use SingleStateAccessor (+ some minor cleanings)

Author: fredroy

src/BeamAdapter/component/BaseBeamInterpolation.h

@@ -28,14 +28,16 @@
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/behavior/Mass.h>
 #include <sofa/core/objectmodel/Data.h>
-#include <sofa/defaulttype/SolidTypes.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/behavior/SingleStateAccessor.h>
 
 #include <sofa/type/vector.h>
 #include <sofa/type/Vec.h>
 #include <sofa/type/Mat.h>
+#include <sofa/type/Transform.h>
+#include <sofa/type/SpatialVector.h>
+
 
-#include <sofa/core/objectmodel/BaseObject.h>
 #include <sofa/component/statecontainer/MechanicalObject.h>
 
 
@@ -55,13 +57,13 @@ using sofa::component::statecontainer::MechanicalObject;
  *
  */
 template<class DataTypes>
-class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
+class BaseBeamInterpolation : public sofa::core::behavior::SingleStateAccessor<DataTypes>
 {
 public:
     SOFA_CLASS(SOFA_TEMPLATE(BaseBeamInterpolation, DataTypes) ,
-        sofa::core::objectmodel::BaseObject);
+               SOFA_TEMPLATE(sofa::core::behavior::SingleStateAccessor, DataTypes));
 
-    using Inherit = sofa::core::objectmodel::BaseObject;
+    using Inherit = sofa::core::behavior::SingleStateAccessor<DataTypes>;
 
     using Coord = typename DataTypes::Coord;
     using VecCoord = typename DataTypes::VecCoord;
@@ -70,8 +72,8 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
     using Deriv = typename DataTypes::Deriv;
     using VecDeriv = typename DataTypes::VecDeriv;
 
-    using Transform = typename sofa::defaulttype::SolidTypes<Real>::Transform;
-    using SpatialVector = typename sofa::defaulttype::SolidTypes<Real>::SpatialVector;
+    using Transform = sofa::type::Transform<Real>;
+    using SpatialVector = sofa::type::SpatialVector<Real>;
 
     using Vec2 = sofa::type::Vec<2, Real>;
     using Vec3 = sofa::type::Vec<3, Real>;
@@ -232,9 +234,6 @@ class BaseBeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
 
     /// link to the (edge) topology
     SingleLink<BaseBeamInterpolation<DataTypes>, BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_topology;
-
-    /// link to the mechanical state
-    SingleLink<BaseBeamInterpolation<DataTypes>, MechanicalState<DataTypes>, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> l_mstate;
 };
 
 

src/BeamAdapter/component/BaseBeamInterpolation.inl

@@ -97,7 +97,8 @@ void BaseBeamInterpolation<DataTypes>::RotateFrameForAlignNormalizedX(const Quat
 
 template <class DataTypes>
 BaseBeamInterpolation<DataTypes>::BaseBeamInterpolation()
-    : m_StateNodes(sofa::core::objectmodel::New< sofa::component::statecontainer::MechanicalObject<StateDataTypes> >())
+    : Inherit()
+    , m_StateNodes(sofa::core::objectmodel::New< sofa::component::statecontainer::MechanicalObject<StateDataTypes> >())
     , d_edgeList(initData(&d_edgeList, "edgeList", "list of the edge in the topology that are concerned by the Interpolation"))
     , d_lengthList(initData(&d_lengthList, "lengthList", "list of the length of each beam"))
     , d_DOF0TransformNode0(initData(&d_DOF0TransformNode0, "DOF0TransformNode0", "Optional rigid transformation between the degree of Freedom and the first node of the beam"))
@@ -107,41 +108,21 @@ BaseBeamInterpolation<DataTypes>::BaseBeamInterpolation()
     , d_dofsAndBeamsAligned(initData(&d_dofsAndBeamsAligned, true, "dofsAndBeamsAligned",
         "if false, a transformation for each beam is computed between the DOF and the beam nodes"))
     , l_topology(initLink("topology", "link to the topology (must contain edges)"))
-    , l_mstate(initLink("mstate", "link to the mechanical container"))
 {
 
