[Framework] Apply template method design pattern to BaseForceField

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

@@ -43,7 +43,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 
-#include <sofa/core/behavior/BaseConstraint.h> ///< ConstraintResolution.
+#include <sofa/core/behavior/BaseLagrangianConstraint.h> ///< ConstraintResolution.
 
 #include <sofa/helper/AdvancedTimer.h>
 

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.h

@@ -118,10 +118,11 @@ class PenalityContactForceField : public core::behavior::PairInteractionForceFie
 
     void addDForce(const sofa::core::MechanicalParams* mparams, DataVecDeriv& data_df1, DataVecDeriv& data_df2, const DataVecDeriv& data_dx1, const DataVecDeriv& data_dx2) override;
 
-    void addKToMatrix(const sofa::core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
-    void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
+    void doAddKToMatrix(const sofa::core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+
+    void doBuildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
 
-    void buildDampingMatrix(core::behavior::DampingMatrix* /*matrix*/) final;
+    void doBuildDampingMatrix(core::behavior::DampingMatrix* /*matrix*/) final;
 
     SReal getPotentialEnergy(const sofa::core::MechanicalParams*, const DataVecCoord&, const DataVecCoord& ) const override;
 

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/PenalityContactForceField.inl

@@ -133,7 +133,7 @@ void PenalityContactForceField<DataTypes>::addDForce(const sofa::core::Mechanica
 }
 
 template <class DataTypes>
-void PenalityContactForceField<DataTypes>::addKToMatrix(const sofa::core::MechanicalParams* mparams,
+void PenalityContactForceField<DataTypes>::doAddKToMatrix(const sofa::core::MechanicalParams* mparams,
     const sofa::core::behavior::MultiMatrixAccessor* matrix)
 {
     static constexpr auto N = DataTypes::spatial_dimensions;
@@ -200,7 +200,7 @@ void PenalityContactForceField<DataTypes>::addKToMatrix(const sofa::core::Mechan
 }
 
 template <class DataTypes>
-void PenalityContactForceField<DataTypes>::buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix)
+void PenalityContactForceField<DataTypes>::doBuildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix)
 {
     const type::vector<Contact>& cc = contacts.getValue();
 
@@ -257,7 +257,7 @@ void PenalityContactForceField<DataTypes>::buildStiffnessMatrix(core::behavior::
 }
 
 template <class DataTypes>
-void PenalityContactForceField<DataTypes>::buildDampingMatrix(core::behavior::DampingMatrix*)
+void PenalityContactForceField<DataTypes>::doBuildDampingMatrix(core::behavior::DampingMatrix*)
 {
     // No damping in this ForceField
 }

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

@@ -61,15 +61,15 @@ class BaseContactLagrangianConstraint : public core::behavior::PairInteractionCo
     typedef typename Coord::value_type Real;
     typedef typename core::behavior::MechanicalState<DataTypes> MechanicalState;
 
-    typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo;
-    typedef core::behavior::BaseConstraint::PersistentID PersistentID;
-    typedef core::behavior::BaseConstraint::ConstCoord ConstCoord;
-
-    typedef core::behavior::BaseConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
-    typedef core::behavior::BaseConstraint::VecPersistentID VecPersistentID;
-    typedef core::behavior::BaseConstraint::VecConstCoord VecConstCoord;
-    typedef core::behavior::BaseConstraint::VecConstDeriv VecConstDeriv;
-    typedef core::behavior::BaseConstraint::VecConstArea VecConstArea;
+    typedef core::behavior::BaseLagrangianConstraint::ConstraintBlockInfo ConstraintBlockInfo;
+    typedef core::behavior::BaseLagrangianConstraint::PersistentID PersistentID;
+    typedef core::behavior::BaseLagrangianConstraint::ConstCoord ConstCoord;
+
+    typedef core::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
+    typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstCoord VecConstCoord;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstDeriv VecConstDeriv;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstArea VecConstArea;
 
     typedef core::objectmodel::Data<VecCoord>		DataVecCoord;
     typedef core::objectmodel::Data<VecDeriv>		DataVecDeriv;

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

@@ -23,7 +23,7 @@
 #include <sofa/component/constraint/lagrangian/model/config.h>
 
 #include <sofa/type/Mat.h>
-#include <sofa/core/behavior/BaseConstraint.h>
+#include <sofa/core/behavior/BaseLagrangianConstraint.h>
 #include <sofa/core/behavior/ConstraintResolution.h>
 #include <Eigen/Core>
 #include <Eigen/Cholesky>

