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[Core] Minor clean of DefaultAnimationLoop #4314

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Merged
bakpaul merged 2 commits into from
Nov 29, 2023
Merged

[Core] Minor clean of DefaultAnimationLoop #4314

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3c5c1c2
Remove unlogical use of visitor
bakpaul Nov 21, 2023
b7f874a
Delete unused methods
bakpaul Nov 22, 2023
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19 changes: 0 additions & 19 deletions Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -170,14 +170,6 @@ void DefaultAnimationLoop::propagateAnimateBeginEvent(const core::ExecParams* pa
m_node->execute(act);
}

void DefaultAnimationLoop::resetConstraint(const core::ExecParams* params) const
{
SCOPED_TIMER("resetConstraint");
const sofa::core::ConstraintParams cparams(*params);
sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor resetConstraint(&cparams);
m_node->execute(&resetConstraint);
}

void DefaultAnimationLoop::beginIntegration(const core::ExecParams* params, SReal dt) const
{
propagateIntegrateBeginEvent(params);
Expand All @@ -195,14 +187,6 @@ void DefaultAnimationLoop::propagateIntegrateBeginEvent(const core::ExecParams*
eventPropagation.execute(m_node);
}

void DefaultAnimationLoop::buildConstraintMatrix(core::ConstraintParams cparams) const
{
SCOPED_TIMER("buildConstraintMatrix");
unsigned int constraintId = 0;
mechanicalvisitor::MechanicalBuildConstraintMatrix buildConstraintMatrix(&cparams, core::MatrixDerivId::constraintJacobian(), constraintId );
buildConstraintMatrix.execute(m_node);
}

void DefaultAnimationLoop::accumulateMatrixDeriv(const core::ConstraintParams cparams) const
{
SCOPED_TIMER("accumulateMatrixDeriv");
Expand Down Expand Up @@ -292,14 +276,11 @@ void DefaultAnimationLoop::animate(const core::ExecParams* params, SReal dt) con
behaviorUpdatePosition(params, dt);
updateInternalData(params);

resetConstraint(params);

collisionDetection(params);

beginIntegration(params, dt);
{
const core::ConstraintParams cparams;
buildConstraintMatrix(cparams);
accumulateMatrixDeriv(cparams);

solve(params, dt);
Expand Down
2 changes: 0 additions & 2 deletions Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.h
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Expand Up @@ -69,10 +69,8 @@ protected :

void behaviorUpdatePosition(const sofa::core::ExecParams* params, SReal dt) const;
void updateInternalData(const sofa::core::ExecParams* params) const;
void resetConstraint(const sofa::core::ExecParams* params) const;
void beginIntegration(const sofa::core::ExecParams* params, SReal dt) const;
void propagateIntegrateBeginEvent(const sofa::core::ExecParams* params) const;
void buildConstraintMatrix(sofa::core::ConstraintParams cparams) const;
void accumulateMatrixDeriv(sofa::core::ConstraintParams cparams) const;
void solve(const sofa::core::ExecParams* params, SReal dt) const;
void propagateIntegrateEndEvent(const sofa::core::ExecParams* params) const;
Expand Down