Fix compilation, especially using vec_id::write_access

hugtalbot · Jan 26, 2025 · 3804579 · 3804579
1 parent 79659e4
commit 3804579
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Showing 13 changed files with 42 additions and 76 deletions.
diff --git a/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h b/Sofa/Component/Collision/Testing/src/sofa/component/collision/testing/MeshPrimitiveCreator.h
@@ -54,7 +54,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
 
     //editing DOF related to the TriangleCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 3 (3 points) because it contains just one Triangle
     triDOF->resize(3);
-    Data<MechanicalObject3::VecCoord>& dpositions = *triDOF->write(sofa::core::VecId::position());
+    Data<MechanicalObject3::VecCoord>& dpositions = *triDOF->write(sofa::core::vec_id::write_access::position);
     MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
 
     //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -65,7 +65,7 @@ inline sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaul
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::VecId::velocity());
+    Data<MechanicalObject3::VecDeriv>& dvelocities = *triDOF->write(sofa::core::vec_id::write_access::velocity);
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
     velocities[0] = v;

diff --git a/...Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h b/...Component/Collision/Testing/src/sofa/component/collision/testing/SpherePrimitiveCreator.h
@@ -55,7 +55,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     sphereDOF->resize(1);
-    Data<MechanicalObjectRigid3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::VecId::position());
+    Data<MechanicalObjectRigid3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::vec_id::write_access::position);
     MechanicalObjectRigid3::VecCoord& positions = *dpositions.beginEdit();
 
     //we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -88,7 +88,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
+    Data<MechanicalObjectRigid3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity);
 
     MechanicalObjectRigid3::VecDeriv& velocities = *dvelocities.beginEdit();
     velocities[0] = v;
@@ -122,7 +122,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     sphereDOF->resize(1);
-    Data<MechanicalObject3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::VecId::position());
+    Data<MechanicalObject3::VecCoord>& dpositions = *sphereDOF->write(sofa::core::vec_id::write_access::position);
     MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
 
     //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -131,7 +131,7 @@ inline sofa::component::collision::geometry::SphereCollisionModel<sofa::defaultt
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::VecId::velocity());
+    Data<MechanicalObject3::VecDeriv>& dvelocities = *sphereDOF->write(sofa::core::vec_id::write_access::velocity);
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
     velocities[0] = v;

diff --git a/...Mechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl b/...Mechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl
@@ -60,8 +60,6 @@ BeamFEMForceField<DataTypes>::BeamFEMForceField(Real poissonRatio, Real youngMod
     , m_updateStiffnessMatrix(true)
 {
     d_radius.setRequired(true);
-    m_beamsData.setOriginalData(&d_beamsData);
-    d_radiusInner.setRequired(true);
 
     this->setPoissonRatio(poissonRatio);
     this->setYoungModulus(youngModulus);

diff --git a/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.cpp b/Sofa/framework/Helper/src/sofa/helper/OptionsGroup.cpp
@@ -34,22 +34,6 @@ OptionsGroup::OptionsGroup() : textItems()
     selectedItem=0;
 }
 ///////////////////////////////////////
-OptionsGroup::OptionsGroup(int nbofRadioButton,...)
-{
-    textItems.resize(nbofRadioButton);
-    va_list vl;
-    va_start(vl,nbofRadioButton);
-    for (auto& item : textItems)
-    {
-        const char * tempochar=va_arg(vl,char *);
-        assert( strcmp( tempochar, "") );
-        const std::string tempostring(tempochar);
-        item = tempostring;
-    }
-    va_end(vl);
-    selectedItem=0;
-}
-///////////////////////////////////////
 OptionsGroup::OptionsGroup(const OptionsGroup & m_radiotrick) : textItems(m_radiotrick.textItems)
 {
     selectedItem = m_radiotrick.getSelectedId();
@@ -66,22 +50,6 @@ void OptionsGroup::setItemName(const unsigned int id_item, const std::string& na
     textItems[id_item] = name;
 }
 ///////////////////////////////////////
-void OptionsGroup::setNames(int nbofRadioButton,...)
-{
-    textItems.resize(nbofRadioButton);
-    va_list vl;
-    va_start(vl,nbofRadioButton);
-    for (auto& item : textItems)
-    {
-        const char * tempochar=va_arg(vl,char *);
-        const std::string  tempostring(tempochar);
-        assert( strcmp( tempochar, "") );
-        item=tempostring;
-    }
-    va_end(vl);
-    selectedItem=0;
-}
-///////////////////////////////////////
 int OptionsGroup::isInOptionsList(const std::string & tempostring) const
 {
     for(std::size_t i=0; i<textItems.size(); i++)

