sofa-framework · jnbrunet · Feb 2, 2021 · Jan 29, 2021 · Jan 29, 2021 · Feb 1, 2021
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -30,7 +30,7 @@ jobs:
       - name: Download SOFA nightly build
         run:  |
           curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries-v20.12/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/MacOS/*zip*/MacOS.zip
+          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/MacOS/*zip*/MacOS.zip
 
       - name: Install SOFA nightly build
         run: |
@@ -108,7 +108,7 @@ jobs:
       - name: Download SOFA nightly build
         run:  |
           curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries-v20.12/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/MacOS/*zip*/MacOS.zip
+          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/MacOS/*zip*/MacOS.zip
 
       - name: Install SOFA nightly build
         run: |

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -45,7 +45,7 @@ jobs:
       - name: Download SOFA nightly build
         run:  |
           curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries-v20.12/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/Linux/*zip*/Linux.zip
+          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/Linux/*zip*/Linux.zip
 
       - name: Install SOFA nightly build
         run:  |
@@ -123,7 +123,7 @@ jobs:
       - name: Download SOFA nightly build
         run:  |
           curl --output sofa.zip -L \
-          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries-v20.12/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/Linux/*zip*/Linux.zip
+          https://ci.inria.fr/sofa-ci-dev/job/nightly-generate-binaries/lastSuccessfulBuild/CI_SCOPE=binaries_minimal/artifact/Linux/*zip*/Linux.zip
 
       - name: Install SOFA nightly build
         run: |

diff --git a/Plugin/CMakeLists.txt b/Plugin/CMakeLists.txt
@@ -36,7 +36,7 @@ endif(SP3_BUILD_TEST)
 
 find_package(pybind11 CONFIG REQUIRED)
 find_package(SofaFramework REQUIRED)
-find_package(SofaSimulation REQUIRED)
+find_package(SofaSimulationGraph REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
 add_library(SofaPython3::${PROJECT_NAME} ALIAS ${PROJECT_NAME})

diff --git a/Plugin/PluginConfig.cmake.in b/Plugin/PluginConfig.cmake.in
@@ -4,7 +4,7 @@
 
 find_package(pybind11 CONFIG REQUIRED)
 find_package(SofaFramework REQUIRED)
-find_package(SofaSimulation REQUIRED)
+find_package(SofaSimulationGraph REQUIRED)
 
 # If we are importing this config file and the target is not yet there this is indicating that
 # target is an imported one. So we include it

diff --git a/Plugin/src/SofaPython3/PythonEnvironment.h b/Plugin/src/SofaPython3/PythonEnvironment.h
@@ -22,7 +22,7 @@
 
 #include <vector>
 #include <string>
-
+#include <sofa/helper/logging/FileInfo.h>
 
 /// Fixes compile errors:
 /// removing all slots macros is necessary if embedded in a Qt project

diff --git a/Plugin/src/SofaPython3/SceneLoaderPY3.cpp b/Plugin/src/SofaPython3/SceneLoaderPY3.cpp
@@ -33,9 +33,11 @@ using sofa::simulation::graph::DAGNode;
 #include <pybind11/embed.h>
 namespace py = pybind11;
 
-using namespace sofa::core::objectmodel;
+#include <sofa/helper/system/SetDirectory.h>
 using sofa::helper::system::SetDirectory;
 
+using namespace sofa::core::objectmodel;
+
 MSG_REGISTER_CLASS(sofapython3::SceneLoaderPY3, "SofaPython3::SceneLoader")
 
 PYBIND11_DECLARE_HOLDER_TYPE(Base, sofa::core::sptr<Base>, true)

diff --git a/bindings/BindingsConfig.cmake.in b/bindings/BindingsConfig.cmake.in
@@ -18,10 +18,14 @@ find_package(SofaDeformable REQUIRED)
 # Required by the bindings Sofa.Components, Sofa.Core, Sofa.Helper, Sofa.Simulation, Sofa.Types, SofaGui
 find_package(SofaFramework REQUIRED)
 
-# Required by the bindings Sofa.Core, Sofa.Simulation, SofaRuntime
-find_package(SofaSimulation REQUIRED)
+# Required by the bindings Sofa.Simulation, SofaRuntime
+find_package(SofaSimulationGraph REQUIRED)
+
+# Required by the bindings SofaRuntime
+find_package(SofaSimulationCommon REQUIRED)
 
