Merge branch 'master' into fix_find_assimp_cmake

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

@@ -0,0 +1,48 @@
+name: Check PR Age
+on:
+  pull_request:
+    types:
+      - synchronize
+      - opened
+      - reopened
+      - labeled
+      - unlabeled
+
+
+jobs:
+
+  check_labels:
+    name: Check labels
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check Labels and Age
+        id: check_labels_and_comment
+        uses: actions/github-script@v4
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            // Get PR labels
+            const labels = context.payload.pull_request.labels.map(label => label.name);
+
+            // Define the fast merge label
+            const fastMergeFlag = ['pr: fast merge'];
+
+            // Check if any label fits fast merge
+            const isFastMerge = labels.some(label => fastMergeFlag.includes(label));
+
+            // If regular PR (not fast merge), check PR age
+            if (!isFastMerge) {
+            const creationDate = new Date(context.payload.pull_request.created_at);
+            const currentDate = new Date();
+            
+            // Check if the PR is more than 7 days old
+            const daysDiff = Math.floor((currentDate - creationDate) / (1000 * 60 * 60 * 24));
+            
+            if (daysDiff < 7) {
+              core.setFailed("PR is less than 7 days old and it is not flagged as 'pr: fast merge'");
+            } else {
+              console.log('PR is more than 7 days old');
+            }
+            } else {
+              console.log("PR is flagged as 'pr: fast merge'");
+            }

.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 }}

README.md

@@ -2,15 +2,17 @@
 
 <br/>
 
-[![Documentation](https://img.shields.io/badge/doc-on_website-green.svg)](https://www.sofa-framework.org/community/doc/)
-[![Support](https://img.shields.io/badge/support-on_GitHub_Discussions-blue.svg)](https://github.com/sofa-framework/sofa/discussions)
-[![Gitter](https://img.shields.io/badge/chat-on_Gitter-ff69b4.svg)](https://gitter.im/sofa-framework/sofa)
-[![Contact](https://img.shields.io/badge/contact-on_website-orange.svg)](https://www.sofa-framework.org/consortium/contact/)  
+[![Documentation](https://img.shields.io/badge/doc-on_website-brightgreen.svg)](https://www.sofa-framework.org/community/doc/)
+[![Support](https://img.shields.io/badge/support-on_GitHub_Discussions-orange.svg)](https://github.com/sofa-framework/sofa/discussions)
+[![Gitter](https://img.shields.io/badge/chat-on_Gitter-darkred.svg)](https://gitter.im/sofa-framework/sofa)
 
+<a href="https://twitter.com/intent/follow?original_referer=https%3A%2F%2Fpublish.twitter.com%2F%3FbuttonType%3DFollowButton%26query%3Dhttps%253A%252F%252Ftwitter.com%252FSofaFramework%26widget%3DButton&ref_src=twsrc%5Etfw&region=follow_link&screen_name=SofaFramework&tw_p=followbutton"><img src="https://img.shields.io/twitter/follow/SofaFramework?label=Follow%20%40SofaFramework&style=social"></a>
+[![Contact](https://img.shields.io/badge/contact-on_website-brightgreen.svg)](https://www.sofa-framework.org/consortium/contact/)
+[![we're hiring](https://img.shields.io/badge/we're%20hiring!-join%20us-orange)](https://www.sofa-framework.org/about/jobs/)
 
 ## What is SOFA
 
-SOFA is an open source framework targeted at interactive physics simulation, with an emphasis on medical simulation and robotics.  
+SOFA is an open source framework targeted at interactive physics simulation based on the Finite Element Method (FEM), with an emphasis on medical simulation and robotics.  
 It is mainly intended for the research community to help foster newer algorithms, but can also be used as an efficient prototyping tool.  
 SOFA's advanced software architecture allows:  
 - the creation of complex and evolving simulations by combining new algorithms with existing algorithms 

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/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.cpp

@@ -89,7 +89,6 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr
                     massValue = um->getVertexMass();
                     usedComp.push_back(odeFactor / massValue.mass);
                     msg_info() << "Compliance matrix is evaluated using the UniformMass";
-
                 }
                 else
                 {
@@ -109,6 +108,8 @@ SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void UncoupledConstraintCorr
         usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[1][2]);
         usedComp.push_back( odeFactor * massValue.invInertiaMassMatrix[2][2]);
         compliance.setValue(usedComp);
+
+        msg_info() << "\'compliance\' equals: " << compliance.getValue();
     }
     else
     {

Sofa/Component/Constraint/Lagrangian/Correction/src/sofa/component/constraint/lagrangian/correction/UncoupledConstraintCorrection.inl

