Force Dimensions plugin config

[sumey48]

Hello

I downloaded SOFA Framework recently version 22.12.99 and I compiled it successfully. After that, I started to learn how to include plug-ins and I added the MyAwesomeComponents plug-in successfully.

After that I tried to install the Force Dimensions plugin version 20.12 needed for my master's degree thesis from the below site:

https://gitlab.com/polyakovkrylo/forcedimensions/-/tree/v20.12

I followed ''read me'' instructions, i had downloaded SDK [sdk-3.14.0] from (http://forcedimension.com/downloads/sdk/sdk-3.14.0-linux-x86_64-gcc.tar.gz) on my Linux Ubuntu20 system and I Changed the FORCEDIMENSIONS_SDK_PATH to point of downloaded

I used tree build and I successfully configured and generated the new plug-in with CMake.

The problem is that I am not able to rebuild SOFA after the new plug-in selection, below error message is showing:

[67/69] Building CXX object external_d.../src/ForceDimensions/OmegaDriver.cpp.o
FAILED: external_directories/ext_plugin_repo/forcedimensions/CMakeFiles/ForceDimensions.dir/src/ForceDimensions/OmegaDriver.cpp.o
/usr/bin/g++ -DForceDimensions_EXPORTS -DNDEBUG -DSOFA_BUILD_FORCEDIMENSIONS -I/home/sumey/ext_plugin_repo/forcedimensions/src/ForceDimensions -Iinclude/ForceDimensions -I/home/sumey/My-SOFA/src/applications/collections/deprecated/modules/SofaHaptics/src -Iinclude/SofaHaptics -I/home/sumey/My-SOFA/src/Sofa/Component/Haptics/src -Iinclude/Sofa.Component.Haptics -I/home/sumey/My-SOFA/src/Sofa/framework/Simulation/Core/src -Iinclude/Sofa.Simulation.Core -I/home/sumey/My-SOFA/src/Sofa/framework/Core/src -Iinclude/Sofa.Core -I/home/sumey/My-SOFA/src/Sofa/framework/Helper/src -Iinclude/Sofa.Helper -I/home/sumey/My-SOFA/src/Sofa/framework/Config/src -Iinclude/Sofa.Config -I/home/sumey/My-SOFA/src/Sofa/framework/Type/src -Iinclude/Sofa.Type -I/home/sumey/My-SOFA/src/Sofa/framework/Compat/src -Iinclude/Sofa.Compat -I/home/sumey/My-SOFA/src/Sofa/framework/Topology/src -Iinclude/Sofa.Topology -I/home/sumey/My-SOFA/src/Sofa/framework/Geometry/src -Iinclude/Sofa.Geometry -I/home/sumey/My-SOFA/src/Sofa/framework/DefaultType/src -Iinclude/Sofa.DefaultType -I/home/sumey/My-SOFA/src/Sofa/framework/LinearAlgebra/src -Iinclude/Sofa.LinearAlgebra -I/home/sumey/My-SOFA/src/Sofa/Component/Compat/src -Iinclude/Sofa.Component.Compat -I/home/sumey/My-SOFA/src/Sofa/Component/Constraint/Lagrangian/Solver/src -Iinclude/Sofa.Component.Constraint.Lagrangian.Solver -isystem /home/sumey/My-SOFA/src/extlibs/json -isystem /home/sumey/My-SOFA/src/extlibs/stb -isystem /usr/include/eigen3 -isystem /home/sumey/Downloads/sdk-3.14.0-linux-x86_64-gcc/sdk-3.14.0/include -O3 -DNDEBUG -fPIC -DSOFA_BUILD_FORCEDIMENSIONS -Wno-attributes -fstack-protector --param=ssp-buffer-size=4 -D_FORTIFY_SOURCE=2 -Wall -W -Wno-padded -std=gnu++17 -MD -MT external_directories/ext_plugin_repo/forcedimensions/CMakeFiles/ForceDimensions.dir/src/ForceDimensions/OmegaDriver.cpp.o -MF external_directories/ext_plugin_repo/forcedimensions/CMakeFiles/ForceDimensions.dir/src/ForceDimensions/OmegaDriver.cpp.o.d -o external_directories/ext_plugin_repo/forcedimensions/CMakeFiles/ForceDimensions.dir/src/ForceDimensions/OmegaDriver.cpp.o -c /home/sumey/ext_plugin_repo/forcedimensions/src/ForceDimensions/OmegaDriver.cpp
In file included from /home/sumey/ext_plugin_repo/forcedimensions/src/ForceDimensions/OmegaDriver.h:5,
from /home/sumey/ext_plugin_repo/forcedimensions/src/ForceDimensions/OmegaDriver.cpp:1:
/home/sumey/My-SOFA/src/Sofa/Component/Compat/src/SofaUserInteraction/Controller.h:23:10: fatal error: sofa/component/controller/Controller.h: No such file or directory
23 | #include <sofa/component/controller/Controller.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
ninja: build stopped: subcommand failed.

