Following v26.12 lifecycle

extensions/CUDA/src/SoftRobots/CUDA/init.cpp

@@ -58,7 +58,7 @@ void init()
     static bool first = true;
     if (first)
     {
-        sofa::gpu::cuda::init();
+        sofacuda::init();
         first = false;
     }
 }

src/SoftRobots/component/behavior/SoftRobotsBaseConstraint.h

@@ -27,7 +27,7 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/core/behavior/BaseConstraint.h>
+#include <sofa/core/behavior/BaseLagrangianConstraint.h>
 
 #include <SoftRobots/component/initSoftRobots.h>
 

src/SoftRobots/component/constraint/PartialRigidificationConstraint.h

@@ -29,7 +29,7 @@
 #pragma once
 
 #include <SoftRobots/component/initSoftRobots.h>
-#include <sofa/core/behavior/Constraint.h>
+#include <sofa/core/behavior/LagrangianConstraint.h>
 #include <sofa/core/behavior/ConstraintResolution.h>
 #include <sofa/linearalgebra/BaseVector.h>
 
@@ -38,7 +38,7 @@ namespace softrobots::constraint
 
 using sofa::core::behavior::ConstraintResolution ;
 using sofa::core::ConstraintParams ;
-using sofa::core::behavior::Constraint ;
+using sofa::core::behavior::LagrangianConstraint ;
 using sofa::linearalgebra::BaseVector ;
 using sofa::type::Vec ;
 
@@ -49,11 +49,11 @@ class PartialRigidificationConstraintResolution6Dof : public ConstraintResolutio
 };
 
 template< class DataTypes >
-class PartialRigidificationConstraint : public Constraint<DataTypes>
+class PartialRigidificationConstraint : public LagrangianConstraint<DataTypes>
 {
 public:
     SOFA_CLASS(SOFA_TEMPLATE(PartialRigidificationConstraint,DataTypes),
-               SOFA_TEMPLATE(sofa::core::behavior::Constraint,DataTypes));
+               SOFA_TEMPLATE(sofa::core::behavior::LagrangianConstraint,DataTypes));
 
     typedef typename DataTypes::VecCoord        VecCoord;
     typedef typename DataTypes::VecDeriv        VecDeriv;
@@ -98,7 +98,7 @@ class PartialRigidificationConstraint : public Constraint<DataTypes>
 private:
 
     ////////////////////////// Inherited attributes ////////////////////////////
-    using Constraint<DataTypes>::mstate ;
+    using LagrangianConstraint<DataTypes>::mstate ;
     ////////////////////////////////////////////////////////////////////////////
 };
 

src/SoftRobots/component/constraint/model/CableModel.inl

@@ -562,7 +562,7 @@ SReal CableModel<DataTypes>::getDistanceToTriangle(const Coord& position, const
     const bool r = sofa::geometry::proximity::computeClosestPointOnTriangleToPoint(Vec3(p0), Vec3(p1), Vec3(p2), Vec3(position), projection);
     assert(r);
     SOFA_UNUSED(r);
-    projectionOnTriangle = projection;
+    projectionOnTriangle.set(Vec3(projection[0],projection[1],projection[2]));
     const Real distanceToTriangle = (projectionOnTriangle - position).norm();
     return distanceToTriangle;
 }
@@ -872,11 +872,11 @@ void CableModel<DataTypes>::drawPullPoint(const VisualParams* vparams)
     const SetIndexArray &indices = d_indices.getValue();
 
     vector<Vec3> points(1);
-    points[0] = d_pullPoint.getValue();
+    points[0].set(d_pullPoint.getValue());
     if(!d_hasPullPoint.getValue() && indices.size()>=1)
     {
         ReadAccessor<Data<VecCoord>> positions = m_state->readPositions();
-        points[0] = positions[indices[0]];
+        points[0].set(positions[indices[0]]);
     }
 
     vparams->drawTool()->drawPoints(points, 15, RGBAColor::yellow());
@@ -894,13 +894,13 @@ void CableModel<DataTypes>::drawPoints(const VisualParams* vparams)
     {
         if (!m_hasCenters)
         {
-            points[i] = positions[indices[i]];
+            points[i].set(positions[indices[i]]);
         }
         else
         { 
-            points[i] = positions[m_closestTriangle[i][0]] 
+            points[i].set(positions[m_closestTriangle[i][0]] 
             + m_alphaBarycentric[i] * (positions[m_closestTriangle[i][1]] - positions[m_closestTriangle[i][0]])
-            + m_betaBarycentric[i] * (positions[m_closestTriangle[i][2]] - positions[m_closestTriangle[i][0]]);
+            + m_betaBarycentric[i] * (positions[m_closestTriangle[i][2]] - positions[m_closestTriangle[i][0]]));
         }
     }
 
@@ -949,8 +949,8 @@ void CableModel<DataTypes>::drawLinesBetweenPoints(const VisualParams* vparams)
             + m_alphaBarycentric[i] * (positions[m_closestTriangle[i][1]] - positions[m_closestTriangle[i][0]])
             + m_betaBarycentric[i] * (positions[m_closestTriangle[i][2]] - positions[m_closestTriangle[i][0]]);
         }
-        points[i*2] = currentPosition;
-        points[i*2+1] = previousPosition;
+        points[i*2].set(currentPosition);
+        points[i*2+1].set(previousPosition);
         previousPosition = currentPosition;
     }    
 
