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[DefaultType] Extract inner classes from SolidTypes in files (#4513)
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* Move SpatialVector in its own file

* Move Transform in its own file

* Move both files in Sofa.Type

* Change types from inner class of SolidTypes to its true type
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@alxbilger
alxbilger committed Feb 27, 2024
1 parent 3300c00 commit 251fd89
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Showing 21 changed files with 839 additions and 635 deletions.
2 changes: 1 addition & 1 deletion Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.cpp
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Expand Up @@ -36,7 +36,7 @@ void ForceFeedback::init()
context = sofa::simulation::node::getNodeFrom(getContext());
}

void ForceFeedback::setReferencePosition(sofa::defaulttype::SolidTypes<SReal>::Transform& referencePosition)
void ForceFeedback::setReferencePosition(sofa::type::Transform<SReal>& referencePosition)
{
SOFA_UNUSED(referencePosition);
}
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10 changes: 5 additions & 5 deletions Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.h
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Expand Up @@ -25,7 +25,7 @@

#include <sofa/simulation/fwd.h>
#include <sofa/core/behavior/BaseController.h>
#include <sofa/defaulttype/SolidTypes.h>
#include <sofa/type/Transform.h>
#include <sofa/defaulttype/RigidTypes.h>

namespace sofa::component::haptics
Expand All @@ -48,11 +48,11 @@ class SOFA_COMPONENT_HAPTICS_API ForceFeedback : public virtual core::behavior::
SReal u, SReal v, SReal w,
SReal q, SReal& fx, SReal& fy, SReal& fz) = 0;

virtual void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &,
const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &,
sofa::defaulttype::SolidTypes<SReal>::SpatialVector & )=0;
virtual void computeWrench(const sofa::type::Transform<SReal> &,
const sofa::type::SpatialVector<SReal> &,
sofa::type::SpatialVector<SReal> & )=0;

virtual void setReferencePosition(sofa::defaulttype::SolidTypes<SReal>::Transform& referencePosition);
virtual void setReferencePosition(sofa::type::Transform<SReal>& referencePosition);
virtual bool isEnabled();

/// Abstract method to lock or unlock the force feedback computation. To be implemented by child class if needed
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6 changes: 3 additions & 3 deletions Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.cpp
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Expand Up @@ -45,9 +45,9 @@ void LCPForceFeedback< Rigid3Types >::computeForce(SReal x, SReal y, SReal z, SR


template <>
void LCPForceFeedback< Rigid3Types >::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool,
const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &/*V_tool_world*/,
sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world )
void LCPForceFeedback< Rigid3Types >::computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
const sofa::type::SpatialVector<SReal> &/*V_tool_world*/,
sofa::type::SpatialVector<SReal> &W_tool_world )
{
if (!this->d_activate.getValue())
{
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6 changes: 3 additions & 3 deletions Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h
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Expand Up @@ -75,9 +75,9 @@ class LCPForceFeedback : public MechanicalStateForceFeedback<TDataTypes>
void computeForce(SReal x, SReal y, SReal z,
SReal u, SReal v, SReal w,
SReal q, SReal& fx, SReal& fy, SReal& fz) override;
void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool,
const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &V_tool_world,
sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world ) override;
void computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
const sofa::type::SpatialVector<SReal> &V_tool_world,
sofa::type::SpatialVector<SReal> &W_tool_world ) override;
void computeForce(const VecCoord& state, VecDeriv& forces) override;

protected:
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12 changes: 6 additions & 6 deletions Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.inl
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Expand Up @@ -412,9 +412,9 @@ void LCPForceFeedback<DataTypes>::computeForce(SReal , SReal, SReal, SReal, SRea


template <typename DataTypes>
void LCPForceFeedback<DataTypes>::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &,
const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &,
sofa::defaulttype::SolidTypes<SReal>::SpatialVector & )
void LCPForceFeedback<DataTypes>::computeWrench(const sofa::type::Transform<SReal> &,
const sofa::type::SpatialVector<SReal> &,
sofa::type::SpatialVector<SReal> & )
{

