Merge branch 'master' into inf_fix_meshtopology_init

.github/workflows/post-agenda-sofa-dev-meeting.yml

@@ -2,8 +2,9 @@ name: Post - SOFA dev meeting agenda/reminder
 
 on:
   schedule:
-    - cron: '30 8 * * 1'  # 9:30 am CET every Monday
-    - cron: '30 7 * * 3'   # 8:00 am CET on Wednesdays
+    - cron: '30 8 * * 1'  # 9:30 am UTC+1 every Monday
+    - cron: '30 7 * * 3'   # 8:30 am UTC+1 on Wednesdays
+    - cron: '30 6 * * 3'   # 7:30 am UTC+1 on Wednesdays (for summer times)
 
 env:
   TZ: "Europe/Paris"
@@ -24,7 +25,7 @@ jobs:
           pip install requests
         working-directory: ${{ github.workspace }}
 
-      # Monday message : agenda
+      # Monday message : request agenda info
       - name: Run script post-discord-message.py
         if: github.event.schedule == '30 8 * * 1'
         run: |
@@ -38,9 +39,27 @@ jobs:
           EMBEDS_URL: "https://github.com/sofa-framework/sofa/labels/pr%3A%20dev%20meeting%20topic"
           EMBEDS_DESCRIPTION: ""
 
-      # Wednesday message : get ready
+      # Wednesday message : announce meeting and share link
+      - name: Check time depending on winter/summer times
+        if: ${{ (github.event.schedule == '30 7 * * 3') || (github.event.schedule == '30 6 * * 3') }}
+        id: check_time
+        run: |
+          # Set the timezone to CET
+          sudo ln -sf /usr/share/zoneinfo/Europe/Paris /etc/localtime
+          sudo dpkg-reconfigure -f noninteractive tzdata
+
+          # Get the current hour in CET
+          current_hour=$(date +'%H')
+
+          # Check if the current hour is 8 and set output
+          if [ "$current_hour" -eq 8 ]; then
+            echo "::set-output name=itstime::true"
+          else
+            echo "::set-output name=itstime::false"
+          fi
+      
       - name: Run script post-discord-message.py
-        if: github.event.schedule == '30 7 * * 3'
+        if: steps.check_time.outputs.itstime == 'true'
         run: |
           python scripts/discord/post-discord-message.py
         working-directory: ${{ github.workspace }}

CMakeLists.txt

@@ -1,14 +1,18 @@
 cmake_minimum_required(VERSION 3.22)
-project(Sofa) # Cannot use VERSION with patch like "00"
+project(Sofa
+    HOMEPAGE_URL https://www.sofa-framework.org/
+) # Cannot use VERSION with patch like "00"
 
 include(CMakeDependentOption)
 
 # Manually define VERSION
 set(Sofa_VERSION_MAJOR 24)
-set(Sofa_VERSION_MINOR 06)
+set(Sofa_VERSION_MINOR 12)
 set(Sofa_VERSION_PATCH 99)
 set(Sofa_VERSION ${Sofa_VERSION_MAJOR}.${Sofa_VERSION_MINOR}.${Sofa_VERSION_PATCH})
 
+set(SOFA_URL "${CMAKE_PROJECT_HOMEPAGE_URL}")
+
 set(SOFA_VERSION_STR "\"${Sofa_VERSION}\"")
 set(SOFA_VERSION "${Sofa_VERSION_MAJOR}${Sofa_VERSION_MINOR}${Sofa_VERSION_PATCH}")
 
@@ -44,16 +48,13 @@ option(SOFA_ALLOW_FETCH_DEPENDENCIES "Allow compatible dependencies to be fetche
 # and https://cmake.org/cmake/help/v3.16/prop_tgt/DISABLE_PRECOMPILE_HEADERS.html
 
