Apply new registration mechanism

CMakeLists.txt

@@ -73,6 +73,7 @@ sofa_find_package(SoftRobots QUIET)
 if(SoftRobots_FOUND)
     message("-- Found dependency : 'SoftRobots' plugin .")
 
+    set(COSSERAT_USES_SOFTROBOTS ON)
     list(APPEND HEADER_FILES
         ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.h
         ${SRC_ROOT_DIR}/constraint/CosseratActuatorConstraint.inl

src/Cosserat/config.h.in

@@ -42,11 +42,15 @@
 
 /** \mainpage
   This is the plugin for the Discret Cosserat Plugin
-*/
+**/
+#cmakedefine COSSERAT_USES_SOFTROBOTS
 
 namespace Cosserat
 {
     SOFA_COSSERAT_API void init();
     constexpr const char *MODULE_NAME = "@PROJECT_NAME@";
     constexpr const char *MODULE_VERSION = "@PROJECT_VERSION@";
+
+
+
 }

src/Cosserat/constraint/CosseratActuatorConstraint.cpp

@@ -28,36 +28,22 @@
 *                                                                             *
 ******************************************************************************/
 
-
-#include "CosseratActuatorConstraint.inl"
+#include <Cosserat/constraint/CosseratActuatorConstraint.inl>
 #include <Cosserat/config.h>
 #include <sofa/core/ObjectFactory.h>
 
-namespace sofa::component::constraintset
+template class SOFA_COSSERAT_API sofa::component::constraintset::CosseratActuatorConstraint<sofa::defaulttype::Vec3Types>;
+
+namespace Cosserat
 {
 
-//////////////////////////////////////CosseratActuatorConstraintConstraintResolution1Dof/////////////////////////////////////////////
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
-using namespace sofa::core;
-
-////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-// Registering the component
-// see: http://wiki.sofa-framework.org/wiki/ObjectFactory
-// 1-RegisterObject("description") + .add<> : Register the component
-// 2-.add<>(true) : Set default template
 
-int CosseratActuatorConstraintClass = RegisterObject("Simulate cable actuation.")
-.add< CosseratActuatorConstraint<Vec3Types> >(true)
-
-;
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-// Force template specialization for the most common sofa type.
-// This goes with the extern template declaration in the .h. Declaring extern template
-// avoid the code generation of the template for each compilation unit.
-// see: http://www.stroustrup.com/C++11FAQ.html#extern-templates
-//template class CosseratActuatorConstraint<Vec3Types>;
+void registerCosseratActuatorConstraint(sofa::core::ObjectFactory* factory)
+{
+      factory->registerObjects(sofa::core::ObjectRegistrationData("Simulate cable actuation.")
+            .add< sofa::component::constraintset::CosseratActuatorConstraint<Vec3Types> >(true));
+}
 
 } // namespace sofa
 

src/Cosserat/constraint/CosseratNeedleSlidingConstraint.cpp

@@ -28,27 +28,18 @@
 #include<sofa/defaulttype/VecTypes.h>
 #include <Cosserat/config.h>
 #include <sofa/core/ObjectFactory.h>
-#include "CosseratNeedleSlidingConstraint.inl"
+#include <Cosserat/constraint/CosseratNeedleSlidingConstraint.inl>
 
+template class SOFA_COSSERAT_API sofa::component::constraintset::CosseratNeedleSlidingConstraint<sofa::defaulttype::Vec3Types>;
 
-
-namespace sofa::component::constraintset
+namespace Cosserat
 {
 
-using sofa::defaulttype::Rigid3Types;
-using namespace sofa::helper;
-using namespace sofa::core;
-
-////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-// Registering the component
-// see: http://wiki.sofa-framework.org/wiki/ObjectFactory
-// 1-RegisterObject("description") + .add<> : Register the component
-// 2-.add<>(true) : Set default template
-
-int CosseratNeedleSlidingConstraintClass = RegisterObject("Simulate sliding contraints for needle insertion.")
-.add< CosseratNeedleSlidingConstraint<sofa::defaulttype::Vec3Types> >(true)
-;
-
-} // namespace sofa
+void registerCosseratNeedleSlidingConstraint(sofa::core::ObjectFactory *factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Simulate sliding constraints for needle insertion.")
+        .add<sofa::component::constraintset::CosseratNeedleSlidingConstraint<sofa::defaulttype::Vec3Types>>(true));
 
+}
 
+}

src/Cosserat/constraint/CosseratNeedleSlidingConstraint.h

@@ -42,8 +42,6 @@ namespace sofa::component::constraintset
     using sofa::core::behavior::Constraint;
     using sofa::core::objectmodel::Data;
     using sofa::core::visual::VisualParams;
-    using sofa::defaulttype::Vec3dTypes;
-    using sofa::defaulttype::Vec3fTypes;
     using sofa::helper::ReadAccessor;
     using sofa::linearalgebra::BaseVector;
     using sofa::core::MultiVecDerivId ;

src/Cosserat/constraint/CosseratSlidingConstraint.cpp

@@ -20,20 +20,23 @@
 * Contact information: [email protected]                             *
 ******************************************************************************/
 #define SOFA_COSSERAT_CPP_CosseratSlidingConstraint
-#include "CosseratSlidingConstraint.inl"
+#include <Cosserat/constraint/CosseratSlidingConstraint.inl>
 
