Merge branch 'master' into xp-refactor-color

CMakeLists.txt

@@ -37,7 +37,7 @@ option(SOFA_BUILD_RELEASE_PACKAGE "Run package specific configure" OFF)
 # Option to allow some dependencies such as cxxopts to be fetched by cmake if
 # the package is not found
 option(SOFA_ALLOW_FETCH_DEPENDENCIES "Allow compatible dependencies to be fetched if the package is not found by cmake.
-  List of dependencies that can be fetched: cxxopts, gtest" ON)
+  List of dependencies that can be fetched: cxxopts, gtest, metis, CImg" ON)
 
 # Option to accelerate the compilation
 # see https://cmake.org/cmake/help/v3.16/command/target_precompile_headers.html

Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.cpp

@@ -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);
 }

Sofa/Component/Haptics/src/sofa/component/haptics/ForceFeedback.h

@@ -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
@@ -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

Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.cpp

@@ -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())
     {

Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.h

@@ -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:

Sofa/Component/Haptics/src/sofa/component/haptics/LCPForceFeedback.inl

@@ -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> & )
 {
 
 }
@@ -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 );
 
 
 

Sofa/Component/Haptics/src/sofa/component/haptics/MechanicalStateForceFeedback.h

@@ -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) {}

Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.cpp

@@ -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();
 }

Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedback.h

@@ -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

Sofa/Component/Haptics/src/sofa/component/haptics/NullForceFeedbackT.h

@@ -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

Sofa/Component/LinearSolver/Direct/CMakeLists.txt

@@ -59,12 +59,19 @@ set(SOURCE_FILES
     ${SOFACOMPONENTLINEARSOLVERDIRECT_SOURCE_DIR}/TypedMatrixLinearSystem[BTDMatrix].cpp
 )
 
-sofa_find_package(metis QUIET) # Unix users can have an installed version of metis
-if(NOT metis_FOUND)
-    message(STATUS "${PROJECT_NAME}: using built-in metis library")
-    option(METIS-GKLIB_GKRAND "enable GKRAND support" ON) #GKRAND support allows the portability of random number generation across different architectures
-    add_subdirectory(extlibs/metis-5.1.0)
+find_package(metis 5.1.0 EXACT QUIET)
+if(NOT metis_FOUND AND SOFA_ALLOW_FETCH_DEPENDENCIES)
+    message("Sofa.Component.LinearSolver.Direct: DEPENDENCY metis NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is ON, fetching metis...")
+    include(FetchContent)
+    FetchContent_Declare(metis
+            GIT_REPOSITORY https://github.com/sofa-framework/METIS
+            GIT_TAG v5.1.0-ModernInstall
+    )
+    FetchContent_MakeAvailable(metis)
+elseif (NOT metis_FOUND)
+    message(FATAL_ERROR "Sofa.Component.LinearSolver.Direct: DEPENDENCY metis NOT FOUND. SOFA_ALLOW_FETCH_DEPENDENCIES is OFF and thus cannot be fetched. Install metis (version=5.1.0), or enable SOFA_ALLOW_FETCH_DEPENDENCIES to fix this issue.")
 endif()
+
 sofa_set_01(SOFA_COMPONENT_LINEARSOLVER_DIRECT_HAVE_METIS VALUE TRUE)
 
 # make sure you have threads for AsyncSparseLDLSolver
@@ -75,8 +82,9 @@ sofa_find_package(Sofa.Component.LinearSolver.Iterative REQUIRED) # Only for Mat
 sofa_find_package(Sofa.Component.LinearSolver.Ordering REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${WRAPPER_FILES})
+
 target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Core Sofa.Component.LinearSolver.Iterative Sofa.Component.LinearSolver.Ordering)
-target_link_libraries(${PROJECT_NAME} PUBLIC metis)
+target_link_libraries(${PROJECT_NAME} PRIVATE metis)
 target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads)
 
 sofa_create_package_with_targets(

Sofa/Component/LinearSolver/Direct/Sofa.Component.LinearSolver.DirectConfig.cmake.in

@@ -9,10 +9,6 @@ find_package(Threads QUIET REQUIRED)
 
 set(SOFA_COMPONENT_LINEARSOLVER_DIRECT_HAVE_METIS @SOFA_COMPONENT_LINEARSOLVER_DIRECT_HAVE_METIS@)
 
-if(SOFA_COMPONENT_LINEARSOLVER_DIRECT_HAVE_METIS)
-    find_package(Metis QUIET REQUIRED HINTS "${CMAKE_CURRENT_LIST_DIR}/..")
-endif()
-
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
 endif()