const auto status = m_pluginManager->loadPlugin(pluginName); + if(status == helper::system::PluginManager::PluginLoadStatus::SUCCESS) + { + m_loadedPlugins.insert(pluginName); + sofa::core::ObjectFactory::getInstance()->registerObjectsFromPlugin(pluginName); + } +} + +} diff --git a/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h new file mode 100644 index 00000000000..4d1e24afe0e --- /dev/null +++ b/Sofa/framework/Testing/src/sofa/testing/ScopedPlugin.h @@ -0,0 +1,68 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#pragma once +#include +#include + +namespace sofa::testing +{ + +struct SOFA_TESTING_API ScopedPlugin +{ + ScopedPlugin() = delete; + ScopedPlugin(const ScopedPlugin&) = delete; + void operator=(const ScopedPlugin&) = delete; + + explicit ScopedPlugin( + const std::string& pluginName, + helper::system::PluginManager* pluginManager = &helper::system::PluginManager::getInstance()); + + template + ScopedPlugin( + InputIt first, InputIt last, + helper::system::PluginManager* pluginManager = &helper::system::PluginManager::getInstance()) + : m_pluginManager(pluginManager) + { + while (first != last) + { + addPlugin(*first++); + } + } + + ~ScopedPlugin(); + +private: + helper::system::PluginManager* m_pluginManager { nullptr }; + + std::set m_loadedPlugins; + + void addPlugin(const std::string& pluginName); +}; + + +inline std::unique_ptr makeScopedPlugin(const std::initializer_list& pluginNames) +{ + return std::make_unique(pluginNames.begin(), pluginNames.end()); +} + + +} diff --git a/Sofa/framework/Testing/test/CMakeLists.txt b/Sofa/framework/Testing/test/CMakeLists.txt index 7d24aab0b58..3b0abcc8063 100644 --- a/Sofa/framework/Testing/test/CMakeLists.txt +++ b/Sofa/framework/Testing/test/CMakeLists.txt @@ -3,7 +3,8 @@ cmake_minimum_required(VERSION 3.22) project(Sofa.Testing_test) set(SOURCE_FILES - TestMessageHandler_test.cpp + ScopedPlugin_test.cpp + TestMessageHandler_test.cpp ) add_executable(${PROJECT_NAME} ${SOURCE_FILES}) diff --git a/Sofa/framework/Testing/test/ScopedPlugin_test.cpp b/Sofa/framework/Testing/test/ScopedPlugin_test.cpp new file mode 100644 index 00000000000..3519649f2b9 --- /dev/null +++ b/Sofa/framework/Testing/test/ScopedPlugin_test.cpp @@ -0,0 +1,59 @@ +/****************************************************************************** +* SOFA, Simulation Open-Framework Architecture * +* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * +* * +* This program is free software; you can redistribute it and/or modify it * +* under the terms of the GNU Lesser General Public License as published by * +* the Free Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, but WITHOUT * +* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * +* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * +* for more details. * +* * +* You should have received a copy of the GNU Lesser General Public License * +* along with this program. If not, see . * +******************************************************************************* +* Authors: The SOFA Team and external contributors (see Authors.txt) * +* * +* Contact information: contact@sofa-framework.org * +******************************************************************************/ +#include +#include + +TEST(ScopedPlugin, test) +{ + static std::string pluginName = "Sofa.Component.AnimationLoop"; + auto& pluginManager = sofa::helper::system::PluginManager::getInstance(); + + //make sure that pluginName is not already loaded + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + if (isLoaded) + { + pluginManager.unloadPlugin(path); + } + } + + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + EXPECT_FALSE(isLoaded); + } + + { + const sofa::testing::ScopedPlugin plugin(pluginName); + + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + EXPECT_TRUE(isLoaded); + } + + //end of scope: plugin should be unloaded + } + + { + const auto [path, isLoaded] = pluginManager.isPluginLoaded(pluginName); + EXPECT_FALSE(isLoaded); + } +} From 30844d0078e1d509b9555491bfe7a1e7aba0610a Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Thu, 26 Dec 2024 18:36:11 +0100 Subject: [PATCH 7/8] [Plugins] Remove unsupported plugins: InvertibleFVM, SofaSimpleGUI and SensableEmulation (#5175) Remove unsupported plugins --- applications/plugins/CMakeLists.txt | 5 +- .../ExternalProjectConfig.cmake.in | 14 - .../plugins/SensableEmulation/CMakeLists.txt | 43 - .../SensableEmulation/NewOmniDriverEmu.cpp | 547 ----- .../SensableEmulation/NewOmniDriverEmu.h | 162 -- .../SensableEmulation/OmniDriverEmu.cpp | 589 ----- .../plugins/SensableEmulation/OmniDriverEmu.h | 173 -- .../PluginSensableEmulation.txt | 10 - .../plugins/SensableEmulation/config.h | 34 - .../examples/SimpleBox-Method2.scn | 75 - .../examples/SimpleBox-Method2.scn.view | 19 - .../examples/data/mesh/box.obj | 20 - .../examples/data/mesh/dental_instrument.obj | 1194 ---------- .../examples/testOmniDriverEmu.scn | 30 - .../initSensableEmulation.cpp | 79 - .../SensableEmulation/pthread/pthread.h | 1368 ------------ .../SensableEmulation/pthread/pthreadVC2.dll | Bin 55808 -> 0 bytes .../SensableEmulation/pthread/pthreadVC2.lib | Bin 30334 -> 0 bytes .../plugins/SensableEmulation/pthread/sched.h | 183 -- .../SensableEmulation/pthread/semaphore.h | 169 -- .../plugins/SofaSimpleGUI/CMakeLists.txt | 44 - applications/plugins/SofaSimpleGUI/Camera.cpp | 196 -- applications/plugins/SofaSimpleGUI/Camera.h | 86 - .../plugins/SofaSimpleGUI/Interactor.cpp | 35 - .../plugins/SofaSimpleGUI/Interactor.h | 58 - .../plugins/SofaSimpleGUI/PickedPoint.h | 64 - applications/plugins/SofaSimpleGUI/README.txt | 8 - .../plugins/SofaSimpleGUI/SimpleGUI.dox | 45 - applications/plugins/SofaSimpleGUI/SofaGL.cpp | 322 --- applications/plugins/SofaSimpleGUI/SofaGL.h | 153 -- .../plugins/SofaSimpleGUI/SofaGlutAnt.zip | Bin 5452 -> 0 bytes .../plugins/SofaSimpleGUI/SofaScene.cpp | 154 -- .../plugins/SofaSimpleGUI/SofaScene.h | 120 -- .../SofaSimpleGUIConfig.cmake.in | 15 - .../SofaSimpleGUI/SpringInteractor.cpp | 68 - .../plugins/SofaSimpleGUI/SpringInteractor.h | 54 - .../SofaSimpleGUI/VisualPickVisitor.cpp | 138 -- .../plugins/SofaSimpleGUI/VisualPickVisitor.h | 43 - .../plugins/SofaSimpleGUI/config.h.in | 34 - .../plugins/SofaSimpleGUI/doc/Doxyfile | 1918 ----------------- .../SofaSimpleGUI/doc/DoxygenLayout.xml | 185 -- .../plugins/SofaSimpleGUI/doc/SimpleGUI.png | Bin 18862 -> 0 bytes .../plugins/SofaSimpleGUI/doc/index.html | 154 -- .../plugins/SofaSimpleGUI/examples/liver.scn | 42 - .../plugins/SofaSimpleGUI/examples/oneTet.scn | 32 - .../plugins/SofaSimpleGUI/initSimpleGUI.cpp | 80 - 46 files changed, 1 insertion(+), 8761 deletions(-) delete mode 100644 applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in delete mode 100644 applications/plugins/SensableEmulation/CMakeLists.txt delete mode 100644 applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp delete mode 100644 applications/plugins/SensableEmulation/NewOmniDriverEmu.h delete mode 100644 applications/plugins/SensableEmulation/OmniDriverEmu.cpp delete mode 100644 applications/plugins/SensableEmulation/OmniDriverEmu.h delete mode 100644 applications/plugins/SensableEmulation/PluginSensableEmulation.txt delete mode 100644 applications/plugins/SensableEmulation/config.h delete mode 100644 applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn delete mode 100644 applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view delete mode 100644 applications/plugins/SensableEmulation/examples/data/mesh/box.obj delete mode 100644 applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj delete mode 100644 applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn delete mode 100644 applications/plugins/SensableEmulation/initSensableEmulation.cpp delete mode 100644 applications/plugins/SensableEmulation/pthread/pthread.h delete mode 100644 applications/plugins/SensableEmulation/pthread/pthreadVC2.dll delete mode 100644 applications/plugins/SensableEmulation/pthread/pthreadVC2.lib delete mode 100644 applications/plugins/SensableEmulation/pthread/sched.h delete mode 100644 applications/plugins/SensableEmulation/pthread/semaphore.h delete mode 100644 applications/plugins/SofaSimpleGUI/CMakeLists.txt delete mode 100644 applications/plugins/SofaSimpleGUI/Camera.cpp delete mode 100644 applications/plugins/SofaSimpleGUI/Camera.h delete mode 100644 applications/plugins/SofaSimpleGUI/Interactor.cpp delete mode 100644 applications/plugins/SofaSimpleGUI/Interactor.h delete mode 100644 applications/plugins/SofaSimpleGUI/PickedPoint.h delete mode 100644 applications/plugins/SofaSimpleGUI/README.txt delete mode 100644 applications/plugins/SofaSimpleGUI/SimpleGUI.dox delete mode 100644 applications/plugins/SofaSimpleGUI/SofaGL.cpp delete mode 100644 applications/plugins/SofaSimpleGUI/SofaGL.h delete mode 100644 applications/plugins/SofaSimpleGUI/SofaGlutAnt.zip delete mode 100644 applications/plugins/SofaSimpleGUI/SofaScene.cpp delete mode 100644 applications/plugins/SofaSimpleGUI/SofaScene.h delete mode 100644 applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in delete mode 100644 applications/plugins/SofaSimpleGUI/SpringInteractor.cpp delete mode 100644 applications/plugins/SofaSimpleGUI/SpringInteractor.h delete mode 100644 applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp delete mode 100644 applications/plugins/SofaSimpleGUI/VisualPickVisitor.h delete mode 100644 applications/plugins/SofaSimpleGUI/config.h.in delete mode 100644 applications/plugins/SofaSimpleGUI/doc/Doxyfile delete mode 100644 applications/plugins/SofaSimpleGUI/doc/DoxygenLayout.xml delete mode 100644 applications/plugins/SofaSimpleGUI/doc/SimpleGUI.png delete mode 100644 applications/plugins/SofaSimpleGUI/doc/index.html delete mode 100644 applications/plugins/SofaSimpleGUI/examples/liver.scn delete mode 100644 applications/plugins/SofaSimpleGUI/examples/oneTet.scn delete mode 100644 applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp diff --git a/applications/plugins/CMakeLists.txt b/applications/plugins/CMakeLists.txt index cfd74c7f771..56af63924fc 100644 --- a/applications/plugins/CMakeLists.txt +++ b/applications/plugins/CMakeLists.txt @@ -25,7 +25,6 @@ sofa_add_subdirectory(directory SofaPython3 SofaPython3 EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin CGALPlugin CGALPlugin EXTERNAL GIT_REF master) # Depends on image sofa_add_subdirectory(plugin Registration Registration EXTERNAL GIT_REF master) # Depends on image, SofaPython, SofaGui and SofaDistanceGrid sofa_add_subdirectory(plugin BulletCollisionDetection BulletCollisionDetection) # Depends on Compliant and LMConstraint -sofa_add_subdirectory(plugin InvertibleFVM InvertibleFVM EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin MeshSTEPLoader MeshSTEPLoader EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin PluginExample PluginExample EXTERNAL GIT_REF master) sofa_add_subdirectory(plugin ManifoldTopologies ManifoldTopologies EXTERNAL GIT_REF master) @@ -35,7 +34,6 @@ sofa_add_subdirectory(plugin Xitact Xitact) sofa_add_subdirectory(plugin Haption Haption) sofa_add_subdirectory(plugin PersistentContact PersistentContact) sofa_add_subdirectory(plugin Sensable Sensable) -sofa_add_subdirectory(plugin SensableEmulation SensableEmulation) sofa_add_subdirectory(plugin SofaHAPI SofaHAPI) sofa_add_subdirectory(plugin SofaCarving SofaCarving) sofa_add_subdirectory(plugin LeapMotion LeapMotion) @@ -66,10 +64,9 @@ sofa_add_subdirectory(plugin SofaCUDA SofaCUDA) sofa_find_package(Sofa.GL QUIET) if(Sofa.GL_FOUND) - sofa_add_subdirectory(plugin SofaSimpleGUI SofaSimpleGUI) # SofaSimpleGUI plugin can't work without OPENGL sofa_add_subdirectory(plugin VolumetricRendering VolumetricRendering) # VolumetricRendering plugin can't work without OPENGL else() - message("Sofa.GL not found; disabling SofaSimpleGUI and VolumetricRendering plugins") + message("Sofa.GL not found; disabling VolumetricRendering plugin") endif() sofa_add_subdirectory(plugin SofaDistanceGrid SofaDistanceGrid) # Also defines SofaDistanceGrid.CUDA diff --git a/applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in b/applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in deleted file mode 100644 index 3ae32c83c66..00000000000 --- a/applications/plugins/InvertibleFVM/ExternalProjectConfig.cmake.in +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.22) - -include(ExternalProject) -ExternalProject_Add(InvertibleFVM - GIT_REPOSITORY https://github.com/sofa-framework/InvertibleFVM - GIT_TAG origin/@ARG_GIT_REF@ - SOURCE_DIR "${CMAKE_SOURCE_DIR}/applications/plugins/InvertibleFVM" - BINARY_DIR "" - CONFIGURE_COMMAND "" - BUILD_COMMAND "" - INSTALL_COMMAND "" - TEST_COMMAND "" - GIT_CONFIG "remote.origin.fetch=+refs/pull/*:refs/remotes/origin/pr/*" -) diff --git a/applications/plugins/SensableEmulation/CMakeLists.txt b/applications/plugins/SensableEmulation/CMakeLists.txt deleted file mode 100644 index 33002d04038..00000000000 --- a/applications/plugins/SensableEmulation/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(SensableEmulation) - - -set(HEADER_FILES - OmniDriverEmu.h - config.h -) - -set(SOURCE_FILES - OmniDriverEmu.cpp - initSensableEmulation.cpp -) - -set(README_FILES PluginSensableEmulation.txt) - -find_package(Sofa.Config REQUIRED) -sofa_find_package(Sofa.Component.Haptics REQUIRED) -sofa_find_package(Sofa.Component.Controller REQUIRED) -sofa_find_package(Sofa.GL.Component.Rendering3D REQUIRED) -sofa_find_package(Boost COMPONENTS thread REQUIRED) - -include_directories(${Boost_INCLUDE_DIRS}) - -add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${README_FILES}) -set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DSOFA_BUILD_SENSABLEEMULATIONPLUGIN") -target_link_libraries(${PROJECT_NAME} Sofa.Component.Haptics Sofa.Component.Controller Sofa.GL.Component.Rendering3D Boost::thread) - -include_directories("${CMAKE_CURRENT_SOURCE_DIR}/..") - -# Seems to be required by boost::asio -if(UNIX) - target_link_libraries(${PROJECT_NAME} pthread) -endif() - -install(TARGETS ${PROJECT_NAME} - COMPONENT SensableEmulation_libraries - EXPORT SensableEmulationTargets - RUNTIME DESTINATION bin - LIBRARY DESTINATION lib - ARCHIVE DESTINATION lib) - -install(DIRECTORY examples/ DESTINATION share/sofa/plugins/${PROJECT_NAME}) diff --git a/applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp b/applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp deleted file mode 100644 index 95c5d1065b5..00000000000 --- a/applications/plugins/SensableEmulation/NewOmniDriverEmu.cpp +++ /dev/null @@ -1,547 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ - -#include "NewOmniDriverEmu.h" - -#include -#include -#include -// -////force feedback -#include -#include -// -#include -#include - -#include -// -#include -#include - -#include -#include -#include -#include -//sensable namespace -#include -#include - - - -double prevTime; - -namespace sofa -{ - -namespace component -{ - -namespace controller -{ - -using namespace sofa::defaulttype; -using namespace core::behavior; -using namespace sofa::defaulttype; - -NewOmniDriverEmu::NewOmniDriverEmu() - : forceScale(initData(&forceScale, 1.0, "forceScale","Default scaling factor applied to the force feedback")) - , scale(initData(&scale, 1.0, "scale","Default scale applied to the Phantom Coordinates. ")) - , positionBase(initData(&positionBase, Vec3d(0,0,0), "positionBase","Position of the interface base in the scene world coordinates")) - , orientationBase(initData(&orientationBase, Quat(0,0,0,1), "orientationBase","Orientation of the interface base in the scene world coordinates")) - , positionTool(initData(&positionTool, Vec3d(0,0,0), "positionTool","Position of the tool in the omni end effector frame")) - , orientationTool(initData(&orientationTool, Quat(0,0,0,1), "orientationTool","Orientation of the tool in the omni end effector frame")) - , permanent(initData(&permanent, false, "permanent" , "Apply the force feedback permanently")) - , omniVisu(initData(&omniVisu, false, "omniVisu", "Visualize the position of the interface in the virtual scene")) - , simuFreq(initData(&simuFreq, 1000, "simuFreq", "frequency of the \"simulated Omni\"")) - , simulateTranslation(initData(&simulateTranslation, false, "simulateTranslation", "do very naive \"translation simulation\" of omni, with constant orientation <0 0 0 1>")) - , trajPts(initData(&trajPts, "trajPoints","Trajectory positions")) - , trajTim(initData(&trajTim, "trajTiming","Trajectory timing")) - , visu_base(NULL) - , visu_end(NULL) -{ - - this->f_listening.setValue(true); - data.forceFeedback = new NullForceFeedback(); - noDevice = false; - moveOmniBase = false; - executeAsynchro = false; - omniSimThreadCreated = false; -} - -NewOmniDriverEmu::~NewOmniDriverEmu() -{ - if (visu_base) - { - delete visu_base; - } - if (visu_end) - { - delete visu_end; - } - -} - -void NewOmniDriverEmu::cleanup() -{ - sout << "NewOmniDriverEmu::cleanup()" << sendl; -} - -void NewOmniDriverEmu::init() -{ - std::cout << "[NewOmniEmu] init" << endl; -} - -void *hapticSimuExecute( void *ptr ) -{ - - NewOmniDriverEmu *omniDrv = (NewOmniDriverEmu*)ptr; - double timeScale = 1.0 / (double)CTime::getTicksPerSec(); - double startTime, endTime, totalTime, realTimePrev = -1.0, realTimeAct; - double requiredTime = 1.0/double(omniDrv->simuFreq.getValue()) * 1.0/timeScale; // [us] - double timeCorrection = 0.1 * requiredTime; - int timeToSleep; - - // construct the "trajectory" - NewOmniDriverEmu::VecCoord pts = omniDrv->trajPts.getValue(); - unsigned int numPts = pts.size(); - type::vector tmg = omniDrv->trajTim.getValue(); - unsigned int numSegs = tmg.size(); - double stepTime = 1.0/omniDrv->simuFreq.getValue(); - - if (numSegs != (2*numPts - 1)) - { - std::cerr << "Bad trajectory specification " << std::endl; - return(0); - } - NewOmniDriverEmu::VecCoord stepDiff; - type::vector stepNum; - - unsigned int seg = 0; - for (unsigned int np = 0; np < numPts; np++) - { - //for the point - unsigned int n = tmg[seg]*omniDrv->simuFreq.getValue(); - stepNum.push_back(n); - cout << "N pts = " << n << endl; - NewOmniDriverEmu::Coord crd; - cout << " adding " << crd << endl; - stepDiff.push_back(crd); - - //for the line - if (np < numPts-1) - { - seg++; - n = tmg[seg]*omniDrv->simuFreq.getValue(); - cout << "N lin = " << n << endl; - stepNum.push_back(n); - Vec3d dx = (pts[np+1].getCenter() - pts[np].getCenter())/double(n); - type::Quat dor; ///TODO difference for rotations!!! - NewOmniDriverEmu::Coord crd(dx, dor); - cout << "adding " << crd << endl; - stepDiff.push_back(crd); - } - seg++; - } - - std::cout << " stepNum = " << stepNum << std::endl; - std::cout << " stepDiff = " << stepDiff << std::endl; - - //trajectory done - - std::cout << "TimeScale = " << timeScale << std::endl; - - SolidTypes::SpatialVector temp1, temp2; - - long long unsigned asynchroStep=0; - double averageFreq = 0.0, minimalFreq=1e10; - - unsigned int actSeg = 0; - unsigned int actStep = 0; - - sofa::type::Quat actualRot; - sofa::type::Vec3d actualPos = pts[0].getCenter(); - - cout << "numSegs = " << numSegs << endl; - cout << "numSegs = " << numSegs << endl; - - while (true) - { - if (omniDrv->executeAsynchro) - { - startTime = double(omniDrv->thTimer->getTime()); - - //compute the actual position - if (actSeg < numSegs) - { - if (actStep < stepNum[actSeg]) - { - actualPos += stepDiff[actSeg].getCenter(); - //cout << "Adding [" << actStep << "] " << stepDiff[actSeg] << endl; - actStep++; - } - else - { - actStep=0; - actSeg++; - //cout << "Changing " << endl; - } - } - //else - // cout << "Finished" << endl; - - - omniDrv->data.servoDeviceData.pos = actualPos; - omniDrv->data.servoDeviceData.quat = actualRot; - SolidTypes::Transform baseOmni_H_endOmni(actualPos * omniDrv->data.scale, actualRot); - SolidTypes::Transform world_H_virtualTool = omniDrv->data.world_H_baseOmni * baseOmni_H_endOmni * omniDrv->data.endOmni_H_virtualTool; - - omniDrv->data.forceFeedback->computeWrench(world_H_virtualTool,temp1,temp2); - - realTimeAct = double(omniDrv->thTimer->getTime()); - if (asynchroStep > 0) - { - double realFreq = 1.0/( (realTimeAct - realTimePrev)*timeScale ); - averageFreq += realFreq; - //std::cout << "actual frequency = " << realFreq << std::endl; - if (realFreq < minimalFreq) - minimalFreq = realFreq; - - if ( ((asynchroStep+1) % 1000) == 0) - { - std::cout << "Average frequency of the loop = " << averageFreq/double(asynchroStep) << " Hz " << std::endl; - std::cout << "Minimal frequency of the loop = " << minimalFreq << " Hz " << std::endl; - } - } - - realTimePrev = realTimeAct; - asynchroStep++; - - endTime = double(omniDrv->thTimer->getTime()); //[s] - totalTime = (endTime - startTime); // [us] - timeToSleep = int( (requiredTime - totalTime) - timeCorrection); // [us] - if (timeToSleep > 0) - { - std::this_thread::sleep_for(std::chrono::microseconds(timeToSleep)); - } - else - { - std::cout << "Cannot achieve desired frequency, computation too slow: " << totalTime << std::endl; - } - - } - else - { - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - } -} - -void NewOmniDriverEmu::bwdInit() -{ - sout<<"NewOmniDriverEmu::bwdInit() is called"<(this->getContext()); // access to current node - ForceFeedback *ff = context->getTreeObject(); - - data.forceFeedback = ff; - - setDataValue(); - - if (!omniSimThreadCreated) - { - sout << "Not initializing phantom, starting emulating thread..." << sendl; - pthread_t hapSimuThread; - - if (thTimer == NULL) - thTimer = new(CTime); - - if ( pthread_create( &hapSimuThread, NULL, hapticSimuExecute, (void*)this) == 0 ) - { - sout << "Thread created for Omni simulation" << sendl; - omniSimThreadCreated=true; - } - } - else - sout << "Emulating thread already running" << sendl; -} - - -void NewOmniDriverEmu::setDataValue() -{ - data.scale = scale.getValue(); - data.forceScale = forceScale.getValue(); - Quat q = orientationBase.getValue(); - q.normalize(); - orientationBase.setValue(q); - data.world_H_baseOmni.set( positionBase.getValue(), q ); - q=orientationTool.getValue(); - q.normalize(); - data.endOmni_H_virtualTool.set(positionTool.getValue(), q); - data.permanent_feedback = permanent.getValue(); -} - -void NewOmniDriverEmu::reset() -{ - std::cout<<"NewOmniDriver::reset() is called" <reinit(); -} - -void NewOmniDriverEmu::reinitVisual() -{ - cout << "NewOmniDriver::reinitVisual() is called " << endl; - if(visu_base!