 # https://cmake.org/cmake/help/latest/policy/CMP0127.html
-if (${CMAKE_VERSION} VERSION_GREATER_EQUAL 3.22)
-    cmake_policy(SET CMP0127 NEW)
-endif()
-cmake_dependent_option(SOFA_BUILD_WITH_PCH_ENABLED 
-    "Compile SOFA using precompiled header (to accelerate the build process)" OFF
-    "CMAKE_VERSION VERSION_GREATER_EQUAL 3.16" OFF)
+cmake_policy(SET CMP0127 NEW)
+
+option(SOFA_BUILD_WITH_PCH_ENABLED "Compile SOFA using precompiled header (to accelerate the build process)" OFF)
 if(SOFA_BUILD_WITH_PCH_ENABLED)
     message("-- Precompiled headers: enabled (SOFA_BUILD_WITH_PCH_ENABLED is ON).")
 else()
-    message("-- Precompiled headers: disabled (SOFA_BUILD_WITH_PCH_ENABLED is OFF or CMake < 3.16).")
+    message("-- Precompiled headers: disabled (SOFA_BUILD_WITH_PCH_ENABLED is OFF).")
     set(DISABLE_PRECOMPILE_HEADERS ON)
 endif()
 
@@ -124,22 +125,26 @@ if(UNIX)
     endif()
 endif(UNIX)
 
+
 ### Windows config
 if(MSVC)
+    option(SOFA_USE_DEPENDENCY_PACK "Enable the use of the Windows Dependency Pack" ON)
     # WinDepPack
-    set(SOFA_DEPENDENCY_PACK_DIR "${CMAKE_SOURCE_DIR}" CACHE PATH "Directory containing Windows Dependency Pack")
-    if(NOT EXISTS ${SOFA_DEPENDENCY_PACK_DIR})
-        # force back to default value
-        set(SOFA_DEPENDENCY_PACK_DIR "${CMAKE_SOURCE_DIR}" CACHE PATH "Directory containing Windows Dependency Pack" FORCE)
-    endif()
-    list(APPEND CMAKE_INCLUDE_PATH ${SOFA_DEPENDENCY_PACK_DIR}/include)
-    if(CMAKE_CL_64)
-        list(APPEND CMAKE_LIBRARY_PATH ${SOFA_DEPENDENCY_PACK_DIR}/lib/win64)
-    else()
-        list(APPEND CMAKE_LIBRARY_PATH ${SOFA_DEPENDENCY_PACK_DIR}/lib/win32)
-    endif()
-    install(DIRECTORY ${SOFA_DEPENDENCY_PACK_DIR}/include/ DESTINATION include/extlibs/WinDepPack COMPONENT headers)
-    install(DIRECTORY ${SOFA_DEPENDENCY_PACK_DIR}/licenses/ DESTINATION licenses COMPONENT applications)
+    if(SOFA_USE_DEPENDENCY_PACK)
+        set(SOFA_DEPENDENCY_PACK_DIR "${CMAKE_SOURCE_DIR}" CACHE PATH "Directory containing Windows Dependency Pack")
+        if(NOT EXISTS ${SOFA_DEPENDENCY_PACK_DIR})
+            # force back to default value
+            set(SOFA_DEPENDENCY_PACK_DIR "${CMAKE_SOURCE_DIR}" CACHE PATH "Directory containing Windows Dependency Pack" FORCE)
+        endif()
+        list(APPEND CMAKE_INCLUDE_PATH ${SOFA_DEPENDENCY_PACK_DIR}/include)
+        if(CMAKE_CL_64)
+            list(APPEND CMAKE_LIBRARY_PATH ${SOFA_DEPENDENCY_PACK_DIR}/lib/win64)
+        else()
+            list(APPEND CMAKE_LIBRARY_PATH ${SOFA_DEPENDENCY_PACK_DIR}/lib/win32)
+        endif()
+        install(DIRECTORY ${SOFA_DEPENDENCY_PACK_DIR}/include/ DESTINATION include/extlibs/WinDepPack COMPONENT headers)
+        install(DIRECTORY ${SOFA_DEPENDENCY_PACK_DIR}/licenses/ DESTINATION licenses COMPONENT applications)
+    endif ()
 endif()
 
 ### Testing
@@ -163,29 +168,25 @@ endif()
 ### Ninja build pools
 option(SOFA_NINJA_BUILD_POOLS "Activate the Ninja build pools feature, to limit the cores used by specific targets" OFF)
 