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

@@ -41,7 +41,7 @@ namespace sofa::component::constraint::lagrangian::model
 
 /// These 'using' are in a per-file namespace so they will not leak
 /// and polluate the standard namespace.
-using sofa::core::behavior::BaseConstraint ;
+using sofa::core::behavior::BaseLagrangianConstraint ;
 using sofa::core::behavior::ConstraintResolution ;
 using sofa::core::behavior::PairInteractionConstraint ;
 using sofa::core::ConstraintParams ;
@@ -81,7 +81,7 @@ class BilateralLagrangianConstraint : public PairInteractionConstraint<DataTypes
     typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator;
 
     typedef core::behavior::MechanicalState<DataTypes> MechanicalState;
-    typedef BaseConstraint::PersistentID PersistentID;
+    typedef BaseLagrangianConstraint::PersistentID PersistentID;
 
     typedef Data<VecCoord>		DataVecCoord;
     typedef Data<VecDeriv>		DataVecDeriv;

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h

@@ -25,7 +25,7 @@
 
 #include <sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h>
 #include <sofa/core/behavior/BaseConstraintCorrection.h>
-#include <sofa/core/behavior/BaseConstraint.h>
+#include <sofa/core/behavior/BaseLagrangianConstraint.h>
 #include <sofa/helper/map.h>
 
 #include <sofa/simulation/CpuTask.h>

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp

@@ -676,7 +676,7 @@ void LCPConstraintSolver::computeInitialGuess()
     for (const ConstraintBlockInfo& info : constraintBlockInfo)
     {
         if (!info.hasId) continue;
-        std::map<core::behavior::BaseConstraint*, ConstraintBlockBuf>::const_iterator previt = _previousConstraints.find(info.parent);
+        std::map<core::behavior::BaseLagrangianConstraint*, ConstraintBlockBuf>::const_iterator previt = _previousConstraints.find(info.parent);
         if (previt == _previousConstraints.end()) continue;
         const ConstraintBlockBuf& buf = previt->second;
         const int c0 = info.const0;

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h

@@ -24,7 +24,7 @@
 
 #include <sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h>
 #include <sofa/core/behavior/BaseConstraintCorrection.h>
-#include <sofa/core/behavior/BaseConstraint.h>
+#include <sofa/core/behavior/BaseLagrangianConstraint.h>
 
 #include <sofa/simulation/MechanicalVisitor.h>
 #include <sofa/simulation/fwd.h>
@@ -147,17 +147,17 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
     std::vector<core::behavior::BaseConstraintCorrection*> _cclist_elem1;
     std::vector<core::behavior::BaseConstraintCorrection*> _cclist_elem2;
 
-    typedef core::behavior::BaseConstraint::ConstraintBlockInfo ConstraintBlockInfo;
-    typedef core::behavior::BaseConstraint::PersistentID PersistentID;
-    typedef core::behavior::BaseConstraint::ConstCoord ConstCoord;
-    typedef core::behavior::BaseConstraint::ConstDeriv ConstDeriv;
-    typedef core::behavior::BaseConstraint::ConstArea ConstArea;
+    typedef core::behavior::BaseLagrangianConstraint::ConstraintBlockInfo ConstraintBlockInfo;
+    typedef core::behavior::BaseLagrangianConstraint::PersistentID PersistentID;
+    typedef core::behavior::BaseLagrangianConstraint::ConstCoord ConstCoord;
+    typedef core::behavior::BaseLagrangianConstraint::ConstDeriv ConstDeriv;
+    typedef core::behavior::BaseLagrangianConstraint::ConstArea ConstArea;
 
-    typedef core::behavior::BaseConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
-    typedef core::behavior::BaseConstraint::VecPersistentID VecPersistentID;
-    typedef core::behavior::BaseConstraint::VecConstCoord VecConstCoord;
-    typedef core::behavior::BaseConstraint::VecConstDeriv VecConstDeriv;
-    typedef core::behavior::BaseConstraint::VecConstArea VecConstArea;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstraintBlockInfo VecConstraintBlockInfo;
+    typedef core::behavior::BaseLagrangianConstraint::VecPersistentID VecPersistentID;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstCoord VecConstCoord;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstDeriv VecConstDeriv;
+    typedef core::behavior::BaseLagrangianConstraint::VecConstArea VecConstArea;
 
     class ConstraintBlockBuf
     {
@@ -166,7 +166,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
         int nbLines; ///< how many dofs (i.e. lines in the matrix) are used by each constraint
     };
 
