[Core] Rename Constraint to LagrangianConstraint

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/FixedLagrangianConstraint.h

@@ -22,7 +22,7 @@
 #pragma once
 #include <sofa/component/constraint/lagrangian/model/config.h>
 
-#include <sofa/core/behavior/Constraint.h>
+#include <sofa/core/behavior/LagrangianConstraint.h>
 #include <sofa/core/behavior/ConstraintResolution.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/behavior/OdeSolver.h>
@@ -32,18 +32,18 @@ namespace sofa::component::constraint::lagrangian::model
 {
 
 template< class DataTypes >
-class FixedLagrangianConstraint : public core::behavior::Constraint<DataTypes>
+class FixedLagrangianConstraint : public core::behavior::LagrangianConstraint<DataTypes>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE(FixedLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::Constraint,DataTypes));
+    SOFA_CLASS(SOFA_TEMPLATE(FixedLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::LagrangianConstraint,DataTypes));
 
     typedef typename DataTypes::VecCoord VecCoord;
     typedef typename DataTypes::VecDeriv VecDeriv;
     typedef typename DataTypes::Coord Coord;
     typedef typename DataTypes::Deriv Deriv;
     typedef typename DataTypes::MatrixDeriv MatrixDeriv;
     typedef typename core::behavior::MechanicalState<DataTypes> MechanicalState;
-    typedef typename core::behavior::Constraint<DataTypes> Inherit;
+    typedef typename core::behavior::LagrangianConstraint<DataTypes> Inherit;
 
     typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator;
     typedef core::objectmodel::Data<VecCoord>		DataVecCoord;

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/StopperLagrangianConstraint.h

@@ -22,7 +22,7 @@
 #pragma once
 #include <sofa/component/constraint/lagrangian/model/config.h>
 
-#include <sofa/core/behavior/Constraint.h>
+#include <sofa/core/behavior/LagrangianConstraint.h>
 #include <sofa/core/behavior/ConstraintResolution.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/behavior/OdeSolver.h>
@@ -65,10 +65,10 @@ class StopperLagrangianConstraintResolution1Dof : public core::behavior::Constra
 };
 
 template< class DataTypes >
-class StopperLagrangianConstraint : public core::behavior::Constraint<DataTypes>
+class StopperLagrangianConstraint : public core::behavior::LagrangianConstraint<DataTypes>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE(StopperLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::Constraint,DataTypes));
+    SOFA_CLASS(SOFA_TEMPLATE(StopperLagrangianConstraint,DataTypes), SOFA_TEMPLATE(core::behavior::LagrangianConstraint,DataTypes));
 
     typedef typename DataTypes::VecCoord VecCoord;
     typedef typename DataTypes::VecDeriv VecDeriv;
@@ -77,7 +77,7 @@ class StopperLagrangianConstraint : public core::behavior::Constraint<DataTypes>
     typedef typename DataTypes::MatrixDeriv MatrixDeriv;
     typedef typename Coord::value_type Real;
     typedef typename core::behavior::MechanicalState<DataTypes> MechanicalState;
-    typedef typename core::behavior::Constraint<DataTypes> Inherit;
+    typedef typename core::behavior::LagrangianConstraint<DataTypes> Inherit;
 
     typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator;
     typedef core::objectmodel::Data<VecCoord>		DataVecCoord;

Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/UniformLagrangianConstraint.h

@@ -22,16 +22,16 @@
 #pragma once
 #include <sofa/component/constraint/lagrangian/model/config.h>
 
-#include <sofa/core/behavior/Constraint.h>
+#include <sofa/core/behavior/LagrangianConstraint.h>
 
 namespace sofa::component::constraint::lagrangian::model
 {
 
 template < class DataTypes >
-class UniformLagrangianConstraint : public sofa::core::behavior::Constraint< DataTypes >
+class UniformLagrangianConstraint : public sofa::core::behavior::LagrangianConstraint< DataTypes >
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE(UniformLagrangianConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::Constraint, DataTypes));
+    SOFA_CLASS(SOFA_TEMPLATE(UniformLagrangianConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::LagrangianConstraint, DataTypes));
 
     typedef typename DataTypes::VecCoord VecCoord;
     typedef typename DataTypes::VecDeriv VecDeriv;