+### Warn the user that the legacy option has been deleted and is useless now
+if(DEFINED SOFA_ENABLE_LEGACY_HEADERS)
+    message(WARNING "SOFA_ENABLE_LEGACY_HEADERS cmake option has been deleted in v24.12 and is now meaningless.")
+endif()
+### Warn the user that HeadlessRecorder option has been renamed (due to its move into applications/plguins)
+if(DEFINED PLUGIN_SOFA_GUI_HEADLESSRECORDER AND PLUGIN_SOFA_GUI_HEADLESSRECORDER)
+    message(WARNING "HeadlessRecorder has been moved to applications/plugins in v24.12, thus its cmake option is named PLUGIN_HEADLESSRECORDER now.")
+endif()
+
+
 # Sofa.Config sets the environment (options, compiler flags, global variables)
 sofa_add_subdirectory(library Sofa/framework/Config Sofa.Config ON)
 
 ### Extlibs
 add_subdirectory(extlibs)
 
-### Compatibility
-option(SOFA_ENABLE_LEGACY_HEADERS "Enable the compatibility layer (headers located in legacy folders) and deprecated cmake modules." ON)
-if(SOFA_ENABLE_LEGACY_HEADERS)
-    message("Using legacy headers is enabled.")
-endif()
-sofa_add_subdirectory(library Sofa/framework/Compat Sofa.Compat ON WHEN_TO_SHOW "SOFA_ENABLE_LEGACY_HEADERS" VALUE_IF_HIDDEN OFF)
-
 ### SOFA (framework and components)
 add_subdirectory(Sofa)
 
-### Compatibility
-# Deprecated (hollow) framework and component modules.
-# All depend on SOFA_ENABLE_LEGACY_HEADERS
-# Some still contain (maybe useful) components not moved in Sofa/ yet.
-# TODO: finally empty those remnants
-add_subdirectory(applications/collections/deprecated)
-
 ## Tutorials option
 option(SOFA_BUILD_TUTORIALS "Build (most of) the tutorials available." OFF)
 
@@ -290,9 +291,6 @@ if(SOFA_BUILD_RELEASE_PACKAGE)
     ################
     # Package config
     include(CPackComponent)
-    if(WIN32 AND ${CMAKE_VERSION} VERSION_LESS "3.13.0")
-        include(CPackNSIS)
-    endif()
     include(CPackIFW)
     set(CPACK_PACKAGE_VERSION "${Sofa_VERSION}")
     set(CPACK_PACKAGE_NAME "SOFA v${CPACK_PACKAGE_VERSION}")

CMakePresets.json

@@ -1,5 +1,5 @@
 {
-  "version": 1,
+  "version": 3,
   "cmakeMinimumRequired": {
     "major": 3,
     "minor": 21,

Sofa/Component/AnimationLoop/CMakeLists.txt

@@ -6,7 +6,6 @@ set(SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR "src/sofa/component/animationloop")
 set(HEADER_FILES
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/config.h.in
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/FreeMotionAnimationLoop.h
-    ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/FreeMotionTask.h
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/ConstraintAnimationLoop.h
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/MultiStepAnimationLoop.h
     ${SOFACOMPONENTANIMATIONLOOP_SOURCE_DIR}/MultiTagAnimationLoop.h

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp

@@ -73,6 +73,9 @@ using sofa::simulation::mechanicalvisitor::MechanicalEndIntegrationVisitor;
 #include <sofa/simulation/mechanicalvisitor/MechanicalResetConstraintVisitor.h>
 using sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor;
 
+#include <sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.h>
+#include <sofa/simulation/mechanicalvisitor/MechanicalBuildConstraintMatrix.h>
+#include <sofa/simulation/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h>
 
 /// Change that to true if you want to print extra message on this component.
 /// You can eventually link that to an object attribute.
@@ -87,70 +90,6 @@ using namespace helper::system::thread;
 using namespace core::behavior;
 using namespace sofa::simulation;
 