@@ -28,6 +28,7 @@
 #include <sofa/linearalgebra/BaseMatrix.h>
 #include <sofa/core/topology/TopologyData.inl>
 #include <sofa/core/ConstraintParams.h>
+#include <sofa/type/isRigidType.h>
 
 namespace sofa::component::constraint::lagrangian::correction
 {
@@ -110,6 +111,68 @@ UncoupledConstraintCorrection<DataTypes>::UncoupledConstraintCorrection(sofa::co
     , l_topology(initLink("topology", "link to the topology container"))
     , m_pOdeSolver(nullptr)
 {
+    // Check defaultCompliance and entries of the compliance vector are not zero
+    core::objectmodel::Base::addUpdateCallback("checkNonZeroComplianceInput", {&defaultCompliance, &compliance}, [this](const core::DataTracker& t)
+    {
+        // Update of the defaultCompliance data
+        if(t.hasChanged(defaultCompliance))
+        {
+            if(defaultCompliance.getValue() == 0.0)
+            {
+                msg_error() << "Zero defaultCompliance is set: this will cause the constraint resolution to diverge";
+                return sofa::core::objectmodel::ComponentState::Invalid;
+            }
+            return sofa::core::objectmodel::ComponentState::Valid;
+        }
+        // Update of the compliance data
+        else
+        {
+            // Case: soft body
+            if constexpr (!sofa::type::isRigidType<DataTypes>())
+            {
+                const VecReal &comp = compliance.getValue();
+                if (std::any_of(comp.begin(), comp.end(), [](const Real c) { return c == 0; }))
+                {
+                    msg_error() << "Zero values set in the compliance vector: this will cause the constraint resolution to diverge";
+                    return sofa::core::objectmodel::ComponentState::Invalid;
+                }
+            }
+            // Case: rigid body
+            else
+            {
+                const VecReal &comp = compliance.getValue();
+                sofa::Size compSize = comp.size();
+
+                if (compSize % 7 != 0)
+                {
+                    msg_error() << "Compliance vector should be a multiple of 7 in rigid case (1 for translation dofs, and 6 for the rotation matrix)";
+                    return sofa::core::objectmodel::ComponentState::Invalid;
+                }
+
+                for(auto i = 0; i < comp.size() ; i += 7)
+                {
+                    if(comp[i] == 0.)
+                    {
+                        msg_error() << "Zero compliance set on translation dofs: this will cause the constraint resolution to diverge (compliance[" << i << "])";
+                        return sofa::core::objectmodel::ComponentState::Invalid;
+                    }
+                    // Check if the translational compliance and the diagonal values of the rotation compliance matrix are non zero
+                    // In Rigid case, the inertia matrix generates this 3x3 rotation compliance matrix 
+                    // In the compliance vector comp, SOFA stores:
+                    //   - the translational compliance (comp[0])
+                    //   - the triangular part of the rotation compliance matrix: r[0,0]=comp[1],r[0,1],r[0,2],r[1,1]=comp[4],r[1,2],r[2,2]=comp[6]
+                    if(comp[i+1] == 0. || comp[i+4] == 0. || comp[i+6] == 0.)
+                    {
+                        msg_error() << "Zero compliance set on rotation dofs (matrix diagonal): this will cause the constraint resolution to diverge (compliance[" << i << "])";
+                        return sofa::core::objectmodel::ComponentState::Invalid;
+                    }
+                }
+            }
+            return sofa::core::objectmodel::ComponentState::Valid;
+        }
+
+    }, {}
+    );
 }
 
 template<class DataTypes>
@@ -123,7 +186,7 @@ void UncoupledConstraintCorrection<DataTypes>::init()
 {
     Inherit::init();
 
-    if( !defaultCompliance.isSet() && !compliance.isSet() )
+    if (!defaultCompliance.isSet() && !compliance.isSet())
     {
         msg_warning() << "Neither the \'defaultCompliance\' nor the \'compliance\' data is set, please set one to define your compliance matrix";
     }
@@ -205,6 +268,8 @@ void UncoupledConstraintCorrection<DataTypes>::init()
         }
         d_useOdeSolverIntegrationFactors.setReadOnly(true);
     }
+
+    this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
 }
 
 template <class DataTypes>
@@ -216,6 +281,9 @@ void UncoupledConstraintCorrection<DataTypes>::reinit()
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::getComplianceWithConstraintMerge(linearalgebra::BaseMatrix* Wmerged, std::vector<int> &constraint_merge)
 {
+    if(!this->isComponentStateValid())
+        return;
+
     helper::WriteAccessor<Data<MatrixDeriv> > constraintsData = *this->mstate->write(core::MatrixDerivId::constraintJacobian());
     MatrixDeriv& constraints = constraintsData.wref();
 
