[Constraint] Make name of constraints more explicit

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

@@ -26,7 +26,7 @@
 #include <sofa/core/collision/Contact.h>
 #include <sofa/core/collision/Intersection.h>
 #include <sofa/core/behavior/MechanicalState.h>
-#include <sofa/component/constraint/lagrangian/model/UnilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/UnilateralLagrangianConstraint.h>
 #include <sofa/component/collision/response/mapper/BaseContactMapper.h>
 #include <sofa/component/collision/response/contact/ContactIdentifier.h>
 
@@ -60,7 +60,7 @@ class FrictionContact : public core::collision::Contact, public ContactIdentifie
     mapper::ContactMapper<CollisionModel1,DataTypes1> mapper1;
     mapper::ContactMapper<CollisionModel2,DataTypes2> mapper2;
 
-    constraint::lagrangian::model::UnilateralInteractionConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
+    constraint::lagrangian::model::UnilateralLagrangianConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
     core::objectmodel::BaseContext* parent;
 
     Data<double> mu; ///< friction coefficient (0 for frictionless contacts)

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

@@ -144,7 +144,7 @@ void FrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::activ
         {
             mmodel2 = mapper2.createMapping(getName().c_str());
         }
-        m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::UnilateralInteractionConstraint<defaulttype::Vec3Types> >(mmodel1, mmodel2);
+        m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::UnilateralLagrangianConstraint<defaulttype::Vec3Types> >(mmodel1, mmodel2);
         m_constraint->setName( getName() );
         setInteractionTags(mmodel1, mmodel2);
         m_constraint->setCustomTolerance( tol.getValue() );

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

@@ -24,7 +24,7 @@
 
 #include <sofa/core/collision/Contact.h>
 #include <sofa/core/collision/Intersection.h>
-#include <sofa/component/constraint/lagrangian/model/BilateralInteractionConstraint.h>
+#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>
 #include <sofa/helper/Factory.h>
 #include <sofa/component/collision/response/mapper/BaseContactMapper.h>
 #include <sofa/component/collision/response/contact/ContactIdentifier.h>
@@ -58,7 +58,7 @@ class StickContactConstraint : public core::collision::Contact, public ContactId
     mapper::ContactMapper<CollisionModel1,DataTypes1> mapper1;
     mapper::ContactMapper<CollisionModel2,DataTypes2> mapper2;
 
-    constraint::lagrangian::model::BilateralInteractionConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
+    constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::Vec3Types>::SPtr m_constraint;
     core::objectmodel::BaseContext* parent;
 
     std::vector< sofa::core::collision::DetectionOutput* > contacts;

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

@@ -128,7 +128,7 @@ void StickContactConstraint<TCollisionModel1,TCollisionModel2>::activateMappers(
         msg_info() << "Creating StickContactConstraint bilateral constraints";
         MechanicalState1* mstate1 = mapper1.createMapping(mapper::GenerateStringID::generate().c_str());
         MechanicalState2* mstate2 = mapper2.createMapping(mapper::GenerateStringID::generate().c_str());
-        m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::BilateralInteractionConstraint<defaulttype::Vec3Types> >(mstate1, mstate2);
+        m_constraint = sofa::core::objectmodel::New<constraint::lagrangian::model::BilateralLagrangianConstraint<defaulttype::Vec3Types> >(mstate1, mstate2);
         m_constraint->setName( getName() );
     }
 

Sofa/Component/Constraint/Lagrangian/Model/CMakeLists.txt

@@ -15,17 +15,30 @@ set(HEADER_FILES
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperConstraint.inl
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.inl
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralConstraintResolution.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.h
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.inl
+
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.h
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.inl
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.h
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.inl
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.h
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.inl
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.h
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.inl
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.h
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.inl
 )
 
 set(SOURCE_FILES
     ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/init.cpp
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralInteractionConstraint.cpp
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingConstraint.cpp
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperConstraint.cpp
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformConstraint.cpp
-    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralInteractionConstraint.cpp
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/BilateralLagrangianConstraint.cpp
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/SlidingLagrangianConstraint.cpp
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/StopperLagrangianConstraint.cpp
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UniformLagrangianConstraint.cpp
+    ${SOFACOMPONENTCONSTRAINTLAGRANGIANMODEL_SOURCE_DIR}/UnilateralLagrangianConstraint.cpp
+
 )
 
 sofa_find_package(Sofa.Simulation.Core REQUIRED)

