Merge branch 'master' into 24_11_add_warning_when_using_disabled_mech…

…anism
sofa-framework · Dec 6, 2024 · f989e41 · f989e41
2 parents 4598a35 + fdacdac
commit f989e41
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diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
@@ -0,0 +1,21 @@
+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    if: ${{ github.repository_owner == 'sofa-framework' }}
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      # TODO: the "sofa" account on cachix does not exist yet
+      #- uses: cachix/cachix-action@v15
+        #with:
+          #name: sofa
+          #authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
diff --git a/...angian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h b/...angian/Model/src/sofa/component/constraint/lagrangian/model/SlidingLagrangianConstraint.h
@@ -66,7 +66,7 @@ class SlidingLagrangianConstraint : public core::behavior::PairInteractionConstr
     SlidingLagrangianConstraint(MechanicalState* object);
     SlidingLagrangianConstraint(MechanicalState* object1, MechanicalState* object2);
 
-    virtual ~SlidingLagrangianConstraint(){}
+    ~SlidingLagrangianConstraint() override {}
 
 
 

diff --git a/...angian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp b/...angian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp
@@ -60,8 +60,10 @@ void clearMultiVecId(sofa::core::objectmodel::BaseContext* ctx, const sofa::core
 
 }
 
+static constexpr GenericConstraintSolver::ResolutionMethod defaultResolutionMethod("ProjectedGaussSeidel");
+
 GenericConstraintSolver::GenericConstraintSolver()
-    : d_resolutionMethod( initData(&d_resolutionMethod, "resolutionMethod", "Method used to solve the constraint problem, among: \"ProjectedGaussSeidel\", \"UnbuiltGaussSeidel\" or \"for NonsmoothNonlinearConjugateGradient\""))
+    : d_resolutionMethod( initData(&d_resolutionMethod, defaultResolutionMethod, "resolutionMethod", ("Method used to solve the constraint problem\n" + ResolutionMethod::dataDescription()).c_str()))
     , d_maxIt(initData(&d_maxIt, 1000, "maxIterations", "maximal number of iterations of the Gauss-Seidel algorithm"))
     , d_tolerance(initData(&d_tolerance, 0.001_sreal, "tolerance", "residual error threshold for termination of the Gauss-Seidel algorithm"))
     , d_sor(initData(&d_sor, 1.0_sreal, "sor", "Successive Over Relaxation parameter (0-2)"))
@@ -86,10 +88,6 @@ GenericConstraintSolver::GenericConstraintSolver()
     , current_cp(&m_cpBuffer[0])
     , last_cp(nullptr)
 {
-    sofa::helper::OptionsGroup m_newoptiongroup{"ProjectedGaussSeidel","UnbuiltGaussSeidel", "NonsmoothNonlinearConjugateGradient"};
-    m_newoptiongroup.setSelectedItem("ProjectedGaussSeidel");
-    d_resolutionMethod.setValue(m_newoptiongroup);
-
     addAlias(&d_maxIt, "maxIt");
 
     d_graphErrors.setWidget("graph");
@@ -159,7 +157,8 @@ void GenericConstraintSolver::init()
 
     if(d_newtonIterations.isSet())
     {
-        if (d_resolutionMethod.getValue().getSelectedId() != 2)
+        static constexpr ResolutionMethod NonsmoothNonlinearConjugateGradient("NonsmoothNonlinearConjugateGradient");
+        if (d_resolutionMethod.getValue() != NonsmoothNonlinearConjugateGradient)
         {
             msg_warning() << "data \"newtonIterations\" is not only taken into account when using the NonsmoothNonlinearConjugateGradient solver";
         }
@@ -225,15 +224,15 @@ bool GenericConstraintSolver::buildSystem(const core::ConstraintParams *cParams,
     }
 
     // Resolution depending on the method selected
-    switch ( d_resolutionMethod.getValue().getSelectedId() )
+    switch ( d_resolutionMethod.getValue() )
     {
-        case 0: // ProjectedGaussSeidel
-        case 2: // NonsmoothNonlinearConjugateGradient
+        case ResolutionMethod("ProjectedGaussSeidel"):
+        case ResolutionMethod("NonsmoothNonlinearConjugateGradient"):
         {
             buildSystem_matrixAssembly(cParams);
             break;
         }
-        case 1: // UnbuiltGaussSeidel
+        case ResolutionMethod("UnbuiltGaussSeidel"):
         {
             buildSystem_matrixFree(numConstraints);
             break;
@@ -429,10 +428,9 @@ bool GenericConstraintSolver::solveSystem(const core::ConstraintParams * /*cPara
 