Sofa/framework/Core/CMakeLists.txt

@@ -69,8 +69,8 @@ set(HEADER_FILES
     ${SRC_ROOT}/behavior/BaseProjectiveConstraintSet.h
     ${SRC_ROOT}/behavior/BaseRotationFinder.h
     ${SRC_ROOT}/behavior/BaseVectorOperations.h
-    ${SRC_ROOT}/behavior/BlockType.h
     ${SRC_ROOT}/behavior/BlocMatrixWriter.h
+    ${SRC_ROOT}/behavior/BlockType.h
     ${SRC_ROOT}/behavior/Constraint.h
     ${SRC_ROOT}/behavior/Constraint.inl
     ${SRC_ROOT}/behavior/ConstraintCorrection.h
@@ -80,11 +80,13 @@ set(HEADER_FILES
     ${SRC_ROOT}/behavior/DefaultMultiMatrixAccessor.h
     ${SRC_ROOT}/behavior/ForceField.h
     ${SRC_ROOT}/behavior/ForceField.inl
+    ${SRC_ROOT}/behavior/LagrangianConstraint.h
+    ${SRC_ROOT}/behavior/LagrangianConstraint.inl
     ${SRC_ROOT}/behavior/LinearSolver.h
     ${SRC_ROOT}/behavior/LinearSolverAccessor.h
-    ${SRC_ROOT}/behavior/MatrixAPICompatibility.h
     ${SRC_ROOT}/behavior/Mass.h
     ${SRC_ROOT}/behavior/Mass.inl
+    ${SRC_ROOT}/behavior/MatrixAPICompatibility.h
     ${SRC_ROOT}/behavior/MechanicalMatrix.h
     ${SRC_ROOT}/behavior/MechanicalState.h
     ${SRC_ROOT}/behavior/MechanicalState.inl
@@ -106,10 +108,10 @@ set(HEADER_FILES
     ${SRC_ROOT}/behavior/ProjectiveConstraintSet.h
     ${SRC_ROOT}/behavior/ProjectiveConstraintSet.inl
     ${SRC_ROOT}/behavior/RotationFinder.h
-    ${SRC_ROOT}/behavior/StateAccessor.h
     ${SRC_ROOT}/behavior/SingleMatrixAccessor.h
     ${SRC_ROOT}/behavior/SingleStateAccessor.h
     ${SRC_ROOT}/behavior/SingleStateAccessor.inl
+    ${SRC_ROOT}/behavior/StateAccessor.h
     ${SRC_ROOT}/behavior/fwd.h
     ${SRC_ROOT}/collision/BroadPhaseDetection.h
     ${SRC_ROOT}/collision/CollisionAlgorithm.h
@@ -246,12 +248,12 @@ set(SOURCE_FILES
     ${SRC_ROOT}/behavior/BaseMechanicalState.cpp
     ${SRC_ROOT}/behavior/BaseOrderingMethod.cpp
     ${SRC_ROOT}/behavior/BaseProjectiveConstraintSet.cpp
-    ${SRC_ROOT}/behavior/Constraint.cpp
     ${SRC_ROOT}/behavior/ConstraintCorrection.cpp
     ${SRC_ROOT}/behavior/ConstraintResolution.cpp
     ${SRC_ROOT}/behavior/ConstraintSolver.cpp
     ${SRC_ROOT}/behavior/DefaultMultiMatrixAccessor.cpp
     ${SRC_ROOT}/behavior/ForceField.cpp
+    ${SRC_ROOT}/behavior/LagrangianConstraint.cpp
     ${SRC_ROOT}/behavior/LinearSolver.cpp
     ${SRC_ROOT}/behavior/LinearSolverAccessor.cpp
     ${SRC_ROOT}/behavior/Mass.cpp

Sofa/framework/Core/src/sofa/core/behavior/BaseLagrangianConstraint.h

@@ -35,7 +35,7 @@ namespace sofa::core::behavior
  *  given its current position and velocity.
  *
  *  Constraints can be internal to a given body (attached to one MechanicalState,
- *  see the Constraint class), or link several bodies together (such as contacts,
+ *  see the LagrangianConstraint class), or link several bodies together (such as contacts,
  *  see the InteractionConstraint class).
  *
  */

Sofa/framework/Core/src/sofa/core/behavior/BaseMechanicalState.h

@@ -36,7 +36,7 @@ namespace sofa::core::behavior
  *
  *  This class only contains the data of the body and not any of its
  *  <i>active</i> computations, which are handled by the Mass, ForceField, and
- *  Constraint components.
+ *  LagrangianConstraint components.
  *
  *  Two types of vectors are used :
  *  \li \code VecCoord \endcode : containing positions.