=NULL) - { - cout << "visu_base = " << visu_base << endl; - delete(visu_base); - visu_base = new sofa::component::visualmodel::OglModel(); - visu_base->fileMesh.setValue("mesh/omni_test2.obj"); - visu_base->m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,1.0f,1.0f,1.0f); - visu_base->init(); - visu_base->initVisual(); - visu_base->updateVisual(); - visu_base->applyRotation(orientationBase.getValue()); - visu_base->applyTranslation( positionBase.getValue()[0],positionBase.getValue()[1], positionBase.getValue()[2]); - - } - - if (visu_end != NULL) - { - //serr<<"create visual model for NewOmniDriver end"<m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,0.3f,0.0f,1.0f); - visu_end->init(); - visu_end->initVisual(); - visu_end->updateVisual(); - } - - -} - -void NewOmniDriverEmu::reinit() -{ - std::cout<<"NewOmniDriver::reinit() is called" <cleanup(); - this->bwdInit(); - this->reinitVisual(); - std::cout<<"NewOmniDriver::reinit() done" <getRigidX(); - // x_rigid->resize(1); - //(*x_rigid)[0].getOrientation() = q; - //(*x_rigid)[0].getCenter() = positionBase.getValue(); - //double s = - //this->scale=Vector3(this->) - -} - -void NewOmniDriverEmu::draw() -{ - //cout << "NewOmniDriver::draw is called" << endl; - if(omniVisu.getValue()) - { - if (visu_base == NULL) - { - cout << "Creating visu_base" << endl; - // create visual object - //serr<<"create visual model for NewOmniDriver base"<fileMesh.setValue("mesh/omni_test2.obj"); - visu_base->m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_base->init(); - visu_base->initVisual(); - visu_base->updateVisual(); - visu_base->applyRotation(orientationBase.getValue()); - visu_base->applyTranslation( positionBase.getValue()[0],positionBase.getValue()[1], positionBase.getValue()[2]); - //getContext()->addObject(visu_base); - } - - - if (visu_end == NULL) - { - //serr<<"create visual model for NewOmniDriver end"<fileMesh.setValue("mesh/stylus.obj"); - visu_end->m_scale.setValue(type::Vector3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,0.3f,0.0f,1.0f); - visu_end->init(); - visu_end->initVisual(); - visu_end->updateVisual(); - } - - // compute position of the endOmni in worldframe - SolidTypes::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - SolidTypes::Transform world_H_endOmni = data.world_H_baseOmni * baseOmni_H_endOmni ; - - - visu_end->xforms.resize(1); - (visu_end->xforms)[0].getOrientation() = world_H_endOmni.getOrientation(); - (visu_end->xforms)[0].getCenter() = world_H_endOmni.getOrigin(); - - // draw the 2 visual models - visu_base->drawVisual(); - visu_end->drawVisual(); - } -} - -void NewOmniDriverEmu::copyDeviceDataCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; // static_cast(pUserData); - memcpy(&data->deviceData, &data->servoDeviceData, sizeof(DeviceData)); - data->servoDeviceData.nupdates = 0; - data->servoDeviceData.ready = true; -} - -void NewOmniDriverEmu::stopCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; // static_cast(pUserData); - data->servoDeviceData.stop = true; -} - -void NewOmniDriverEmu::onKeyPressedEvent(core::objectmodel::KeypressedEvent *kpe) -{ - - - -} - -void NewOmniDriverEmu::onKeyReleasedEvent(core::objectmodel::KeyreleasedEvent *kre) -{ - - //omniVisu.setValue(false); - -} - -void NewOmniDriverEmu::handleEvent(core::objectmodel::Event *event) -{ - - //std::cout<<"NewEvent detected !!"<(event)) - { - //getData(); // copy data->servoDeviceData to gDeviceData - //if (!simulateTranslation.getValue()) { - copyDeviceDataCallback(&data); - if (data.deviceData.ready) - { - cout << "Data ready, event" << endl; - data.deviceData.quat.normalize(); - //sout << "driver is working ! " << data->servoDeviceData.transform[12+0] << endl; - - - /// COMPUTATION OF THE vituralTool 6D POSITION IN THE World COORDINATES - SolidTypes::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - SolidTypes::Transform world_H_virtualTool = data.world_H_baseOmni * baseOmni_H_endOmni * data.endOmni_H_virtualTool; - - - // store actual position of interface for the forcefeedback (as it will be used as soon as new LCP will be computed) - data.forceFeedback->setReferencePosition(world_H_virtualTool); - - /// TODO : SHOULD INCLUDE VELOCITY !! - sofa::core::objectmodel::HapticDeviceEvent omniEvent(data.deviceData.id, world_H_virtualTool.getOrigin(), world_H_virtualTool.getOrientation() , data.deviceData.m_buttonState); - - this->getContext()->propagateEvent(sofa::core::ExecParams::defaultInstance(), &omniEvent); - - if (moveOmniBase) - { - std::cout<<" new positionBase = "<applyTranslation(positionBase_buf[0] - positionBase.getValue()[0], - positionBase_buf[1] - positionBase.getValue()[1], - positionBase_buf[2] - positionBase.getValue()[2]); - positionBase.setValue(positionBase_buf); - setDataValue(); - //this->reinitVisual(); - } - executeAsynchro=true; - } - else - std::cout<<"data not ready"<(event)) - { - core::objectmodel::KeypressedEvent *kpe = dynamic_cast(event); - if (kpe->getKey()=='Z' ||kpe->getKey()=='z' ) - { - moveOmniBase = !moveOmniBase; - std::cout<<"key z detected "<cleanup(); - positionBase_buf = positionBase.getValue(); - - } - else - { - this->reinit(); - } - } - - if(kpe->getKey()=='K' || kpe->getKey()=='k') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=0.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='L' || kpe->getKey()=='l') - { - positionBase_buf.x()=-0.15; - positionBase_buf.y()=1.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='M' || kpe->getKey()=='m') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=2.5; - positionBase_buf.z()=2.6; - } - - - - } -} - -int NewOmniDriverEmuClass = core::RegisterObject("Solver to test compliance computation for new articulated system objects") - .add< NewOmniDriverEmu >(); - -} // namespace controller - -} // namespace component - -} // namespace sofa diff --git a/applications/plugins/SensableEmulation/NewOmniDriverEmu.h b/applications/plugins/SensableEmulation/NewOmniDriverEmu.h deleted file mode 100644 index c12a68bec9d..00000000000 --- a/applications/plugins/SensableEmulation/NewOmniDriverEmu.h +++ /dev/null @@ -1,162 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#ifndef SOFA_COMPONENT_CONTROLLER_OMNIEMU_H -#define SOFA_COMPONENT_CONTROLLER_OMNIEMU_H - -//Sensable include -#include -#include - -#include -#include -#include - -#include - -namespace sofa -{ -namespace simulation { class Node; } - -namespace component -{ -namespace visualModel { class OglModel; } - -namespace controller -{ - -class ForceFeedback; - - -using namespace sofa::defaulttype; -using namespace helper::system::thread; -using core::objectmodel::Data; - -/** Holds data retrieved from HDAPI. */ -typedef struct -{ - unsigned int id; - int nupdates; - int m_buttonState; /* Has the device button has been pressed. */ - //hduVector3Dd m_devicePosition; /* Current device coordinates. */ - //HDErrorInfo m_error; - Vec3d pos; - Quat quat; - bool ready; - bool stop; -} DeviceData; - -typedef struct -{ - ForceFeedback* forceFeedback; - simulation::Node *context; - - sofa::defaulttype::SolidTypes::Transform endOmni_H_virtualTool; - //Transform baseOmni_H_endOmni; - sofa::defaulttype::SolidTypes::Transform world_H_baseOmni; - double forceScale; - double scale; - bool permanent_feedback; - - // API OMNI // - DeviceData servoDeviceData; // for the haptic loop - DeviceData deviceData; // for the simulation loop - -} OmniData; - -/** -* Omni driver -*/ -class NewOmniDriverEmu : public Controller -{ - -public: - typedef Rigid3dTypes::Coord Coord; - typedef Rigid3dTypes::VecCoord VecCoord; - - SOFA_CLASS(NewOmniDriverEmu, Controller); - Data scale; ///< Default scale applied to the Phantom Coordinates. - Data forceScale; ///< Default scaling factor applied to the force feedback - Data simuFreq; ///< frequency of the "simulated Omni" - Data positionBase; ///< Position of the interface base in the scene world coordinates - Data orientationBase; ///< Orientation of the interface base in the scene world coordinates - Data positionTool; ///< Position of the tool in the omni end effector frame - Data orientationTool; ///< Orientation of the tool in the omni end effector frame - Data permanent; ///< Apply the force feedback permanently - Data omniVisu; ///< Visualize the position of the interface in the virtual scene - Data simulateTranslation; ///< do very naive "translation simulation" of omni, with constant orientation <0 0 0 1> - - OmniData data; - - - NewOmniDriverEmu(); - virtual ~NewOmniDriverEmu(); - - virtual void init(); - virtual void bwdInit(); - virtual void reset(); - void reinit(); - - int initDevice(OmniData& data); - - void cleanup(); - virtual void draw(); - - void onKeyPressedEvent(core::objectmodel::KeypressedEvent *); - void onKeyReleasedEvent(core::objectmodel::KeyreleasedEvent *); - - void setDataValue(); - void reinitVisual(); - - bool afterFirstStep; - SolidTypes::Transform prevPosition; - - //neede for "omni simulation" - CTime *thTimer; - double lastStep; - bool executeAsynchro; - Data trajPts; ///< Trajectory positions - Data > trajTim; ///< Trajectory timing - -private: - void handleEvent(core::objectmodel::Event *); - void copyDeviceDataCallback(OmniData *pUserData); - void stopCallback(OmniData *pUserData); - sofa::component::visualmodel::OglModel *visu_base, *visu_end; - bool noDevice; - - bool moveOmniBase; - Vec3d positionBase_buf; - bool omniSimThreadCreated; - - - - -}; - - -} // namespace controller - -} // namespace component - -} // namespace sofa - -#endif // SOFA_COMPONENT_CONTROLLER_OMNIEMU_H diff --git a/applications/plugins/SensableEmulation/OmniDriverEmu.cpp b/applications/plugins/SensableEmulation/OmniDriverEmu.cpp deleted file mode 100644 index cbfe2cfd3bc..00000000000 --- a/applications/plugins/SensableEmulation/OmniDriverEmu.cpp +++ /dev/null @@ -1,589 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ - -#include "OmniDriverEmu.h" - -#include -#include -#include - -#include - -////force feedback -#include -#include - -#include -#include - -#include -#include - -#include -#include - -#include -#include -#include - -#include - -#include - -#include -using sofa::simulation::mechanicalvisitor::MechanicalPropagateOnlyPositionAndVelocityVisitor; - -#include - -namespace sofa -{ - -namespace component -{ - -namespace controller -{ - -using namespace sofa::type; -using namespace sofa::defaulttype; -using namespace core::behavior; -using type::vector; - -OmniDriverEmu::OmniDriverEmu() - : forceScale(initData(&forceScale, 1.0, "forceScale","Default scaling factor applied to the force feedback")) - , scale(initData(&scale, 1.0, "scale","Default scale applied to the Phantom Coordinates. ")) - , positionBase(initData(&positionBase, Vec3d(0,0,0), "positionBase","Position of the interface base in the scene world coordinates")) - , orientationBase(initData(&orientationBase, Quat(0,0,0,1), "orientationBase","Orientation of the interface base in the scene world coordinates")) - , positionTool(initData(&positionTool, Vec3d(0,0,0), "positionTool","Position of the tool in the omni end effector frame")) - , orientationTool(initData(&orientationTool, Quat(0,0,0,1), "orientationTool","Orientation of the tool in the omni end effector frame")) - , permanent(initData(&permanent, false, "permanent" , "Apply the force feedback permanently")) - , omniVisu(initData(&omniVisu, false, "omniVisu", "Visualize the position of the interface in the virtual scene")) - , simuFreq(initData(&simuFreq, 1000, "simuFreq", "frequency of the \"simulated Omni\"")) - , simulateTranslation(initData(&simulateTranslation, false, "simulateTranslation", "do very naive \"translation simulation\" of omni, with constant orientation <0 0 0 1>")) - , thTimer(nullptr) - , trajPts(initData(&trajPts, "trajPoints","Trajectory positions")) - , trajTim(initData(&trajTim, "trajTiming","Trajectory timing")) - , visu_base(nullptr) - , visu_end(nullptr) - , currentToolIndex(0) - , isToolControlled(true) -{ - this->f_listening.setValue(true); - noDevice = false; - moveOmniBase = false; - executeAsynchro = false; - omniSimThreadCreated = false; - m_terminate = true; -} - - -OmniDriverEmu::~OmniDriverEmu() -{ - if (thTimer != nullptr) - delete thTimer; -} - - -void OmniDriverEmu::setForceFeedbacks(vector ffs) -{ - data.forceFeedbacks.clear(); - for (unsigned int i=0; i *> (this->getContext()->getMechanicalState()); - if (!mState) - msg_warning() << "OmniDriverEmu has no binding MechanicalState."; - else - msg_info() << "[Omni] init" ; - - if(mState->getSize()resize(toolCount.getValue()); -} - - -/** - function that is used to emulate a haptic device by interpolating the position of the tool between several points. -*/ -void hapticSimuExecute(std::atomic& terminate, void *ptr ) -{ - assert(ptr!=nullptr); - - // Initialization - OmniDriverEmu *omniDrv = static_cast(ptr); - - // Init the "trajectory" data - OmniDriverEmu::VecCoord pts = omniDrv->trajPts.getValue(); //sets of points use for interpolation - type::vector tmg = omniDrv->trajTim.getValue(); //sets of "key time" for interpolation - - if (pts.empty()) - { - msg_error(omniDrv) << "Bad trajectory specification : there are no points for interpolation. "; - return; - } - - // Add a first point ( 0 0 0 0 0 0 1 ) if the first "key time" is not 0 - if (sofa::helper::isEqual(tmg[0], 0.0)) - { - pts.insert(pts.begin(), OmniDriverEmu::Coord()); - tmg.insert(tmg.begin(), 0); - } - - size_t numPts = pts.size(); - size_t numSegs = tmg.size(); - - // test if "trajectory" data are correct - if (numSegs != numPts) - { - msg_error(omniDrv) << "Bad trajectory specification : the number of trajectory timing does not match the number of trajectory points. "; - return; - } - - type::vector< unsigned int > stepNum; - // Init the Step list - for (unsigned int i = 0; i < numPts; i++) - { - stepNum.push_back(tmg[i] * omniDrv->simuFreq.getValue()); - } - - // Init data for interpolation. - SolidTypes::SpatialVector temp1, temp2; - long long unsigned asynchroStep=0; - double averageFreq = 0.0, minimalFreq=1e10; - unsigned int actSeg = 0; - unsigned int actStep = 0; - sofa::type::Quat actualRot; - sofa::type::Vec3d actualPos = pts[0].getCenter(); - - double timeScale = 1.0 / (double)helper::system::thread::CTime::getTicksPerSec(); - double startTime, endTime, totalTime, realTimePrev = -1.0, realTimeAct; - double requiredTime = 1.0 / (double)omniDrv->simuFreq.getValue() * 1.0 / timeScale; - double timeCorrection = 0.1 * requiredTime; - int timeToSleep; - - int oneTimeMessage = 0; - // loop that updates the position tool. - while (!terminate) - { - if (omniDrv->executeAsynchro) - { - if (oneTimeMessage == 1) - { - oneTimeMessage = 0; - } - - startTime = double(omniDrv->thTimer->getTime()); - - // compute the new position and orientataion - if (actSeg < numSegs) - { - - if (actSeg > 0 && actStep < stepNum[actSeg]) - { - - //compute the coeff for interpolation - double t = ((double)(actStep-stepNum[actSeg-1]))/((double)(stepNum[actSeg]-stepNum[actSeg-1])); - - //compute the actual position - actualPos = (pts[actSeg-1].getCenter())*(1-t)+(pts[actSeg].getCenter())*t; - - //compute the actual orientation - actualRot.slerp(pts[actSeg-1].getOrientation(),pts[actSeg].getOrientation(),t,true); - - actStep++; - } - else - { - actualPos = pts[actSeg].getCenter(); - actualRot = pts[actSeg].getOrientation(); - actSeg++; - } - } - else - { - msg_info(omniDrv) << "End of the movement!" ; - return; - } - - // Update the position of the tool - omniDrv->data.servoDeviceData.pos = actualPos; - omniDrv->data.servoDeviceData.quat = actualRot; - SolidTypes::Transform baseOmni_H_endOmni(actualPos * omniDrv->data.scale, actualRot); - SolidTypes::Transform world_H_virtualTool = omniDrv->data.world_H_baseOmni * baseOmni_H_endOmni * omniDrv->data.endOmni_H_virtualTool; - - // transmit the position of the tool to the force feedback - omniDrv->data.forceFeedbackIndice= omniDrv->getCurrentToolIndex(); - // store actual position of interface for the forcefeedback (as it will be used as soon as new LCP will be computed) - for (unsigned int i=0; idata.forceFeedbacks.size(); i++) - { - if (omniDrv->data.forceFeedbacks[i]->d_indice.getValue()==omniDrv->data.forceFeedbackIndice) - { - omniDrv->data.forceFeedbacks[i]->computeWrench(world_H_virtualTool,temp1,temp2); - } - } - - realTimeAct = double(omniDrv->thTimer->getTime()); - - if (asynchroStep > 0) - { - double realFreq = 1.0/( (realTimeAct - realTimePrev)*timeScale ); - averageFreq += realFreq; - if (realFreq < minimalFreq) - minimalFreq = realFreq; - - if ( ((asynchroStep+1) % 1000) == 0) - { - msg_info(omniDrv) << "Average frequency of the loop = " << averageFreq/double(asynchroStep) << " Hz " - << "Minimal frequency of the loop = " << minimalFreq << " Hz " ; - } - } - - realTimePrev = realTimeAct; - asynchroStep++; - - endTime = (double)omniDrv->thTimer->getTime(); //[s] - totalTime = (endTime - startTime); // [us] - timeToSleep = int( ((requiredTime - totalTime) - timeCorrection) ); // [us] - - if (timeToSleep > 0) - { - std::this_thread::sleep_for(std::chrono::seconds(int(timeToSleep * timeScale))); - } - else - { - msg_info(omniDrv) << "Cannot achieve desired frequency, computation too slow : " << totalTime * timeScale << " seconds for last iteration."; - } - } - else - { - if (oneTimeMessage == 0) - { - msg_info(omniDrv) << "Running Asynchro without action" ; - oneTimeMessage = 1; - } - - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - } -} - -void OmniDriverEmu::bwdInit() -{ - msg_info()<<"OmniDriverEmu::bwdInit() is called"; - sofa::simulation::Node *context = dynamic_cast(this->getContext()); // access to current node - - // depending on toolCount, search either the first force feedback, or the feedback with indice "0" - sofa::simulation::Node *groot = dynamic_cast(context->getRootContext()); // access to current node - - vector ffs; - groot->getTreeObjects(&ffs); - msg_info() << "OmniDriver: "<m_terminate), this); - setOmniSimThreadCreated(true); - msg_info() << "OmniDriver : Thread created for Omni simulation."; -} - - -void OmniDriverEmu::setDataValue() -{ - data.forceFeedbackIndice=0; - data.scale = scale.getValue(); - data.forceScale = forceScale.getValue(); - Quat q = orientationBase.getValue(); - q.normalize(); - orientationBase.setValue(q); - data.world_H_baseOmni.set( positionBase.getValue(), q ); - q=orientationTool.getValue(); - q.normalize(); - data.endOmni_H_virtualTool.set(positionTool.getValue(), q); - data.permanent_feedback = permanent.getValue(); -} - -void OmniDriverEmu::reinit() -{ - msg_info()<<"OmniDriverEmu::reinit() is called"; - this->cleanup(); - this->bwdInit(); - msg_info()<<"OmniDriverEmu::reinit() done"; -} - -void OmniDriverEmu::draw(const core::visual::VisualParams *) -{ - using sofa::gl::component::rendering3d::OglModel; - if(omniVisu.getValue()) - { - static bool isInited=false; - if(!isInited) - { - // compute position of the endOmni in worldframe - defaulttype::SolidTypes::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - defaulttype::SolidTypes::Transform world_H_endOmni = data.world_H_baseOmni * baseOmni_H_endOmni ; - - visu_base = sofa::core::objectmodel::New(); - visu_base->d_fileMesh.setValue("mesh/omni_test2.obj"); - visu_base->d_scale.setValue(type::Vec3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_base->setColor(1.0f,1.0f,1.0f,1.0f); - visu_base->init(); - visu_base->initVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_base->updateVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_base->applyRotation(orientationBase.getValue()); - visu_base->applyTranslation( positionBase.getValue()[0],positionBase.getValue()[1], positionBase.getValue()[2]); - - visu_end = sofa::core::objectmodel::New(); - visu_end->d_fileMesh.setValue("mesh/stylus.obj"); - visu_end->d_scale.setValue(type::Vec3(scale.getValue(),scale.getValue(),scale.getValue())); - visu_end->setColor(1.0f,0.3f,0.0f,1.0f); - visu_end->init(); - visu_end->initVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_end->updateVisual(sofa::core::visual::visualparams::defaultInstance()); - visu_end->applyRotation(world_H_endOmni.getOrientation()); - visu_end->applyTranslation(world_H_endOmni.getOrigin()[0],world_H_endOmni.getOrigin()[1],world_H_endOmni.getOrigin()[2]); - isInited=true; - } - - // draw the 2 visual models - visu_base->doDrawVisual(sofa::core::visual::VisualParams::defaultInstance()); - visu_end->doDrawVisual(sofa::core::visual::VisualParams::defaultInstance()); - } -} - -void OmniDriverEmu::copyDeviceDataCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; - memcpy(&data->deviceData, &data->servoDeviceData, sizeof(DeviceData)); - data->servoDeviceData.ready = true; - data->servoDeviceData.nupdates = 0; -} - -void OmniDriverEmu::stopCallback(OmniData *pUserData) -{ - OmniData *data = pUserData; - data->servoDeviceData.stop = true; -} - -void OmniDriverEmu::handleEvent(core::objectmodel::Event *event) -{ - if (dynamic_cast(event)) - { - msg_info() << "Test handle event "; - - copyDeviceDataCallback(&data); - - msg_info() << data.deviceData.ready; - - if (data.deviceData.ready) - { - msg_info() << "Data ready, event 2"; - - data.deviceData.quat.normalize(); - - if (isToolControlled) // ignore haptic device if tool is unselected - { - /// COMPUTATION OF THE vituralTool 6D POSITION IN THE World COORDINATES - SolidTypes< double >::Transform baseOmni_H_endOmni(data.deviceData.pos*data.scale, data.deviceData.quat); - SolidTypes< double >::Transform world_H_virtualTool = data.world_H_baseOmni * baseOmni_H_endOmni * data.endOmni_H_virtualTool; - - //---------------------------- - data.forceFeedbackIndice=currentToolIndex; - // store actual position of interface for the forcefeedback (as it will be used as soon as new LCP will be computed) - //data.forceFeedback->setReferencePosition(world_H_virtualTool); - for (unsigned int i=0; id_indice.getValue()==data.forceFeedbackIndice) - data.forceFeedbacks[i]->setReferencePosition(world_H_virtualTool); - - //----------------------------- - //TODO : SHOULD INCLUDE VELOCITY !! - //sofa::core::objectmodel::HapticDeviceEvent omniEvent(data.deviceData.id, world_H_virtualTool.getOrigin(), world_H_virtualTool.getOrientation() , data.deviceData.m_buttonState); - //this->getContext()->propagateEvent(sofa::core::ExecParams::defaultInstance(), &omniEvent); - helper::WriteAccessor > > > x = *this->mState->write(core::VecCoordId::position()); - this->getContext()->getMechanicalState()->vRealloc( sofa::core::MechanicalParams::defaultInstance(), core::VecCoordId::freePosition() ); // freePosition is not allocated by default - helper::WriteAccessor > > > xfree = *this->mState->write(core::VecCoordId::freePosition()); - - /// FIX : check if the mechanical state is empty, if true, resize it - /// otherwise: crash when accessing xfree[] and x[] - if(xfree.size() == 0) - xfree.resize(1); - if(x.size() == 0) - x.resize(1); - - if((size_t)currentToolIndex >= xfree.size() || (size_t)currentToolIndex >= x.size()) - msg_warning()<<"currentToolIndex exceed the size of xfree/x vectors"; - else - { - xfree[currentToolIndex].getCenter() = world_H_virtualTool.getOrigin(); - x[currentToolIndex].getCenter() = world_H_virtualTool.getOrigin(); - - xfree[currentToolIndex].getOrientation() = world_H_virtualTool.getOrientation(); - x[currentToolIndex].getOrientation() = world_H_virtualTool.getOrientation(); - } - - sofa::simulation::Node *node = dynamic_cast (this->getContext()); - if (node != nullptr) - { - MechanicalPropagateOnlyPositionAndVelocityVisitor mechaVisitor(sofa::core::MechanicalParams::defaultInstance()); mechaVisitor.execute(node); - sofa::simulation::UpdateMappingVisitor updateVisitor(sofa::core::ExecParams::defaultInstance()); updateVisitor.execute(node); - } - } - else - { - data.forceFeedbackIndice = -1; - } - - if (moveOmniBase) - { - msg_info()<<" new positionBase = "<applyTranslation(positionBase_buf[0]-positionBase.getValue()[0], - positionBase_buf[1]-positionBase.getValue()[1], - positionBase_buf[2]-positionBase.getValue()[2]); - positionBase.setValue(positionBase_buf); - setDataValue(); - } - - executeAsynchro = true; - } - else - msg_info()<<"data not ready"; - } - - if (dynamic_cast(event)) - { - core::objectmodel::KeypressedEvent *kpe = dynamic_cast(event); - if (kpe->getKey()=='Z' ||kpe->getKey()=='z' ) - { - moveOmniBase = !moveOmniBase; - msg_info()<<"key z detected "; - omniVisu.setValue(moveOmniBase); - - if(moveOmniBase) - { - this->cleanup(); - positionBase_buf = positionBase.getValue(); - } - else - { - this->reinit(); - } - } - - if(kpe->getKey()=='K' || kpe->getKey()=='k') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=0.