-    
     m_StateNodes->setName("bezierNodes");
-    addSlave(m_StateNodes);
+    this->addSlave(m_StateNodes);
 }
 
 
 template<class DataTypes>
 void BaseBeamInterpolation<DataTypes>::init()
 {
     Inherit::init();
-    
-    BaseContext* context = getContext();
-    
-    if (!l_mstate)
-    {
-        auto mstate = dynamic_cast<sofa::core::behavior::MechanicalState<DataTypes> *> (context->getMechanicalState());
-        l_mstate.set(mstate);
-    }
-    if (l_mstate)
-    {
-        msg_info() << "Found mechanical object named "<< l_mstate->getName() ;
-    }
-    else
-    {
-        msg_error() << "Cannot find the mechanical object. Please specify the link to the topology or insert one in the same node.";
-        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
-        return;
-    }
-    
+           
     if (!l_topology)
     {
-        l_topology.set(this->getContext()->getMeshTopologyLink());
+        l_topology.set(this->getMState()->getContext()->getMeshTopologyLink());
     }
 
     if (l_topology)
@@ -151,14 +132,14 @@ void BaseBeamInterpolation<DataTypes>::init()
     else
     {
         msg_error() << "Cannot find a topology container. Please specify the link to the topology or insert one in the same node.";
-        this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
+        this->d_componentState.setValue(ComponentState::Invalid);
         return;
     }
 
     if(l_topology->getNbEdges() == 0)
     {
         msg_error() << "Found a topology but it is empty (no edges). Component is de-activated";
-        d_componentState.setValue(ComponentState::Invalid);
+        this->d_componentState.setValue(ComponentState::Invalid);
         return;
     }
 
@@ -280,7 +261,7 @@ void BaseBeamInterpolation<DataTypes>::getBeamAtCurvAbs(const Real x_input, unsi
     /// LTotal =  length sum of the beams that are "out"
     Real LTotal = 0.0;
 
-    const unsigned int edgeListSize = this->d_edgeList.getValue().size();
+    const sofa::Size edgeListSize = static_cast<sofa::Size>(this->d_edgeList.getValue().size());
 
     /// we find the length of the beam that is "out"
     for (unsigned int e = start; e < edgeListSize; e++)
@@ -374,7 +355,7 @@ void BaseBeamInterpolation<DataTypes>::getDOFtoLocalTransformInGlobalFrame(const
 template <class DataTypes>
 void BaseBeamInterpolation<DataTypes>::setTransformBetweenDofAndNode(const sofa::Index beam, const Transform& DOF_H_Node, unsigned int zeroORone)
 {
-    if (beam > int(d_DOF0TransformNode0.getValue().size() - 1) || beam > int(d_DOF1TransformNode1.getValue().size() - 1))
+    if (beam > (d_DOF0TransformNode0.getValue().size() - 1) || beam > (d_DOF1TransformNode1.getValue().size() - 1))
     {
         msg_error() << "WARNING setTransformBetweenDofAndNode on non existing beam";
         return;
@@ -458,7 +439,7 @@ unsigned int BaseBeamInterpolation<DataTypes>::getStateSize() const
     }
     else
     {
-        return l_mstate->getSize();
+        return this->getMState()->getSize();
     }
 }
 
@@ -596,22 +577,24 @@ void BaseBeamInterpolation<DataTypes>::computeStrechAndTwist(const EdgeID edgeIn
 
 ///vId_Out provides the id of the multiVecId which stores the position of the Bezier Points
 template<class DataTypes>
-void  BaseBeamInterpolation<DataTypes>::updateBezierPoints(const VecCoord& x, sofa::core::VecCoordId& vId_Out) {
+void  BaseBeamInterpolation<DataTypes>::updateBezierPoints(const VecCoord& x, sofa::core::VecCoordId& vId_Out)
+{
+    const sofa::Size edgeListSize = static_cast<sofa::Size>(d_edgeList.getValue().size());
     ///Mechanical Object to stock Bezier points.
-    m_StateNodes->resize(d_edgeList.getValue().size() * 4);
+    m_StateNodes->resize(edgeListSize * 4);
     auto bezierPosVec = sofa::helper::getWriteOnlyAccessor(*m_StateNodes->write(vId_Out));
-    bezierPosVec.resize(d_edgeList.getValue().size() * 4);
+    bezierPosVec.resize(edgeListSize * 4);
 