 # Required by the bindings SofaGui
+find_package(Sofa.GL QUIET)
 find_package(SofaGui REQUIRED)
 
 # Required by the bindings Sofa.Core

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseObject.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseObject.cpp
@@ -29,6 +29,7 @@
 // Imports for getCategories
 #include <sofa/core/objectmodel/ContextObject.h>
 #include <sofa/core/visual/VisualModel.h>
+#include <sofa/core/BaseMapping.h>
 #include <sofa/core/BehaviorModel.h>
 #include <sofa/core/CollisionModel.h>
 #include <sofa/core/behavior/BaseMechanicalState.h>

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_ForceField.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_ForceField.cpp
@@ -28,6 +28,7 @@
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/behavior/ForceField.h>
 #include <sofa/core/MechanicalParams.h>
+#include <sofa/core/behavior/MultiMatrixAccessor.h>
 
 #include <SofaPython3/PythonEnvironment.h>
 using sofapython3::PythonEnvironment;

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_PythonScriptEvent.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_PythonScriptEvent.cpp
@@ -21,6 +21,7 @@
 #include <SofaPython3/Sofa/Core/Binding_PythonScriptEvent.h>
 #include <SofaPython3/PythonFactory.h>
 #include <sofa/core/objectmodel/Event.h>
+#include <sofa/simulation/Node.h>
 
 /// Makes an alias for the pybind11 namespace to increase readability.
 namespace py { using namespace pybind11; }
@@ -30,7 +31,7 @@ using namespace pybind11::literals;
 
 SOFA_EVENT_CPP(PythonScriptEvent)
 
-PythonScriptEvent::PythonScriptEvent(sofa::simulation::Node::SPtr sender, const char* eventName, py::object userData)
+PythonScriptEvent::PythonScriptEvent(sofa::core::sptr<sofa::simulation::Node> sender, const char* eventName, py::object userData)
     : sofa::core::objectmodel::ScriptEvent(sender,eventName)
     , m_userData(userData){}
 

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_PythonScriptEvent.h b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_PythonScriptEvent.h
@@ -22,6 +22,7 @@
 
 #include <pybind11/pybind11.h>
 #include <sofa/core/objectmodel/ScriptEvent.h>
+#include <sofa/simulation/Node.h>
 
 #include <SofaPython3/config.h>
 
@@ -32,7 +33,7 @@ class PythonScriptEvent : public sofa::core::objectmodel::ScriptEvent
 {
     SOFA_EVENT_H(PythonScriptEvent)
 public:
-    PythonScriptEvent(sofa::simulation::Node::SPtr sender, const char* eventName, pybind11::object userData=pybind11::none());
+    PythonScriptEvent(sofa::core::sptr<sofa::simulation::Node> sender, const char* eventName, pybind11::object userData=pybind11::none());
     ~PythonScriptEvent() override;
     pybind11::object getUserData() const { return m_userData; }
     inline static const char* GetClassName() { return "PythonScriptEvent"; }

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt b/bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt
@@ -70,7 +70,6 @@ if (NOT TARGET SofaPython3::Plugin)
 endif()
 
 find_package(SofaFramework REQUIRED)
-find_package(SofaSimulation REQUIRED)
 find_package(SofaBaseCollision REQUIRED)
 find_package(SofaBaseVisual REQUIRED)
 find_package(SofaBaseUtils REQUIRED)

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Simulation/CMakeLists.txt b/bindings/Sofa/src/SofaPython3/Sofa/Simulation/CMakeLists.txt
@@ -13,7 +13,7 @@ if (NOT TARGET SofaPython3::Plugin)
 endif()
 
 find_package(SofaFramework REQUIRED)
-find_package(SofaSimulation REQUIRED)
+find_package(SofaSimulationGraph REQUIRED)
 
 SP3_add_python_module(
         TARGET       ${PROJECT_NAME}

diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp
@@ -21,11 +21,13 @@
 #include <pybind11/pybind11.h>
 
 #include <sofa/simulation/Simulation.h>
+#include <sofa/simulation/Node.h>
 using sofa::simulation::Simulation;
 
 #include <SofaSimulationGraph/DAGSimulation.h>
 using sofa::simulation::graph::DAGSimulation;
 