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='L' || kpe->getKey()=='l') - { - positionBase_buf.x()=-0.15; - positionBase_buf.y()=1.5; - positionBase_buf.z()=2.6; - } - - if(kpe->getKey()=='M' || kpe->getKey()=='m') - { - positionBase_buf.x()=0.0; - positionBase_buf.y()=2.5; - positionBase_buf.z()=2.6; - } - - // emulated haptic buttons B=btn1, N=btn2 - if (kpe->getKey()=='H' || kpe->getKey()=='h') - { - msg_info() << "emulated button 1 pressed"; - Vec3 dummyVector; - Quat dummyQuat; - sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat, - sofa::core::objectmodel::HapticDeviceEvent::Button1StateMask); - sofa::simulation::Node *groot = dynamic_cast(getContext()->getRootContext()); // access to current node - groot->propagateEvent(core::ExecParams::defaultInstance(), &event); - } - if (kpe->getKey()=='J' || kpe->getKey()=='j') - { - std::cout << "emulated button 2 pressed" << std::endl; - Vec3 dummyVector; - Quat dummyQuat; - sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat, - sofa::core::objectmodel::HapticDeviceEvent::Button2StateMask); - sofa::simulation::Node *groot = dynamic_cast(getContext()->getRootContext()); // access to current node - groot->propagateEvent(core::ExecParams::defaultInstance(), &event); - } - - } - if (dynamic_cast(event)) - { - core::objectmodel::KeyreleasedEvent *kre = dynamic_cast(event); - // emulated haptic buttons B=btn1, N=btn2 - if (kre->getKey()=='H' || kre->getKey()=='h' - || kre->getKey()=='J' || kre->getKey()=='j') - { - msg_info() << "emulated button released" ; - Vec3 dummyVector; - Quat dummyQuat; - sofa::core::objectmodel::HapticDeviceEvent event(currentToolIndex,dummyVector,dummyQuat,0); - sofa::simulation::Node *groot = dynamic_cast(getContext()->getRootContext()); // access to current node - groot->propagateEvent(core::ExecParams::defaultInstance(), &event); - } - } -} - - -static int OmniDriverEmuClass = core::RegisterObject("Solver to test compliance computation for new articulated system objects") - .add< OmniDriverEmu >(); - -} // namespace controller - -} // namespace component - -} // namespace sofa diff --git a/applications/plugins/SensableEmulation/OmniDriverEmu.h b/applications/plugins/SensableEmulation/OmniDriverEmu.h deleted file mode 100644 index 0590808fa47..00000000000 --- a/applications/plugins/SensableEmulation/OmniDriverEmu.h +++ /dev/null @@ -1,173 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#ifndef SOFA_COMPONENT_CONTROLLER_OMNIEMU_H -#define SOFA_COMPONENT_CONTROLLER_OMNIEMU_H - -#include -#include -#include - -#include - -#include -#include - -#include -#include -#include -#include - -namespace sofa::gl::component::rendering3d -{ - class OglModel; - -} // namespace sofa::gl::component::rendering3d - -namespace sofa::component::haptics -{ - class ForceFeedback; -} - -namespace sofa::component::controller -{ - -/** Holds data retrieved from HDAPI. */ -typedef struct -{ - int nupdates; - int m_buttonState; /* Has the device button has been pressed. */ - type::Vec3d pos; - type::Quat quat; - bool ready; - bool stop; -} DeviceData; - -typedef struct -{ - type::vector forceFeedbacks; - int forceFeedbackIndice; - simulation::Node *context; - - sofa::defaulttype::SolidTypes::Transform endOmni_H_virtualTool; - sofa::defaulttype::SolidTypes::Transform world_H_baseOmni; - double forceScale; - double scale; - bool permanent_feedback; - - // API OMNI // - DeviceData servoDeviceData; // for the haptic loop - DeviceData deviceData; // for the simulation loop - -} OmniData; - -/** -* Omni driver emulator you can add to your scene. -* -* Controller's actions: -* key z: reset to base position -* key k, l, m: move base position -* key h: emulate button 1 press/release -* key i: emulate button 2 press/release -*/ -class SOFA_SENSABLEEMUPLUGIN_API OmniDriverEmu : public Controller -{ - -public: - typedef defaulttype::Rigid3dTypes::Coord Coord; - typedef defaulttype::Rigid3dTypes::VecCoord VecCoord; - - using Vec3d = sofa::type::Vec3d; - using Quat = sofa::type::Quat; - - SOFA_CLASS(OmniDriverEmu, Controller); - Data forceScale; ///< Default scaling factor applied to the force feedback - Data scale; ///< Default scale applied to the Phantom Coordinates. - Data positionBase; ///< Position of the interface base in the scene world coordinates - Data orientationBase; ///< Orientation of the interface base in the scene world coordinates - Data positionTool; ///< Position of the tool in the omni end effector frame - Data orientationTool; ///< Orientation of the tool in the omni end effector frame - Data permanent; ///< Apply the force feedback permanently - Data omniVisu; ///< Visualize the position of the interface in the virtual scene - Data simuFreq; ///< frequency of the "simulated Omni" - Data simulateTranslation; ///< do very naive "translation simulation" of omni, with constant orientation <0 0 0 1> - Data toolSelector; - Data toolCount; - - OmniData data; - - OmniDriverEmu(); - ~OmniDriverEmu() override; - - void init() override; - void bwdInit() override; - void reinit() override; - void cleanup() override; - void draw(const core::visual::VisualParams*) override; - - int initDevice(OmniData& data); - void setForceFeedbacks(type::vector ffs); - - void setDataValue(); - - void setOmniSimThreadCreated(bool b) { omniSimThreadCreated = b;} - - bool afterFirstStep; - defaulttype::SolidTypes::Transform prevPosition; - - //need for "omni simulation" - helper::system::thread::CTime *thTimer; - - /// Thread object - std::thread hapSimuThread; - - /// Bool to notify thread to stop work - std::atomic m_terminate; - - double lastStep; - bool executeAsynchro; - Data trajPts; ///< Trajectory positions - Data > trajTim; ///< Trajectory timing - - int getCurrentToolIndex() { return currentToolIndex;} - void handleEvent(core::objectmodel::Event *) override ; - -private: - - void copyDeviceDataCallback(OmniData *pUserData); - void stopCallback(OmniData *pUserData); - gl::component::rendering3d::OglModel::SPtr visu_base, visu_end; - bool noDevice; - - bool moveOmniBase; - Vec3d positionBase_buf; - - core::behavior::MechanicalState *mState; ///< Controlled MechanicalState. - - bool omniSimThreadCreated; - int currentToolIndex; - bool isToolControlled; -}; - - -} // namespace sofa::component::controller - -#endif // SOFA_COMPONENT_CONTROLLER_OMNIEMU_H diff --git a/applications/plugins/SensableEmulation/PluginSensableEmulation.txt b/applications/plugins/SensableEmulation/PluginSensableEmulation.txt deleted file mode 100644 index befe3d9bc7b..00000000000 --- a/applications/plugins/SensableEmulation/PluginSensableEmulation.txt +++ /dev/null @@ -1,10 +0,0 @@ -************************************ -* SensableEmulation.txt * -************************************ -AUTHOR : - - C.Duriez - -LICENCE : - - None - -OTHER COMMENTS : diff --git a/applications/plugins/SensableEmulation/config.h b/applications/plugins/SensableEmulation/config.h deleted file mode 100644 index fbe888819f0..00000000000 --- a/applications/plugins/SensableEmulation/config.h +++ /dev/null @@ -1,34 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#ifndef SENSABLEEMULATION_CONFIG_H -#define SENSABLEEMULATION_CONFIG_H - -#include - -#ifdef SOFA_BUILD_SENSABLEEMULATIONPLUGIN -# define SOFA_TARGET SensableEmulation -# define SOFA_SENSABLEEMUPLUGIN_API SOFA_EXPORT_DYNAMIC_LIBRARY -#else -# define SOFA_SENSABLEEMUPLUGIN_API SOFA_IMPORT_DYNAMIC_LIBRARY -#endif - -#endif diff --git a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn b/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn deleted file mode 100644 index becbb2480b0..00000000000 --- a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view b/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view deleted file mode 100644 index 97e71316b4f..00000000000 --- a/applications/plugins/SensableEmulation/examples/SimpleBox-Method2.scn.view +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SensableEmulation/examples/data/mesh/box.obj b/applications/plugins/SensableEmulation/examples/data/mesh/box.obj deleted file mode 100644 index 439b773295b..00000000000 --- a/applications/plugins/SensableEmulation/examples/data/mesh/box.obj +++ /dev/null @@ -1,20 +0,0 @@ -# Blender v2.68 (sub 0) OBJ File: '' -# www.blender.org -mtllib box.mtl -o Cube -v 1.000000 -1.000000 -1.000000 -v 1.000000 -1.000000 1.000000 -v -1.000000 -1.000000 1.000000 -v -1.000000 -1.000000 -1.000000 -v 1.000000 1.000000 -0.999999 -v 0.999999 1.000000 1.000001 -v -1.000000 1.000000 1.000000 -v -1.000000 1.000000 -1.000000 -usemtl Material -s off -f 1 2 3 4 -f 5 8 7 6 -f 1 5 6 2 -f 2 6 7 3 -f 3 7 8 4 -f 5 1 4 8 diff --git a/applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj b/applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj deleted file mode 100644 index 358faf79ad5..00000000000 --- a/applications/plugins/SensableEmulation/examples/data/mesh/dental_instrument.obj +++ /dev/null @@ -1,1194 +0,0 @@ -#### -# -# OBJ File Generated by LightWave3D -# LightWave3D OBJ Export v2.3 -# -#### -o dental_instrument.obj -mtllib dental_instrument.mtl -g default -v 0.020625 0.0233891 2.71688 -v 0.0350288 0.0174173 2.71666 -v 0.0409951 0.003 2.71656 -v 0.0350288 -0.0114173 2.71666 -v 0.020625 -0.0173891 2.71688 -v 0.00622117 -0.0114173 2.71709 -v 0.00025491 0.003 2.71719 -v 0.00622117 0.0174173 2.71709 -v 0.027375 0.0233891 2.85037 -v 0.0416982 0.0174173 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388 -f 400 401 99 -f 400 99 8 -f 1 401 400 -f 1 98 401 -f 219 98 216 -f 98 1 216 -f 105 219 2 -f 219 216 2 diff --git a/applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn b/applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn deleted file mode 100644 index e27e25b8c6f..00000000000 --- a/applications/plugins/SensableEmulation/examples/testOmniDriverEmu.scn +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SensableEmulation/initSensableEmulation.cpp b/applications/plugins/SensableEmulation/initSensableEmulation.cpp deleted file mode 100644 index 1c218b3ab77..00000000000 --- a/applications/plugins/SensableEmulation/initSensableEmulation.cpp +++ /dev/null @@ -1,79 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include - -namespace sofa -{ - -namespace component -{ - -//Here are just several convenient functions to help user to know what contains the plugin - -extern "C" { - SOFA_SENSABLEEMUPLUGIN_API void initExternalModule(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleName(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleVersion(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleLicense(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleDescription(); - SOFA_SENSABLEEMUPLUGIN_API const char* getModuleComponentList(); -} - -void initExternalModule() -{ - static bool first = true; - if (first) - { - first = false; - } -} - -const char* getModuleName() -{ - return "SensableEmulation"; -} - -const char* getModuleVersion() -{ - return "beta 1.0"; -} - -const char* getModuleLicense() -{ - return "LGPL"; -} - -const char* getModuleDescription() -{ - return "Force feedback with sensable devices into SOFA Framework"; -} - -const char* getModuleComponentList() -{ - return "OmniDriverEmu"; -} - -} // namespace component - -} // namespace sofa - - diff --git a/applications/plugins/SensableEmulation/pthread/pthread.h b/applications/plugins/SensableEmulation/pthread/pthread.h deleted file mode 100644 index b4072f72c6f..00000000000 --- a/applications/plugins/SensableEmulation/pthread/pthread.h +++ /dev/null @@ -1,1368 +0,0 @@ -/* This is an implementation of the threads API of POSIX 1003.1-2001. - * - * -------------------------------------------------------------------------- - * - * Pthreads-win32 - POSIX Threads Library for Win32 - * Copyright(C) 1998 John E. Bossom - * Copyright(C) 1999,2005 Pthreads-win32 contributors - * - * Contact Email: rpj@callisto.canberra.edu.au - * - * The current list of contributors is contained - * in the file CONTRIBUTORS included with the source - * code distribution. The list can also be seen at the - * following World Wide Web location: - * http://sources.redhat.com/pthreads-win32/contributors.html - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2 of the License, or (at your option) any later version. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with this library in the file COPYING.LIB; - * if not, write to the Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA - */ - -#if !defined( PTHREAD_H ) -#define PTHREAD_H - -/* - * See the README file for an explanation of the pthreads-win32 version - * numbering scheme and how the DLL is named etc. - */ -#define PTW32_VERSION 2,9,1,0 -#define PTW32_VERSION_STRING "2, 9, 1, 0\0" - -/* There are three implementations of cancel cleanup. - * Note that pthread.h is included in both application - * compilation units and also internally for the library. - * The code here and within the library aims to work - * for all reasonable combinations of environments. - * - * The three implementations are: - * - * WIN32 SEH - * C - * C++ - * - * Please note that exiting a push/pop block via - * "return", "exit", "break", or "continue" will - * lead to different behaviour amongst applications - * depending upon whether the library was built - * using SEH, C++, or C. For example, a library built - * with SEH will call the cleanup routine, while both - * C++ and C built versions will not. - */ - -/* - * Define defaults for cleanup code. - * Note: Unless the build explicitly defines one of the following, then - * we default to standard C style cleanup. This style uses setjmp/longjmp - * in the cancelation and thread exit implementations and therefore won't - * do stack unwinding if linked to applications that have it (e.g. - * C++ apps). This is currently consistent with most/all commercial Unix - * POSIX threads implementations. - */ -#if !defined( __CLEANUP_SEH ) && !defined( __CLEANUP_CXX ) && !defined( __CLEANUP_C ) -# define __CLEANUP_C -#endif - -#if defined( __CLEANUP_SEH ) && ( !defined( _MSC_VER ) && !defined(PTW32_RC_MSC)) -#error ERROR [__FILE__, line __LINE__]: SEH is not supported for this compiler. -#endif - -/* - * Stop here if we are being included by the resource compiler. - */ -#if !defined(RC_INVOKED) - -#undef PTW32_LEVEL - -#if defined(_POSIX_SOURCE) -#define PTW32_LEVEL 0 -/* Early POSIX */ -#endif - -#if defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 199309 -#undef PTW32_LEVEL -#define PTW32_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_LEVEL -#define PTW32_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_LEVEL_MAX 3 - -#if ( defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200112 ) || !defined(PTW32_LEVEL) -#define PTW32_LEVEL PTW32_LEVEL_MAX -/* Include everything */ -#endif - -#if defined(_UWIN) -# define HAVE_STRUCT_TIMESPEC 1 -# define HAVE_SIGNAL_H 1 -# undef HAVE_PTW32_CONFIG_H -# pragma comment(lib, "pthread") -#endif - -/* - * ------------------------------------------------------------- - * - * - * Module: pthread.h - * - * Purpose: - * Provides an implementation of PThreads based upon the - * standard: - * - * POSIX 1003.1-2001 - * and - * The Single Unix Specification version 3 - * - * (these two are equivalent) - * - * in order to enhance code portability between Windows, - * various commercial Unix implementations, and Linux. - * - * See the ANNOUNCE file for a full list of conforming - * routines and defined constants, and a list of missing - * routines and constants not defined in this implementation. - * - * Authors: - * There have been many contributors to this library. - * The initial implementation was contributed by - * John Bossom, and several others have provided major - * sections or revisions of parts of the implementation. - * Often significant effort has been contributed to - * find and fix important bugs and other problems to - * improve the reliability of the library, which sometimes - * is not reflected in the amount of code which changed as - * result. - * As much as possible, the contributors are acknowledged - * in the ChangeLog file in the source code distribution - * where their changes are noted in detail. - * - * Contributors are listed in the CONTRIBUTORS file. - * - * As usual, all bouquets go to the contributors, and all - * brickbats go to the project maintainer. - * - * Maintainer: - * The code base for this project is coordinated and - * eventually pre-tested, packaged, and made available by - * - * Ross Johnson - * - * QA Testers: - * Ultimately, the library is tested in the real world by - * a host of competent and demanding scientists and - * engineers who report bugs and/or provide solutions - * which are then fixed or incorporated into subsequent - * versions of the library. Each time a bug is fixed, a - * test case is written to prove the fix and ensure - * that later changes to the code don't reintroduce the - * same error. The number of test cases is slowly growing - * and therefore so is the code reliability. - * - * Compliance: - * See the file ANNOUNCE for the list of implemented - * and not-implemented routines and defined options. - * Of course, these are all defined is this file as well. - * - * Web site: - * The source code and other information about this library - * are available from - * - * http://sources.redhat.com/pthreads-win32/ - * - * ------------------------------------------------------------- - */ - -/* Try to avoid including windows.h */ -#if (defined(__MINGW64__) || defined(__MINGW32__)) && defined(__cplusplus) -#define PTW32_INCLUDE_WINDOWS_H -#endif - -#if defined(PTW32_INCLUDE_WINDOWS_H) -#include -#endif - -#if defined(_MSC_VER) && _MSC_VER < 1300 || defined(__DMC__) -/* - * VC++6.0 or early compiler's header has no DWORD_PTR type. - */ -typedef unsigned long DWORD_PTR; -typedef unsigned long ULONG_PTR; -#endif -/* - * ----------------- - * autoconf switches - * ----------------- - */ - -#if defined(HAVE_PTW32_CONFIG_H) -#include "config.h" -#endif /* HAVE_PTW32_CONFIG_H */ - -#if !defined(NEED_FTIME) -#include -#else /* NEED_FTIME */ -/* use native WIN32 time API */ -#endif /* NEED_FTIME */ - -#if defined(HAVE_SIGNAL_H) -#include -#endif /* HAVE_SIGNAL_H */ - -#include - -/* - * Boolean values to make us independent of system includes. - */ -enum { - PTW32_FALSE = 0, - PTW32_TRUE = (! PTW32_FALSE) -}; - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Several systems don't define some error numbers. - */ -#if !defined(ENOTSUP) -# define ENOTSUP 48 /* This is the value in Solaris. */ -#endif - -#if !defined(ETIMEDOUT) -# define ETIMEDOUT 10060 /* Same as WSAETIMEDOUT */ -#endif - -#if !defined(ENOSYS) -# define ENOSYS 140 /* Semi-arbitrary value */ -#endif - -#if !defined(EDEADLK) -# if defined(EDEADLOCK) -# define EDEADLK EDEADLOCK -# else -# define EDEADLK 36 /* This is the value in MSVC. */ -# endif -#endif - -/* POSIX 2008 - related to robust mutexes */ -#if !defined(EOWNERDEAD) -# define EOWNERDEAD 43 -#endif -#if !defined(ENOTRECOVERABLE) -# define ENOTRECOVERABLE 44 -#endif - -#include - -/* - * To avoid including windows.h we define only those things that we - * actually need from it. - */ -#if !defined(PTW32_INCLUDE_WINDOWS_H) -#if !defined(HANDLE) -# define PTW32__HANDLE_DEF -# define HANDLE void * -#endif -#if !defined(DWORD) -# define PTW32__DWORD_DEF -# define DWORD unsigned long -#endif -#endif - -#if !defined(HAVE_STRUCT_TIMESPEC) -#define HAVE_STRUCT_TIMESPEC -#if !defined(_TIMESPEC_DEFINED) -#define _TIMESPEC_DEFINED -struct timespec { - time_t tv_sec; - long tv_nsec; -}; -#endif /* _TIMESPEC_DEFINED */ -#endif /* HAVE_STRUCT_TIMESPEC */ - -#if !defined(SIG_BLOCK) -#define SIG_BLOCK 0 -#endif /* SIG_BLOCK */ - -#if !defined(SIG_UNBLOCK) -#define SIG_UNBLOCK 1 -#endif /* SIG_UNBLOCK */ - -#if !defined(SIG_SETMASK) -#define SIG_SETMASK 2 -#endif /* SIG_SETMASK */ - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -/* - * ------------------------------------------------------------- - * - * POSIX 1003.1-2001 Options - * ========================= - * - * Options are normally set in , which is not provided - * with pthreads-win32. - * - * For conformance with the Single Unix Specification (version 3), all of the - * options below are defined, and have a value of either -1 (not supported) - * or 200112L (supported). - * - * These options can neither be left undefined nor have a value of 0, because - * either indicates that sysconf(), which is not implemented, may be used at - * runtime to check the status of the option. - * - * _POSIX_THREADS (== 200112L) - * If == 200112L, you can use threads - * - * _POSIX_THREAD_ATTR_STACKSIZE (== 200112L) - * If == 200112L, you can control the size of a thread's - * stack - * pthread_attr_getstacksize - * pthread_attr_setstacksize - * - * _POSIX_THREAD_ATTR_STACKADDR (== -1) - * If == 200112L, you can allocate and control a thread's - * stack. If not supported, the following functions - * will return ENOSYS, indicating they are not - * supported: - * pthread_attr_getstackaddr - * pthread_attr_setstackaddr - * - * _POSIX_THREAD_PRIORITY_SCHEDULING (== -1) - * If == 200112L, you can use realtime scheduling. - * This option indicates that the behaviour of some - * implemented functions conforms to the additional TPS - * requirements in the standard. E.g. rwlocks favour - * writers over readers when threads have equal priority. - * - * _POSIX_THREAD_PRIO_INHERIT (== -1) - * If == 200112L, you can create priority inheritance - * mutexes. - * pthread_mutexattr_getprotocol + - * pthread_mutexattr_setprotocol + - * - * _POSIX_THREAD_PRIO_PROTECT (== -1) - * If == 200112L, you can create priority ceiling mutexes - * Indicates the availability of: - * pthread_mutex_getprioceiling - * pthread_mutex_setprioceiling - * pthread_mutexattr_getprioceiling - * pthread_mutexattr_getprotocol + - * pthread_mutexattr_setprioceiling - * pthread_mutexattr_setprotocol + - * - * _POSIX_THREAD_PROCESS_SHARED (== -1) - * If set, you can create mutexes and condition - * variables that can be shared with another - * process.If set, indicates the availability - * of: - * pthread_mutexattr_getpshared - * pthread_mutexattr_setpshared - * pthread_condattr_getpshared - * pthread_condattr_setpshared - * - * _POSIX_THREAD_SAFE_FUNCTIONS (== 200112L) - * If == 200112L you can use the special *_r library - * functions that provide thread-safe behaviour - * - * _POSIX_READER_WRITER_LOCKS (== 200112L) - * If == 200112L, you can use read/write locks - * - * _POSIX_SPIN_LOCKS (== 200112L) - * If == 200112L, you can use spin locks - * - * _POSIX_BARRIERS (== 200112L) - * If == 200112L, you can use barriers - * - * + These functions provide both 'inherit' and/or - * 'protect' protocol, based upon these macro - * settings. - * - * ------------------------------------------------------------- - */ - -/* - * POSIX Options - */ -#undef _POSIX_THREADS -#define _POSIX_THREADS 200809L - -#undef _POSIX_READER_WRITER_LOCKS -#define _POSIX_READER_WRITER_LOCKS 200809L - -#undef _POSIX_SPIN_LOCKS -#define _POSIX_SPIN_LOCKS 200809L - -#undef _POSIX_BARRIERS -#define _POSIX_BARRIERS 200809L - -#undef _POSIX_THREAD_SAFE_FUNCTIONS -#define _POSIX_THREAD_SAFE_FUNCTIONS 200809L - -#undef _POSIX_THREAD_ATTR_STACKSIZE -#define _POSIX_THREAD_ATTR_STACKSIZE 200809L - -/* - * The following options are not supported - */ -#undef _POSIX_THREAD_ATTR_STACKADDR -#define _POSIX_THREAD_ATTR_STACKADDR -1 - -#undef _POSIX_THREAD_PRIO_INHERIT -#define _POSIX_THREAD_PRIO_INHERIT -1 - -#undef _POSIX_THREAD_PRIO_PROTECT -#define _POSIX_THREAD_PRIO_PROTECT -1 - -/* TPS is not fully supported. */ -#undef _POSIX_THREAD_PRIORITY_SCHEDULING -#define _POSIX_THREAD_PRIORITY_SCHEDULING -1 - -#undef _POSIX_THREAD_PROCESS_SHARED -#define _POSIX_THREAD_PROCESS_SHARED -1 - - -/* - * POSIX 1003.1-2001 Limits - * =========================== - * - * These limits are normally set in , which is not provided with - * pthreads-win32. - * - * PTHREAD_DESTRUCTOR_ITERATIONS - * Maximum number of attempts to destroy - * a thread's thread-specific data on - * termination (must be at least 4) - * - * PTHREAD_KEYS_MAX - * Maximum number of thread-specific data keys - * available per process (must be at least 128) - * - * PTHREAD_STACK_MIN - * Minimum supported stack size for a thread - * - * PTHREAD_THREADS_MAX - * Maximum number of threads supported per - * process (must be at least 64). - * - * SEM_NSEMS_MAX - * The maximum number of semaphores a process can have. - * (must be at least 256) - * - * SEM_VALUE_MAX - * The maximum value a semaphore can have. - * (must be at least 32767) - * - */ -#undef _POSIX_THREAD_DESTRUCTOR_ITERATIONS -#define _POSIX_THREAD_DESTRUCTOR_ITERATIONS 4 - -#undef PTHREAD_DESTRUCTOR_ITERATIONS -#define PTHREAD_DESTRUCTOR_ITERATIONS _POSIX_THREAD_DESTRUCTOR_ITERATIONS - -#undef _POSIX_THREAD_KEYS_MAX -#define _POSIX_THREAD_KEYS_MAX 128 - -#undef PTHREAD_KEYS_MAX -#define PTHREAD_KEYS_MAX _POSIX_THREAD_KEYS_MAX - -#undef PTHREAD_STACK_MIN -#define PTHREAD_STACK_MIN 0 - -#undef _POSIX_THREAD_THREADS_MAX -#define _POSIX_THREAD_THREADS_MAX 64 - - /* Arbitrary value */ -#undef PTHREAD_THREADS_MAX -#define PTHREAD_THREADS_MAX 2019 - -#undef _POSIX_SEM_NSEMS_MAX -#define _POSIX_SEM_NSEMS_MAX 256 - - /* Arbitrary value */ -#undef SEM_NSEMS_MAX -#define SEM_NSEMS_MAX 1024 - -#undef _POSIX_SEM_VALUE_MAX -#define _POSIX_SEM_VALUE_MAX 32767 - -#undef SEM_VALUE_MAX -#define SEM_VALUE_MAX INT_MAX - - -#if defined(__GNUC__) && !defined(__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * The Open Watcom C/C++ compiler uses a non-standard calling convention - * that passes function args in registers unless __cdecl is explicitly specified - * in exposed function prototypes. - * - * We force all calls to cdecl even though this could slow Watcom code down - * slightly. If you know that the Watcom compiler will be used to build both - * the DLL and application, then you can probably define this as a null string. - * Remember that pthread.h (this file) is used for both the DLL and application builds. - */ -#define PTW32_CDECL __cdecl - -#if defined(_UWIN) && PTW32_LEVEL >= PTW32_LEVEL_MAX -# include -#else -/* - * Generic handle type - intended to extend uniqueness beyond - * that available with a simple pointer. It should scale for either - * IA-32 or IA-64. - */ -typedef struct { - void * p; /* Pointer to actual object */ - unsigned int x; /* Extra information - reuse count etc */ -} ptw32_handle_t; - -typedef ptw32_handle_t pthread_t; -typedef struct pthread_attr_t_ * pthread_attr_t; -typedef struct pthread_once_t_ pthread_once_t; -typedef struct pthread_key_t_ * pthread_key_t; -typedef struct pthread_mutex_t_ * pthread_mutex_t; -typedef struct pthread_mutexattr_t_ * pthread_mutexattr_t; -typedef struct pthread_cond_t_ * pthread_cond_t; -typedef struct pthread_condattr_t_ * pthread_condattr_t; -#endif -typedef struct pthread_rwlock_t_ * pthread_rwlock_t; -typedef struct pthread_rwlockattr_t_ * pthread_rwlockattr_t; -typedef struct pthread_spinlock_t_ * pthread_spinlock_t; -typedef struct pthread_barrier_t_ * pthread_barrier_t; -typedef struct pthread_barrierattr_t_ * pthread_barrierattr_t; - -/* - * ==================== - * ==================== - * POSIX Threads - * ==================== - * ==================== - */ - -enum { -/* - * pthread_attr_{get,set}detachstate - */ - PTHREAD_CREATE_JOINABLE = 0, /* Default */ - PTHREAD_CREATE_DETACHED = 1, - -/* - * pthread_attr_{get,set}inheritsched - */ - PTHREAD_INHERIT_SCHED = 0, - PTHREAD_EXPLICIT_SCHED = 1, /* Default */ - -/* - * pthread_{get,set}scope - */ - PTHREAD_SCOPE_PROCESS = 0, - PTHREAD_SCOPE_SYSTEM = 1, /* Default */ - -/* - * pthread_setcancelstate paramters - */ - PTHREAD_CANCEL_ENABLE = 0, /* Default */ - PTHREAD_CANCEL_DISABLE = 1, - -/* - * pthread_setcanceltype parameters - */ - PTHREAD_CANCEL_ASYNCHRONOUS = 0, - PTHREAD_CANCEL_DEFERRED = 1, /* Default */ - -/* - * pthread_mutexattr_{get,set}pshared - * pthread_condattr_{get,set}pshared - */ - PTHREAD_PROCESS_PRIVATE = 0, - PTHREAD_PROCESS_SHARED = 1, - -/* - * pthread_mutexattr_{get,set}robust - */ - PTHREAD_MUTEX_STALLED = 0, /* Default */ - PTHREAD_MUTEX_ROBUST = 1, - -/* - * pthread_barrier_wait - */ - PTHREAD_BARRIER_SERIAL_THREAD = -1 -}; - -/* - * ==================== - * ==================== - * Cancelation - * ==================== - * ==================== - */ -#define PTHREAD_CANCELED ((void *)(size_t) -1) - - -/* - * ==================== - * ==================== - * Once Key - * ==================== - * ==================== - */ -#define PTHREAD_ONCE_INIT { PTW32_FALSE, 0, 0, 0} - -struct pthread_once_t_ -{ - int done; /* indicates if user function has been executed */ - void * lock; - int reserved1; - int reserved2; -}; - - -/* - * ==================== - * ==================== - * Object initialisers - * ==================== - * ==================== - */ -#define PTHREAD_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -1) -#define PTHREAD_RECURSIVE_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -2) -#define PTHREAD_ERRORCHECK_MUTEX_INITIALIZER ((pthread_mutex_t)(size_t) -3) - -/* - * Compatibility with LinuxThreads - */ -#define PTHREAD_RECURSIVE_MUTEX_INITIALIZER_NP PTHREAD_RECURSIVE_MUTEX_INITIALIZER -#define PTHREAD_ERRORCHECK_MUTEX_INITIALIZER_NP PTHREAD_ERRORCHECK_MUTEX_INITIALIZER - -#define PTHREAD_COND_INITIALIZER ((pthread_cond_t)(size_t) -1) - -#define PTHREAD_RWLOCK_INITIALIZER ((pthread_rwlock_t)(size_t) -1) - -#define PTHREAD_SPINLOCK_INITIALIZER ((pthread_spinlock_t)(size_t) -1) - - -/* - * Mutex types. - */ -enum -{ - /* Compatibility with LinuxThreads */ - PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_RECURSIVE_NP, - PTHREAD_MUTEX_ERRORCHECK_NP, - PTHREAD_MUTEX_TIMED_NP = PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_ADAPTIVE_NP = PTHREAD_MUTEX_FAST_NP, - /* For compatibility with POSIX */ - PTHREAD_MUTEX_NORMAL = PTHREAD_MUTEX_FAST_NP, - PTHREAD_MUTEX_RECURSIVE = PTHREAD_MUTEX_RECURSIVE_NP, - PTHREAD_MUTEX_ERRORCHECK = PTHREAD_MUTEX_ERRORCHECK_NP, - PTHREAD_MUTEX_DEFAULT = PTHREAD_MUTEX_NORMAL -}; - - -typedef struct ptw32_cleanup_t ptw32_cleanup_t; - -#if defined(_MSC_VER) -/* Disable MSVC 'anachronism used' warning */ -#pragma warning( disable : 4229 ) -#endif - -typedef void (* PTW32_CDECL ptw32_cleanup_callback_t)(void *); - -#if defined(_MSC_VER) -#pragma warning( default : 4229 ) -#endif - -struct ptw32_cleanup_t -{ - ptw32_cleanup_callback_t routine; - void *arg; - struct ptw32_cleanup_t *prev; -}; - -#if defined(__CLEANUP_SEH) - /* - * WIN32 SEH version of cancel cleanup. - */ - -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - ptw32_cleanup_t _cleanup; \ - \ - _cleanup.routine = (ptw32_cleanup_callback_t)(_rout); \ - _cleanup.arg = (_arg); \ - __try \ - { \ - -#define pthread_cleanup_pop( _execute ) \ - } \ - __finally \ - { \ - if( _execute || AbnormalTermination()) \ - { \ - (*(_cleanup.routine))( _cleanup.arg ); \ - } \ - } \ - } - -#else /* __CLEANUP_SEH */ - -#if defined(__CLEANUP_C) - - /* - * C implementation of PThreads cancel cleanup - */ - -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - ptw32_cleanup_t _cleanup; \ - \ - ptw32_push_cleanup( &_cleanup, (ptw32_cleanup_callback_t) (_rout), (_arg) ); \ - -#define pthread_cleanup_pop( _execute ) \ - (void) ptw32_pop_cleanup( _execute ); \ - } - -#else /* __CLEANUP_C */ - -#if defined(__CLEANUP_CXX) - - /* - * C++ version of cancel cleanup. - * - John E. Bossom. - */ - - class PThreadCleanup { - /* - * PThreadCleanup - * - * Purpose - * This class is a C++ helper class that is - * used to implement pthread_cleanup_push/ - * pthread_cleanup_pop. - * The destructor of this class automatically - * pops the pushed cleanup routine regardless - * of how the code exits the scope - * (i.e. such as by an exception) - */ - ptw32_cleanup_callback_t cleanUpRout; - void * obj; - int executeIt; - - public: - PThreadCleanup() : - cleanUpRout( 0 ), - obj( 0 ), - executeIt( 0 ) - /* - * No cleanup performed - */ - { - } - - PThreadCleanup( - ptw32_cleanup_callback_t routine, - void * arg ) : - cleanUpRout( routine ), - obj( arg ), - executeIt( 1 ) - /* - * Registers a cleanup routine for 'arg' - */ - { - } - - ~PThreadCleanup() - { - if ( executeIt && ((void *) cleanUpRout != (void *) 0) ) - { - (void) (*cleanUpRout)( obj ); - } - } - - void execute( int exec ) - { - executeIt = exec; - } - }; - - /* - * C++ implementation of PThreads cancel cleanup; - * This implementation takes advantage of a helper - * class who's destructor automatically calls the - * cleanup routine if we exit our scope weirdly - */ -#define pthread_cleanup_push( _rout, _arg ) \ - { \ - PThreadCleanup cleanup((ptw32_cleanup_callback_t)(_rout), \ - (void *) (_arg) ); - -#define pthread_cleanup_pop( _execute ) \ - cleanup.execute( _execute ); \ - } - -#else - -#error ERROR [__FILE__, line __LINE__]: Cleanup type undefined. - -#endif /* __CLEANUP_CXX */ - -#endif /* __CLEANUP_C */ - -#endif /* __CLEANUP_SEH */ - -/* - * =============== - * =============== - * Methods - * =============== - * =============== - */ - -/* - * PThread Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_attr_init (pthread_attr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_destroy (pthread_attr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getdetachstate (const pthread_attr_t * attr, - int *detachstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getstackaddr (const pthread_attr_t * attr, - void **stackaddr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getstacksize (const pthread_attr_t * attr, - size_t * stacksize); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setdetachstate (pthread_attr_t * attr, - int detachstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setstackaddr (pthread_attr_t * attr, - void *stackaddr); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setstacksize (pthread_attr_t * attr, - size_t stacksize); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getschedparam (const pthread_attr_t *attr, - struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setschedparam (pthread_attr_t *attr, - const struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setschedpolicy (pthread_attr_t *, - int); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getschedpolicy (const pthread_attr_t *, - int *); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setinheritsched(pthread_attr_t * attr, - int inheritsched); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getinheritsched(const pthread_attr_t * attr, - int * inheritsched); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_setscope (pthread_attr_t *, - int); - -PTW32_DLLPORT int PTW32_CDECL pthread_attr_getscope (const pthread_attr_t *, - int *); - -/* - * PThread Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_create (pthread_t * tid, - const pthread_attr_t * attr, - void *(PTW32_CDECL *start) (void *), - void *arg); - -PTW32_DLLPORT int PTW32_CDECL pthread_detach (pthread_t tid); - -PTW32_DLLPORT int PTW32_CDECL pthread_equal (pthread_t t1, - pthread_t t2); - -PTW32_DLLPORT void PTW32_CDECL pthread_exit (void *value_ptr); - -PTW32_DLLPORT int PTW32_CDECL pthread_join (pthread_t thread, - void **value_ptr); - -PTW32_DLLPORT pthread_t PTW32_CDECL pthread_self (void); - -PTW32_DLLPORT int PTW32_CDECL pthread_cancel (pthread_t thread); - -PTW32_DLLPORT int PTW32_CDECL pthread_setcancelstate (int state, - int *oldstate); - -PTW32_DLLPORT int PTW32_CDECL pthread_setcanceltype (int type, - int *oldtype); - -PTW32_DLLPORT void PTW32_CDECL pthread_testcancel (void); - -PTW32_DLLPORT int PTW32_CDECL pthread_once (pthread_once_t * once_control, - void (PTW32_CDECL *init_routine) (void)); - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX -PTW32_DLLPORT ptw32_cleanup_t * PTW32_CDECL ptw32_pop_cleanup (int execute); - -PTW32_DLLPORT void PTW32_CDECL ptw32_push_cleanup (ptw32_cleanup_t * cleanup, - ptw32_cleanup_callback_t routine, - void *arg); -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Thread Specific Data Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_key_create (pthread_key_t * key, - void (PTW32_CDECL *destructor) (void *)); - -PTW32_DLLPORT int PTW32_CDECL pthread_key_delete (pthread_key_t key); - -PTW32_DLLPORT int PTW32_CDECL pthread_setspecific (pthread_key_t key, - const void *value); - -PTW32_DLLPORT void * PTW32_CDECL pthread_getspecific (pthread_key_t key); - - -/* - * Mutex Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_init (pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_destroy (pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getpshared (const pthread_mutexattr_t - * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setpshared (pthread_mutexattr_t * attr, - int pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_settype (pthread_mutexattr_t * attr, int kind); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_gettype (const pthread_mutexattr_t * attr, int *kind); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setrobust( - pthread_mutexattr_t *attr, - int robust); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getrobust( - const pthread_mutexattr_t * attr, - int * robust); - -/* - * Barrier Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_init (pthread_barrierattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_destroy (pthread_barrierattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_getpshared (const pthread_barrierattr_t - * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrierattr_setpshared (pthread_barrierattr_t * attr, - int pshared); - -/* - * Mutex Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_init (pthread_mutex_t * mutex, - const pthread_mutexattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_destroy (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_lock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_timedlock(pthread_mutex_t * mutex, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_trylock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_unlock (pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_mutex_consistent (pthread_mutex_t * mutex); - -/* - * Spinlock Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_spin_init (pthread_spinlock_t * lock, int pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_destroy (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_lock (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_trylock (pthread_spinlock_t * lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_spin_unlock (pthread_spinlock_t * lock); - -/* - * Barrier Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_init (pthread_barrier_t * barrier, - const pthread_barrierattr_t * attr, - unsigned int count); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_destroy (pthread_barrier_t * barrier); - -PTW32_DLLPORT int PTW32_CDECL pthread_barrier_wait (pthread_barrier_t * barrier); - -/* - * Condition Variable Attribute Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_init (pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_destroy (pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_getpshared (const pthread_condattr_t * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_condattr_setpshared (pthread_condattr_t * attr, - int pshared); - -/* - * Condition Variable Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_cond_init (pthread_cond_t * cond, - const pthread_condattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_destroy (pthread_cond_t * cond); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_wait (pthread_cond_t * cond, - pthread_mutex_t * mutex); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_timedwait (pthread_cond_t * cond, - pthread_mutex_t * mutex, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_signal (pthread_cond_t * cond); - -PTW32_DLLPORT int PTW32_CDECL pthread_cond_broadcast (pthread_cond_t * cond); - -/* - * Scheduling - */ -PTW32_DLLPORT int PTW32_CDECL pthread_setschedparam (pthread_t thread, - int policy, - const struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_getschedparam (pthread_t thread, - int *policy, - struct sched_param *param); - -PTW32_DLLPORT int PTW32_CDECL pthread_setconcurrency (int); - -PTW32_DLLPORT int PTW32_CDECL pthread_getconcurrency (void); - -/* - * Read-Write Lock Functions - */ -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_init(pthread_rwlock_t *lock, - const pthread_rwlockattr_t *attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_destroy(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_tryrdlock(pthread_rwlock_t *); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_trywrlock(pthread_rwlock_t *); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_rdlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_timedrdlock(pthread_rwlock_t *lock, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_wrlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_timedwrlock(pthread_rwlock_t *lock, - const struct timespec *abstime); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlock_unlock(pthread_rwlock_t *lock); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_init (pthread_rwlockattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_destroy (pthread_rwlockattr_t * attr); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_getpshared (const pthread_rwlockattr_t * attr, - int *pshared); - -PTW32_DLLPORT int PTW32_CDECL pthread_rwlockattr_setpshared (pthread_rwlockattr_t * attr, - int pshared); - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - 1 - -/* - * Signal Functions. Should be defined in but MSVC and MinGW32 - * already have signal.h that don't define these. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_kill(pthread_t thread, int sig); - -/* - * Non-portable functions - */ - -/* - * Compatibility with Linux. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_setkind_np(pthread_mutexattr_t * attr, - int kind); -PTW32_DLLPORT int PTW32_CDECL pthread_mutexattr_getkind_np(pthread_mutexattr_t * attr, - int *kind); - -/* - * Possibly supported by other POSIX threads implementations - */ -PTW32_DLLPORT int PTW32_CDECL pthread_delay_np (struct timespec * interval); -PTW32_DLLPORT int PTW32_CDECL pthread_num_processors_np(void); -PTW32_DLLPORT unsigned __int64 PTW32_CDECL pthread_getunique_np(pthread_t thread); - -/* - * Useful if an application wants to statically link - * the lib rather than load the DLL at run-time. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_win32_process_attach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_process_detach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_thread_attach_np(void); -PTW32_DLLPORT int PTW32_CDECL pthread_win32_thread_detach_np(void); - -/* - * Features that are auto-detected at load/run time. - */ -PTW32_DLLPORT int PTW32_CDECL pthread_win32_test_features_np(int); -enum ptw32_features { - PTW32_SYSTEM_INTERLOCKED_COMPARE_EXCHANGE = 0x0001, /* System provides it. */ - PTW32_ALERTABLE_ASYNC_CANCEL = 0x0002 /* Can cancel blocked threads. */ -}; - -/* - * Register a system time change with the library. - * Causes the library to perform various functions - * in response to the change. Should be called whenever - * the application's top level window receives a - * WM_TIMECHANGE message. It can be passed directly to - * pthread_create() as a new thread if desired. - */ -PTW32_DLLPORT void * PTW32_CDECL pthread_timechange_handler_np(void *); - -#endif /*PTW32_LEVEL >= PTW32_LEVEL_MAX - 1 */ - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - -/* - * Returns the Win32 HANDLE for the POSIX thread. - */ -PTW32_DLLPORT HANDLE PTW32_CDECL pthread_getw32threadhandle_np(pthread_t thread); -/* - * Returns the win32 thread ID for POSIX thread. - */ -PTW32_DLLPORT DWORD PTW32_CDECL pthread_getw32threadid_np (pthread_t thread); - - -/* - * Protected Methods - * - * This function blocks until the given WIN32 handle - * is signaled or pthread_cancel had been called. - * This function allows the caller to hook into the - * PThreads cancel mechanism. It is implemented using - * - * WaitForMultipleObjects - * - * on 'waitHandle' and a manually reset WIN32 Event - * used to implement pthread_cancel. The 'timeout' - * argument to TimedWait is simply passed to - * WaitForMultipleObjects. - */ -PTW32_DLLPORT int PTW32_CDECL pthreadCancelableWait (HANDLE waitHandle); -PTW32_DLLPORT int PTW32_CDECL pthreadCancelableTimedWait (HANDLE waitHandle, - DWORD timeout); - -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -/* - * Thread-Safe C Runtime Library Mappings. - */ -#if !defined(_UWIN) -# if defined(NEED_ERRNO) - PTW32_DLLPORT int * PTW32_CDECL _errno( void ); -# else -# if !defined(errno) -# if (defined(_MT) || defined(_DLL)) - __declspec(dllimport) extern int * __cdecl _errno(void); -# define errno (*_errno()) -# endif -# endif -# endif -#endif - -/* - * Some compiler environments don't define some things. - */ -#if defined(__BORLANDC__) -# define _ftime ftime -# define _timeb timeb -#endif - -#if defined(__cplusplus) - -/* - * Internal exceptions - */ -class ptw32_exception {}; -class ptw32_exception_cancel : public ptw32_exception {}; -class ptw32_exception_exit : public ptw32_exception {}; - -#endif - -#if PTW32_LEVEL >= PTW32_LEVEL_MAX - -/* FIXME: This is only required if the library was built using SEH */ -/* - * Get internal SEH tag - */ -PTW32_DLLPORT DWORD PTW32_CDECL ptw32_get_exception_services_code(void); - -#endif /* PTW32_LEVEL >= PTW32_LEVEL_MAX */ - -#if !defined(PTW32_BUILD) - -#if defined(__CLEANUP_SEH) - -/* - * Redefine the SEH __except keyword to ensure that applications - * propagate our internal exceptions up to the library's internal handlers. - */ -#define __except( E ) \ - __except( ( GetExceptionCode() == ptw32_get_exception_services_code() ) \ - ? EXCEPTION_CONTINUE_SEARCH : ( E ) ) - -#endif /* __CLEANUP_SEH */ - -#if defined(__CLEANUP_CXX) - -/* - * Redefine the C++ catch keyword to ensure that applications - * propagate our internal exceptions up to the library's internal handlers. - */ -#if defined(_MSC_VER) - /* - * WARNING: Replace any 'catch( ... )' with 'PtW32CatchAll' - * if you want Pthread-Win32 cancelation and pthread_exit to work. - */ - -#if !defined(PtW32NoCatchWarn) - -#pragma message("Specify \"/DPtW32NoCatchWarn\" compiler flag to skip this message.") -#pragma message("------------------------------------------------------------------") -#pragma message("When compiling applications with MSVC++ and C++ exception handling:") -#pragma message(" Replace any 'catch( ... )' in routines called from POSIX threads") -#pragma message(" with 'PtW32CatchAll' or 'CATCHALL' if you want POSIX thread") -#pragma message(" cancelation and pthread_exit to work. For example:") -#pragma message("") -#pragma message(" #if defined(PtW32CatchAll)") -#pragma message(" PtW32CatchAll") -#pragma message(" #else") -#pragma message(" catch(...)") -#pragma message(" #endif") -#pragma message(" {") -#pragma message(" /* Catchall block processing */") -#pragma message(" }") -#pragma message("------------------------------------------------------------------") - -#endif - -#define PtW32CatchAll \ - catch( ptw32_exception & ) { throw; } \ - catch( ... ) - -#else /* _MSC_VER */ - -#define catch( E ) \ - catch( ptw32_exception & ) { throw; } \ - catch( E ) - -#endif /* _MSC_VER */ - -#endif /* __CLEANUP_CXX */ - -#endif /* ! PTW32_BUILD */ - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#if defined(PTW32__HANDLE_DEF) -# undef HANDLE -#endif -#if defined(PTW32__DWORD_DEF) -# undef DWORD -#endif - -#undef PTW32_LEVEL -#undef PTW32_LEVEL_MAX - -#endif /* ! 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Include Non-Portable extensions */ -#endif - -#define PTW32_SCHED_LEVEL_MAX 3 - -#if ( defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 200112 ) || !defined(PTW32_SCHED_LEVEL) -#define PTW32_SCHED_LEVEL PTW32_SCHED_LEVEL_MAX -/* Include everything */ -#endif - - -#if defined(__GNUC__) && !defined(__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX */ - -#if (defined(__MINGW64__) || defined(__MINGW32__)) || defined(_UWIN) -# if PTW32_SCHED_LEVEL >= PTW32_SCHED_LEVEL_MAX -/* For pid_t */ -# include -/* Required by Unix 98 */ -# include -# else - typedef int pid_t; -# endif -#else - typedef int pid_t; -#endif - -/* Thread scheduling policies */ - -enum { - SCHED_OTHER = 0, - SCHED_FIFO, - SCHED_RR, - SCHED_MIN = SCHED_OTHER, - SCHED_MAX = SCHED_RR -}; - -struct sched_param { - int sched_priority; -}; - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -PTW32_DLLPORT int __cdecl sched_yield (void); - -PTW32_DLLPORT int __cdecl sched_get_priority_min (int policy); - -PTW32_DLLPORT int __cdecl sched_get_priority_max (int policy); - -PTW32_DLLPORT int __cdecl sched_setscheduler (pid_t pid, int policy); - -PTW32_DLLPORT int __cdecl sched_getscheduler (pid_t pid); - -/* - * Note that this macro returns ENOTSUP rather than - * ENOSYS as might be expected. However, returning ENOSYS - * should mean that sched_get_priority_{min,max} are - * not implemented as well as sched_rr_get_interval. - * This is not the case, since we just don't support - * round-robin scheduling. Therefore I have chosen to - * return the same value as sched_setscheduler when - * SCHED_RR is passed to it. - */ -#define sched_rr_get_interval(_pid, _interval) \ - ( errno = ENOTSUP, (int) -1 ) - - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#undef PTW32_SCHED_LEVEL -#undef PTW32_SCHED_LEVEL_MAX - -#endif /* !_SCHED_H */ - diff --git a/applications/plugins/SensableEmulation/pthread/semaphore.h b/applications/plugins/SensableEmulation/pthread/semaphore.h deleted file mode 100644 index c6e9407e25b..00000000000 --- a/applications/plugins/SensableEmulation/pthread/semaphore.h +++ /dev/null @@ -1,169 +0,0 @@ -/* - * Module: semaphore.h - * - * Purpose: - * Semaphores aren't actually part of the PThreads standard. - * They are defined by the POSIX Standard: - * - * POSIX 1003.1b-1993 (POSIX.1b) - * - * -------------------------------------------------------------------------- - * - * Pthreads-win32 - POSIX Threads Library for Win32 - * Copyright(C) 1998 John E. Bossom - * Copyright(C) 1999,2005 Pthreads-win32 contributors - * - * Contact Email: rpj@callisto.canberra.edu.au - * - * The current list of contributors is contained - * in the file CONTRIBUTORS included with the source - * code distribution. The list can also be seen at the - * following World Wide Web location: - * http://sources.redhat.com/pthreads-win32/contributors.html - * - * This library is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2 of the License, or (at your option) any later version. - * - * This library is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - * Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with this library in the file COPYING.LIB; - * if not, write to the Free Software Foundation, Inc., - * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA - */ -#if !defined( SEMAPHORE_H ) -#define SEMAPHORE_H - -#undef PTW32_SEMAPHORE_LEVEL - -#if defined(_POSIX_SOURCE) -#define PTW32_SEMAPHORE_LEVEL 0 -/* Early POSIX */ -#endif - -#if defined(_POSIX_C_SOURCE) && _POSIX_C_SOURCE >= 199309 -#undef PTW32_SEMAPHORE_LEVEL -#define PTW32_SEMAPHORE_LEVEL 1 -/* Include 1b, 1c and 1d */ -#endif - -#if defined(INCLUDE_NP) -#undef PTW32_SEMAPHORE_LEVEL -#define PTW32_SEMAPHORE_LEVEL 2 -/* Include Non-Portable extensions */ -#endif - -#define PTW32_SEMAPHORE_LEVEL_MAX 3 - -#if !defined(PTW32_SEMAPHORE_LEVEL) -#define PTW32_SEMAPHORE_LEVEL PTW32_SEMAPHORE_LEVEL_MAX -/* Include everything */ -#endif - -#if defined(__GNUC__) && ! defined (__declspec) -# error Please upgrade your GNU compiler to one that supports __declspec. -#endif - -/* - * When building the library, you should define PTW32_BUILD so that - * the variables/functions are exported correctly. When using the library, - * do NOT define PTW32_BUILD, and then the variables/functions will - * be imported correctly. - */ -#if !defined(PTW32_STATIC_LIB) -# if defined(PTW32_BUILD) -# define PTW32_DLLPORT __declspec (dllexport) -# else -# define PTW32_DLLPORT __declspec (dllimport) -# endif -#else -# define PTW32_DLLPORT -#endif - -/* - * This is a duplicate of what is in the autoconf config.h, - * which is only used when building the pthread-win32 libraries. - */ - -#if !defined(PTW32_CONFIG_H) -# if defined(WINCE) -# define NEED_ERRNO -# define NEED_SEM -# endif -# if defined(__MINGW64__) -# define HAVE_STRUCT_TIMESPEC -# define HAVE_MODE_T -# elif defined(_UWIN) || defined(__MINGW32__) -# define HAVE_MODE_T -# endif -#endif - -/* - * - */ - -#if PTW32_SEMAPHORE_LEVEL >= PTW32_SEMAPHORE_LEVEL_MAX -#if defined(NEED_ERRNO) -#include "need_errno.h" -#else -#include -#endif -#endif /* PTW32_SEMAPHORE_LEVEL >= PTW32_SEMAPHORE_LEVEL_MAX */ - -#define _POSIX_SEMAPHORES - -#if defined(__cplusplus) -extern "C" -{ -#endif /* __cplusplus */ - -#if !defined(HAVE_MODE_T) -typedef unsigned int mode_t; -#endif - - -typedef struct sem_t_ * sem_t; - -PTW32_DLLPORT int __cdecl sem_init (sem_t * sem, - int pshared, - unsigned int value); - -PTW32_DLLPORT int __cdecl sem_destroy (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_trywait (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_wait (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_timedwait (sem_t * sem, - const struct timespec * abstime); - -PTW32_DLLPORT int __cdecl sem_post (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_post_multiple (sem_t * sem, - int count); - -PTW32_DLLPORT int __cdecl sem_open (const char * name, - int oflag, - mode_t mode, - unsigned int value); - -PTW32_DLLPORT int __cdecl sem_close (sem_t * sem); - -PTW32_DLLPORT int __cdecl sem_unlink (const char * name); - -PTW32_DLLPORT int __cdecl sem_getvalue (sem_t * sem, - int * sval); - -#if defined(__cplusplus) -} /* End of extern "C" */ -#endif /* __cplusplus */ - -#undef PTW32_SEMAPHORE_LEVEL -#undef PTW32_SEMAPHORE_LEVEL_MAX - -#endif /* !SEMAPHORE_H */ diff --git a/applications/plugins/SofaSimpleGUI/CMakeLists.txt b/applications/plugins/SofaSimpleGUI/CMakeLists.txt deleted file mode 100644 index 6f8153328c4..00000000000 --- a/applications/plugins/SofaSimpleGUI/CMakeLists.txt +++ /dev/null @@ -1,44 +0,0 @@ -cmake_minimum_required(VERSION 3.22) -project(SofaSimpleGUI) - -set(SOFASIMPLEGUI_VERSION 0.1) - -set(HEADER_FILES - Camera.h - Interactor.h - PickedPoint.h - SofaGL.h - SofaScene.h - SpringInteractor.h - VisualPickVisitor.h - config.h.in -) - -set(SOURCE_FILES - Camera.cpp - Interactor.cpp - SofaGL.cpp - SofaScene.cpp - SpringInteractor.cpp - VisualPickVisitor.cpp - initSimpleGUI.cpp -) - -sofa_find_package(Sofa.Component REQUIRED) -sofa_find_package(Eigen3 REQUIRED) -sofa_find_package(Sofa.GL REQUIRED) -sofa_find_package(Sofa.Simulation.Graph REQUIRED) - -add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES}) -target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component Sofa.GL Sofa.Simulation.Graph) -target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen) - -set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${SOFASIMPLEGUI_VERSION}) - -## Install rules for the library and headers; CMake package configurations files -sofa_create_package_with_targets( - PACKAGE_NAME ${PROJECT_NAME} - PACKAGE_VERSION ${SOFASIMPLEGUI_VERSION} - TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES - INCLUDE_INSTALL_DIR ${PROJECT_NAME} - ) diff --git a/applications/plugins/SofaSimpleGUI/Camera.cpp b/applications/plugins/SofaSimpleGUI/Camera.cpp deleted file mode 100644 index 498cb77f94d..00000000000 --- a/applications/plugins/SofaSimpleGUI/Camera.cpp +++ /dev/null @@ -1,196 +0,0 @@ -#include "Camera.h" -#include -#include -using std::cout; -using std::endl; - - -namespace sofa::simplegui -{ - -Camera::Camera() -{ - transform.matrix() = Eigen::Matrix4f::Identity(); - tb_tournerXY=0, tb_translaterXY=0, tb_bougerZ=0; -} - -void Camera::lookAt() -{ - - glMultMatrixf( transform.data() ); -} - -template inline T sqr(const T& t){ return t*t; } - -void Camera::viewAll( float xmin, float ymin, float zmin, float xmax, float ymax, float zmax ) -{ - Vec3 pmin(xmin,ymin,zmin), pmax(xmax,ymax,zmax); - Vec3 pcen = (pmin+pmax)*0.5; - Vec3 diag = pmax-pmin; - float radius = diag.norm(); - // cout<<"Camera, diag = " << diag.transpose() << endl; - // cout<<"Camera, scene radius = " << radius << endl; - - // Desired distance: distance * tan(a) = radius - float distance = 1.5 * radius / tan(fovy * M_PI/180); - // cout<<"Camera::viewAll, angle = " << fovy << ", tan = " << tan(fovy) << ", distance = " << distance << endl; - // cout<<"Camera::viewAll, xmin xmax ymin ymax zmin zmax = " << xmin << " " << xmax <<" "<fabs(dy) ) -// { // rotation z -// float angle = dx; -// Eigen::AngleAxisf rot( angle, Vec3(0,0,-1) ); -// transform.linear() = rot*transform.linear(); -// } -// else if( fabs(dy)>fabs(dx) ) -// { - transform.translation() += Vec3( 0,0, -dy/100); -// } - } - tb_ancienX = x; - tb_ancienY = y; - return true; - } - return false; -} - -Camera::Vec3 Camera::eye() const { - return - transform.linear().inverse() * transform.translation(); -} - - -} - diff --git a/applications/plugins/SofaSimpleGUI/Camera.h b/applications/plugins/SofaSimpleGUI/Camera.h deleted file mode 100644 index 1ef48542626..00000000000 --- a/applications/plugins/SofaSimpleGUI/Camera.h +++ /dev/null @@ -1,86 +0,0 @@ -#ifndef SOFA_SIMPLEGUI_CAMERA_H -#define SOFA_SIMPLEGUI_CAMERA_H - -#include -#include - - -namespace sofa::simplegui -{ - -/** - * @brief The Camera class implements a simple viewpoint transformation, and its update using the mouse. - * Currently only one displacement mode is implemented, and it is not extensively tested. - * - * @author Francois Faure, 2014 - */ -class SOFA_SOFASIMPLEGUI_API Camera -{ -public: - typedef Eigen::Transform Transform; - typedef Eigen::Vector3f Vec3; - - enum {ButtonLeft, ButtonMiddle, ButtonRight}; - enum {ButtonDown,ButtonUp}; - - - Camera(); - - - /// Set the view point. Parameters correspond to gluLookAt. - /// Note that this just sets the parameters. The actual viewing transform is applied in void lookAt() . - void setlookAt( - float eyeX, float eyeY, float eyeZ, - float targetX, float targetY, float targetZ, - float upX, float upY, float upZ - ); - - /// Apply the viewing transform, typically just after glLoadIdentity() in the draw function. - void lookAt(); - - void viewAll( float xmin, float ymin, float zmin, float xmax, float ymax, float zmax ); - - /// Equivalent of gluPerspective. - /// Alternatively, the definition and the application of the projection matrix can be done separately using other functions. - /// @sa void setPerspective( float fovy, float ratio, float znear, float zfar ) @sa void perspective() - void perspective( float fovy, float ratio, float znear, float zfar ); - - /// Set the projection matrix, without applying it. Parameters correspond to gluPerspective. - /// Note that this just sets the parameters. The actual projection transform is applied in void perspective() . - void setPerspective( float fovy, float ratio, float znear, float zfar ); - - /// Apply the projection matrix defined in setPerspective, typically in the reshape function - void perspective(); - - - - - /// Set the camera displacement modes and return true. - bool handleMouseButton(int button, int state, int x, int y); - /// Displace the camera based on the mouse motion and return true. - bool handleMouseMotion(int x, int y); - - /// Center of the camera in world coordinates - Vec3 eye() const; - - /// Viewing matrix - const Transform& getTransform() const { return transform; } - -protected: - - Transform transform; ///< Viewing transform: world wrt camera, i.e. inverse of the camera pose - - // camera projection - float fovy, ratio, znear, zfar; // parameters of perspective - - - int tb_ancienX, tb_ancienY, tb_tournerXY, tb_translaterXY, tb_bougerZ; - -}; - - - -} - - -#endif // CAMERA_H diff --git a/applications/plugins/SofaSimpleGUI/Interactor.cpp b/applications/plugins/SofaSimpleGUI/Interactor.cpp deleted file mode 100644 index dd5eeceab22..00000000000 --- a/applications/plugins/SofaSimpleGUI/Interactor.cpp +++ /dev/null @@ -1,35 +0,0 @@ -#include "Interactor.h" -#include "PickedPoint.h" -#include "SofaScene.h" -#include -#include - -using namespace sofa; - - -namespace sofa::simplegui -{ - -Interactor::Interactor(const PickedPoint& picked) - : _pickedPoint( picked ) -{ - _interactionNode = sofa::simulation::getSimulation()->createNewNode("picked point interaction node"); -} - -Interactor::~Interactor() -{ - _interactionNode->execute(sofa::core::execparams::defaultInstance()); -} - -void Interactor::attach(SofaScene *scene) -{ - scene->insertInteractor(this); -} - -void Interactor::detach() -{ - _interactionNode->detachFromGraph(); -} - -} - diff --git a/applications/plugins/SofaSimpleGUI/Interactor.h b/applications/plugins/SofaSimpleGUI/Interactor.h deleted file mode 100644 index f7dd353a718..00000000000 --- a/applications/plugins/SofaSimpleGUI/Interactor.h +++ /dev/null @@ -1,58 +0,0 @@ -#ifndef SOFA_Interactor_H -#define SOFA_Interactor_H - -#include -#include -#include "PickedPoint.h" - - -namespace sofa::simplegui -{ - -class SofaScene; - -using simulation::Node; - - -/** @brief Base class for all interactors. - * Interactors are sofa subgraphs used to apply actions to the scene, typically through user interaction. - * - * Note that they are not necessarily moved using the mouse, since there is no mouse or window coordinates in the API. - * @author Francois Faure, 2014 -*/ -class SOFA_SOFASIMPLEGUI_API Interactor -{ -protected: - Node::SPtr _interactionNode; ///< Scene node used to implement this - PickedPoint _pickedPoint; ///< The point attached to this - -public: - - typedef type::Vec3 Vec3; - - Interactor( const PickedPoint& picked ); - virtual ~Interactor(); - - /// Insert this in the scene as a child of the given node. If overloaded, this function should be called at the beginning of the overloaded function. - virtual void attach( SofaScene* ); - - /// Remove this from the scene, without destroying it. If overloaded, this function should be called at the end of the overloaded function. - virtual void detach(); - - /// Current interaction point - virtual Vec3 getPoint()=0; - - /// Displace the interaction to the given point - virtual void setPoint( const Vec3& p ) = 0; - - /// Root of the interactor graph - Node::SPtr getNode() { return _interactionNode; } - - /// Simulated point attached to this - const PickedPoint& getPickedPoint() const { return _pickedPoint; } -}; - -} - - -#endif // SOFA_Interactor_H diff --git a/applications/plugins/SofaSimpleGUI/PickedPoint.h b/applications/plugins/SofaSimpleGUI/PickedPoint.h deleted file mode 100644 index 640bb9079b9..00000000000 --- a/applications/plugins/SofaSimpleGUI/PickedPoint.h +++ /dev/null @@ -1,64 +0,0 @@ -#ifndef GLPICKEDPOINT_H -#define GLPICKEDPOINT_H - -#include -#include -#include - -using sofa::core::behavior::BaseMechanicalState; -typedef std::size_t nat; -typedef sofa::type::Vec3 Vec3; - - -namespace sofa::simplegui -{ - -/** - * @brief The PickedPoint struct represents a vertex of a State, typically picked using the mouse. - * It is returned by the Sofa interface to the user application to set up an interaction. - * We call it valid if it corresponds to a valid index of an existing mechanical state, and invalid if not so (the pointer to the mechanical state is null) - * @author Francois Faure, 2014 - */ -struct SOFA_SOFASIMPLEGUI_API PickedPoint -{ - BaseMechanicalState::SPtr state; ///< the DOF of the picked object - nat index; ///< index of the particle picked - Vec3 point; ///< location of the picked particle in world space - - /// Conversion to boolean for easier test writing. True iff the PickedPoint is valid. Default value is converted to false. - operator bool() const { return state != NULL; } - - PickedPoint(BaseMechanicalState::SPtr state=0, nat index=0) - : state(state) - , index(index) - { } - - inline friend std::ostream& operator << ( std::ostream& out, const PickedPoint p){ - out << "state: " << p.state->getName() << ", index: " << p.index << ", point: " << p.point; - return out; - } - - /// Comparison operator used in maps - bool operator < (const PickedPoint& p ) const { - return state < p.state || index < p.index; - } - - /// Comparison operator used in maps - bool operator != (const PickedPoint& p ) const { - return *this