-    for (unsigned int i = 0; i < d_edgeList.getValue().size(); i++) {
+    for (unsigned int i = 0; i < edgeListSize; i++) {
         updateBezierPoints(x, i, bezierPosVec.wref());
 
     }
 }
 
 template<class DataTypes>
 void BaseBeamInterpolation<DataTypes>::updateBezierPoints(const VecCoord& x, unsigned int index,
-    VectorVec3& bezierPosVec) {
-    /// <<" interpolatePointUsingSpline : "<< edgeInList<<"  xbary="<<baryCoord<<"  localPos"<<localPos<<std::endl;
+    VectorVec3& bezierPosVec)
+{
     const Real _L = d_lengthList.getValue()[index];
 
     /// \todo remove call to

src/BeamAdapter/component/BeamInterpolation.h

@@ -69,6 +69,8 @@ class BeamInterpolation : public BaseBeamInterpolation<DataTypes>
 {
 public:
     SOFA_CLASS( SOFA_TEMPLATE(BeamInterpolation, DataTypes) , SOFA_TEMPLATE(BaseBeamInterpolation, DataTypes));
+    
+    using Inherit = BaseBeamInterpolation<DataTypes>;
 
     using Coord = typename DataTypes::Coord;
     using VecCoord = typename DataTypes::VecCoord;

src/BeamAdapter/component/BeamInterpolation.inl

@@ -50,8 +50,9 @@ using sofa::helper::ReadAccessor ;
 
 //////////////////////////////////// BREAMINTERPOLATION ////////////////////////////////////////////
 template <class DataTypes>
-BeamInterpolation<DataTypes>::BeamInterpolation() :
-    crossSectionShape(initData(&crossSectionShape,
+BeamInterpolation<DataTypes>::BeamInterpolation()
+  : Inherit()
+  , crossSectionShape(initData(&crossSectionShape,
                                {"circular","elliptic (not available)","rectangular"},
                                "crossSectionShape",
                                "shape of the cross-section. Can be: circular, elliptic, square, rectangular. Default is circular" ))
@@ -192,7 +193,7 @@ template <class DataTypes>
 void BeamInterpolation<DataTypes>::init()
 {
     this->d_componentState.setValue(ComponentState::Loading);
-    BaseBeamInterpolation<DataTypes>::init();
+    Inherit::init();
 
     if (this->d_componentState.getValue() == ComponentState::Invalid)
         return;
@@ -225,7 +226,7 @@ void BeamInterpolation<DataTypes>::init()
             DOF1TransformNode1.resize(edgeList.size());
         }
 
-        ReadAccessor<Data<VecCoord> > statePos = this->l_mstate->read(sofa::core::vec_id::read_access::position) ;
+        ReadAccessor<Data<VecCoord> > statePos = this->getMState()->read(sofa::core::vec_id::read_access::position) ;
 
         auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
         lengthList.clear();
@@ -600,16 +601,16 @@ void BeamInterpolation<DataTypes>::updateInterpolation(){
     if(d_vecID.getValue().getSelectedItem() == "current")
     {
         dmsg_info() <<" position " << msgendl
-                   << "      ="<< this->l_mstate->read( sofa::core::vec_id::read_access::position )->getValue( ) ;
-        x=this->l_mstate->read( sofa::core::vec_id::read_access::position );
+                   << "      ="<< this->getMState()->read( sofa::core::vec_id::read_access::position )->getValue( ) ;
+        x=this->getMState()->read( sofa::core::vec_id::read_access::position );
     }
     else if(d_vecID.getValue().getSelectedItem() == "free")
     {
-        x=this->l_mstate->read( sofa::core::vec_id::read_access::freePosition ) ;
+        x=this->getMState()->read( sofa::core::vec_id::read_access::freePosition ) ;
     }
     else /// rest position
     {
-        x=this->l_mstate->read( sofa::core::vec_id::read_access::restPosition ) ;
+        x=this->getMState()->read( sofa::core::vec_id::read_access::restPosition ) ;
         computeVel = false;
     }
 

src/BeamAdapter/component/WireBeamInterpolation.h

@@ -75,22 +75,22 @@ class WireBeamInterpolation : public BaseBeamInterpolation<DataTypes>
 public:
     SOFA_CLASS(SOFA_TEMPLATE(WireBeamInterpolation, DataTypes) ,
                SOFA_TEMPLATE(BaseBeamInterpolation, DataTypes) );
+    
+    using Inherit = BaseBeamInterpolation<DataTypes>;
 