diff --git a/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp b/applications/plugins/BulletCollisionDetection/BulletCollisionDetection_test/BCD_test.cpp
@@ -46,7 +46,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     obbDOF->resize(1);
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     //we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -72,7 +72,7 @@ sofa::component::collision::BulletOBBCollisionModel<sofa::defaulttype::Rigid3Typ
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
     velocities[0] = v;
@@ -110,7 +110,7 @@ static void randTrans(Vec3 & angles,Vec3 & new_pos){
 static void transMechaRigid(const Vec3 & angles,const Vec3 & new_pos,sofa::simulation::Node::SPtr & node){
     MechanicalObjectRigid3* mecha = node->get<MechanicalObjectRigid3>(sofa::simulation::Node::SearchDown);
 
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *mecha->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *mecha->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     auto & quat = positions[0].getOrientation();
@@ -131,11 +131,11 @@ struct copyBulletOBB{
 
         //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
         obbDOF->resize(1);
-        Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
+        Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
         MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
         const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
-        const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
+        const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position );
 
         //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
         positions[0] = (read_positions.getValue())[0];
@@ -174,11 +174,11 @@ struct copyBulletConvexHull{
 
         //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
         cv_hullDOF->resize(1);
-        Data<MechanicalObjectRigid3::VecCoord> & dpositions = *cv_hullDOF->write( sofa::core::VecId::position() );
+        Data<MechanicalObjectRigid3::VecCoord> & dpositions = *cv_hullDOF->write( sofa::core::vec_id::write_access::position );
         MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
         const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
-        const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
+        const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position );
 
         //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
         positions[0] = (read_positions.getValue())[0];
@@ -227,11 +227,11 @@ struct copyBulletConvexHull{
 
 //    //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
 //    obbDOF->resize(1);
-//    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
+//    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
 //    MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
 //    const MechanicalObjectRigid3 * read_mec = obb_read->getContext()->get<MechanicalObjectRigid3>();
-//    const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::VecId::position() );
+//    const Data<MechanicalObjectRigid3::VecCoord> & read_positions = *read_mec->read( sofa::core::vec_id::read_access::position );
 
 //    //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
 //    positions[0] = (read_positions.getValue())[0];

diff --git a/...s/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl b/...s/plugins/BulletCollisionDetection/src/BulletCollisionDetection/BulletConvexHullModel.inl
@@ -100,7 +100,7 @@ void TBulletConvexHullModel<DataTypes>::initBullet(){
 
         _mstate->resize(1);
 
-        Data<typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord>* dpositions = _mstate->write( sofa::core::VecId::position() );
+        Data<typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord>* dpositions = _mstate->write( sofa::core::vec_id::write_access::position );
         typename sofa::component::statecontainer::MechanicalObject<DataTypes>::VecCoord & positions = *dpositions->beginEdit();
 
         typename DataTypes::Coord one_position(_bary,Quaternion(0,0,0,1));

diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBBCapsPrimitiveCreator.h
@@ -54,7 +54,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     obbDOF->resize(1);
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     //we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -86,7 +86,7 @@ inline collisionobbcapsule::geometry::OBBCollisionModel<sofa::defaulttype::Rigid
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
     velocities[0] = v;
@@ -122,7 +122,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     capDOF->resize(2);
-    Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::VecId::position());
+    Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::vec_id::write_access::position);
     MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
 
     //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -132,7 +132,7 @@ inline collisionobbcapsule::geometry::CapsuleCollisionModel<sofa::defaulttype::V
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::VecId::velocity());
+    Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::vec_id::write_access::velocity);
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
     velocities[0] = v;

diff --git a/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp b/applications/plugins/CollisionOBBCapsule/CollisionOBBCapsule_test/OBB_test.cpp
@@ -96,15 +96,15 @@ sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Ri
 