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

@@ -20,176 +20,13 @@
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
 #pragma once
-#include <sofa/component/constraint/lagrangian/model/config.h>
 
-#include <sofa/core/topology/TopologySubsetIndices.h>
-#include <sofa/core/behavior/PairInteractionConstraint.h>
-#include <sofa/core/behavior/MechanicalState.h>
+#include <sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h>
 
-#include <sofa/type/Mat.h>
-#include <sofa/defaulttype/RigidTypes.h>
-#include <sofa/type/Vec.h>
-#include <sofa/defaulttype/VecTypes.h>
-
-#include <deque>
-
-#include <sofa/component/constraint/lagrangian/model/BilateralConstraintResolution.h>
+SOFA_DEPRECATED_HEADER("v24.06", "v25.06", "sofa/component/constraint/lagrangian/model/BilateralLagrangianConstraint.h")
 
 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::ConstraintResolution ;
-using sofa::core::behavior::PairInteractionConstraint ;
-using sofa::core::objectmodel::Data ;
-using sofa::core::ConstraintParams ;
-using sofa::core::ConstVecCoordId;
-
-using sofa::linearalgebra::BaseVector ;
-using sofa::type::Vec3d;
-using sofa::type::Quat ;
-
-using sofa::defaulttype::Rigid3Types ;
-using sofa::defaulttype::Vec3Types ;
-
-
 template<class T>
-class BilateralInteractionConstraintSpecialization {};
-
-
-template<class DataTypes>
-class BilateralInteractionConstraint : public PairInteractionConstraint<DataTypes>
-{
-public:
-    SOFA_CLASS(SOFA_TEMPLATE(BilateralInteractionConstraint,DataTypes),
-               SOFA_TEMPLATE(PairInteractionConstraint,DataTypes));
-
-    /// That any templates variation of BilateralInteractionConstraintSpecialization are friend.
-    template<typename>
-    friend class BilateralInteractionConstraintSpecialization ;
-
-    typedef PairInteractionConstraint<DataTypes> Inherit;
-
-    typedef typename DataTypes::VecCoord VecCoord;
-    typedef typename DataTypes::VecDeriv VecDeriv;
-    typedef typename DataTypes::MatrixDeriv MatrixDeriv;
-    typedef typename DataTypes::Coord Coord;
-    typedef typename DataTypes::Deriv Deriv;
-    typedef typename Coord::value_type Real;
-    typedef typename DataTypes::MatrixDeriv::RowIterator MatrixDerivRowIterator;
-
-    typedef core::behavior::MechanicalState<DataTypes> MechanicalState;
-    typedef BaseConstraint::PersistentID PersistentID;
-
-    typedef Data<VecCoord>		DataVecCoord;
-    typedef Data<VecDeriv>		DataVecDeriv;
-    typedef Data<MatrixDeriv>    DataMatrixDeriv;
-
-    using SubsetIndices = type::vector<Index>;
-    using DataSubsetIndices = sofa::core::topology::TopologySubsetIndices;
-
-protected:
-    std::vector<Deriv> dfree;
-    Quat<SReal> q;
-
-    std::vector<unsigned int> cid;
-
-    DataSubsetIndices m1; ///< index of the constraint on the first model
-    DataSubsetIndices m2; ///< index of the constraint on the second model
-    Data<VecDeriv> restVector; ///< Relative position to maintain between attached points (optional)
-    VecCoord initialDifference;
-
-    Data<double> d_numericalTolerance; ///< a real value specifying the tolerance during the constraint solving. (default=0.0001
-    Data<bool> d_activate; ///< bool to control constraint activation
-    Data<bool> keepOrientDiff; ///< keep the initial difference in orientation (only for rigids)
-
-
-    SingleLink<BilateralInteractionConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology1; ///< Link to be set to the first topology container in order to support topological changes
-    SingleLink<BilateralInteractionConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology2; ///< Link to be set to the second topology container in order to support topological changes
-
-    std::vector<Vec3d> prevForces;
-
-    SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'activateAtIteration' has been removed, please use the Data d_activate instead and an engine or a script to change the behavior at the right step (see PR #3327).")
-    sofa::core::objectmodel::lifecycle::RemovedData  activateAtIteration{this, "v22.12", "v23.06", "activateAtIteration", "use the boolean data 'activate' instead and an engine or a script to change the behavior at the right step (see PR #3327)."};
