[Type] Refactor Vec (#4296)

* WIP

* fix vecnoinit/vec, and constexpr init of array

* add an other conversion for rgbacolor

* correct aliases

* fix tests compil

* use correct type for getClosest

* add compat for picking

* polish

* change type in image

* remove superfluous typenames

* no need to clear as it is already zero-init

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperHexahedronSetTopology.inl

@@ -184,7 +184,7 @@ void BarycentricMapperHexahedronSetTopology<In,Out>::handleTopologyChange(core::
                     const auto j = *iter;
                     if ( mapData[j].in_index == sofa::InvalidID ) // compute new mapping
                     {
-                        sofa::type::fixed_array<SReal, 3> coefs;
+                        type::Vec3 coefs;
                         typename In::Coord pos;
                         pos[0] = mapData[j].baryCoords[0];
                         pos[1] = mapData[j].baryCoords[1];

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappingRigid.cpp

@@ -86,7 +86,7 @@ void BarycentricMapperHexahedronSetTopology<defaulttype::Vec3Types, defaulttype:
                     const int j = *iter;
                     if ( mapData[j].in_index == sofa::InvalidID ) // compute new mapping
                     {
-                        sofa::type::fixed_array<SReal, 3> coefs;
+                        sofa::type::Vec3 coefs;
                         defaulttype::Vec3Types::Coord pos;
                         pos[0] = mapData[j].baryCoords[0];
                         pos[1] = mapData[j].baryCoords[1];

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.h

@@ -195,7 +195,7 @@ class HexahedronFEMForceField : virtual public core::behavior::ForceField<DataTy
     inline const VecElement *getIndexedElements(){ return & (m_topology->getHexahedra()); }
 
     virtual void computeElementStiffness( ElementStiffness &K, const MaterialStiffness &M,
-                                          const type::fixed_array<Coord,8> &nodes, const sofa::Index elementIndice,
+                                          const type::Vec<8, Coord> &nodes, const sofa::Index elementIndice,
                                           double stiffnessFactor=1.0) const;
     static Mat33 integrateStiffness( int signx0, int signy0, int signz0, int signx1, int signy1, int signz1,
                               const Real u, const Real v, const Real w, const Mat33& J_1  );

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.inl

@@ -325,7 +325,7 @@ const typename HexahedronFEMForceField<DataTypes>::Transformation& HexahedronFEM
 
 
 template<class DataTypes>
-void HexahedronFEMForceField<DataTypes>::computeElementStiffness( ElementStiffness &K, const MaterialStiffness &M, const type::fixed_array<Coord,8> &nodes, const sofa::Index elementIndice, double stiffnessFactor) const
+void HexahedronFEMForceField<DataTypes>::computeElementStiffness( ElementStiffness &K, const MaterialStiffness &M, const type::Vec<8, Coord> &nodes, const sofa::Index elementIndice, double stiffnessFactor) const
 {
     const bool verbose = elementIndice==0;
     // X = n0 (1-x1)(1-x2)(1-x3)/8 + n1 (1+x1)(1-x2)(1-x3)/8 + n2 (1+x1)(1+x2)(1-x3)/8 + n3 (1-x1)(1+x2)(1-x3)/8 + n4 (1-x1)(1-x2)(1+x3)/8 + n5 (1+x1)(1-x2)(1+x3)/8 + n6 (1+x1)(1+x2)(1+x3)/8 + n7 (1-x1)(1+x2)(1+x3)/8

Sofa/Component/SolidMechanics/Spring/src/sofa/component/solidmechanics/spring/JointSpringForceField.inl

@@ -384,22 +384,22 @@ void JointSpringForceField<DataTypes>::draw(const core::visual::VisualParams* vp
 
     for (sofa::Index i=0; i<springs.size(); i++)
     {
-        Vec4f color;
+        sofa::type::RGBAColor color;
 
         Real d = (p2[springs[i].m2]-p1[springs[i].m1]).getCenter().norm();
         if (external)
         {
             if (d<springs[i].initTrans.norm()*0.9999)
-                color = Vec4f(1,0,0,1);
+                color = sofa::type::RGBAColor::red();
             else
-                color = Vec4f(0,1,0,1);
+                color = sofa::type::RGBAColor::green();
         }
         else
         {
             if (d<springs[i].initTrans.norm()*0.9999)
-                color = Vec4f(1,0.5f,0,1);
+                color = sofa::type::RGBAColor(1,0.5f,0,1);
             else
-                color = Vec4f(0,1,0.5f,1);
+                color = sofa::type::RGBAColor(0,1,0.5f,1);
         }
 