Does anyone had configured the ForceDimensions plugin before or do have an idea regarding the above issue
I really appreciate any help you can provide.

[polyakovkrylo]

Hi @sumey48!

Just a hunch, but it seems that the Controller class was moved to a different location and the compatibility layer does not work for some reason. To fix it, I suggest you try the following:

1. Use the latest commit on the master branch of the ForceDimension plugin
2. In the Omega.h file, change line 5 from #include <SofaUserInteraction/Controller.h> to #include <sofa/component/controller/Controller.h>
3. Try to build again

Hope this will help.

Regards,
Vlad

[polyakovkrylo]

Wait, never mind my previous comment, there is probably something wrong in the cmake configuration of the plugin. @fredroy, could you give advice how to link the Controller class properly in plugins now? Should it be sofa_find_package(Sofa.Component.Controller REQUIRED) ?Thanks in advance.

[sumey48]

Thank you for your following, i shall be waiting for your feedback

[oystebje]

Hi @sumey48 and @polyakovkrylo!

I just ran into the same error with the controller class when trying to build the ForceDimensions plugin. Running Windows 10, Visual Studio 2019, Sofa v22.06.00. Also tried to change line 5 in Omega.h file as suggested above with no luck.

Any update on the progress? Error below.

[oystebje]

Thank you @polyakovkrylo,

I tried to add the sofa_find_package(Sofa.Component.Controller REQUIRED) to the CMakeLists.txt, reconfigure in CMake, and build in Visual Studio, but still no luck. I get the same errors as above.

The Controller.h files seems to be located at
.../src/Component/Controller/src/sofa/component/controller/

Regards,
Øystein

[polyakovkrylo]

Ok, I will try to build the v22.06 sometime this week. Sorry for the delay.

[hugtalbot]

Is there any update on this post @sumey48 @polyakovkrylo @oystebje ?

[oystebje]

@hugtalbot no progress from here. Will try to install one of the previous versions and see if it works.

[polyakovkrylo]

@hugtalbot , @oystebje Sorry for the delay (again). Just found a fix and built successfully against v21.12.00. I uploaded the changes and tagged the commit sofa_v21.12.00 . Please let me know if that works for you.

[oystebje]

@polyakovkrylo I tried to build again now.

I first tried to install the plugin using Sofa v22.06. Configuring was okay, but building gave me this error:

I then downloaded Sofa v21.12, and tried to install the ForceDimension plugin here. However, I could not generate the project:

It still seems to be searching for this "Sofa.Component.Controller".

Thanks!

[polyakovkrylo]

Hi @hugtalbot, hi @sumey48,

Together with @oystebje , we managed to fix building issues for both Linux and Windows for both SOFA v21 and v22. In short, there were two main problems:

1. CMakeLists.txt was configured to only link ForceDimensions SDK on Linux
2. As I understood, as from SOFA v22.12, the Sofa.Controller and Sofa.Component.Haptics should be used instead of SofaHaptics

Both issues are fixed and tested on Linux and Windows (thanks you @oystebje). Since CMakeLists.txt differs, I added another branch to the repo to support SOFA v21.12.00

[hugtalbot]

Nice work @polyakovkrylo @oystebje !
Shall we close this issue or would you like @sumey48 to test your changes?

[polyakovkrylo]

If @sumey48 could confirm, that would be better. He/she was the one who posted the question after all.

[sumey48]

Thank you @hugtalbot, @polyakovkrylo , @oystebje
I successfully build it on Linux system, we can close this issue
Thank you again for the support