-    std::map<core::behavior::BaseConstraint*, ConstraintBlockBuf> _previousConstraints;
+    std::map<core::behavior::BaseLagrangianConstraint*, ConstraintBlockBuf> _previousConstraints;
     type::vector< SReal > _previousForces;
 
     type::vector< VecConstraintBlockInfo > hierarchy_constraintBlockInfo;

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/ConstraintStoreLambdaVisitor.cpp

@@ -19,7 +19,7 @@
 *                                                                             *
 * Contact information: [email protected]                             *
 ******************************************************************************/
-#include <sofa/core/behavior/BaseConstraint.h>
+#include <sofa/core/behavior/BaseLagrangianConstraint.h>
 #include <sofa/component/constraint/lagrangian/solver/visitors/ConstraintStoreLambdaVisitor.h>
 #include <sofa/core/ConstraintParams.h>
 
@@ -35,7 +35,7 @@ ConstraintStoreLambdaVisitor::ConstraintStoreLambdaVisitor(const sofa::core::Con
 
 simulation::Visitor::Result ConstraintStoreLambdaVisitor::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet)
 {
-    if (core::behavior::BaseConstraint *c = dynamic_cast<core::behavior::BaseConstraint*>(cSet) )
+    if (core::behavior::BaseLagrangianConstraint *c = dynamic_cast<core::behavior::BaseLagrangianConstraint*>(cSet) )
     {
         const ctime_t t0 = begin(node, c);
         c->storeLambda(m_cParams, m_cParams->lambda(), m_lambda);

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.cpp

@@ -22,7 +22,7 @@
 #include <sofa/component/constraint/lagrangian/solver/visitors/MechanicalGetConstraintResolutionVisitor.h>
 #include <sofa/core/behavior/BaseConstraintSet.h>
 #include <sofa/core/ConstraintParams.h>
-#include <sofa/core/behavior/BaseConstraint.h>
+#include <sofa/core/behavior/BaseLagrangianConstraint.h>
 
 namespace sofa::component::constraint::lagrangian::solver
 {
@@ -39,7 +39,7 @@ MechanicalGetConstraintResolutionVisitor::MechanicalGetConstraintResolutionVisit
 
 MechanicalGetConstraintResolutionVisitor::Result MechanicalGetConstraintResolutionVisitor::fwdConstraintSet(simulation::Node* node, core::behavior::BaseConstraintSet* cSet)
 {
-    if (core::behavior::BaseConstraint *c=cSet->toBaseConstraint())
+    if (core::behavior::BaseLagrangianConstraint *c=cSet->toBaseLagrangianConstraint())
     {
         const ctime_t t0 = begin(node, c);
         c->getConstraintResolution(cparams, _res, _offset);

Sofa/Component/Diffusion/src/sofa/component/diffusion/TetrahedronDiffusionFEMForceField.h

@@ -73,10 +73,10 @@ class TetrahedronDiffusionFEMForceField : public core::behavior::ForceField<Data
       /// Forcefield functions for Matrix system. Adding derivate force to global forcefield vector.
       void addDForce(const sofa::core::MechanicalParams* /*mparams*/ /* PARAMS FIRST */, DataVecDeriv& dF , const DataVecDeriv& dX) override;
       /// Forcefield functions for Matrix system. Adding derivate force to global forcefield vector. (direct solver)
-      void addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix) override;
+      void addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFact, unsigned int &offset) override;
 
-      void buildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
-      void buildDampingMatrix(core::behavior::DampingMatrix* /* matrices */) override {}
+      void doBuildStiffnessMatrix(core::behavior::StiffnessMatrix* matrix) override;
+      void doBuildDampingMatrix(core::behavior::DampingMatrix* /* matrices */) override {}
 
       /// Return Potential energy of the mesh.
       SReal getPotentialEnergy(const core::MechanicalParams* /*mparams*/, const DataVecCoord& x) const override;

Sofa/Component/Diffusion/src/sofa/component/diffusion/TetrahedronDiffusionFEMForceField.inl

