Merge branch 'master' into fix_TriangleSetTopologyContainer

.github/workflows/label-checker.yml

@@ -48,7 +48,7 @@ jobs:
 
             // If no descriptive label is set, add a comment in the PR and make the action check fail
             if (!hasDescriptiveLabel) {
-              const comment = ':warning: :warning: :warning:<br>@' + context.repo.owner + ' your PR does not include any **descriptive** label :label:<br> Make sure to add an appropriate [PR label](https://github.com/sofa-framework/sofa/labels) before merge.<br>:warning: :warning: :warning:';
+              const comment = ':warning: :warning: :warning:<br>@' + context.payload.pull_request.user.login + ' your PR does not include any **descriptive** label :label:<br> Make sure to add an appropriate [PR label](https://github.com/sofa-framework/sofa/labels) before merge.<br>:warning: :warning: :warning:';
               github.issues.createComment({
                 issue_number: prNumber,
                 owner: context.repo.owner,

.github/workflows/pr-title-checker.yml

@@ -39,7 +39,7 @@ jobs:
 
           // Add comment in the PR to warn the author
           if (!valid) {
-            const comment = ':warning: :warning: :warning:<br>@'+context.repo.owner+' your PR title is not following the required format :pencil2:<br>'+commentExplain+':warning: :warning: :warning:';
+            const comment = ':warning: :warning: :warning:<br>@' + context.payload.pull_request.user.login + ' your PR title is not following the required format :pencil2:<br>'+commentExplain+':warning: :warning: :warning:';
             github.issues.createComment({
               issue_number: prNumber,
               owner: context.repo.owner,

.github/workflows/stale_github_discussions.yml

@@ -0,0 +1,32 @@
+name: Stale GitHub Discussions
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 6 * * 1' # Every Monday at 6:00 AM UTC (8:00 AM CET)
+
+jobs:
+  run:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v2
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.10' # Use the desired Python version
+
+      - name: Install dependencies
+        run: |
+          pip install python-graphql-client
+          pip install python-dateutil
+        working-directory: ${{ github.workspace }}
+
+      - name: Run script comment-close-old-discussions.py
+        run: |
+          python scripts/comment-close-old-discussions.py
+        working-directory: ${{ github.workspace }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

CMakeLists.txt

@@ -34,6 +34,11 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${LIBRARY_OUTPUT_DIRECTOR
 # Option for packaging
 option(SOFA_BUILD_RELEASE_PACKAGE "Run package specific configure" OFF)
 
+# Option to allow some dependencies such as cxxopts to be fetched by cmake if
+# the package is not found
+option(SOFA_ALLOW_FETCH_DEPENDENCIES "Allow compatible dependencies to be fetched if the package is not found by cmake.
+  List of dependencies that can be fetched: cxxopts" ON)
+
 # Option to accelerate the compilation
 # see https://cmake.org/cmake/help/v3.16/command/target_precompile_headers.html
 # and https://cmake.org/cmake/help/v3.16/prop_tgt/DISABLE_PRECOMPILE_HEADERS.html
@@ -256,11 +261,12 @@ install(FILES "${CMAKE_SOURCE_DIR}/CHANGELOG.md" DESTINATION . COMPONENT applica
 install(FILES "${CMAKE_SOURCE_DIR}/LICENSE.LGPL.txt" DESTINATION . COMPONENT applications)
 install(FILES "${CMAKE_SOURCE_DIR}/Authors.txt" DESTINATION . COMPONENT applications)
 
-option(SOFA_INSTALL_RESOURCES_FILES "Copy resources files (etc/, share/, examples/) when installing" ON)
+option(SOFA_INSTALL_RESOURCES_FILES "Copy resources files (etc/, share/, examples/, tools/sofa-launcher/) when installing" ON)
 ## Install resource files
 if(SOFA_INSTALL_RESOURCES_FILES)
     install(DIRECTORY share/ DESTINATION share/sofa COMPONENT resources)
     install(DIRECTORY examples/ DESTINATION share/sofa/examples COMPONENT resources)
+    install(DIRECTORY tools/sofa-launcher/ DESTINATION share/sofa/sofa-launcher COMPONENT resources)
 endif()
 
 file(WRITE "${CMAKE_BINARY_DIR}/plugins/README.txt"

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp

@@ -336,7 +336,7 @@ void ConstraintAnimationLoop::launchCollisionDetection(const core::ExecParams* p
 
     ////////////////// COLLISION DETECTION///////////////////////////////////////////////////////////////////////////////////////////
     {
-        helper::ScopedAdvancedTimer timer("Collision");
+        SCOPED_TIMER("Collision");
         computeCollision(params);
     }
     /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -357,7 +357,7 @@ void ConstraintAnimationLoop::freeMotion(const core::ExecParams* params, simulat
 