+#include <sofa/simulation/Node.h>
 using sofa::simulation::Node;
 using namespace pybind11::literals;
 

diff --git a/bindings/SofaGui/CMakeLists.txt b/bindings/SofaGui/CMakeLists.txt
@@ -22,5 +22,5 @@ SP3_add_python_module(
     DESTINATION  Sofa
     SOURCES      ${SOURCE_FILES}
     HEADERS      ${HEADER_FILES}
-    DEPENDS      SofaCore SofaGuiCommon SofaGuiMain SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core
+    DEPENDS      SofaCore SofaGuiCommon SofaGui SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core
 )
diff --git a/bindings/SofaGui/src/SofaPython3/SofaGui/Binding_GUIManager.cpp b/bindings/SofaGui/src/SofaPython3/SofaGui/Binding_GUIManager.cpp
@@ -23,6 +23,7 @@
 #include <SofaPython3/SofaGui/Binding_GUIManager.h>
 #include <sofa/gui/GUIManager.h>
 #include <sofa/gui/BaseGUI.h>
+#include <sofa/simulation/Node.h>
 
 /// Makes an alias for the pybind11 namespace to increase readability.
 namespace py { using namespace pybind11; }

diff --git a/bindings/SofaGui/src/SofaPython3/SofaGui/Module_SofaGui.cpp b/bindings/SofaGui/src/SofaPython3/SofaGui/Module_SofaGui.cpp
@@ -20,7 +20,7 @@
 
 #include <pybind11/pybind11.h>
 
-#include <sofa/gui/Main.h>
+#include <SofaGui/initSofaGui.h>
 #include <sofa/core/init.h>
 
 #include "Binding_BaseGui.h"
@@ -57,7 +57,7 @@ PYBIND11_MODULE(Gui, m) {
 
     // This is needed to make sure the GuiMain library (libSofaGuiMain.so) is correctly
     // linked since the GUIs are statically created during the load of the library.
-    sofa::gui::initMain();
+    sofa::gui::initSofaGui();
     sofa::core::init();
 
     moduleAddBaseGui(m);

diff --git a/bindings/SofaRuntime/CMakeLists.txt b/bindings/SofaRuntime/CMakeLists.txt
@@ -10,7 +10,8 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer_doc.h
 )
 
-find_package(SofaSimulation REQUIRED)
+find_package(SofaSimulationGraph REQUIRED)
+find_package(SofaSimulationCommon REQUIRED)
 
 SP3_add_python_package(
     SOURCE_DIRECTORY

diff --git a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer.cpp b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer.cpp
@@ -19,11 +19,13 @@
 ******************************************************************************/
 
 #include <sofa/helper/AdvancedTimer.h>
+#include <stack>
 using sofa::helper::AdvancedTimer;
 
 #include "Submodule_Timer.h"
 #include "Submodule_Timer_doc.h"
 
+#include <stack>
 
 namespace sofapython3
 {

diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Vec.cpp b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Vec.cpp
@@ -21,6 +21,8 @@
 #include "Binding_Vec.h"
 #include <functional>
 #include <pybind11/operators.h>
+#include <sstream>
+using sofa::type::Vec;
 
 #define BINDING_VEC_MAKE_NAME(N, T)                                            \
     std::string(std::string("Vec") + std::to_string(N) + typeid(T).name())
@@ -188,7 +190,7 @@ py::class_<Vec<N,T>> addVec(py::module &m)
     p.def("normalized", &VecClass::normalized);
     p.def("sum", &VecClass::sum);
     p.def("dot", [](const VecClass &self, const VecClass &b) {
-        return sofa::defaulttype::dot(self, b);
+        return sofa::type::dot(self, b);
     });
 
 
@@ -217,7 +219,15 @@ T addCross(T p)
 {
     p.def("cross", [](typename T::type& a, typename T::type& b)
     {
-        return sofa::defaulttype::cross(a,b);
+            if constexpr (T::type::spatial_dimensions == 2 || T::type::spatial_dimensions == 3)
+            {
+                return sofa::type::cross(a, b);
+            }
+            else
+            {
+                // can only call cross with vec2 or vec3
+                return T();
+            }
     });
     return p;
 }

diff --git a/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Vec.h b/bindings/SofaTypes/src/SofaPython3/SofaTypes/Binding_Vec.h
@@ -23,12 +23,15 @@
 namespace py = pybind11;
 using namespace pybind11::literals;
 
-#include <sofa/defaulttype/Vec.h>
-using sofa::defaulttype::Vec;
+#include <sofa/type/Vec.h>
+namespace sofa::type {
+template <unsigned int N, class T>
+class Vec;
+}
 
 namespace pyVec {
-template <sofa::Size N, class T>
-std::string __str__(const Vec<N, T> &self, bool repr = false);
+template <unsigned int N, class T>
+std::string __str__(const sofa::type::Vec<N, T> &self, bool repr = false);
 } // namespace pyVec
 
 void moduleAddVec(py::module &m);