 
     // Resolution depending on the method selected
-    switch ( d_resolutionMethod.getValue().getSelectedId() )
+    switch ( d_resolutionMethod.getValue())
     {
-        // ProjectedGaussSeidel
-        case 0: {
+        case ResolutionMethod("ProjectedGaussSeidel"): {
             if (notMuted())
             {
                 std::stringstream tmp;
@@ -445,14 +443,12 @@ bool GenericConstraintSolver::solveSystem(const core::ConstraintParams * /*cPara
             current_cp->gaussSeidel(0, this);
             break;
         }
-        // UnbuiltGaussSeidel
-        case 1: {
+        case ResolutionMethod("UnbuiltGaussSeidel"): {
             SCOPED_TIMER_VARNAME(unbuiltGaussSeidelTimer, "ConstraintsUnbuiltGaussSeidel");
             current_cp->unbuiltGaussSeidel(0, this);
             break;
         }
-        // NonsmoothNonlinearConjugateGradient
-        case 2: {
+        case ResolutionMethod("NonsmoothNonlinearConjugateGradient"): {
             current_cp->NNCG(this, d_newtonIterations.getValue());
             break;
         }

diff --git a/...grangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h b/...grangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h
@@ -33,6 +33,8 @@
 #include <sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.h>
 
 #include <sofa/core/objectmodel/RenamedData.h>
+#include <sofa/helper/SelectableItem.h>
+
 
 namespace sofa::component::constraint::lagrangian::solver
 {
@@ -60,7 +62,13 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API GenericConstraintSolver :
     ConstraintProblem* getConstraintProblem() override;
     void lockConstraintProblem(sofa::core::objectmodel::BaseObject* from, ConstraintProblem* p1, ConstraintProblem* p2 = nullptr) override;
 
-    Data< sofa::helper::OptionsGroup > d_resolutionMethod; ///< Method used to solve the constraint problem, among: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "for NonsmoothNonlinearConjugateGradient"
+    MAKE_SELECTABLE_ITEMS(ResolutionMethod,
+        sofa::helper::Item{"ProjectedGaussSeidel", "Projected Gauss-Seidel"},
+        sofa::helper::Item{"UnbuiltGaussSeidel", "Gauss-Seidel where the matrix is not assembled"},
+        sofa::helper::Item{"NonsmoothNonlinearConjugateGradient", "Non-smooth non-linear conjugate gradient"}
+    );
+
+    Data< ResolutionMethod > d_resolutionMethod; ///< Method used to solve the constraint problem, among: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "for NonsmoothNonlinearConjugateGradient"
 
     SOFA_ATTRIBUTE_DEPRECATED__RENAME_DATA_IN_CONSTRAINT_LAGRANGIAN_SOLVER()
     sofa::core::objectmodel::RenamedData<int> maxIt;

diff --git a/.../LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/GraphScatteredTypes.cpp b/.../LinearSolver/Iterative/src/sofa/component/linearsolver/iterative/GraphScatteredTypes.cpp
@@ -34,7 +34,10 @@ void GraphScatteredMatrix::apply(GraphScatteredVector& res, GraphScatteredVector
 {
     // matrix-vector product through visitors
     parent->propagateDxAndResetDf(x,res);
-    parent->addMBKdx(res,parent->mparams.mFactor(),parent->mparams.bFactor(),parent->mparams.kFactor(), false); // df = (m M + b B + k K) dx
+    parent->addMBKdx(res,
+        core::MatricesFactors::M(parent->mparams.mFactor()),
+        core::MatricesFactors::B(parent->mparams.bFactor()),
+        core::MatricesFactors::K(parent->mparams.kFactor()), false); // df = (m M + b B + k K) dx
 
     // filter the product to take the constraints into account
     //

diff --git a/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h b/Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/SubsetMultiMapping.h
@@ -34,10 +34,6 @@
 namespace sofa::component::mapping::linear
 {
 
-/**
- * @class SubsetMapping
- * @brief Compute a subset of input points
- */
 template <class TIn, class TOut>
 class SubsetMultiMapping : public LinearMultiMapping<TIn, TOut>
 {
@@ -48,28 +44,6 @@ class SubsetMultiMapping : public LinearMultiMapping<TIn, TOut>
     typedef TIn In;
     typedef TOut Out;
 