     ///////////////////////////////////////////// FREE MOTION /////////////////////////////////////////////////////////////
     {
-        helper::ScopedAdvancedTimer freeMotionTimer("Free Motion");
+        SCOPED_TIMER_VARNAME(freeMotionTimer, "Free Motion");
 
         MechanicalBeginIntegrationVisitor(params, dt).execute(context);
 
@@ -416,7 +416,7 @@ void ConstraintAnimationLoop::setConstraintEquations(const core::ExecParams* par
     msg_info_when(EMIT_EXTRA_DEBUG_MESSAGE) <<"constraints Matrix construction is called" ;
 
     {
-        helper::ScopedAdvancedTimer constraintDefinitionTimer("Constraints definition");
+        SCOPED_TIMER_VARNAME(constraintDefinitionTimer, "Constraints definition");
 
         if(!d_schemeCorrection.getValue())
         {
@@ -495,7 +495,7 @@ void ConstraintAnimationLoop::computeComplianceInConstraintSpace()
     /// calling getCompliance => getDelassusOperator(_W) = H*C*Ht
     dmsg_info_when(EMIT_EXTRA_DEBUG_MESSAGE) << "   4. get Compliance " ;
 
-    helper::ScopedAdvancedTimer getComplianceTimer("Get Compliance");
+    SCOPED_TIMER_VARNAME(getComplianceTimer, "Get Compliance");
     for (const auto cc : constraintCorrections)
     {
         cc->addComplianceInConstraintSpace(core::constraintparams::defaultInstance(), getCP()->getW());
@@ -507,7 +507,7 @@ void ConstraintAnimationLoop::correctiveMotion(const core::ExecParams* params, s
     dmsg_info_when(EMIT_EXTRA_DEBUG_MESSAGE)
             <<"constraintCorrections motion is called" ;
 
-    helper::ScopedAdvancedTimer correctiveMotionTimer("Corrective Motion");
+    SCOPED_TIMER_VARNAME(correctiveMotionTimer, "Corrective Motion");
 
     if(d_schemeCorrection.getValue())
     {
@@ -637,7 +637,7 @@ void ConstraintAnimationLoop::step ( const core::ExecParams* params, SReal dt )
     // Update the BehaviorModels => to be removed ?
     // Required to allow the RayPickInteractor interaction
     {
-        helper::ScopedAdvancedTimer behaviorUpdateTimer("BehaviorUpdate");
+        SCOPED_TIMER_VARNAME(behaviorUpdateTimer, "BehaviorUpdate");
         simulation::BehaviorUpdatePositionVisitor(params, dt).execute(node);
     }
 
@@ -697,7 +697,7 @@ void ConstraintAnimationLoop::step ( const core::ExecParams* params, SReal dt )
     }
 
     {
-        helper::ScopedAdvancedTimer gaussSeidelTimer("GaussSeidel");
+        SCOPED_TIMER_VARNAME(gaussSeidelTimer, "GaussSeidel");
         if (EMIT_EXTRA_DEBUG_MESSAGE)
             msg_info() << "Gauss-Seidel solver is called on problem of size " << CP.getSize() ;
 
@@ -739,7 +739,7 @@ void ConstraintAnimationLoop::step ( const core::ExecParams* params, SReal dt )
     }
 
     {
-        helper::ScopedAdvancedTimer updateMappingTimer("UpdateMapping");
+        SCOPED_TIMER_VARNAME(updateMappingTimer, "UpdateMapping");
 
         node->execute<UpdateMappingVisitor>(params);
         sofa::helper::AdvancedTimer::step("UpdateMappingEndEvent");
@@ -752,7 +752,7 @@ void ConstraintAnimationLoop::step ( const core::ExecParams* params, SReal dt )
 
     if (d_computeBoundingBox.getValue())
     {
-        sofa::helper::ScopedAdvancedTimer updateBBoxTimer("UpdateBBox");
+        SCOPED_TIMER_VARNAME(updateBBoxTimer, "UpdateBBox");
         node->execute<UpdateBoundingBoxVisitor>(params);
     }
 

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp

@@ -171,7 +171,7 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
     cparams.setV(freeVel);
     cparams.setDx(l_constraintSolver->getDx());
     cparams.setLambda(l_constraintSolver->getLambda());
-    cparams.setOrder(m_solveVelocityConstraintFirst.getValue() ? core::ConstraintParams::VEL : core::ConstraintParams::POS_AND_VEL);
+    cparams.setOrder(m_solveVelocityConstraintFirst.getValue() ? core::ConstraintOrder::VEL : core::ConstraintOrder::POS_AND_VEL);
 