 #include <sofa/defaulttype/VecTypes.h>
 #include <sofa/core/ObjectFactory.h>
-#include <sofa/component/statecontainer/MechanicalObject.h>
 
-namespace sofa::component::constraintset
+template class SOFA_COSSERAT_API sofa::component::constraintset::CosseratSlidingConstraint<sofa::defaulttype::Vec3Types>;
+
+
+namespace Cosserat
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int CosseratSlidingConstraintClass = core::RegisterObject("TODO-CosseratSlidingConstraint")
-        .add< CosseratSlidingConstraint<Vec3Types> >(true);
+void registerCosseratSlidingConstraint(sofa::core::ObjectFactory* factory)
+{
+  factory->registerObjects(sofa::core::ObjectRegistrationData("TODO-CosseratSlidingConstraint")
+        .add< sofa::component::constraintset::CosseratSlidingConstraint<Vec3Types> >(true));
+}
 
-template class CosseratSlidingConstraint<Vec3dTypes>;
 }

src/Cosserat/constraint/QPSlidingConstraint.cpp

@@ -29,8 +29,7 @@
 #include <Cosserat/config.h>
 #include <sofa/core/ObjectFactory.h>
 #include <iostream>
-#include "QPSlidingConstraint.inl"
-
+#include <Cosserat/constraint/QPSlidingConstraint.inl>
 
 
 //#define SOFTROBOTS_CONSTRAINT_QPSLIDINGCONSTRAINT_NOEXTERN
@@ -79,26 +78,18 @@ void SlidingForceConstraintResolution::resolution(int line, double** w, double*
         lambda[line] = m_imposedForce;
 }
 
+template class SOFA_COSSERAT_API QPSlidingConstraint<sofa::defaulttype::Vec3Types>;
+}
 
-////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-// Registering the component
-// see: http://wiki.sofa-framework.org/wiki/ObjectFactory
-// 1-RegisterObject("description") + .add<> : Register the component
-// 2-.add<>(true) : Set default template
-
-int QPSlidingConstraintClass = RegisterObject("Simulate cable actuation.")
-.add< QPSlidingConstraint<sofa::defaulttype::Vec3Types> >(true)
-
-;
-////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-// Force template specialization for the most common sofa type.
-// This goes with the extern template declaration in the .h. Declaring extern template
-// avoid the code generation of the template for each compilation unit.
-// see: http://www.stroustrup.com/C++11FAQ.html#extern-templates
-//template class QPSlidingConstraint<sofa::defaulttype::Vec3Types>;
+namespace Cosserat
+{
 
+void registerQPSlidingConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Simulate cable actuation.")
+    .add< sofa::component::constraintset::QPSlidingConstraint<sofa::defaulttype::Vec3Types> >(true));
+}
 
-} // namespace sofa
+} // namespace Cosserat
 
 

src/Cosserat/constraint/QPSlidingConstraint.h

@@ -42,8 +42,6 @@ namespace sofa::component::constraintset
 
 using sofa::core::visual::VisualParams ;
 using sofa::core::objectmodel::Data ;
-using sofa::defaulttype::Vec3dTypes ;
-using sofa::defaulttype::Vec3fTypes ;
 using sofa::linearalgebra::BaseVector ;
 using sofa::core::ConstraintParams ;
 using sofa::helper::ReadAccessor ;

src/Cosserat/engine/PointsManager.cpp

@@ -1,19 +1,35 @@
-
-#include "PointsManager.inl"
+/******************************************************************************
+*       SOFA, Simulation Open-Framework Architecture, development version     *
+*                (c) 2006-2019 INRIA, USTL, UJF, CNRS, MGH                    *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: [email protected]                             *
+******************************************************************************/
+#include <Cosserat/engine/PointsManager.inl>
 #include <sofa/core/ObjectFactory.h>
-#include <sofa/core/visual/VisualParams.h>
-#include <math.h>
-#include <assert.h> /* assert */
 
-namespace sofa::core::behavior
+namespace Cosserat
 {
 
-    using namespace sofa::defaulttype;
-
-    SOFA_DECL_CLASS(PointsManager)
-
-    int PointsManagerClass = core::RegisterObject("add and remove "
-                                                  "points from the state will taking into account the changes inside the modifier and the container")
-                                .add<PointsManager>();
+void registerPointsManager(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("add and remove "
+                                                    "points from the state will taking into account the changes inside the modifier and the container")
+                                  .add<sofa::core::behavior::PointsManager>());
+}
 