-sofa::simulation::Visitor::Result MechanicalGetConstraintResolutionVisitor::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet)
-{
-    if (core::behavior::BaseConstraint *c=cSet->toBaseConstraint())
-    {
-        const ctime_t t0 = begin(node, c);
-        c->getConstraintResolution(_cparams, _res, _offset);
-        end(node, c, t0);
-    }
-    return RESULT_CONTINUE;
-}
-
-bool MechanicalGetConstraintResolutionVisitor::stopAtMechanicalMapping(simulation::Node* /*node*/, core::BaseMapping* /*map*/)
-{
-    return false; // !map->isMechanical();
-}
-
-sofa::simulation::Visitor::Result MechanicalSetConstraint::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* c)
-{
-    const ctime_t t0 = begin(node, c);
-
-    c->setConstraintId(contactId);
-    c->buildConstraintMatrix(cparams, res, contactId);
-
-    end(node, c, t0);
-    return RESULT_CONTINUE;
-}
-
-const char* MechanicalSetConstraint::getClassName() const
-{
-    return "MechanicalSetConstraint";
-}
-
-bool MechanicalSetConstraint::isThreadSafe() const
-{
-    return false;
-}
-
-bool MechanicalSetConstraint::stopAtMechanicalMapping(simulation::Node* /*node*/, core::BaseMapping* /*map*/)
-{
-    return false; // !map->isMechanical();
-}
-
-void MechanicalAccumulateConstraint2::bwdMechanicalMapping(simulation::Node* node, core::BaseMapping* map)
-{
-    const ctime_t t0 = begin(node, map);
-    map->applyJT(cparams, res, res);
-    end(node, map, t0);
-}
-
-const char* MechanicalAccumulateConstraint2::getClassName() const
-{
-    return "MechanicalAccumulateConstraint2";
-}
-
-bool MechanicalAccumulateConstraint2::isThreadSafe() const
-{
-    return false;
-}
-
-bool MechanicalAccumulateConstraint2::stopAtMechanicalMapping(simulation::Node* /*node*/, core::BaseMapping* /*map*/)
-{
-    return false; // !map->isMechanical();
-}
-
 ConstraintProblem::ConstraintProblem(bool printLog)
 {
     SOFA_UNUSED(printLog);
@@ -279,7 +218,7 @@ ConstraintAnimationLoop::ConstraintAnimationLoop() :
     , d_tol( initData(&d_tol, 0.00001_sreal, "tolerance", "Tolerance of the Gauss-Seidel"))
     , d_maxIt( initData(&d_maxIt, 1000, "maxIterations", "Maximum number of iterations of the Gauss-Seidel"))
     , d_doCollisionsFirst(initData(&d_doCollisionsFirst, false, "doCollisionsFirst","Compute the collisions first (to support penality-based contacts)"))
-    , d_doubleBuffer( initData(&d_doubleBuffer, false, "doubleBuffer","Buffer the constraint problem in a doublebuffer to be accessible with an other thread"))
+    , d_doubleBuffer( initData(&d_doubleBuffer, false, "doubleBuffer","Double the buffer dedicated to the constraint problem to make it accessible to another thread"))
     , d_scaleTolerance( initData(&d_scaleTolerance, true, "scaleTolerance","Scale the error tolerance with the number of constraints"))
     , d_allVerified( initData(&d_allVerified, false, "allVerified","All contraints must be verified (each constraint's error < tolerance)"))
     , d_sor( initData(&d_sor, 1.0_sreal, "sor","Successive Over Relaxation parameter (0-2)"))
@@ -1019,9 +958,10 @@ ConstraintProblem* ConstraintAnimationLoop::getCP()
         return &CP1;
 }
 
-
-int ConstraintAnimationLoopClass = core::RegisterObject ( "Constraint animation loop manager" )
-        .add< ConstraintAnimationLoop >()
-        .addAlias("MasterConstraintSolver");
+void registerConstraintAnimationLoop(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Constraint animation loop manager")
+        .add< ConstraintAnimationLoop >());
+}
 
 } //namespace sofa::component::animationloop