[Sofa.Core] Merge BaseContext and Context

Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp

@@ -58,7 +58,7 @@ using sofa::helper::logging::MessageDispatcher ;
 #include <sofa/helper/logging/ClangMessageHandler.h>
 using sofa::helper::logging::ClangMessageHandler ;
 
-#include <sofa/simulation/graph/DAGNode.h>
+#include <sofa/simulation/Node.h>
 
 #include <sofa/testing/BaseSimulationTest.h>
 using sofa::testing::BaseSimulationTest;
@@ -101,7 +101,7 @@ bool TestSphere::rigidRigid1(){
     angles[1] = 0;
     angles[2] = 0;
 
-    Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+    Node::SPtr scn = New<sofa::simulation::Node>();
     //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere
@@ -157,7 +157,7 @@ bool TestSphere::rigidRigid2(){
     angles_2[1] = 0;
     angles_2[2] = 0;
 
-   Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+   Node::SPtr scn = New<sofa::simulation::Node>();
                                         //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere
@@ -204,7 +204,7 @@ bool TestSphere::rigidSoft2(){
     angles[1] = M_PI/4;
     angles[2] = M_PI/3;
 
-   Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+   Node::SPtr scn = New<sofa::simulation::Node>();
                                         //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere
@@ -251,7 +251,7 @@ bool TestSphere::rigidSoft1(){
     angles[1] = 0;
     angles[2] = 0;
 
-   Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+   Node::SPtr scn = New<sofa::simulation::Node>();
                                         //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere
@@ -299,7 +299,7 @@ bool TestSphere::rigidSoft3(){
     angles[1] = M_PI/4;
     angles[2] = M_PI/3;
 
-   Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+   Node::SPtr scn = New<sofa::simulation::Node>();
                                         //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere
@@ -346,7 +346,7 @@ bool TestSphere::rigidSoft4(){
     angles[1] = 0;
     angles[2] = 0;
 
-   Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+   Node::SPtr scn = New<sofa::simulation::Node>();
                                         //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere
@@ -384,7 +384,7 @@ bool TestSphere::rigidSoft4(){
 
 
 bool TestSphere::softSoft1(){
-   Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+   Node::SPtr scn = New<sofa::simulation::Node>();
                                         //the center of this OBB is (0,0,-1) and its extent is 1
 
     //we construct the falling sphere

Sofa/Component/Collision/Geometry/tests/Triangle_test.cpp

@@ -47,7 +47,7 @@ using sofa::helper::logging::MessageDispatcher;
 #include <sofa/testing/BaseTest.h>
 using sofa::testing::BaseTest;
 
-#include <sofa/simulation/graph/DAGNode.h>
+#include <sofa/simulation/Node.h>
 
 #include <sofa/component/collision/testing/MeshPrimitiveCreator.h>
 #include <sofa/component/collision/testing/SpherePrimitiveCreator.h>
@@ -82,7 +82,7 @@ bool TestTriangle::rigidTriangle(sofa::component::collision::detection::intersec
     angles[1] = 0;
     angles[2] = 0;
 
-    Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+    Node::SPtr scn = New<sofa::simulation::Node>();
     //the center of this OBB is (0,0,-1) and its extent is 1
 
 //we construct the falling sphere
@@ -121,7 +121,7 @@ bool TestTriangle::rigidTriangle(sofa::component::collision::detection::intersec
 
 template <class Intersector>
 bool TestTriangle::softTriangle(sofa::component::collision::detection::intersection::BaseProximityIntersection::SPtr intersectionMethod, Intersector& bi) {
-    Node::SPtr scn = New<sofa::simulation::graph::DAGNode>();
+    Node::SPtr scn = New<sofa::simulation::Node>();
     //the center of this OBB is (0,0,-1) and its extent is 1
 
 //we construct the falling sphere

Sofa/Component/Collision/Response/Mapper/tests/BaryMapper_test.cpp

@@ -20,7 +20,7 @@
 * Contact information: [email protected]                             *
 ******************************************************************************/
 
-#include <sofa/simulation/graph/DAGNode.h>
+#include <sofa/simulation/Node.h>
 #include <sofa/component/collision/response/mapper/BarycentricContactMapper.h>
 #include <sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.h>
 #include <sofa/component/topology/container/dynamic/PointSetTopologyContainer.h>
@@ -84,7 +84,7 @@ MeshTopology* BaryMapperTest::initMesh(NodePtr &father){
 
 bool BaryMapperTest::test_inside(SReal alpha,SReal beta){
     initTriPts();
-    sofa::simulation::Node::SPtr father = New<sofa::simulation::graph::DAGNode>();
+    sofa::simulation::Node::SPtr father = New<sofa::simulation::Node>();
     MeshTopology * topo = initMesh(father);
     //makeTri()
     const component::mapping::linear::BarycentricMapperMeshTopology<DataTypes, DataTypes>::SPtr mapper = sofa::core::objectmodel::New<component::mapping::linear::BarycentricMapperMeshTopology<DataTypes, DataTypes> >(topo, (component::topology::container::dynamic::PointSetTopologyContainer*)0x0);
@@ -103,7 +103,7 @@ bool BaryMapperTest::test_inside(SReal alpha,SReal beta){
 