     //editing DOF related to the SphereCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 1 because it contains just one Sphere
     sphDOF->resize(1);
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     positions[0] = Rigid3Types::Coord(center,Quat<SReal>(0,0,0,1));
 
     dpositions.endEdit();
 
     //Editing the velocity of the Sphere
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::vec_id::write_access::velocity );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
     velocities[0] = v;

diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/BroadPhase_test.h
@@ -159,11 +159,11 @@ void randMoving(sofa::core::CollisionModel* cm,const Vector3 & min_vect,const Ve
     sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types> * obbm = dynamic_cast<sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>*>(cm->getLast());
     MechanicalObjectRigid3* dof = dynamic_cast<MechanicalObjectRigid3*>(obbm->getMechanicalState());
 
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *dof->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *dof->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *dof->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *dof->write( sofa::core::vec_id::write_access::velocity );
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
 
     for(size_t i = 0 ; i < dof->getSize() ; ++i){
@@ -409,7 +409,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     obbDOF->resize(n);
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     for(int i = 0 ; i < n ; ++i)
@@ -418,7 +418,7 @@ sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Types>::S
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
     for(int i = 0 ; i < n ; ++i)

diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBBCapsPrimitiveCreator.h
@@ -53,7 +53,7 @@ inline sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Ty
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     obbDOF->resize(1);
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *obbDOF->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     //we create a frame that we will rotate like it is specified by the parameters angles and order
@@ -85,7 +85,7 @@ inline sofa::component::collision::OBBCollisionModel<sofa::defaulttype::Rigid3Ty
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *obbDOF->write( sofa::core::vec_id::write_access::velocity );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
     velocities[0] = v;
@@ -121,7 +121,7 @@ inline sofa::component::collision::CapsuleCollisionModel<sofa::defaulttype::Vec3
 
     //editing DOF related to the OBBCollisionModel<sofa::defaulttype::Rigid3Types> to be created, size is 1 because it contains just one OBB
     capDOF->resize(2);
-    Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::VecId::position());
+    Data<MechanicalObject3::VecCoord>& dpositions = *capDOF->write(sofa::core::vec_id::write_access::position);
     MechanicalObject3::VecCoord& positions = *dpositions.beginEdit();
 
     //we finnaly edit the positions by filling it with a RigidCoord made up from p and the rotated fram x,y,z
@@ -131,7 +131,7 @@ inline sofa::component::collision::CapsuleCollisionModel<sofa::defaulttype::Vec3
     dpositions.endEdit();
 
     //Editing the velocity of the OBB
-    Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::VecId::velocity());
+    Data<MechanicalObject3::VecDeriv>& dvelocities = *capDOF->write(sofa::core::vec_id::write_access::velocity);
 
     MechanicalObject3::VecDeriv& velocities = *dvelocities.beginEdit();
     velocities[0] = v;

diff --git a/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp b/applications/plugins/SofaMiscCollision/SofaMiscCollision_test/OBB_test.cpp
@@ -97,15 +97,15 @@ sofa::component::collision::SphereCollisionModel<sofa::defaulttype::Rigid3Types>
 
     //editing DOF related to the SphereCollisionModel<sofa::defaulttype::Vec3Types> to be created, size is 1 because it contains just one Sphere
     sphDOF->resize(1);
-    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::VecId::position() );
+    Data<MechanicalObjectRigid3::VecCoord> & dpositions = *sphDOF->write( sofa::core::vec_id::write_access::position );
     MechanicalObjectRigid3::VecCoord & positions = *dpositions.beginEdit();
 
     positions[0] = Rigid3Types::Coord(center,Quaternion(0,0,0,1));
 
     dpositions.endEdit();
 
     //Editing the velocity of the Sphere
-    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::VecId::velocity() );
+    Data<MechanicalObjectRigid3::VecDeriv> & dvelocities = *sphDOF->write( sofa::core::vec_id::write_access::velocity );
 
     MechanicalObjectRigid3::VecDeriv & velocities = *dvelocities.beginEdit();
     velocities[0] = v;