}
Expand All @@ -425,9 +425,9 @@ template <>
void SOFA_COMPONENT_HAPTICS_API LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeForce(SReal x, SReal y, SReal z, SReal, SReal, SReal, SReal, SReal& fx, SReal& fy, SReal& fz);

template <>
void SOFA_COMPONENT_HAPTICS_API LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool,
const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &/*V_tool_world*/,
sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world );
void SOFA_COMPONENT_HAPTICS_API LCPForceFeedback< sofa::defaulttype::Rigid3Types >::computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
const sofa::type::SpatialVector<SReal> &/*V_tool_world*/,
sofa::type::SpatialVector<SReal> &W_tool_world );



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4 changes: 2 additions & 2 deletions Sofa/Component/Haptics/src/sofa/component/haptics/MechanicalStateForceFeedback.h
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Expand Up @@ -44,8 +44,8 @@ class SOFA_COMPONENT_HAPTICS_API MechanicalStateForceFeedback : public ForceFeed

void init() override {context = sofa::simulation::node::getNodeFrom(getContext());}
void computeForce(SReal x, SReal y, SReal z, SReal u, SReal v, SReal w, SReal q, SReal& fx, SReal& fy, SReal& fz) override = 0;
void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &, sofa::defaulttype::SolidTypes<SReal>::SpatialVector & ) override = 0;
void setReferencePosition(sofa::defaulttype::SolidTypes<SReal>::Transform& /*referencePosition*/) override {}
void computeWrench(const sofa::type::Transform<SReal> &, const sofa::type::SpatialVector<SReal> &, sofa::type::SpatialVector<SReal> & ) override = 0;
void setReferencePosition(sofa::type::Transform<SReal>& /*referencePosition*/) override {}

protected:
MechanicalStateForceFeedback(void) {}
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2 changes: 1 addition & 1 deletion Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.cpp
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Expand Up @@ -36,7 +36,7 @@ void NullForceFeedback::computeForce(SReal /*x*/, SReal /*y*/, SReal /*z*/, SRea
fx = fy = fz = 0.0;
}

void NullForceFeedback::computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &/*world_H_tool*/, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &/*V_tool_world*/, sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world )
void NullForceFeedback::computeWrench(const sofa::type::Transform<SReal> &/*world_H_tool*/, const sofa::type::SpatialVector<SReal> &/*V_tool_world*/, sofa::type::SpatialVector<SReal> &W_tool_world )
{
W_tool_world.clear();
}
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2 changes: 1 addition & 1 deletion Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.h
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Expand Up @@ -37,7 +37,7 @@ class SOFA_COMPONENT_HAPTICS_API NullForceFeedback : public ForceFeedback
void init() override;

void computeForce(SReal x, SReal y, SReal z, SReal u, SReal v, SReal w, SReal q, SReal& fx, SReal& fy, SReal& fz) override;
void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &world_H_tool, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &V_tool_world, sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world ) override;
void computeWrench(const sofa::type::Transform<SReal> &world_H_tool, const sofa::type::SpatialVector<SReal> &V_tool_world, sofa::type::SpatialVector<SReal> &W_tool_world ) override;
};

} // namespace sofa::component::haptics
2 changes: 1 addition & 1 deletion Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedbackT.h
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Expand Up @@ -43,7 +43,7 @@ class SOFA_COMPONENT_HAPTICS_API NullForceFeedbackT : public MechanicalStateForc
fx = fy = fz = 0.0;
}
void computeForce(const VecCoord &, VecDeriv &) override {}
void computeWrench(const sofa::defaulttype::SolidTypes<SReal>::Transform &, const sofa::defaulttype::SolidTypes<SReal>::SpatialVector &, sofa::defaulttype::SolidTypes<SReal>::SpatialVector &W_tool_world ) override {W_tool_world.clear();}
void computeWrench(const sofa::type::Transform<SReal> &, const sofa::type::SpatialVector<SReal> &, sofa::type::SpatialVector<SReal> &W_tool_world ) override {W_tool_world.clear();}
};