-} // namespace sofa
+} // namespace Cosserat

src/Cosserat/engine/ProjectionEngine.cpp

@@ -27,19 +27,25 @@
 #include <sofa/core/ObjectFactory.h>
 
 
-namespace sofa::component::constraintset
+namespace Cosserat
 {
 
 using namespace sofa::defaulttype;
-using namespace sofa::helper;
 
-int ProjectionEngineClass = core::RegisterObject("TODO-ProjectionEngine")
-        .add< ProjectionEngine<Vec3Types> >(true);
+void registerProjectionEngine(sofa::core::ObjectFactory *factory) {
+  factory->registerObjects(
+      sofa::core::ObjectRegistrationData("TODO-ProjectionEngine")
+          .add<sofa::component::constraintset::ProjectionEngine<Vec3Types>>(
+              true));
+}
 
-template class ProjectionEngine<Vec3dTypes>;
+}
 
+namespace sofa::component::constraintset
+{
+    template class SOFA_COSSERAT_API ProjectionEngine<defaulttype::Vec3Types>;
+}
 
-} // namespace sofa::component::constraintset
 
 
 

src/Cosserat/forcefield/BeamHookeLawForceField.cpp

@@ -170,26 +170,23 @@ void BeamHookeLawForceField<defaulttype::Vec6Types>::addKToMatrix(const Mechanic
     }
 }
 
-////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-// Registering the component
-// see: http://wiki.sofa-framework.org/wiki/ObjectFactory
-// 1-RegisterObject("description") + .add<> : Register the component
-// 2-.add<>(true) : Set default template
 using namespace sofa::defaulttype;
 
-int BeamHookeLawForceFieldClass = core::RegisterObject("This component is used to compute internal stress for torsion (along x) and bending (y and z)")
-                                      .add<BeamHookeLawForceField<Vec3Types> >(true)
-                                      .add<BeamHookeLawForceField<Vec6Types> >()
+template class SOFA_COSSERAT_API BeamHookeLawForceField<Vec3Types>;
+template class SOFA_COSSERAT_API BeamHookeLawForceField<Vec6Types>;
 
-    ;
-//////////////////////////////////////////////////////////////////////////////////////////////////////
+}
 
-// Force template specialization for the most common sofa floating point related type.
-// This goes with the extern template declaration in the .h. Declaring extern template
-// avoid the code generation of the template for each compilation unit.
-// see: http://www.stroustrup.com/C++11FAQ.html#extern-templates
+namespace Cosserat
+{
 
-template class BeamHookeLawForceField<Vec3Types>;
-template class BeamHookeLawForceField<Vec6Types>;
+void registerBeamHookeLawForceField(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(
+        sofa::core::ObjectRegistrationData(
+            "This component is used to compute internal stress for torsion (along x) and bending (y and z)")
+            .add<sofa::component::forcefield::BeamHookeLawForceField<sofa::defaulttype::Vec3Types>>(true)
+            .add<sofa::component::forcefield::BeamHookeLawForceField<sofa::defaulttype::Vec6Types>>());
+}
 
-} // forcefield
+}

src/Cosserat/forcefield/BeamHookeLawForceFieldRigid.cpp

@@ -34,30 +34,22 @@
 
 using namespace sofa::defaulttype;
 
-namespace sofa::component::forcefield
+namespace Cosserat
 {
 
+void registerBeamHookeLawForceFieldRigid(sofa::core::ObjectFactory *factory) {
+  factory->registerObjects(
+      sofa::core::ObjectRegistrationData(
+          "This component is used to compute internal stress for torsion "
+          "(along x) and bending (y and z)")
+          .add<sofa::component::forcefield::BeamHookeLawForceFieldRigid<
+              Vec6Types>>());
+}
 
-////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-// Registering the component
-// see: http://wiki.sofa-framework.org/wiki/ObjectFactory
-// 1-RegisterObject("description") + .add<> : Register the component
-// 2-.add<>(true) : Set default template
-
-
-int BeamHookeLawForceFieldRigidClass = core::RegisterObject("This component is used to compute internal stress for torsion "
-                                                       "(along x) and bending (y and z)")
-        .add<BeamHookeLawForceFieldRigid<Vec6Types> >()
-        ;
-//////////////////////////////////////////////////////////////////////////////////////////////////////
-
-// Force template specialization for the most common sofa floating point related type.
-// This goes with the extern template declaration in the .h. Declaring extern template
-// avoid the code generation of the template for each compilation unit.
-// see: http://www.stroustrup.com/C++11FAQ.html#extern-templates
-
-template class SOFA_COSSERAT_API BeamHookeLawForceFieldRigid<Vec6Types>;
-
+}
 
+namespace sofa::component::forcefield
+{
+    template class SOFA_COSSERAT_API BeamHookeLawForceFieldRigid<Vec6Types>;
 
 } // sofa::component::forcefield