     MultiVecDeriv dx(&vop, core::VecDerivId::dx());
     dx.realloc(&vop, !d_threadSafeVisitor.getValue(), true);
@@ -182,7 +182,7 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
     // This solver will work in freePosition and freeVelocity vectors.
     // We need to initialize them if it's not already done.
     {
-        ScopedAdvancedTimer timer("MechanicalVInitVisitor");
+        SCOPED_TIMER("MechanicalVInitVisitor");
         MechanicalVInitVisitor< core::V_COORD >(params, core::VecCoordId::freePosition(), core::ConstVecCoordId::position(), true).execute(node);
         MechanicalVInitVisitor< core::V_DERIV >(params, core::VecDerivId::freeVelocity(), core::ConstVecDerivId::velocity(), true).execute(node);
     }
@@ -201,7 +201,7 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
 #endif
 
     {
-        ScopedAdvancedTimer timer("AnimateBeginEvent");
+        SCOPED_TIMER("AnimateBeginEvent");
         AnimateBeginEvent ev ( dt );
         PropagateEventVisitor act ( params, &ev );
         node->execute ( act );
@@ -212,7 +212,7 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
     dmsg_info() << "updatePos called" ;
 
     {
-        ScopedAdvancedTimer timer("UpdatePosition");
+        SCOPED_TIMER("UpdatePosition");
         BehaviorUpdatePositionVisitor beh(params, dt);
         node->execute(&beh);
     }
@@ -224,7 +224,7 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
     dmsg_info() << "updateInternal called" ;
 
     {
-        ScopedAdvancedTimer timer("updateInternalData");
+        SCOPED_TIMER("updateInternalData");
         node->execute(&iud);
     }
 
@@ -239,14 +239,14 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
 
     // Mapping geometric stiffness coming from previous lambda.
     {
-        ScopedAdvancedTimer timer("lambdaMultInvDt");
+        SCOPED_TIMER("lambdaMultInvDt");
         MechanicalVOpVisitor lambdaMultInvDt(params, cparams.lambda(), sofa::core::ConstMultiVecId::null(), cparams.lambda(), 1.0 / dt);
         lambdaMultInvDt.setMapped(true);
         node->executeVisitor(&lambdaMultInvDt);
     }
 
     {
-        ScopedAdvancedTimer timer("MechanicalComputeGeometricStiffness");
+        SCOPED_TIMER("MechanicalComputeGeometricStiffness");
         MechanicalComputeGeometricStiffness geometricStiffnessVisitor(&mop.mparams, cparams.lambda());
         node->executeVisitor(&geometricStiffnessVisitor);
     }
@@ -256,9 +256,9 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
     // Solve constraints
     if (l_constraintSolver)
     {
-        ScopedAdvancedTimer timer("ConstraintSolver");
+        SCOPED_TIMER("ConstraintSolver");
 
-        if (cparams.constOrder() == core::ConstraintParams::VEL )
+        if (cparams.constOrder() == core::ConstraintOrder::VEL )
         {
             l_constraintSolver->solveConstraint(&cparams, vel);
             pos.eq(pos, vel, dt); //position += velocity * dt
@@ -283,14 +283,14 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
     node->execute<UpdateSimulationContextVisitor>(params);  // propagate time
 
     {
-        ScopedAdvancedTimer timer("AnimateEndEvent");
+        SCOPED_TIMER("AnimateEndEvent");
         AnimateEndEvent ev ( dt );
         PropagateEventVisitor act ( params, &ev );
         node->execute ( act );
     }
 
     {
-        ScopedAdvancedTimer timer("UpdateMapping");
+        SCOPED_TIMER("UpdateMapping");
         //Visual Information update: Ray Pick add a MechanicalMapping used as VisualMapping
         node->execute<UpdateMappingVisitor>(params);
         {
@@ -302,7 +302,7 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
 
     if (d_computeBoundingBox.getValue())
     {
-        ScopedAdvancedTimer timer("UpdateBBox");
+        SCOPED_TIMER("UpdateBBox");
         node->execute<UpdateBoundingBoxVisitor>(params);
     }
 
@@ -323,7 +323,7 @@ void FreeMotionAnimationLoop::computeFreeMotionAndCollisionDetection(const sofa:
 
     if (!d_parallelCollisionDetectionAndFreeMotion.getValue())
     {
-        ScopedAdvancedTimer timer("FreeMotion+CollisionDetection");
+        SCOPED_TIMER("FreeMotion+CollisionDetection");
 
         computeFreeMotion(params, cparams, dt, pos, freePos, freeVel, mop);
 