@@ -967,7 +967,7 @@ void CableModel<DataTypes>::drawPulledAreas(const VisualParams* vparams)
         for(unsigned int j=0; j<m_areaIndices[i].size(); j++)
         {
             vector<Vec3> point(1);
-            point[0] = positions[m_areaIndices[i][j]];
+            point[0].set(positions[m_areaIndices[i][j]]);
             vparams->drawTool()->drawPoints(point, 40.f * m_ratios[i][j], RGBAColor::yellow());
         }
 }

src/SoftRobots/component/controller/AnimationEditor.cpp

@@ -100,7 +100,7 @@ void AnimationEditor<Rigid3Types>::drawTrajectory(const VisualParams* vparams)
         for(unsigned int k=0; k<m_animation[i].size(); k++)
         {
             points.push_back(m_animation[IDSorted[i]][k].getCenter());
-            vparams->drawTool()->drawFrame(m_animation[m_keyFramesID[i]][k].getCenter(), m_animation[m_keyFramesID[i]][k].getOrientation(), Rigid3Types::CPos(d_drawSize.getValue(),d_drawSize.getValue(),d_drawSize.getValue()));
+            vparams->drawTool()->drawFrame(m_animation[m_keyFramesID[i]][k].getCenter(), m_animation[m_keyFramesID[i]][k].getOrientation(), sofa::type::Vec3f(d_drawSize.getValue(),d_drawSize.getValue(),d_drawSize.getValue()));
         }
     }
 

src/SoftRobots/component/forcefield/PREquivalentStiffnessForceField.inl

@@ -197,8 +197,8 @@ void PREquivalentStiffnessForceField<DataTypes>::addForce(const MechanicalParams
             Uloc[i+3] = UinX0.getAngularVelocity()[i];
         }
         Vec6 Floc = m_CInv[n] * Uloc;
-        Vec3 f_loc(Floc.ptr());
-        Vec3 tau_loc(Floc.ptr() + 3);
+        Vec3 f_loc(Floc[0], Floc[1], Floc[2]);
+        Vec3 tau_loc(Floc[3], Floc[4], Floc[5]);
 
         SpatialVector F1atX1inX0(f_loc, tau_loc);
 
@@ -223,8 +223,8 @@ void PREquivalentStiffnessForceField<DataTypes>::addForce(const MechanicalParams
         // compute x1 forces in x0's frame and rotate them back to global coordinates
         Vec6 f1l0 = m_CInv[n] * dX1;
 
-        Vec3 F1(f1l0.ptr());
-        Vec3 tau1(f1l0.ptr() + 3);
+        Vec3 F1(f1l0[0], f1l0[1], f1l0[2]);
+        Vec3 tau1(f1l0[3], f1l0[4], f1l0[5]);
         F1 = q0Current.rotate(F1);
         tau1 = q0Current.rotate(tau1);
 
@@ -249,8 +249,8 @@ void PREquivalentStiffnessForceField<DataTypes>::addForce(const MechanicalParams
 
         // compute f0
         Vec6 f0l0 = H * f1l0;
-        Vec3 F0(f0l0.ptr());
-        Vec3 tau0(f0l0.ptr() + 3);
+        Vec3 F0(f0l0[0], f0l0[1], f0l0[2]);
+        Vec3 tau0(f0l0[3], f0l0[4], f0l0[5]);
 
         F0 = q0Current.rotate(F0);
         tau0 = q0Current.rotate(tau0);
@@ -313,8 +313,8 @@ void PREquivalentStiffnessForceField<DataTypes>::addDForce(const MechanicalParam
         Vec12 df = m_K[n + start] * dq * kFact;
 
         // separate force vector
-        Vec6 df0(df.ptr());
-        Vec6 df1(df.ptr() + 6);
+        Vec6 df0(df[0], df[1], df[2], df[3], df[4], df[5]);
+        Vec6 df1(df[6], df[7], df[8], df[9], df[10], df[11]);
 
         dfdq[n + 0 + start] += df0;
         dfdq[n + 1 + start] += df1;
@@ -436,8 +436,8 @@ void PREquivalentStiffnessForceField<DataTypes>::computeForce(const VecCoord& po
 
         // compute x1 forces in x0's frame and rotate them back to global coordinates
         Vec6 f1l0 = m_CInv[n] * dX1;
-        Vec3 F1(f1l0.ptr());
-        Vec3 r1(f1l0.ptr() + 3);
+        Vec3 F1(f1l0[0], f1l0[1], f1l0[2]);
+        Vec3 r1(f1l0[3], f1l0[4], f1l0[5]);
         F1 = q0Current.rotate(F1);
         r1 = q0Current.rotate(r1);
 
@@ -457,8 +457,8 @@ void PREquivalentStiffnessForceField<DataTypes>::computeForce(const VecCoord& po
 
         // compute f0
         Vec6 f0l0 = H * f1l0;
-        Vec3 F0(f0l0.ptr());
-        Vec3 r0(f0l0.ptr() + 3);
+        Vec3 F0(f0l0[0], f0l0[1], f0l0[2]);
+        Vec3 r0(f0l0[3], f0l0[4], f0l0[5]);
         F0 = q0Current.rotate(F0);
         r0 = q0Current.rotate(r0);
         Vec6 f0(F0, r0);