         Vec3 v0(p1[springs[i].m1].getCenter()[0], p1[springs[i].m1].getCenter()[1], p1[springs[i].m1].getCenter()[2]);

Sofa/GUI/Common/src/sofa/gui/common/ColourPickingVisitor.cpp

@@ -47,7 +47,7 @@ namespace
 constexpr float threshold = std::numeric_limits<float>::min();
 }
 
-void decodeCollisionElement(const sofa::type::Vec4f colour, BodyPicked& body)
+void decodeCollisionElement(const RGBAColor& colour, BodyPicked& body)
 {
 
     if( colour[0] > threshold || colour[1] > threshold || colour[2] > threshold  ) // make sure we are not picking the background...
@@ -70,7 +70,7 @@ void decodeCollisionElement(const sofa::type::Vec4f colour, BodyPicked& body)
 
 }
 
-void decodePosition(BodyPicked& body, const sofa::type::Vec4f colour, const TriangleCollisionModel<sofa::defaulttype::Vec3Types>* model,
+void decodePosition(BodyPicked& body, const RGBAColor& colour, const TriangleCollisionModel<sofa::defaulttype::Vec3Types>* model,
         const unsigned int index)
 {
 
@@ -83,9 +83,11 @@ void decodePosition(BodyPicked& body, const sofa::type::Vec4f colour, const Tria
 
 }
 
-void decodePosition(BodyPicked& body, const sofa::type::Vec4f /*colour*/, const SphereCollisionModel<sofa::defaulttype::Vec3Types> *model,
+void decodePosition(BodyPicked& body, const RGBAColor& colour, const SphereCollisionModel<sofa::defaulttype::Vec3Types> *model,
         const unsigned int index)
 {
+    SOFA_UNUSED(colour);
+
     const Sphere s(const_cast<SphereCollisionModel<sofa::defaulttype::Vec3Types>*>(model),index);
     body.point = s.center();
 }
@@ -97,6 +99,23 @@ simulation::Visitor::Result ColourPickingVisitor::processNodeTopDown(simulation:
     return RESULT_CONTINUE;
 }
 
+void decodeCollisionElement(const sofa::type::Vec4f& colour, BodyPicked& body)
+{
+    decodeCollisionElement(sofa::type::RGBAColor::fromVec4(colour), body);
+}
+
+void decodePosition(BodyPicked& body, const sofa::type::Vec4f& colour, const TriangleCollisionModel<sofa::defaulttype::Vec3Types>* model,
+        const unsigned int index)
+{
+    decodePosition(body, sofa::type::RGBAColor::fromVec4(colour), model, index);
+}
+
+void decodePosition(BodyPicked& body, const sofa::type::Vec4f& colour, const SphereCollisionModel<sofa::defaulttype::Vec3Types> *model,
+        const unsigned int index)
+{
+    decodePosition(body, sofa::type::RGBAColor::fromVec4(colour), model, index);
+}
+
 void ColourPickingVisitor::processCollisionModel(simulation::Node*  node , core::CollisionModel* o)
 {
     using namespace core::objectmodel;
@@ -145,9 +164,9 @@ void ColourPickingVisitor::processTriangleModel(simulation::Node * node, sofa::c
             points.push_back( t.p1() );
             points.push_back( t.p2() );
             points.push_back( t.p3() );
-            colours.push_back( Vec<4,float>(r,g,0,1) );
-            colours.push_back( Vec<4,float>(r,g,0,1) );
-            colours.push_back( Vec<4,float>(r,g,0,1) );
+            colours.emplace_back( r,g,0,1 );
+            colours.emplace_back( r,g,0,1 );
+            colours.emplace_back( r,g,0,1 );
         }
         break;
     case ENCODE_RELATIVEPOSITION:
@@ -158,9 +177,9 @@ void ColourPickingVisitor::processTriangleModel(simulation::Node * node, sofa::c
             points.push_back( t.p1() );
             points.push_back( t.p2() );
             points.push_back( t.p3() );
-            colours.push_back( Vec<4,float>(1,0,0,1) );
-            colours.push_back( Vec<4,float>(0,1,0,1) );
-            colours.push_back( Vec<4,float>(0,0,1,1) );
+            colours.emplace_back( 1,0,0,1 );
+            colours.emplace_back( 0,1,0,1 );
+            colours.emplace_back( 0,0,1,1 );
         }
         break;
     default: assert(false);