-    typedef typename Out::VecCoord OutVecCoord;
-    typedef typename Out::VecDeriv OutVecDeriv;
-    typedef typename Out::Coord OutCoord;
-    typedef typename Out::Deriv OutDeriv;
-    typedef typename Out::MatrixDeriv OutMatrixDeriv;
-    typedef typename In::VecCoord InVecCoord;
-    typedef typename In::VecDeriv InVecDeriv;
-    typedef typename In::Coord InCoord;
-    typedef typename In::Deriv InDeriv;
-    typedef typename In::MatrixDeriv InMatrixDeriv;
-    typedef typename InCoord::value_type Real;
-    typedef typename type::vector<const InVecCoord*> vecConstInVecCoord;
-    typedef typename type::vector<OutVecCoord*> vecOutVecCoord;
-
-    typedef Data<InVecCoord> InDataVecCoord;
-    typedef Data<InVecDeriv> InDataVecDeriv;
-    typedef Data<InMatrixDeriv> InDataMatrixDeriv;
-
-    typedef Data<OutVecCoord> OutDataVecCoord;
-    typedef Data<OutVecDeriv> OutDataVecDeriv;
-    typedef Data<OutMatrixDeriv> OutDataMatrixDeriv;
-
     /// Correspondence array
     typedef core::topology::BaseMeshTopology::SetIndex IndexArray;
 
@@ -81,12 +55,12 @@ class SubsetMultiMapping : public LinearMultiMapping<TIn, TOut>
     void addPoint(int fromModel, int index);
 
     // usual Mapping API
-    void apply(const core::MechanicalParams* mparams, const type::vector<OutDataVecCoord*>& dataVecOutPos, const type::vector<const InDataVecCoord*>& dataVecInPos) override;
-    void applyJ(const core::MechanicalParams* mparams, const type::vector<OutDataVecDeriv*>& dataVecOutVel, const type::vector<const InDataVecDeriv*>& dataVecInVel) override;
-    void applyJT(const core::MechanicalParams* mparams, const type::vector<InDataVecDeriv*>& dataVecOutForce, const type::vector<const OutDataVecDeriv*>& dataVecInForce) override;
+    void apply(const core::MechanicalParams* mparams, const type::vector<DataVecCoord_t<Out>*>& dataVecOutPos, const type::vector<const DataVecCoord_t<In>*>& dataVecInPos) override;
+    void applyJ(const core::MechanicalParams* mparams, const type::vector<DataVecDeriv_t<Out>*>& dataVecOutVel, const type::vector<const DataVecDeriv_t<In>*>& dataVecInVel) override;
+    void applyJT(const core::MechanicalParams* mparams, const type::vector<DataVecDeriv_t<In>*>& dataVecOutForce, const type::vector<const DataVecDeriv_t<Out>*>& dataVecInForce) override;
     void applyDJT(const core::MechanicalParams* /*mparams*/, core::MultiVecDerivId /*inForce*/, core::ConstMultiVecDerivId /*outForce*/) override {}
 
-    void applyJT( const core::ConstraintParams* cparams, const type::vector< InDataMatrixDeriv* >& dataMatOutConst, const type::vector< const OutDataMatrixDeriv* >& dataMatInConst ) override;
+    void applyJT( const core::ConstraintParams* cparams, const type::vector< DataMatrixDeriv_t<In>* >& dataMatOutConst, const type::vector< const DataMatrixDeriv_t<Out>* >& dataMatInConst ) override;
 
     /// Experimental API used to handle multimappings in matrix assembly. Returns pointers to matrices associated with parent states, consistently with  getFrom().
     virtual const type::vector<sofa::linearalgebra::BaseMatrix*>* getJs() override;
@@ -99,7 +73,7 @@ class SubsetMultiMapping : public LinearMultiMapping<TIn, TOut>
 protected :
 
     SubsetMultiMapping();
-    virtual ~SubsetMultiMapping();
+    virtual ~SubsetMultiMapping() override;
 
     type::vector<linearalgebra::BaseMatrix*> baseMatrices;      ///< Jacobian of the mapping, in a vector
 
@@ -112,7 +86,6 @@ extern template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMultiMapping< defa
 extern template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMultiMapping< defaulttype::Vec1Types, defaulttype::Vec1Types >;
 extern template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMultiMapping< defaulttype::Rigid3Types, defaulttype::Rigid3Types >;
 extern template class SOFA_COMPONENT_MAPPING_LINEAR_API SubsetMultiMapping< defaulttype::Rigid3Types, defaulttype::Vec3Types >;
-
 #endif
 
 } // namespace sofa::component::mapping::linear