@@ -357,22 +357,17 @@ void TetrahedronDiffusionFEMForceField<DataTypes>::addDForce(const sofa::core::M
 
 
 template <class DataTypes>
-void TetrahedronDiffusionFEMForceField<DataTypes>::addKToMatrix(const core::MechanicalParams* mparams, const sofa::core::behavior::MultiMatrixAccessor* matrix)
+void TetrahedronDiffusionFEMForceField<DataTypes>::addKToMatrix(sofa::linearalgebra::BaseMatrix * matrix, SReal kFactor, unsigned int &offset)
 {
     SCOPED_TIMER("addKToMatrix");
     const auto N = defaulttype::DataTypeInfo<Deriv>::size();
-    sofa::core::behavior::MultiMatrixAccessor::MatrixRef r = matrix->getMatrix(this->mstate);
-    sofa::linearalgebra::BaseMatrix* mat = r.matrix;
 
-    if((sofa::Size)(mat->colSize()) != (m_topology->getNbPoints()*N) || (sofa::Size)(mat->rowSize()) != (m_topology->getNbPoints()*N))
+    if((sofa::Size)(matrix->colSize()) != (m_topology->getNbPoints()*N) || (sofa::Size)(matrix->rowSize()) != (m_topology->getNbPoints()*N))
     {
         msg_error()<<"Wrong size of the input Matrix: need resize in addKToMatrix function.";
-        mat->resize(m_topology->getNbPoints()*N,m_topology->getNbPoints()*N);
+        matrix->resize(m_topology->getNbPoints()*N,m_topology->getNbPoints()*N);
     }
 
-    Real kFactor = mparams->kFactor();
-    unsigned int &offset = r.offset;
-
     sofa::Index v0,v1;
 
     const auto& edges = m_topology->getEdges();
@@ -381,15 +376,15 @@ void TetrahedronDiffusionFEMForceField<DataTypes>::addKToMatrix(const core::Mech
         v0 = edges[i][0];
         v1 = edges[i][1];
 
-        mat->add(offset+N*v1, offset+N*v0, -kFactor * edgeDiffusionCoefficient[i]);
-        mat->add(offset+N*v0, offset+N*v1, -kFactor * edgeDiffusionCoefficient[i]);
-        mat->add(offset+N*v0, offset+N*v0, kFactor * edgeDiffusionCoefficient[i]);
-        mat->add(offset+N*v1, offset+N*v1, kFactor * edgeDiffusionCoefficient[i]);
+        matrix->add(offset+N*v1, offset+N*v0, -kFactor * edgeDiffusionCoefficient[i]);
+        matrix->add(offset+N*v0, offset+N*v1, -kFactor * edgeDiffusionCoefficient[i]);
+        matrix->add(offset+N*v0, offset+N*v0, kFactor * edgeDiffusionCoefficient[i]);
+        matrix->add(offset+N*v1, offset+N*v1, kFactor * edgeDiffusionCoefficient[i]);
     }
 }
 
 template <class DataTypes>
-void TetrahedronDiffusionFEMForceField<DataTypes>::buildStiffnessMatrix(
+void TetrahedronDiffusionFEMForceField<DataTypes>::doBuildStiffnessMatrix(
     core::behavior::StiffnessMatrix* matrix)
 {
     constexpr auto N = DataTypes::deriv_total_size;

Sofa/Component/Engine/Select/src/sofa/component/engine/select/BaseROI.h

@@ -66,10 +66,10 @@ class BaseROI : public core::DataEngine
     void draw(const core::visual::VisualParams* vparams) final; 
     void computeBBox(const core::ExecParams* params, bool onlyVisible) final;
 
-    virtual void roiInit() {};
-    virtual bool roiDoUpdate() { return true; };
-    virtual void roiDraw(const core::visual::VisualParams*) {};
-    virtual void roiComputeBBox(const core::ExecParams*, type::BoundingBox&) {};
+    virtual void roiInit() {}
+    virtual bool roiDoUpdate() { return true; }
+    virtual void roiDraw(const core::visual::VisualParams*) {}
+    virtual void roiComputeBBox(const core::ExecParams*, type::BoundingBox&) {}
 
 public:
     //Input

Sofa/Component/Engine/Select/src/sofa/component/engine/select/MeshBoundaryROI.cpp