@@ -334,7 +334,7 @@ void FreeMotionAnimationLoop::computeFreeMotionAndCollisionDetection(const sofa:
     }
     else
     {
-        ScopedAdvancedTimer timer("FreeMotion+CollisionDetection");
+        SCOPED_TIMER("FreeMotion+CollisionDetection");
 
         auto* taskScheduler = sofa::simulation::MainTaskSchedulerFactory::createInRegistry();
         assert(taskScheduler != nullptr);
@@ -383,18 +383,18 @@ void FreeMotionAnimationLoop::computeFreeMotion(const sofa::core::ExecParams* pa
     auto node = dynamic_cast<sofa::simulation::Node*>(this->l_node.get());
 
     {
-        sofa::helper::ScopedAdvancedTimer timer("FreeMotion");
+        SCOPED_TIMER("FreeMotion");
         simulation::SolveVisitor freeMotion(params, dt, true, d_parallelODESolving.getValue());
         node->execute(&freeMotion);
     }
 
     mop->projectResponse(freeVel);
     mop->propagateDx(freeVel, true);
 
-    if (cparams.constOrder() == sofa::core::ConstraintParams::POS ||
-        cparams.constOrder() == sofa::core::ConstraintParams::POS_AND_VEL)
+    if (cparams.constOrder() == sofa::core::ConstraintOrder::POS ||
+        cparams.constOrder() == sofa::core::ConstraintOrder::POS_AND_VEL)
     {
-        sofa::helper::ScopedAdvancedTimer timer("freePosEqPosPlusFreeVelDt");
+        SCOPED_TIMER("freePosEqPosPlusFreeVelDt");
         MechanicalVOpVisitor freePosEqPosPlusFreeVelDt(params, freePos, pos, freeVel, dt);
         freePosEqPosPlusFreeVelDt.setMapped(true);
         node->executeVisitor(&freePosEqPosPlusFreeVelDt);

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiStepAnimationLoop.cpp

@@ -65,7 +65,7 @@ void MultiStepAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt
     if (dt == 0)
         dt = node->getDt();
 
-    helper::ScopedAdvancedTimer animationStepTimer("AnimationStep");
+    SCOPED_TIMER_VARNAME(animationStepTimer, "AnimationStep");
 
 #ifdef SOFA_DUMP_VISITOR_INFO
     simulation::Visitor::printNode("Step");
@@ -122,7 +122,7 @@ void MultiStepAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt
 
     //Visual Information update: Ray Pick add a MechanicalMapping used as VisualMapping
     {
-        helper::ScopedAdvancedTimer updateMappingTimer("UpdateMapping");
+        SCOPED_TIMER_VARNAME(updateMappingTimer, "UpdateMapping");
         node->execute<UpdateMappingVisitor>(params);
     }
     {
@@ -133,7 +133,7 @@ void MultiStepAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt
 
     if (d_computeBoundingBox.getValue())
     {
-        sofa::helper::ScopedAdvancedTimer timer("UpdateBBox");
+        SCOPED_TIMER("UpdateBBox");
         node->execute<UpdateBoundingBoxVisitor>(params);
     }
 

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/MultiTagAnimationLoop.cpp

@@ -71,7 +71,7 @@ void MultiTagAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt)
 {
     auto node = dynamic_cast<sofa::simulation::Node*>(this->l_node.get());
 
-    helper::ScopedAdvancedTimer animationStepTimer("AnimationStep");
+    SCOPED_TIMER_VARNAME(animationStepTimer, "AnimationStep");
 
 #ifdef SOFA_DUMP_VISITOR_INFO
     simulation::Visitor::printNode("Step");
@@ -124,7 +124,7 @@ void MultiTagAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt)
 
     //Visual Information update: Ray Pick add a MechanicalMapping used as VisualMapping
     {
-        helper::ScopedAdvancedTimer updateMappingTimer("UpdateMapping");
+        SCOPED_TIMER_VARNAME(updateMappingTimer, "UpdateMapping");
         node->execute<UpdateMappingVisitor>(params);
     }
     {
@@ -135,7 +135,7 @@ void MultiTagAnimationLoop::step(const sofa::core::ExecParams* params, SReal dt)
 
     if (d_computeBoundingBox.getValue())
     {
-        sofa::helper::ScopedAdvancedTimer timer("UpdateBBox");
+        SCOPED_TIMER("UpdateBBox");
         node->execute<UpdateBoundingBoxVisitor>(params);
     }