Examples - -- `glutOnePick`: A Sofa simulation within a basic Glut interface. The user can - click and drag one point at a time to interact with the simulaton. -- `qtSofa`: A Sofa simulation within a basic Qt interface. The user can click and - drag multiple points. -- `qtSofa/qtSofa.pro`: Project file for the same application, built as an - application which is not a sub-project of Sofa. See comments inside. -- `qtQuickSofa`: A Sofa simulation within a QtQuick interface. Not yet mature, may - be temporarily disabled. - - -

Dependencies

- -- Qt > 5.0 is necessary for qtQuickSofa - - -

Issues

- -- Currently there is no way to create interactors in plugins. They are created - by the user application. -- The application built using qtSofa/qtSofa.pro crashes at scene creation time, - while the same code running as a Sofa sub-project works fine. - -*/ diff --git a/applications/plugins/SofaSimpleGUI/SofaGL.cpp b/applications/plugins/SofaSimpleGUI/SofaGL.cpp deleted file mode 100644 index 24903830b67..00000000000 --- a/applications/plugins/SofaSimpleGUI/SofaGL.cpp +++ /dev/null @@ -1,322 +0,0 @@ -#include -#include "SofaGL.h" -#include "VisualPickVisitor.h" -#include -#include -#include -#include - -#include -using sofa::simulation::mechanicalvisitor::MechanicalPickParticlesVisitor; - -using std::cout; -using std::cerr; -using std::endl; - -namespace sofa { -using core::objectmodel::Tag; - -namespace simplegui { - -template inline T sqr(const T& t){ return t*t; } - - -SofaGL::SofaGL(SofaScene *s) : - _sofaScene(s) -{ - if(!_sofaScene) - { - std::cerr << "Error: you are trying to create a SofaGL object with a null SofaScene" << std::endl; - return; - } - - glewInit(); - - _vparams = sofa::core::visual::VisualParams::defaultInstance(); - _vparams->drawTool() = &_drawToolGL; - _vparams->setSupported(sofa::core::visual::API_OpenGL); - - _isPicking = false; - - - _sofaScene->initVisual(); -} - -void SofaGL::draw() -{ - glGetIntegerv (GL_VIEWPORT, _viewport); - glGetDoublev (GL_MODELVIEW_MATRIX, _mvmatrix); - glGetDoublev (GL_PROJECTION_MATRIX, _projmatrix); - - if(_vparams) - { - _vparams->viewport() = sofa::type::fixed_array(_viewport[0], _viewport[1], _viewport[2], _viewport[3]); - SReal xmin,xmax,ymin,ymax,zmin,zmax; - _sofaScene->getBoundingBox(&xmin,&xmax,&ymin,&ymax,&zmin,&zmax); - _vparams->sceneBBox() = sofa::type::BoundingBox(xmin,xmax,ymin,ymax,zmin,zmax); - _vparams->setProjectionMatrix(_projmatrix); - _vparams->setModelViewMatrix(_mvmatrix); - } - - //_sofaScene->getSimulation()->updateVisual(_sofaScene->getSimulation()->GetRoot().get()); // needed to update normals and VBOs ! (i think it should be better if updateVisual() was called from draw(), why it is not already the case ?) - _sofaScene->updateVisual(); // needed to update normals and VBOs ! (i think it should be better if updateVisual() was called from draw(), why it is not already the case ?) - - if( _isPicking ){ - - // start picking - glSelectBuffer(BUFSIZE,selectBuf); - glRenderMode(GL_SELECT); - - glInitNames(); - - glMatrixMode(GL_PROJECTION); - glPushMatrix(); - glLoadIdentity(); - - gluPickMatrix(pickX,_viewport[3]-pickY,5,5,_viewport); - glMultMatrixd(_projmatrix); - glMatrixMode(GL_MODELVIEW); - - // draw - _vparams->pass() = sofa::core::visual::VisualParams::Std; - VisualPickVisitor pick ( _vparams ); - pick.setTags(_sofaScene->groot()->getTags()); - cerr<<"SofaGL::draw root used " << endl; - _sofaScene->groot()->execute ( &pick ); - - // stop picking - glMatrixMode(GL_PROJECTION); - glPopMatrix(); - glMatrixMode(GL_MODELVIEW); - glFlush(); - hits = glRenderMode(GL_RENDER); - if (hits != 0) - { - GLuint* buffer = selectBuf; - // process the hits - GLint i, j, numberOfNames=0; - GLuint names, *ptr, minZ,*ptrNames=nullptr; - - ptr = (GLuint *) buffer; - minZ = 0xffffffff; - for (i = 0; i < hits; i++) { - names = *ptr; - ptr++; - if (*ptr < minZ) { - numberOfNames = names; - minZ = *ptr; - ptrNames = ptr+2; - } - - ptr += names+2; - } - if (numberOfNames > 0) { - cerr << "You picked object "; - ptr = ptrNames; - for (j = 0; j < numberOfNames; j++,ptr++) { - cerr<< pick.names[*ptr] << " "; - } - } - else - cerr<<"You didn't click a snowman!"; - cerr<getSimulation()->draw(_vparams, _sofaScene->getSimulation()->GetRoot().get()); - draw(_vparams); -} - -void SofaGL::draw(sofa::core::visual::VisualParams* vparams) -{ - core::visual::VisualLoop* vloop = _sofaScene->groot()->getVisualLoop(); - assert(vloop); - if (!vparams) vparams = sofa::core::visual::VisualParams::defaultInstance(); - vparams->update(); - vloop->drawStep(vparams); -} - -void SofaGL::getPickDirection( GLdouble* dx, GLdouble* dy, GLdouble* dz, int x, int y ) -{ - // Intersection of the ray with the near and far planes - GLint realy = _viewport[3] - (GLint) y - 1; // convert coordinates from image space (y downward) to window space (y upward) - GLdouble wx, wy, wz; /* returned world x, y, z coords */ - gluUnProject ((GLdouble) x, (GLdouble) realy, 0.0, _mvmatrix, _projmatrix, _viewport, &wx, &wy, &wz); // z=0: near plane - //cout<<"World coords at z=0.0 are ("<groot()->getContext() ); - - PickedPoint pickedPoint; - if (!picker.particles.empty()) - { - sofa::core::behavior::BaseMechanicalState *mstate = picker.particles.begin()->second.first; - unsigned index = picker.particles.begin()->second.second; - - pickedPoint.state = mstate; - pickedPoint.index = index; - pickedPoint.point = Vec3(mstate->getPX(index), mstate->getPY(index), mstate->getPZ(index)); - } - - return pickedPoint; -} - - -Interactor* SofaGL::getInteractor( const PickedPoint& glpicked ) -{ - cout << "SofaGL::getInteractor, looking for " << glpicked << endl; - for( Picked_to_Interactor::iterator i=_picked_to_interactor.begin(); i!=_picked_to_interactor.end(); i++ ) - { - cout << "SofaGL::getInteractor, map contains " << (*i).first << endl; - } - if( _picked_to_interactor.find(glpicked)!=_picked_to_interactor.end() ) // there is already an interactor on this particle - { - return _picked_to_interactor[glpicked]; - } - else { // new interactor - return NULL; - } -} - - - -Interactor* SofaGL::pickInteractor( GLdouble ox, GLdouble oy, GLdouble oz, int x, int y ) -{ - - type::Vec3d origin(ox,oy,oz), direction; - getPickDirection(&direction[0],&direction[1],&direction[2],x,y); - double distance = 10.5, distanceGrowth = 0.1; // cone around the ray ???? - // cout<< "SofaScene::rayPick from origin " << origin << ", in direction " << direction << endl; - MechanicalPickParticlesVisitor picker(sofa::core::ExecParams::defaultInstance(), origin, direction, distance, distanceGrowth, sofa::core::objectmodel::Tag("!NoPicking") ); - picker.execute(_sofaScene->groot()->getContext()); - - if (!picker.particles.empty()) - { - PickedPoint pickedPoint(picker.particles.begin()->second.first, picker.particles.begin()->second.second); - if( _picked_to_interactor.find(pickedPoint)!=_picked_to_interactor.end() ) - return _picked_to_interactor[pickedPoint]; - } - - return NULL; -} - - -void SofaGL::attach( Interactor* interactor ) -{ - interactor->attach( _sofaScene ); - _picked_to_interactor[interactor->getPickedPoint()] = interactor; - // cout<<"SofaGL::attach "<< endl; _sofaScene->printGraph(); -} - -void SofaGL::move( Interactor* interactor, int x, int y) -{ - if( !interactor ) - return; - - // get the distance to the current point - Vec3 current = interactor->getPoint(); - GLdouble wcur[3]; // window coordinates of the current point - gluProject(current[0],current[1],current[2],_mvmatrix,_projmatrix,_viewport,wcur,wcur+1,wcur+2); - // cout << "current point = " << current << endl; - // cout<<"move anchor, distance = " << wcur[2] << endl; - - // compute and set the position of the new point - GLdouble p[3]; - gluUnProject ( x, _viewport[3]-y-1, wcur[2], _mvmatrix, _projmatrix, _viewport, &p[0], &p[1], &p[2]); // new position of the picked point - // cout<<"x="<< x <<", y="<< y <<", X="<detach(); - // cout<<"SofaGL::detach "<< endl; _sofaScene->printGraph(); -} - -void SofaGL::getSceneBBox( float* xmin, float* ymin, float* zmin, float* xmax, float* ymax, float* zmax ) -{ - SReal xm, xM, ym, yM, zm, zM; - _sofaScene->getBoundingBox(&xm,&xM,&ym,&yM,&zm,&zM); - - *xmin = helper::narrow_cast(xm); - *xmax = helper::narrow_cast(xM); - *ymin = helper::narrow_cast(ym); - *ymax = helper::narrow_cast(yM); - *zmin = helper::narrow_cast(zm); - *zmax = helper::narrow_cast(zM); -} - - -void SofaGL::viewAll( SReal* xcam, SReal* ycam, SReal* zcam, SReal* xcen, SReal* ycen, SReal* zcen, SReal a, SReal* nearPlane, SReal* farPlane) -{ - // scene center and radius - SReal xmin, xmax, ymin, ymax, zmin, zmax; - _sofaScene->getBoundingBox(&xmin,&xmax,&ymin,&ymax,&zmin,&zmax); - cout<<"SofaGL::viewAll, bounding box = ("<< xmin <<" "< -#include "SofaScene.h" -#include -#include - -#include "PickedPoint.h" -#include "SpringInteractor.h" - - -namespace sofa::simplegui -{ - -/** OpenGL interface to a SofaScene. - * This is not a viewer, this is an object used by a viewer to display a Sofa scene and to pick objects in it. - * It contains a pointer to the Sofa scene. Several viewers can be connected to a single scene through such interfaces. - * - * Picking returns a PickedPoint which describes a particle. - * It is up to the application to create the appropriate Interactor, which can then be inserted in the Sofa scene. - * This class provides the functions to attach/detach an interactor and move it. - * - * @author Francois Faure, 2014 - - */ -class SOFA_SOFASIMPLEGUI_API SofaGL -{ -public: - /** - * @param s The Sofa scene to interact with, the scene MUST already be opened ! - */ - SofaGL( SofaScene* s ); - /** - * @brief Draw the scene and stores the transformation matrices, for picking. - * This requires an OpenGL context. It is supposed to be used by the drawing method of a viewer, after setting the modelview matrix. - */ - void draw(); - /** - * @brief Compute the parameters to pass to gluPerspective to make the whole scene visible. - * The new camera center is set on the line from the current camera center to the scene center, at the appropriate distance. - * @param xcam Camera center (input-output) - * @param ycam Camera center (input-output) - * @param zcam Camera center (input-output) - * @param xcen Center of the scene (output) - * @param ycen Center of the scene (output) - * @param zcen Center of the scene (output) - * @param a Camera vertical angle (input) - * @param near Smaller than the nearest distance from the new camera center to the scene (output) - * @param far Larger than the nearest distance from the new camera center to the scene (output) - */ - void viewAll( SReal* xcam, SReal* ycam, SReal* zcam, SReal* xcen, SReal* ycen, SReal* zcen, SReal a, SReal* nearPlane, SReal* farPlane); - - /// Compute the bounding box of the scene - void getSceneBBox( float* xmin, float* ymin, float* zmin, float* xmax, float* ymax, float* zmax ); - - /// @name Interaction - /// @{ - /** @brief Try to pick a particle along a ray. - * The ray starts at the camera center and passes through point with coordinates x,y - * ox, oy, oz are the camera center in world coordinates. - * x,y in image coordinates (origin on top left). - * If a point is picked, the application may create an Interactor based on it. - * @return a valid PickedPoint if succeeded, an invalid PickedPoint if not. - */ - PickedPoint pick(GLdouble ox, GLdouble oy, GLdouble oz, int x, int y); - - - /** @brief Insert an interactor in the scene - * Does not check if it is already there, so be careful not to insert the same twice - */ - void attach( Interactor* ); - - /** - * @brief getInteractor - * @param picked - * @return Interactor acting on the given picked point, or NULL if none - */ - Interactor* getInteractor( const PickedPoint& picked ); - - - /** @brief Try to pick an Interactor along a ray. - * The ray starts at the camera center and passes through point with coordinates x,y - * ox, oy, oz are the camera center in world coordinates. - * x,y in image coordinates (origin on top left). - * @return Pointer if an Interactor is found, NULL if not. - */ - Interactor* pickInteractor(GLdouble ox, GLdouble oy, GLdouble oz, int x, int y); - - /** - * @brief move the interactor according to the mouse pointer. - * x,y in image coordinates (origin on top left). - */ - void move( Interactor*, int x, int y); - - /// Remove the interactor from the scene, without deleting it. - void detach(Interactor*); - - /// @} - - /** @brief Try to pick a displayed thing along a ray, using OpenGL picking. - * The ray starts at the camera center and passes through point with coordinates x,y in image coordinates (origin on top left). - * In this experimental implementation, this function just prints something on the standard output. - */ - void glPick(int x, int y); - - /** - * @brief getPickDirection Compute the direction of a button click, returned as a unit vector - * @param dx normalized direction - * @param dy normalized direction - * @param dz normalized direction - * @param x x-coordinate of the click - * @param y y-coordinate of the click (origin on top) - */ - void getPickDirection( GLdouble* dx, GLdouble* dy, GLdouble* dz, int x, int y ); - - -protected: - SofaScene* _sofaScene; - - // matrices used for picking - GLint _viewport[4]; - GLdouble _mvmatrix[16], _projmatrix[16]; - - // rendering tools - sofa::gl::DrawToolGL _drawToolGL; - sofa::core::visual::VisualParams* _vparams; - void draw(sofa::core::visual::VisualParams*); - - // Interaction tools - typedef std::map< PickedPoint, Interactor*> Picked_to_Interactor; - /** Currently available interactors, associated with picked points. - * The interactors are not necessarily being manipulated. 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(i think it should be better if updateVisual() was called from draw(), why it is not already the case ?) -} - -//void SofaScene::draw( sofa::core::visual::VisualParams* v) -//{ -// if( v==NULL ) -// { -// -// } -// sofa::simulation::node::draw(_vparams, groot() ); -//} - - -} diff --git a/applications/plugins/SofaSimpleGUI/SofaScene.h b/applications/plugins/SofaSimpleGUI/SofaScene.h deleted file mode 100644 index 83de56ad63b..00000000000 --- a/applications/plugins/SofaSimpleGUI/SofaScene.h +++ /dev/null @@ -1,120 +0,0 @@ -#ifndef SOFA_NEWGUI_SofaScene_H -#define SOFA_NEWGUI_SofaScene_H - -#include -#include -#include -#include - -namespace sofa { -namespace simulation { - class Simulation; -} - -namespace simplegui { - -class Interactor; - - -/** @brief A sofa scene graph with simulation functions. - * - * There are methods to initialize and update the visual models, but rendering must be performed externally, see e.g. class SofaGL. - * - * The typical life cycle is: - * - loadPlugins( list of plugin names ); - setScene( scenegraph ); or open(filename) - initVisual() - [ your main loop: ] - step(dt); - updateVisual(); - [ use a SofaGL object to display the simulated objects ] - - - * @author Francois Faure, 2014 - */ -class SOFA_SOFASIMPLEGUI_API SofaScene -{ -public: - /** - * @brief Initialize Sofa - */ - SofaScene(); - virtual ~SofaScene(){} - - /** - * @brief load the given plugin - * @param plugins names of the plugins - */ - void loadPlugins( const std::vector& plugins ); - /** - * @brief Load a scene file. The previous scene graph, if any, is deleted. - * @param fileName Scene file to load - */ - void open( const std::string& fileName ); - /** - * @brief Set the scene graph. The previous scene graph, if any, is deleted. - * @param graph the scene to simulate - */ - void setScene( simulation::Node* graph ); - /** - * @brief Print the scene graph on the standard output, for debugging. - */ - void printGraph(); - /** - * @brief Integrate time by one step and update the Sofa scene. - */ - void step( SReal dt ); - /** - * @brief restart from the beginning - */ - void reset(); - /** - * @brief Compute the bounding box of the simulated objects - * @param xmin min coordinate in the X direction - * @param xmax max coordinate in the X direction - * @param ymin etc. - * @param ymax - * @param zmin - * @param zmax - */ - void getBoundingBox( SReal* xmin, SReal* xmax, SReal* ymin, SReal* ymax, SReal* zmin, SReal* zmax ); - - /// To do once before rendering a scene, typically at initialization time - void initVisual(); - - /// Update the visual models. To do after animating and before rendering. - void updateVisual(); - - - - /** @name Developer API - * To be used to create new functionalities. - */ - ///@{ - - /// Root of the simulated scene. - simulation::Node* groot(); - - /// Root of the interactors, set as child of groot - simulation::Node* iroot(){ return _iroot; } - - /// Do not use this directly. Use Interactor::attach, which calls this. - void insertInteractor( Interactor* ); - - ///@} - - - - -protected: - simulation::Node::SPtr _groot; ///< root of the scene - simulation::Node* _iroot; ///< root of the interactors, child of _groot - -}; - -} -} - - -#endif // SOFA_NEWGUI_SofaScene_H diff --git a/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in b/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in deleted file mode 100644 index 25e069ed35b..00000000000 --- a/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in +++ /dev/null @@ -1,15 +0,0 @@ -# CMake package configuration file for the SofaSimpleGUI plugin - -@PACKAGE_GUARD@ -@PACKAGE_INIT@ - -find_package(Sofa.Component REQUIRED) -find_package(Eigen3 QUIET REQUIRED) -find_package(Sofa.GL QUIET REQUIRED) -find_package(Sofa.Simulation.Graph QUIET REQUIRED) - -if(NOT TARGET SofaSimpleGUI) - include("${CMAKE_CURRENT_LIST_DIR}/SofaSimpleGUITargets.cmake") -endif() - -check_required_components(SofaSimpleGUI) diff --git a/applications/plugins/SofaSimpleGUI/SpringInteractor.cpp b/applications/plugins/SofaSimpleGUI/SpringInteractor.cpp deleted file mode 100644 index 0e6948d9743..00000000000 --- a/applications/plugins/SofaSimpleGUI/SpringInteractor.cpp +++ /dev/null @@ -1,68 +0,0 @@ -#include -#include "SpringInteractor.h" -#include "PickedPoint.h" -#include -#include -#include - - -namespace sofa::simplegui -{ -typedef sofa::component::constraint::projective::FixedConstraint FixedConstraint3; - -SpringInteractor::SpringInteractor(const PickedPoint &picked, SReal stiffness) - : Interactor(picked) -{ - // get the DOF of the picked object - MechanicalObject3* pickedDof=dynamic_cast(picked.state.get()); assert(pickedDof); - - // create DOF to represent the actuator - _interactorDof = sofa::core::objectmodel::New(); - _interactionNode->addObject(_interactorDof); - _interactorDof->setName("interactorDOF"); - _interactorDof->addTag(std::string("Interactor")); - MechanicalObject3::WriteVecCoord xanchor = _interactorDof->writePositions(); - xanchor[0] = picked.point; - FixedConstraint3::SPtr fixed= sofa::core::objectmodel::New(); // Makes it unmovable through forces - _interactionNode->addObject(fixed); - fixed->init(); - - // create spring to drag the picked object - _spring = sofa::core::objectmodel::New(_interactorDof.get(),pickedDof); - _interactionNode->addObject(_spring); - _spring->addSpring(0,picked.index,stiffness,0.1,0.); - - - -// cout << "SpringInteractor set spring to " << pickedDof->getName() << ", " << picked.index << endl; -} - -Vec3 SpringInteractor::getPoint() -{ - MechanicalObject3::ReadVecCoord xanchor = _interactorDof->readPositions(); - return xanchor[0]; -} - -void SpringInteractor::setPoint( const Vec3& p ) -{ - MechanicalObject3::WriteVecCoord xanchor = _interactorDof->writePositions(); - xanchor[0] = p; -} - -void SpringInteractor::attach(SofaScene *scene) -{ - Inherited::attach(scene); - _interactionNode->removeObject(_spring); - Node* targetParent = dynamic_cast(_spring->getMState2()->getContext()); - targetParent->addObject(_spring); -} - -void SpringInteractor::detach() -{ - Inherited::detach(); - Node* parent = dynamic_cast(_spring->getMState2()->getContext()); - parent->removeObject(_spring); - _interactionNode->addObject(_spring); -} - -} diff --git a/applications/plugins/SofaSimpleGUI/SpringInteractor.h b/applications/plugins/SofaSimpleGUI/SpringInteractor.h deleted file mode 100644 index ec3c187ccd8..00000000000 --- a/applications/plugins/SofaSimpleGUI/SpringInteractor.h +++ /dev/null @@ -1,54 +0,0 @@ -#ifndef SOFA_SpringInteractor_H -#define SOFA_SpringInteractor_H - -#include -#include "Interactor.h" - -#include -#include -#include - - -namespace sofa::simplegui -{ - using sofa::defaulttype::Vec3Types ; - using MechanicalObject3 = sofa::component::statecontainer::MechanicalObject ; - using SpringForceField3 = sofa::component::solidmechanics::spring::SpringForceField ; - -/** - * @brief Interaction using a spring. - * An interactor, typically attached to the mouse pointer, pulls a control point using a spring. - * @author Francois Faure, 2014 - */ -class SOFA_SOFASIMPLEGUI_API SpringInteractor: public Interactor -{ - typedef Interactor Inherited; -protected: - MechanicalObject3::SPtr _interactorDof; - SpringForceField3::SPtr _spring; -public: - /** - * @brief SpringInteractor - * @param picked The picked point. - * @param stiffness The stiffness of the spring attached to the picked point. - */ - SpringInteractor(const PickedPoint& picked, SReal stiffness=(SReal) 100.); - - /// Insert this in the scene as a child of the given node - void attach( SofaScene* scene ) override; - - /// Remove this from the scene, without destroying it. - void detach() override; - - /// current interaction point - Vec3 getPoint() override; - - /// Displace the interaction to the given point - void setPoint( const Vec3& p ) override; - -}; - -} - - -#endif // SOFA_SpringInteractor_H diff --git a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp b/applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp deleted file mode 100644 index c7b3203a8d7..00000000000 --- a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.cpp +++ /dev/null @@ -1,138 +0,0 @@ -#include "VisualPickVisitor.h" -#include -using std::cout; -using std::cerr; -using std::endl; - -#include -#include -#include -#include - - -namespace sofa::simplegui -{ - -VisualPickVisitor::VisualPickVisitor(core::visual::VisualParams* params) - : VisualVisitor(params) -{ - pickedId = 0; -} - - -simulation::Visitor::Result VisualPickVisitor::processNodeTopDown(simulation::Node* node) -{ -// cerr <<"VisualPickVisitor::processNodeTopDown" << endl; - hasShader = (node->getShader()!=NULL); - - for_each(this, node, node->visualModel, &VisualPickVisitor::fwdVisualModel); - this->VisualVisitor::processNodeTopDown(node); - - return RESULT_CONTINUE; -} - -void VisualPickVisitor::processNodeBottomUp(simulation::Node* node) -{ -// cerr <<"VisualPickVisitor::processNodeBottomUp" << endl; - for_each(this, node, node->visualModel, &VisualPickVisitor::bwdVisualModel); -} - -void VisualPickVisitor::processObject(simulation::Node* /*node*/, core::objectmodel::BaseObject* o) -{ -#ifdef DEBUG_DRAW - std::cerr << ">" << o->getClassName() << "::draw() of " << o->getName() << std::endl; -#endif -// cout<<"VisualPickVisitor::processObject push name of "<< o->getName() << " = " << pickedId << endl; - names.push_back(o->getName()); - glPushName(pickedId++); - o->draw(vparams); - glPopName(); -// cout<<"VisualPickVisitor::processObject end " << endl; - -#ifdef DEBUG_DRAW - std::cerr << "<" << o->getClassName() << "::draw() of " << o->getName() << std::endl; -#endif -} - -void VisualPickVisitor::fwdVisualModel(simulation::Node* /*node*/, core::visual::VisualModel* vm) -{ -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::fwdDraw() of " << vm->getName() << std::endl; -#endif - vm->fwdDraw(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::fwdDraw() of " << vm->getName() << std::endl; -#endif -} - -void VisualPickVisitor::bwdVisualModel(simulation::Node* /*node*/,core::visual::VisualModel* vm) -{ -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::bwdDraw() of " << vm->getName() << std::endl; -#endif - vm->bwdDraw(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::bwdDraw() of " << vm->getName() << std::endl; -#endif -} - -void VisualPickVisitor::processVisualModel(simulation::Node* node, core::visual::VisualModel* vm) -{ - //cerr<<"VisualPickVisitor::processVisualModel "<getName()<(node->getShader(subsetsToManage)); - - - switch(vparams->pass()) - { - case core::visual::VisualParams::Std: - { - if (shader && shader->isActive()) - shader->start(); -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::drawVisual() of " << vm->getName() << std::endl; -#endif - names.push_back(vm->getName()); - glPushName(pickedId++); - vm->drawVisual(vparams); - glPopName(); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::drawVisual() of " << vm->getName() << std::endl; -#endif - if (shader && shader->isActive()) - shader->stop(); - break; - } - case core::visual::VisualParams::Transparent: - { - if (shader && shader->isActive()) - shader->start(); -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::drawTransparent() of " << vm->getName() << std::endl; -#endif - vm->drawTransparent(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::drawTransparent() of " << vm->getName() << std::endl; -#endif - if (shader && shader->isActive()) - shader->stop(); - break; - } - case core::visual::VisualParams::Shadow: -#ifdef DEBUG_DRAW - std::cerr << ">" << vm->getClassName() << "::drawShadow() of " << vm->getName() << std::endl; -#endif - vm->drawShadow(vparams); -#ifdef DEBUG_DRAW - std::cerr << "<" << vm->getClassName() << "::drawShadow() of " << vm->getName() << std::endl; -#endif - break; - } - -} - - -} - - diff --git a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.h b/applications/plugins/SofaSimpleGUI/VisualPickVisitor.h deleted file mode 100644 index fe72aa97004..00000000000 --- a/applications/plugins/SofaSimpleGUI/VisualPickVisitor.h +++ /dev/null @@ -1,43 +0,0 @@ -#ifndef SOFA_SIMPLEGUI_VisualPickVisitor_H -#define SOFA_SIMPLEGUI_VisualPickVisitor_H -#include -#include - - -namespace sofa::simplegui -{ - -/** - * @brief The VisualPickVisitor class displays the scene for OpenGL picking. - * It uses the glPushName instruction, and it must be called within a specific OpenGL context, see http://www.lighthouse3d.com/opengl/picking/ - * The names vector member contains the names of all the objects rendered, in the traversal order. - * This allows to associate a hit number to an object during the pre-processing. - * @sa SofaGL - * @author Francois Faure, 2014 - * - * @warning The code is directly adapted from VisualDrawVisitor, without much insight - */ -class VisualPickVisitor : public ::sofa::simulation::VisualVisitor -{ -public: - bool hasShader; - VisualPickVisitor(core::visual::VisualParams* params); - Result processNodeTopDown(simulation::Node* node) override; - void processNodeBottomUp(simulation::Node* node) override; - virtual void fwdVisualModel(simulation::Node* node, core::visual::VisualModel* vm); - void processVisualModel(simulation::Node* node, core::visual::VisualModel* vm) override; - void processObject(simulation::Node* node, core::objectmodel::BaseObject* o) override; - virtual void bwdVisualModel(simulation::Node* node, core::visual::VisualModel* vm); - const char* getClassName() const override { return "VisualPickVisitor"; } - - sofa::type::vector names; // names of the object displayed - -private: - int pickedId; - - -}; - -} - -#endif // SOFA_SIMPLEGUI_VisualPickVisitor_H diff --git a/applications/plugins/SofaSimpleGUI/config.h.in b/applications/plugins/SofaSimpleGUI/config.h.in deleted file mode 100644 index 5b9af608bb5..00000000000 --- a/applications/plugins/SofaSimpleGUI/config.h.in +++ /dev/null @@ -1,34 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#ifndef SOFASIMPLEGUI_CONFIG_H -#define SOFASIMPLEGUI_CONFIG_H - -#include - -#ifdef SOFA_BUILD_SOFASIMPLEGUI -# define SOFA_TARGET SofaSimpleGUI -# define SOFA_SOFASIMPLEGUI_API SOFA_EXPORT_DYNAMIC_LIBRARY -#else -# define SOFA_SOFASIMPLEGUI_API SOFA_IMPORT_DYNAMIC_LIBRARY -#endif - -#endif diff --git a/applications/plugins/SofaSimpleGUI/doc/Doxyfile b/applications/plugins/SofaSimpleGUI/doc/Doxyfile deleted file mode 100644 index 1ff35ada7e4..00000000000 --- a/applications/plugins/SofaSimpleGUI/doc/Doxyfile +++ /dev/null @@ -1,1918 +0,0 @@ -# Doxyfile 1.8.4 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project -# -# All text after a hash (#) is considered a comment and will be ignored -# The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" ") - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all -# text before the first occurrence of this tag. Doxygen uses libiconv (or the -# iconv built into libc) for the transcoding. See -# http://www.gnu.org/software/libiconv for the list of possible encodings. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or sequence of words) that should -# identify the project. Note that if you do not use Doxywizard you need -# to put quotes around the project name if it contains spaces. - -PROJECT_NAME = SimpleGUI - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer -# a quick idea about the purpose of the project. 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If set -# to NO (the default), structs, classes, and unions are shown on a separate -# page (for HTML and Man pages) or section (for LaTeX and RTF). - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum -# is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically -# be useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can -# be an expensive process and often the same symbol appear multiple times in -# the code, doxygen keeps a cache of pre-resolved symbols. If the cache is too -# small doxygen will become slower. If the cache is too large, memory is wasted. -# The cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid -# range is 0..9, the default is 0, corresponding to a cache size of 2^16 = 65536 -# symbols. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_PACKAGE tag is set to YES all members with package or internal -# scope will be included in the documentation. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base -# name of the file that contains the anonymous namespace. By default -# anonymous namespaces are hidden. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the -# documentation. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. - -HIDE_SCOPE_NAMES = YES - -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. - -SHOW_INCLUDE_FILES = YES - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen -# will list include files with double quotes in the documentation -# rather than with sharp brackets. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen -# will sort the (brief and detailed) documentation of class members so that -# constructors and destructors are listed first. If set to NO (the default) -# the constructors will appear in the respective orders defined by -# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS. -# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO -# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the -# hierarchy of group names into alphabetical order. If set to NO (the default) -# the group names will appear in their defined order. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to -# do proper type resolution of all parameters of a function it will reject a -# match between the prototype and the implementation of a member function even -# if there is only one candidate or it is obvious which candidate to choose -# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen -# will still accept a match between prototype and implementation in such cases. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if section-label ... \endif -# and \cond section-label ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or macro consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and macros in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the -# list will mention the files that were used to generate the documentation. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. -# This will remove the Files entry from the Quick Index and from the -# Folder Tree View (if specified). The default is YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the -# Namespaces page. This will remove the Namespaces entry from the Quick Index -# and from the Folder Tree View (if specified). The default is YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command , where is the value of -# the FILE_VERSION_FILTER tag, and is the name of an input file -# provided by doxygen. Whatever the program writes to standard output -# is used as the file version. See the manual for examples. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. -# You can optionally specify a file name after the option, if omitted -# DoxygenLayout.xml will be used as the name of the layout file. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files -# containing the references data. This must be a list of .bib files. The -# .bib extension is automatically appended if omitted. Using this command -# requires the bibtex tool to be installed. See also -# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style -# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this -# feature you need bibtex and perl available in the search path. Do not use -# file names with spaces, bibtex cannot handle them. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. - -WARNINGS = YES - -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. - -WARN_IF_UNDOCUMENTED = YES - -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. - -WARN_IF_DOC_ERROR = YES - -# The WARN_NO_PARAMDOC option can be enabled to get warnings for -# functions that are documented, but have no documentation for their parameters -# or return value. If set to NO (the default) doxygen will only warn about -# wrong or incomplete parameter documentation, but not about the absence of -# documentation. - -WARN_NO_PARAMDOC = NO - -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. Optionally the format may contain -# $version, which will be replaced by the version of the file (if it could -# be obtained via FILE_VERSION_FILTER) - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. - -INPUT = .. - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is -# also the default input encoding. Doxygen uses libiconv (or the iconv built -# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for -# the list of possible encodings. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh -# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py -# *.f90 *.f *.for *.vhd *.vhdl - -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.d \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.idl \ - *.odl \ - *.cs \ - *.php \ - *.php3 \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py \ - *.f90 \ - *.f \ - *.vhd \ - *.vhdl - -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. Note that the wildcards are matched -# against the file with absolute path, so to exclude all test directories -# for example use the pattern */test/* - -EXCLUDE_PATTERNS = - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). - -EXAMPLE_PATH = ../glutOnePick - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. If FILTER_PATTERNS is specified, this tag will be ignored. -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: -# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further -# info on how filters are used. If FILTER_PATTERNS is empty or if -# non of the patterns match the file name, INPUT_FILTER is applied. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) -# and it is also possible to disable source filtering for a specific pattern -# using *.ext= (so without naming a filter). This option only has effect when -# FILTER_SOURCE_FILES is enabled. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = - -#--------------------------------------------------------------------------- -# configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. - -SOURCE_BROWSER = YES - -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C, C++ and Fortran comments will always remain visible. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES -# then for each documented function all documented -# functions referencing it will be listed. - -REFERENCED_BY_RELATION = NO - -# If the REFERENCES_RELATION tag is set to YES -# then for each documented function all documented entities -# called/used by that function will be listed. - -REFERENCES_RELATION = NO - -# If the REFERENCES_LINK_SOURCE tag is set to YES (the default) -# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from -# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will -# link to the source code. Otherwise they will link to the documentation. - -REFERENCES_LINK_SOURCE = YES - -# If the USE_HTAGS tag is set to YES then the references to source code -# will point to the HTML generated by the htags(1) tool instead of doxygen -# built-in source browser. The htags tool is part of GNU's global source -# tagging system (see http://www.gnu.org/software/global/global.html). You -# will need version 4.8.6 or higher. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. - -VERBATIM_HEADERS = YES - -#--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. - -ALPHABETICAL_INDEX = NO - -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. Note that when using a custom header you are responsible -# for the proper inclusion of any scripts and style sheets that doxygen -# needs, which is dependent on the configuration options used. -# It is advised to generate a default header using "doxygen -w html -# header.html footer.html stylesheet.css YourConfigFile" and then modify -# that header. Note that the header is subject to change so you typically -# have to redo this when upgrading to a newer version of doxygen or when -# changing the value of configuration settings such as GENERATE_TREEVIEW! - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If left blank doxygen will -# generate a default style sheet. Note that it is recommended to use -# HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this -# tag will in the future become obsolete. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional -# user-defined cascading style sheet that is included after the standard -# style sheets created by doxygen. Using this option one can overrule -# certain style aspects. This is preferred over using HTML_STYLESHEET -# since it does not replace the standard style sheet and is therefor more -# robust against future updates. Doxygen will copy the style sheet file to -# the output directory. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that -# the files will be copied as-is; there are no commands or markers available. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. -# Doxygen will adjust the colors in the style sheet and background images -# according to this color. Hue is specified as an angle on a colorwheel, -# see http://en.wikipedia.org/wiki/Hue for more information. -# For instance the value 0 represents red, 60 is yellow, 120 is green, -# 180 is cyan, 240 is blue, 300 purple, and 360 is red again. -# The allowed range is 0 to 359. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of -# the colors in the HTML output. For a value of 0 the output will use -# grayscales only. A value of 255 will produce the most vivid colors. - -HTML_COLORSTYLE_SAT = 100 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to -# the luminance component of the colors in the HTML output. Values below -# 100 gradually make the output lighter, whereas values above 100 make -# the output darker. The value divided by 100 is the actual gamma applied, -# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2, -# and 100 does not change the gamma. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting -# this to NO can help when comparing the output of multiple runs. - -HTML_TIMESTAMP = YES - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of -# entries shown in the various tree structured indices initially; the user -# can expand and collapse entries dynamically later on. Doxygen will expand -# the tree to such a level that at most the specified number of entries are -# visible (unless a fully collapsed tree already exceeds this amount). -# So setting the number of entries 1 will produce a full collapsed tree by -# default. 0 is a special value representing an infinite number of entries -# and will result in a full expanded tree by default. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files -# will be generated that can be used as input for Apple's Xcode 3 -# integrated development environment, introduced with OSX 10.5 (Leopard). -# To create a documentation set, doxygen will generate a Makefile in the -# HTML output directory. Running make will produce the docset in that -# directory and running "make install" will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find -# it at startup. -# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. - -GENERATE_DOCSET = NO - -# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the -# feed. A documentation feed provides an umbrella under which multiple -# documentation sets from a single provider (such as a company or product suite) -# can be grouped. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that -# should uniquely identify the documentation set bundle. This should be a -# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen -# will append .docset to the name. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely -# identify the documentation publisher. This should be a reverse domain-name -# style string, e.g. com.mycompany.MyDocSet.documentation. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compiled HTML help file (.chm) -# of the generated HTML documentation. - -GENERATE_HTMLHELP = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be -# written to the html output directory. - -CHM_FILE = - -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. - -HHC_LOCATION = - -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). - -GENERATE_CHI = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING -# is used to encode HtmlHelp index (hhk), content (hhc) and project file -# content. - -CHM_INDEX_ENCODING = - -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated -# that can be used as input for Qt's qhelpgenerator to generate a -# Qt Compressed Help (.qch) of the generated HTML documentation. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can -# be used to specify the file name of the resulting .qch file. -# The path specified is relative to the HTML output folder. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#namespace - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating -# Qt Help Project output. For more information please see -# http://doc.trolltech.com/qthelpproject.html#virtual-folders - -QHP_VIRTUAL_FOLDER = doc - -# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to -# add. For more information please see -# http://doc.trolltech.com/qthelpproject.html#custom-filters - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see -# -# Qt Help Project / Custom Filters. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's -# filter section matches. -# -# Qt Help Project / Filter Attributes. - -QHP_SECT_FILTER_ATTRS = - -# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can -# be used to specify the location of Qt's qhelpgenerator. -# If non-empty doxygen will try to run qhelpgenerator on the generated -# .qhp file. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files -# will be generated, which together with the HTML files, form an Eclipse help -# plugin. To install this plugin and make it available under the help contents -# menu in Eclipse, the contents of the directory containing the HTML and XML -# files needs to be copied into the plugins directory of eclipse. The name of -# the directory within the plugins directory should be the same as -# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before -# the help appears. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have -# this name. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) -# at top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. Since the tabs have the same information as the -# navigation tree you can set this option to NO if you already set -# GENERATE_TREEVIEW to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. -# If the tag value is set to YES, a side panel will be generated -# containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser). -# Windows users are probably better off using the HTML help feature. -# Since the tree basically has the same information as the tab index you -# could consider to set DISABLE_INDEX to NO when enabling this option. - -GENERATE_TREEVIEW = YES - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values -# (range [0,1..20]) that doxygen will group on one line in the generated HTML -# documentation. Note that a value of 0 will completely suppress the enum -# values from appearing in the overview section. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. - -TREEVIEW_WIDTH = 250 - -# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open -# links to external symbols imported via tag files in a separate window. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of Latex formulas included -# as images in the HTML documentation. The default is 10. Note that -# when you change the font size after a successful doxygen run you need -# to manually remove any form_*.png images from the HTML output directory -# to force them to be regenerated. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are -# not supported properly for IE 6.0, but are supported on all modern browsers. -# Note that when changing this option you need to delete any form_*.png files -# in the HTML output before the changes have effect. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax -# (see http://www.mathjax.org) which uses client side Javascript for the -# rendering instead of using prerendered bitmaps. Use this if you do not -# have LaTeX installed or if you want to formulas look prettier in the HTML -# output. When enabled you may also need to install MathJax separately and -# configure the path to it using the MATHJAX_RELPATH option. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and -# SVG. The default value is HTML-CSS, which is slower, but has the best -# compatibility. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the -# HTML output directory using the MATHJAX_RELPATH option. The destination -# directory should contain the MathJax.js script. For instance, if the mathjax -# directory is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to -# the MathJax Content Delivery Network so you can quickly see the result without -# installing MathJax. However, it is strongly recommended to install a local -# copy of MathJax from http://www.mathjax.org before deployment. - -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest - -# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension -# names that should be enabled during MathJax rendering. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript -# pieces of code that will be used on startup of the MathJax code. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box -# for the HTML output. The underlying search engine uses javascript -# and DHTML and should work on any modern browser. Note that when using -# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets -# (GENERATE_DOCSET) there is already a search function so this one should -# typically be disabled. For large projects the javascript based search engine -# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution. - -SEARCHENGINE = YES - -# When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a web server instead of a web client using Javascript. -# There are two flavours of web server based search depending on the -# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for -# searching and an index file used by the script. When EXTERNAL_SEARCH is -# enabled the indexing and searching needs to be provided by external tools. -# See the manual for details. - -SERVER_BASED_SEARCH = NO - -# When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP -# script for searching. Instead the search results are written to an XML file -# which needs to be processed by an external indexer. Doxygen will invoke an -# external search engine pointed to by the SEARCHENGINE_URL option to obtain -# the search results. Doxygen ships with an example indexer (doxyindexer) and -# search engine (doxysearch.cgi) which are based on the open source search -# engine library Xapian. See the manual for configuration details. - -EXTERNAL_SEARCH = NO - -# The SEARCHENGINE_URL should point to a search engine hosted by a web server -# which will returned the search results when EXTERNAL_SEARCH is enabled. -# Doxygen ships with an example search engine (doxysearch) which is based on -# the open source search engine library Xapian. See the manual for configuration -# details. - -SEARCHENGINE_URL = - -# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed -# search data is written to a file for indexing by an external tool. With the -# SEARCHDATA_FILE tag the name of this file can be specified. - -SEARCHDATA_FILE = searchdata.xml - -# When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the -# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is -# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple -# projects and redirect the results back to the right project. - -EXTERNAL_SEARCH_ID = - -# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen -# projects other than the one defined by this configuration file, but that are -# all added to the same external search index. Each project needs to have a -# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id -# of to a relative location where the documentation can be found. -# The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ... - -EXTRA_SEARCH_MAPPINGS = - -#--------------------------------------------------------------------------- -# configuration options related to the LaTeX output -#--------------------------------------------------------------------------- - -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will -# generate Latex output. - -GENERATE_LATEX = NO - -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `latex' will be used as the default path. - -LATEX_OUTPUT = latex - -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. -# Note that when enabling USE_PDFLATEX this option is only used for -# generating bitmaps for formulas in the HTML output, but not in the -# Makefile that is written to the output directory. - -LATEX_CMD_NAME = latex - -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the -# default command name. - -MAKEINDEX_CMD_NAME = makeindex - -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_LATEX = NO - -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, letter, legal and -# executive. If left blank a4 will be used. - -PAPER_TYPE = a4wide - -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX -# packages that should be included in the LaTeX output. - -EXTRA_PACKAGES = - -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a -# standard header. Notice: only use this tag if you know what you are doing! - -LATEX_HEADER = - -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for -# the generated latex document. The footer should contain everything after -# the last chapter. If it is left blank doxygen will generate a -# standard footer. Notice: only use this tag if you know what you are doing! - -LATEX_FOOTER = - -# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images -# or other source files which should be copied to the LaTeX output directory. -# Note that the files will be copied as-is; there are no commands or markers -# available. - -LATEX_EXTRA_FILES = - -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references -# This makes the output suitable for online browsing using a pdf viewer. - -PDF_HYPERLINKS = YES - -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a -# higher quality PDF documentation. - -USE_PDFLATEX = YES - -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. -# This option is also used when generating formulas in HTML. - -LATEX_BATCHMODE = NO - -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) -# in the output. - -LATEX_HIDE_INDICES = NO - -# If LATEX_SOURCE_CODE is set to YES then doxygen will include -# source code with syntax highlighting in the LaTeX output. -# Note that which sources are shown also depends on other settings -# such as SOURCE_BROWSER. - -LATEX_SOURCE_CODE = NO - -# The LATEX_BIB_STYLE tag can be used to specify the style to use for the -# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See -# http://en.wikipedia.org/wiki/BibTeX for more info. - -LATEX_BIB_STYLE = plain - -#--------------------------------------------------------------------------- -# configuration options related to the RTF output -#--------------------------------------------------------------------------- - -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with -# other RTF readers or editors. - -GENERATE_RTF = NO - -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `rtf' will be used as the default path. - -RTF_OUTPUT = rtf - -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_RTF = NO - -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. -# Note: wordpad (write) and others do not support links. - -RTF_HYPERLINKS = NO - -# Load style sheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide -# replacements, missing definitions are set to their default value. - -RTF_STYLESHEET_FILE = - -# Set optional variables used in the generation of an rtf document. -# Syntax is similar to doxygen's config file. - -RTF_EXTENSIONS_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to the man page output -#--------------------------------------------------------------------------- - -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will -# generate man pages - -GENERATE_MAN = NO - -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `man' will be used as the default path. - -MAN_OUTPUT = man - -# The MAN_EXTENSION tag determines the extension that is added to -# the generated man pages (default is the subroutine's section .3) - -MAN_EXTENSION = .3 - -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command -# would be unable to find the correct page. The default is NO. - -MAN_LINKS = NO - -#--------------------------------------------------------------------------- -# configuration options related to the XML output -#--------------------------------------------------------------------------- - -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of -# the code including all documentation. - -GENERATE_XML = NO - -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `xml' will be used as the default path. - -XML_OUTPUT = xml - -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_SCHEMA = - -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_DTD = - -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that -# enabling this will significantly increase the size of the XML output. - -XML_PROGRAMLISTING = YES - -#--------------------------------------------------------------------------- -# configuration options related to the DOCBOOK output -#--------------------------------------------------------------------------- - -# If the GENERATE_DOCBOOK tag is set to YES Doxygen will generate DOCBOOK files -# that can be used to generate PDF. - -GENERATE_DOCBOOK = NO - -# The DOCBOOK_OUTPUT tag is used to specify where the DOCBOOK pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in -# front of it. If left blank docbook will be used as the default path. - -DOCBOOK_OUTPUT = docbook - -#--------------------------------------------------------------------------- -# configuration options for the AutoGen Definitions output -#--------------------------------------------------------------------------- - -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental -# and incomplete at the moment. - -GENERATE_AUTOGEN_DEF = NO - -#--------------------------------------------------------------------------- -# configuration options related to the Perl module output -#--------------------------------------------------------------------------- - -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the -# moment. - -GENERATE_PERLMOD = NO - -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able -# to generate PDF and DVI output from the Perl module output. - -PERLMOD_LATEX = NO - -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller -# and Perl will parse it just the same. - -PERLMOD_PRETTY = YES - -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same -# Makefile don't overwrite each other's variables. - -PERLMOD_MAKEVAR_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the preprocessor -#--------------------------------------------------------------------------- - -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include -# files. - -ENABLE_PREPROCESSING = YES - -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. If set to NO (the default) only conditional -# compilation will be performed. Macro expansion can be done in a controlled -# way by setting EXPAND_ONLY_PREDEF to YES. - -MACRO_EXPANSION = NO - -# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES -# then the macro expansion is limited to the macros specified with the -# PREDEFINED and EXPAND_AS_DEFINED tags. - -EXPAND_ONLY_PREDEF = NO - -# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files -# pointed to by INCLUDE_PATH will be searched when a #include is found. - -SEARCH_INCLUDES = YES - -# The INCLUDE_PATH tag can be used to specify one or more directories that -# contain include files that are not input files but should be processed by -# the preprocessor. - -INCLUDE_PATH = - -# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard -# patterns (like *.h and *.hpp) to filter out the header-files in the -# directories. If left blank, the patterns specified with FILE_PATTERNS will -# be used. - -INCLUDE_FILE_PATTERNS = - -# The PREDEFINED tag can be used to specify one or more macro names that -# are defined before the preprocessor is started (similar to the -D option of -# gcc). The argument of the tag is a list of macros of the form: name -# or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. To prevent a macro definition from being -# undefined via #undef or recursively expanded use the := operator -# instead of the = operator. - -PREDEFINED = - -# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then -# this tag can be used to specify a list of macro names that should be expanded. -# The macro definition that is found in the sources will be used. -# Use the PREDEFINED tag if you want to use a different macro definition that -# overrules the definition found in the source code. - -EXPAND_AS_DEFINED = - -# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then -# doxygen's preprocessor will remove all references to function-like macros -# that are alone on a line, have an all uppercase name, and do not end with a -# semicolon, because these will confuse the parser if not removed. - -SKIP_FUNCTION_MACROS = YES - -#--------------------------------------------------------------------------- -# Configuration::additions related to external references -#--------------------------------------------------------------------------- - -# The TAGFILES option can be used to specify one or more tagfiles. For each -# tag file the location of the external documentation should be added. The -# format of a tag file without this location is as follows: -# TAGFILES = file1 file2 ... -# Adding location for the tag files is done as follows: -# TAGFILES = file1=loc1 "file2 = loc2" ... -# where "loc1" and "loc2" can be relative or absolute paths -# or URLs. Note that each tag file must have a unique name (where the name does -# NOT include the path). If a tag file is not located in the directory in which -# doxygen is run, you must also specify the path to the tagfile here. - -TAGFILES = - -# When a file name is specified after GENERATE_TAGFILE, doxygen will create -# a tag file that is based on the input files it reads. - -GENERATE_TAGFILE = - -# If the ALLEXTERNALS tag is set to YES all external classes will be listed -# in the class index. If set to NO only the inherited external classes -# will be listed. - -ALLEXTERNALS = NO - -# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed -# in the modules index. If set to NO, only the current project's groups will -# be listed. - -EXTERNAL_GROUPS = YES - -# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed -# in the related pages index. If set to NO, only the current project's -# pages will be listed. - -EXTERNAL_PAGES = YES - -# The PERL_PATH should be the absolute path and name of the perl script -# interpreter (i.e. the result of `which perl'). - -PERL_PATH = /usr/bin/perl - -#--------------------------------------------------------------------------- -# Configuration options related to the dot tool -#--------------------------------------------------------------------------- - -# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base -# or super classes. Setting the tag to NO turns the diagrams off. Note that -# this option also works with HAVE_DOT disabled, but it is recommended to -# install and use dot, since it yields more powerful graphs. - -CLASS_DIAGRAMS = YES - -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see -# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the -# default search path. - -MSCGEN_PATH = - -# If set to YES, the inheritance and collaboration graphs will hide -# inheritance and usage relations if the target is undocumented -# or is not a class. - -HIDE_UNDOC_RELATIONS = YES - -# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is -# available from the path. This tool is part of Graphviz, a graph visualization -# toolkit from AT&T and Lucent Bell Labs. The other options in this section -# have no effect if this option is set to NO (the default) - -HAVE_DOT = NO - -# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is -# allowed to run in parallel. When set to 0 (the default) doxygen will -# base this on the number of processors available in the system. You can set it -# explicitly to a value larger than 0 to get control over the balance -# between CPU load and processing speed. - -DOT_NUM_THREADS = 0 - -# By default doxygen will use the Helvetica font for all dot files that -# doxygen generates. When you want a differently looking font you can specify -# the font name using DOT_FONTNAME. You need to make sure dot is able to find -# the font, which can be done by putting it in a standard location or by setting -# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the -# directory containing the font. - -DOT_FONTNAME = FreeSans - -# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs. -# The default size is 10pt. - -DOT_FONTSIZE = 10 - -# By default doxygen will tell dot to use the Helvetica font. -# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to -# set the path where dot can find it. - -DOT_FONTPATH = - -# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect inheritance relations. Setting this tag to YES will force the -# CLASS_DIAGRAMS tag to NO. - -CLASS_GRAPH = YES - -# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for each documented class showing the direct and -# indirect implementation dependencies (inheritance, containment, and -# class references variables) of the class with other documented classes. - -COLLABORATION_GRAPH = YES - -# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen -# will generate a graph for groups, showing the direct groups dependencies - -GROUP_GRAPHS = YES - -# If the UML_LOOK tag is set to YES doxygen will generate inheritance and -# collaboration diagrams in a style similar to the OMG's Unified Modeling -# Language. - -UML_LOOK = NO - -# If the UML_LOOK tag is enabled, the fields and methods are shown inside -# the class node. If there are many fields or methods and many nodes the -# graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS -# threshold limits the number of items for each type to make the size more -# manageable. Set this to 0 for no limit. 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z28u4yPQGW&)lzwsq98^-fvZ`5uou7*82PeK(W%zBLrI16f{Mkkd9A1@Hs zOdMJJ>QTTjiPJQqLL7QZJ+5{6w^a)ER!Q^42a(fUPMd0iv8&raVSTN_x%BzDxE$LH zADW?$$v8$nQ>^==90QbDQ5iz2VD9eIhaum;;LN+=EIM-iE)B5E<~nqn`c?`;ToS3u R2%4<~I~+p5*9FJs{RNgh$rAto diff --git a/applications/plugins/SofaSimpleGUI/doc/index.html b/applications/plugins/SofaSimpleGUI/doc/index.html deleted file mode 100644 index f612f48076b..00000000000 --- a/applications/plugins/SofaSimpleGUI/doc/index.html +++ /dev/null @@ -1,154 +0,0 @@ - - - - - - - - SimpleGUI - - - - - - - - -

