Skip to content

[Collision] Set Data & Links to public in Collision models. Adopt state accessor for mstate. #5969

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
th-skam wants to merge 8 commits into
base: master
Choose a base branch
from
Open

[Collision] Set Data & Links to public in Collision models. Adopt state accessor for mstate. #5969

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
0ace22b
[Collision] Set Data and SingleLinks to public in PointCollisionModel
th-skam Feb 25, 2026
b785254
Re-order for warnings
th-skam Aug 10, 2026
ab8354e
Public other Data and Links
th-skam Aug 10, 2026
ced91d7
Remove duplicate topology pointer in LineCollisionModel
th-skam Aug 10, 2026
fddeeaf
Directly use l_topology
th-skam Aug 10, 2026
8c48894
SingleStateAccessor for {Point, Line, Triangle, Cylinder, Ray, Sphere…
th-skam Aug 10, 2026
707cfd0
Direct access to mstate intead of getter
th-skam Aug 10, 2026
c572de7
Revert m_normals rename to not disturb MOR plugin
th-skam Aug 10, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 5 additions & 7 deletions ...mponent/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@

#include <sofa/core/CollisionModel.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/core/behavior/MechanicalState.h>
#include <sofa/core/behavior/SingleStateAccessor.h>

namespace sofa::component::collision::geometry
{
Expand Down Expand Up @@ -71,10 +71,10 @@ using Cylinder = TCylinder<sofa::defaulttype::Rigid3Types>;
*CylinderModel templated by RigidTypes (frames), direction is given by Y direction of the frame.
*/
template< class TDataTypes>
class CylinderCollisionModel : public core::CollisionModel
class CylinderCollisionModel : public core::CollisionModel, public virtual core::behavior::SingleStateAccessor<TDataTypes>
{
public:
SOFA_CLASS(SOFA_TEMPLATE(CylinderCollisionModel, TDataTypes), core::CollisionModel);
SOFA_CLASS2(SOFA_TEMPLATE(CylinderCollisionModel, TDataTypes), core::CollisionModel, SOFA_TEMPLATE(core::behavior::SingleStateAccessor, TDataTypes));

typedef TDataTypes DataTypes;
typedef DataTypes InDataTypes;
Expand All @@ -99,7 +99,7 @@ class CylinderCollisionModel : public core::CollisionModel

protected:
CylinderCollisionModel();
CylinderCollisionModel(core::behavior::MechanicalState<DataTypes>* mstate );
CylinderCollisionModel(core::behavior::MechanicalState<DataTypes>* _mstate );

public:
void init() override;
Expand All @@ -111,7 +111,7 @@ class CylinderCollisionModel : public core::CollisionModel

void draw(const core::visual::VisualParams* vparams,sofa::Index index) override;

core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return m_mstate; }
core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return this->mstate; }

Real radius(sofa::Index index) const;

Expand All @@ -138,8 +138,6 @@ class CylinderCollisionModel : public core::CollisionModel
Data<VecReal>& writeHeights();
Data<VecAxisCoord>& writeLocalAxes();

protected:
core::behavior::MechanicalState<DataTypes>* m_mstate;
};


Expand Down
27 changes: 11 additions & 16 deletions ...onent/Collision/Geometry/src/sofa/component/collision/geometry/CylinderCollisionModel.inl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,17 +40,16 @@ CylinderCollisionModel<DataTypes>::CylinderCollisionModel():
d_cylinder_heights(initData(&d_cylinder_heights,"heights","The cylinder heights")),
d_default_radius(initData(&d_default_radius,Real(0.5),"defaultRadius","The default radius")),
d_default_height(initData(&d_default_height,Real(2),"defaultHeight","The default height")),
d_default_local_axis(initData(&d_default_local_axis,typename DataTypes::Vec3(0.0, 1.0, 0.0),"defaultLocalAxis", "The default local axis cylinder is modeled around")),
m_mstate(nullptr)
d_default_local_axis(initData(&d_default_local_axis,typename DataTypes::Vec3(0.0, 1.0, 0.0),"defaultLocalAxis", "The default local axis cylinder is modeled around"))
{
enum_type = CYLINDER_TYPE;
}

template<class DataTypes>
CylinderCollisionModel<DataTypes>::CylinderCollisionModel(core::behavior::MechanicalState<DataTypes>* mstate)
CylinderCollisionModel<DataTypes>::CylinderCollisionModel(core::behavior::MechanicalState<DataTypes>* ms)
: CylinderCollisionModel()
{
m_mstate = mstate;
this->mstate = ms;
enum_type = CYLINDER_TYPE;
}