Sofa/GUI/Common/src/sofa/gui/common/ColourPickingVisitor.h

@@ -29,10 +29,20 @@
 namespace sofa::gui::common
 {
 
-void SOFA_GUI_COMMON_API decodeCollisionElement( const sofa::type::Vec4f colour, sofa::gui::component::performer::BodyPicked& body );
-void SOFA_GUI_COMMON_API decodePosition( sofa::gui::component::performer::BodyPicked& body, const sofa::type::Vec4f colour, const sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaulttype::Vec3Types>* model,
+void SOFA_GUI_COMMON_API decodeCollisionElement( const type::RGBAColor& colour, sofa::gui::component::performer::BodyPicked& body );
+void SOFA_GUI_COMMON_API decodePosition( sofa::gui::component::performer::BodyPicked& body, const type::RGBAColor& colour, const sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaulttype::Vec3Types>* model,
         const unsigned int index);
-void SOFA_GUI_COMMON_API decodePosition( sofa::gui::component::performer::BodyPicked& body, const sofa::type::Vec4f colour, const sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>* model,
+void SOFA_GUI_COMMON_API decodePosition( sofa::gui::component::performer::BodyPicked& body, const type::RGBAColor& colour, const sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>* model,
+        const unsigned int index);
+
+// compat
+SOFA_ATTRIBUTE_DEPRECATED__RGBACOLOR_AS_FIXEDARRAY()
+void SOFA_GUI_COMMON_API decodeCollisionElement( const sofa::type::Vec4f& colour, sofa::gui::component::performer::BodyPicked& body );
+SOFA_ATTRIBUTE_DEPRECATED__RGBACOLOR_AS_FIXEDARRAY()
+void SOFA_GUI_COMMON_API decodePosition( sofa::gui::component::performer::BodyPicked& body, const sofa::type::Vec4f& colour, const sofa::component::collision::geometry::TriangleCollisionModel<sofa::defaulttype::Vec3Types>* model,
+        const unsigned int index);
+SOFA_ATTRIBUTE_DEPRECATED__RGBACOLOR_AS_FIXEDARRAY()
+void SOFA_GUI_COMMON_API decodePosition( sofa::gui::component::performer::BodyPicked& body, const sofa::type::Vec4f& colour, const sofa::component::collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>* model,
         const unsigned int index);
 
 

Sofa/GUI/Qt/src/sofa/gui/qt/GLPickHandler.cpp

@@ -107,7 +107,7 @@ BodyPicked GLPickHandler::findCollisionUsingColourCoding(const type::Vec3& origi
     BodyPicked result;
 
     result.dist =  0;
-    sofa::type::Vec4f color;
+    type::RGBAColor color;
     const int x = mousePosition.x;
     const int y = mousePosition.screenHeight - mousePosition.y;
     TriangleCollisionModel<defaulttype::Vec3Types>* tmodel;
@@ -116,10 +116,10 @@ BodyPicked GLPickHandler::findCollisionUsingColourCoding(const type::Vec3& origi
     if(renderCallback)
     {
         renderCallback->render(ColourPickingVisitor::ENCODE_COLLISIONELEMENT );
-        glReadPixels(x,y,1,1,_fboParams.colorFormat,_fboParams.colorType,color.elems);
+        glReadPixels(x,y,1,1,_fboParams.colorFormat,_fboParams.colorType, &color[0]);
         decodeCollisionElement(color,result);
         renderCallback->render(ColourPickingVisitor::ENCODE_RELATIVEPOSITION );
-        glReadPixels(x,y,1,1,_fboParams.colorFormat,_fboParams.colorType,color.elems);
+        glReadPixels(x,y,1,1,_fboParams.colorFormat,_fboParams.colorType, &color[0]);
         if( ( tmodel = dynamic_cast<TriangleCollisionModel<defaulttype::Vec3Types>*>(result.body) ) != nullptr )
         {
             decodePosition(result,color,tmodel,result.indexCollisionElement);

Sofa/GUI/Qt/src/sofa/gui/qt/QRGBAColorPicker.cpp

@@ -61,11 +61,11 @@ QRGBAColorPicker::QRGBAColorPicker(QWidget* parent) : QWidget(parent)
     connect( _colorButton, SIGNAL( clicked() ), this, SLOT( raiseQColorDialog() ) );
 }
 
-Vec4f QRGBAColorPicker::getColor() const
+type::RGBAColor QRGBAColorPicker::getColor() const
 {
     typedef unsigned char uchar;
     constexpr uchar max = std::numeric_limits<uchar>::max();
-    Vec4f color;
+    type::RGBAColor color;
     float r = _r->text().toFloat();
     float g = _g->text().toFloat();
     float b = _b->text().toFloat();