SimpleGUI

- - - - - - - - - - - -
SimpleGUI helps inserting a Sofa simulation in graphics applications, such as this simple Glut program.
-
representative image of the plugin
- -
- - - -
- -

Introduction

-This is a simpler alternative to the standard Sofa GUI. See the code documentation (*) for more detail.
-
-

Compilation

-One subproject uses qtquick. On Ubuntu 14.04, it requires package qtdeclarative5-dev. - - -

Examples

- - -
    - -
  • glutOnePick: a glut application with a Sofa simulation. The user can interact by clicking and dragging particles. -
    • -
  • qtSofa: a qt application with a Sofa simulation. The user can interact by shift-clicking and dragging particles. -
    • -
- - - -

Intellectual -property and rights

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Authors
- 		Francois Faure
Contact
- 		Francois.Faure@inria.fr
-
License
- 		This plugin is distributed under -the same license as the core of SOFA. -
Patents
-
-
APP registration
-
-
Sponsors
- 		-
-
- -
- -
- -

HowTo

- -

Code documentation

- -can be generated using doxygen. In Unix -systems, simply type doxygen -Doxyfile in the doc directory.
- -
- -

LaTeX formulas

- -can be directly copy-pasted from .tex to this html document thanks to the mathjax config and -script included in the header. Equation numbering and cross-referencing works, as well a newcommand.
- -
- -
- -
- -
- - diff --git a/applications/plugins/SofaSimpleGUI/examples/liver.scn b/applications/plugins/SofaSimpleGUI/examples/liver.scn deleted file mode 100644 index 2ea0cb8954c..00000000000 --- a/applications/plugins/SofaSimpleGUI/examples/liver.scn +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn b/applications/plugins/SofaSimpleGUI/examples/oneTet.scn deleted file mode 100644 index d888792de76..00000000000 --- a/applications/plugins/SofaSimpleGUI/examples/oneTet.scn +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp b/applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp deleted file mode 100644 index 7cdc42b84c1..00000000000 --- a/applications/plugins/SofaSimpleGUI/initSimpleGUI.cpp +++ /dev/null @@ -1,80 +0,0 @@ -/****************************************************************************** -* SOFA, Simulation Open-Framework Architecture * -* (c) 2006 INRIA, USTL, UJF, CNRS, MGH * -* * -* This program is free software; you can redistribute it and/or modify it * -* under the terms of the GNU Lesser General Public License as published by * -* the Free Software Foundation; either version 2.1 of the License, or (at * -* your option) any later version. * -* * -* This program is distributed in the hope that it will be useful, but WITHOUT * -* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * -* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License * -* for more details. * -* * -* You should have received a copy of the GNU Lesser General Public License * -* along with this program. If not, see . * -******************************************************************************* -* Authors: The SOFA Team and external contributors (see Authors.txt) * -* * -* Contact information: contact@sofa-framework.org * -******************************************************************************/ -#include - - -namespace sofa::component -{ - - //Here are just several convenient functions to help user to know what contains the plugin - - extern "C" { - SOFA_SOFASIMPLEGUI_API void initExternalModule(); - SOFA_SOFASIMPLEGUI_API const char* getModuleName(); - SOFA_SOFASIMPLEGUI_API const char* getModuleVersion(); - SOFA_SOFASIMPLEGUI_API const char* getModuleLicense(); - SOFA_SOFASIMPLEGUI_API const char* getModuleDescription(); - SOFA_SOFASIMPLEGUI_API const char* getModuleComponentList(); - } - - void initExternalModule() - { - static bool first = true; - if (first) - { - first = false; - } - } - - const char* getModuleName() - { - return "SimpleGUI"; - } - - const char* getModuleVersion() - { - return "0.2"; - } - - const char* getModuleLicense() - { - return "LGPL"; - } - - - const char* getModuleDescription() - { - return "TODO: replace this with the description of your plugin"; - } - - const char* getModuleComponentList() - { - /// string containing the names of the classes provided by the plugin - return ""; - //return "MyMappingPendulumInPlane, MyBehaviorModel, MyProjectiveConstraintSet"; - } - - - -} - - From 238851c9e97237c8a9d30a62277ca8b63be56600 Mon Sep 17 00:00:00 2001 From: Alex Bilger Date: Thu, 26 Dec 2024 22:01:07 +0100 Subject: [PATCH 8/8] [SofaCUDA] Explicit the CUDA C++ standard version to 17 (#5165) --- applications/plugins/SofaCUDA/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/applications/plugins/SofaCUDA/CMakeLists.txt b/applications/plugins/SofaCUDA/CMakeLists.txt index 9ec20b48eda..ed1cb7f93d0 100644 --- a/applications/plugins/SofaCUDA/CMakeLists.txt +++ b/applications/plugins/SofaCUDA/CMakeLists.txt @@ -396,7 +396,7 @@ target_link_libraries(${PROJECT_NAME} Sofa.Component.MechanicalLoad ) -target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) +target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17 cuda_std_17) if(Sofa.GL_FOUND) target_link_libraries(${PROJECT_NAME} Sofa.GL)