Sofa/framework/Core/src/sofa/core/behavior/Constraint.h

@@ -21,127 +21,12 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/core/config.h>
-#include <sofa/core/behavior/BaseLagrangianConstraint.h>
-#include <sofa/core/behavior/MechanicalState.h>
+#include <sofa/core/behavior/LagrangianConstraint.h>
 
-#include <sofa/core/behavior/SingleStateAccessor.h>
-#include <sofa/core/config.h>
+SOFA_HEADER_DEPRECATED("v25.12", "v26.12", "sofa/core/behavior/LagrangianConstraint.h")
 
 namespace sofa::core::behavior
 {
-
-/**
- *  \brief Component computing constraints within a simulated body.
- *
- *  This class define the abstract API common to constraints using a given type
- *  of DOFs.
- *  A Constraint computes constraints applied to one simulated body given its
- *  current position and velocity.
- *
- */
 template<class DataTypes>
-class Constraint : public BaseLagrangianConstraint, public SingleStateAccessor<DataTypes>
-{
-public:
-    SOFA_CLASS2(SOFA_TEMPLATE(Constraint, DataTypes), BaseLagrangianConstraint, SOFA_TEMPLATE(SingleStateAccessor, DataTypes));
-
-    typedef typename DataTypes::Real Real;
-    typedef typename DataTypes::VecCoord VecCoord;
-    typedef typename DataTypes::VecDeriv VecDeriv;
-    typedef typename DataTypes::Coord Coord;
-    typedef typename DataTypes::Deriv Deriv;
-    typedef typename DataTypes::MatrixDeriv MatrixDeriv;
-
-    typedef core::objectmodel::Data<VecCoord>		DataVecCoord;
-    typedef core::objectmodel::Data<VecDeriv>		DataVecDeriv;
-    typedef core::objectmodel::Data<MatrixDeriv>    DataMatrixDeriv;
-protected:
-    Constraint(MechanicalState<DataTypes> *mm = nullptr);
-
-    ~Constraint() override;
-
-    virtual void init() override;
-public:
-    Data<Real> endTime; ///< The constraint stops acting after the given value. Use a negative value for infinite constraints
-    virtual bool isActive() const; ///< if false, the constraint does nothing
-
-    using BaseConstraintSet::getConstraintViolation;
-
-    /// Construct the Constraint violations vector of each constraint
-    ///
-    /// \param v is the result vector that contains the whole constraints violations
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v) override;
-
-    /// Construct the Constraint violations vector of each constraint
-    ///
-    /// \param resV is the result vector that contains the whole constraints violations
-    /// \param x is the position vector used to compute constraint position violation
-    /// \param v is the velocity vector used to compute constraint velocity violation
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    ///
-    /// This is the method that should be implemented by the component
-    virtual void getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *resV, const DataVecCoord &x, const DataVecDeriv &v) = 0;
-
-
-    /// Construct the Jacobian Matrix
-    ///
-    /// \param cId is the result constraint sparse matrix Id
-    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    void buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override;
-
-    /// Construct the Jacobian Matrix
-    ///
-    /// \param c is the result constraint sparse matrix
-    /// \param cIndex is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
-    /// \param x is the position vector used for constraint equation computation
-    /// \param cParams defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)
-    ///
-    /// This is the method that should be implemented by the component
-    virtual void buildConstraintMatrix(const ConstraintParams* cParams, DataMatrixDeriv & c, unsigned int &cIndex, const DataVecCoord &x) = 0;
-
-
-    void storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda) override;
-
-    /// Pre-construction check method called by ObjectFactory.
-    /// Check that DataTypes matches the MechanicalState.
-    template<class T>
-    static bool canCreate(T*& obj, objectmodel::BaseContext* context, objectmodel::BaseObjectDescription* arg)
-    {
-        if (dynamic_cast<MechanicalState<DataTypes>*>(context->getMechanicalState()) == nullptr) {
-            arg->logError("No mechanical state with the datatype '" + std::string(DataTypes::Name()) + "' found in the context node.");
-            return false;
-        }
-
-        return BaseObject::canCreate(obj, context, arg);
-    }
-
-    virtual type::vector<std::string> getBaseConstraintIdentifiers() override final
-    {
-        type::vector<std::string> ids = getConstraintIdentifiers();
-        ids.push_back("Constraint");
-        return ids;
-    }
-
-protected:
-
-    virtual type::vector<std::string> getConstraintIdentifiers(){ return {}; }
-
-
-private:
-    void storeLambda(const ConstraintParams* cParams, Data<VecDeriv>& resId, const Data<MatrixDeriv>& jacobian, const sofa::linearalgebra::BaseVector* lambda);
-};
-
-#if !defined(SOFA_CORE_BEHAVIOR_CONSTRAINT_CPP)
-extern template class SOFA_CORE_API Constraint<defaulttype::Vec6Types>;
-extern template class SOFA_CORE_API Constraint<defaulttype::Vec3Types>;
-extern template class SOFA_CORE_API Constraint<defaulttype::Vec2Types>;
-extern template class SOFA_CORE_API Constraint<defaulttype::Vec1Types>;
-extern template class SOFA_CORE_API Constraint<defaulttype::Rigid3Types>;
-extern template class SOFA_CORE_API Constraint<defaulttype::Rigid2Types>;
-
-
-#endif
-} // namespace sofa::core::behavior
+using Constraint SOFA_ATTRIBUTE_DEPRECATED("v25.12", "v26.12", "Constraint has been renamed to LagrangianConstraint") = LagrangianConstraint<DataTypes>;
+}