@@ -46,6 +46,40 @@ MeshBoundaryROI::MeshBoundaryROI(): Inherit1()
 
 void MeshBoundaryROI::init()
 {
+    Inherit1::init();
+
+    if (!d_triangles.isSet() || !d_quads.isSet() )
+    {
+        msg_info(this) << "No topology given. Searching for a BaseMeshTopology in the current context.\n";
+        core::topology::BaseMeshTopology* topology = nullptr;
+        this->getContext()->get(topology, core::objectmodel::BaseContext::Local);
+
+        if (topology)
+        {
+            if (!d_triangles.isSet())
+            {
+                if (core::BaseData* tparent = topology->findData("triangles"))
+                {
+                    d_triangles.setParent(tparent);
+                    d_triangles.setReadOnly(true);
+                }
+            }
+            if (!d_quads.isSet())
+            {
+                if (core::BaseData* tparent = topology->findData("quads"))
+                {
+                    d_quads.setParent(tparent);
+                    d_quads.setReadOnly(true);
+                }
+            }
+        }
+    }
+
+    if (!d_triangles.isSet() && !d_quads.isSet())
+    {
+        msg_warning() << "No topology given. No mesh to process.\n";
+    }
+
     setDirtyValue();
 }
 

Sofa/Component/LinearSystem/tests/MatrixLinearSystem_test.cpp

@@ -244,7 +244,7 @@ template<class DataTypes>
 public:
     SOFA_CLASS(BuggyForceField, sofa::core::behavior::ForceField<DataTypes>);
 
-    void buildStiffnessMatrix(sofa::core::behavior::StiffnessMatrix* matrix) override
+    void doBuildStiffnessMatrix(sofa::core::behavior::StiffnessMatrix* matrix) override
     {
         auto dfdx = matrix->getForceDerivativeIn(this->mstate).withRespectToPositionsIn(this->mstate);
         dfdx(10, 20) += 0.;

Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.h

@@ -311,12 +311,12 @@ class DiagonalMass : public core::behavior::Mass<DataTypes>
 
     /// Add Mass contribution to global Matrix assembling
     void addMToMatrix(sofa::linearalgebra::BaseMatrix * mat, SReal mFact, unsigned int &offset) override;
-    void buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices) override;
-    void buildStiffnessMatrix(core::behavior::StiffnessMatrix* /* matrix */) override {}
-    void buildDampingMatrix(core::behavior::DampingMatrix* /* matrices */) override {}
+    void doBuildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices) override;
+    void doBuildStiffnessMatrix(core::behavior::StiffnessMatrix* /* matrix */) override {}
+    void doBuildDampingMatrix(core::behavior::DampingMatrix* /* matrices */) override {}
 
-    SReal getElementMass(sofa::Index index) const override;
-    void getElementMass(sofa::Index, linearalgebra::BaseMatrix *m) const override;
+    SReal doGetElementMass(sofa::Index index) const override;
+    void doGetElementMass(sofa::Index, linearalgebra::BaseMatrix *m) const override;
 
     bool isDiagonal() const override {return true;}
 

Sofa/Component/Mass/src/sofa/component/mass/DiagonalMass.inl

@@ -628,7 +628,7 @@ void DiagonalMass<DataTypes, GeometricalTypes>::addMToMatrix(sofa::linearalgebra
 }
 
 template <class DataTypes, class GeometricalTypes>
-void DiagonalMass<DataTypes, GeometricalTypes>::buildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
+void DiagonalMass<DataTypes, GeometricalTypes>::doBuildMassMatrix(sofa::core::behavior::MassMatrixAccumulator* matrices)
 {
     const MassVector &masses= d_vertexMass.getValue();
     static constexpr auto N = Deriv::total_size;
@@ -642,15 +642,15 @@ void DiagonalMass<DataTypes, GeometricalTypes>::buildMassMatrix(sofa::core::beha
 
 
 template <class DataTypes, class GeometricalTypes>
-SReal DiagonalMass<DataTypes, GeometricalTypes>::getElementMass(sofa::Index index) const
+SReal DiagonalMass<DataTypes, GeometricalTypes>::doGetElementMass(sofa::Index index) const
 {
     return SReal(d_vertexMass.getValue()[index]);
 }
 
 
 //TODO: special case for Rigid Mass
 template <class DataTypes, class GeometricalTypes>
-void DiagonalMass<DataTypes, GeometricalTypes>::getElementMass(sofa::Index index, linearalgebra::BaseMatrix *m) const
+void DiagonalMass<DataTypes, GeometricalTypes>::doGetElementMass(sofa::Index index, linearalgebra::BaseMatrix *m) const
 {
     static const linearalgebra::BaseMatrix::Index dimension = linearalgebra::BaseMatrix::Index(defaulttype::DataTypeInfo<Deriv>::size());
     if (m->rowSize() != dimension || m->colSize() != dimension) m->resize(dimension,dimension);