@@ -286,6 +354,9 @@ void UncoupledConstraintCorrection<DataTypes>::getComplianceWithConstraintMerge(
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::addComplianceInConstraintSpace(const sofa::core::ConstraintParams * cparams, sofa::linearalgebra::BaseMatrix *W)
 {
+    if(!this->isComponentStateValid())
+        return;
+
     const MatrixDeriv& constraints = cparams->readJ(this->mstate)->getValue() ;
     VecReal comp = compliance.getValue();
     Real comp0 = defaultCompliance.getValue();
@@ -402,6 +473,9 @@ void UncoupledConstraintCorrection<DataTypes>::addComplianceInConstraintSpace(co
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::getComplianceMatrix(linearalgebra::BaseMatrix *m) const
 {
+    if(!this->isComponentStateValid())
+        return;
+
     const VecReal& comp = compliance.getValue();
     const Real comp0 = defaultCompliance.getValue();
     const unsigned int s = this->mstate->getSize(); // comp.size();
@@ -438,6 +512,9 @@ void UncoupledConstraintCorrection<DataTypes>::computeMotionCorrection(const cor
 {
     SOFA_UNUSED(cparams);
 
+    if(!this->isComponentStateValid())
+        return;
+
     auto writeDx = sofa::helper::getWriteAccessor( *dx[this->getMState()].write() );
     const Data<VecDeriv>& f_d = *f[this->getMState()].read();
     computeDx(f_d, writeDx.wref());
@@ -447,6 +524,8 @@ void UncoupledConstraintCorrection<DataTypes>::computeMotionCorrection(const cor
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::applyMotionCorrection(const core::ConstraintParams *cparams, Data< VecCoord > &x_d, Data< VecDeriv > &v_d, Data<VecDeriv>& dx_d, const Data< VecDeriv > &correction_d)
 {
+    if(!this->isComponentStateValid())
+        return;
 
     auto dx         = sofa::helper::getWriteAccessor(dx_d);
     auto correction = sofa::helper::getReadAccessor(correction_d);
@@ -479,6 +558,9 @@ void UncoupledConstraintCorrection<DataTypes>::applyMotionCorrection(const core:
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::applyPositionCorrection(const core::ConstraintParams *cparams, Data< VecCoord > &x_d, Data< VecDeriv >& dx_d, const Data< VecDeriv > &correction_d)
 {
+    if(!this->isComponentStateValid())
+        return;
+
     auto dx = sofa::helper::getWriteAccessor(dx_d);
     auto correction = sofa::helper::getReadAccessor(correction_d);
 
@@ -504,6 +586,9 @@ void UncoupledConstraintCorrection<DataTypes>::applyPositionCorrection(const cor
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::applyVelocityCorrection(const core::ConstraintParams *cparams, Data< VecDeriv > &v_d, Data<VecDeriv>& dv_d, const Data< VecDeriv > &correction_d)
 {
+    if(!this->isComponentStateValid())
+        return;
+
     auto dx = sofa::helper::getWriteAccessor(dv_d);
     auto correction = sofa::helper::getReadAccessor(correction_d);
 
@@ -529,6 +614,9 @@ void UncoupledConstraintCorrection<DataTypes>::applyVelocityCorrection(const cor
 template<class DataTypes>
 void UncoupledConstraintCorrection<DataTypes>::applyContactForce(const linearalgebra::BaseVector *f)
 {
+    if(!this->isComponentStateValid())
+        return;
+
     helper::WriteAccessor<Data<VecDeriv> > forceData = *this->mstate->write(core::VecDerivId::externalForce());
     VecDeriv& force = forceData.wref();
     const MatrixDeriv& constraints = this->mstate->read(core::ConstMatrixDerivId::constraintJacobian())->getValue();
@@ -657,6 +745,9 @@ void UncoupledConstraintCorrection<DataTypes>::addConstraintDisplacement(SReal *
 /// constraint_force contains the force applied on dof involved with the contact
 /// TODO : compute a constraint_disp that is updated each time a new force is provided !
 
+    if(!this->isComponentStateValid())
+        return;
+
     const MatrixDeriv& constraints = this->mstate->read(core::ConstMatrixDerivId::constraintJacobian())->getValue();
 
     for (int id = begin; id <= end; id++)

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)