Sofa/framework/Core/src/sofa/core/behavior/Constraint.inl

@@ -21,75 +21,6 @@
 ******************************************************************************/
 #pragma once
 
-#include <sofa/core/behavior/Constraint.h>
-#include <sofa/core/ConstraintParams.h>
+#include <sofa/core/behavior/LagrangianConstraint.inl>
 
-namespace sofa::core::behavior
-{
-
-template<class DataTypes>
-Constraint<DataTypes>::Constraint(MechanicalState<DataTypes> *mm)
-    : Inherit1(), Inherit2(mm)
-    , endTime( initData(&endTime,(Real)-1,"endTime","The constraint stops acting after the given value.\nUse a negative value for infinite constraints") )
-{
-}
-
-template<class DataTypes>
-Constraint<DataTypes>::~Constraint()
-{
-}
-
-
-template <class DataTypes>
-bool Constraint<DataTypes>::isActive() const
-{
-    if( endTime.getValue()<0 ) return true;
-    return endTime.getValue()>getContext()->getTime();
-}
-
-template <class DataTypes>
-void Constraint<DataTypes>::init()
-{
-    Inherit1::init();
-    Inherit2::init();
-}
-
-template<class DataTypes>
-void Constraint<DataTypes>::getConstraintViolation(const ConstraintParams* cParams, linearalgebra::BaseVector *v)
-{
-    if (cParams)
-    {
-        getConstraintViolation(cParams, v, *cParams->readX(this->mstate.get()), *cParams->readV(this->mstate.get()));
-    }
-}
-
-
-template<class DataTypes>
-void Constraint<DataTypes>::buildConstraintMatrix(const ConstraintParams* cParams, MultiMatrixDerivId cId, unsigned int &cIndex)
-{
-    if (cParams)
-    {
-        buildConstraintMatrix(cParams, *cId[this->mstate.get()].write(), cIndex, *cParams->readX(this->mstate.get()));
-    }
-}
-
-
-template<class DataTypes>
-void Constraint<DataTypes>::storeLambda(const ConstraintParams* cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector* lambda)
-{
-    if (cParams)
-    {
-        storeLambda(cParams, *res[this->mstate.get()].write(), *cParams->readJ(this->mstate.get()), lambda);
-    }
-}
-
-template<class DataTypes>
-void Constraint<DataTypes>::storeLambda(const ConstraintParams*, Data<VecDeriv>& result, const Data<MatrixDeriv>& jacobian, const sofa::linearalgebra::BaseVector* lambda)
-{
-    auto res = sofa::helper::getWriteAccessor(result);
-    const MatrixDeriv& j = jacobian.getValue();
-    j.multTransposeBaseVector(res, lambda ); // lambda is a vector of scalar value so block size is one.
-}
-
-
-} // namespace sofa::core::behavior
+SOFA_HEADER_DEPRECATED("v25.12", "v26.12", "sofa/core/behavior/LagrangianConstraint.inl")

Sofa/framework/Core/src/sofa/core/behavior/Constraint.cpp → Sofa/framework/Core/src/sofa/core/behavior/LagrangianConstraint.cpp

@@ -26,12 +26,12 @@ namespace sofa::core::behavior
 {
 
 using namespace sofa::defaulttype;
-template class SOFA_CORE_API Constraint<Vec6Types>;
-template class SOFA_CORE_API Constraint<Vec3Types>;
-template class SOFA_CORE_API Constraint<Vec2Types>;
-template class SOFA_CORE_API Constraint<Vec1Types>;
-template class SOFA_CORE_API Constraint<Rigid3Types>;
-template class SOFA_CORE_API Constraint<Rigid2Types>;
+template class SOFA_CORE_API LagrangianConstraint<Vec6Types>;
+template class SOFA_CORE_API LagrangianConstraint<Vec3Types>;
+template class SOFA_CORE_API LagrangianConstraint<Vec2Types>;
+template class SOFA_CORE_API LagrangianConstraint<Vec1Types>;
+template class SOFA_CORE_API LagrangianConstraint<Rigid3Types>;
+template class SOFA_CORE_API LagrangianConstraint<Rigid2Types>;
 
 
 } // namespace sofa::core::behavior