-    typedef BaseBeamInterpolation<DataTypes> Inherited;
-
-    typedef typename Inherited::VecCoord VecCoord;
-    typedef typename Inherited::VecDeriv VecDeriv;
-    typedef typename Inherited::Coord Coord;
-    typedef typename Inherited::Deriv Deriv;
+    typedef typename Inherit::VecCoord VecCoord;
+    typedef typename Inherit::VecDeriv VecDeriv;
+    typedef typename Inherit::Coord Coord;
+    typedef typename Inherit::Deriv Deriv;
 
-    typedef typename Inherited::Real Real;
+    typedef typename Inherit::Real Real;
 
-    typedef typename Inherited::Transform Transform;
-    typedef typename Inherited::SpatialVector SpatialVector;
+    typedef typename Inherit::Transform Transform;
+    typedef typename Inherit::SpatialVector SpatialVector;
 
-    typedef typename Inherited::Vec2 Vec2;
-    typedef typename Inherited::Vec3 Vec3;
-    typedef typename Inherited::Quat Quat;
+    typedef typename Inherit::Vec2 Vec2;
+    typedef typename Inherit::Vec3 Vec3;
+    typedef typename Inherit::Quat Quat;
 
     using EdgeID = BaseMeshTopology::EdgeID;
 
@@ -176,9 +176,9 @@ class WireBeamInterpolation : public BaseBeamInterpolation<DataTypes>
     BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK> m_restShape; /*! link on an external rest-shape*/
 
 
-    ////////////////////////// Inherited attributes ////////////////////////////
+    ////////////////////////// Inherit attributes ////////////////////////////
     /// https://gcc.gnu.org/onlinedocs/gcc/Name-lookup.html
-    /// Bring inherited attributes and function in the current lookup context.
+    /// Bring Inherit attributes and function in the current lookup context.
     /// otherwise any access to the base::attribute would require
     /// the "this->" approach.
     using  BaseBeamInterpolation<DataTypes>::d_componentState ;
@@ -189,7 +189,7 @@ class WireBeamInterpolation : public BaseBeamInterpolation<DataTypes>
     template<class T>
     static bool canCreate(T* obj, sofa::core::objectmodel::BaseContext* context, sofa::core::objectmodel::BaseObjectDescription* arg)
     {
-        return Inherited::canCreate(obj,context,arg);
+        return Inherit::canCreate(obj,context,arg);
     }
 
     template<class T>

src/BeamAdapter/component/WireBeamInterpolation.inl

@@ -41,7 +41,8 @@ namespace beamadapter
 
 template <class DataTypes>
 WireBeamInterpolation<DataTypes>::WireBeamInterpolation(WireRestShape<DataTypes> *_restShape)
-    : m_restShape(initLink("WireRestShape", "link to the component on the scene"), _restShape)
+    : Inherit()
+    , m_restShape(initLink("WireRestShape", "link to the component on the scene"), _restShape)
 {
 
 
@@ -51,7 +52,7 @@ WireBeamInterpolation<DataTypes>::WireBeamInterpolation(WireRestShape<DataTypes>
 template <class DataTypes>
 void WireBeamInterpolation<DataTypes>::init()
 {
-    Inherited::init();
+    Inherit::init();
 
     if( m_restShape.get() == nullptr )
     {
@@ -72,7 +73,7 @@ void WireBeamInterpolation<DataTypes>::init()
 template <class DataTypes>
  void WireBeamInterpolation<DataTypes>::bwdInit()
 {
-    Inherited::bwdInit();
+     Inherit::bwdInit();
 
     if (this->isControlled()){
         msg_info() << "external controller for this ForceField is detected" ;