} // namespace sofa::component::haptics
16 changes: 8 additions & 8 deletions Sofa/Component/Visual/src/sofa/component/visual/BaseCamera.cpp
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Expand Up @@ -29,7 +29,7 @@
using Mat3 = sofa::type::Mat3x3;
using Mat4 = sofa::type::Mat4x4;

#include <sofa/defaulttype/SolidTypes.h>
#include <sofa/type/Transform.h>
#include <sofa/simulation/AnimateBeginEvent.h>

#include <sofa/helper/rmath.h>
Expand Down Expand Up @@ -369,7 +369,7 @@ type::Vec2 BaseCamera::worldToScreenCoordinates(const type::Vec3& pos)

void BaseCamera::getModelViewMatrix(double mat[16])
{
const defaulttype::SolidTypes<SReal>::Transform world_H_cam(p_position.getValue(), this->getOrientation());
const sofa::type::Transform<SReal> world_H_cam(p_position.getValue(), this->getOrientation());
Mat3 rot = world_H_cam.inversed().getRotationMatrix();

//rotation
Expand All @@ -392,7 +392,7 @@ void BaseCamera::getModelViewMatrix(double mat[16])

void BaseCamera::getOpenGLModelViewMatrix(double mat[16])
{
const defaulttype::SolidTypes<SReal>::Transform world_H_cam(p_position.getValue(), this->getOrientation());
const sofa::type::Transform<SReal> world_H_cam(p_position.getValue(), this->getOrientation());
world_H_cam.inversed().writeOpenGlMatrix(mat);
}

Expand Down Expand Up @@ -548,10 +548,10 @@ void BaseCamera::rotateWorldAroundPoint(Quat &rotation, const type::Vec3 &point,
rotation.quatToAxis(tempAxis, tempAngle);
const Quat tempQuat (orientationCam.rotate(-tempAxis), tempAngle);

const defaulttype::SolidTypes<SReal>::Transform world_H_cam(positionCam, orientationCam);
const defaulttype::SolidTypes<SReal>::Transform world_H_pivot(point, Quat());
const defaulttype::SolidTypes<SReal>::Transform pivotBefore_R_pivotAfter(type::Vec3(0.0,0.0,0.0), tempQuat);
const defaulttype::SolidTypes<SReal>::Transform camera_H_WorldAfter = world_H_cam.inversed() * world_H_pivot * pivotBefore_R_pivotAfter * world_H_pivot.inversed();
const sofa::type::Transform<SReal> world_H_cam(positionCam, orientationCam);
const sofa::type::Transform<SReal> world_H_pivot(point, Quat());
const sofa::type::Transform<SReal> pivotBefore_R_pivotAfter(type::Vec3(0.0,0.0,0.0), tempQuat);
const sofa::type::Transform<SReal> camera_H_WorldAfter = world_H_cam.inversed() * world_H_pivot * pivotBefore_R_pivotAfter * world_H_pivot.inversed();
//defaulttype::SolidTypes<double>::Transform camera_H_WorldAfter = worldBefore_H_cam.inversed()*worldBefore_R_worldAfter;

positionCam = camera_H_WorldAfter.inversed().getOrigin();
Expand Down Expand Up @@ -662,7 +662,7 @@ void BaseCamera::computeZ()
if (p_computeZClip.getValue())
{
//modelview transform
defaulttype::SolidTypes<SReal>::Transform world_H_cam(p_position.getValue(), this->getOrientation());
sofa::type::Transform<SReal> world_H_cam(p_position.getValue(), this->getOrientation());

//double distanceCamToCenter = fabs((world_H_cam.inversed().projectPoint(sceneCenter))[2]);
const double distanceCamToCenter = (p_position.getValue() - sceneCenter).norm();
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1 change: 0 additions & 1 deletion Sofa/GL/Component/Shader/src/sofa/gl/component/shader/LightManager.h
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Expand Up @@ -22,7 +22,6 @@
#pragma once
#include <sofa/gl/component/shader/config.h>

#include <sofa/defaulttype/SolidTypes.h>
#include <sofa/gl/component/shader/Light.h>
#include <sofa/core/visual/VisualManager.h>
#include <sofa/type/Mat.h>
Expand Down

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