 bool BaryMapperTest::test_outside(int index){
     initTriPts();
-    sofa::simulation::Node::SPtr father = New<sofa::simulation::graph::DAGNode>();
+    sofa::simulation::Node::SPtr father = New<sofa::simulation::Node>();
     MeshTopology * topo = initMesh(father);
     //makeTri()
     const component::mapping::linear::BarycentricMapperMeshTopology<DataTypes, DataTypes>::SPtr mapper = sofa::core::objectmodel::New<component::mapping::linear::BarycentricMapperMeshTopology<DataTypes, DataTypes> >(topo,(component::topology::container::dynamic::PointSetTopologyContainer*)0x0);

Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp

@@ -22,7 +22,7 @@
 #include <sofa/testing/BaseTest.h>
 #include <sofa/component/linearsystem/MappingGraph.h>
 #include <sofa/core/MechanicalParams.h>
-#include <sofa/simulation/graph/DAGNode.h>
+#include <sofa/simulation/Node.h>
 #include <sofa/simpleapi/SimpleApi.h>
 #include <sofa/component/statecontainer/MechanicalObject.h>
 #include <sofa/component/mapping/linear/SubsetMapping.h>
@@ -65,7 +65,7 @@ TEST(MappingGraph, nullRootNode)
 
 TEST(MappingGraph, emptyRootNode)
 {
-    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     sofa::component::linearsystem::MappingGraph graph;
     graph.build(sofa::core::MechanicalParams::defaultInstance(), root.get());
@@ -85,7 +85,7 @@ TEST(MappingGraph, emptyRootNode)
 
 TEST(MappingGraph, oneMechanicalObject)
 {
-    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     const auto mstate = sofa::core::objectmodel::New<sofa::component::statecontainer::MechanicalObject<sofa::defaulttype::Vec3Types> >();
     root->addObject(mstate);
@@ -107,7 +107,7 @@ TEST(MappingGraph, oneMechanicalObject)
 
 TEST(MappingGraph, twoMechanicalObject)
 {
-    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     const auto mstate1 = sofa::core::objectmodel::New<sofa::component::statecontainer::MechanicalObject<sofa::defaulttype::Vec3Types> >();
     root->addObject(mstate1);
@@ -135,7 +135,7 @@ TEST(MappingGraph, twoMechanicalObject)
 
 TEST(MappingGraph, oneMapping)
 {
-    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     const auto mstate1 = sofa::core::objectmodel::New<sofa::component::statecontainer::MechanicalObject<sofa::defaulttype::Vec3Types> >();
     root->addObject(mstate1);

Sofa/Component/LinearSystem/tests/MatrixLinearSystem_test.cpp

@@ -30,7 +30,7 @@
 #include <sofa/simulation/Node.h>
 
 #include <sofa/component/statecontainer/MechanicalObject.h>
-#include <sofa/simulation/graph/DAGNode.h>
+#include <sofa/simulation/Node.h>
 #include <sofa/component/solidmechanics/spring/SpringForceField.h>
 #include <sofa/core/behavior/ForceField.h>
 
@@ -62,7 +62,7 @@ TEST(LinearSystem, MatrixSystem_noContext)
 
 TEST(LinearSystem, MatrixSystem)
 {
-    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     using MatrixType = sofa::linearalgebra::CompressedRowSparseMatrix<SReal>;
     using MatrixSystem = sofa::component::linearsystem::MatrixLinearSystem<MatrixType, sofa::linearalgebra::FullVector<SReal> >;
@@ -92,7 +92,7 @@ TEST(LinearSystem, MatrixSystem_springForceField)
     // required to be able to use EXPECT_MSG_NOEMIT and EXPECT_MSG_EMIT
     sofa::helper::logging::MessageDispatcher::addHandler(sofa::testing::MainGtestMessageHandler::getInstance() ) ;
 
-    sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     using MatrixType = sofa::linearalgebra::FullMatrix<SReal>;
     using MatrixSystem = sofa::component::linearsystem::MatrixLinearSystem<MatrixType, sofa::linearalgebra::FullVector<SReal> >;
@@ -332,7 +332,7 @@ TEST(LinearSystem, MatrixSystem_buggyForceField)
     // required to be able to use EXPECT_MSG_NOEMIT and EXPECT_MSG_EMIT
     sofa::helper::logging::MessageDispatcher::addHandler(sofa::testing::MainGtestMessageHandler::getInstance() ) ;
 
-    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::graph::DAGNode>();
+    const sofa::simulation::Node::SPtr root = sofa::core::objectmodel::New<sofa::simulation::Node>();
 
     using MatrixSystem = sofa::component::linearsystem::MatrixLinearSystem<EmptyMatrix, sofa::linearalgebra::FullVector<SReal> >;
     const MatrixSystem::SPtr linearSystem = sofa::core::objectmodel::New<MatrixSystem>();