-
-    SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'merge' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).")
-    sofa::core::objectmodel::lifecycle::RemovedData  merge{this, "v22.12", "v23.06", "merge", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."};
-
-    SOFA_ATTRIBUTE_DISABLED__BILATERALINTERACTIONCONSTRAINTDATA("Data 'derivative' has been removed. Its behavior was unused, undocumented, untested, and unclear (see PR #3328).")
-    sofa::core::objectmodel::lifecycle::RemovedData derivative{this, "v22.12", "v23.06", "derivative", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."};
-
-
-    BilateralInteractionConstraint(MechanicalState* object1, MechanicalState* object2) ;
-    BilateralInteractionConstraint(MechanicalState* object) ;
-    BilateralInteractionConstraint();
-
-    virtual ~BilateralInteractionConstraint(){}
-public:
-    void init() override;
-
-    void bwdInit() override {}
-
-    void reinit() override;
-
-    void buildConstraintMatrix(const ConstraintParams* cParams,
-                                       DataMatrixDeriv &c1, DataMatrixDeriv &c2,
-                                       unsigned int &cIndex,
-                                       const DataVecCoord &x1, const DataVecCoord &x2) override;
-
-    void getConstraintViolation(const ConstraintParams* cParams,
-                                        BaseVector *v,
-                                        const DataVecCoord &x1, const DataVecCoord &x2,
-                                        const DataVecDeriv &v1, const DataVecDeriv &v2) override;
-
-    void getVelocityViolation(BaseVector *v,
-                              const DataVecCoord &x1, const DataVecCoord &x2,
-                              const DataVecDeriv &v1, const DataVecDeriv &v2);
-
-    void getConstraintResolution(const ConstraintParams* cParams,
-                                         std::vector<ConstraintResolution*>& resTab,
-                                         unsigned int& offset) override;
-
-    void handleEvent(sofa::core::objectmodel::Event *event) override;
-
-    void draw(const core::visual::VisualParams* vparams) override;
-
-    void clear(int reserve = 0) ;
-
-    virtual void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance,
-                            int m1, int m2, Coord Pfree, Coord Qfree,
-                            long id=0, PersistentID localid=0);
-
-    void addContact(Deriv norm, Coord P, Coord Q, Real contactDistance,
-                    int m1, int m2, long id=0, PersistentID localid=0) ;
-
-    void addContact(Deriv norm, Real contactDistance, int m1, int m2,
-                    long id=0, PersistentID localid=0) ;
-
-    /// Method to remove a contact using point @param indices and id of buffer: @sa m1 (resp. @sa 2m) if @param objectId is equal to 0 (resp. to 1)
-    void removeContact(int objectId, SubsetIndices indices);
-
-    virtual type::vector<std::string> getBilateralInteractionIdentifiers() {return {};}
-
-    virtual type::vector<std::string> getPairInteractionIdentifiers() override final
-    {
-        type::vector<std::string> ids = getBilateralInteractionIdentifiers();
-        ids.push_back("Bilateral");
-        return ids;
-    }
-
-private:
-    void unspecializedInit() ;
-
-    /// Method to get the index position of a @param point Id inside @sa m1 or @sa m2) depending of the value passed in @param cIndices. Return InvalidID if not found.
-    Index indexOfElemConstraint(const SubsetIndices& cIndices, Index Id);
-};
-
-
-#if !defined(SOFA_COMPONENT_CONSTRAINTSET_BILATERALINTERACTIONCONSTRAINT_CPP)
-extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint< Vec3Types >;
-extern template class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API BilateralInteractionConstraint< Rigid3Types >;
-#endif
-
-} // namespace sofa::component::constraint::lagrangian::model
+using BilateralInteractionConstraint SOFA_ATTRIBUTE_DEPRECATED("v24.06 ", "v25.06", "BilateralInteractionConstraint has been renamed to BilateralLagrangianConstraint") = BilateralLagrangianConstraint<T>;
+}