Sofa/GUI/Qt/src/sofa/gui/qt/QRGBAColorPicker.h

@@ -61,7 +61,7 @@ class QRGBAColorPicker : public QWidget
     void setColor(const type::RGBAColor& color);
 
     void setColor( const Vec4f& color );
-    Vec4f getColor() const;
+    type::RGBAColor getColor() const;
 
 protected:
     QRgb _rgba;

Sofa/framework/Topology/src/sofa/topology/Hexahedron.h

@@ -32,7 +32,7 @@ namespace sofa::topology
 
     template<typename Coordinates, typename VectorCoordinates>
     static constexpr sofa::Index getClosestHexahedronIndex(const VectorCoordinates& hexahedronPositions, const sofa::type::vector<Hexahedron>& hexahedra,
-        const Coordinates& pos, sofa::type::fixed_array<SReal,3>& barycentricCoefficients, SReal& distance)
+        const Coordinates& pos, type::Vec3& barycentricCoefficients, SReal& distance)
     {
         sofa::Index index = sofa::InvalidID;
         distance = std::numeric_limits<SReal>::max();

Sofa/framework/Topology/test/Hexahedron_test.cpp

@@ -77,7 +77,7 @@ namespace sofa
 
 TEST(TopologyHexahedron_test, getClosestHexahedronIndex)
 {   
-    sofa::type::fixed_array<SReal, 3> coeffs{};
+    type::Vec3 coeffs{};
     SReal distance{};
 
     const sofa::type::Vec3d pos0{0.001, 0., 0.};

Sofa/framework/Type/src/sofa/type/BoundingBox.cpp

@@ -114,22 +114,22 @@ BoundingBox::operator bbox_t() const
 
 SReal* BoundingBox::minBBoxPtr()
 {
-    return bbox.first.elems;
+    return bbox.first.ptr();
 }
 
 SReal* BoundingBox::maxBBoxPtr()
 {
-    return bbox.second.elems;
+    return bbox.second.ptr();
 }
 
 const SReal* BoundingBox::minBBoxPtr() const
 {
-    return bbox.first.elems;
+    return bbox.first.ptr();
 }
 
 const SReal* BoundingBox::maxBBoxPtr() const
 {
-    return bbox.second.elems;
+    return bbox.second.ptr();
 }
 
 const sofa::type::Vec3& BoundingBox::minBBox() const
@@ -360,22 +360,22 @@ BoundingBox2D::operator bbox_t() const
 
 SReal* BoundingBox2D::minBBoxPtr()
 {
-    return bbox.first.elems;
+    return bbox.first.ptr();
 }
 
 SReal* BoundingBox2D::maxBBoxPtr()
 {
-    return bbox.second.elems;
+    return bbox.second.ptr();
 }
 
 const SReal* BoundingBox2D::minBBoxPtr() const
 {
-    return bbox.first.elems;
+    return bbox.first.ptr();
 }
 
 const SReal* BoundingBox2D::maxBBoxPtr() const
 {
-    return bbox.second.elems;
+    return bbox.second.ptr();
 }
 
 const sofa::type::Vec<2, SReal>& BoundingBox2D::minBBox() const

Sofa/framework/Type/src/sofa/type/RGBAColor.cpp

@@ -91,6 +91,11 @@ RGBAColor::RGBAColor(const type::fixed_array<float, NumberOfComponents>& c)
 {
 }
 
+RGBAColor::RGBAColor(const type::Vec4f& c)
+    : m_components{ c[0], c[1], c[2], c[3] }
+{
+}
+
 bool RGBAColor::read(const std::string& str, RGBAColor& color)
 {
     std::stringstream s(str);

Sofa/framework/Type/src/sofa/type/RGBAColor.h

@@ -60,6 +60,8 @@ class SOFA_TYPE_API RGBAColor
     // compat
     SOFA_ATTRIBUTE_DEPRECATED__RGBACOLOR_AS_FIXEDARRAY()
     RGBAColor(const type::fixed_array<float, NumberOfComponents>& c);
+    SOFA_ATTRIBUTE_DEPRECATED__RGBACOLOR_AS_FIXEDARRAY()
+    RGBAColor(const type::Vec4f& c);
 
     SOFA_ATTRIBUTE_DEPRECATED__RGBACOLOR_AS_FIXEDARRAY()
     static RGBAColor fromVec4(const type::fixed_array<float, 4>& color);