Expand Down Expand Up @@ -101,16 +100,12 @@ void CylinderCollisionModel<DataTypes>::resize(sofa::Size size)
template<class DataTypes>
void CylinderCollisionModel<DataTypes>::init()
{
this->CollisionModel::init();
m_mstate = dynamic_cast< core::behavior::MechanicalState<DataTypes>* > (getContext()->getMechanicalState());
if (m_mstate==nullptr)
{
msg_error() << "CylinderCollisionModel requires a Rigid Mechanical Model";
d_componentState.setValue(ComponentState::Invalid);
Inherit2::init();

if (d_componentState.getValue() == ComponentState::Invalid)
return;
}

resize(m_mstate->getSize());
resize(this->mstate->getSize());
}


Expand All @@ -120,7 +115,7 @@ void CylinderCollisionModel<DataTypes>::computeBoundingTree(int maxDepth)
using namespace sofa::type;
using namespace sofa::defaulttype;
CubeCollisionModel* cubeModel = createPrevious<CubeCollisionModel>();
const auto ncyl = m_mstate->getSize();
const auto ncyl = this->mstate->getSize();

bool updated = false;
if (ncyl != size)
Expand Down Expand Up @@ -198,7 +193,7 @@ typename CylinderCollisionModel<DataTypes>::Real CylinderCollisionModel< DataTyp

template<class DataTypes>
const typename CylinderCollisionModel<DataTypes>::Coord & CylinderCollisionModel< DataTypes >::center(sofa::Index i)const{
return DataTypes::getCPos((m_mstate->read(core::vec_id::read_access::position)->getValue())[i]);
return DataTypes::getCPos((this->mstate->read(core::vec_id::read_access::position)->getValue())[i]);
}

template<class DataTypes>
Expand Down Expand Up @@ -240,7 +235,7 @@ typename TCylinder<DataTypes>::Real TCylinder<DataTypes >::radius() const

template<class DataTypes>
const typename CylinderCollisionModel<DataTypes>::Coord & CylinderCollisionModel<DataTypes >::velocity(sofa::Index index) const {
return DataTypes::getDPos(((m_mstate->read(core::vec_id::read_access::velocity)->getValue()))[index]);
return DataTypes::getDPos(((this->mstate->read(core::vec_id::read_access::velocity)->getValue()))[index]);
}


Expand All @@ -249,7 +244,7 @@ const typename TCylinder<DataTypes>::Coord & TCylinder<DataTypes >::v() const {r

template<class DataTypes>
const sofa::type::Quat<SReal> CylinderCollisionModel<DataTypes >::orientation(sofa::Index index)const{
return m_mstate->read(core::vec_id::read_access::position)->getValue()[index].getOrientation();
return this->mstate->read(core::vec_id::read_access::position)->getValue()[index].getOrientation();
}

template<class DataTypes>
Expand Down
18 changes: 8 additions & 10 deletions Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
#include <sofa/component/collision/geometry/config.h>
#include <sofa/core/fwd.h>
#include <sofa/core/CollisionModel.h>
#include <sofa/core/behavior/SingleStateAccessor.h>
#include <sofa/core/objectmodel/BaseComponent.h>
#include <sofa/core/topology/BaseMeshTopology.h>
#include <sofa/core/collision/Intersection.h>
Expand Down Expand Up @@ -73,10 +74,10 @@ class TLine : public core::TCollisionElementIterator<LineCollisionModel<TDataTyp
using Line = TLine<sofa::defaulttype::Vec3Types>;

template<class TDataTypes>
class LineCollisionModel : public core::CollisionModel
class LineCollisionModel : public core::CollisionModel, public virtual core::behavior::SingleStateAccessor<TDataTypes>
{
public :
SOFA_CLASS(SOFA_TEMPLATE(LineCollisionModel, TDataTypes), core::CollisionModel);
SOFA_CLASS2(SOFA_TEMPLATE(LineCollisionModel, TDataTypes), core::CollisionModel, SOFA_TEMPLATE(core::behavior::SingleStateAccessor, TDataTypes));

enum LineFlag
{
Expand Down Expand Up @@ -130,7 +131,7 @@ public :

bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;

core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return mstate; }
core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return this->mstate; }

Deriv velocity(sofa::Index index)const;

Expand All @@ -139,6 +140,10 @@ public :
int getLineFlags(sofa::Index i);

Data<bool> d_bothSide; ///< activate collision on both side of the line model (when surface normals are defined on these lines)
Data<bool> d_displayFreePosition; ///< Display Collision Model Points free position(in green)

/// Link to be set to the topology container in the component graph.
SingleLink<LineCollisionModel<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;

/// Pre-construction check method called by ObjectFactory.
/// Check that DataTypes matches the MechanicalState.
Expand All @@ -161,14 +166,7 @@ public :

void computeBBox(const core::ExecParams* params, bool onlyVisible) override;

Data<bool> d_displayFreePosition; ///< Display Collision Model Points free position(in green)

/// Link to be set to the topology container in the component graph.
SingleLink<LineCollisionModel<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;

protected:
core::behavior::MechanicalState<DataTypes>* mstate;
Topology* topology;
PointCollisionModel<sofa::defaulttype::Vec3Types>* mpoints;
int meshRevision;
};
Expand Down
Loading
Loading