Sofa/framework/Core/src/sofa/core/fwd.h

@@ -110,6 +110,7 @@ class BaseInteractionForceField;
 class BaseProjectiveConstraintSet;
 class BaseInteractionProjectiveConstraintSet;
 class BaseInteractionConstraint;
+class BaseMechanicalState;
 class LinearSolver;
 class MultiMatrixAccessor;
 

Sofa/framework/Core/src/sofa/core/objectmodel/BaseContext.cpp

@@ -33,7 +33,19 @@ namespace sofa::core::objectmodel
 {
 
 BaseContext::BaseContext()
-{}
+    : is_activated(initData(&is_activated, true, "activated", "To Activate a node"))
+    , worldGravity_(initData(&worldGravity_, Vec3(SReal(0),SReal(-9.81),SReal(0)),"gravity","Gravity in the world coordinate system"))
+    , dt_(initData(&dt_,SReal(0.01),"dt","Time step"))
+    , time_(initData(&time_,SReal(0.),"time","Current time"))
+    , animate_(initData(&animate_,false,"animate","Animate the Simulation(applied at initialization only)"))
+    , d_isSleeping(initData(&d_isSleeping, false, "sleeping", "The node is sleeping, and thus ignored by visitors."))
+    , d_canChangeSleepingState(initData(&d_canChangeSleepingState, false, "canChangeSleepingState", "The node can change its sleeping state."))
+{
+    animate_.setReadOnly(true);
+    dt_.setReadOnly(true);
+    time_.setReadOnly(true);
+}
+
 
 BaseContext::~BaseContext()
 {}
@@ -44,53 +56,109 @@ BaseContext* BaseContext::getDefault()
     return &defaultContext;
 }
 
-
-
 ////////////////
 // Parameters //
 ////////////////
 
+/// State of the context
+void BaseContext::setActive(bool val) { is_activated.setValue(val); }
+
 /// The Context is active
-bool BaseContext::isActive() const { return true; }
+bool BaseContext::isActive() const { return is_activated.getValue(); }
+
+
+/// Sleeping state of the context
+void BaseContext::setSleeping(bool val){ d_isSleeping.setValue(val); }
 
 /// The Context is not sleeping by default
-bool BaseContext::isSleeping() const { return false; }
+bool BaseContext::isSleeping() const { return d_isSleeping.getValue(); }
 
 /// The Context can not change its sleeping state by default
-bool BaseContext::canChangeSleepingState() const { return false; }
+bool BaseContext::canChangeSleepingState() const { return d_canChangeSleepingState.getValue(); }
 
+/// Sleeping state change of the context
+void BaseContext::setChangeSleepingState(bool val)
+{
+    d_canChangeSleepingState.setValue(val);
+}
+
+/// Gravity vector
+void BaseContext::setGravity(const Vec3& g)
+{
+    worldGravity_ .setValue(g);
+}
 
 /// Gravity in the world coordinate system
 const BaseContext::Vec3& BaseContext::getGravity() const
 {
-    static const Vec3 G(SReal(0),SReal(-9.81), SReal(0));
-    return G;
+    return worldGravity_.getValue();
+}
+
+/// Simulation timestep
+void BaseContext::setDt(SReal dt)
+{
+    dt_.setValue(dt);
 }
 
 /// Simulation timestep
 SReal BaseContext::getDt() const
 {
-    return 0.01;
+    return dt_.getValue();
+}
+
+/// Simulation time
+void BaseContext::setTime(SReal t)
+{
+    time_.setValue(t);
 }
 
 /// Simulation time
 SReal BaseContext::getTime() const
 {
-    return 0.0;
+    return time_.getValue();
+}
+
+/// Animation flag
+void BaseContext::setAnimate(const bool val)
+{
+    animate_.setValue(val);
 }
 
 /// Animation flag
 bool BaseContext::getAnimate() const
 {
-    return true;
+    return animate_.getValue();
 }
 
+/// Display flags: Gravity
+void BaseContext::setDisplayWorldGravity(bool val)
+{
+    worldGravity_.setDisplayed(val);
+}
 
 BaseContext* BaseContext::getRootContext() const
 {
     return const_cast<BaseContext*>(this);
 }
 
+//======================
+void BaseContext::copyContext(const BaseContext& c)
+{
+    // BUGFIX 12/01/06 (Jeremie A.): Can't use operator= on the class as it will copy other data in the BaseContext class (such as name)...
+    // *this = c;
+    copySimulationContext(c);
+}
+
+
+void BaseContext::copySimulationContext(const BaseContext& c)
+{
+    worldGravity_.setValue(c.getGravity());  ///< Gravity IN THE WORLD COORDINATE SYSTEM.
+    setDt(c.getDt());
+    setTime(c.getTime());
+    setAnimate(c.getAnimate());
+}
+
+
 ////////////////
 // Containers //
 ////////////////